diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index c0a54d8..582317f 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -61,6 +61,9 @@
 import edu.wpi.first.units.measure.MomentOfInertia;
 import edu.wpi.first.units.measure.Velocity;
 import edu.wpi.first.units.measure.Voltage;
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.DutyCycle;
+import edu.wpi.first.wpilibj.DutyCycleEncoder;
 import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim;
 import frc.lib.W8.mechanisms.linear.LinearMechanism.LinearMechCharacteristics;
@@ -618,6 +621,11 @@ public class IntakePivotConstants {
     public static final DCMotor DCMOTOR = DCMotor.getKrakenX60(1);
     public static final MomentOfInertia MOI = KilogramSquareMeters.of(0.25);
 
+    public static final int ENCODER_CHANNEL = 9;
+    public static final DutyCycleEncoder ENCODER1 =
+        new DutyCycleEncoder(new DutyCycle(new DigitalInput(ENCODER_CHANNEL)));
+    // public static final Encoder ENCODER = new Encoder(ENCODER_CHANNEL, ENCODER_CHANNEL);
+
     // Positional PID
     public static final Slot0Configs SLOT_0_CONFIG =
         new Slot0Configs().withKP(100.0).withKI(0.0).withKD(0).withKS(0.07).withKV(0.1);
diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
index 224ea29..e5476ce 100644
--- a/src/main/java/frc/robot/subsystems/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake.java
@@ -2,6 +2,7 @@
 
 import static edu.wpi.first.units.Units.Degree;
 import static edu.wpi.first.units.Units.Radians;
+import static edu.wpi.first.units.Units.Rotations;
 import static edu.wpi.first.units.Units.RotationsPerSecond;
 
 import edu.wpi.first.math.geometry.Pose3d;
@@ -17,6 +18,7 @@
 import frc.lib.W8.mechanisms.rotary.RotaryMechanism;
 import frc.robot.Constants.IntakeFlywheelConstants;
 import frc.robot.Constants.IntakePivotConstants;
+import frc.robot.Robot;
 import org.littletonrobotics.junction.Logger;
 
 public class Intake extends SubsystemBase {
@@ -32,6 +34,8 @@ public Intake(FlywheelMechanism rollerIO, RotaryMechanism pivotIO) {
     _rollerIO = rollerIO;
     _pivotIO = pivotIO;
 
+    if (Robot.isReal()) tunePivotPosition();
+
     simBalls = 0;
   }
 
@@ -107,6 +111,11 @@ private Command setStowAngle(Angle stowAngle) {
                 PIDSlot.SLOT_0));
   }
 
+  public void tunePivotPosition() {
+    System.out.println(IntakePivotConstants.ENCODER1.get());
+    _pivotIO.setEncoderPosition(Rotations.of(IntakePivotConstants.ENCODER1.get()));
+  }
+
   @Override
   public void periodic() {
     // if (_pivotIO.getPosition().in(Degree) < IntakePivotConstants.MAX_ANGLE.in(Degree))