diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
new file mode 100644
index 0000000..7b33f2f
--- /dev/null
+++ b/.pathplanner/settings.json
@@ -0,0 +1,12 @@
+{
+  "robotWidth": 0.711,
+  "robotLength": 0.711,
+  "holonomicMode": false,
+  "pathFolders": [],
+  "autoFolders": [],
+  "defaultMaxVel": 3.0,
+  "defaultMaxAccel": 3.0,
+  "defaultMaxAngVel": 540.0,
+  "defaultMaxAngAccel": 720.0,
+  "maxModuleSpeed": 4.5
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/one cube.auto b/src/main/deploy/pathplanner/autos/one cube.auto
new file mode 100644
index 0000000..29ae382
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/one cube.auto	
@@ -0,0 +1,37 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.59,
+      "y": 3.73
+    },
+    "rotation": -90.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Start_To_Perimiter (1)"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "perimiter_To_Back_of_Cube(2)"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Back of Cube into home(3)"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/navgrid.json b/src/main/deploy/pathplanner/navgrid.json
new file mode 100644
index 0000000..bab0da9
--- /dev/null
+++ b/src/main/deploy/pathplanner/navgrid.json
@@ -0,0 +1 @@
+{"field_size":{"x":16.54,"y":8.21},"nodeSizeMeters":0.3,"grid":[[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true],[true,true,true,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true],[true,true,true,true,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true]]}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Back of Cube into home(3).path b/src/main/deploy/pathplanner/paths/Back of Cube into home(3).path
new file mode 100644
index 0000000..b4d12b0
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Back of Cube into home(3).path	
@@ -0,0 +1,49 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 5.081007635872117,
+        "y": 2.146511524671921
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.859055001204621,
+        "y": 2.146511524671921
+      },
+      "isLocked": false,
+      "linkedName": "behind cube#1"
+    },
+    {
+      "anchor": {
+        "x": 0.8429091763679902,
+        "y": 2.0946366066713966
+      },
+      "prevControl": {
+        "x": 2.0875571473823786,
+        "y": 2.0946366066713966
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "home1"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 3.0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": true,
+  "folder": null,
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Cube 1 to perimiter (4).path b/src/main/deploy/pathplanner/paths/Cube 1 to perimiter (4).path
new file mode 100644
index 0000000..f444ad4
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Cube 1 to perimiter (4).path	
@@ -0,0 +1,65 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.8429091763679902,
+        "y": 2.0946366066713966
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.766251005253288,
+        "y": 3.648322422343152
+      },
+      "isLocked": false,
+      "linkedName": "home1"
+    },
+    {
+      "anchor": {
+        "x": 5.074084880795034,
+        "y": 3.616239874583321
+      },
+      "prevControl": {
+        "x": 4.572779876293277,
+        "y": 3.445484258286135
+      },
+      "nextControl": {
+        "x": 5.215686197132219,
+        "y": 3.6644724272658546
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.196224237992037,
+        "y": 3.826728224988743
+      },
+      "prevControl": {
+        "x": 4.928550983072929,
+        "y": 3.826728224988743
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 3.0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Start_To_Perimiter (1).path b/src/main/deploy/pathplanner/paths/Start_To_Perimiter (1).path
new file mode 100644
index 0000000..f012116
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Start_To_Perimiter (1).path	
@@ -0,0 +1,49 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.59,
+        "y": 3.729931640783178
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 0.5900000000000002,
+        "y": 2.4670756793249056
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.098419859252312,
+        "y": 2.623962929928345
+      },
+      "prevControl": {
+        "x": 0.7683766317023171,
+        "y": 2.657898350931721
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "The actual end of perimiter"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 3.0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/perimiter_To_Back_of_Cube(2).path b/src/main/deploy/pathplanner/paths/perimiter_To_Back_of_Cube(2).path
new file mode 100644
index 0000000..4cc9a4e
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/perimiter_To_Back_of_Cube(2).path
@@ -0,0 +1,49 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.098419859252312,
+        "y": 2.623962929928345
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 5.0985432489528355,
+        "y": 2.386063247713733
+      },
+      "isLocked": false,
+      "linkedName": "The actual end of perimiter"
+    },
+    {
+      "anchor": {
+        "x": 5.081007635872117,
+        "y": 2.146511524671921
+      },
+      "prevControl": {
+        "x": 4.6996176702990855,
+        "y": 2.146511524671921
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "behind cube#1"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0.0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 847cf92..f2a1279 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -22,6 +22,8 @@
 import frc.robot.subsystems.drive.DriveIOReal;
 import frc.robot.subsystems.drive.GyroIO;
 import frc.robot.subsystems.drive.GyroIOPigeon2;
+import frc.robot.subsystems.drive.rollers.RollerIO;
+import frc.robot.subsystems.drive.rollers.Rollers;
 import frc.robot.util.Alert;
 import frc.robot.util.Alert.AlertType;
 import frc.robot.util.PoseManager;
@@ -36,10 +38,10 @@
 public class RobotContainer {
   // Subsystems
   private final Drive drive;
-
+  public CommandXboxController controller;
   // Pose Manager
   private final PoseManager poseManager = new PoseManager();
-
+private Rollers rollerIO;
   // Controller
   private final CommandXboxController driver = new CommandXboxController(0);
 
@@ -94,6 +96,10 @@ private void configureButtonBindings() {
 
     // Driver controls
 
+    controller.x().whileTrue(rollerIO.run_Flywheel_Full_Speed());
+      controller.y().whileTrue(rollerIO.run_Flywheel_Half_Speed());
+    controller.a().whileTrue(rollerIO.run_Flywheel_x_Speed(5, 4));
+    controller.b().onTrue(rollerIO.Stop_Fly_Wheels());
   }
 
   /** Updates the alerts for disconnected controllers. */
diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java
index a942fc2..9cb675c 100644
--- a/src/main/java/frc/robot/subsystems/drive/Drive.java
+++ b/src/main/java/frc/robot/subsystems/drive/Drive.java
@@ -8,6 +8,8 @@
 import frc.robot.util.PoseManager;
 import java.util.function.Supplier;
 import org.littletonrobotics.junction.Logger;
+import frc.robot.util.loggedShuffleboardClasses.*;
+import frc.robot.util.loggedShuffleboardClasses.DriveIOInputsAutoLogged;
 
 public class Drive extends SubsystemBase {
   private final DriveIO io;
diff --git a/src/main/java/frc/robot/subsystems/drive/DriveIOSim.java b/src/main/java/frc/robot/subsystems/drive/DriveIOSim.java
index 7be6186..68a30fa 100644
--- a/src/main/java/frc/robot/subsystems/drive/DriveIOSim.java
+++ b/src/main/java/frc/robot/subsystems/drive/DriveIOSim.java
@@ -33,7 +33,6 @@ public class DriveIOSim implements DriveIO {
           // l and r position: 0.005 m
           VecBuilder.fill(0.001, 0.001, 0.001, 0.1, 0.1, 0.005, 0.005));
 
- 
   private final SimpleMotorFeedforward m_feedforward = new SimpleMotorFeedforward(1, 3);
 
   private final PIDController m_leftPIDController = new PIDController(8.5, 0, 0);
@@ -56,7 +55,8 @@ public DriveIOSim() {
     m_leftLeader.addFollower(m_leftFollower);
     m_rightLeader.addFollower(m_rightFollower);
   }
-   @Override
+
+  @Override
   public void updateInputs(DriveIOInputs inputs) {
     // TODO: we will have encoders
 
@@ -67,7 +67,6 @@ public void stopDriveTrain() {
     driveTrain.setInputs(0, 0);
   }
 
-
   @Override
   public void arcadeDrive(double xSpeed, double omegaRotation) {
 
@@ -75,7 +74,7 @@ public void arcadeDrive(double xSpeed, double omegaRotation) {
   }
 
   /** Sets speeds to the drivetrain motors. */
-  //TODO there is a unit's conflict
+  // TODO there is a unit's conflict
   private void setSpeeds(DifferentialDriveWheelSpeeds speeds) {
     final double leftFeedforward =
         m_feedforward.calculate(MetersPerSecond.of(speeds.leftMetersPerSecond)).in(Volts);
diff --git a/src/main/java/frc/robot/subsystems/drive/Rollers/ROller_IO_Real b/src/main/java/frc/robot/subsystems/drive/Rollers/ROller_IO_Real
new file mode 100644
index 0000000..ce4fa5e
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/drive/Rollers/ROller_IO_Real
@@ -0,0 +1,52 @@
+package frc.robot.subsystems.drive;
+package frc.robot.subsystems.Roller_Constants_Dvid;
+import org.littletonrobotics.junction.AutoLog;
+
+import com.revrobotics.CANSparkBase.ControlType;
+import com.revrobotics.SparkPIDController;
+import com.revrobotics.ReletiveEncoder;
+
+import com.fasterxml.jackson.databind.ser.std.StdKeySerializers.Default; 
+
+public class RollerIOReal implements DriveIO {
+// decalre motors
+private int 
+private final CANSparkMax rightMotor =
+      new CANSparkMax(Roller_Constants_Dvid.rightMotorID, MotorType.kBrushless );
+      private final CANcoder rightEncoder = new CANcoder(0);
+private final CANSparkMax leftMotor =
+      new CANSparkMax(Roller_Constants_Dvid.rightMotorID, MotorType.kBrushless );
+      private final CANcoder leftEncoder = new CANcoder(1);
+ 
+
+   
+      @Override
+      public void handle_Input(Rolle_IO_Inputs roller_Inputs){
+
+        roller_Inputs.r_Rot_Speed = rightEncoder.getVelocity();
+
+        roller_Inputs.l_Rot_Speed = leftEncoder.getVelocity();
+
+        roller_Inputs.r_Applied_Volts = rightMotor.getAppliedOutput() * rightMotor.GetBusVoltage();
+
+        roller_Inputs.l_Applied_Volts = leftMotor.getAppliedOutput() * leftMotor.GetBusVoltage();
+       } 
+       @Override
+         public default void run_L_Motor(double speed_In_Volts){
+     
+            leftMotor.runMotor(speed_In_Volts);
+         }   
+         @Override   
+         public default void run_R_Motor(double speed_In_Volts){
+            rightMotor.runMotor(speed_In_Volts);
+         } 
+         @Override
+         public default void stop_Motor(){
+            rightMotor.stopMotor();
+            leftMotor.stopMotor();
+         }
+
+
+
+
+}
diff --git a/src/main/java/frc/robot/subsystems/drive/Rollers/RollerIO.java b/src/main/java/frc/robot/subsystems/drive/Rollers/RollerIO.java
new file mode 100644
index 0000000..e04cfdb
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/drive/Rollers/RollerIO.java
@@ -0,0 +1,22 @@
+package frc.robot.subsystems.drive.rollers;
+
+import org.littletonrobotics.junction.AutoLog;
+
+public interface RollerIO {
+  @AutoLog
+  public static class Rolle_IO_Inputs {
+
+    public double r_Rot_Speed; // rotations per second
+    public double l_Rot_Speed;
+    public double r_Applied_Volts; // in volts
+    public double l_Applied_Volts;
+  }
+
+  public default void handle_Input(Rolle_IO_Inputs roller_Inputs) {}
+
+  public default void run_L_Motor(double speed_In_Volts) {}
+
+  public default void run_R_Motor(double speed_In_Volts) {}
+
+  public default void stop_Motor() {}
+}
diff --git a/src/main/java/frc/robot/subsystems/drive/Rollers/Roller_Constants_Dvid b/src/main/java/frc/robot/subsystems/drive/Rollers/Roller_Constants_Dvid
new file mode 100644
index 0000000..9be20dc
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/drive/Rollers/Roller_Constants_Dvid
@@ -0,0 +1,12 @@
+package frc.robot.subsystems.drive;
+
+import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
+
+public final class DriveConstants {
+    public static final int rightMotorID = 0;
+     // TODO: Update Ids to 1
+     public static final double flywheel_Full_Speed = 6;
+    public static final int leftMotorID = 1;
+
+    
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/drive/Rollers/Rollers.java b/src/main/java/frc/robot/subsystems/drive/Rollers/Rollers.java
new file mode 100644
index 0000000..f82b9c2
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/drive/Rollers/Rollers.java
@@ -0,0 +1,76 @@
+package frc.robot.subsystems.drive.rollers;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.subsystems.drive.rollers.RollerIO;
+import frc.robot.subsystems.drive.GyroIO;
+import frc.robot.util.PoseManager;
+//import frc.robot.subsystems.drive.Rollers.Roller_Constants_Dvid;
+
+public class Rollers extends SubsystemBase{
+
+ private final RollerIO io;
+ public double  speed;
+// private final rollerIOAutoLogged rollerInputs;
+
+
+
+    public Rollers(RollerIO io, GyroIO gyroIO, PoseManager poseManager) {
+        this.io = io;
+    // this.gyroIO = gyroIO;
+    // this.poseManager = poseManager;
+    }
+
+
+    public void periodic(){
+
+    }
+
+    private void run_volt_Left_Motor(double volts){
+       io.run_L_Motor(volts);
+    }
+
+    private void run_volt_Right_Motor(double volts){
+       io.run_R_Motor(volts);
+    }
+    private void run_Both_Motors(double volts){
+         io.run_R_Motor(volts);
+          io.run_L_Motor(volts);
+    }
+
+    
+    private void stop_Both_Motors(){
+        io.stop_Motor();
+    }
+
+    public Command run_Flywheel_Full_Speed (){
+        return runOnce (() -> {
+                run_Both_Motors(speed);
+        });
+    }
+ public Command run_Flywheel_Half_Speed (){
+        return runOnce (() -> {
+                run_Both_Motors(speed/2);
+        });
+    }
+ public Command run_Flywheel_x_Speed (double r_Speed, double l_Speed){
+        return runOnce (() -> {
+                run_volt_Left_Motor(l_Speed);
+                run_volt_Right_Motor(r_Speed);
+        });
+    }
+    public Command Stop_Fly_Wheels(){
+      return runOnce(() -> {
+        stop_Both_Motors();
+      });
+    }
+    /* Command notatiton
+    public Command (Name) (){ return  [run command](() -> {
+        [method]
+    })
+    
+    }
+  */
+
+}
+