diff --git a/src/main/java/frc/lib/config/FeedbackControllerConfig.java b/src/main/java/frc/lib/config/FeedbackControllerConfig.java
index d324e43..c019de9 100644
--- a/src/main/java/frc/lib/config/FeedbackControllerConfig.java
+++ b/src/main/java/frc/lib/config/FeedbackControllerConfig.java
@@ -14,13 +14,14 @@ public class FeedbackControllerConfig {
   /** Feedback controller derivative gain. */
   private double kD = 0.0;
 
+  /** Feedback controller continuous input. */
+  private boolean continuousInput = false;
+
   /** Feedback controller position tolerance. */
-  private double kPositionTolerance = 0.0;
+  private double positionTolerance = 0.0;
 
   /** Feedback controller velocity tolerance. */
-  private double kVelocityTolerance = 0.0;
-
-  // TODO Add velocity / acceleration constraints, profiled PID controller?
+  private double velocityTolerance = 0.0;
 
   /**
    * Modifies this controller config's proportional gain.
@@ -56,38 +57,36 @@ public FeedbackControllerConfig withDerivativeGain(double kD) {
   }
 
   /**
-   * Modifies this controller config's position tolerance.
+   * Modifies this controller config's continuous input.
    *
-   * @param kPositionTolerance the position tolerance.
+   * @param continuousInput the continuous input.
    * @return this controller config.
    */
-  public FeedbackControllerConfig withPositionTolerance(double kPositionTolerance) {
-    this.kPositionTolerance = kPositionTolerance;
+  public FeedbackControllerConfig withContinuousInput(boolean continuousInput) {
+    this.continuousInput = continuousInput;
     return this;
   }
 
   /**
-   * Modifies this controller config's velocity tolerance.
+   * Modifies this controller config's position tolerance.
    *
-   * @param kVelocityTolerance the velocity tolerance.
+   * @param positionTolerance the position tolerance.
    * @return this controller config.
    */
-  public FeedbackControllerConfig withVelocityTolerance(double kVelocityTolerance) {
-    this.kVelocityTolerance = kVelocityTolerance;
+  public FeedbackControllerConfig withPositionTolerance(double positionTolerance) {
+    this.positionTolerance = positionTolerance;
     return this;
   }
 
   /**
-   * Creates a new PID controller using this feedback config.
+   * Modifies this controller config's velocity tolerance.
    *
-   * @return a new PID controller using this feedback config.
+   * @param velocityTolerance the velocity tolerance.
+   * @return this controller config.
    */
-  public PIDController createPIDController() {
-    PIDController pidController = new PIDController(kP, kI, kD);
-
-    pidController.setTolerance(kPositionTolerance, kVelocityTolerance);
-
-    return pidController;
+  public FeedbackControllerConfig withVelocityTolerance(double velocityTolerance) {
+    this.velocityTolerance = velocityTolerance;
+    return this;
   }
 
   /**
@@ -117,13 +116,22 @@ public double kD() {
     return kD;
   }
 
+  /**
+   * Returns the feedback controller continuous input.
+   *
+   * @return the feedback controller continuous input.
+   */
+  public boolean continuousInput() {
+    return continuousInput;
+  }
+
   /**
    * Returns the feedback controller position tolerance.
    *
    * @return the feedback controller position tolerance.
    */
-  public double kPositionTolerance() {
-    return kPositionTolerance;
+  public double positionTolerance() {
+    return positionTolerance;
   }
 
   /**
@@ -131,7 +139,24 @@ public double kPositionTolerance() {
    *
    * @return the feedback controller velocity tolerance.
    */
-  public double kVelocityTolerance() {
-    return kVelocityTolerance;
+  public double velocityTolerance() {
+    return velocityTolerance;
+  }
+
+  /**
+   * Creates a new PID controller using this feedback config.
+   *
+   * @return a new PID controller using this feedback config.
+   */
+  public PIDController createPIDController() {
+    final PIDController pidController = new PIDController(kP, kI, kD);
+
+    pidController.setTolerance(positionTolerance, velocityTolerance);
+
+    if (continuousInput) {
+      pidController.enableContinuousInput(-0.5, 0.5);
+    }
+
+    return pidController;
   }
 }
diff --git a/src/main/java/frc/lib/controller/PositionControllerIOTalonFXSteer.java b/src/main/java/frc/lib/controller/PositionControllerIOTalonFXSteer.java
new file mode 100644
index 0000000..d6decc2
--- /dev/null
+++ b/src/main/java/frc/lib/controller/PositionControllerIOTalonFXSteer.java
@@ -0,0 +1,106 @@
+package frc.lib.controller;
+
+import com.ctre.phoenix6.BaseStatusSignal;
+import com.ctre.phoenix6.StatusSignal;
+import com.ctre.phoenix6.controls.VoltageOut;
+import com.ctre.phoenix6.hardware.CANcoder;
+import com.ctre.phoenix6.hardware.ParentDevice;
+import com.ctre.phoenix6.hardware.TalonFX;
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.controller.SimpleMotorFeedforward;
+import frc.lib.CAN;
+import frc.lib.config.Configurator;
+import frc.lib.config.MechanismConfig;
+
+/** Creates a new position controller using a steer TalonFX and azimuth CANcoder. */
+public class PositionControllerIOTalonFXSteer implements PositionControllerIO {
+
+  private final MechanismConfig config;
+
+  private final TalonFX steer;
+
+  private final CANcoder azimuth;
+
+  private final StatusSignal<Double> position, velocity, acceleration, volts, amps;
+
+  private final SimpleMotorFeedforward feedforward;
+
+  private final PIDController feedback;
+
+  private final VoltageOut voltage;
+
+  public PositionControllerIOTalonFXSteer(
+      CAN steerCAN, CAN encoderCAN, MechanismConfig config, boolean enableFOC) {
+    this.config = config;
+
+    steer = new TalonFX(steerCAN.id(), steerCAN.bus());
+
+    azimuth = new CANcoder(encoderCAN.id(), encoderCAN.bus());
+
+    // TODO Use steer position after seeding with azimuth
+    position = azimuth.getAbsolutePosition();
+
+    velocity = steer.getVelocity();
+    acceleration = steer.getAcceleration();
+
+    volts = steer.getMotorVoltage();
+    amps = steer.getStatorCurrent();
+
+    feedforward = config.feedforwardControllerConfig().createSimpleMotorFeedforward();
+
+    feedback = config.feedbackControllerConfig().createPIDController();
+
+    voltage = new VoltageOut(0.0).withEnableFOC(enableFOC);
+  }
+
+  @Override
+  public void configure() {
+    BaseStatusSignal.setUpdateFrequencyForAll(100.0, position, velocity, acceleration, volts, amps);
+
+    ParentDevice.optimizeBusUtilizationForAll(steer, azimuth);
+
+    Configurator.configureTalonFX(
+        steer.getConfigurator(), config.motorConfig().createTalonFXConfig());
+
+    Configurator.configureCANcoder(
+        azimuth.getConfigurator(), config.absoluteEncoderConfig().createCANcoderConfig());
+  }
+
+  @Override
+  public void update(PositionControllerIOValues values) {
+    BaseStatusSignal.refreshAll(position, velocity, acceleration, volts, amps);
+
+    values.positionRotations = position.getValue();
+    values.velocityRotationsPerSecond = velocity.getValue();
+    values.accelerationRotationsPerSecondPerSecond = acceleration.getValue();
+    values.motorVolts = volts.getValue();
+    values.motorAmps = amps.getValue();
+  }
+
+  @Override
+  public void setPosition(double positionRotations) {}
+
+  @Override
+  public void setSetpoint(double positionRotations, double velocityRotationsPerSecond) {
+    double measuredPositionRotations = position.getValue();
+
+    // double feedforwardVolts = feedforward.calculate(velocityRotationsPerSecond);
+    double feedforwardVolts = calculateFeedforward(measuredPositionRotations, positionRotations);
+
+    double feedbackVolts = feedback.calculate(measuredPositionRotations, positionRotations);
+
+    steer.setControl(voltage.withOutput(feedforwardVolts + feedbackVolts));
+  }
+
+  private double calculateFeedforward(double measurementRotations, double setpointRotations) {
+    if (feedback.atSetpoint() == false) {
+      if (measurementRotations > setpointRotations) {
+        return feedforward.ks;
+      } else {
+        return -feedforward.ks;
+      }
+    }
+
+    return 0.0;
+  }
+}
diff --git a/src/main/java/frc/robot/swerve/AzimuthEncoderIO.java b/src/main/java/frc/robot/swerve/AzimuthEncoderIO.java
deleted file mode 100644
index 5233da8..0000000
--- a/src/main/java/frc/robot/swerve/AzimuthEncoderIO.java
+++ /dev/null
@@ -1,21 +0,0 @@
-package frc.robot.swerve;
-
-/** Azimuth encoder hardware interface. */
-public interface AzimuthEncoderIO {
-
-  /** Values for the azimuth encoder hardware interface. */
-  public static class AzimuthEncoderIOValues {
-    /** Position of the azimuth encoder in rotations. */
-    public double positionRotations = 0.0;
-  }
-
-  /** Configures the azimuth encoder. */
-  public void configure();
-
-  /**
-   * Updates the azimuth encoder's values.
-   *
-   * @param values
-   */
-  public void update(AzimuthEncoderIOValues values);
-}
diff --git a/src/main/java/frc/robot/swerve/AzimuthEncoderIOCANcoder.java b/src/main/java/frc/robot/swerve/AzimuthEncoderIOCANcoder.java
deleted file mode 100644
index 02f98d4..0000000
--- a/src/main/java/frc/robot/swerve/AzimuthEncoderIOCANcoder.java
+++ /dev/null
@@ -1,51 +0,0 @@
-package frc.robot.swerve;
-
-import com.ctre.phoenix6.StatusSignal;
-import com.ctre.phoenix6.configs.CANcoderConfiguration;
-import com.ctre.phoenix6.hardware.CANcoder;
-import edu.wpi.first.math.geometry.Rotation2d;
-import frc.lib.CAN;
-import frc.lib.config.Configurator;
-
-/** CANcoder azimuth encoder. */
-public class AzimuthEncoderIOCANcoder implements AzimuthEncoderIO {
-
-  /** Hardware CANcoder. */
-  private final CANcoder cancoder;
-
-  /** CANcoder's absolute position status signal. */
-  private final StatusSignal<Double> absolutePositionRotations;
-
-  /** CANcoder's magnet offset. */
-  private final Rotation2d magnetOffset;
-
-  /**
-   * Creates a new CANcoder azimuth encoder.
-   *
-   * @param azimuthEncoderCAN the CANcoder's CAN identifier.
-   * @param magnetOffset the CANcoder's magnet offset.
-   */
-  public AzimuthEncoderIOCANcoder(CAN azimuthEncoderCAN, Rotation2d magnetOffset) {
-    cancoder = new CANcoder(azimuthEncoderCAN.id(), azimuthEncoderCAN.bus());
-
-    absolutePositionRotations = cancoder.getAbsolutePosition();
-
-    this.magnetOffset = magnetOffset;
-  }
-
-  @Override
-  public void configure() {
-    CANcoderConfiguration config = SwerveFactory.createAzimuthEncoderConfig();
-
-    config.MagnetSensor.MagnetOffset = magnetOffset.unaryMinus().getRotations();
-
-    Configurator.configureCANcoder(cancoder.getConfigurator(), config);
-  }
-
-  @Override
-  public void update(AzimuthEncoderIOValues values) {
-    absolutePositionRotations.refresh();
-
-    values.positionRotations = absolutePositionRotations.getValue();
-  }
-}
diff --git a/src/main/java/frc/robot/swerve/AzimuthEncoderIOSim.java b/src/main/java/frc/robot/swerve/AzimuthEncoderIOSim.java
deleted file mode 100644
index ccf0279..0000000
--- a/src/main/java/frc/robot/swerve/AzimuthEncoderIOSim.java
+++ /dev/null
@@ -1,13 +0,0 @@
-package frc.robot.swerve;
-
-/** Simulated azimuth encoder. */
-public class AzimuthEncoderIOSim implements AzimuthEncoderIO {
-
-  @Override
-  public void configure() {}
-
-  @Override
-  public void update(AzimuthEncoderIOValues values) {
-    values.positionRotations = 0.0;
-  }
-}
diff --git a/src/main/java/frc/robot/swerve/SteerMotorIO.java b/src/main/java/frc/robot/swerve/SteerMotorIO.java
deleted file mode 100644
index 35f7253..0000000
--- a/src/main/java/frc/robot/swerve/SteerMotorIO.java
+++ /dev/null
@@ -1,38 +0,0 @@
-package frc.robot.swerve;
-
-/** Steer motor hardware interface. */
-public interface SteerMotorIO {
-
-  /** Values for the steer motor hardware interface. */
-  public static class SteerMotorIOValues {
-    /** Position of the steer motor in rotations. */
-    public double positionRotations = 0.0;
-
-    /** Velocity of the steer motor in rotations per second. */
-    public double velocityRotationsPerSecond = 0.0;
-  }
-
-  /** Configures the steer motor. */
-  public void configure();
-
-  /**
-   * Updates the steer motor's values.
-   *
-   * @param values
-   */
-  public void update(SteerMotorIOValues values);
-
-  /**
-   * Sets the steer motor's position.
-   *
-   * @param positionRotations the steer motor's position.
-   */
-  public void setPosition(double positionRotations);
-
-  /**
-   * Sets the steer motor's setpoint.
-   *
-   * @param positionRotations the steer motor's setpoint.
-   */
-  public void setSetpoint(double positionRotations);
-}
diff --git a/src/main/java/frc/robot/swerve/SteerMotorIOSim.java b/src/main/java/frc/robot/swerve/SteerMotorIOSim.java
deleted file mode 100644
index 2c9f033..0000000
--- a/src/main/java/frc/robot/swerve/SteerMotorIOSim.java
+++ /dev/null
@@ -1,74 +0,0 @@
-package frc.robot.swerve;
-
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.system.plant.DCMotor;
-import edu.wpi.first.math.util.Units;
-import edu.wpi.first.wpilibj.simulation.FlywheelSim;
-import frc.lib.config.MechanismConfig;
-import frc.robot.RobotConstants;
-import frc.robot.swerve.SwerveConstants.MK4iConstants;
-
-/** Simulated steer motor. */
-public class SteerMotorIOSim implements SteerMotorIO {
-
-  /** Represents the motor used to steer the wheel. */
-  private final DCMotor motorSim = DCMotor.getFalcon500(1);
-
-  /** Represents the wheel steered by the motor. */
-  private final FlywheelSim wheelSim =
-      new FlywheelSim(motorSim, MK4iConstants.STEER_GEARING, MK4iConstants.STEER_MOI);
-
-  /** Represents the position of the steer motor. */
-  private double positionRotations;
-
-  /** Represents the velocity of the steer motor. */
-  private double velocityRotationsPerSecond;
-
-  /** PIDF position controller. */
-  private final SteerMotorPIDF pidf;
-
-  public SteerMotorIOSim() {
-    positionRotations = 0.0;
-    velocityRotationsPerSecond = 0.0;
-
-    MechanismConfig config = SwerveConstants.STEER_PIDF_CONSTANTS;
-
-    // Simulation is an ideal environment that does not have friction
-    config =
-        config
-            .withFeedforwardConfig(config.feedforwardControllerConfig().withStaticFeedforward(0.0))
-            .withFeedbackConfig(config.feedbackControllerConfig().withPositionTolerance(0.0));
-
-    pidf = new SteerMotorPIDF(config);
-  }
-
-  @Override
-  public void configure() {}
-
-  @Override
-  public void update(SteerMotorIOValues values) {
-    values.positionRotations = positionRotations;
-    values.velocityRotationsPerSecond = velocityRotationsPerSecond;
-  }
-
-  @Override
-  public void setPosition(double positionRotations) {
-    this.positionRotations = positionRotations;
-  }
-
-  @Override
-  public void setSetpoint(double positionRotations) {
-    double voltage =
-        pidf.calculate(
-            Rotation2d.fromRotations(this.positionRotations),
-            Rotation2d.fromRotations(positionRotations));
-
-    wheelSim.setInputVoltage(voltage);
-    wheelSim.update(RobotConstants.PERIODIC_DURATION);
-
-    this.velocityRotationsPerSecond =
-        Units.radiansToRotations(wheelSim.getAngularVelocityRadPerSec())
-            / MK4iConstants.STEER_GEARING;
-    this.positionRotations += this.velocityRotationsPerSecond;
-  }
-}
diff --git a/src/main/java/frc/robot/swerve/SteerMotorIOTalonFX.java b/src/main/java/frc/robot/swerve/SteerMotorIOTalonFX.java
deleted file mode 100644
index c0f9d96..0000000
--- a/src/main/java/frc/robot/swerve/SteerMotorIOTalonFX.java
+++ /dev/null
@@ -1,56 +0,0 @@
-package frc.robot.swerve;
-
-import com.ctre.phoenix6.BaseStatusSignal;
-import com.ctre.phoenix6.StatusSignal;
-import com.ctre.phoenix6.hardware.TalonFX;
-import frc.lib.CAN;
-
-/** TalonFX steer motor. */
-public abstract class SteerMotorIOTalonFX implements SteerMotorIO {
-
-  /** Hardware TalonFX. */
-  protected final TalonFX talonFX;
-
-  /** TalonFX"s position and velocity status signals. */
-  protected final StatusSignal<Double> positionRotations, velocityRotationsPerSecond;
-
-  /** CAN identifier for the steer motor's corresponding azimuth encoder. */
-  protected final CAN azimuthEncoderCAN;
-
-  /**
-   * Creates a new TalonFX steer motor.
-   *
-   * @param steerMotorCAN the TalonFX's CAN identifier.
-   * @param azimuthEncoderCAN the CAN identifier for the steer motor's corresponding azimuth
-   *     encoder.
-   */
-  public SteerMotorIOTalonFX(CAN steerMotorCAN, CAN azimuthEncoderCAN) {
-    talonFX = new TalonFX(steerMotorCAN.id(), steerMotorCAN.bus());
-
-    positionRotations = talonFX.getPosition();
-    velocityRotationsPerSecond = talonFX.getVelocity();
-
-    this.azimuthEncoderCAN = azimuthEncoderCAN;
-  }
-
-  @Override
-  public abstract void configure();
-
-  @Override
-  public void update(SteerMotorIOValues values) {
-    positionRotations.refresh();
-    velocityRotationsPerSecond.refresh();
-
-    values.positionRotations =
-        BaseStatusSignal.getLatencyCompensatedValue(positionRotations, velocityRotationsPerSecond);
-    values.velocityRotationsPerSecond = velocityRotationsPerSecond.getValue();
-  }
-
-  @Override
-  public void setPosition(double positionRotations) {
-    talonFX.setPosition(positionRotations);
-  }
-
-  @Override
-  public abstract void setSetpoint(double positionRotations);
-}
diff --git a/src/main/java/frc/robot/swerve/SteerMotorIOTalonFXPIDF.java b/src/main/java/frc/robot/swerve/SteerMotorIOTalonFXPIDF.java
deleted file mode 100644
index 98fe0cb..0000000
--- a/src/main/java/frc/robot/swerve/SteerMotorIOTalonFXPIDF.java
+++ /dev/null
@@ -1,63 +0,0 @@
-package frc.robot.swerve;
-
-import com.ctre.phoenix6.BaseStatusSignal;
-import com.ctre.phoenix6.configs.TalonFXConfiguration;
-import com.ctre.phoenix6.controls.VoltageOut;
-import com.ctre.phoenix6.signals.InvertedValue;
-import edu.wpi.first.math.geometry.Rotation2d;
-import frc.lib.CAN;
-import frc.lib.config.Configurator;
-import frc.robot.swerve.SwerveConstants.MK4iConstants;
-
-/** TalonFX steer motor controlled by an external PIDF controller. */
-public class SteerMotorIOTalonFXPIDF extends SteerMotorIOTalonFX {
-
-  /** PIDF position controller. */
-  private final SteerMotorPIDF pidf;
-
-  /** Voltage output request. */
-  private final VoltageOut voltageOutRequest;
-
-  /**
-   * Creates a new TalonFX steer motor controlled by an external PIDF controller.
-   *
-   * @param steerMotorCAN the TalonFX's CAN identifier.
-   * @param azimuthEncoderCAN the CAN identifier for the steer motor's corresponding azimuth
-   *     encoder.
-   */
-  public SteerMotorIOTalonFXPIDF(CAN steerMotorCAN, CAN azimuthEncoderCAN) {
-    super(steerMotorCAN, azimuthEncoderCAN);
-
-    pidf = new SteerMotorPIDF(SwerveConstants.STEER_PIDF_CONSTANTS);
-
-    voltageOutRequest = new VoltageOut(0).withEnableFOC(SwerveConstants.USE_PHOENIX_PRO_FOC);
-  }
-
-  @Override
-  public void configure() {
-    TalonFXConfiguration talonFXPIDFConfig = new TalonFXConfiguration();
-
-    talonFXPIDFConfig.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
-
-    talonFXPIDFConfig.ClosedLoopGeneral.ContinuousWrap = true;
-
-    // talonFXPIDFConfig.CurrentLimits =
-    //     new MotorCurrentLimits(35.0, 15.0, 25.0, 0.1).asCurrentLimitsConfigs();
-
-    talonFXPIDFConfig.Feedback.SensorToMechanismRatio = MK4iConstants.STEER_GEARING;
-
-    Configurator.configureTalonFX(talonFX.getConfigurator(), talonFXPIDFConfig);
-  }
-
-  @Override
-  public void setSetpoint(double positionRotations) {
-    Rotation2d measuredPosition =
-        Rotation2d.fromRotations(
-            BaseStatusSignal.getLatencyCompensatedValue(
-                this.positionRotations, this.velocityRotationsPerSecond));
-
-    double voltage = pidf.calculate(measuredPosition, Rotation2d.fromRotations(positionRotations));
-
-    talonFX.setControl(voltageOutRequest.withOutput(voltage));
-  }
-}
diff --git a/src/main/java/frc/robot/swerve/SteerMotorPIDF.java b/src/main/java/frc/robot/swerve/SteerMotorPIDF.java
deleted file mode 100644
index 6384e8d..0000000
--- a/src/main/java/frc/robot/swerve/SteerMotorPIDF.java
+++ /dev/null
@@ -1,56 +0,0 @@
-package frc.robot.swerve;
-
-import edu.wpi.first.math.controller.PIDController;
-import edu.wpi.first.math.controller.SimpleMotorFeedforward;
-import edu.wpi.first.math.geometry.Rotation2d;
-import frc.lib.config.MechanismConfig;
-
-/** Utility class for calculating PIDF for steer motors. */
-public class SteerMotorPIDF {
-
-  /** Feedforward controller for position. */
-  private final SimpleMotorFeedforward feedforward;
-
-  /** Feedback controller for position. */
-  private final PIDController feedback;
-
-  /** Creates a PIDF utility class. */
-  public SteerMotorPIDF(MechanismConfig config) {
-    feedforward = config.feedforwardControllerConfig().createSimpleMotorFeedforward();
-
-    feedback = config.feedbackControllerConfig().createPIDController();
-    feedback.enableContinuousInput(-0.5, 0.5);
-  }
-
-  /**
-   * Returns true if feedback error is within tolerance.
-   *
-   * @return true if feedback error is within tolerance.
-   */
-  public boolean atSetpoint() {
-    return feedback.atSetpoint();
-  }
-
-  /**
-   * Calculates the voltage to reach a setpoint position from a measured position.
-   *
-   * @param measurement the measured position of the steer motor.
-   * @param setpoint the setpoint position.
-   * @return the voltage to apply to the steer motor.
-   */
-  public double calculate(Rotation2d measurement, Rotation2d setpoint) {
-    double feedbackVolts = feedback.calculate(measurement.getRotations(), setpoint.getRotations());
-
-    double feedforwardVolts = 0.0;
-
-    if (feedback.atSetpoint() == false) {
-      if (measurement.getRadians() > setpoint.getRadians()) {
-        feedforwardVolts = feedforward.ks;
-      } else {
-        feedforwardVolts = -feedforward.ks;
-      }
-    }
-
-    return feedbackVolts + feedforwardVolts;
-  }
-}
diff --git a/src/main/java/frc/robot/swerve/Swerve.java b/src/main/java/frc/robot/swerve/Swerve.java
index f6abbd8..c3a569d 100644
--- a/src/main/java/frc/robot/swerve/Swerve.java
+++ b/src/main/java/frc/robot/swerve/Swerve.java
@@ -8,7 +8,6 @@
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.lib.Subsystem;
 import frc.lib.Telemetry;
@@ -87,7 +86,6 @@ public void addToShuffleboard(ShuffleboardTab tab) {
 
       ShuffleboardLayout swerveModuleColumn = Telemetry.addColumn(tab, "Module " + i);
 
-      swerveModuleColumn.addDouble("Azimuth (deg)", () -> swerveModule.getAzimuth().getDegrees());
       swerveModuleColumn.addDouble("Angle (deg)", () -> swerveModule.getState().angle.getDegrees());
       swerveModuleColumn.addDouble(
           "Velocity (mps)", () -> swerveModule.getState().speedMetersPerSecond);
@@ -95,9 +93,6 @@ public void addToShuffleboard(ShuffleboardTab tab) {
           "Setpoint Angle (deg)", () -> swerveModule.getSetpoint().angle.getDegrees());
       swerveModuleColumn.addDouble(
           "Setpoint Velocity (mps)", () -> swerveModule.getSetpoint().speedMetersPerSecond);
-
-      swerveModuleColumn.add(
-          Commands.runOnce(swerveModule::syncSteerPosition).withName("Sync Steer"));
     }
   }
 
diff --git a/src/main/java/frc/robot/swerve/SwerveConstants.java b/src/main/java/frc/robot/swerve/SwerveConstants.java
index 9757661..eb96ade 100644
--- a/src/main/java/frc/robot/swerve/SwerveConstants.java
+++ b/src/main/java/frc/robot/swerve/SwerveConstants.java
@@ -161,13 +161,14 @@ private static double calculateKv(double voltsPerRotorRotationPerSecond) {
               );
 
   /** Constants for steer motor PIDF position controllers. */
-  public static final MechanismConfig STEER_PIDF_CONSTANTS =
+  public static final MechanismConfig STEER_CONFIG =
       new MechanismConfig()
           .withFeedforwardConfig(
               new FeedforwardControllerConfig().withStaticFeedforward(0.205) // volts
               )
           .withFeedbackConfig(
               new FeedbackControllerConfig()
+                  .withContinuousInput(true)
                   .withProportionalGain(54.0) // volts per rotation
                   .withDerivativeGain(0.16) // volts per rotation per second
                   .withPositionTolerance(Units.degreesToRotations(1)) // rotations
diff --git a/src/main/java/frc/robot/swerve/SwerveFactory.java b/src/main/java/frc/robot/swerve/SwerveFactory.java
index 4263eaa..c91dd6c 100644
--- a/src/main/java/frc/robot/swerve/SwerveFactory.java
+++ b/src/main/java/frc/robot/swerve/SwerveFactory.java
@@ -1,6 +1,8 @@
 package frc.robot.swerve;
 
-import com.ctre.phoenix6.configs.CANcoderConfiguration;
+import frc.lib.controller.PositionControllerIO;
+import frc.lib.controller.PositionControllerIOSim;
+import frc.lib.controller.PositionControllerIOTalonFXSteer;
 import frc.robot.Robot;
 import frc.robot.RobotConstants;
 import frc.robot.RobotConstants.Subsystem;
@@ -17,39 +19,20 @@ public static SwerveModuleIO createModule(SwerveModuleConfig config) {
     return new SwerveModuleIOCustom(config);
   }
 
-  /**
-   * Creates an azimuth encoder.
-   *
-   * @return an azimuth encoder.
-   */
-  public static AzimuthEncoderIO createAzimuthEncoder(SwerveModuleConfig config) {
-    if (Robot.isReal() && RobotConstants.REAL_SUBSYSTEMS.contains(Subsystem.SWERVE))
-      return new AzimuthEncoderIOCANcoder(config.moduleCAN().azimuth(), config.offset());
-
-    return new AzimuthEncoderIOSim();
-  }
-
-  /**
-   * Creates an azimuth encoder configuration.
-   *
-   * @return an azimuth encoder configuration.
-   */
-  public static CANcoderConfiguration createAzimuthEncoderConfig() {
-    CANcoderConfiguration azimuthEncoderConfig = new CANcoderConfiguration();
-
-    return azimuthEncoderConfig;
-  }
-
   /**
    * Creates a steer motor.
    *
    * @return a steer motor.
    */
-  public static SteerMotorIO createSteerMotor(SwerveModuleConfig config) {
+  public static PositionControllerIO createSteerMotor(SwerveModuleConfig config) {
     if (Robot.isReal() && RobotConstants.REAL_SUBSYSTEMS.contains(Subsystem.SWERVE))
-      return new SteerMotorIOTalonFXPIDF(config.moduleCAN().steer(), config.moduleCAN().azimuth());
+      return new PositionControllerIOTalonFXSteer(
+          config.moduleCAN().steer(),
+          config.moduleCAN().azimuth(),
+          SwerveConstants.STEER_CONFIG,
+          false);
 
-    return new SteerMotorIOSim();
+    return new PositionControllerIOSim();
   }
 
   /**
diff --git a/src/main/java/frc/robot/swerve/SwerveModuleIO.java b/src/main/java/frc/robot/swerve/SwerveModuleIO.java
index 9174540..a99e927 100644
--- a/src/main/java/frc/robot/swerve/SwerveModuleIO.java
+++ b/src/main/java/frc/robot/swerve/SwerveModuleIO.java
@@ -1,15 +1,11 @@
 package frc.robot.swerve;
 
-import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 
 /** Swerve module hardware interface. */
 public interface SwerveModuleIO {
 
-  /** Sets the steer motor's position to the azimuth encoder's position. */
-  public void syncSteerPosition();
-
   /**
    * Gets the state of the swerve module.
    *
@@ -17,13 +13,6 @@ public interface SwerveModuleIO {
    */
   public SwerveModuleState getState();
 
-  /**
-   * Gets the azimuth angle of the swerve module.
-   *
-   * @return the azimuth angle of the swerve module.
-   */
-  public Rotation2d getAzimuth();
-
   /**
    * Gets the setpoint of the swerve module.
    *
diff --git a/src/main/java/frc/robot/swerve/SwerveModuleIOCustom.java b/src/main/java/frc/robot/swerve/SwerveModuleIOCustom.java
index 80db9ec..25ac0f9 100644
--- a/src/main/java/frc/robot/swerve/SwerveModuleIOCustom.java
+++ b/src/main/java/frc/robot/swerve/SwerveModuleIOCustom.java
@@ -4,24 +4,18 @@
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
-import frc.robot.swerve.AzimuthEncoderIO.AzimuthEncoderIOValues;
+import frc.lib.controller.PositionControllerIO;
+import frc.lib.controller.PositionControllerIO.PositionControllerIOValues;
 import frc.robot.swerve.DriveMotorIO.DriveMotorIOValues;
-import frc.robot.swerve.SteerMotorIO.SteerMotorIOValues;
 
 /** Custom swerve module. */
 public class SwerveModuleIOCustom implements SwerveModuleIO {
 
-  /** Azimuth encoder. */
-  private final AzimuthEncoderIO azimuthEncoder;
-
-  /** Azimuth encoder values. */
-  private final AzimuthEncoderIOValues azimuthEncoderValues = new AzimuthEncoderIOValues();
-
   /** Steer motor. */
-  private final SteerMotorIO steerMotor;
+  private final PositionControllerIO steerMotor;
 
   /** Steer motor values. */
-  private final SteerMotorIOValues steerMotorValues = new SteerMotorIOValues();
+  private final PositionControllerIOValues steerMotorValues = new PositionControllerIOValues();
 
   /** Drive motor. */
   private final DriveMotorIO driveMotor;
@@ -41,9 +35,6 @@ public class SwerveModuleIOCustom implements SwerveModuleIO {
    * @param config the swerve module's configuration.
    */
   public SwerveModuleIOCustom(SwerveModuleConfig config) {
-    azimuthEncoder = SwerveFactory.createAzimuthEncoder(config);
-    azimuthEncoder.configure();
-
     steerMotor = SwerveFactory.createSteerMotor(config);
     steerMotor.configure();
 
@@ -51,14 +42,6 @@ public SwerveModuleIOCustom(SwerveModuleConfig config) {
     driveMotor.configure();
 
     setpoint = new SwerveModuleState();
-
-    syncSteerPosition();
-  }
-
-  @Override
-  public void syncSteerPosition() {
-    azimuthEncoder.update(azimuthEncoderValues);
-    steerMotor.setPosition(azimuthEncoderValues.positionRotations);
   }
 
   @Override
@@ -71,13 +54,6 @@ public SwerveModuleState getState() {
         Rotation2d.fromRotations(steerMotorValues.positionRotations));
   }
 
-  @Override
-  public Rotation2d getAzimuth() {
-    azimuthEncoder.update(azimuthEncoderValues);
-
-    return Rotation2d.fromRotations(azimuthEncoderValues.positionRotations);
-  }
-
   @Override
   public SwerveModuleState getSetpoint() {
     return setpoint;
@@ -87,7 +63,7 @@ public SwerveModuleState getSetpoint() {
   public void setSetpoint(SwerveModuleState setpoint, boolean lazy) {
     setpoint = optimize(setpoint, getState(), lazy);
 
-    steerMotor.setSetpoint(setpoint.angle.getRotations());
+    steerMotor.setSetpoint(setpoint.angle.getRotations(), 0);
     driveMotor.setSetpoint(setpoint.speedMetersPerSecond);
 
     this.setpoint = setpoint;
@@ -132,7 +108,6 @@ private SwerveModuleState optimize(
 
   @Override
   public SwerveModulePosition getPosition() {
-    azimuthEncoder.update(azimuthEncoderValues);
     steerMotor.update(steerMotorValues);
     driveMotor.update(driveMotorValues);