diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index dac8511..e488e91 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -14,10 +14,12 @@
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.robot.commands.ResetGyro;
+import frc.robot.commands.RunCoralOuttake;
 import frc.robot.constants.SWERVE;
 import frc.robot.constants.USB;
 import frc.robot.generated.TunerConstants;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
+import frc.robot.subsystems.CoralOuttake;
 import frc.robot.utils.Telemetry;
 
 /**
@@ -30,6 +32,7 @@ public class RobotContainer {
   // The robot's subsystems and commands are defined here...
   private final CommandSwerveDrivetrain m_swerveDrive = TunerConstants.createDrivetrain();
   private final Telemetry m_telemetry = new Telemetry();
+  private final CoralOuttake m_coralOuttake = new CoralOuttake();
 
   // Replace with CommandPS4Controller or CommandJoystick if needed
   private final Joystick leftJoystick = new Joystick(USB.leftJoystick);
@@ -97,6 +100,7 @@ private void configureBindings() {
     //    // Schedule `exampleMethodCommand` when the Xbox controller's B button is pressed,
     //    // cancelling on release.
     //    m_driverController.b().whileTrue(m_exampleSubsystem.exampleMethodCommand());
+    m_driverController.leftBumper().whileTrue(new RunCoralOuttake(m_coralOuttake, 0.5));
   }
 
   /**
diff --git a/src/main/java/frc/robot/commands/runCoralOuttake.java b/src/main/java/frc/robot/commands/runCoralOuttake.java
index 6422cfb..8ac7fcd 100644
--- a/src/main/java/frc/robot/commands/runCoralOuttake.java
+++ b/src/main/java/frc/robot/commands/runCoralOuttake.java
@@ -1,12 +1,13 @@
 package frc.robot.commands;
 
+import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.CoralOuttake;
 
-public class runCoralOuttake {
+public class RunCoralOuttake extends Command {
   private final CoralOuttake m_coralOuttake;
   private final double m_desiredPercentOutput;
 
-  public runCoralOuttake(CoralOuttake coralOuttake, double desiredPercentOutput) {
+  public RunCoralOuttake(CoralOuttake coralOuttake, double desiredPercentOutput) {
     m_coralOuttake = coralOuttake;
     m_desiredPercentOutput = desiredPercentOutput;
   }
@@ -18,4 +19,13 @@ public void initialize() {
   public void execute() {
     m_coralOuttake.setDesiredPercentOutput(m_desiredPercentOutput);
   }
+
+  public void end(boolean interrupted) {
+    m_coralOuttake.setDesiredPercentOutput(0);
+    m_coralOuttake.setOuttakingState(false);
+  }
+
+  public boolean isFinished() {
+    return false;
+  }
 }