diff --git a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/opModes/tuning/arm/ArmPIDTuner.kt b/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/opModes/tuning/arm/ArmPIDTuner.kt
index 09f20fb..fe5a5f0 100644
--- a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/opModes/tuning/arm/ArmPIDTuner.kt
+++ b/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/opModes/tuning/arm/ArmPIDTuner.kt
@@ -1,4 +1,22 @@
 package org.firstinspires.ftc.teamcode.opModes.tuning.arm
 
-class ArmPIDTuner {
+import com.arcrobotics.ftclib.command.CommandOpMode
+import com.arcrobotics.ftclib.hardware.motors.Motor
+import org.firstinspires.ftc.teamcode.constants.ControlBoard
+import org.firstinspires.ftc.teamcode.subsystems.arm.ArmSubsystem
+
+class ArmPIDTuner : CommandOpMode() {
+    private lateinit var armLeft: Motor
+    private lateinit var armRight: Motor
+
+    private lateinit var armSubsystem: ArmSubsystem
+
+    override fun initialize() {
+        armLeft = Motor(hardwareMap, ControlBoard.ARM_LEFT.deviceName, Motor.GoBILDA.RPM_435)
+        armRight = Motor(hardwareMap, ControlBoard.ARM_RIGHT.deviceName, Motor.GoBILDA.RPM_435)
+
+        armSubsystem = ArmSubsystem(armLeft, armRight)
+
+
+    }
 }
\ No newline at end of file
diff --git a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/arm/ArmSubsystem.kt b/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/arm/ArmSubsystem.kt
index c60d46a..9d59ab1 100644
--- a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/arm/ArmSubsystem.kt
+++ b/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/arm/ArmSubsystem.kt
@@ -36,7 +36,6 @@ class ArmSubsystem(
 
     override fun useOutput(output: Double, setpoint: Double) {
         // For tuning only
-        super.setpoint = target
         controller.setPIDF(kP, kI, kD, 0.0)
 
         turnMotors.set(output + feedforward.calculate(armAngle, armVelocity))