diff --git a/src/main/java/frc4388/robot/commands/ArmCommand.java b/src/main/java/frc4388/robot/commands/PivotCommand.java
similarity index 55%
rename from src/main/java/frc4388/robot/commands/ArmCommand.java
rename to src/main/java/frc4388/robot/commands/PivotCommand.java
index 90ec94d..3f8235c 100644
--- a/src/main/java/frc4388/robot/commands/ArmCommand.java
+++ b/src/main/java/frc4388/robot/commands/PivotCommand.java
@@ -5,26 +5,17 @@
 package frc4388.robot.commands;
 
 import frc4388.robot.subsystems.Arm;
-import frc4388.robot.subsystems.Claw;
 
-public class ArmCommand extends PelvicInflammatoryDisease {
+public class PivotCommand extends PelvicInflammatoryDisease {
   private final Arm     arm;
-  private final Claw    claw;
-  private final boolean toggle;
   private final double  target;
   
   /** Creates a new ArmCommand. */
-  public ArmCommand(Arm arm, Claw claw, double target, boolean open) {
+  public PivotCommand(Arm arm, double target) {
     super(0.6, 0, 0, 0, 0);
     this.arm    = arm;
-    this.claw   = claw;
-    this.toggle = open;
     this.target = target;
-    addRequirements(arm, claw);
-  }
-
-  public ArmCommand(Arm arm, Claw claw, double target) {
-    this(arm, claw, target, claw.isClawOpen());
+    addRequirements(arm);
   }
 
   @Override
@@ -36,9 +27,4 @@ public class ArmCommand extends PelvicInflammatoryDisease {
   public void runWithOutput(double output) {
     arm.setRotVel(output);
   }
-
-  @Override
-  public void end(boolean interrupted) {
-    claw.setClaw(toggle);
-  }
 }
diff --git a/src/main/java/frc4388/robot/commands/TeleCommand.java b/src/main/java/frc4388/robot/commands/TeleCommand.java
new file mode 100644
index 0000000..02c8c27
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/TeleCommand.java
@@ -0,0 +1,32 @@
+// 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 frc4388.robot.commands;
+
+import frc4388.robot.Constants.ArmConstants;
+import frc4388.robot.subsystems.Arm;
+
+public class TeleCommand extends PelvicInflammatoryDisease {
+  private final Arm    arm;
+  private final double target;
+  
+  /** Creates a new ArmCommand. */
+  public TeleCommand(Arm arm, double target) {
+    super(0.6, 0, 0, 0, 0);
+    this.arm    = arm;
+    this.target = target;
+    addRequirements(arm);
+  }
+
+  @Override
+  public double getError() {
+    return (arm.getArmLength() - target) /
+           (ArmConstants.TELE_FORWARD_SOFT_LIMIT - ArmConstants.TELE_REVERSE_SOFT_LIMIT);
+  }
+
+  @Override
+  public void runWithOutput(double output) {
+    arm.setTeleVel(output);
+  }
+}