diff --git a/src/main/java/net/frc5183/librobot/hardware/motor/SparkMaxMotor.java b/src/main/java/net/frc5183/librobot/hardware/motor/SparkMaxMotor.java
index e3b8f05..75a55e4 100644
--- a/src/main/java/net/frc5183/librobot/hardware/motor/SparkMaxMotor.java
+++ b/src/main/java/net/frc5183/librobot/hardware/motor/SparkMaxMotor.java
@@ -9,7 +9,7 @@
 import net.frc5183.librobot.hardware.encoder.SparkMaxEncoder;
 
 /**
- * A wrapper class around CANSparkMax to make it compatible with other motor types
+ * Represents a Spark Max motor controller.
  */
 public class SparkMaxMotor extends Motor implements EncodedMotor {
     private final CANSparkMax motor;
@@ -68,12 +68,7 @@ public void stopMotor() {
         motor.stopMotor();
     }
 
-    @Override
-    public MotorController getRawMotor() {
-        return motor;
-    }
-
-    public CANSparkMax getTrueRawMotor() {
+    public CANSparkMax getRawMotor() {
         return motor;
     }
 
diff --git a/src/main/java/net/frc5183/librobot/hardware/motor/SparkMotor.java b/src/main/java/net/frc5183/librobot/hardware/motor/SparkMotor.java
new file mode 100644
index 0000000..d712439
--- /dev/null
+++ b/src/main/java/net/frc5183/librobot/hardware/motor/SparkMotor.java
@@ -0,0 +1,62 @@
+package net.frc5183.librobot.hardware.motor;
+
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
+
+/**
+ * Represents a Spark motor controller.
+ */
+public class SparkMotor extends Motor {
+    private final Spark motor;
+
+    public SparkMotor(int port) {
+        this.motor = new Spark(port);
+    }
+
+    public SparkMotor(Spark motor) {
+        this.motor = motor;
+    }
+
+    @Override
+    public void set(double speed) {
+        motor.set(speed);
+    }
+
+    @Override
+    public void periodic() {
+        motor.feed();
+    }
+
+    @Override
+    public double get() {
+        return motor.get();
+    }
+
+    @Override
+    public void setSafety(boolean on) {
+        motor.setSafetyEnabled(on);
+    }
+
+    @Override
+    public void setInverted(boolean inverted) {
+        motor.setInverted(inverted);
+    }
+
+    @Override
+    public boolean getInverted() {
+        return motor.getInverted();
+    }
+
+    @Override
+    public void disable() {
+        motor.disable();
+    }
+
+    @Override
+    public void stopMotor() {
+        motor.stopMotor();
+    }
+
+    public Spark getRawMotor() {
+        return motor;
+    }
+}
diff --git a/src/main/java/net/frc5183/librobot/hardware/motor/TalonFXMotor.java b/src/main/java/net/frc5183/librobot/hardware/motor/TalonFXMotor.java
new file mode 100644
index 0000000..7ca61d6
--- /dev/null
+++ b/src/main/java/net/frc5183/librobot/hardware/motor/TalonFXMotor.java
@@ -0,0 +1,63 @@
+package net.frc5183.librobot.hardware.motor;
+
+import com.ctre.phoenix6.hardware.TalonFX;
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
+
+/**
+ * Represents a TalonFX motor controller.
+ */
+public class TalonFXMotor extends Motor {
+    private final TalonFX motor;
+
+    public TalonFXMotor(int port) {
+        motor = new TalonFX(port);
+    }
+
+    public TalonFXMotor(TalonFX motor) {
+        this.motor = motor;
+    }
+
+    @Override
+    public void set(double speed) {
+        motor.set(speed);
+    }
+
+    @Override
+    public void periodic() {
+        motor.feed();
+    }
+
+    @Override
+    public double get() {
+        return motor.get();
+    }
+
+    @Override
+    public void setSafety(boolean on) {
+        motor.setSafetyEnabled(on);
+    }
+
+    @Override
+    public void setInverted(boolean inverted) {
+        motor.setInverted(inverted);
+    }
+
+    @Override
+    public boolean getInverted() {
+        return motor.getInverted();
+    }
+
+    @Override
+    public void disable() {
+        motor.disable();
+    }
+
+    @Override
+    public void stopMotor() {
+        motor.stopMotor();
+    }
+
+    public TalonFX getRawMotor() {
+        return motor;
+    }
+}