diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 9ea7489..8579bd1 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -27,6 +27,7 @@
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.units.AngularAccelerationUnit;
+import edu.wpi.first.units.AngularVelocityUnit;
 import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.units.measure.AngularAcceleration;
 import edu.wpi.first.units.measure.AngularVelocity;
@@ -87,6 +88,11 @@ 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);
+
+    // CHANGE TO PROPER RPMS !!!!
+    public static final double SLOW_SPEED_RPM = 0.0;
+    public static final double FAST_SPEED_RPM = 0.0;
+    public static final double REVERSE_SPEED_RPM = 0.0;
     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);
diff --git a/src/main/java/frc/robot/subsystems/hopper/Hopper.java b/src/main/java/frc/robot/subsystems/hopper/Hopper.java
index a9d351e..d1ac91f 100644
--- a/src/main/java/frc/robot/subsystems/hopper/Hopper.java
+++ b/src/main/java/frc/robot/subsystems/hopper/Hopper.java
@@ -9,13 +9,31 @@
 import frc.robot.Constants;
 import frc.robot.Constants.HopperConstants;
 
+import static edu.wpi.first.units.Units.*;
+
+import edu.wpi.first.units.measure.*;
+import frc.robot.Constants.HopperConstants;
+
 public class Hopper extends SubsystemBase {
+    private FlywheelMechanism _io;
 
-  private FlywheelMechanism _io;
+    public enum State
+    {
+        OFF (RevolutionsPerSecond.of(0.0)),
+        FORWARD_SLOW (RevolutionsPerSecond.of(HopperConstants.SLOW_SPEED_RPM/60)),
+        FORWARD_FAST (RevolutionsPerSecond.of(HopperConstants.FAST_SPEED_RPM/60)),
+        REVERSE (RevolutionsPerSecond.of(HopperConstants.REVERSE_SPEED_RPM/60));
 
-  public Hopper(FlywheelMechanism io) {
-    _io = io;
-  }
+        private final AngularVelocity _stateVelocity;
+
+        private State(AngularVelocity stateVelocity) {
+            _stateVelocity = stateVelocity;
+        }
+    }
+
+    public Hopper(FlywheelMechanism io) {
+        _io = io;
+    }
 
   public void setGoal(double position) {
     Distance positionInches = Inches.of(position);