diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json
new file mode 100644
index 0000000..fda3022
--- /dev/null
+++ b/.wpilib/wpilib_preferences.json
@@ -0,0 +1,6 @@
+{
+    "currentLanguage": "none",
+    "enableCppIntellisense": false,
+    "projectYear": "none",
+    "teamNumber": 1868
+}
\ No newline at end of file
diff --git a/src/test/java/tagalong/subsystems/micro/ElevatorConfigurationTests.java b/src/test/java/tagalong/subsystems/micro/ElevatorConfigurationTests.java
index 53550a1..b6c2040 100644
--- a/src/test/java/tagalong/subsystems/micro/ElevatorConfigurationTests.java
+++ b/src/test/java/tagalong/subsystems/micro/ElevatorConfigurationTests.java
@@ -1,3 +1,3 @@
 package tagalong.subsystems.micro;
 
-public class ElevatorConfigurationTests {}
+public class ElevatorConfigurationTests {}
\ No newline at end of file
diff --git a/src/test/java/tagalong/subsystems/micro/ElevatorUnitTests.java b/src/test/java/tagalong/subsystems/micro/ElevatorUnitTests.java
new file mode 100644
index 0000000..9cdaf15
--- /dev/null
+++ b/src/test/java/tagalong/subsystems/micro/ElevatorUnitTests.java
@@ -0,0 +1,60 @@
+package tagalong.subsystems.micro;
+import static org.junit.jupiter.api.Assertions.*;
+
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+import tagalong.devices.Encoders;
+import tagalong.devices.Motors;
+import tagalong.measurements.Height;
+import tagalong.subsystems.micro.Elevator;
+import tagalong.subsystems.micro.confs.ElevatorConf;
+
+public class ElevatorUnitTests {
+  public double kTol = 2e-1; // stub
+  static final double kCANCoderDelayTime = 0.5; // stub
+  public ElevatorConf _elevatorConf;
+  public Elevator _elevator;
+  private final double _heightTolerance = 1.0; // stub
+  private final double _velocityTolerance = 1.0; // stub
+
+  @BeforeEach
+  void setup() {
+    _elevator = new Elevator(_elevatorConf);
+  }
+
+  @AfterEach
+  void shutdown() throws Exception {
+    _elevator.setBrakeMode(true);
+  }
+
+  @Test
+  public void testHeight(Elevator elevator, double height) {
+    elevator.setElevatorHeight(height);
+    assertEquals(_heightTolerance, Math.abs(height - elevator.getElevatorHeightM()));
+  }
+  @Test
+  public void testVelocity(Elevator elevator, double velocity, boolean withFF) {
+    elevator.setElevatorVelocity(velocity, withFF);
+    assertEquals(
+        _velocityTolerance, Math.abs(Math.abs(velocity - elevator.getElevatorVelocityMPS()))
+    );
+  }
+  @Test
+  public void testProfile(Elevator elevator, double height) {
+    elevator.setElevatorProfile(height);
+    assertEquals(_heightTolerance, Math.abs(elevator.getElevatorHeightM()) - height);
+  }
+  @Test
+  public void testProfileComplex(
+      Elevator elevator,
+      double height,
+      double goalVelocityMPS,
+      double maxVelocityMPS,
+      double maxAccelerationMPS2,
+      boolean setCurrentState
+  ) {
+    elevator.setElevatorProfile(height, goalVelocityMPS, maxVelocityMPS, maxAccelerationMPS2, true);
+    assertEquals(_heightTolerance, Math.abs(height - elevator.getElevatorHeightM()));
+  }
+}
\ No newline at end of file
diff --git a/src/test/java/tagalong/subsystems/micro/MicrosystemConfigurationTest.java b/src/test/java/tagalong/subsystems/micro/MicrosystemConfigurationTest.java
index fcfe507..8e41c77 100644
--- a/src/test/java/tagalong/subsystems/micro/MicrosystemConfigurationTest.java
+++ b/src/test/java/tagalong/subsystems/micro/MicrosystemConfigurationTest.java
@@ -1,5 +1,4 @@
 package tagalong.subsystems.micro;
-
 import static org.junit.jupiter.api.Assertions.*;
 
 import org.junit.jupiter.api.Test;
diff --git a/src/test/java/tagalong/subsystems/micro/PivotUnitTest.java b/src/test/java/tagalong/subsystems/micro/PivotUnitTest.java
new file mode 100644
index 0000000..dee6f30
--- /dev/null
+++ b/src/test/java/tagalong/subsystems/micro/PivotUnitTest.java
@@ -0,0 +1,101 @@
+package tagalong.subsystems.micro;
+import static org.junit.jupiter.api.Assertions.*;
+
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Transform2d;
+import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.RobotController;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.simulation.ElevatorSim;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import java.nio.file.attribute.GroupPrincipal;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+import tagalong.devices.Encoders;
+import tagalong.devices.Motors;
+import tagalong.measurements.Angle;
+import tagalong.subsystems.micro.Pivot;
+import tagalong.subsystems.micro.confs.PivotConf;
+
+// are we testing the endocer for pivot or the reefarm pivot itself...
+
+public class PivotUnitTest {
+  static final double kTol = 2e-1; // idk what these r for....
+  static final double kCANCoderDelayTime = 0.5; // same here
+  public Pivot _pivot;
+  public PivotConf _pivotConf;
+  public final double powerTolerance = 1.0; // CHANGE
+  public final double velocityTolerance = 1.0; // change
+  public final double angleToleranceRot = 1.0; // change
+
+  @BeforeEach
+  void setUp() {
+    _pivot = new Pivot(_pivotConf);
+  }
+
+  @AfterEach
+  void shutdown() throws Exception {
+    _pivot.setBrakeMode(true);
+  }
+
+  @Test
+  public void testPower(Pivot pivot, double power) {
+    pivot.setPivotPower(power);
+    assertEquals(powerTolerance, Math.abs(power - pivot.getPivotPower()));
+  }
+
+  @Test
+  public void testVelocity(Pivot pivot, double velocity) {
+    pivot.setPivotVelocity(velocity, false);
+    assertEquals(velocityTolerance, Math.abs(Math.abs(velocity - pivot.getPivotVelocity())));
+  }
+
+  @Test
+  public void testProfileAngle(Pivot pivot, Angle goalPositionRot) {
+    pivot.setPivotProfile(goalPositionRot);
+    assertEquals(
+        angleToleranceRot, Math.abs(pivot.getPivotPosition() - goalPositionRot.getRotations())
+    );
+  }
+
+  @Test
+  public void testProfileRot(Pivot pivot, double goalPositionRot) {
+    pivot.setPivotProfile(goalPositionRot);
+    assertEquals(angleToleranceRot, Math.abs(pivot.getPivotPosition() - goalPositionRot));
+  }
+
+  @Test
+  public void testProfileAngleComplex(
+      Pivot pivot,
+      Angle goalPositionRot,
+      double goalVelocityRPS,
+      double maxVelocityRPS,
+      double maxAccerlerationRPS2,
+      boolean setCurrentState
+  ) {
+    pivot.setPivotProfile(
+        goalPositionRot, goalVelocityRPS, maxVelocityRPS, maxAccerlerationRPS2, setCurrentState
+    );
+    assertEquals(
+        angleToleranceRot, Math.abs(pivot.getPivotPosition() - goalPositionRot.getRotations())
+    );
+  }
+
+  @Test
+  public void testProfileRotComplex(
+      Pivot pivot,
+      double goalPositionRot,
+      double goalVelocityRPS,
+      double maxVelocityRPS,
+      double maxAccerlerationRPS2,
+      boolean setCurrentState
+  ) {
+    pivot.setPivotProfile(
+        goalPositionRot, goalVelocityRPS, maxVelocityRPS, maxAccerlerationRPS2, setCurrentState
+    );
+    assertEquals(angleToleranceRot, Math.abs(pivot.getPivotPosition() - goalPositionRot));
+  }
+}
diff --git a/src/test/java/tagalong/subsystems/micro/RollerUnitTest.java b/src/test/java/tagalong/subsystems/micro/RollerUnitTest.java
new file mode 100644
index 0000000..5716cb8
--- /dev/null
+++ b/src/test/java/tagalong/subsystems/micro/RollerUnitTest.java
@@ -0,0 +1,96 @@
+package tagalong.subsystems.micro;
+import static org.junit.jupiter.api.Assertions.*;
+
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Transform2d;
+import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.RobotController;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.simulation.ElevatorSim;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import java.nio.file.attribute.GroupPrincipal;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+import tagalong.devices.Encoders;
+import tagalong.devices.Motors;
+import tagalong.measurements.Angle;
+import tagalong.subsystems.micro.Roller;
+import tagalong.subsystems.micro.confs.RollerConf;
+
+public class RollerUnitTest {
+  static final double DELTA = 0.0;
+  public Roller _roller;
+  public RollerConf _rollerConf;
+
+  public final double powerTolerance = 1.0; // change
+  public final double velocityTolerance = 1.0; // change
+  public final double rotationTolerance = 1.0; // change
+  public final double angleToleranceRot = 1.0;
+
+  @BeforeEach
+  void setUp() {
+    _roller = new Roller(_rollerConf);
+  }
+
+  @AfterEach
+  void shutdown() throws Exception {
+    _roller.setBrakeMode(true); // need for rollers?
+  }
+
+  @Test
+  public void testPower(Roller roller, double power) {
+    roller.setRollerPower(power);
+    assertEquals(powerTolerance, Math.abs(roller.getRollerPower() - power));
+  }
+
+  @Test
+  public void testVelocity(Roller roller, double velocity) {
+    roller.setRollerVelocity(velocity, false); // change w/ FF?
+    assertEquals(velocityTolerance, Math.abs(roller.getRollerVelocity() - velocity));
+  }
+
+  @Test
+  public void testProfileRot(Roller roller, double goalPositionRot) {
+    roller.setRollerProfile(goalPositionRot);
+    assertEquals(rotationTolerance, Math.abs(roller.getRollerPosition()) - goalPositionRot);
+  }
+
+  @Test
+  public void testProfileAngle(Roller roller, Angle goalAngle) {
+    roller.setRollerProfile(goalAngle);
+    assertEquals(
+        angleToleranceRot, Math.abs(roller.getRollerPosition() - goalAngle.getRotations())
+    );
+  }
+
+  @Test
+  public void testProfileRotComplex(
+      Roller roller,
+      double goalPositionRot,
+      double goalVelocityMPS,
+      double maxVelocityMPS,
+      double maxAccelerationMPS2,
+      boolean setCurrentState
+  ) {
+    roller.setRollerProfile(
+        goalPositionRot, goalVelocityMPS, maxVelocityMPS, maxAccelerationMPS2, true
+    );
+    assertEquals(rotationTolerance, Math.abs(goalPositionRot - roller.getRollerPosition()));
+  }
+  public void testProfileAngComplex(
+      Roller roller,
+      double goalPositionRot,
+      double goalVelocityMPS,
+      double maxVelocityMPS,
+      double maxAccelerationMPS2,
+      boolean setCurrentState
+  ) {
+    roller.setRollerProfile(
+        goalPositionRot, goalVelocityMPS, maxVelocityMPS, maxAccelerationMPS2, true
+    );
+    assertEquals(rotationTolerance, Math.abs(goalPositionRot - roller.getRollerPosition()));
+  }
+}
\ No newline at end of file