diff --git a/components/intake.py b/components/intake.py
new file mode 100644
index 0000000..fffa48c
--- /dev/null
+++ b/components/intake.py
@@ -0,0 +1,23 @@
+import magicbot
+from phoenix6.hardware import TalonFX
+from phoenix6.configs.talon_fx_configs import TalonFXConfiguration
+from phoenix6.signals import NeutralModeValue
+from phoenix6.controls import VoltageOut
+from wpimath import units
+
+
+class Intake:
+    motor: TalonFX
+    voltage = magicbot.will_reset_to(0.0)
+
+    def execute(self):
+        motor_control = VoltageOut(self.voltage)
+        self.motor.set_control(motor_control)S
+
+    def setup(self):
+        config = TalonFXConfiguration()
+        config.motor_output.neutral_mode = NeutralModeValue.BRAKE
+        self.motor.configurator.apply(config)
+
+    def set_voltage(self, voltage: units.volts):
+        self.voltage = voltage
\ No newline at end of file
diff --git a/components/pigeon.py b/components/pigeon.py
new file mode 100644
index 0000000..1a5ee56
--- /dev/null
+++ b/components/pigeon.py
@@ -0,0 +1,33 @@
+import math
+from phoenix6.hardware.pigeon2 import Pigeon2
+
+class Pigeon:
+
+    gyro: Pigeon2
+
+    def setup(self):
+        self.gyro.reset()
+
+    def execute(self):
+        pass
+
+    def yaw(self) -> float:
+        return self.gyro.get_yaw().value
+    
+    def roll(self) -> float:
+        return self.gyro.get_roll().value
+
+    def pitch(self) -> float:
+        return self.gyro.get_pitch().value
+    
+    def rotation2d(self):
+        return self.gyro.getRotation2d()
+    
+    def degrees_per_second_ccw(self) -> float:
+        return self.gyro.get_angular_velocity_z_world().value
+
+    def getRadiansPerSecCCW(self) -> float:
+        return math.radians(self.degrees_per_second_ccw())
+    
+    def set_yaw(self, angle):
+        self.gyro.set_yaw(angle)
\ No newline at end of file
diff --git a/robot.py b/robot.py
index acc3a2d..6089b15 100644
--- a/robot.py
+++ b/robot.py
@@ -4,18 +4,19 @@ import genie
 
 
 class MyRobot(genie.GenieRobot):
-    CONTROLLER: components.XboxController
+    controller: components.XboxController
+    pigeon: components.Pigeon
 
     def createObjects(self):
         """Create motors and stuff here"""
         # Controller stuff here
-        self.CONTROLLER_CORRECT_FOR_DEADBAND = constants.CONTROLLER_CORRECT_FOR_DEADBAND
-        self.CONTROLLER_DEADBAND = constants.CONTROLLER_DEADBAND
-        self.CONTROLLER_PORT = constants.CONTROLLER_PORT
+        self.controller_correct_for_deadband = constants.CONTROLLER_CORRECT_FOR_DEADBAND
+        self.controller_deadband = constants.CONTROLLER_DEADBAND
+        self.controller_port = constants.CONTROLLER_PORT
 
     def teleopInit(self):
         """Called when teleop starts; optional"""
 
     def teleopPeriodic(self):
         """Called periodically during teleop"""
-        self.CONTROLLER.capture_button_presses()
+        self.controller.capture_button_presses()