diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 6320e0f..4753813 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -302,4 +302,8 @@ public static class ShooterConstants {
         .put(2.1, 10.2);
 
     }
+    public static class CollectingConstants{
+        public static final int SwitchID=1;
+        public static final int CollectingMotorID=10;
+    }
 }
diff --git a/src/main/java/frc/robot/commands/CollectingCommands/setSpeedCommand.java b/src/main/java/frc/robot/commands/CollectingCommands/setSpeedCommand.java
new file mode 100644
index 0000000..0a9b3e9
--- /dev/null
+++ b/src/main/java/frc/robot/commands/CollectingCommands/setSpeedCommand.java
@@ -0,0 +1,42 @@
+// 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.CollectingCommands;
+
+import static frc.robot.Constants.CollectingConstants.CollectingMotorID;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.Constants.CollectingConstants;
+import frc.robot.subsystems.CollectingSubsystem;
+
+public class setSpeedCommand extends Command {
+  private final CollectingSubsystem collectingSubsystem = CollectingSubsystem.getInstance();
+  double speed;
+  /** Creates a new setSpeedCommand. */
+  public setSpeedCommand(double speed) {
+    addRequirements(collectingSubsystem);
+    this.speed = speed;
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    collectingSubsystem.setSpeed(speed);
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // 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;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/CollectingCommands/setSpeedUntilFeedCommand.java b/src/main/java/frc/robot/commands/CollectingCommands/setSpeedUntilFeedCommand.java
new file mode 100644
index 0000000..c4f39d2
--- /dev/null
+++ b/src/main/java/frc/robot/commands/CollectingCommands/setSpeedUntilFeedCommand.java
@@ -0,0 +1,44 @@
+// 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.CollectingCommands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.Constants.CollectingConstants;
+import frc.robot.subsystems.CollectingSubsystem;
+
+public class setSpeedUntilFeedCommand extends Command {
+  private final CollectingSubsystem collectingSubsystem = CollectingSubsystem.getInstance();
+  /** Creates a new setSpeedUntilFeedCommand. */
+  public setSpeedUntilFeedCommand() {
+    addRequirements(collectingSubsystem);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // 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() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    collectingSubsystem.setSpeed(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    if (collectingSubsystem.getSwitch()){
+      return true;
+    }
+    else{
+      return false;
+    }
+
+  }
+}
diff --git a/src/main/java/frc/robot/subsystems/CollectingSubsystem.java b/src/main/java/frc/robot/subsystems/CollectingSubsystem.java
new file mode 100644
index 0000000..9cf95ea
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/CollectingSubsystem.java
@@ -0,0 +1,47 @@
+// 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.subsystems;
+
+import com.ctre.phoenix.motorcontrol.ControlMode;
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
+import com.ctre.phoenix6.hardware.TalonFX;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+import static frc.robot.Constants.CollectingConstants.*;
+
+public class CollectingSubsystem extends SubsystemBase {
+  private TalonSRX m_collecting;
+  DigitalInput limitSwitch;
+
+  private static CollectingSubsystem instance;
+  
+    public static CollectingSubsystem getInstance() {
+      if (instance == null) {
+        instance = new CollectingSubsystem();
+      }
+      return instance;
+    }
+    
+  /** Creates a new CollectingSubsystem. */
+  public CollectingSubsystem() {
+    this.m_collecting = new TalonSRX(CollectingMotorID);
+    this.limitSwitch = new DigitalInput(SwitchID);
+  }
+
+  public void setSpeed(double speed){
+    m_collecting.set(ControlMode.PercentOutput, speed);
+  }
+
+  public boolean getSwitch(){
+    return limitSwitch.get();
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}