diff --git a/src/main/kotlin/com/team4099/robot2023/config/constants/Constants.kt b/src/main/kotlin/com/team4099/robot2023/config/constants/Constants.kt
index 4f1f2add..c5761a42 100644
--- a/src/main/kotlin/com/team4099/robot2023/config/constants/Constants.kt
+++ b/src/main/kotlin/com/team4099/robot2023/config/constants/Constants.kt
@@ -115,9 +115,8 @@ object Constants {
     const val PIGEON_2_ID = 1
   }
 
-  object Manipulator {
-    const val INTAKE_MOTOR_ID = 51
-    const val ARM_MOTOR_ID = 52
+  object Shooter {
+    const val ROLLER_MOTOR_ID = 51
   }
 
   object Alert {
diff --git a/src/main/kotlin/com/team4099/robot2023/config/constants/ShooterConstants.kt b/src/main/kotlin/com/team4099/robot2023/config/constants/ShooterConstants.kt
new file mode 100644
index 00000000..b9ff868c
--- /dev/null
+++ b/src/main/kotlin/com/team4099/robot2023/config/constants/ShooterConstants.kt
@@ -0,0 +1,11 @@
+package com.team4099.robot2023.config.constants
+
+import org.team4099.lib.units.base.amps
+import org.team4099.lib.units.derived.volts
+import org.team4099.lib.units.derived.gearRatio
+
+object ShooterConstants {
+    val ROLLER_GEAR_RATIO = 0.0.gearRatio
+    val ROLLER_VOLTAGE_COMPENSATION = 0.0.volts
+    val ROLLER_STATOR_CURRENT_LIMIT = 0.0.amps
+}
\ No newline at end of file
diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/Shooter/ShooterIO.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/Shooter/ShooterIO.kt
index 73c0b53d..99fecfb5 100644
--- a/src/main/kotlin/com/team4099/robot2023/subsystems/Shooter/ShooterIO.kt
+++ b/src/main/kotlin/com/team4099/robot2023/subsystems/Shooter/ShooterIO.kt
@@ -48,7 +48,9 @@ interface ShooterIO {
         }
     }
 
-    fun updateInputs(inputs: ShooterIOInputs)
+    fun updateInputs(inputs: ShooterIOInputs){
+
+    }
     fun setRollerPower (voltage: ElectricalPotential){
 
     }
diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/Shooter/ShooterIONeo.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/Shooter/ShooterIONeo.kt
index 6ee6352b..bd7db0bf 100644
--- a/src/main/kotlin/com/team4099/robot2023/subsystems/Shooter/ShooterIONeo.kt
+++ b/src/main/kotlin/com/team4099/robot2023/subsystems/Shooter/ShooterIONeo.kt
@@ -1,5 +1,43 @@
 package com.team4099.robot2023.subsystems.Shooter
 
-class ShooterIONeo {
-    val
+import com.revrobotics.CANSparkMax
+import com.revrobotics.CANSparkMaxLowLevel
+import com.team4099.robot2023.config.constants.Constants
+import com.team4099.robot2023.config.constants.ShooterConstants
+import org.team4099.lib.units.base.amps
+import org.team4099.lib.units.base.celsius
+import org.team4099.lib.units.base.inAmperes
+import org.team4099.lib.units.derived.inVolts
+import org.team4099.lib.units.derived.volts
+import org.team4099.lib.units.sparkMaxAngularMechanismSensor
+import kotlin.math.absoluteValue
+
+object ShooterIONeo : ShooterIO{
+    private val rollerSparkMax = CANSparkMax(Constants.Shooter.ROLLER_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless)
+    private val rollerSensor = sparkMaxAngularMechanismSensor( rollerSparkMax,
+        ShooterConstants.ROLLER_GEAR_RATIO.asDrivenOverDriving,
+        ShooterConstants.ROLLER_VOLTAGE_COMPENSATION
+        )
+    init{
+        //reset the motors
+        rollerSparkMax.restoreFactoryDefaults()
+        rollerSparkMax.clearFaults()
+
+        //voltage and current limits
+        rollerSparkMax.enableVoltageCompensation(ShooterConstants.ROLLER_VOLTAGE_COMPENSATION.inVolts)
+        rollerSparkMax.setSmartCurrentLimit(ShooterConstants.ROLLER_STATOR_CURRENT_LIMIT.inAmperes.toInt())
+    }
+
+    override fun updateInputs (inputs: ShooterIO.ShooterIOInputs){
+        inputs.rollerVelocity = rollerSensor.velocity
+        inputs.rollerAppliedVoltage = rollerSparkMax.busVoltage.volts * rollerSparkMax.appliedOutput
+        inputs.rollerStatorCurrent = rollerSparkMax.outputCurrent.amps
+        // BatteryVoltage * SupplyCurrent = AppliedVoltage * StatorCurrent
+        // AppliedVoltage = percentOutput * BatteryVoltage
+        // SupplyCurrent = (percentOutput * BatteryVoltage / BatteryVoltage) * StatorCurrent =
+        // percentOutput * statorCurrent
+        inputs.rollerSupplyCurrent = inputs.rollerStatorCurrent * rollerSparkMax.appliedOutput.absoluteValue
+        inputs.rollerTempreature = rollerSparkMax.motorTemperature.celsius
+    }
+
 }
\ No newline at end of file