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 887217ca..73c0b53d 100644
--- a/src/main/kotlin/com/team4099/robot2023/subsystems/Shooter/ShooterIO.kt
+++ b/src/main/kotlin/com/team4099/robot2023/subsystems/Shooter/ShooterIO.kt
@@ -1,34 +1,67 @@
 package com.team4099.robot2023.subsystems.Shooter
 
-interface ShooterIO () {
+import org.littletonrobotics.junction.LogTable
+import org.littletonrobotics.junction.inputs.LoggableInputs
+import org.team4099.lib.units.base.*
+import org.team4099.lib.units.derived.*
+import org.team4099.lib.units.inRadiansPerSecond
+import org.team4099.lib.units.perMinute
+import org.team4099.lib.units.perSecond
+
+interface ShooterIO {
     class ShooterIOInputs : LoggableInputs {
         var rollerVelocity = 0.rotations.perMinute
         var rollerAppliedVoltage = 0.volts
         var rollerStatorCurrent = 0.amps
         var rollerSupplyCurrent = 0.amps
         var rollerTempreature = 0.celsius
-    }
-    fun toLog(table:LogTable){
-        table?.put("rollerVelocityRPM", rollerVelocity.inRadians.perSecond)
-        table?.put("rollerAppliedVoltage", rollerAppliedVoltage.inVolts)
-        table?.put("rollerStatorCurrent", rollerStatorCurrent.inamps)
-        table?.put("rollerVelocityRPM", rollerSupplyCurrent.inamps)
-        table?.put("rollerTempreature", rollerTempreature.celsisus)
 
-    }
-    fun fromLog(table:LogTable){
-        table?.getDouble("rollerVelocityRPM", rollerVelocityRPM.inRadiansPerSecond)?.let{
-            rollerVelocity = it.radians.perSecond
-        }
-        table?.getDouble("rollerAppliedVoltage", rollerAppliedVoltage.involts)?.let {
-            rollerAppliedVoltage = it.volts
+        override fun toLog(table: LogTable) {
+            table?.put("rollerVelocityRPM", rollerVelocity.inRadiansPerSecond)
+            table?.put("rollerAppliedVoltage", rollerAppliedVoltage.inVolts)
+            table?.put("rollerStatorCurrent", rollerStatorCurrent.inAmperes)
+            table?.put("rollerSupplyCurrent", rollerSupplyCurrent.inAmperes)
+            table?.put("rollerTempreature", rollerTempreature.inCelsius)
+
         }
-        table?.getDouble("rollerStatorCurrent", rollerStatorCurrent.inRadiansPerSecond)?.let{
+
+        override fun fromLog(table: LogTable) {
+            table?.get("rollerVelocityRPM", rollerVelocity.inRadiansPerSecond)?.let {
+                rollerVelocity = it.radians.perSecond
+            }
+            table?.get("rollerAppliedVoltage", rollerAppliedVoltage.inVolts)?.let {
+                rollerAppliedVoltage = it.volts
+            }
+            table?.get("rollerStatorCurrent", rollerStatorCurrent.inAmperes)?.let {
+                rollerStatorCurrent = it.amps
+            }
+            table?.get("rollerSupplyCurrent", rollerSupplyCurrent.inAmperes)?.let {
+                rollerSupplyCurrent = it.amps
+
+            }
+
+            table?.get("rollerTempreature", rollerTempreature.inCelsius)?.let {
+                rollerTempreature = it.celsius
+            }
+
 
         }
-        table?.getDouble("rollerVelocityRPM", rollerVelocityRPM.inRadiansPerSecond)
-        table?.getDouble("rollerVelocityRPM", rollerVelocityRPM.inRadiansPerSecond)
+    }
 
+    fun updateInputs(inputs: ShooterIOInputs)
+    fun setRollerPower (voltage: ElectricalPotential){
+
+    }
+    fun setRollerBrakeMode (brake: Boolean){
 
     }
+    fun configPID(
+        kP: ProportionalGain <Meter, Volt>,
+        kI: IntegralGain <Meter, Volt>,
+        kD: DerivativeGain <Meter, Volt>,
+    ){}
+    fun zeroEncoder(){
+
+    }
+
 }
\ No newline at end of file
diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/Shooter/ShooterIONeo.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/Shooter/ShooterIONeo.kt
new file mode 100644
index 00000000..6ee6352b
--- /dev/null
+++ b/src/main/kotlin/com/team4099/robot2023/subsystems/Shooter/ShooterIONeo.kt
@@ -0,0 +1,5 @@
+package com.team4099.robot2023.subsystems.Shooter
+
+class ShooterIONeo {
+    val
+}
\ No newline at end of file