diff --git a/src/main/java/com/team766/robot/OI.java b/src/main/java/com/team766/robot/OI.java
index bfe88916..bebc8607 100644
--- a/src/main/java/com/team766/robot/OI.java
+++ b/src/main/java/com/team766/robot/OI.java
@@ -156,6 +156,15 @@ public void run(Context context) {
 					intakeState = IntakeState.IDLE;
 				}
 			} 
+			//grabber OI
+			if(controlPanel.getButtonPressed(InputConstants.GRAB_IN)){
+				Robot.grabber.grabberPickUp();
+			} else if(controlPanel.getButtonPressed(InputConstants.GRAB_OUT)){
+				Robot.grabber.grabberLetGo();
+			} else {
+				Robot.grabber.grabberStop();
+			}
+
 
 			// Sets the wheels to the cross position if the cross button is pressed
 			if (rightJoystick.getButtonPressed(InputConstants.CROSS_WHEELS)) {
diff --git a/src/main/java/com/team766/robot/constants/InputConstants.java b/src/main/java/com/team766/robot/constants/InputConstants.java
index 3be8051d..ef42bde1 100644
--- a/src/main/java/com/team766/robot/constants/InputConstants.java
+++ b/src/main/java/com/team766/robot/constants/InputConstants.java
@@ -19,7 +19,7 @@ public final class InputConstants {
 
 	// Joystick buttons
 	public static final int CROSS_WHEELS = 1;
-	public static final int GRABBER_RELEASE = 1;
+	//public static final int GRABBER_RELEASE = 1;
 	public static final int FINE_DRIVING = 1;
 
 	// Control Panel Buttons
@@ -36,6 +36,10 @@ public final class InputConstants {
 	public static final int RESET_GYRO = 11;
 	public static final int RESET_POS = 12;
 
+	public static final int GRAB_IN = 13;
+	public static final int GRAB_OUT = 14;
+	public static final int GRAB_STOP = 15;
+
 	public static final int ANTI_GRAV = 16;
 
 
diff --git a/src/main/java/com/team766/robot/mechanisms/Grabber.java b/src/main/java/com/team766/robot/mechanisms/Grabber.java
index 08aaa418..2658d768 100644
--- a/src/main/java/com/team766/robot/mechanisms/Grabber.java
+++ b/src/main/java/com/team766/robot/mechanisms/Grabber.java
@@ -3,23 +3,27 @@
 import com.team766.framework.Mechanism;
 import com.team766.hal.MotorController;
 import com.team766.hal.RobotProvider;
-import com.team766.hal.SolenoidController;
 
-public class Grabber extends Mechanism{
-	
-	private MotorController wrist;
-	private SolenoidController grabber;
+public class Grabber extends Mechanism {
+	private MotorController grabby;
 
 	public Grabber(){
-		wrist = RobotProvider.instance.getMotor("wrist");
-		grabber = RobotProvider.instance.getSolenoid("grabber");
+		grabby = RobotProvider.instance.getMotor("arms.grabber");
 	}
 
-	public void grabIn(){
-		grabber.set(true);
+	public void grabberPickUp(){
+		checkContextOwnership();
+		grabby.set(1.0);
+
+	}
+
+	public void grabberLetGo(){
+		checkContextOwnership();
+		grabby.set(-1.0);
 	}
 
-	public void grabOut(){
-		grabber.set(false);
+	public void grabberStop(){
+		checkContextOwnership();
+		grabby.set(0.0);
 	}
 }
diff --git a/src/main/java/com/team766/robot/procedures/GrabberIn.java b/src/main/java/com/team766/robot/procedures/GrabberIn.java
new file mode 100644
index 00000000..8bb41ef9
--- /dev/null
+++ b/src/main/java/com/team766/robot/procedures/GrabberIn.java
@@ -0,0 +1,12 @@
+package com.team766.robot.procedures;
+
+import com.team766.framework.Context;
+import com.team766.framework.Procedure;
+import com.team766.robot.Robot;
+
+public class GrabberIn extends Procedure{
+	public void run(Context context){
+		context.takeOwnership(Robot.grabber);
+		Robot.grabber.grabberPickUp();
+	}
+}
diff --git a/src/main/java/com/team766/robot/procedures/GrabberOut.java b/src/main/java/com/team766/robot/procedures/GrabberOut.java
new file mode 100644
index 00000000..fc13fdc5
--- /dev/null
+++ b/src/main/java/com/team766/robot/procedures/GrabberOut.java
@@ -0,0 +1,12 @@
+package com.team766.robot.procedures;
+
+import com.team766.framework.Context;
+import com.team766.framework.Procedure;
+import com.team766.robot.Robot;
+
+public class GrabberOut extends Procedure{
+	public void run(Context context){
+		context.takeOwnership(Robot.grabber);
+		Robot.grabber.grabberLetGo();
+	}
+}
diff --git a/src/main/java/com/team766/robot/procedures/GrabberStop.java b/src/main/java/com/team766/robot/procedures/GrabberStop.java
new file mode 100644
index 00000000..eb38e1e8
--- /dev/null
+++ b/src/main/java/com/team766/robot/procedures/GrabberStop.java
@@ -0,0 +1,12 @@
+package com.team766.robot.procedures;
+
+import com.team766.framework.Context;
+import com.team766.framework.Procedure;
+import com.team766.robot.Robot;
+
+public class GrabberStop extends Procedure{
+	public void run(Context context){
+		context.takeOwnership(Robot.grabber);
+		Robot.grabber.grabberStop();
+	}
+}