diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 4b397d1..2f9a976 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -35,8 +35,8 @@ public static class DrivetrainConstants {
 	}
 
 	public static class PneumaticConstants {
-		public static final int kForwardChannel = 0; // TODO: Update these channel values
-		public static final int kReverseChannel = 2;
+		public static final int kForwardChannel = 2; // TODO: Update these channel values
+		public static final int kReverseChannel = 0;
 	}
 
 	public static class AutoConstants {
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 5aa6512..6cb19a5 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -30,8 +30,6 @@ public class RobotContainer {
 
 	public static final Pneumatics m_piston = new Pneumatics();
 	public static double speedUp = 0.0;
-	public static DoubleSolenoid m_doubleSolenoid = new DoubleSolenoid(15, PneumaticsModuleType.CTREPCM,
-			PneumaticConstants.kForwardChannel, PneumaticConstants.kReverseChannel);
 	// public static Compressor m_compressor = new
 	// Compressor(PneumaticsModuleType.CTREPCM);
 
@@ -61,8 +59,8 @@ private void configureBindings() {
 		// Set the default command for the drivetrain to drive using the joysticks
 		m_drivetrain.setDefaultCommand(
 
-				new RunCommand(() -> m_drivetrain.arcadeDrive(m_driverController.getLeftY() * (0.5 + speedUp),
-						m_driverController.getRightX() * (0.5 + speedUp)), m_drivetrain));
+				new RunCommand(() -> m_drivetrain.tankDrive(m_driverController.getLeftY() * (0.5 + speedUp),
+						m_driverController.getRightY() * (0.5 + speedUp)), m_drivetrain));
 
 		/*
 		 * Extends piston when operator presses the "b" button Retracts piston when
@@ -71,8 +69,8 @@ private void configureBindings() {
 		 * pushing and pulling air in the piston when the operator presses the "y"
 		 * button
 		 */
-		m_operatorController.b().onTrue(PneumaticCommands.pistonExtend());
-		m_operatorController.a().onTrue(PneumaticCommands.pistonRetract());
+		m_operatorController.leftTrigger().onTrue(PneumaticCommands.pistonExtend());
+		m_operatorController.rightTrigger().onTrue(PneumaticCommands.pistonRetract());
 		m_operatorController.x().onTrue(PneumaticCommands.solenoidOff());
 		m_operatorController.y().onTrue(PneumaticCommands.solenoidToggle());
 	}
diff --git a/src/main/java/frc/robot/subsystems/Auto.java b/src/main/java/frc/robot/subsystems/Auto.java
index cdeeaa2..0360612 100644
--- a/src/main/java/frc/robot/subsystems/Auto.java
+++ b/src/main/java/frc/robot/subsystems/Auto.java
@@ -5,12 +5,16 @@
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.WaitCommand;
 import frc.robot.RobotContainer;
+import frc.robot.commands.PneumaticCommands;
 
 public class Auto {
 	public static Command getAuto(RobotContainer robot) {
 
 		return new SequentialCommandGroup( // basic auto to leave zone.
-				new WaitCommand(2), new InstantCommand(() -> RobotContainer.m_drivetrain.tankDrive(0.5, .5)),
-				new WaitCommand(2), new InstantCommand(() -> RobotContainer.m_drivetrain.tankDrive(0, 0)));
+			PneumaticCommands.pistonExtend(),
+			new WaitCommand(2), new InstantCommand(() -> RobotContainer.m_drivetrain.tankDrive(-0.5, -0.5)),
+			PneumaticCommands.pistonRetract(),
+			new WaitCommand(2), new InstantCommand(() -> RobotContainer.m_drivetrain.tankDrive(0, 0))
+		);
 	}
 }
diff --git a/src/main/java/frc/robot/subsystems/Pneumatics.java b/src/main/java/frc/robot/subsystems/Pneumatics.java
index e4883a1..25607f1 100644
--- a/src/main/java/frc/robot/subsystems/Pneumatics.java
+++ b/src/main/java/frc/robot/subsystems/Pneumatics.java
@@ -1,6 +1,8 @@
 package frc.robot.subsystems;
 
 import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
+import frc.robot.Constants.PneumaticConstants;
 import frc.robot.RobotContainer;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
@@ -8,19 +10,21 @@ public class Pneumatics extends SubsystemBase {
 	// public Pneumatics() {
 	// RobotContainer.m_compressor.enableDigital();
 	// }
+	public DoubleSolenoid m_doubleSolenoid = new DoubleSolenoid(15, PneumaticsModuleType.CTREPCM,
+			PneumaticConstants.kForwardChannel, PneumaticConstants.kReverseChannel);
 	public void extendPiston() {
-		RobotContainer.m_doubleSolenoid.set(DoubleSolenoid.Value.kForward);
+		m_doubleSolenoid.set(DoubleSolenoid.Value.kForward);
 	}
 
 	public void retractPiston() {
-		RobotContainer.m_doubleSolenoid.set(DoubleSolenoid.Value.kReverse);
+		m_doubleSolenoid.set(DoubleSolenoid.Value.kReverse);
 	}
 
 	public void setSolenoidOff() {
-		RobotContainer.m_doubleSolenoid.set(DoubleSolenoid.Value.kOff);
+		m_doubleSolenoid.set(DoubleSolenoid.Value.kOff);
 	}
 
 	public void toggleSolenoid() {
-		RobotContainer.m_doubleSolenoid.toggle();
+		m_doubleSolenoid.toggle();
 	}
 }