diff --git a/src/main/java/frc/robot/subsystems/ArmSubsystem.java b/src/main/java/frc/robot/subsystems/ArmSubsystem.java
index 2da709d..fb5cbb5 100644
--- a/src/main/java/frc/robot/subsystems/ArmSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/ArmSubsystem.java
@@ -4,7 +4,6 @@
 
 package frc.robot.subsystems;
 
-import edu.wpi.first.units.measure.Current;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
@@ -19,52 +18,44 @@
 import com.ctre.phoenix6.controls.VoltageOut;
 import com.ctre.phoenix6.controls.TorqueCurrentFOC;
 
-
-
 public class ArmSubsystem extends SubsystemBase {
     private TalonFX armMotor, rollerMotor;
-    
+
     private final DutyCycleOut m_dutyCycleRequest = new DutyCycleOut(0.0);
     private final VoltageOut m_voltageRequest = new VoltageOut(0.0);
     private final TorqueCurrentFOC m_torqueRequest = new TorqueCurrentFOC(0.0);
 
     public ArmSubsystem() {
-        armMotor = new TalonFX(Constants.Arm.ROLLER_MOTOR_ID);
-        rollerMotor = new TalonFX(Constants.Arm.ARM_MOTOR_ID);
-
-        CurrentLimitsConfigs rollerClc = 
-            new CurrentLimitsConfigs()
-            .withStatorCurrentLimit(50)
-            .withStatorCurrentLimitEnable(false)
-            .withSupplyCurrentLimit(30)
-            .withSupplyCurrentLimitEnable(false);
-        
-        CurrentLimitsConfigs armClc =
-            new CurrentLimitsConfigs()
+        armMotor = new TalonFX(Constants.Arm.ARM_MOTOR_ID);
+        rollerMotor = new TalonFX(Constants.Arm.ROLLER_MOTOR_ID);
+
+        CurrentLimitsConfigs rollerClc = new CurrentLimitsConfigs()
+                .withStatorCurrentLimit(50)
+                .withStatorCurrentLimitEnable(true)
+                .withSupplyCurrentLimit(30)
+                .withSupplyCurrentLimitEnable(true);
+
+        CurrentLimitsConfigs armClc = new CurrentLimitsConfigs()
                 .withStatorCurrentLimit(100)
                 .withStatorCurrentLimitEnable(true)
                 .withSupplyCurrentLimit(50)
                 .withSupplyCurrentLimitEnable(true);
 
-        MotorOutputConfigs rollerMotorOutputConfigs =
-            new MotorOutputConfigs()
+        MotorOutputConfigs rollerMotorOutputConfigs = new MotorOutputConfigs()
                 .withInverted(InvertedValue.CounterClockwise_Positive)
-                .withNeutralMode(NeutralModeValue.Brake);
+                .withNeutralMode(NeutralModeValue.Coast);
 
-        MotorOutputConfigs armMotorOutputConfigs =
-            new MotorOutputConfigs()
+        MotorOutputConfigs armMotorOutputConfigs = new MotorOutputConfigs()
                 .withInverted(InvertedValue.CounterClockwise_Positive)
                 .withNeutralMode(NeutralModeValue.Brake);
 
-        TalonFXConfiguration rollerConfig =
-            new TalonFXConfiguration()
+        TalonFXConfiguration rollerConfig = new TalonFXConfiguration()
                 .withCurrentLimits(rollerClc)
                 .withMotorOutput(rollerMotorOutputConfigs);
 
-        TalonFXConfiguration armConfig =
-            new TalonFXConfiguration()
-                .withCurrentLimits(rollerClc)
-                .withMotorOutput(rollerMotorOutputConfigs);
+        TalonFXConfiguration armConfig = new TalonFXConfiguration()
+                .withCurrentLimits(armClc)
+                .withMotorOutput(armMotorOutputConfigs);
 
         TalonFXConfigurator rollerConfigurator = rollerMotor.getConfigurator();
         TalonFXConfigurator armConfigurator = armMotor.getConfigurator();
@@ -74,19 +65,18 @@ public ArmSubsystem() {
 
     }
 
-    public void setRollerDutyCycle(double voltage) {
-        rollerMotor.setControl(m_voltageRequest.withOutput(voltage));
+    public void setRollerDutyCycle(double percent) {
+        rollerMotor.setControl(m_dutyCycleRequest.withOutput(percent));
     }
 
     public void setRollerVoltage(double voltage) {
-        rollerMotor.setControl(m_dutyCycleRequest.withOutput(voltage));
+        rollerMotor.setControl(m_voltageRequest.withOutput(voltage));
     }
 
     public void setArmTorqueCurrent(double current) {
         armMotor.setControl(m_torqueRequest.withOutput(current));
     }
 
-
     @Override
     public void periodic() {
         // This method will be called once per scheduler run