diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 52434cf..b8e46a6 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -21,7 +21,9 @@
 import frc.robot.commands.DriveReverse;
 import frc.robot.commands.DriveTank;
 import frc.robot.commands.ExtendArm;
+import frc.robot.commands.InCubeOutCone;
 import frc.robot.commands.ManualArm;
+import frc.robot.commands.OutCubeInCone;
 import frc.robot.commands.ResetDrivePose;
 import frc.robot.commands.RetractArm;
 import frc.robot.commands.StartLeavingCommunity;
@@ -94,9 +96,8 @@ public class RobotContainer {
   private final DriveForwards driveForwards = new DriveForwards(driveSubsystem);
   private final DriveReverse driveReverse = new DriveReverse(driveSubsystem);
   /* ARM COMMANDS */
-  // TODO: THIS
-  // private final CloseClawCone closeClawCone = new CloseClawCone(armClaw);
-  // private final CloseClawCube closeClawCube = new CloseClawCube(armClaw);
+  private final InCubeOutCone inCubeOutCone = new InCubeOutCone(armClaw);
+  private final OutCubeInCone outCubeInCone = new OutCubeInCone(armClaw);
   private final ExtendArm extend = new ExtendArm(armExtender);
   private final RetractArm retract = new RetractArm(armExtender);
   /* TRAJECTORY COMMAND */
@@ -167,6 +168,12 @@ private void configureBindings() {
         .whileTrue(Autos.homingNoOpenClaw(armShoulder, armBase, armExtender, compilationArm));
     joystick.povUp().whileTrue(extend);
     joystick.povDown().whileTrue(retract);
+    // in cube out cube
+    joystick.button(3).whileTrue(inCubeOutCone);
+    joystick.button(4).whileTrue(outCubeInCone);
+    // in cone out cone
+    joystick.button(5).whileTrue(outCubeInCone);
+    joystick.button(6).whileTrue(inCubeOutCone);
     // joystick.button(2).whileTrue(closeClawCube);
 
     /*joystick
diff --git a/src/main/java/frc/robot/commands/InCubeOutCone.java b/src/main/java/frc/robot/commands/InCubeOutCone.java
new file mode 100644
index 0000000..7b9bbe6
--- /dev/null
+++ b/src/main/java/frc/robot/commands/InCubeOutCone.java
@@ -0,0 +1,42 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.Constants;
+import frc.robot.subsystems.arm.ArmIntake;
+
+/** Command to intake a cube or throw a cone on the intake. */
+public class InCubeOutCone extends CommandBase {
+  private final ArmIntake intake;
+
+  /** Creates a new InCubeOutCone. */
+  public InCubeOutCone(ArmIntake intake) {
+    this.intake = intake;
+    addRequirements(intake);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    this.intake.set(Constants.Arm.Intake.CUBE_IN_CONE_OUT_SPEED);
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    this.intake.stop();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/OutCubeInCone.java b/src/main/java/frc/robot/commands/OutCubeInCone.java
new file mode 100644
index 0000000..507a88c
--- /dev/null
+++ b/src/main/java/frc/robot/commands/OutCubeInCone.java
@@ -0,0 +1,42 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.Constants;
+import frc.robot.subsystems.arm.ArmIntake;
+
+/** Command to intake a cube or throw a cone on the intake. */
+public class OutCubeInCone extends CommandBase {
+  private final ArmIntake intake;
+
+  /** Creates a new OutCubeInCone. */
+  public OutCubeInCone(ArmIntake intake) {
+    this.intake = intake;
+    addRequirements(intake);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    this.intake.set(Constants.Arm.Intake.CUBE_OUT_CONE_IN_SPEED);
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    this.intake.stop();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}