diff --git a/src/astra_descriptions b/src/astra_descriptions
index aaddaef..b0492a0 160000
--- a/src/astra_descriptions
+++ b/src/astra_descriptions
@@ -1 +1 @@
-Subproject commit aaddaef90c3561475f46ed857b1428b7c334f638
+Subproject commit b0492a0ea73cd6fe4bbaf1441777e04f4b39749a
diff --git a/src/headless_pkg/src/headless_node.py b/src/headless_pkg/src/headless_node.py
index a57612c..15883c6 100755
--- a/src/headless_pkg/src/headless_node.py
+++ b/src/headless_pkg/src/headless_node.py
@@ -262,7 +262,18 @@ class Headless(Node):
 
 
             # BIO
-            bio_input = BioControl(bio_arm=int(left_stick_y * -100), drill_arm=int(round(right_stick_y) * -100))
+            bio_input = BioControl(
+                bio_arm=int(left_stick_y * -100),
+                drill_arm=int(round(right_stick_y) * -100)
+            )
+
+            # Drill motor (FAERIE)
+            if left_trigger > 0 and right_trigger > 0:
+                bio_input.drill = 0
+            elif left_trigger > 0:
+                bio_input.drill = -100
+            elif right_trigger > 0:
+                bio_input.drill = 100
 
             self.core_publisher.publish(CORE_STOP_MSG)
             self.arm_publisher.publish(arm_input)