diff --git a/src/main/java/frc/robot/subsystems/Arm.java b/src/main/java/frc/robot/subsystems/Arm.java
index 38c9e73..0c793ca 100644
--- a/src/main/java/frc/robot/subsystems/Arm.java
+++ b/src/main/java/frc/robot/subsystems/Arm.java
@@ -6,14 +6,13 @@
 
 import com.ctre.phoenix6.CANBus;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
-import com.ctre.phoenix6.controls.PositionVoltage;
+import com.ctre.phoenix6.controls.MotionMagicVoltage;
 import com.ctre.phoenix6.hardware.CANcoder;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.signals.FeedbackSensorSourceValue;
 import com.ctre.phoenix6.signals.GravityTypeValue;
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
-import com.ctre.phoenix6.signals.StaticFeedforwardSignValue;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
@@ -27,7 +26,7 @@ public class Arm extends SubsystemBase {
   private final CANcoder encoder = new CANcoder(32, canivore);
 
   // Position output control for the arm
-  private final PositionVoltage positionOut = new PositionVoltage(0);
+  private final MotionMagicVoltage positionOut = new MotionMagicVoltage(0);
 
   public Arm() {
     // Create and apply the configuration for the leader motor
@@ -41,7 +40,8 @@ public Arm() {
     config.Slot0.kS = 0.0; // Static gain
     config.Slot0.kP = 0.0; // Proportional gain
     config.Slot0.kD = 0.0; // Derivative gain
-    config.Slot0.StaticFeedforwardSign = StaticFeedforwardSignValue.UseClosedLoopSign;
+    config.MotionMagic.MotionMagicCruiseVelocity = 0.0; // Max velocity
+    config.MotionMagic.MotionMagicAcceleration = 0.0; // Max acceleration allowed
     // Configure the leader motor to use the CANcoder for position feedback
     config.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.RemoteCANcoder;
     config.Feedback.FeedbackRemoteSensorID = encoder.getDeviceID();
diff --git a/src/main/java/frc/robot/subsystems/Flywheel.java b/src/main/java/frc/robot/subsystems/Flywheel.java
index ea7229e..c0ef686 100644
--- a/src/main/java/frc/robot/subsystems/Flywheel.java
+++ b/src/main/java/frc/robot/subsystems/Flywheel.java
@@ -7,7 +7,7 @@
 import com.ctre.phoenix6.CANBus;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.controls.Follower;
-import com.ctre.phoenix6.controls.VelocityVoltage;
+import com.ctre.phoenix6.controls.MotionMagicVelocityVoltage;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
@@ -24,7 +24,7 @@ public class Flywheel extends SubsystemBase {
   private final TalonFX follower = new TalonFX(22, canivore);
 
   // Velocity output control for the flywheel
-  private final VelocityVoltage velocityOut = new VelocityVoltage(0);
+  private final MotionMagicVelocityVoltage velocityOut = new MotionMagicVelocityVoltage(0);
 
   public Flywheel() {
     // Set the follower to follow the leader motor
@@ -38,6 +38,8 @@ public Flywheel() {
     config.Slot0.kS = 0.0; // Static gain
     config.Slot0.kV = 0.0; // Velocity gain
     config.Slot0.kP = 0.0; // Proportional gain
+    config.MotionMagic.MotionMagicCruiseVelocity = 0.0; // Max velocity
+    config.MotionMagic.MotionMagicAcceleration = 0.0; // Max acceleration allowed
     // Try to apply config multiple time. Break after successfully applying
     for (int i = 0; i < 2; ++i) {
       var status = leader.getConfigurator().apply(config);