diff --git a/src/main/java/frc/robot/subsystems/pivot/Pivot.java b/src/main/java/frc/robot/subsystems/pivot/Pivot.java
new file mode 100644
index 0000000..69da527
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/pivot/Pivot.java
@@ -0,0 +1,6 @@
+package frc.robot.subsystems.pivot;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Pivot extends SubsystemBase{
+}
diff --git a/src/main/java/frc/robot/subsystems/pivot/PivotConstants.java b/src/main/java/frc/robot/subsystems/pivot/PivotConstants.java
new file mode 100644
index 0000000..4b38fa8
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/pivot/PivotConstants.java
@@ -0,0 +1,9 @@
+package frc.robot.subsystems.pivot;
+
+import java.util.concurrent.Flow.Publisher;
+
+public class PivotConstants{
+    public static int pivotMotorID = 0; //not right
+    public static int stallLimit = 30; //not right
+    public static int freeLimit = 20; //not right
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/pivot/PivotIO.java b/src/main/java/frc/robot/subsystems/pivot/PivotIO.java
new file mode 100644
index 0000000..58bca42
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/pivot/PivotIO.java
@@ -0,0 +1,14 @@
+package frc.robot.subsystems.pivot;
+
+import org.littletonrobotics.junction.AutoLog;
+
+public interface PivotIO {
+    @AutoLog
+    public static class PivotIOInputs {
+        public double position = 0;
+        public double velocity = 0;
+        public double voltage = 0;
+    }
+    public default void setVoltage(double voltage) {};
+    public default void updateInputs(PivotIOInputs inputs) {};
+    }
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java b/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java
new file mode 100644
index 0000000..044efcc
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java
@@ -0,0 +1,33 @@
+package frc.robot.subsystems.pivot;
+
+import com.revrobotics.AbsoluteEncoder;
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkBase.PersistMode;
+import com.revrobotics.spark.SparkBase.ResetMode;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+import com.revrobotics.spark.config.SparkBaseConfig;
+import com.revrobotics.spark.config.SparkMaxConfig;
+
+public class PivotIOReal implements PivotIO {
+   private SparkMax pivotMotor = new SparkMax(PivotConstants.pivotMotorID, MotorType.kBrushless);
+   private SparkMaxConfig config = new SparkMaxConfig();
+   private AbsoluteEncoder encoder = pivotMotor.getAbsoluteEncoder();
+   public PivotIOReal() {
+    config.smartCurrentLimit(PivotConstants.stallLimit);
+    pivotMotor.configure(config, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);
+    pivotMotor.getStickyFaults();
+   }
+
+   @Override
+   public void setVoltage(double voltage) {
+    pivotMotor.setVoltage(voltage);
+   }
+
+   @Override
+   public void updateInputs(PivotIOInputs inputs) {
+    inputs.voltage = pivotMotor.getBusVoltage();
+    inputs.position = encoder.getPosition();
+    inputs.velocity = encoder.getVelocity();
+   }
+   
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java b/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java
new file mode 100644
index 0000000..71e89f0
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java
@@ -0,0 +1,5 @@
+package frc.robot.subsystems.pivot;
+
+public class PivotIOSim {
+    private 
+}