diff --git a/src/main/java/org/usfirst/frc4904/robot/subsystems/Chassis2023.java b/src/main/java/org/usfirst/frc4904/robot/subsystems/Chassis2023.java
index 0fc041b..544cd9e 100644
--- a/src/main/java/org/usfirst/frc4904/robot/subsystems/Chassis2023.java
+++ b/src/main/java/org/usfirst/frc4904/robot/subsystems/Chassis2023.java
@@ -28,7 +28,6 @@
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.RamseteCommand;
 import edu.wpi.first.wpilibj2.command.Subsystem;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Chassis2023 extends WestCoastDrive {
     public static final double RAMP_START_ANGLE = 9.0;
diff --git a/src/main/java/org/usfirst/frc4904/robot/subsystems/Intake.java b/src/main/java/org/usfirst/frc4904/robot/subsystems/Intake.java
index 05d33fa..af27ae1 100644
--- a/src/main/java/org/usfirst/frc4904/robot/subsystems/Intake.java
+++ b/src/main/java/org/usfirst/frc4904/robot/subsystems/Intake.java
@@ -1,15 +1,16 @@
 package org.usfirst.frc4904.robot.subsystems;
 
+import org.usfirst.frc4904.standard.subsystems.RequirementsSubsystemBase;
 import org.usfirst.frc4904.standard.subsystems.motor.SparkMaxMotorSubsystem;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
-public class Intake extends SubsystemBase {
+public class Intake extends RequirementsSubsystemBase {
     public static int DEFAULT_INTAKE_SPEED = -1; // TODO: set value
     public SparkMaxMotorSubsystem motors;
     public Intake (SparkMaxMotorSubsystem motors){ //motors has leftmotor and rightmotot
+        super(motors);
         this.motors = motors;
     }
     public Command setVoltage(double voltage) {
diff --git a/src/main/java/org/usfirst/frc4904/robot/subsystems/arm/ArmExtensionSubsystem.java b/src/main/java/org/usfirst/frc4904/robot/subsystems/arm/ArmExtensionSubsystem.java
index f1957b2..b778a45 100644
--- a/src/main/java/org/usfirst/frc4904/robot/subsystems/arm/ArmExtensionSubsystem.java
+++ b/src/main/java/org/usfirst/frc4904/robot/subsystems/arm/ArmExtensionSubsystem.java
@@ -8,6 +8,7 @@
 import org.opencv.core.Mat.Tuple2;
 import org.usfirst.frc4904.standard.custom.motioncontrollers.ezControl;
 import org.usfirst.frc4904.standard.custom.motioncontrollers.ezMotion;
+import org.usfirst.frc4904.standard.subsystems.RequirementsSubsystemBase;
 import org.usfirst.frc4904.standard.subsystems.motor.TalonMotorSubsystem;
 
 import edu.wpi.first.math.Pair;
@@ -16,9 +17,8 @@
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
-public class ArmExtensionSubsystem extends SubsystemBase {
+public class ArmExtensionSubsystem extends RequirementsSubsystemBase {
     
     private final TalonMotorSubsystem motor;
     private final static double SPOOL_DIAMETER = Units.inchesToMeters(0.75);
@@ -44,6 +44,7 @@ public class ArmExtensionSubsystem extends SubsystemBase {
      * @param motor the motor controller used to extend the arm
      */
     public ArmExtensionSubsystem(TalonMotorSubsystem motor, DoubleSupplier angleDegreesDealer) {
+        super(motor);
         this.motor = motor;
         this.feedforward = new ArmFeedforward(kS, kG, kV);
         this.angleDealer = angleDegreesDealer;
diff --git a/src/main/java/org/usfirst/frc4904/robot/subsystems/arm/ArmPivotSubsystem.java b/src/main/java/org/usfirst/frc4904/robot/subsystems/arm/ArmPivotSubsystem.java
index d6d18fb..32f4b48 100644
--- a/src/main/java/org/usfirst/frc4904/robot/subsystems/arm/ArmPivotSubsystem.java
+++ b/src/main/java/org/usfirst/frc4904/robot/subsystems/arm/ArmPivotSubsystem.java
@@ -5,18 +5,17 @@
 import org.opencv.core.Mat.Tuple2;
 import org.usfirst.frc4904.standard.custom.motioncontrollers.ezControl;
 import org.usfirst.frc4904.standard.custom.motioncontrollers.ezMotion;
+import org.usfirst.frc4904.standard.subsystems.RequirementsSubsystemBase;
 import org.usfirst.frc4904.standard.subsystems.motor.TalonMotorSubsystem;
 import org.usfirst.frc4904.standard.subsystems.motor.TelescopingArmPivotFeedForward;
 
 import edu.wpi.first.math.Pair;
-import edu.wpi.first.math.controller.ArmFeedforward;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
-public class ArmPivotSubsystem extends SubsystemBase {
+public class ArmPivotSubsystem extends RequirementsSubsystemBase {
     public static final double INITIAL_ARM_ANGLE = -38;
     public static final double GEARBOX_RATIO = 48; //48:1, 48 rotations of motor = 360 degrees
     public static final double GEARBOX_SLACK_DEGREES = 6;
@@ -41,6 +40,7 @@ public class ArmPivotSubsystem extends SubsystemBase {
     private final EncoderWithSlack slackyEncoder;
 
     public ArmPivotSubsystem(TalonMotorSubsystem armMotorGroup, DoubleSupplier extensionDealer) {
+        super(armMotorGroup);
         this.armMotorGroup = armMotorGroup;
         this.extensionDealer = extensionDealer;
         this.feedforward = new TelescopingArmPivotFeedForward(kG_retracted, kG_extended, kS, kV, kA);
diff --git a/src/main/java/org/usfirst/frc4904/robot/subsystems/arm/ArmSubsystem.java b/src/main/java/org/usfirst/frc4904/robot/subsystems/arm/ArmSubsystem.java
index 135411c..27e5b13 100644
--- a/src/main/java/org/usfirst/frc4904/robot/subsystems/arm/ArmSubsystem.java
+++ b/src/main/java/org/usfirst/frc4904/robot/subsystems/arm/ArmSubsystem.java
@@ -1,13 +1,14 @@
 package org.usfirst.frc4904.robot.subsystems.arm;
 
+import org.usfirst.frc4904.standard.subsystems.RequirementsSubsystemBase;
+
 import edu.wpi.first.math.Pair;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj2.command.WaitCommand;
 
-public class ArmSubsystem extends SubsystemBase {
+public class ArmSubsystem extends RequirementsSubsystemBase {
     public final ArmPivotSubsystem armPivotSubsystem;
     public final ArmExtensionSubsystem armExtensionSubsystem;
 
@@ -18,6 +19,7 @@ public class ArmSubsystem extends SubsystemBase {
     public static final double MAX_ACCEL_PIVOT = 0;
 
     public ArmSubsystem(ArmPivotSubsystem armPivotSubsystem, ArmExtensionSubsystem armExtensionSubsystem) {
+        super(armPivotSubsystem, armExtensionSubsystem);
         this.armPivotSubsystem = armPivotSubsystem;
         this.armExtensionSubsystem = armExtensionSubsystem;
     }
diff --git a/src/main/java/org/usfirst/frc4904/robot/subsystems/arm/EncoderWithSlack.java b/src/main/java/org/usfirst/frc4904/robot/subsystems/arm/EncoderWithSlack.java
index 4fa685c..d2f74cd 100644
--- a/src/main/java/org/usfirst/frc4904/robot/subsystems/arm/EncoderWithSlack.java
+++ b/src/main/java/org/usfirst/frc4904/robot/subsystems/arm/EncoderWithSlack.java
@@ -2,10 +2,11 @@
 
 import java.util.function.DoubleSupplier;
 
+import org.usfirst.frc4904.standard.subsystems.RequirementsSubsystemBase;
+
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
-public class EncoderWithSlack extends SubsystemBase {   // just extends SubsystemBase so we can have a periodic
+public class EncoderWithSlack extends RequirementsSubsystemBase {   // just extends SubsystemBase so we can have a periodic
     public final DoubleSupplier encoderRevsDealer;
     public final double slackWindow;
     public final double unitsPerRevolution;
diff --git a/src/main/java/org/usfirst/frc4904/standard b/src/main/java/org/usfirst/frc4904/standard
index 738e9ae..7921ed2 160000
--- a/src/main/java/org/usfirst/frc4904/standard
+++ b/src/main/java/org/usfirst/frc4904/standard
@@ -1 +1 @@
-Subproject commit 738e9ae78c91679048bf9aa92a45df2386a1bd11
+Subproject commit 7921ed23cd118759c591da284c05034201f6149d