diff --git a/src/main/java/frc/robot/subsystems/intake/AlgaeRollerbarConstants.java b/src/main/java/frc/robot/subsystems/intake/AlgaeRollerbarConstants.java
new file mode 100644
index 0000000..0634add
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/intake/AlgaeRollerbarConstants.java
@@ -0,0 +1,6 @@
+package frc.robot.subsystems.intake;
+
+public class AlgaeRollerbarConstants {
+    public static final int DEVICEID = 1;
+    public static final int STALLLIMIT = 1;
+}
diff --git a/src/main/java/frc/robot/subsystems/intake/AlgaeRollerbarIO.java b/src/main/java/frc/robot/subsystems/intake/AlgaeRollerbarIO.java
index bb5ac0c..aa62f24 100644
--- a/src/main/java/frc/robot/subsystems/intake/AlgaeRollerbarIO.java
+++ b/src/main/java/frc/robot/subsystems/intake/AlgaeRollerbarIO.java
@@ -1,5 +1,22 @@
 package frc.robot.subsystems.intake;
 
+import org.littletonrobotics.junction.AutoLog;
+
 public interface AlgaeRollerbarIO {
-    
+    @AutoLog 
+    public class PivotIOInputs{
+        public double position = 0;
+        public double voltage = 0;
+        public double velocity = 0;
+       
+    }
+    public default void setVoltage() {
+
+    }
+    //you need to make a class inside your interface
+    //update inputs, and a setvoltage
+    public default void updateInputs(){
+
+
+    }
 }
diff --git a/src/main/java/frc/robot/subsystems/intake/AlgaeRollerbarIOReal.java b/src/main/java/frc/robot/subsystems/intake/AlgaeRollerbarIOReal.java
index 6719e85..f21692e 100644
--- a/src/main/java/frc/robot/subsystems/intake/AlgaeRollerbarIOReal.java
+++ b/src/main/java/frc/robot/subsystems/intake/AlgaeRollerbarIOReal.java
@@ -1,19 +1,28 @@
 package frc.robot.subsystems.intake;
 
 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.SparkMaxConfig;
 import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+import
 
 public class AlgaeRollerbarIOReal implements AlgaeRollerbarIO{
-    private final SparkMax intakeMotor = new SparkMax(2,MotorType.kBrushed);//some numbers ig
+    private final SparkMax intakeMotor = new SparkMax(AlgaeRollerbarConstants.DEVICEID,MotorType.kBrushed);//some numbers ig
     private final SparkMaxConfig config = new SparkMaxConfig();
 
     public AlgaeRollerbarIOReal(){
         //set the idlemode to coast and then pass in current limit
         //set idlemode?
-        config.IdleMode kCoast;
-
+        //make a file called algaerollerbar constants for can id and type shit 
+        //in sparkmax there is method that lets you configure the motor, use that to configure it
+        //clear stickyfaults on the motor
+        //
+        config.idleMode(IdleMode.kCoast);
+        config.smartCurrentLimit(AlgaeRollerbarConstants.STALLLIMIT);
+        intakeMotor.configure(config, ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters);
+        intakeMotor.clearFaults();
 
     }