diff --git a/mattlib2-ctre/src/main/java/xyz/auriium/mattlib/ctre/BaseTalonFXController.java b/mattlib2-ctre/src/main/java/xyz/auriium/mattlib/ctre/BaseTalonFXController.java
new file mode 100644
index 0000000..3162f7b
--- /dev/null
+++ b/mattlib2-ctre/src/main/java/xyz/auriium/mattlib/ctre/BaseTalonFXController.java
@@ -0,0 +1,24 @@
+package xyz.auriium.mattlib.ctre;
+
+import com.ctre.phoenix6.hardware.TalonFX;
+import xyz.auriium.mattlib2.hardware.ILinearController;
+import xyz.auriium.mattlib2.hardware.IRotationalController;
+import xyz.auriium.mattlib2.hardware.config.MotorComponent;
+
+public class BaseTalonFXController extends BaseTalonFXMotor implements ILinearController, IRotationalController {
+    public BaseTalonFXController(TalonFX talonFX, MotorComponent motorComponent) {
+        super(talonFX, motorComponent);
+    }
+
+    @Override public void controlToLinearReferenceArbitrary(double setpointMechanism_meters, double arbitraryFF_volts) {
+
+    }
+
+    @Override public void controlToNormalizedReferenceArbitrary(double setpoint_mechanismNormalizedRotations, double arbitraryFF_volts) {
+
+    }
+
+    @Override public void controlToInfiniteReferenceArbitrary(double setpoint_mechanismRotations, double arbitraryFF_volts) {
+
+    }
+}
diff --git a/mattlib2-ctre/src/main/java/xyz/auriium/mattlib/ctre/BaseTalonFXMotor.java b/mattlib2-ctre/src/main/java/xyz/auriium/mattlib/ctre/BaseTalonFXMotor.java
index 1e3a640..b543c4d 100644
--- a/mattlib2-ctre/src/main/java/xyz/auriium/mattlib/ctre/BaseTalonFXMotor.java
+++ b/mattlib2-ctre/src/main/java/xyz/auriium/mattlib/ctre/BaseTalonFXMotor.java
@@ -41,6 +41,8 @@ public static ExplainedException[] orThrow(StatusCode code, GenericPath path, Ex
 
     @Override public ExplainedException[] verifyInit() {
 
+
+
         ExplainedException[] exceptions = new ExplainedException[0];
 
         //set feedback config
diff --git a/mattlib2-hardware/src/main/java/xyz/auriium/mattlib2/hardware/config/CommonMotorComponent.java b/mattlib2-hardware/src/main/java/xyz/auriium/mattlib2/hardware/config/CommonMotorComponent.java
index 9513c0e..4b522a3 100644
--- a/mattlib2-hardware/src/main/java/xyz/auriium/mattlib2/hardware/config/CommonMotorComponent.java
+++ b/mattlib2-hardware/src/main/java/xyz/auriium/mattlib2/hardware/config/CommonMotorComponent.java
@@ -20,10 +20,6 @@ enum Normally {
         CLOSED
     }
 
-    enum OptimizationMode {
-        NONE,
-        POSITION
-    }
 
 
     /**
diff --git a/mattlib2-rev/src/main/java/xyz/auriium/mattlib2/rev/BaseSparkMotor.java b/mattlib2-rev/src/main/java/xyz/auriium/mattlib2/rev/BaseSparkMotor.java
index 1f7d23a..55d7c15 100644
--- a/mattlib2-rev/src/main/java/xyz/auriium/mattlib2/rev/BaseSparkMotor.java
+++ b/mattlib2-rev/src/main/java/xyz/auriium/mattlib2/rev/BaseSparkMotor.java
@@ -146,6 +146,15 @@ public ExplainedException[] verifyInit() {
         motorComponent.openRampRate_seconds().ifPresent(sparkMax::setOpenLoopRampRate);
         motorComponent.closedRampRate_seconds().ifPresent(sparkMax::setClosedLoopRampRate);
 
+
+        sparkMax.setPeriodicFramePeriod(CANSparkLowLevel.PeriodicFrame.kStatus0, 200);
+        sparkMax.setPeriodicFramePeriod(CANSparkLowLevel.PeriodicFrame.kStatus1, 20);
+        sparkMax.setPeriodicFramePeriod(CANSparkLowLevel.PeriodicFrame.kStatus2, 10);
+        sparkMax.setPeriodicFramePeriod(CANSparkLowLevel.PeriodicFrame.kStatus3, 100);
+        sparkMax.setPeriodicFramePeriod(CANSparkLowLevel.PeriodicFrame.kStatus4, 100);
+        sparkMax.setPeriodicFramePeriod(CANSparkLowLevel.PeriodicFrame.kStatus5, 500);
+        sparkMax.setPeriodicFramePeriod(CANSparkLowLevel.PeriodicFrame.kStatus6, 500);
+
         return toThrow;
     }