diff --git a/src/main/java/frc/robot/constants/ArmConstants.java b/src/main/java/frc/robot/constants/ArmConstants.java
index 2461f16..cc03486 100644
--- a/src/main/java/frc/robot/constants/ArmConstants.java
+++ b/src/main/java/frc/robot/constants/ArmConstants.java
@@ -1,15 +1,27 @@
 package frc.robot.constants;
 
 import com.ctre.phoenix6.configs.CANcoderConfiguration;
+import com.ctre.phoenix6.signals.SensorDirectionValue;
+
+import edu.wpi.first.math.util.Units;
 
 public class ArmConstants {
     public static final int kArmMotorID = 0;
     public static final int kCANcoderID = 0;
 
-    public static final double kEncoderConversionFactor = 0;
-
     public static final double kArmMaxVelocity = 0;
 
+    public static final double kPositionalP = 0;
+    public static final double kPositionalI = 0;
+    public static final double kPositionalD = 0;
+    public static final double kPositionalTolerance = Units.degreesToRadians(1);
+
+    public static final double kVelocityP = 0;
+    public static final double kVelocityI = 0;
+    public static final double kVelocityD = 0;
+    // TODO Is this reasonable?
+    public static final double kVelocityTolerance = Units.degreesToRadians(3) / 60;
+
     public static final double kArmCoralIntakePosition = 0;
     public static final double kArmL1Position = 0;
     public static final double kArmL2Position = 0;
@@ -21,5 +33,9 @@ public class ArmConstants {
 
     public static final CANcoderConfiguration canCoderConfig = new CANcoderConfiguration();
 
-    
+    static {
+        canCoderConfig.MagnetSensor.SensorDirection = SensorDirectionValue.CounterClockwise_Positive;
+        canCoderConfig.MagnetSensor.MagnetOffset = 0.0;
+        canCoderConfig.MagnetSensor.AbsoluteSensorDiscontinuityPoint = 0.5;
+    }
 }
diff --git a/src/main/java/frc/robot/subsystems/Arm.java b/src/main/java/frc/robot/subsystems/Arm.java
index d6bcba7..a5d1b86 100644
--- a/src/main/java/frc/robot/subsystems/Arm.java
+++ b/src/main/java/frc/robot/subsystems/Arm.java
@@ -29,7 +29,26 @@ public class Arm extends SubsystemBase {
             MotorType.kBrushless
         );
 
+        positionController = new PIDController(
+            ArmConstants.kPositionalP, 
+            ArmConstants.kPositionalI, 
+            ArmConstants.kPositionalD
+        );
+        
+        // TODO: Generate constants for continuous input range based on CANcoder configuration?
+        positionController.enableContinuousInput(Units.degreesToRadians(-180), Units.degreesToRadians(179));
+        positionController.setTolerance(ArmConstants.kPositionalTolerance);
+
+        velocityController = new PIDController(
+            ArmConstants.kVelocityP, 
+            ArmConstants.kVelocityI, 
+            ArmConstants.kVelocityD
+        );
+
+        velocityController.setTolerance(ArmConstants.kVelocityTolerance);
+
         canCoder = new CANcoder(ArmConstants.kCANcoderID);
+        canCoder.getConfigurator().apply(ArmConstants.canCoderConfig);
     }
 
     /**
@@ -85,7 +104,7 @@ public class Arm extends SubsystemBase {
     }
 
     public double getEncoderPosition() {
-        return Units.rotationsToRadians(canCoder.getPosition().getValueAsDouble());
+        return Units.rotationsToRadians(canCoder.getAbsolutePosition().getValueAsDouble());
     }
 
     public double getEncoderVelocity() {