diff --git a/rio/src/main/java/org/teamtators/levitator/commands/BumpLift.java b/rio/src/main/java/org/teamtators/levitator/commands/BumpLift.java
new file mode 100644
index 00000000..64af0cd5
--- /dev/null
+++ b/rio/src/main/java/org/teamtators/levitator/commands/BumpLift.java
@@ -0,0 +1,23 @@
+package org.teamtators.levitator.commands;
+
+import org.teamtators.common.scheduler.Command;
+import org.teamtators.levitator.TatorRobot;
+import org.teamtators.levitator.subsystems.Lift;
+
+public class BumpLift extends Command{
+
+    private Lift lift;
+    private double bumpheight;
+
+    public BumpLift(TatorRobot robot, boolean goUp, double bumpHeight) {
+        super("bumpLift");
+        lift = robot.getSubsystems().getLift();
+        requires(lift);
+    }
+
+    @Override
+    protected boolean step() {
+            lift.setDesiredHeight(lift.getCurrentHeight() + bumpheight);
+        return true;
+    }
+}
diff --git a/rio/src/main/java/org/teamtators/levitator/commands/BumpPivot.java b/rio/src/main/java/org/teamtators/levitator/commands/BumpPivot.java
new file mode 100644
index 00000000..d2b99915
--- /dev/null
+++ b/rio/src/main/java/org/teamtators/levitator/commands/BumpPivot.java
@@ -0,0 +1,24 @@
+package org.teamtators.levitator.commands;
+
+import org.teamtators.common.scheduler.Command;
+import org.teamtators.levitator.TatorRobot;
+import org.teamtators.levitator.subsystems.Lift;
+
+public class BumpPivot extends Command {
+
+    private Lift lift;
+    private double bumpAngle;
+
+    public BumpPivot(TatorRobot robot, boolean pivotRight, double bumpAngle) {
+        super("bumpPivot");
+        lift = robot.getSubsystems().getLift();
+        requires(lift);
+    }
+
+    @Override
+    protected boolean step() {
+        lift.setDesiredPivotAngle(lift.getCurrentPivotAngle() + bumpAngle);
+        return true;
+    }
+
+}
diff --git a/rio/src/main/java/org/teamtators/levitator/commands/CommandRegistrar.java b/rio/src/main/java/org/teamtators/levitator/commands/CommandRegistrar.java
index cc93da8b..9f9b20bc 100644
--- a/rio/src/main/java/org/teamtators/levitator/commands/CommandRegistrar.java
+++ b/rio/src/main/java/org/teamtators/levitator/commands/CommandRegistrar.java
@@ -31,9 +31,7 @@ public void register(ConfigCommandStore commandStore) {
         commandStore.putCommand("PickerExtend", Commands.instant(picker::extend, picker));
         commandStore.putCommand("PickerRetract", Commands.instant(picker::retract, picker));
 
-        commandStore.putCommand("BumpLiftUp", Commands.instant(lift::bumpLiftUp));
-        commandStore.putCommand("BumpLiftDown", Commands.instant(lift::bumpLiftDown));
-        commandStore.putCommand("BumpPivotRight", Commands.instant(lift::bumpPivotRight));
-        commandStore.putCommand("BumpPivotLeft", Commands.instant(lift::bumpPivotRight));
+        commandStore.registerCommand("BumpLift", () -> new BumpLift(robot, true, 8));
+        commandStore.registerCommand("BumpPivot", () -> new BumpPivot(robot, false, 56));
     }
 }
diff --git a/rio/src/main/java/org/teamtators/levitator/subsystems/Lift.java b/rio/src/main/java/org/teamtators/levitator/subsystems/Lift.java
index 71981182..a432eaa7 100644
--- a/rio/src/main/java/org/teamtators/levitator/subsystems/Lift.java
+++ b/rio/src/main/java/org/teamtators/levitator/subsystems/Lift.java
@@ -209,22 +209,6 @@ public void setLiftPower(double liftPower) {
         liftMotor.set(liftPower);
     }
 
-    public void bumpLiftUp() {
-        setDesiredHeight(getCurrentHeight() + config.bumpHeightValue);
-    }
-
-    public void bumpLiftDown() {
-        setDesiredHeight(getCurrentHeight() - config.bumpHeightValue);
-    }
-
-    public void bumpPivotRight() {
-        setDesiredPivotAngle(getCurrentPivotAngle() + config.bumpPivotValue);
-    }
-
-    public void bumpPivotLeft() {
-        setDesiredPivotAngle(getCurrentPivotAngle() - config.bumpPivotValue);
-    }
-
     public void setPivotPower(double pivotPower) {
         pivotMotor.set(pivotPower);
     }