diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/TelescopingArm/TelescopingArm.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/TelescopingArm/TelescopingArm.kt
index a1af62e2..47cea5ec 100644
--- a/src/main/kotlin/com/team4099/robot2023/subsystems/TelescopingArm/TelescopingArm.kt
+++ b/src/main/kotlin/com/team4099/robot2023/subsystems/TelescopingArm/TelescopingArm.kt
@@ -1,4 +1,40 @@
 package com.team4099.robot2023.subsystems.TelescopingArm
 
+import com.team4099.lib.logging.TunableNumber
+import board.team4099.lib.units.base.Length
+import board.team4099.lib.units.base.inInches
+import board.team4099.lib.units.base.inMeters
+import board.team4099.lib.units.base.meters
+import board.team4099.lib.units.derived.inVolts
+import board.team4099.lib.units.derived.volts
+import board.team4099.lib.units.inMetersPerSecond
+import board.team4099.lib.units.inMetersPerSecondPerSecond
+import board.team4099.lib.units.perSecond
+import board.team4099.robot2022.config.constants.TelescopingClimberConstants
+import board.team4099.robot2022.config.constants.TelescopingClimberConstants.ActualTelescopeStates
+import board.team4099.robot2022.config.constants.TelescopingClimberConstants.DesiredTelescopeStates
+import board.team4099.robot2022.config.constants.TelescopingClimberConstants.telescopingTolerance
+import edu.wpi.first.math.controller.ElevatorFeedforward
+import edu.wpi.first.math.trajectory.TrapezoidProfile
+import edu.wpi.first.wpilibj2.boardmand.SubsystemBase
+import org.littletonrobotics.junction.Logger
 class TelescopingArm {
+
+    fun holdPosition(loaded: Boolean = true) {
+        if (loaded) {
+            io.setLeftPosition(inputs.leftPosition, loadedFeedForward.calculate(0.0).volts)
+            io.setRightPosition(inputs.rightPosition, loadedFeedForward.calculate(0.0).volts)
+        } else {
+            io.setLeftPosition(inputs.leftPosition, noLoadFeedForward.calculate(0.0).volts)
+            io.setRightPosition(inputs.rightPosition, noLoadFeedForward.calculate(0.0).volts)
+        }
+    }
+
+    fun zeroLeftEncoder() {
+        io.zeroLeftEncoder()
+    }
+
+    fun zeroRightEncoder() {
+        io.zeroRightEncoder()
+    }
 }
\ No newline at end of file
diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/TelescopingArm/TelescopingArmIO.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/TelescopingArm/TelescopingArmIO.kt
index 7d257b71..c6a2ace8 100644
--- a/src/main/kotlin/com/team4099/robot2023/subsystems/TelescopingArm/TelescopingArmIO.kt
+++ b/src/main/kotlin/com/team4099/robot2023/subsystems/TelescopingArm/TelescopingArmIO.kt
@@ -1,5 +1,19 @@
 package com.team4099.robot2023.subsystems.TelescopingArm
 
-class TelescopingArm {
-    
+import board.team4099.lib.units.base.Length
+import board.team4099.lib.units.base.amps
+import board.team4099.lib.units.base.inAmperes
+import board.team4099.lib.units.base.inInches
+import board.team4099.lib.units.base.inches
+import board.team4099.lib.units.base.meters
+import board.team4099.lib.units.derived.ElectricalPotential
+import board.team4099.lib.units.derived.inVolts
+import board.team4099.lib.units.derived.volts
+import board.team4099.lib.units.inMetersPerSecond
+import board.team4099.lib.units.perSecond
+import org.littletonrobotics.junction.LogTable
+import org.littletonrobotics.junction.inputs.LoggableInputs
+
+class TelescopingArmIO {
+
 }
\ No newline at end of file
diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/TelescopingArm/TelescopingArmIOReal.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/TelescopingArm/TelescopingArmIOReal.kt
index c6429f36..596d6915 100644
--- a/src/main/kotlin/com/team4099/robot2023/subsystems/TelescopingArm/TelescopingArmIOReal.kt
+++ b/src/main/kotlin/com/team4099/robot2023/subsystems/TelescopingArm/TelescopingArmIOReal.kt
@@ -1,4 +1,19 @@
 package com.team4099.robot2023.subsystems.TelescopingArm
 
+import board.ctre.phoenix.motorcontrol.ControlMode
+import board.ctre.phoenix.motorcontrol.DemandType
+import board.ctre.phoenix.motorcontrol.NeutralMode
+import board.ctre.phoenix.motorcontrol.can.TalonFX
+import board.ctre.phoenix.motorcontrol.can.TalonFXConfiguration
+import board.team4099.lib.units.base.Length
+import board.team4099.lib.units.base.amps
+import board.team4099.lib.units.ctreLinearMechanismSensor
+import board.team4099.lib.units.derived.ElectricalPotential
+import board.team4099.lib.units.derived.inVolts
+import board.team4099.lib.units.derived.volts
+import board.team4099.robot2022.config.constants.Constants
+import board.team4099.robot2022.config.constants.Constants.Universal.CANIVORE_NAME
+import board.team4099.robot2022.config.constants.TelescopingClimberConstants
 class TelescopingArmIOReal {
+
 }
\ No newline at end of file