diff --git a/Robot2024/src/main/java/com/team2813/subsystems/IntakePivot.java b/Robot2024/src/main/java/com/team2813/subsystems/IntakePivot.java
index f72ef18..c1790f3 100644
--- a/Robot2024/src/main/java/com/team2813/subsystems/IntakePivot.java
+++ b/Robot2024/src/main/java/com/team2813/subsystems/IntakePivot.java
@@ -3,20 +3,20 @@
 import static com.team2813.Constants.INTAKE_PIVOT;
 
 import com.ctre.phoenix6.signals.NeutralModeValue;
-import com.team2813.lib2813.control.Encoder;
 import com.team2813.lib2813.control.InvertType;
-import com.team2813.lib2813.control.Motor;
 import com.team2813.lib2813.control.PIDMotor;
 import com.team2813.lib2813.control.encoders.CancoderWrapper;
 import com.team2813.lib2813.control.motors.TalonFXWrapper;
 import com.team2813.lib2813.subsystems.MotorSubsystem;
 
+import edu.wpi.first.units.Angle;
+import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.Units;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
+import java.util.function.Supplier;
+
 public class IntakePivot extends MotorSubsystem<IntakePivot.Rotations> {
-    
-    Motor intakePivotMotor; 
-    Encoder intakePivotEncoder;
 
     public IntakePivot() {
         
@@ -27,8 +27,6 @@ public IntakePivot() {
 			.PID(0.313, 0, 0)
 			.acceptableError(0.5)
 			.startingPosition(Rotations.INTAKE_UP));
-
-        intakePivotMotor = new TalonFXWrapper(INTAKE_PIVOT, InvertType.COUNTER_CLOCKWISE);
     }
 
 	public void resetPosition() {
@@ -56,7 +54,7 @@ public void periodic() {
 		SmartDashboard.putNumber("Intake Pivot CANCoder Position", encoder.position());
 	}
 
-    public static enum Rotations implements MotorSubsystem.Position {
+    public enum Rotations implements Supplier<Measure<Angle>> {
 		INTAKE_DOWN(0.825439),
 		INTAKE_UP(0);
 
@@ -65,12 +63,17 @@ public static enum Rotations implements MotorSubsystem.Position {
         }
 
         private final double pos;
-        @Override
+
+		@Deprecated
 		public double getPos() {
 			return pos;
 		}
-
-    }
+		
+		@Override
+		public Measure<Angle> get() {
+			return Units.Rotations.of(pos);
+		}
+	}
 
 }
 
diff --git a/Robot2024/src/main/java/com/team2813/subsystems/ShooterPivot.java b/Robot2024/src/main/java/com/team2813/subsystems/ShooterPivot.java
index b84442f..12d8b9f 100644
--- a/Robot2024/src/main/java/com/team2813/subsystems/ShooterPivot.java
+++ b/Robot2024/src/main/java/com/team2813/subsystems/ShooterPivot.java
@@ -14,8 +14,13 @@
 import com.team2813.lib2813.subsystems.MotorSubsystem;
 import com.team2813.lib2813.util.ConfigUtils;
 
+import edu.wpi.first.units.Angle;
+import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.Units;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
+import java.util.function.Supplier;
+
 public class ShooterPivot extends MotorSubsystem<ShooterPivot.Position> {
 
 	public ShooterPivot() {
@@ -62,7 +67,7 @@ public void periodic() {
 		SmartDashboard.putNumber("Shoooter Pivot CANCoder Position", encoder.position());
 	}
 
-	public static enum Position implements MotorSubsystem.Position {
+	public static enum Position implements Supplier<Measure<Angle>> {
 		TOP_HARD_STOP(0),
 		SUBWOOFER_FRONT(0.023926),
 		SUBWOOFER_SIDE(0.023926),
@@ -80,9 +85,14 @@ public static enum Position implements MotorSubsystem.Position {
 			this.pos = pos;
 		}
 
-		@Override
+		@Deprecated
 		public double getPos() {
 			return pos;
 		}
+
+		@Override
+		public Measure<Angle> get() {
+			return Units.Rotations.of(pos);
+		}
 	}
 }