diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 6fb19d4..6accd17 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -97,6 +97,14 @@ public class RobotContainer {
         new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
             .whenPressed(new InstantCommand(() -> m_robotDrive.resetGyroYaw(), m_robotDrive));
 
+        // sets solenoids into high gear
+        new JoystickButton(getDriverJoystick(), XboxController.START_BUTTON)
+            .whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(true), m_robotDrive));
+
+        // sets solenoids into low gear
+        new JoystickButton(getDriverJoystick(), XboxController.BACK_BUTTON)
+            .whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(false), m_robotDrive));
+
         //new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
         //    .whenPressed(new RunCommand(() -> m_robotDrive.runMotionMagicPID(5000, 0), m_robotDrive));
         // interrupts any running command
diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
index ee725ad..07ba57a 100644
--- a/src/main/java/frc4388/robot/subsystems/Drive.java
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -20,6 +20,7 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 import com.ctre.phoenix.sensors.PigeonIMU;
 import com.ctre.phoenix.sensors.PigeonIMU_StatusFrame;
 
+import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
@@ -49,6 +50,8 @@ public class Drive extends SubsystemBase {
   public static Gains m_gainsTurning = DriveConstants.DRIVE_TURNING_GAINS;
   public static Gains m_gainsMotionMagic = DriveConstants.DRIVE_MOTION_MAGIC_GAINS;
 
+  public DoubleSolenoid speedShift;
+
   /**
    * Add your docs here.
    */
@@ -61,6 +64,8 @@ public class Drive extends SubsystemBase {
     m_pigeon.configFactoryDefault();
     resetGyroYaw();
 
+    speedShift = new DoubleSolenoid(7,0,1);
+
     /* set back motors as followers */
     m_leftBackMotor.follow(m_leftFrontMotor);
     m_rightBackMotor.follow(m_rightFrontMotor);
@@ -414,4 +419,17 @@ public class Drive extends SubsystemBase {
     m_pigeon.setYaw(0);
     m_pigeon.setAccumZAngle(0);
   }
+
+  /**
+   * Set to high or low gear based on boolean state, true = high, false = low
+   * @param state Chooses between high or low gear
+   */
+  public void setShiftState(boolean state) {
+    if (state == true) {
+			speedShift.set(DoubleSolenoid.Value.kForward);
+		}
+		if (state == false) {
+			speedShift.set(DoubleSolenoid.Value.kReverse);
+		}
+  }
 }