diff --git a/src/main/java/frc/robot/subsystems/HopperSubsystem.java b/src/main/java/frc/robot/subsystems/HopperSubsystem.java
index 6f0f1d5..e8e4e53 100644
--- a/src/main/java/frc/robot/subsystems/HopperSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/HopperSubsystem.java
@@ -6,32 +6,72 @@ package frc.robot.subsystems;
 
 import org.fairportrobotics.frc.posty.TestableSubsystem;
 import org.fairportrobotics.frc.posty.test.PostTest;
+import org.littletonrobotics.junction.Logger;
 
+import com.ctre.phoenix6.StatusSignal;
 import com.ctre.phoenix6.configs.ClosedLoopGeneralConfigs;
 import com.ctre.phoenix6.configs.MotorOutputConfigs;
+import com.ctre.phoenix6.configs.Slot0Configs;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.controls.VelocityVoltage;
 import com.ctre.phoenix6.hardware.TalonFX;
 
+import edu.wpi.first.units.AngularVelocityUnit;
+import edu.wpi.first.units.Units;
+import edu.wpi.first.units.measure.AngularVelocity;
+
 import static org.fairportrobotics.frc.posty.assertions.Assertions.*;
 import frc.robot.Constants;
 
 public class HopperSubsystem extends TestableSubsystem {
 
     private TalonFX spindexerMotor;
+
+
     private TalonFX kickerMotor;
+    private VelocityVoltage kickerControl = new VelocityVoltage(0);
+    private StatusSignal<AngularVelocity> kickerVelocity;
+
   /** Creates a new HopperSubsystem. */
   public HopperSubsystem() {
     spindexerMotor = new TalonFX(Constants.HopperConstants.SPINDEXER_MOTOR_ID);
-    spindexerMotor.getConfigurator().apply(new MotorOutputConfigs().withInverted(Constants.HopperConstants.SPINDEXER_MOTOR_DIRECTION));
-    // spindexerMotor.getConfigurator().apply(new ClosedLoopGeneralConfigs()
-    //   .);
+    spindexerMotor.getConfigurator().apply(
+        new TalonFXConfiguration()
+            .withMotorOutput(
+                new MotorOutputConfigs()
+                    .withInverted(Constants.HopperConstants.SPINDEXER_MOTOR_DIRECTION))
+            .withSlot0(
+                new Slot0Configs()
+                    .withKP(0)
+                    .withKI(0)
+                    .withKD(0)
+                    .withKS(0)));
 
     kickerMotor = new TalonFX(Constants.HopperConstants.KICKER_MOTOR_ID);
-    kickerMotor.getConfigurator().apply(new MotorOutputConfigs().withInverted(Constants.HopperConstants.KICKER_MOTOR_DIRECTION));
+    kickerMotor.getConfigurator().apply(
+        new TalonFXConfiguration()
+            .withMotorOutput(
+                new MotorOutputConfigs()
+                    .withInverted(Constants.HopperConstants.KICKER_MOTOR_DIRECTION)
+            )
+            .withSlot0(new Slot0Configs()
+              .withKP(0)
+              .withKI(0)
+              .withKD(0)
+              .withKS(0)
+            ));
+    kickerVelocity = kickerMotor.getVelocity();
   } 
 
-  public void feedKicker() {kickerMotor.set(0.75);}
+  public void feedKicker() {
+    kickerMotor.setControl(kickerControl.withVelocity(1000));
+    // kickerMotor.set(0.75);
+  }
 
-  public void reverseKicker() {kickerMotor.set(-0.5);} 
+  public void reverseKicker() {
+    kickerMotor.setControl(kickerControl.withVelocity(-500));
+    // kickerMotor.set(-0.5);
+  } 
 
   public void stopKicker() {kickerMotor.stopMotor();}
 
@@ -39,6 +79,11 @@ public class HopperSubsystem extends TestableSubsystem {
 
   public void spindexerOff() { spindexerMotor.stopMotor();}
 
+  @Override
+  public void periodic() {
+      Logger.recordOutput("HopperSubsystem-KickerSpeed(Rotations/sec)", kickerVelocity.refresh().getValue().in(Units.RotationsPerSecond));
+  }
+
   @PostTest(enabled = true)
   public void hopperSystem_CANDevicesConnected(){
     assertThat(kickerMotor.isConnected()).as("Kicker motor not connected!").isTrue();