diff --git a/src/main/java/frc/robot/constants/ArmConstants.java b/src/main/java/frc/robot/constants/ArmConstants.java
index 03a7d35..2461f16 100644
--- a/src/main/java/frc/robot/constants/ArmConstants.java
+++ b/src/main/java/frc/robot/constants/ArmConstants.java
@@ -1,5 +1,7 @@
 package frc.robot.constants;
 
+import com.ctre.phoenix6.configs.CANcoderConfiguration;
+
 public class ArmConstants {
     public static final int kArmMotorID = 0;
     public static final int kCANcoderID = 0;
@@ -16,4 +18,8 @@ public class ArmConstants {
     public static final double kArmL2AlgaePosition = 0;
     public static final double kArmL3AlgaePosition = 0;
     public static final double kArmSafeStowPosition = 0;
+
+    public static final CANcoderConfiguration canCoderConfig = new CANcoderConfiguration();
+
+    
 }
diff --git a/src/main/java/frc/robot/subsystems/Arm.java b/src/main/java/frc/robot/subsystems/Arm.java
index 8a34f94..d6bcba7 100644
--- a/src/main/java/frc/robot/subsystems/Arm.java
+++ b/src/main/java/frc/robot/subsystems/Arm.java
@@ -8,6 +8,7 @@ import com.revrobotics.spark.SparkLowLevel.MotorType;
 
 import edu.wpi.first.math.controller.ArmFeedforward;
 import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.constants.ArmConstants;
@@ -58,11 +59,11 @@ public class Arm extends SubsystemBase {
             double realSpeedTarget = speed.getAsDouble() * ArmConstants.kArmMaxVelocity;
 
             double voltsOut = velocityController.calculate(
-                rotationsToRadians(canCoder.getVelocity().getValueAsDouble()), 
+                getEncoderVelocity(), 
                 realSpeedTarget
             ) + feedForward.calculate(
-                rotationsToRadians(canCoder.getPosition().getValueAsDouble()), 
-                canCoder.getVelocity().getValueAsDouble()
+                getEncoderPosition(), 
+                getEncoderVelocity()
             );
 
             armMotor.setVoltage(voltsOut);
@@ -72,11 +73,11 @@ public class Arm extends SubsystemBase {
     public Command goToSetpoint(double setpoint, double timeout) {
         return run(() -> {
             double voltsOut = positionController.calculate(
-                canCoder.getPosition().getValueAsDouble(), 
+                getEncoderPosition(), 
                 setpoint
             ) + feedForward.calculate(
-                canCoder.getPosition().getValueAsDouble(), 
-                canCoder.getVelocity().getValueAsDouble()
+                getEncoderPosition(), 
+                getEncoderVelocity()
             );
 
             armMotor.setVoltage(voltsOut);
@@ -84,10 +85,10 @@ public class Arm extends SubsystemBase {
     }
 
     public double getEncoderPosition() {
-        return canCoder.getPosition().getValueAsDouble();
+        return Units.rotationsToRadians(canCoder.getPosition().getValueAsDouble());
     }
 
-    protected double rotationsToRadians(double rotations) {
-        return rotations * 2 * Math.PI;
+    public double getEncoderVelocity() {
+        return Units.rotationsToRadians(canCoder.getVelocity().getValueAsDouble());
     }
 }
diff --git a/src/main/java/frc/robot/subsystems/Elevator.java b/src/main/java/frc/robot/subsystems/Elevator.java
index 224d9bf..7c7fb7d 100644
--- a/src/main/java/frc/robot/subsystems/Elevator.java
+++ b/src/main/java/frc/robot/subsystems/Elevator.java
@@ -21,7 +21,6 @@ public class Elevator extends SubsystemBase {
 
     protected RelativeEncoder encoder;
 
-    private DigitalInput topLimitSwitch;
     private DigitalInput bottomLimitSwitch;
 
     private PIDController positionController;
@@ -54,10 +53,6 @@ public class Elevator extends SubsystemBase {
 
         encoder = elevatorMotor1.getEncoder();
 
-        topLimitSwitch = new DigitalInput(
-            ElevatorConstants.kTopLimitSwitchID
-        );
-
         bottomLimitSwitch = new DigitalInput(
             ElevatorConstants.kBottomLimitSwitchID
         );
@@ -113,7 +108,7 @@ public class Elevator extends SubsystemBase {
             ) + feedForward.calculate(realSpeedTarget);
 
             elevatorMotor1.setVoltage(voltsOut);
-        }).until(() -> topLimitSwitch.get() || bottomLimitSwitch.get());
+        }).until(bottomLimitSwitch::get);
     }
 
     
@@ -127,7 +122,7 @@ public class Elevator extends SubsystemBase {
 
             elevatorMotor1.setVoltage(voltsOut);
         }).until(
-            () -> positionController.atSetpoint() || topLimitSwitch.get() || bottomLimitSwitch.get()
+            () -> positionController.atSetpoint() || bottomLimitSwitch.get()
         ).withTimeout(timeout);
     }