diff --git a/javadoc/allclasses-index.html b/javadoc/allclasses-index.html
index 48b12d2d..65aa7ef3 100644
--- a/javadoc/allclasses-index.html
+++ b/javadoc/allclasses-index.html
@@ -93,8 +93,10 @@ <h1 title="All Classes and Interfaces" class="title">All Classes and Interfaces<
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
 <div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/shooter/ShooterIOSim.html" title="class in frc.robot.subsystems.shooter">ShooterIOSim</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/shooter/ShooterSubsystem.html" title="class in frc.robot.subsystems.shooter">ShooterSubsystem</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/shooter/ShooterIOSparkMax.html" title="class in frc.robot.subsystems.shooter">ShooterIOSparkMax</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/shooter/ShooterSubsystem.html" title="class in frc.robot.subsystems.shooter">ShooterSubsystem</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
 </div>
 </div>
 </div>
diff --git a/javadoc/constant-values.html b/javadoc/constant-values.html
index c3f60295..bf97345f 100644
--- a/javadoc/constant-values.html
+++ b/javadoc/constant-values.html
@@ -66,10 +66,10 @@ <h2 title="frc.robot">frc.robot.*</h2>
 <div class="table-header col-last">Value</div>
 <div class="col-first even-row-color"><code id="frc.robot.BuildConstants.BUILD_DATE">public&nbsp;static&nbsp;final&nbsp;<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></code></div>
 <div class="col-second even-row-color"><code><a href="frc/robot/BuildConstants.html#BUILD_DATE">BUILD_DATE</a></code></div>
-<div class="col-last even-row-color"><code>"2024-01-20 14:25:35 EST"</code></div>
+<div class="col-last even-row-color"><code>"2024-01-20 14:34:10 EST"</code></div>
 <div class="col-first odd-row-color"><code id="frc.robot.BuildConstants.BUILD_UNIX_TIME">public&nbsp;static&nbsp;final&nbsp;long</code></div>
 <div class="col-second odd-row-color"><code><a href="frc/robot/BuildConstants.html#BUILD_UNIX_TIME">BUILD_UNIX_TIME</a></code></div>
-<div class="col-last odd-row-color"><code>1705778735255L</code></div>
+<div class="col-last odd-row-color"><code>1705779250930L</code></div>
 <div class="col-first even-row-color"><code id="frc.robot.BuildConstants.DIRTY">public&nbsp;static&nbsp;final&nbsp;int</code></div>
 <div class="col-second even-row-color"><code><a href="frc/robot/BuildConstants.html#DIRTY">DIRTY</a></code></div>
 <div class="col-last even-row-color"><code>0</code></div>
@@ -78,13 +78,13 @@ <h2 title="frc.robot">frc.robot.*</h2>
 <div class="col-last odd-row-color"><code>"main"</code></div>
 <div class="col-first even-row-color"><code id="frc.robot.BuildConstants.GIT_DATE">public&nbsp;static&nbsp;final&nbsp;<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></code></div>
 <div class="col-second even-row-color"><code><a href="frc/robot/BuildConstants.html#GIT_DATE">GIT_DATE</a></code></div>
-<div class="col-last even-row-color"><code>"2024-01-20 14:24:56 EST"</code></div>
+<div class="col-last even-row-color"><code>"2024-01-20 14:33:29 EST"</code></div>
 <div class="col-first odd-row-color"><code id="frc.robot.BuildConstants.GIT_REVISION">public&nbsp;static&nbsp;final&nbsp;int</code></div>
 <div class="col-second odd-row-color"><code><a href="frc/robot/BuildConstants.html#GIT_REVISION">GIT_REVISION</a></code></div>
-<div class="col-last odd-row-color"><code>9</code></div>
+<div class="col-last odd-row-color"><code>10</code></div>
 <div class="col-first even-row-color"><code id="frc.robot.BuildConstants.GIT_SHA">public&nbsp;static&nbsp;final&nbsp;<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></code></div>
 <div class="col-second even-row-color"><code><a href="frc/robot/BuildConstants.html#GIT_SHA">GIT_SHA</a></code></div>
-<div class="col-last even-row-color"><code>"f58f702f959dc44699cd6a5fd62a72e2e04c2e68"</code></div>
+<div class="col-last even-row-color"><code>"bb4cc321614080f5a4f7e8ed46fcbe8fe9516d30"</code></div>
 <div class="col-first odd-row-color"><code id="frc.robot.BuildConstants.MAVEN_GROUP">public&nbsp;static&nbsp;final&nbsp;<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></code></div>
 <div class="col-second odd-row-color"><code><a href="frc/robot/BuildConstants.html#MAVEN_GROUP">MAVEN_GROUP</a></code></div>
 <div class="col-last odd-row-color"><code>""</code></div>
diff --git a/javadoc/frc/robot/subsystems/shooter/ShooterIO.html b/javadoc/frc/robot/subsystems/shooter/ShooterIO.html
index f5032a54..3a9ca5c0 100644
--- a/javadoc/frc/robot/subsystems/shooter/ShooterIO.html
+++ b/javadoc/frc/robot/subsystems/shooter/ShooterIO.html
@@ -73,7 +73,7 @@ <h1 title="Interface ShooterIO" class="title">Interface ShooterIO</h1>
 <section class="class-description" id="class-description">
 <dl class="notes">
 <dt>All Known Implementing Classes:</dt>
-<dd><code><a href="ShooterIOSim.html" title="class in frc.robot.subsystems.shooter">ShooterIOSim</a></code></dd>
+<dd><code><a href="ShooterIOSim.html" title="class in frc.robot.subsystems.shooter">ShooterIOSim</a></code>, <code><a href="ShooterIOSparkMax.html" title="class in frc.robot.subsystems.shooter">ShooterIOSparkMax</a></code></dd>
 </dl>
 <hr>
 <div class="type-signature"><span class="modifiers">public interface </span><span class="element-name type-name-label">ShooterIO</span></div>
diff --git a/javadoc/frc/robot/subsystems/shooter/ShooterIOSparkMax.html b/javadoc/frc/robot/subsystems/shooter/ShooterIOSparkMax.html
new file mode 100644
index 00000000..2de8e756
--- /dev/null
+++ b/javadoc/frc/robot/subsystems/shooter/ShooterIOSparkMax.html
@@ -0,0 +1,196 @@
+<!DOCTYPE HTML>
+<html lang="en">
+<head>
+<!-- Generated by javadoc (17) -->
+<title>ShooterIOSparkMax (Crescendo2024 API)</title>
+<meta name="viewport" content="width=device-width, initial-scale=1">
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<meta name="description" content="declaration: package: frc.robot.subsystems.shooter, class: ShooterIOSparkMax">
+<meta name="generator" content="javadoc/ClassWriterImpl">
+<link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../script-dir/jquery-ui.min.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../jquery-ui.overrides.css" title="Style">
+<script type="text/javascript" src="../../../../script.js"></script>
+<script type="text/javascript" src="../../../../script-dir/jquery-3.6.1.min.js"></script>
+<script type="text/javascript" src="../../../../script-dir/jquery-ui.min.js"></script>
+</head>
+<body class="class-declaration-page">
+<script type="text/javascript">var evenRowColor = "even-row-color";
+var oddRowColor = "odd-row-color";
+var tableTab = "table-tab";
+var activeTableTab = "active-table-tab";
+var pathtoroot = "../../../../";
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<div class="flex-box">
+<header role="banner" class="flex-header">
+<nav role="navigation">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="top-nav" id="navbar-top">
+<div class="skip-nav"><a href="#skip-navbar-top" title="Skip navigation links">Skip navigation links</a></div>
+<ul id="navbar-top-firstrow" class="nav-list" title="Navigation">
+<li><a href="../../../../index.html">Overview</a></li>
+<li><a href="package-summary.html">Package</a></li>
+<li class="nav-bar-cell1-rev">Class</li>
+<li><a href="package-tree.html">Tree</a></li>
+<li><a href="../../../../index-all.html">Index</a></li>
+<li><a href="../../../../help-doc.html#class">Help</a></li>
+</ul>
+</div>
+<div class="sub-nav">
+<div>
+<ul class="sub-nav-list">
+<li>Summary:&nbsp;</li>
+<li><a href="#nested-class-summary">Nested</a>&nbsp;|&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
+<li><a href="#constructor-summary">Constr</a>&nbsp;|&nbsp;</li>
+<li><a href="#method-summary">Method</a></li>
+</ul>
+<ul class="sub-nav-list">
+<li>Detail:&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
+<li><a href="#constructor-detail">Constr</a>&nbsp;|&nbsp;</li>
+<li><a href="#method-detail">Method</a></li>
+</ul>
+</div>
+<div class="nav-list-search"><label for="search-input">SEARCH:</label>
+<input type="text" id="search-input" value="search" disabled="disabled">
+<input type="reset" id="reset-button" value="reset" disabled="disabled">
+</div>
+</div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+<span class="skip-nav" id="skip-navbar-top"></span></nav>
+</header>
+<div class="flex-content">
+<main role="main">
+<!-- ======== START OF CLASS DATA ======== -->
+<div class="header">
+<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">frc.robot.subsystems.shooter</a></div>
+<h1 title="Class ShooterIOSparkMax" class="title">Class ShooterIOSparkMax</h1>
+</div>
+<div class="inheritance" title="Inheritance Tree"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">java.lang.Object</a>
+<div class="inheritance">frc.robot.subsystems.shooter.ShooterIOSparkMax</div>
+</div>
+<section class="class-description" id="class-description">
+<dl class="notes">
+<dt>All Implemented Interfaces:</dt>
+<dd><code><a href="ShooterIO.html" title="interface in frc.robot.subsystems.shooter">ShooterIO</a></code></dd>
+</dl>
+<hr>
+<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">ShooterIOSparkMax</span>
+<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a>
+implements <a href="ShooterIO.html" title="interface in frc.robot.subsystems.shooter">ShooterIO</a></span></div>
+</section>
+<section class="summary">
+<ul class="summary-list">
+<!-- ======== NESTED CLASS SUMMARY ======== -->
+<li>
+<section class="nested-class-summary" id="nested-class-summary">
+<h2>Nested Class Summary</h2>
+<div class="inherited-list">
+<h2 id="nested-classes-inherited-from-class-frc.robot.subsystems.shooter.ShooterIO">Nested classes/interfaces inherited from interface&nbsp;frc.robot.subsystems.shooter.<a href="ShooterIO.html" title="interface in frc.robot.subsystems.shooter">ShooterIO</a></h2>
+<code><a href="ShooterIO.ShooterIOInputs.html" title="class in frc.robot.subsystems.shooter">ShooterIO.ShooterIOInputs</a></code></div>
+</section>
+</li>
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<li>
+<section class="constructor-summary" id="constructor-summary">
+<h2>Constructor Summary</h2>
+<div class="caption"><span>Constructors</span></div>
+<div class="summary-table two-column-summary">
+<div class="table-header col-first">Constructor</div>
+<div class="table-header col-last">Description</div>
+<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E()" class="member-name-link">ShooterIOSparkMax</a>()</code></div>
+<div class="col-last even-row-color">&nbsp;</div>
+</div>
+</section>
+</li>
+<!-- ========== METHOD SUMMARY =========== -->
+<li>
+<section class="method-summary" id="method-summary">
+<h2>Method Summary</h2>
+<div id="method-summary-table">
+<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab4" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab4', 3)" class="table-tab">Concrete Methods</button></div>
+<div id="method-summary-table.tabpanel" role="tabpanel">
+<div class="summary-table three-column-summary" aria-labelledby="method-summary-table-tab0">
+<div class="table-header col-first">Modifier and Type</div>
+<div class="table-header col-second">Method</div>
+<div class="table-header col-last">Description</div>
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setVoltage(double)" class="member-name-link">setVoltage</a><wbr>(double&nbsp;volts)</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="block">Run open loop at the specified voltage.</div>
+</div>
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#updateInputs(frc.robot.subsystems.shooter.ShooterIO.ShooterIOInputs)" class="member-name-link">updateInputs</a><wbr>(<a href="ShooterIO.ShooterIOInputs.html" title="class in frc.robot.subsystems.shooter">ShooterIO.ShooterIOInputs</a>&nbsp;inputs)</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="block">Updates the set of loggable inputs.</div>
+</div>
+</div>
+</div>
+</div>
+<div class="inherited-list">
+<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
+<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
+</section>
+</li>
+</ul>
+</section>
+<section class="details">
+<ul class="details-list">
+<!-- ========= CONSTRUCTOR DETAIL ======== -->
+<li>
+<section class="constructor-details" id="constructor-detail">
+<h2>Constructor Details</h2>
+<ul class="member-list">
+<li>
+<section class="detail" id="&lt;init&gt;()">
+<h3>ShooterIOSparkMax</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">ShooterIOSparkMax</span>()</div>
+</section>
+</li>
+</ul>
+</section>
+</li>
+<!-- ============ METHOD DETAIL ========== -->
+<li>
+<section class="method-details" id="method-detail">
+<h2>Method Details</h2>
+<ul class="member-list">
+<li>
+<section class="detail" id="updateInputs(frc.robot.subsystems.shooter.ShooterIO.ShooterIOInputs)">
+<h3>updateInputs</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">updateInputs</span><wbr><span class="parameters">(<a href="ShooterIO.ShooterIOInputs.html" title="class in frc.robot.subsystems.shooter">ShooterIO.ShooterIOInputs</a>&nbsp;inputs)</span></div>
+<div class="block"><span class="descfrm-type-label">Description copied from interface:&nbsp;<code><a href="ShooterIO.html#updateInputs(frc.robot.subsystems.shooter.ShooterIO.ShooterIOInputs)">ShooterIO</a></code></span></div>
+<div class="block">Updates the set of loggable inputs.</div>
+<dl class="notes">
+<dt>Specified by:</dt>
+<dd><code><a href="ShooterIO.html#updateInputs(frc.robot.subsystems.shooter.ShooterIO.ShooterIOInputs)">updateInputs</a></code>&nbsp;in interface&nbsp;<code><a href="ShooterIO.html" title="interface in frc.robot.subsystems.shooter">ShooterIO</a></code></dd>
+</dl>
+</section>
+</li>
+<li>
+<section class="detail" id="setVoltage(double)">
+<h3>setVoltage</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setVoltage</span><wbr><span class="parameters">(double&nbsp;volts)</span></div>
+<div class="block"><span class="descfrm-type-label">Description copied from interface:&nbsp;<code><a href="ShooterIO.html#setVoltage(double)">ShooterIO</a></code></span></div>
+<div class="block">Run open loop at the specified voltage.</div>
+<dl class="notes">
+<dt>Specified by:</dt>
+<dd><code><a href="ShooterIO.html#setVoltage(double)">setVoltage</a></code>&nbsp;in interface&nbsp;<code><a href="ShooterIO.html" title="interface in frc.robot.subsystems.shooter">ShooterIO</a></code></dd>
+</dl>
+</section>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</section>
+<!-- ========= END OF CLASS DATA ========= -->
+</main>
+</div>
+</div>
+</body>
+</html>
diff --git a/javadoc/frc/robot/subsystems/shooter/package-summary.html b/javadoc/frc/robot/subsystems/shooter/package-summary.html
index df82a9c4..21fa4b77 100644
--- a/javadoc/frc/robot/subsystems/shooter/package-summary.html
+++ b/javadoc/frc/robot/subsystems/shooter/package-summary.html
@@ -80,8 +80,10 @@ <h1 title="Package frc.robot.subsystems.shooter" class="title">Package frc.robot
 <div class="col-last even-row-color class-summary class-summary-tab2">&nbsp;</div>
 <div class="col-first odd-row-color class-summary class-summary-tab2"><a href="ShooterIOSim.html" title="class in frc.robot.subsystems.shooter">ShooterIOSim</a></div>
 <div class="col-last odd-row-color class-summary class-summary-tab2">&nbsp;</div>
-<div class="col-first even-row-color class-summary class-summary-tab2"><a href="ShooterSubsystem.html" title="class in frc.robot.subsystems.shooter">ShooterSubsystem</a></div>
+<div class="col-first even-row-color class-summary class-summary-tab2"><a href="ShooterIOSparkMax.html" title="class in frc.robot.subsystems.shooter">ShooterIOSparkMax</a></div>
 <div class="col-last even-row-color class-summary class-summary-tab2">&nbsp;</div>
+<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="ShooterSubsystem.html" title="class in frc.robot.subsystems.shooter">ShooterSubsystem</a></div>
+<div class="col-last odd-row-color class-summary class-summary-tab2">&nbsp;</div>
 </div>
 </div>
 </div>
diff --git a/javadoc/frc/robot/subsystems/shooter/package-tree.html b/javadoc/frc/robot/subsystems/shooter/package-tree.html
index 7c8e536c..85073006 100644
--- a/javadoc/frc/robot/subsystems/shooter/package-tree.html
+++ b/javadoc/frc/robot/subsystems/shooter/package-tree.html
@@ -60,6 +60,7 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 <ul>
 <li class="circle">frc.robot.subsystems.shooter.<a href="ShooterIO.ShooterIOInputs.html" class="type-name-link" title="class in frc.robot.subsystems.shooter">ShooterIO.ShooterIOInputs</a></li>
 <li class="circle">frc.robot.subsystems.shooter.<a href="ShooterIOSim.html" class="type-name-link" title="class in frc.robot.subsystems.shooter">ShooterIOSim</a> (implements frc.robot.subsystems.shooter.<a href="ShooterIO.html" title="interface in frc.robot.subsystems.shooter">ShooterIO</a>)</li>
+<li class="circle">frc.robot.subsystems.shooter.<a href="ShooterIOSparkMax.html" class="type-name-link" title="class in frc.robot.subsystems.shooter">ShooterIOSparkMax</a> (implements frc.robot.subsystems.shooter.<a href="ShooterIO.html" title="interface in frc.robot.subsystems.shooter">ShooterIO</a>)</li>
 <li class="circle">edu.wpi.first.wpilibj2.command.SubsystemBase (implements edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem)
 <ul>
 <li class="circle">frc.robot.subsystems.shooter.<a href="ShooterSubsystem.html" class="type-name-link" title="class in frc.robot.subsystems.shooter">ShooterSubsystem</a> (implements frc.robot.subsystems.shooter.<a href="Shooter.html" title="interface in frc.robot.subsystems.shooter">Shooter</a>)</li>
diff --git a/javadoc/index-all.html b/javadoc/index-all.html
index 7b9a5dd2..bf9099d6 100644
--- a/javadoc/index-all.html
+++ b/javadoc/index-all.html
@@ -247,6 +247,8 @@ <h2 class="title" id="I:S">S</h2>
 </dd>
 <dt><a href="frc/robot/subsystems/shooter/ShooterIOSim.html#setVoltage(double)" class="member-name-link">setVoltage(double)</a> - Method in class frc.robot.subsystems.shooter.<a href="frc/robot/subsystems/shooter/ShooterIOSim.html" title="class in frc.robot.subsystems.shooter">ShooterIOSim</a></dt>
 <dd>&nbsp;</dd>
+<dt><a href="frc/robot/subsystems/shooter/ShooterIOSparkMax.html#setVoltage(double)" class="member-name-link">setVoltage(double)</a> - Method in class frc.robot.subsystems.shooter.<a href="frc/robot/subsystems/shooter/ShooterIOSparkMax.html" title="class in frc.robot.subsystems.shooter">ShooterIOSparkMax</a></dt>
+<dd>&nbsp;</dd>
 <dt><a href="frc/robot/subsystems/shooter/ShooterSubsystem.html#setVoltage(double)" class="member-name-link">setVoltage(double)</a> - Method in class frc.robot.subsystems.shooter.<a href="frc/robot/subsystems/shooter/ShooterSubsystem.html" title="class in frc.robot.subsystems.shooter">ShooterSubsystem</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/RobotContainer.html#shooter" class="member-name-link">shooter</a> - Variable in class frc.robot.<a href="frc/robot/RobotContainer.html" title="class in frc.robot">RobotContainer</a></dt>
@@ -267,6 +269,10 @@ <h2 class="title" id="I:S">S</h2>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/subsystems/shooter/ShooterIOSim.html#%3Cinit%3E()" class="member-name-link">ShooterIOSim()</a> - Constructor for class frc.robot.subsystems.shooter.<a href="frc/robot/subsystems/shooter/ShooterIOSim.html" title="class in frc.robot.subsystems.shooter">ShooterIOSim</a></dt>
 <dd>&nbsp;</dd>
+<dt><a href="frc/robot/subsystems/shooter/ShooterIOSparkMax.html" class="type-name-link" title="class in frc.robot.subsystems.shooter">ShooterIOSparkMax</a> - Class in <a href="frc/robot/subsystems/shooter/package-summary.html">frc.robot.subsystems.shooter</a></dt>
+<dd>&nbsp;</dd>
+<dt><a href="frc/robot/subsystems/shooter/ShooterIOSparkMax.html#%3Cinit%3E()" class="member-name-link">ShooterIOSparkMax()</a> - Constructor for class frc.robot.subsystems.shooter.<a href="frc/robot/subsystems/shooter/ShooterIOSparkMax.html" title="class in frc.robot.subsystems.shooter">ShooterIOSparkMax</a></dt>
+<dd>&nbsp;</dd>
 <dt><a href="frc/robot/subsystems/shooter/ShooterSubsystem.html" class="type-name-link" title="class in frc.robot.subsystems.shooter">ShooterSubsystem</a> - Class in <a href="frc/robot/subsystems/shooter/package-summary.html">frc.robot.subsystems.shooter</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/subsystems/shooter/ShooterSubsystem.html#%3Cinit%3E(frc.robot.subsystems.shooter.ShooterIO)" class="member-name-link">ShooterSubsystem(ShooterIO)</a> - Constructor for class frc.robot.subsystems.shooter.<a href="frc/robot/subsystems/shooter/ShooterSubsystem.html" title="class in frc.robot.subsystems.shooter">ShooterSubsystem</a></dt>
@@ -301,6 +307,8 @@ <h2 class="title" id="I:U">U</h2>
 </dd>
 <dt><a href="frc/robot/subsystems/shooter/ShooterIOSim.html#updateInputs(frc.robot.subsystems.shooter.ShooterIO.ShooterIOInputs)" class="member-name-link">updateInputs(ShooterIO.ShooterIOInputs)</a> - Method in class frc.robot.subsystems.shooter.<a href="frc/robot/subsystems/shooter/ShooterIOSim.html" title="class in frc.robot.subsystems.shooter">ShooterIOSim</a></dt>
 <dd>&nbsp;</dd>
+<dt><a href="frc/robot/subsystems/shooter/ShooterIOSparkMax.html#updateInputs(frc.robot.subsystems.shooter.ShooterIO.ShooterIOInputs)" class="member-name-link">updateInputs(ShooterIO.ShooterIOInputs)</a> - Method in class frc.robot.subsystems.shooter.<a href="frc/robot/subsystems/shooter/ShooterIOSparkMax.html" title="class in frc.robot.subsystems.shooter">ShooterIOSparkMax</a></dt>
+<dd>&nbsp;</dd>
 </dl>
 <h2 class="title" id="I:V">V</h2>
 <dl class="index">
diff --git a/javadoc/member-search-index.js b/javadoc/member-search-index.js
index e5e55c5e..92b7fa8f 100644
--- a/javadoc/member-search-index.js
+++ b/javadoc/member-search-index.js
@@ -1 +1 @@
-memberSearchIndex = [{"p":"frc.robot.subsystems.intake","c":"IntakeIO.IntakeIOInputs","l":"appliedVolts"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIO.ShooterIOInputs","l":"appliedVolts"},{"p":"frc.robot","c":"Robot","l":"autonomousExit()"},{"p":"frc.robot","c":"Robot","l":"autonomousInit()"},{"p":"frc.robot","c":"Robot","l":"autonomousPeriodic()"},{"p":"frc.robot","c":"BuildConstants","l":"BUILD_DATE"},{"p":"frc.robot","c":"BuildConstants","l":"BUILD_UNIX_TIME"},{"p":"frc.robot","c":"RobotContainer","l":"controller"},{"p":"frc.robot","c":"BuildConstants","l":"DIRTY"},{"p":"frc.robot.subsystems.intake","c":"Intake","l":"disable()"},{"p":"frc.robot.subsystems.intake","c":"IntakeBase","l":"disable()"},{"p":"frc.robot.subsystems.shooter","c":"Shooter","l":"disable()"},{"p":"frc.robot.subsystems.shooter","c":"ShooterSubsystem","l":"disable()"},{"p":"frc.robot","c":"Robot","l":"disabledExit()"},{"p":"frc.robot","c":"Robot","l":"disabledInit()"},{"p":"frc.robot","c":"Robot","l":"disabledPeriodic()"},{"p":"frc.robot.subsystems.intake","c":"Intake","l":"enable()"},{"p":"frc.robot.subsystems.intake","c":"IntakeBase","l":"enable()"},{"p":"frc.robot.subsystems.shooter","c":"Shooter","l":"enable()"},{"p":"frc.robot.subsystems.shooter","c":"ShooterSubsystem","l":"enable()"},{"p":"frc.robot.commands","c":"ShooterEnable","l":"end(boolean)"},{"p":"frc.robot.commands","c":"IntakeBaseCommand","l":"execute()"},{"p":"frc.robot.commands","c":"ShooterEnable","l":"execute()"},{"p":"frc.robot.subsystems.arm","c":"Arm","l":"getAngle()"},{"p":"frc.robot","c":"RobotContainer","l":"getAutonomousCommand()"},{"p":"frc.robot.subsystems.shooter","c":"Shooter","l":"getCurrentSpeed()"},{"p":"frc.robot.subsystems.shooter","c":"ShooterSubsystem","l":"getCurrentSpeed()"},{"p":"frc.robot.subsystems.shooter","c":"Shooter","l":"getVoltage()"},{"p":"frc.robot.subsystems.shooter","c":"ShooterSubsystem","l":"getVoltage()"},{"p":"frc.robot","c":"BuildConstants","l":"GIT_BRANCH"},{"p":"frc.robot","c":"BuildConstants","l":"GIT_DATE"},{"p":"frc.robot","c":"BuildConstants","l":"GIT_REVISION"},{"p":"frc.robot","c":"BuildConstants","l":"GIT_SHA"},{"p":"frc.robot.commands","c":"IntakeBaseCommand","l":"initialize()"},{"p":"frc.robot.commands","c":"ShooterEnable","l":"initialize()"},{"p":"frc.robot","c":"RobotContainer","l":"intake"},{"p":"frc.robot.subsystems.intake","c":"IntakeBase","l":"IntakeBase(IntakeIO)","u":"%3Cinit%3E(frc.robot.subsystems.intake.IntakeIO)"},{"p":"frc.robot.commands","c":"IntakeBaseCommand","l":"IntakeBaseCommand(IntakeBase, BooleanSupplier, BooleanSupplier)","u":"%3Cinit%3E(frc.robot.subsystems.intake.IntakeBase,java.util.function.BooleanSupplier,java.util.function.BooleanSupplier)"},{"p":"frc.robot.subsystems.intake","c":"IntakeIO.IntakeIOInputs","l":"IntakeIOInputs()","u":"%3Cinit%3E()"},{"p":"frc.robot.subsystems.intake","c":"IntakeIOSim","l":"IntakeIOSim()","u":"%3Cinit%3E()"},{"p":"frc.robot","c":"Main","l":"main(String...)","u":"main(java.lang.String...)"},{"p":"frc.robot","c":"BuildConstants","l":"MAVEN_GROUP"},{"p":"frc.robot","c":"BuildConstants","l":"MAVEN_NAME"},{"p":"frc.robot.subsystems.intake","c":"IntakeBase","l":"periodic()"},{"p":"frc.robot.subsystems.shooter","c":"ShooterSubsystem","l":"periodic()"},{"p":"frc.robot","c":"Robot","l":"Robot()","u":"%3Cinit%3E()"},{"p":"frc.robot","c":"RobotContainer","l":"RobotContainer()","u":"%3Cinit%3E()"},{"p":"frc.robot","c":"Robot","l":"robotInit()"},{"p":"frc.robot","c":"Robot","l":"robotPeriodic()"},{"p":"frc.robot.subsystems.arm","c":"Arm","l":"setAngle(double)"},{"p":"frc.robot.subsystems.intake","c":"Intake","l":"setVoltage(double)"},{"p":"frc.robot.subsystems.intake","c":"IntakeBase","l":"setVoltage(double)"},{"p":"frc.robot.subsystems.intake","c":"IntakeIO","l":"setVoltage(double)"},{"p":"frc.robot.subsystems.intake","c":"IntakeIOSim","l":"setVoltage(double)"},{"p":"frc.robot.subsystems.shooter","c":"Shooter","l":"setVoltage(double)"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIO","l":"setVoltage(double)"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIOSim","l":"setVoltage(double)"},{"p":"frc.robot.subsystems.shooter","c":"ShooterSubsystem","l":"setVoltage(double)"},{"p":"frc.robot","c":"RobotContainer","l":"shooter"},{"p":"frc.robot.commands","c":"ShooterEnable","l":"ShooterEnable(ShooterSubsystem)","u":"%3Cinit%3E(frc.robot.subsystems.shooter.ShooterSubsystem)"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIO.ShooterIOInputs","l":"ShooterIOInputs()","u":"%3Cinit%3E()"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIOSim","l":"ShooterIOSim()","u":"%3Cinit%3E()"},{"p":"frc.robot.subsystems.shooter","c":"ShooterSubsystem","l":"ShooterSubsystem(ShooterIO)","u":"%3Cinit%3E(frc.robot.subsystems.shooter.ShooterIO)"},{"p":"frc.robot","c":"Robot","l":"teleopExit()"},{"p":"frc.robot","c":"Robot","l":"teleopInit()"},{"p":"frc.robot","c":"Robot","l":"teleopPeriodic()"},{"p":"frc.robot","c":"Robot","l":"testExit()"},{"p":"frc.robot","c":"Robot","l":"testInit()"},{"p":"frc.robot","c":"Robot","l":"testPeriodic()"},{"p":"frc.robot.subsystems.intake","c":"IntakeIO","l":"updateInputs(IntakeIO.IntakeIOInputs)","u":"updateInputs(frc.robot.subsystems.intake.IntakeIO.IntakeIOInputs)"},{"p":"frc.robot.subsystems.intake","c":"IntakeIOSim","l":"updateInputs(IntakeIO.IntakeIOInputs)","u":"updateInputs(frc.robot.subsystems.intake.IntakeIO.IntakeIOInputs)"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIO","l":"updateInputs(ShooterIO.ShooterIOInputs)","u":"updateInputs(frc.robot.subsystems.shooter.ShooterIO.ShooterIOInputs)"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIOSim","l":"updateInputs(ShooterIO.ShooterIOInputs)","u":"updateInputs(frc.robot.subsystems.shooter.ShooterIO.ShooterIOInputs)"},{"p":"frc.robot.subsystems.intake","c":"IntakeIO.IntakeIOInputs","l":"velocityRadPerSec"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIO.ShooterIOInputs","l":"velocityRadPerSec"},{"p":"frc.robot","c":"BuildConstants","l":"VERSION"}];updateSearchResults();
\ No newline at end of file
+memberSearchIndex = [{"p":"frc.robot.subsystems.intake","c":"IntakeIO.IntakeIOInputs","l":"appliedVolts"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIO.ShooterIOInputs","l":"appliedVolts"},{"p":"frc.robot","c":"Robot","l":"autonomousExit()"},{"p":"frc.robot","c":"Robot","l":"autonomousInit()"},{"p":"frc.robot","c":"Robot","l":"autonomousPeriodic()"},{"p":"frc.robot","c":"BuildConstants","l":"BUILD_DATE"},{"p":"frc.robot","c":"BuildConstants","l":"BUILD_UNIX_TIME"},{"p":"frc.robot","c":"RobotContainer","l":"controller"},{"p":"frc.robot","c":"BuildConstants","l":"DIRTY"},{"p":"frc.robot.subsystems.intake","c":"Intake","l":"disable()"},{"p":"frc.robot.subsystems.intake","c":"IntakeBase","l":"disable()"},{"p":"frc.robot.subsystems.shooter","c":"Shooter","l":"disable()"},{"p":"frc.robot.subsystems.shooter","c":"ShooterSubsystem","l":"disable()"},{"p":"frc.robot","c":"Robot","l":"disabledExit()"},{"p":"frc.robot","c":"Robot","l":"disabledInit()"},{"p":"frc.robot","c":"Robot","l":"disabledPeriodic()"},{"p":"frc.robot.subsystems.intake","c":"Intake","l":"enable()"},{"p":"frc.robot.subsystems.intake","c":"IntakeBase","l":"enable()"},{"p":"frc.robot.subsystems.shooter","c":"Shooter","l":"enable()"},{"p":"frc.robot.subsystems.shooter","c":"ShooterSubsystem","l":"enable()"},{"p":"frc.robot.commands","c":"ShooterEnable","l":"end(boolean)"},{"p":"frc.robot.commands","c":"IntakeBaseCommand","l":"execute()"},{"p":"frc.robot.commands","c":"ShooterEnable","l":"execute()"},{"p":"frc.robot.subsystems.arm","c":"Arm","l":"getAngle()"},{"p":"frc.robot","c":"RobotContainer","l":"getAutonomousCommand()"},{"p":"frc.robot.subsystems.shooter","c":"Shooter","l":"getCurrentSpeed()"},{"p":"frc.robot.subsystems.shooter","c":"ShooterSubsystem","l":"getCurrentSpeed()"},{"p":"frc.robot.subsystems.shooter","c":"Shooter","l":"getVoltage()"},{"p":"frc.robot.subsystems.shooter","c":"ShooterSubsystem","l":"getVoltage()"},{"p":"frc.robot","c":"BuildConstants","l":"GIT_BRANCH"},{"p":"frc.robot","c":"BuildConstants","l":"GIT_DATE"},{"p":"frc.robot","c":"BuildConstants","l":"GIT_REVISION"},{"p":"frc.robot","c":"BuildConstants","l":"GIT_SHA"},{"p":"frc.robot.commands","c":"IntakeBaseCommand","l":"initialize()"},{"p":"frc.robot.commands","c":"ShooterEnable","l":"initialize()"},{"p":"frc.robot","c":"RobotContainer","l":"intake"},{"p":"frc.robot.subsystems.intake","c":"IntakeBase","l":"IntakeBase(IntakeIO)","u":"%3Cinit%3E(frc.robot.subsystems.intake.IntakeIO)"},{"p":"frc.robot.commands","c":"IntakeBaseCommand","l":"IntakeBaseCommand(IntakeBase, BooleanSupplier, BooleanSupplier)","u":"%3Cinit%3E(frc.robot.subsystems.intake.IntakeBase,java.util.function.BooleanSupplier,java.util.function.BooleanSupplier)"},{"p":"frc.robot.subsystems.intake","c":"IntakeIO.IntakeIOInputs","l":"IntakeIOInputs()","u":"%3Cinit%3E()"},{"p":"frc.robot.subsystems.intake","c":"IntakeIOSim","l":"IntakeIOSim()","u":"%3Cinit%3E()"},{"p":"frc.robot","c":"Main","l":"main(String...)","u":"main(java.lang.String...)"},{"p":"frc.robot","c":"BuildConstants","l":"MAVEN_GROUP"},{"p":"frc.robot","c":"BuildConstants","l":"MAVEN_NAME"},{"p":"frc.robot.subsystems.intake","c":"IntakeBase","l":"periodic()"},{"p":"frc.robot.subsystems.shooter","c":"ShooterSubsystem","l":"periodic()"},{"p":"frc.robot","c":"Robot","l":"Robot()","u":"%3Cinit%3E()"},{"p":"frc.robot","c":"RobotContainer","l":"RobotContainer()","u":"%3Cinit%3E()"},{"p":"frc.robot","c":"Robot","l":"robotInit()"},{"p":"frc.robot","c":"Robot","l":"robotPeriodic()"},{"p":"frc.robot.subsystems.arm","c":"Arm","l":"setAngle(double)"},{"p":"frc.robot.subsystems.intake","c":"Intake","l":"setVoltage(double)"},{"p":"frc.robot.subsystems.intake","c":"IntakeBase","l":"setVoltage(double)"},{"p":"frc.robot.subsystems.intake","c":"IntakeIO","l":"setVoltage(double)"},{"p":"frc.robot.subsystems.intake","c":"IntakeIOSim","l":"setVoltage(double)"},{"p":"frc.robot.subsystems.shooter","c":"Shooter","l":"setVoltage(double)"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIO","l":"setVoltage(double)"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIOSim","l":"setVoltage(double)"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIOSparkMax","l":"setVoltage(double)"},{"p":"frc.robot.subsystems.shooter","c":"ShooterSubsystem","l":"setVoltage(double)"},{"p":"frc.robot","c":"RobotContainer","l":"shooter"},{"p":"frc.robot.commands","c":"ShooterEnable","l":"ShooterEnable(ShooterSubsystem)","u":"%3Cinit%3E(frc.robot.subsystems.shooter.ShooterSubsystem)"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIO.ShooterIOInputs","l":"ShooterIOInputs()","u":"%3Cinit%3E()"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIOSim","l":"ShooterIOSim()","u":"%3Cinit%3E()"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIOSparkMax","l":"ShooterIOSparkMax()","u":"%3Cinit%3E()"},{"p":"frc.robot.subsystems.shooter","c":"ShooterSubsystem","l":"ShooterSubsystem(ShooterIO)","u":"%3Cinit%3E(frc.robot.subsystems.shooter.ShooterIO)"},{"p":"frc.robot","c":"Robot","l":"teleopExit()"},{"p":"frc.robot","c":"Robot","l":"teleopInit()"},{"p":"frc.robot","c":"Robot","l":"teleopPeriodic()"},{"p":"frc.robot","c":"Robot","l":"testExit()"},{"p":"frc.robot","c":"Robot","l":"testInit()"},{"p":"frc.robot","c":"Robot","l":"testPeriodic()"},{"p":"frc.robot.subsystems.intake","c":"IntakeIO","l":"updateInputs(IntakeIO.IntakeIOInputs)","u":"updateInputs(frc.robot.subsystems.intake.IntakeIO.IntakeIOInputs)"},{"p":"frc.robot.subsystems.intake","c":"IntakeIOSim","l":"updateInputs(IntakeIO.IntakeIOInputs)","u":"updateInputs(frc.robot.subsystems.intake.IntakeIO.IntakeIOInputs)"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIO","l":"updateInputs(ShooterIO.ShooterIOInputs)","u":"updateInputs(frc.robot.subsystems.shooter.ShooterIO.ShooterIOInputs)"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIOSim","l":"updateInputs(ShooterIO.ShooterIOInputs)","u":"updateInputs(frc.robot.subsystems.shooter.ShooterIO.ShooterIOInputs)"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIOSparkMax","l":"updateInputs(ShooterIO.ShooterIOInputs)","u":"updateInputs(frc.robot.subsystems.shooter.ShooterIO.ShooterIOInputs)"},{"p":"frc.robot.subsystems.intake","c":"IntakeIO.IntakeIOInputs","l":"velocityRadPerSec"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIO.ShooterIOInputs","l":"velocityRadPerSec"},{"p":"frc.robot","c":"BuildConstants","l":"VERSION"}];updateSearchResults();
\ No newline at end of file
diff --git a/javadoc/overview-tree.html b/javadoc/overview-tree.html
index 78138e0c..57dde0a8 100644
--- a/javadoc/overview-tree.html
+++ b/javadoc/overview-tree.html
@@ -88,6 +88,7 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 <li class="circle">frc.robot.<a href="frc/robot/RobotContainer.html" class="type-name-link" title="class in frc.robot">RobotContainer</a></li>
 <li class="circle">frc.robot.subsystems.shooter.<a href="frc/robot/subsystems/shooter/ShooterIO.ShooterIOInputs.html" class="type-name-link" title="class in frc.robot.subsystems.shooter">ShooterIO.ShooterIOInputs</a></li>
 <li class="circle">frc.robot.subsystems.shooter.<a href="frc/robot/subsystems/shooter/ShooterIOSim.html" class="type-name-link" title="class in frc.robot.subsystems.shooter">ShooterIOSim</a> (implements frc.robot.subsystems.shooter.<a href="frc/robot/subsystems/shooter/ShooterIO.html" title="interface in frc.robot.subsystems.shooter">ShooterIO</a>)</li>
+<li class="circle">frc.robot.subsystems.shooter.<a href="frc/robot/subsystems/shooter/ShooterIOSparkMax.html" class="type-name-link" title="class in frc.robot.subsystems.shooter">ShooterIOSparkMax</a> (implements frc.robot.subsystems.shooter.<a href="frc/robot/subsystems/shooter/ShooterIO.html" title="interface in frc.robot.subsystems.shooter">ShooterIO</a>)</li>
 <li class="circle">edu.wpi.first.wpilibj2.command.SubsystemBase (implements edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem)
 <ul>
 <li class="circle">frc.robot.subsystems.intake.<a href="frc/robot/subsystems/intake/IntakeBase.html" class="type-name-link" title="class in frc.robot.subsystems.intake">IntakeBase</a> (implements frc.robot.subsystems.intake.<a href="frc/robot/subsystems/intake/Intake.html" title="interface in frc.robot.subsystems.intake">Intake</a>)</li>
diff --git a/javadoc/type-search-index.js b/javadoc/type-search-index.js
index 7f174dbc..4c81d676 100644
--- a/javadoc/type-search-index.js
+++ b/javadoc/type-search-index.js
@@ -1 +1 @@
-typeSearchIndex = [{"l":"All Classes and Interfaces","u":"allclasses-index.html"},{"p":"frc.robot.subsystems.arm","l":"Arm"},{"p":"frc.robot","l":"BuildConstants"},{"p":"frc.robot.subsystems.intake","l":"Intake"},{"p":"frc.robot.subsystems.intake","l":"IntakeBase"},{"p":"frc.robot.commands","l":"IntakeBaseCommand"},{"p":"frc.robot.subsystems.intake","l":"IntakeIO"},{"p":"frc.robot.subsystems.intake","l":"IntakeIO.IntakeIOInputs"},{"p":"frc.robot.subsystems.intake","l":"IntakeIOSim"},{"p":"frc.robot","l":"Main"},{"p":"frc.robot","l":"Robot"},{"p":"frc.robot","l":"RobotContainer"},{"p":"frc.robot.subsystems.shooter","l":"Shooter"},{"p":"frc.robot.commands","l":"ShooterEnable"},{"p":"frc.robot.subsystems.shooter","l":"ShooterIO"},{"p":"frc.robot.subsystems.shooter","l":"ShooterIO.ShooterIOInputs"},{"p":"frc.robot.subsystems.shooter","l":"ShooterIOSim"},{"p":"frc.robot.subsystems.shooter","l":"ShooterSubsystem"}];updateSearchResults();
\ No newline at end of file
+typeSearchIndex = [{"l":"All Classes and Interfaces","u":"allclasses-index.html"},{"p":"frc.robot.subsystems.arm","l":"Arm"},{"p":"frc.robot","l":"BuildConstants"},{"p":"frc.robot.subsystems.intake","l":"Intake"},{"p":"frc.robot.subsystems.intake","l":"IntakeBase"},{"p":"frc.robot.commands","l":"IntakeBaseCommand"},{"p":"frc.robot.subsystems.intake","l":"IntakeIO"},{"p":"frc.robot.subsystems.intake","l":"IntakeIO.IntakeIOInputs"},{"p":"frc.robot.subsystems.intake","l":"IntakeIOSim"},{"p":"frc.robot","l":"Main"},{"p":"frc.robot","l":"Robot"},{"p":"frc.robot","l":"RobotContainer"},{"p":"frc.robot.subsystems.shooter","l":"Shooter"},{"p":"frc.robot.commands","l":"ShooterEnable"},{"p":"frc.robot.subsystems.shooter","l":"ShooterIO"},{"p":"frc.robot.subsystems.shooter","l":"ShooterIO.ShooterIOInputs"},{"p":"frc.robot.subsystems.shooter","l":"ShooterIOSim"},{"p":"frc.robot.subsystems.shooter","l":"ShooterIOSparkMax"},{"p":"frc.robot.subsystems.shooter","l":"ShooterSubsystem"}];updateSearchResults();
\ No newline at end of file