diff --git a/src/main/java/frc/robot/intake/IntakeFactory.java b/src/main/java/frc/robot/intake/IntakeFactory.java
index b9c8b39..f710e31 100644
--- a/src/main/java/frc/robot/intake/IntakeFactory.java
+++ b/src/main/java/frc/robot/intake/IntakeFactory.java
@@ -14,7 +14,7 @@ public class IntakeFactory {
    */
   public static RollerMotorIO createRollerMotor() {
     if (Robot.isReal() && RobotConstants.REAL_SUBSYSTEMS.contains(Subsystem.INTAKE))
-      return new RollerMotorIOSparkMax();
+      return new RollerMotorIOTalonFX();
 
     return new RollerMotorIOSim();
   }
diff --git a/src/main/java/frc/robot/intake/RollerMotorIOSparkMax.java b/src/main/java/frc/robot/intake/RollerMotorIOSparkMax.java
deleted file mode 100644
index 00dcdf8..0000000
--- a/src/main/java/frc/robot/intake/RollerMotorIOSparkMax.java
+++ /dev/null
@@ -1,42 +0,0 @@
-package frc.robot.intake;
-
-import com.revrobotics.CANSparkLowLevel.MotorType;
-import com.revrobotics.CANSparkMax;
-import frc.lib.Configurator;
-
-/** Roller motor using a Spark Max. */
-public class RollerMotorIOSparkMax implements RollerMotorIO {
-
-  /** Hardware Spark Max. */
-  private final CANSparkMax sparkMax;
-
-  public RollerMotorIOSparkMax() {
-    sparkMax = new CANSparkMax(5, MotorType.kBrushless);
-  }
-
-  @Override
-  public void configure() {
-    Configurator.configureREV(sparkMax::restoreFactoryDefaults);
-
-    sparkMax.setInverted(false);
-
-    Configurator.configureREV(() -> sparkMax.setSmartCurrentLimit(40));
-
-    Configurator.configureStatusFrames(sparkMax);
-  }
-
-  @Override
-  public void update(RollerMotorIOValues values) {
-    values.velocityRotationsPerSecond = getVelocity();
-    values.currentAmps = sparkMax.getOutputCurrent();
-  }
-
-  @Override
-  public void setSetpoint(double velocityRotationsPerSecond) {
-    // TODO Implement velocity setpoint following
-  }
-
-  public double getVelocity() {
-    return sparkMax.getEncoder().getVelocity() / 60.0;
-  }
-}
diff --git a/src/main/java/frc/robot/intake/RollerMotorIOTalonFX.java b/src/main/java/frc/robot/intake/RollerMotorIOTalonFX.java
new file mode 100644
index 0000000..2d94863
--- /dev/null
+++ b/src/main/java/frc/robot/intake/RollerMotorIOTalonFX.java
@@ -0,0 +1,56 @@
+package frc.robot.intake;
+
+import edu.wpi.first.math.controller.SimpleMotorFeedforward;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+import frc.lib.Configurator;
+
+/** Roller motor using a TalonFX. */
+public class RollerMotorIOTalonFX implements RollerMotorIO {
+
+  private final TalonFX topTalonFX, bottomTalonFX;
+
+  private final SimpleMotorFeedforward topFeedforward, bottomFeedforward;
+
+  public RollerMotorIOTalonFX() {
+    topTalonFX = new TalonFX(0); // TODO
+    bottomTalonFX = new TalonFX(0); // TODO
+
+    topFeedforward = new SimpleMotorFeedforward(0, 0); // TODO
+    bottomFeedforward = new SimpleMotorFeedforward(0, 0); // TODO
+  }
+
+  @Override
+  public void configure() {
+    final TalonFXConfiguration config = new TalonFXConfiguration();
+
+    config.Feedback.SensorToMechanismRatio = 1.0; // TODO
+
+    config.MotorOutput.NeutralMode = NeutralModeValue.Coast;
+
+    Configurator.configureTalonFX(topTalonFX.getConfigurator(), config);
+    Configurator.configureTalonFX(bottomTalonFX.getConfigurator(), config);
+  }
+
+  @Override
+  public void update(RollerMotorIOValues values) {
+    values.velocityRotationsPerSecond = getVelocity();
+    values.currentAmps = topTalonFX.getStatorCurrent().refresh().getValue();
+  }
+
+  @Override
+  public void setSetpoint(double velocityRotationsPerSecond) {
+    double topVolts = topFeedforward.calculate(velocityRotationsPerSecond);
+
+    topTalonFX.setVoltage(topVolts);
+
+    double bottomVolts = bottomFeedforward.calculate(velocityRotationsPerSecond);
+
+    bottomTalonFX.setVoltage(bottomVolts);
+  }
+
+  public double getVelocity() {
+    return topTalonFX.getVelocity().refresh().getValue();
+  }
+}