diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index c6cb8e0..5fe82b3 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -67,6 +67,10 @@ public static final class ShooterConstants {
             new Constraints(kFlywheelVelocity, kFlywheelAcceleration));
   }
 
+  public static final class IntakeConstants {
+    public static final double kPivotGearRatio = 36.0 / 16;
+  }
+
   public static final class Ports {
     public static final int kShooterPivotLeader = 0;
     public static final int kShooterPivotFollower = 0;
diff --git a/src/main/java/frc/robot/subsystems/intake/pivot/IntakePivotIO.java b/src/main/java/frc/robot/subsystems/intake/pivot/IntakePivotIO.java
new file mode 100644
index 0000000..30f1d26
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/intake/pivot/IntakePivotIO.java
@@ -0,0 +1,16 @@
+package frc.robot.subsystems.intake.pivot;
+
+import edu.wpi.first.math.geometry.Rotation2d;
+
+public interface IntakePivotIO {
+    public static class IntakePivotInputs {
+        public double curAngle;
+        public double[] curVelocity;
+        public double[] curVoltage;
+        public double[] curAmps;
+    }
+
+    public void setVoltage(double voltage);
+
+    public Rotation2d getCurrentAngle();
+}
diff --git a/src/main/java/frc/robot/subsystems/intake/pivot/IntakePivotIONeo.java b/src/main/java/frc/robot/subsystems/intake/pivot/IntakePivotIONeo.java
new file mode 100644
index 0000000..21b3b73
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/intake/pivot/IntakePivotIONeo.java
@@ -0,0 +1,18 @@
+package frc.robot.subsystems.intake.pivot;
+
+import com.revrobotics.AbsoluteEncoder;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.RelativeEncoder;
+
+import frc.robot.Constants.IntakeConstants;
+
+public class IntakePivotIONeo implements IntakePivotIO {
+    private CANSparkMax m_motor;
+    private AbsoluteEncoder m_encoder;
+
+    public IntakePivotIONeo(int port) {
+        m_motor = new CANSparkMax(port, CANSparkMax.MotorType.kBrushless);
+        m_encoder = m_motor.getAbsoluteEncoder();
+        m_encoder.setPositionConversionFactor(IntakeConstants.kPivotGearRatio);
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/intake/roller/RollerIO.java b/src/main/java/frc/robot/subsystems/intake/roller/RollerIO.java
new file mode 100644
index 0000000..4aeaf47
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/intake/roller/RollerIO.java
@@ -0,0 +1,16 @@
+package frc.robot.subsystems.intake.roller;
+
+import org.littletonrobotics.junction.AutoLog;
+
+import frc.lib.advantagekit.LoggedIO;
+
+public interface RollerIO extends LoggedIO<RollerIO.RollerInputs> {
+    @AutoLog
+    public static class RollerInputs {
+        public double curVelocity;
+        public double curVoltage;
+        public double curAmps;
+    }
+
+    public void setVoltage(double voltage);
+}
diff --git a/src/main/java/frc/robot/subsystems/intake/roller/RollerIOKraken.java b/src/main/java/frc/robot/subsystems/intake/roller/RollerIOKraken.java
new file mode 100644
index 0000000..abb202b
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/intake/roller/RollerIOKraken.java
@@ -0,0 +1,39 @@
+package frc.robot.subsystems.intake.roller;
+
+import com.ctre.phoenix6.BaseStatusSignal;
+import com.ctre.phoenix6.StatusSignal;
+import com.ctre.phoenix6.hardware.TalonFX;
+
+import edu.wpi.first.math.util.Units;
+
+public class RollerIOKraken implements RollerIO {
+    private TalonFX m_motor;
+    private StatusSignal<Double> m_voltageSignal;
+    private StatusSignal<Double> m_currentSignal;
+    private StatusSignal<Double> m_velocitySignal;
+
+    public RollerIOKraken(int port) {
+        m_motor = new TalonFX(port);
+        m_voltageSignal = m_motor.getMotorVoltage();
+        m_currentSignal = m_motor.getSupplyCurrent();
+        m_velocitySignal = m_motor.getVelocity();
+    }
+
+    @Override
+    public void updateInputs(RollerInputs inputs) {
+        BaseStatusSignal.refreshAll(
+            m_voltageSignal,
+            m_currentSignal,
+            m_velocitySignal
+        );
+
+        inputs.curVoltage = m_voltageSignal.getValueAsDouble();
+        inputs.curAmps = m_currentSignal.getValueAsDouble();
+        inputs.curVelocity = Units.rotationsToRadians(m_velocitySignal.getValueAsDouble());
+    }
+
+    @Override
+    public void setVoltage(double voltage) {
+        m_motor.setVoltage(voltage);
+    }
+}
diff --git a/src/main/java/frc/robot/subsystems/intake/roller/RollerIOSim.java b/src/main/java/frc/robot/subsystems/intake/roller/RollerIOSim.java
new file mode 100644
index 0000000..fae079f
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/intake/roller/RollerIOSim.java
@@ -0,0 +1,33 @@
+package frc.robot.subsystems.intake.roller;
+
+import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.wpilibj.simulation.DCMotorSim;
+
+public class RollerIOSim implements RollerIO {
+    private DCMotorSim m_sim;
+    private double m_voltage;
+
+    public RollerIOSim() {
+        m_sim = new DCMotorSim(
+            DCMotor.getKrakenX60(1),
+            3,
+            1
+        );
+        m_voltage = 0.0;
+    }
+
+    @Override
+    public void updateInputs(RollerInputs inputs) {
+        m_sim.update(0.02);
+
+        inputs.curVoltage = m_voltage;
+        inputs.curAmps = m_sim.getCurrentDrawAmps();
+        inputs.curVelocity = m_sim.getAngularVelocityRadPerSec();
+    }
+
+    @Override
+    public void setVoltage(double voltage) {
+        m_sim.setInputVoltage(voltage);
+        m_voltage = voltage;
+    }
+}