diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
index 08fcc1a..041cc7e 100644
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -31,10 +31,10 @@ public class RobotMap {
   public SwerveModule leftBack;
   public SwerveModule rightBack;
 
-
   public RobotMap() {
     configureLEDMotorControllers();
     configureDriveMotors();
+    configArmMotors();
   }
 
   /* LED Subsystem */
@@ -128,4 +128,22 @@ public class RobotMap {
     this.rightBack = new SwerveModule(rightBackWheel, rightBackSteer, rightBackEncoder, SwerveDriveConstants.Configurations.RIGHT_BACK_ENCODER_OFFSET);
 
   }
+
+  // arm stuff
+  public WPI_TalonFX pivot = new WPI_TalonFX(-1); // TODO: Add real id
+  public WPI_TalonFX tele =  new WPI_TalonFX(-1); // TODO: Add real id
+
+  public void configArmMotors() {
+    // config factory default
+    pivot.configFactoryDefault();
+    tele.configFactoryDefault();
+
+    // config open loop ramp
+    pivot.configOpenloopRamp(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
+    tele.configOpenloopRamp(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
+
+    // config closed loop ramp
+    pivot.configClosedloopRamp(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
+    tele.configClosedloopRamp(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
+  }
 }
diff --git a/src/main/java/frc4388/robot/subsystems/Arm.java b/src/main/java/frc4388/robot/subsystems/Arm.java
new file mode 100644
index 0000000..85e8860
--- /dev/null
+++ b/src/main/java/frc4388/robot/subsystems/Arm.java
@@ -0,0 +1,33 @@
+// 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.subsystems;
+
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Arm extends SubsystemBase {
+  /** Creates a new Arm. */
+  private WPI_TalonFX pivot;
+  private WPI_TalonFX tele;
+
+  public Arm(WPI_TalonFX pivot, WPI_TalonFX tele) {
+    this.pivot = pivot;
+    this.tele = tele;
+  }
+
+  public void runPivot(double output) {
+    pivot.set(output);
+  }
+
+  public void runTelescope(double output) {
+    tele.set(output);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}