diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index bd3b0e1..41ad5f8 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -5,6 +5,8 @@
 import static edu.wpi.first.units.Units.Meters;
 import static edu.wpi.first.units.Units.RotationsPerSecond;
 
+import org.lasarobotics.hardware.ctre.PhoenixCANBus;
+import org.lasarobotics.hardware.ctre.TalonFX;
 import org.lasarobotics.hardware.generic.LimitSwitch;
 import org.lasarobotics.hardware.revrobotics.Spark;
 import org.lasarobotics.vision.AprilTagCamera.Resolution;
@@ -28,7 +30,8 @@ public static class Field {
     public static final AprilTagFieldLayout FIELD_LAYOUT = AprilTagFieldLayout.loadField(AprilTagFields.k2025Reefscape);
     public static final Pose2d SOURCE_INTAKE_POINT = new Pose2d(
       new Translation2d(Meters.of(1.209), Meters.of(1.1)),
-      Rotation2d.fromDegrees(-145.305));
+      Rotation2d.fromDegrees(-145.305)
+    );
   }
 
   public static class Frequencies {
@@ -49,24 +52,10 @@ public static class EndEffector {
   }
 
   public static class LiftHardware {
-   public static final int ELEVATOR_MOTOR_ID = 4;
-   public static final int PIVOT_MOTOR_ID = 5;
-   public static final Spark.ID OUTTAKE_MOTOR_ID = new Spark.ID("LiftHardware/Outtake", 6);
+   public static final TalonFX.ID ELEVATOR_MOTOR_ID = new TalonFX.ID("LiftHardware/Elevator", PhoenixCANBus.RIO, 4);
+   public static final TalonFX.ID PIVOT_MOTOR_ID = new TalonFX.ID("LiftHardware/Pivot", PhoenixCANBus.RIO, 5);
    public static final Distance SPROCKET_PITCH_RADIUS = Inches.of((1.751)/(2.0));
-   public static final int INSIDE_END_EFFECTOR_BEAM_BREAK_PORT = 0;
-   public static final int OUTSIDE_END_EFFECTOR_BEAM_BREAK_PORT = 1;
-   public static final int ELEVATOR_HOMING_BEAM_BREAK_PORT = 2;
-  }
-
-  public static class IntakeHardware {
-    public static final Spark.ID FLAPPER_MOTOR_ID = new Spark.ID("IntakeHardware/FlapperIntakeMotor", 7);
-    public static final Spark.ID FUNNEL_MOTOR_ID = new Spark.ID("IntakeHardware/FrontIntakeMotor", 8);
-    public static final LimitSwitch.ID FIRST_INTAKE_BEAM_BREAK = new LimitSwitch.ID("IntakeHardware/FirstIntakeBeamBreak", 1);
-    public static final LimitSwitch.ID SECOND_INTAKE_BEAM_BREAK = new LimitSwitch.ID("IntakeHardware/SecondIntakeBeamBreak", 2);
-  }
-
-  public static class EndEffectorHardware {
-    public static final Spark.ID OUTTAKE_MOTOR_ID =  new Spark.ID("endEffecterMotor", 7);
+   public static final LimitSwitch.ID ELEVATOR_HOMING_BEAM_BREAK_PORT = new LimitSwitch.ID("LiftHardware/HomingSwitch", 0);
   }
 
   public static class IntakeHardware {
diff --git a/src/test/java/frc/robot/subsystems/EndEffectorSubsystemTest.java b/src/test/java/frc/robot/subsystems/EndEffectorSubsystemTest.java
deleted file mode 100644
index ee493cc..0000000
--- a/src/test/java/frc/robot/subsystems/EndEffectorSubsystemTest.java
+++ /dev/null
@@ -1,110 +0,0 @@
-package frc.robot.subsystems;
-
-import static org.mockito.Mockito.mock;
-import static org.mockito.Mockito.times;
-import static org.mockito.Mockito.verify;
-import static org.mockito.Mockito.when;
-
-import org.junit.jupiter.api.BeforeEach;
-import org.junit.jupiter.api.DisplayName;
-import org.junit.jupiter.api.MethodOrderer;
-import org.junit.jupiter.api.Order;
-import org.junit.jupiter.api.Test;
-import org.junit.jupiter.api.TestMethodOrder;
-import org.lasarobotics.hardware.revrobotics.Spark;
-import org.lasarobotics.hardware.revrobotics.SparkInputsAutoLogged;
-import org.lasarobotics.hardware.revrobotics.Spark.MotorKind;
-
-import edu.wpi.first.hal.HAL;
-import frc.robot.Constants;
-import frc.robot.subsystems.endeffector.EndEffectorSubsystem;
-
-@TestMethodOrder(MethodOrderer.OrderAnnotation.class)
-public class EndEffectorSubsystemTest {
-  private EndEffectorSubsystem m_endEffectorSystem;
-  private EndEffectorSubsystem.Hardware m_endEffectorHardware;
-  
-  private Spark m_endEffectorMotor;
-  
-  @BeforeEach
-  public void setup() {
-    HAL.initialize(500, 0);
-    
-    m_endEffectorMotor = mock(Spark.class);
-    
-    SparkInputsAutoLogged sparkInputs = new SparkInputsAutoLogged();
-    when(m_endEffectorMotor.getInputs()).thenReturn(sparkInputs);
-    
-    when(m_endEffectorMotor.getKind()).thenReturn(MotorKind.NEO_VORTEX);
-    
-    when(m_endEffectorMotor.getID()).thenReturn(Constants.EndEffectorHardware.OUTTAKE_MOTOR_ID);
-    
-    m_endEffectorHardware = new EndEffectorSubsystem.Hardware(m_endEffectorMotor);
-    
-    m_endEffectorSystem = EndEffectorSubsystem.getInstance(m_endEffectorHardware);
-  }
-  
-  public void close() {
-    m_endEffectorSystem.close();
-    m_endEffectorSystem = null;
-  }
-  
-  @Test
-  @Order(1)
-  @DisplayName("Test if End Effector can outtake")
-  public void outtake() {
-    SparkInputsAutoLogged sparkInputs = new SparkInputsAutoLogged();
-    
-    m_endEffectorSystem.setState(EndEffectorSubsystem.endEffectorStates.SCORE);
-    
-    when(m_endEffectorMotor.getInputs()).thenReturn(sparkInputs);
-    
-    verify(m_endEffectorMotor, times(1)).set(1.0);
-
-    m_endEffectorSystem.setState(EndEffectorSubsystem.endEffectorStates.IDLE);
-
-  }
-  
-  @Test
-  @Order(2)
-  @DisplayName("Test if End Effector can regurgitate")
-  public void regurgitate() {
-    SparkInputsAutoLogged sparkInputs = new SparkInputsAutoLogged();
-    
-    m_endEffectorSystem.setState(EndEffectorSubsystem.endEffectorStates.REGURGITATE);
-    
-    when(m_endEffectorMotor.getInputs()).thenReturn(sparkInputs);
-    
-    verify(m_endEffectorMotor, times(1)).set(-1.0);
-
-    m_endEffectorSystem.setState(EndEffectorSubsystem.endEffectorStates.IDLE);
-
-  }
-
-  @Test
-  @Order(3)
-  @DisplayName("Test if End Effector can Intake")
-  public void intake() {
-    SparkInputsAutoLogged sparkInputs = new SparkInputsAutoLogged();
-
-    sparkInputs.forwardLimitSwitch = false;
-    sparkInputs.reverseLimitSwitch = false;
-
-    m_endEffectorSystem.setState(EndEffectorSubsystem.endEffectorStates.INTAKE);
-
-    verify(m_endEffectorMotor, times(1)).set(Constants.EndEffector.INTAKE_MOTOR_SPEED);
-
-    sparkInputs.forwardLimitSwitch = true;
-    sparkInputs.reverseLimitSwitch = false;
-
-    verify(m_endEffectorMotor, times(1)).set(Constants.EndEffector.CENTER_CORAL_MOTOR_SPEED);
-
-    sparkInputs.forwardLimitSwitch = true;
-    sparkInputs.reverseLimitSwitch = true;
-
-    verify(m_endEffectorMotor, times(1)).close();
-
-
-
-  }
-}