diff --git a/src/main/java/frc/robot/subsystems/ArmSubsystem.java b/src/main/java/frc/robot/subsystems/ArmSubsystem.java
index 2da709d..d11ec64 100644
--- a/src/main/java/frc/robot/subsystems/ArmSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/ArmSubsystem.java
@@ -8,6 +8,9 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
+import com.ctre.phoenix6.controls.DutyCycleOut;
+import com.ctre.phoenix6.controls.TorqueCurrentFOC;
+import com.ctre.phoenix6.controls.VoltageOut;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
@@ -29,8 +32,8 @@ public class ArmSubsystem extends SubsystemBase {
     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);
+        armMotor = new TalonFX(Constants.Arm.ARM_MOTOR_ID);
+        rollerMotor = new TalonFX(Constants.Arm.ROLLER_MOTOR_ID);
 
         CurrentLimitsConfigs rollerClc = 
             new CurrentLimitsConfigs()
@@ -73,19 +76,19 @@ public ArmSubsystem() {
         armConfigurator.apply(armConfig);
 
     }
-
-    public void setRollerDutyCycle(double voltage) {
-        rollerMotor.setControl(m_voltageRequest.withOutput(voltage));
     }
-
-    public void setRollerVoltage(double voltage) {
+    
+    public void setRollerDutyCycle (double voltage) {
         rollerMotor.setControl(m_dutyCycleRequest.withOutput(voltage));
     }
 
-    public void setArmTorqueCurrent(double current) {
-        armMotor.setControl(m_torqueRequest.withOutput(current));
+    public void setRollerVoltage (double voltage) {
+        rollerMotor.setControl(m_voltageRequest.withOutput(voltage));
     }
 
+    public void setArmTorqueCurrent (double current) {
+        armMotor.setControl(m_torqueRequest.withOutput(current));
+    }
 
     @Override
     public void periodic() {