diff --git a/src/main/java/frc4388/robot/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java
index 675a76b..d5db97c 100644
--- a/src/main/java/frc4388/robot/constants/BuildConstants.java
+++ b/src/main/java/frc4388/robot/constants/BuildConstants.java
@@ -7,12 +7,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2026KPopRobotHunters";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 117;
-  public static final String GIT_SHA = "f15a26aaef05d6a17e359cc3e189c5b5c1b1ceec";
-  public static final String GIT_DATE = "2026-02-27 21:19:01 MST";
+  public static final int GIT_REVISION = 119;
+  public static final String GIT_SHA = "9362d4389fe838757f8de94f4c17e5994c8adba0";
+  public static final String GIT_DATE = "2026-02-27 21:38:24 MST";
   public static final String GIT_BRANCH = "shikhar-op-controls";
-  public static final String BUILD_DATE = "2026-02-27 21:29:33 MST";
-  public static final long BUILD_UNIX_TIME = 1772252973524L;
+  public static final String BUILD_DATE = "2026-02-27 21:51:30 MST";
+  public static final long BUILD_UNIX_TIME = 1772254290903L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}
diff --git a/src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java b/src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java
index c619182..5f99722 100644
--- a/src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java
+++ b/src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java
@@ -3,13 +3,14 @@ package frc4388.robot.subsystems.intake;
 import static edu.wpi.first.units.Units.Amps;
 import static edu.wpi.first.units.Units.Rotations;
 import static edu.wpi.first.units.Units.RotationsPerSecond;
+import static edu.wpi.first.units.Units.RotationsPerSecondPerSecond;
 
 import org.littletonrobotics.junction.AutoLog;
 
-import edu.wpi.first.units.measure.Acceleration;
 import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.AngularAcceleration;
+import edu.wpi.first.units.measure.AngularVelocity;
 import edu.wpi.first.units.measure.Current;
-import edu.wpi.first.units.measure.Velocity;
 
 public interface IntakeIO {
     @AutoLog
@@ -19,10 +20,8 @@ public interface IntakeIO {
         Angle armTargetAngle = Rotations.of(0);
         Current armMotorCurrent = Amps.of(0);
 
-        @SuppressWarnings("rawtypes")
-        Velocity armMotorVelocity;
-        @SuppressWarnings("rawtypes")
-        Acceleration armMotorAcceleration;
+        AngularVelocity armMotorVelocity = RotationsPerSecond.of(0);
+        AngularAcceleration armMotorAcceleration = RotationsPerSecondPerSecond.of(0);
 
         // Angle shooterPitch = Rotations.of(0);
         // Angle shooterTargetPitch = Rotations.of(0);
@@ -40,7 +39,7 @@ public interface IntakeIO {
     // public default void setShooterAngle(ShooterState state, Angle angle) {}
     // public default void setShooterPitch(ShooterState state, Angle angle) {}
     public default void setArmAngle(IntakeState state, Angle angle) {}
-    public default void testSetArmAgle(IntakeState state, Angle angle){}
+    public default void testSetArmAngle(IntakeState state, Angle angle){}
     public default void stopArm() {}
     public default void setRollerOutput(IntakeState state, double rollerOutput) {}
     public default void armOutput(double percentOutput) {}
diff --git a/src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java b/src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
index 20e56ad..820ae3e 100644
--- a/src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
+++ b/src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
@@ -89,7 +89,7 @@ public class IntakeReal implements IntakeIO {
     }
 
     @Override
-    public void testSetArmAgle(IntakeState state, Angle angle){
+    public void testSetArmAngle(IntakeState state, Angle angle){
         state.armTargetAngle = angle;
         Angle motorAngle = angle.times(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
 
@@ -128,7 +128,6 @@ public class IntakeReal implements IntakeIO {
             );
     }
 
-    @SuppressWarnings("rawtypes")
     @Override
     public void updateInputs(IntakeState state) {
         state.armAngle = m_armMotor.getPosition().getValue().div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
@@ -137,8 +136,8 @@ public class IntakeReal implements IntakeIO {
         state.rollerMotorCurrent = m_rollerMotor.getStatorCurrent().getValue();
         state.retractedLimit = !m_armLimitSwitch.get();
         
-        // state.armMotorVelocity = (Velocity) m_armMotor.getVelocity();
-        // state.armMotorAcceleration = (Acceleration) m_armMotor.getAcceleration();
+        state.armMotorVelocity = m_armMotor.getVelocity().getValue();
+        state.armMotorAcceleration = m_armMotor.getAcceleration().getValue();
 
         if(state.retractedLimit) {
             // Set the arm motor to be zero if the limit switch is pressed