diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 3096e28..396a373 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -10,6 +10,9 @@
 import frc.robot.commands.SetShooter;
 import frc.robot.subsystems.ArnavIntake.IntakeStates;
 import frc.robot.subsystems.ArnavShooter.ShooterStates;
+import frc.robot.subsystems.ArnavIndexer;
+import frc.robot.subsystems.ArnavIntake;
+import frc.robot.subsystems.ArnavShooter;
 // import frc.robot.commands.Autos;
 // import frc.robot.commands.ExampleCommand;
 // import frc.robot.commands.TeleopSwerve;
@@ -30,6 +33,9 @@ public class RobotContainer {
   private final Swerve s_Swerve = Swerve.getInstance();
   //private final IntakeShooter s_IntakeShooter = IntakeShooter.getInstance();
   //private final Pivot s_Pivot = Pivot.getInstance();
+  private final ArnavIndexer s_ArnavIndexer = ArnavIndexer.getInstance();
+  private final ArnavIntake s_ArnavIntake = ArnavIntake.getInstance();
+  private final ArnavShooter s_ArnavShooter = ArnavShooter.getInstance();
 
   private final XboxController driver = new XboxController(0);
   private final XboxController operator = new XboxController(1);
@@ -119,7 +125,7 @@ private void configureBindings() {
     // driverY.whileTrue(s_Swerve.sysIdDynamic(SysIdRoutine.Direction.kReverse));
 
   // shooter
-  operatorDpadUp.onTrue(maxShooter());
+  operatorDpadUp.onTrue(new InstantCommand(() -> s_ArnavIndexer.setSpeed(0.5))); // An instant command just for testing right now
   operatorDpadDown.onTrue(offShooter());
   operatorDpadRight.whileTrue(increaseShooter());
   operatorDpadLeft.whileTrue(decreaseShooter());
@@ -141,6 +147,7 @@ private void configureBindings() {
    * @return the command to run in autonomous
    */
 
+
     //shooter
   public Command maxShooter() {
         return new SetShooter(ShooterStates.MAX);
diff --git a/src/main/java/frc/robot/commands/SetShooter.java b/src/main/java/frc/robot/commands/SetShooter.java
index d657625..031f8e7 100644
--- a/src/main/java/frc/robot/commands/SetShooter.java
+++ b/src/main/java/frc/robot/commands/SetShooter.java
@@ -7,21 +7,21 @@
 
 public class SetShooter extends Command {
   private final ArnavShooter s_ArnavShooter;
-  double finalspeed;
+  double finalSpeed;
   
   public SetShooter(ArnavShooter.ShooterStates state) { //change from off or max speed
     s_ArnavShooter = ArnavShooter.getInstance();
-    finalspeed = state.getValue();
+    finalSpeed = state.getValue();
     addRequirements(s_ArnavShooter);
   }
 
   public SetShooter(double difference) { //increase or decrease speed. Makes sure not to increase above max or decrease below 0
     s_ArnavShooter = ArnavShooter.getInstance();
 
-    double addedspeed = s_ArnavShooter.getspeed() + difference;
+    double addedSpeed = s_ArnavShooter.getSpeed() + difference;
 
-    if(addedspeed <= 1 && addedspeed >= 0) {
-      finalspeed = addedspeed;
+    if(addedSpeed <= 1 && addedSpeed >= 0) {
+      finalSpeed = addedSpeed;
     }
 
     addRequirements(s_ArnavShooter);
@@ -34,7 +34,7 @@ public void initialize() {
 
   @Override
   public void execute() {
-        s_ArnavShooter.setspeed(finalspeed);
+        s_ArnavShooter.setSpeed(finalSpeed);
   }
 
   @Override
diff --git a/src/main/java/frc/robot/subsystems/ArnavIndexer.java b/src/main/java/frc/robot/subsystems/ArnavIndexer.java
index ef6e015..528a860 100644
--- a/src/main/java/frc/robot/subsystems/ArnavIndexer.java
+++ b/src/main/java/frc/robot/subsystems/ArnavIndexer.java
@@ -52,6 +52,9 @@ public void setSpeed(IndexerStates state) {
     this.state = state.name();
   }
 
+  public void setSpeed(double speed) {
+    indexerM.set(speed);
+  }
   
   @Override
   public void periodic() {
diff --git a/src/main/java/frc/robot/subsystems/ArnavShooter.java b/src/main/java/frc/robot/subsystems/ArnavShooter.java
index 60dfd15..bfe9c7a 100644
--- a/src/main/java/frc/robot/subsystems/ArnavShooter.java
+++ b/src/main/java/frc/robot/subsystems/ArnavShooter.java
@@ -54,17 +54,17 @@ public double getValue() {
     
   }
 
-  public void setspeed(ShooterStates state) { //change state
+  public void setSpeed(ShooterStates state) { //change state
     shooterLeaderM.set(state.speed);
     currentSpeed = state.getValue();
   }
 
-  public void setspeed(double newspeed) { //change specific speed
-    shooterFollowerM.set(newspeed);
-    currentSpeed = newspeed;
+  public void setSpeed(double newSpeed) { //change specific Speed
+    shooterLeaderM.set(newSpeed);
+    currentSpeed = newSpeed;
   }
 
-  public double getspeed() { //gets specific speed (i hope)
+  public double getSpeed() { //gets specific Speed (i hope)
     return currentSpeed;
   }