diff --git a/2019robot/src/main/java/org/usfirst/frc4388/utility/CANTalonEncoder.java b/2019robot/src/main/java/org/usfirst/frc4388/utility/CANTalonEncoder.java
index 290820d..7e60123 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/utility/CANTalonEncoder.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/utility/CANTalonEncoder.java
@@ -1,5 +1,6 @@
 package org.usfirst.frc4388.utility;
 
+import com.ctre.phoenix.motorcontrol.ControlMode;
 import com.ctre.phoenix.motorcontrol.FeedbackDevice;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 
@@ -32,35 +33,47 @@ public class CANTalonEncoder extends WPI_TalonSRX
 		this.isRight = isRight;
 	}
 
-	public double convertEncoderTicksToWorld(double encoderTicks) {
+	public double convertEncoderTicksToWorld(double encoderTicks) 
+	{
     	return encoderTicks / encoderTicksToWorld;
+	}
+	
+	public void setWorld(ControlMode mode, double worldValue) 
+	{
+    	this.set(mode, convertEncoderWorldToTicks(worldValue));
     }
 
-    public double convertEncoderWorldToTicks(double worldValue) {
+	public double convertEncoderWorldToTicks(double worldValue) 
+	{
     	return worldValue * encoderTicksToWorld;
     }
     
-    public void setWorld(double worldValue) {
+	public void setWorld(double worldValue) 
+	{
     	//this.set(convertEncoderWorldToTicks(worldValue));
     	this.set(getControlMode(), convertEncoderWorldToTicks(worldValue));		//TODO: change to explicit mode set?
     }
     
-    public void setPositionWorld(double worldValue) {
+	public void setPositionWorld(double worldValue) 
+	{
     	//this.setPosition(convertEncoderWorldToTicks(worldValue));
     	this.setSelectedSensorPosition((int)convertEncoderWorldToTicks(worldValue), 0, 0);	//TODO: verify
     }
     
-    public double getPositionWorld() {
+	public double getPositionWorld() 
+	{
     	//return convertEncoderTicksToWorld(this.getPosition());
     	return convertEncoderTicksToWorld(this.getSelectedSensorPosition(0));	//TODO: verify want 0="Primary closed-loop"
     }
     
-    public void setVelocityWorld(double worldValue) {
+	public void setVelocityWorld(double worldValue) 
+	{
     	//this.set(convertEncoderWorldToTicks(worldValue) * 0.1);
     	this.set(getControlMode(), convertEncoderWorldToTicks(worldValue) * 0.1);	//TODO: change to explicit mode set?
     }
     
-    public double getVelocityWorld() {
+	public double getVelocityWorld() 
+	{
     	//return convertEncoderTicksToWorld(this.getSpeed() / 0.1);
     	return convertEncoderTicksToWorld(this.getSelectedSensorVelocity(0) / 0.1);	//TODO: verify want 0="Primary closed-loop"
     }