diff --git a/.gradle/8.11/checksums/checksums.lock b/.gradle/8.11/checksums/checksums.lock
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diff --git a/.gradle/8.11/checksums/md5-checksums.bin b/.gradle/8.11/checksums/md5-checksums.bin
index c230833..d82b0b7 100644
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diff --git a/.gradle/8.11/checksums/sha1-checksums.bin b/.gradle/8.11/checksums/sha1-checksums.bin
index 6ef668a..7ddde3d 100644
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diff --git a/.gradle/8.11/fileHashes/fileHashes.bin b/.gradle/8.11/fileHashes/fileHashes.bin
index 9dddc61..3e59d63 100644
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diff --git a/.gradle/8.11/fileHashes/fileHashes.lock b/.gradle/8.11/fileHashes/fileHashes.lock
index 32bf4dc..3c9d800 100644
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diff --git a/bin/main/frc/robot/Robot.class b/bin/main/frc/robot/Robot.class
index 4b1e962..892b6cb 100644
Binary files a/bin/main/frc/robot/Robot.class and b/bin/main/frc/robot/Robot.class differ
diff --git a/bin/main/frc/robot/subsystems/drive/Drive.class b/bin/main/frc/robot/subsystems/drive/Drive.class
index db658e8..3aca120 100644
Binary files a/bin/main/frc/robot/subsystems/drive/Drive.class and b/bin/main/frc/robot/subsystems/drive/Drive.class differ
diff --git a/bin/main/frc/robot/subsystems/drive/Module.class b/bin/main/frc/robot/subsystems/drive/Module.class
index 3e29a54..23a2a69 100644
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diff --git a/build.gradle b/build.gradle
index c7954e0..658f200 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.2.1"
+    id "edu.wpi.first.GradleRIO" version "2025.3.1"
     id "com.peterabeles.gversion" version "1.10"
     id "com.diffplug.spotless" version "6.12.0"
 }
diff --git a/src/main/java/frc/robot/subsystems/elevator/Elevator.java b/src/main/java/frc/robot/subsystems/elevator/Elevator.java
new file mode 100644
index 0000000..1c46892
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/elevator/Elevator.java
@@ -0,0 +1,35 @@
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+import java.util.function.Supplier;
+
+import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.Voltage;
+import edu.wpi.first.wpilibj2.command.Command;
+
+
+
+
+public class Elevator extends SubsystemBase{
+    private final ElevatorIOInputsAutoLogged inputs = new ElevatorIOInputsAutoLogged();
+
+
+
+private final ElevatorIO io;
+
+@Override
+public void periodic() {
+  ElevatorIO.updateInputs(ElevatorInputs);
+}
+
+public Command runVoltageCommand(Supplier<Voltage> voltage) {
+    return run(() -> ElevatorIO.setVoltage(voltage.get())).withName("Voltage");
+  }
+
+ public Command runRPMCommand(Supplier<AngularVelocity> rpm) {
+    return run(() -> ElevatorIO.setRPM(rpm.get())).withName("RPM");
+  }   
+
+
+
+
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java b/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java
new file mode 100644
index 0000000..f2c4125
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java
@@ -0,0 +1,5 @@
+package frc.robot.subsystems.elevator;
+
+public class ElevatorConstants {
+    
+}
diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorIO.java b/src/main/java/frc/robot/subsystems/elevator/ElevatorIO.java
new file mode 100644
index 0000000..60506fa
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/elevator/ElevatorIO.java
@@ -0,0 +1,32 @@
+package frc.robot.subsystems.elevator;
+import java.util.function.DoubleSupplier;
+
+import org.littletonrobotics.junction.AutoLog;
+
+import edu.wpi.first.math.controller.ProfiledPIDController;
+import edu.wpi.first.math.trajectory.TrapezoidProfile;
+import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.Current;
+import edu.wpi.first.units.measure.Voltage;
+//motor is neos
+public interface ElevatorIO {
+    @AutoLog
+
+     public static class ElevatorIOInputs {
+    //public Voltage 
+    public boolean limitSwitchPressed = false;
+     }
+
+     default void setVoltage(Double Voltage){}
+     default double getVoltage() {
+        return 67.5;
+    }
+    ProfiledPIDController controller = new ProfiledPIDController(
+  kP, kI, kD,
+  new TrapezoidProfile.Constraints(MaxVelocity, MaxAcceleration));
+
+    default void updateInputs(ElevatorIOInputs inputs) {}
+    default void setPIDGains(double kP, double kI, double kD) {}
+    default void setRPM(double rpm){}
+    default void setFeedForwardGains(double kS, double kV, double kA) {}
+}
diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorIOSim.java b/src/main/java/frc/robot/subsystems/elevator/ElevatorIOSim.java
new file mode 100644
index 0000000..f9696af
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/elevator/ElevatorIOSim.java
@@ -0,0 +1,5 @@
+package frc.robot.subsystems.elevator;
+
+public class ElevatorIOSim {
+    
+}
diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorIOSparkMax.java b/src/main/java/frc/robot/subsystems/elevator/ElevatorIOSparkMax.java
new file mode 100644
index 0000000..7393c5f
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/elevator/ElevatorIOSparkMax.java
@@ -0,0 +1,8 @@
+package frc.robot.subsystems.elevator;
+
+import edu.wpi.first.math.controller.ProfiledPIDController;
+
+public class ElevatorIOSparkMax {
+     private ProfiledPIDController pidController =
+      new ProfiledPIDController(
+}