diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index e06d69c..3508a8d 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -110,6 +110,8 @@ public final class Constants {
     public static final double MAX_ARM_LEN = 2;
     public static final double ARM_HEIGHT  = 1;
     public static final double CURVE_POWER = 2;
+
+    public static final double TELE_TICKS_PER_SECOND = (-5);
     
     public static final double PIVOT_FORWARD_SOFT_LIMIT = -1.0; // TODO: find actual value
     public static final double PIVOT_REVERSE_SOFT_LIMIT = -1.0; // TODO: find actual value
diff --git a/src/main/java/frc4388/robot/subsystems/Arm.java b/src/main/java/frc4388/robot/subsystems/Arm.java
index 3b5165e..513be03 100644
--- a/src/main/java/frc4388/robot/subsystems/Arm.java
+++ b/src/main/java/frc4388/robot/subsystems/Arm.java
@@ -46,6 +46,14 @@ public class Arm extends SubsystemBase {
         this(pivot, tele, encoder, false);
     }
 
+    public void setRotVel(double vel) {
+        m_pivot.set(ControlMode.Velocity, vel);
+    }
+
+    public void setTeleVel(double vel) {
+        m_tele.set(ControlMode.Velocity, vel);
+    }
+
     public void armSetRotation(double rot) {
         if (rot > 1 || rot < 0) return;
         // Move arm code
@@ -71,6 +79,11 @@ public class Arm extends SubsystemBase {
             (ArmConstants.TELE_REVERSE_SOFT_LIMIT - ArmConstants.TELE_FORWARD_SOFT_LIMIT);
     }
 
+    public double getArmRotation() {
+        return (m_pivotEncoder.getAbsolutePosition() - ArmConstants.PIVOT_FORWARD_SOFT_LIMIT) /
+            (ArmConstants.PIVOT_REVERSE_SOFT_LIMIT - ArmConstants.PIVOT_FORWARD_SOFT_LIMIT);
+    }
+
     public void runPivotTele(double pivot, double tele) {
         var rot = 0;