diff --git a/src/main/java/com/frcteam3636/frc2024/subsystems/arm/ArmIO.kt b/src/main/java/com/frcteam3636/frc2024/subsystems/arm/ArmIO.kt
index fc8fd72..cc0ffd2 100644
--- a/src/main/java/com/frcteam3636/frc2024/subsystems/arm/ArmIO.kt
+++ b/src/main/java/com/frcteam3636/frc2024/subsystems/arm/ArmIO.kt
@@ -1,4 +1,9 @@
 package com.frcteam3636.frc2024.subsystems.arm
+import com.ctre.phoenix6.configs.TalonFXConfiguration
+import com.ctre.phoenix6.configs.TalonFXConfigurator
+import com.ctre.phoenix6.signals.GravityTypeValue
+import com.ctre.phoenix6.signals.InvertedValue
+import com.ctre.phoenix6.signals.NeutralModeValue
 import edu.wpi.first.math.geometry.Rotation2d
 import org.littletonrobotics.junction.LogTable
 import org.littletonrobotics.junction.inputs.LoggableInputs
@@ -7,23 +12,34 @@ import com.frcteam3636.frc2024.CTREMotorControllerId
 import com.frcteam3636.frc2024.REVMotorControllerId
 import com.frcteam3636.frc2024.TalonFX
 import com.revrobotics.CANSparkLowLevel
+import edu.wpi.first.math.trajectory.TrapezoidProfile
 import edu.wpi.first.networktables.NetworkTableInstance
 import edu.wpi.first.units.Angle
 import edu.wpi.first.units.Measure
-import edu.wpi.first.units.Units.Radians
+import edu.wpi.first.units.Units.*
+import edu.wpi.first.units.Units.Rotations
 import edu.wpi.first.wpilibj.DigitalInput
 import edu.wpi.first.wpilibj.DutyCycleEncoder
+import org.littletonrobotics.junction.Logger
+
+
 
 interface ArmIO{
         class ArmInputs : LoggableInputs {
+
             var rightPosition = Radians.zero()
             var leftPosition = Radians.zero()
 
-            var rightCurrent: Double = 0.0
-            var leftCurrent: Double = 0.0
+            var absoluteEncoderPostion = Radians.zero()
+
+            var rightCurrent = Volts.zero()
+            var leftCurrent = Volts.zero()
+
+            var rightVelocity = RadiansPerSecond.zero()
+            var leftVelocity = RadiansPerSecond.zero()
+
+            var absoluteEncoderConnected = false
 
-            var rightVelocity: Double = 0.0
-            var leftVelocity: Double = 0.0
 
             override fun toLog(table: LogTable) {
                 table.put("Right Arm Motor Position", rightPosition)
@@ -34,6 +50,8 @@ interface ArmIO{
 
                 table.put("Right Arm Motor Velocity", rightVelocity)
                 table.put("Left Arm Motor Velocity", leftVelocity)
+
+                table.put("Absolute Encoder Connected",absoluteEncoderConnected )
             }
 
             override fun fromLog(table: LogTable) {
@@ -45,6 +63,8 @@ interface ArmIO{
 
                 rightVelocity = table.get("Right Arm Motor Velocity", rightVelocity)
                 leftVelocity = table.get("Left Arm Motor Velocity", leftVelocity)
+
+                absoluteEncoderConnected = table.get("Absolute Encoder Connected", absoluteEncoderConnected)
             }
         }
 
@@ -62,11 +82,66 @@ interface ArmIO{
         private val absoluteEncoder = DutyCycleEncoder(DigitalInput(7))
 
         override fun updateInputs(inputs: ArmIO.ArmInputs) {
-            TODO("Not yet implemented")
+            inputs.absoluteEncoderConnected = absoluteEncoder.isConnected
+
+            inputs.absoluteEncoderPostion = Rotations.of(absoluteEncoder.absolutePosition)
+
+            inputs.leftPosition = Rotations.of(leftMotor.position.value)
+            inputs.leftVelocity = RotationsPerSecond.of(leftMotor.velocity.value)
+
+
+            inputs.rightPosition = Rotations.of(rightMotor.position.value)
+            inputs.rightVelocity = RotationsPerSecond.of(rightMotor.position.value)
+
+            inputs.rightCurrent = Volts.of(leftMotor.motorVoltage.value)
+
         }
 
         override fun setPosition(position: Measure<Angle>) {
+            Logger.recordOutput("Shooter/Pivot/Position Setpoint", position)
+
+            val leftControl = 
+
             TODO("Not yet implemented")
         }
+        init {
+            val config = TalonFXConfiguration().apply {
+                MotorOutput.apply {
+                    NeutralMode = NeutralModeValue.Brake
+                }
+
+                Feedback.apply {
+                    SensorToMechanismRatio = GEAR_RATIO
+                    FeedbackRotorOffset = 0.0
+                }
+
+                Slot0.apply {
+                    pidGains = PID_GAINS
+                    motorFFGains = FF_GAINS
+                    GravityType = GravityTypeValue.Arm_Cosine
+                    kG = GRAVITY_GAIN
+                }
+
+                MotionMagic.apply {
+                    MotionMagicCruiseVelocity = PROFILE_VELOCITY
+                    MotionMagicAcceleration = PROFILE_ACCELERATION
+                    MotionMagicJerk = PROFILE_JERK
+                }
+            }
+
+            config.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive
+            leftMotor.configurator.apply(
+                config
+            )
+
+            config.MotorOutput.Inverted = InvertedValue.Clockwise_Positive
+            rightMotor.configurator.apply(config)
+
+            leftMotor.setPosition(HARDSTOP_OFFSET.rotations)
+            rightMotor.setPosition(HARDSTOP_OFFSET.rotations)
+        }
+
+
+        }
 
     }
\ No newline at end of file