diff --git a/Robot2024/src/main/java/com/team2813/subsystems/Drive.java b/Robot2024/src/main/java/com/team2813/subsystems/Drive.java
index ffa6dbd..d6056e4 100644
--- a/Robot2024/src/main/java/com/team2813/subsystems/Drive.java
+++ b/Robot2024/src/main/java/com/team2813/subsystems/Drive.java
@@ -14,6 +14,7 @@
 import static com.team2813.Constants.FRONT_RIGHT_STEER_ID;
 import static com.team2813.Constants.PIGEON_ID;
 
+import java.util.OptionalDouble;
 import java.util.OptionalLong;
 
 import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
@@ -277,9 +278,9 @@ public SwerveConfig getOffsets() {
 	 */
 	public void addMeasurement(Pose2d pose) {
 		double timestamp = Timer.getFPGATimestamp();
-		OptionalLong msDelay = limelight.getLocationalData().lastMSDelay();
+		OptionalDouble msDelay = limelight.getLocationalData().lastMSDelay();
 		if (msDelay.isPresent()) {
-			timestamp -= msDelay.getAsLong() / 1000.0;
+			timestamp -= msDelay.getAsDouble() / 1000.0;
 		}
 		drivetrain.addVisionMeasurement(pose, timestamp);
 	}
diff --git a/Robot2024/src/main/java/com/team2813/subsystems/IntakePivot.java b/Robot2024/src/main/java/com/team2813/subsystems/IntakePivot.java
index 7abea7f..a5e85ef 100644
--- a/Robot2024/src/main/java/com/team2813/subsystems/IntakePivot.java
+++ b/Robot2024/src/main/java/com/team2813/subsystems/IntakePivot.java
@@ -3,22 +3,20 @@
 import static com.team2813.Constants.INTAKE_PIVOT;
 
 import com.ctre.phoenix6.signals.NeutralModeValue;
-import com.team2813.lib2813.control.Encoder;
 import com.team2813.lib2813.control.InvertType;
-import com.team2813.lib2813.control.Motor;
 import com.team2813.lib2813.control.PIDMotor;
 import com.team2813.lib2813.control.encoders.CancoderWrapper;
 import com.team2813.lib2813.control.motors.TalonFXWrapper;
 import com.team2813.lib2813.subsystems.MotorSubsystem;
 
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
-import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+import edu.wpi.first.units.Angle;
+import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.Units;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
+import java.util.function.Supplier;
+
 public class IntakePivot extends MotorSubsystem<IntakePivot.Rotations> {
-    
-    Motor intakePivotMotor; 
-    Encoder intakePivotEncoder;
 
     public IntakePivot() {
         
@@ -29,9 +27,6 @@ public IntakePivot() {
 			.PID(0.315, 0, 0)
 			.acceptableError(0.5)
 			.startingPosition(Rotations.INTAKE_UP));
-			
-         intakePivotMotor = new TalonFXWrapper(INTAKE_PIVOT, InvertType.CLOCKWISE);
-		
     }
 	
 	private static PIDMotor pivotMotor() {
@@ -46,7 +41,7 @@ public void periodic() {
 		SmartDashboard.putNumber("Intake Pivot CANCoder Position", encoder.position());
 	}
 
-    public static enum Rotations implements MotorSubsystem.Position {
+    public enum Rotations implements Supplier<Measure<Angle>> {
 		INTAKE_DOWN(-0.782471),
         INTAKE_UP(-0.000732);
 
@@ -55,12 +50,17 @@ public static enum Rotations implements MotorSubsystem.Position {
         }
 
         private final double pos;
-        @Override
+
+		@Deprecated
 		public double getPos() {
 			return pos;
 		}
-
-    }
+		
+		@Override
+		public Measure<Angle> get() {
+			return Units.Rotations.of(pos);
+		}
+	}
 
 }
 
diff --git a/Robot2024/src/main/java/com/team2813/subsystems/ShooterPivot.java b/Robot2024/src/main/java/com/team2813/subsystems/ShooterPivot.java
index 7b79e2c..713f2c6 100644
--- a/Robot2024/src/main/java/com/team2813/subsystems/ShooterPivot.java
+++ b/Robot2024/src/main/java/com/team2813/subsystems/ShooterPivot.java
@@ -14,8 +14,13 @@
 import com.team2813.lib2813.subsystems.MotorSubsystem;
 import com.team2813.lib2813.util.ConfigUtils;
 
+import edu.wpi.first.units.Angle;
+import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.Units;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
+import java.util.function.Supplier;
+
 public class ShooterPivot extends MotorSubsystem<ShooterPivot.Position> {
 
 	public ShooterPivot() {
@@ -57,7 +62,7 @@ public void periodic() {
 		SmartDashboard.putNumber("Shoooter Pivot CANCoder Position", encoder.position());
 	}
 
-	public static enum Position implements MotorSubsystem.Position {
+	public static enum Position implements Supplier<Measure<Angle>> {
 		TOP_HARD_STOP(0),
 		SUBWOOFER_FRONT(0.007080),
 		SUBWOOFER_SIDE(0.007080),
@@ -70,10 +75,15 @@ public static enum Position implements MotorSubsystem.Position {
 		Position(double pos) {
 			this.pos = pos;
 		}
-
-		@Override
+		
+		@Deprecated
 		public double getPos() {
 			return pos;
 		}
+
+		@Override
+		public Measure<Angle> get() {
+			return Units.Rotations.of(pos);
+		}
 	}
 }