diff --git a/command/arm.py b/command/arm.py
new file mode 100644
index 0000000..40bb092
--- /dev/null
+++ b/command/arm.py
@@ -0,0 +1,85 @@
+import math
+
+import wpilib  # noqa
+from commands2 import SequentialCommandGroup  # noqa
+
+import config
+import constants  # noqa
+import utils  # noqa
+from oi.keymap import Controllers  # noqa
+from subsystem import Arm
+from toolkit.command import SubsystemCommand
+from units.SI import radians
+from enum import Enum
+
+
+# cmds: set arm (angle), zero arm, specific positions that inherit from set arm
+
+class SetArm(SubsystemCommand[Arm]):
+    """
+    Sets the wrist to a given angle (radians).
+    param: angle in radians
+    """
+
+    def __init__(self, subsystem: Arm, angle: float):
+        super().__init__(subsystem)
+        self.subsystem = subsystem
+        self.angle = angle
+
+    def initialize(self):
+        # change to actual name
+        self.subsystem.set_angle(self.angle)
+        self.subsystem.is_rotating = True
+
+    def execute(self):
+        pass
+
+    def isFinished(self):
+        return self.subsystem.is_at_angle(self.angle)
+
+    def end(self, interrupted: bool):
+        if interrupted:
+            arm_angle = self.subsystem.get_angle()
+
+        self.subsystem.is_rotating = False
+
+
+class ZeroArm(SubsystemCommand[Arm]):
+    """
+    Zeros the arm.
+    """
+
+    def __init__(self, subsystem: Arm):
+        super().__init__(subsystem)
+        self.subsystem = subsystem
+
+    def initialize(self):
+        # change to actual name
+        self.subsystem.zero_arm()
+
+    def execute(self):
+        pass
+
+    def isFinished(self):
+        return self.subsystem.is_zeroed()
+
+    def end(self, interrupted: bool):
+        if not interrupted:
+            self.subsystem.arm_zeroed = True
+        else:
+            ...
+
+
+class SetSpeakerPosition(SetArm):
+    def __init__(self, subsystem: Arm):
+        super().__init__(subsystem, radians(config.speaker_angle))
+
+
+class SetAmpPosition(SetArm):
+    def __init__(self, subsystem: Arm):
+        super().__init__(subsystem, radians(config.amp_angle))
+
+
+class SetIntakePosition(SetArm):
+    def __init__(self, subsystem: Arm):
+        super().__init__(subsystem, radians(config.intake_angle))
diff --git a/config.py b/config.py
index 8f6b2e6..031b3ce 100644
--- a/config.py
+++ b/config.py
@@ -16,4 +16,9 @@
 # 3 = ERROR
 # 4 = SETUP
 # anything else will log nothing
-# ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
\ No newline at end of file
+# ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+# Arm
+speaker_angle: float = 20.0
+amp_angle: float = 39.0
+intake_angle: float = 45.0
\ No newline at end of file