diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 3cfd7aa..65a5b34 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -13,6 +13,8 @@
 
 package frc.robot;
 
+import static edu.wpi.first.units.Units.Inches;
+import static edu.wpi.first.units.Units.Volts;
 import static edu.wpi.first.units.Units.Inches;
 import static edu.wpi.first.units.Units.Meters;
 import static edu.wpi.first.units.Units.Rotations;
@@ -30,6 +32,7 @@
 import edu.wpi.first.units.measure.AngularVelocity;
 import edu.wpi.first.units.measure.Distance;
 import edu.wpi.first.units.measure.Velocity;
+import edu.wpi.first.units.measure.Voltage;
 import edu.wpi.first.wpilibj.RobotBase;
 import frc.lib.W8.mechanisms.linear.LinearMechanism.LinearMechCharacteristics;
 import frc.lib.W8.mechanisms.rotary.RotaryMechanism.RotaryMechCharacteristics;
@@ -84,7 +87,8 @@ public class HopperConstants {
     public static final Distance MIN_DISTANCE = Inches.of(0.0);
     public static final Distance MAX_DISTANCE = Inches.of(15.0);
     public static final Distance STARTING_DISTANCE = Inches.of(0.0);
-    private static final Distance DRUM_RADIUS = Inches.of(2.0);
+    public static final Voltage VOLTAGE = Volts.of(12.0);
+    public static final Distance DRUM_RADIUS = Inches.of(2.0);
     public static final DistanceAngleConverter CONVERTER = new DistanceAngleConverter(DRUM_RADIUS);
     public static final AngularVelocity ANGULAR_VELOCITY = RotationsPerSecond.of(1);
     public static final AngularAcceleration ANGULAR_ACCELERATION = RotationsPerSecondPerSecond.of(1);
diff --git a/src/main/java/frc/robot/subsystems/hopper/Hopper.java b/src/main/java/frc/robot/subsystems/hopper/Hopper.java
index 95f1b8e..f3170b0 100644
--- a/src/main/java/frc/robot/subsystems/hopper/Hopper.java
+++ b/src/main/java/frc/robot/subsystems/hopper/Hopper.java
@@ -11,16 +11,20 @@
 
 public class Hopper extends SubsystemBase {
 
-private FlywheelMechanism _io;
-
-public Hopper(FlywheelMechanism io) {
-_io = io;
-}
-
-public void setGoal(double position) {
-  Distance positionInches = Inches.of(position);
-  _io.runPosition(HopperConstants.CONVERTER.toAngle(positionInches), HopperConstants.ANGULAR_VELOCITY, HopperConstants.ANGULAR_ACCELERATION, null, PIDSlot.SLOT_0);
-}
+  private FlywheelMechanism _io;
+
+  public Hopper(FlywheelMechanism io) {
+  _io = io;
+  }
+
+  public void setGoal(double position) {
+    Distance positionInches = Inches.of(position);
+    _io.runPosition(HopperConstants.CONVERTER.toAngle(positionInches), HopperConstants.ANGULAR_VELOCITY, HopperConstants.ANGULAR_ACCELERATION, null, PIDSlot.SLOT_0);
+  }
+  
+  public void runHopper() {
+        _io.runVoltage(HopperConstants.VOLTAGE);
+    }
 
   @Override
   public void periodic() {}