diff --git a/simgui.json b/simgui.json
index 17b750f..65b14b9 100644
--- a/simgui.json
+++ b/simgui.json
@@ -72,12 +72,14 @@
           "length": 0.7111999988555908,
           "width": 0.7111999988555908
         },
+        "bottom": 1476,
         "bumpers": {
           "length": 0.8762999773025513,
           "width": 0.8762999773025513
         },
-        "height": 8.211000442504883,
+        "height": 8.210550308227539,
         "image": "C:\\Users\\jpoth\\Downloads\\image(1).png",
+        "left": 150,
         "odo": {
           "color": [
             0.7647056579589844,
@@ -87,6 +89,8 @@
           ],
           "style": "Hidden"
         },
+        "right": 2961,
+        "top": 79,
         "units": "meters",
         "width": 16.541748046875,
         "window": {
@@ -99,7 +103,11 @@
         }
       },
       "/SmartDashboard/Field": {
-        "height": 8.013679504394531,
+        "bottom": 1476,
+        "height": 8.210550308227539,
+        "left": 150,
+        "right": 2961,
+        "top": 79,
         "width": 16.541748046875,
         "window": {
           "visible": true
@@ -138,18 +146,22 @@
           ],
           "style": "Box/Image"
         },
+        "bottom": 1476,
         "cameras": {
           "arrows": false,
           "style": "Hidden"
         },
         "height": 8.210550308227539,
         "image": "C:\\Users\\jpoth\\Downloads\\image(1).png",
+        "left": 150,
+        "right": 2961,
+        "top": 79,
         "units": "meters",
         "visibleTargetPoses": {
           "selectable": false,
           "style": "Hidden"
         },
-        "width": 16.541749954223633,
+        "width": 16.541748046875,
         "window": {
           "visible": true
         }
diff --git a/src/main/kotlin/frc/team449/robot2024/constants/subsystem/PivotConstants.kt b/src/main/kotlin/frc/team449/robot2024/constants/subsystem/PivotConstants.kt
index 84893a4..899bd02 100644
--- a/src/main/kotlin/frc/team449/robot2024/constants/subsystem/PivotConstants.kt
+++ b/src/main/kotlin/frc/team449/robot2024/constants/subsystem/PivotConstants.kt
@@ -8,11 +8,16 @@ object PivotConstants {
   const val MOTOR_ID = 46
   const val INVERTED = false
   const val CURRENT_LIM = 40
-  const val GEARING = 1.0 / 75.0
-  const val UPR = 2 * PI
   const val FOLLOWER_ID = 47
   const val FOLLOWER_INVERTED = true
 
+  /** Encoder stuff */
+  const val ENC_CHANNEL = 6
+  const val OFFSET = 0.0
+  const val GEARING = 1.0 / 75.0
+  const val UPR = 2 * PI
+  const val ENC_INVERTED = false
+
   const val NUM_MOTORS = 2
   const val MOMENT_OF_INERTIA = 2.0
 
diff --git a/src/main/kotlin/frc/team449/robot2024/constants/subsystem/ShooterConstants.kt b/src/main/kotlin/frc/team449/robot2024/constants/subsystem/ShooterConstants.kt
index 7cf3b91..628ff7d 100644
--- a/src/main/kotlin/frc/team449/robot2024/constants/subsystem/ShooterConstants.kt
+++ b/src/main/kotlin/frc/team449/robot2024/constants/subsystem/ShooterConstants.kt
@@ -13,7 +13,6 @@ object ShooterConstants {
   const val LEFT_MOTOR_ID = 42
   const val LEFT_MOTOR_INVERTED = false
   const val CURRENT_LIMIT = 40
-  const val UPR = 1.0
 
   const val SUBWOOFER_LEFT_SPEED = 100.0
   const val SUBWOOFER_RIGHT_SPEED = 125.0
@@ -32,7 +31,6 @@ object ShooterConstants {
   /** These constants are PER SIDE of the shooter */
   const val MOMENT_OF_INERTIA = 2.50
   const val NUM_MOTORS = 1
-  const val GEARING = 1.0 / 1.0
 
   const val MODEL_VEL_STDDEV = 3.0
   const val ENCODER_VEL_STDDEV = 0.01
@@ -40,6 +38,17 @@ object ShooterConstants {
   const val LQR_MAX_VOLTS = 12.0
   const val MAX_VOLTAGE = 12.0
 
+  /** Encoder stuff */
+  const val LEFT_CHANNEL_A = 2
+  const val LEFT_CHANNEL_B = 3
+  const val RIGHT_CHANNEL_A = 4
+  const val RIGHT_CHANNEL_B = 5
+  const val CPR = 2048
+  const val UPR = 1.0
+  const val GEARING = 1.0 / 1.0
+  const val LEFT_ENCODER_INVERTED = false
+  const val RIGHT_ENCODER_INVERTED = false
+
   init {
     /**
      * Fill with values of optimized left/right and pivot angles
diff --git a/src/main/kotlin/frc/team449/robot2024/subsystems/pivot/Pivot.kt b/src/main/kotlin/frc/team449/robot2024/subsystems/pivot/Pivot.kt
index 96f0f14..25cc040 100644
--- a/src/main/kotlin/frc/team449/robot2024/subsystems/pivot/Pivot.kt
+++ b/src/main/kotlin/frc/team449/robot2024/subsystems/pivot/Pivot.kt
@@ -19,7 +19,7 @@ import frc.team449.robot2024.constants.RobotConstants
 import frc.team449.robot2024.constants.field.FieldConstants
 import frc.team449.robot2024.constants.subsystem.PivotConstants
 import frc.team449.robot2024.constants.subsystem.ShooterConstants
-import frc.team449.system.encoder.NEOEncoder
+import frc.team449.system.encoder.AbsoluteEncoder
 import frc.team449.system.motor.WrappedMotor
 import frc.team449.system.motor.createSparkMax
 import java.util.function.Supplier
diff --git a/src/main/kotlin/frc/team449/robot2024/subsystems/shooter/Shooter.kt b/src/main/kotlin/frc/team449/robot2024/subsystems/shooter/Shooter.kt
index 4dd24b7..907c6a0 100644
--- a/src/main/kotlin/frc/team449/robot2024/subsystems/shooter/Shooter.kt
+++ b/src/main/kotlin/frc/team449/robot2024/subsystems/shooter/Shooter.kt
@@ -10,6 +10,7 @@ import edu.wpi.first.math.system.plant.DCMotor
 import edu.wpi.first.math.system.plant.LinearSystemId
 import edu.wpi.first.util.sendable.SendableBuilder
 import edu.wpi.first.wpilibj.DriverStation
+import edu.wpi.first.wpilibj.Encoder
 import edu.wpi.first.wpilibj2.command.Command
 import edu.wpi.first.wpilibj2.command.SubsystemBase
 import frc.team449.robot2024.Robot
@@ -17,10 +18,11 @@ import frc.team449.robot2024.constants.MotorConstants
 import frc.team449.robot2024.constants.RobotConstants
 import frc.team449.robot2024.constants.field.FieldConstants
 import frc.team449.robot2024.constants.subsystem.ShooterConstants
-import frc.team449.system.encoder.NEOEncoder
+import frc.team449.system.encoder.QuadEncoder
 import frc.team449.system.motor.WrappedMotor
 import frc.team449.system.motor.createSparkMax
 import java.util.function.Supplier
+
 open class Shooter(
   private val rightMotor: WrappedMotor,
   private val leftMotor: WrappedMotor,