diff --git a/src/main/java/frc/robot/Commands/WristCommand.java b/src/main/java/frc/robot/Commands/WristCommand.java
new file mode 100644
index 0000000..ab24cac
--- /dev/null
+++ b/src/main/java/frc/robot/Commands/WristCommand.java
@@ -0,0 +1,60 @@
+// 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 frc.robot.commands;
+
+
+import frc.robot.subsystems.ElevatorSubsystem;
+import frc.robot.subsystems.WristSubsystem;
+
+import java.util.function.DoubleSupplier;
+
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+
+
+/** An example command that uses an example subsystem. */
+public class WristCommand extends CommandBase {
+ @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
+ private final WristSubsystem wristSubsystem;
+private DoubleSupplier speedSupplier;
+ /**
+  * Creates a new ExampleCommand.
+  *
+  * @param subsystem The subsystem used by this command.
+  */
+ public WristCommand(WristSubsystem wristSubsystem, DoubleSupplier speedSupplier) {
+   this.wristSubsystem = wristSubsystem;
+   this.speedSupplier = speedSupplier;
+   // Use addRequirements() here to declare subsystem dependencies.
+   addRequirements(wristSubsystem);
+ }
+
+
+ // Called when the command is initially scheduled.
+ @Override
+ public void initialize() {}
+
+
+ // Called every time the scheduler runs while the command is scheduled.
+ @Override
+ public void execute() {
+  wristSubsystem.setTargetAngle(50); //update the targetAngle here 
+
+
+ }
+
+
+ // Called once the command ends or is interrupted.
+ @Override
+ public void end(boolean interrupted) {}
+
+
+ // Returns true when the command should end.
+ @Override
+ public boolean isFinished() {
+   return false;
+ }
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 80a3c9d..c884900 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -28,4 +28,11 @@ public static class Elevator{
        public static final double GEAR_CIRCUMFERENCE = 1.432*Math.PI;
   
 }
+public static class Wrist{
+  /**the gear ratio of the motor to the final gear revolutions */
+  public static final double GEAR_RATIO = 0.02585856914;
+  /**The number of ticks per motor revolution */
+  public static final double TICKS_PER_REVOLUTION = 2048;
+  /**The gear circumferance for distance */
+  public static final double GEAR_CIRCUMFERENCE = 1.432*Math.PI;
 }
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/WristSubsystem.java b/src/main/java/frc/robot/subsystems/WristSubsystem.java
index 5b3fb64..a3ded73 100644
--- a/src/main/java/frc/robot/subsystems/WristSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/WristSubsystem.java
@@ -4,8 +4,10 @@
 
 
 package frc.robot.subsystems;
+import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
 import com.ctre.phoenix.motorcontrol.can.TalonFX;
 import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.wpilibj.motorcontrol.Talon;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -13,35 +15,47 @@
 
 public class WristSubsystem extends SubsystemBase {
  /** Creates a new ExampleSubsystem. */
- private TalonFX left_motor;
+ private TalonFX motor;
  /** leader */
- private TalonFX right_motor;
  private PIDController pidController;
- private final ShuffleboardTab ElevatorTab = Shuffleboard.getTab("Elevator");
+ private final ShuffleboardTab WristTab = Shuffleboard.getTab("Elevator");
 
 
- private double targetHeight;
+ private double targetAngle;
  private double motorPower;
+ 
+ //creates the WristSubsystem 
   public WristSubsystem() {
+    motor = new TalonFX(16);
+    motorPower = 0;
+    targetAngle = 0; //sets the "targetAngle" variable to 0 by default
 
+    //creates the new PID :) WOOHOOOO
+    pidController = new PIDController(0, 0, 0);
 
 
+    //
+    WristTab.addNumber("Current Motor Power", () -> motorPower);  
+    WristTab.addNumber("Target Angle", () -> this.targetAngle);
+  }
+ 
 
+  public static double inchesToTicks(double height) {
+    return height * ((Wrist.GEAR_RATIO * Wrist.TICKS_PER_REVOLUTION) / (Wrist.GEAR_CIRCUMFERENCE));
+  }
+  public static double ticksToInches(double ticks) {
+    return (ticks * Wrist.GEAR_CIRCUMFERENCE) / (Wrist.TICKS_PER_REVOLUTION * Wrist.GEAR_RATIO);
+  }
 
 
+// updates the "targetAngle" variable if you change the value in WristCommand in public void execute
+public void setTargetAngle(double targetAngle) {
+  this.targetAngle = targetAngle;
+}
 
-
-
- }
- 
  @Override
  public void periodic() {
+   motor.set(TalonFXControlMode.PercentOutput, motorPower);
    
  }
-
-
- @Override
- public void simulationPeriodic() {
-   // This method will be called once per scheduler run during simulation
-   }
- }
\ No newline at end of file
+}
\ No newline at end of file