diff --git a/src/main/java/frc/lib/hardware/Motors/Motor.java b/src/main/java/frc/lib/hardware/Motors/Motor.java
index 1af7b13..c8d052f 100644
--- a/src/main/java/frc/lib/hardware/Motors/Motor.java
+++ b/src/main/java/frc/lib/hardware/Motors/Motor.java
@@ -44,7 +44,7 @@ private ControllerType(MotorController mController) {
     }
 
     public MotorController config(int canID) {
-      return mController.config(canID);
+      return mController.build(canID);
     }
   }
 
diff --git a/src/main/java/frc/lib/hardware/Motors/Motor2.java b/src/main/java/frc/lib/hardware/Motors/Motor2.java
index 82d4994..04c5308 100644
--- a/src/main/java/frc/lib/hardware/Motors/Motor2.java
+++ b/src/main/java/frc/lib/hardware/Motors/Motor2.java
@@ -34,19 +34,7 @@ protected DCMotor config() {
     }
   }
 
-  public enum ControllerType {
-    TallonSRX(new Talon_SRX());
 
-    MotorController mController;
-
-    private ControllerType(MotorController mController) {
-      this.mController = mController;
-    }
-
-    public MotorController config(int canID) {
-      return mController.config(canID);
-    }
-  }
 
   // -----------------------------------------
   private final MotorController mController;
diff --git a/src/main/java/frc/lib/hardware/Motors/MotorControllers/MotorController.java b/src/main/java/frc/lib/hardware/Motors/MotorControllers/MotorController.java
index 42ce678..22c4e28 100644
--- a/src/main/java/frc/lib/hardware/Motors/MotorControllers/MotorController.java
+++ b/src/main/java/frc/lib/hardware/Motors/MotorControllers/MotorController.java
@@ -4,17 +4,28 @@
 
 public interface MotorController extends HardwareRequirements {
 
-  MotorController config(int canID);
+  MotorController build(int canID);
 
+  // Setting
   void runVolts(double num);
 
   void brakeMode(boolean enable);
 
-  void setInverted(boolean enable);
+  void disable();
 
+  // Getting
   int getCanID();
 
-  void disable();
+  double getAppliedVolts();
+
+  double getCurentAmps();
+
+  double getBusVoltage();
+
+  // Config
+  MotorController setInverted(boolean enable);
+
+  MotorController setCurrentLimit(double CurrentLimit);
 
-  void currentLimit();
+  MotorController setSimulated(double simulated);
 }
diff --git a/src/main/java/frc/lib/hardware/Motors/MotorControllers/Talon_SRX.java b/src/main/java/frc/lib/hardware/Motors/MotorControllers/Talon_SRX.java
index f4c5a79..08201d7 100644
--- a/src/main/java/frc/lib/hardware/Motors/MotorControllers/Talon_SRX.java
+++ b/src/main/java/frc/lib/hardware/Motors/MotorControllers/Talon_SRX.java
@@ -10,7 +10,7 @@ public class Talon_SRX implements MotorController {
 
   private TalonSRX motor;
 
-  public MotorController config(int canID) {
+  public MotorController build(int canID) {
     this.canID = canID;
 
     motor = new TalonSRX(canID);
@@ -25,21 +25,19 @@ public void runVolts(double num) {
 
   @Override
   public void brakeMode(boolean enable) {
-    if (enable) motor.setNeutralMode(NeutralMode.Brake);
-    else motor.setNeutralMode(NeutralMode.Coast);
+    if (enable)
+      motor.setNeutralMode(NeutralMode.Brake);
+    else
+      motor.setNeutralMode(NeutralMode.Coast);
   }
 
-  /** true inverts it */
-  @Override
-  public void setInverted(boolean enable) {
-    motor.setInverted(enable);
-  }
 
   public void disable() {
     motor.set(ControlMode.Disabled, 0);
   }
 
-  public void currentLimit() {}
+  public void currentLimit() {
+  }
 
   // ----------------------------------------------------------
   @Override
@@ -59,5 +57,43 @@ public boolean connected() {
 
   // Unit Testing
   @Override
-  public void close() throws Exception {}
+  public void close() throws Exception {
+  }
+
+  @Override
+  public double getAppliedVolts() {
+    // TODO Auto-generated method stub
+    throw new UnsupportedOperationException("Unimplemented method 'getAppliedVolts'");
+  }
+
+  @Override
+  public double getCurentAmps() {
+    // TODO Auto-generated method stub
+    throw new UnsupportedOperationException("Unimplemented method 'getCurentAmps'");
+  }
+
+  @Override
+  public double getBusVoltage() {
+    // TODO Auto-generated method stub
+    throw new UnsupportedOperationException("Unimplemented method 'getBusVoltage'");
+  }
+
+  @Override
+  public MotorController setInverted(boolean enable) {
+    // TODO Auto-generated method stub
+    throw new UnsupportedOperationException("Unimplemented method 'setInverted'");
+  }
+
+  @Override
+  public MotorController setCurrentLimit(double CurrentLimit) {
+    // TODO Auto-generated method stub
+    throw new UnsupportedOperationException("Unimplemented method 'setCurrentLimit'");
+  }
+
+  @Override
+  public MotorController setSimulated(double simulated) {
+    // TODO Auto-generated method stub
+    throw new UnsupportedOperationException("Unimplemented method 'setSimulated'");
+  }
+
 }
diff --git a/src/main/java/frc/lib/hardware/sensor/encoders/Encoder.java b/src/main/java/frc/lib/hardware/sensor/encoders/Encoder.java
index 27c7ec0..adf4e09 100644
--- a/src/main/java/frc/lib/hardware/sensor/encoders/Encoder.java
+++ b/src/main/java/frc/lib/hardware/sensor/encoders/Encoder.java
@@ -4,11 +4,15 @@
 
 public interface Encoder extends HardwareRequirements {
 
-  Encoder config();
+  void zero();
 
   double getPosition();
 
   double getVelocity();
 
-  void setGearRatio(double gearRatio);
+  Encoder setGearRatio(double gearRatio);
+
+  Encoder setInverted(boolean inverted);
+
+  Encoder setOffset(double offset);
 }
diff --git a/src/main/java/frc/lib/hardware/sensor/encoders/REVBoreEncoder.java b/src/main/java/frc/lib/hardware/sensor/encoders/REVBoreEncoder.java
index c45fac6..aff6ee7 100644
--- a/src/main/java/frc/lib/hardware/sensor/encoders/REVBoreEncoder.java
+++ b/src/main/java/frc/lib/hardware/sensor/encoders/REVBoreEncoder.java
@@ -14,11 +14,6 @@ public double getVelocity() {
     return 20;
   }
 
-  @Override
-  public void setGearRatio(double gearRatio) {
-    // TODO Auto-generated method stub
-  }
-
   // ----------------------------------------------------------
   @Override
   public void toLog(LogTable table) {
@@ -35,8 +30,26 @@ public boolean connected() {
   public void close() throws Exception {}
 
   @Override
-  public Encoder config() {
+  public void zero() {
+    // TODO Auto-generated method stub
+    throw new UnsupportedOperationException("Unimplemented method 'zero'");
+  }
+
+  @Override
+  public Encoder setInverted(boolean inverted) {
+    // TODO Auto-generated method stub
+    throw new UnsupportedOperationException("Unimplemented method 'setInverted'");
+  }
+
+  @Override
+  public Encoder setOffset(double offset) {
+    // TODO Auto-generated method stub
+    throw new UnsupportedOperationException("Unimplemented method 'setOffset'");
+  }
 
-    return this;
+  @Override
+  public Encoder setGearRatio(double gearRatio) {
+    // TODO Auto-generated method stub
+    throw new UnsupportedOperationException("Unimplemented method 'setGearRatio'");
   }
 }