diff --git a/src/main/java/com/team766/controllers/CanSparkMaxSmartMotionLinearPIDController.java b/src/main/java/com/team766/controllers/CanSparkMaxSmartMotionLinearPIDController.java
new file mode 100644
index 00000000..4f107b9f
--- /dev/null
+++ b/src/main/java/com/team766/controllers/CanSparkMaxSmartMotionLinearPIDController.java
@@ -0,0 +1,19 @@
+package com.team766.controllers;
+
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+
+public class CanSparkMaxSmartMotionLinearPIDController extends ExtendableCanSparkMaxSmartMotionPIDController {
+	
+	private final double constantAntigravPower;
+	
+	public CanSparkMaxSmartMotionLinearPIDController(final String configName, final double absEncoderOffset, final double absEncoderOffsetForZeroEncoderUnits, final OffsetPoint first, final OffsetPoint second, final double antigravityPower, final NeutralMode defaultNeutralMode) {
+		super(configName, absEncoderOffset, absEncoderOffsetForZeroEncoderUnits, first, second, defaultNeutralMode);
+		constantAntigravPower = antigravityPower;
+	}
+
+	public void runPIDs(){
+		updateAntigrav(constantAntigravPower);
+		run();
+	}
+
+}
diff --git a/src/main/java/com/team766/controllers/CanSparkMaxSmartMotionRotationalPIDController.java b/src/main/java/com/team766/controllers/CanSparkMaxSmartMotionRotationalPIDController.java
new file mode 100644
index 00000000..5659cc64
--- /dev/null
+++ b/src/main/java/com/team766/controllers/CanSparkMaxSmartMotionRotationalPIDController.java
@@ -0,0 +1,28 @@
+package com.team766.controllers;
+
+import java.util.*;
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+
+public class CanSparkMaxSmartMotionRotationalPIDController extends ExtendableCanSparkMaxSmartMotionPIDController {
+	
+	private final double degreesToEncoderUnitsRatio;
+	private final double antiGravK;
+ 
+	public CanSparkMaxSmartMotionRotationalPIDController(final String configName, final double absEncoderOffset, final double absEncoderOffsetForZeroEncoderUnits, final OffsetPoint first, final OffsetPoint second, double degToEncoderUnitsRatio, double antigravityCoefficent, NeutralMode defaultNeutralMode) {
+		super(configName, absEncoderOffset, absEncoderOffsetForZeroEncoderUnits, first, second, defaultNeutralMode);
+		antiGravK = antigravityCoefficent;
+		degreesToEncoderUnitsRatio = degToEncoderUnitsRatio;
+	}
+	
+
+	private double euToDegrees(final double eu) {
+		return eu * degreesToEncoderUnitsRatio;
+	}
+
+	public void runPIDs(){
+		updateAntigrav(antiGravK * Math.sin(euToDegrees(getHallSensorPosition())));
+		run();
+	}
+
+
+}
diff --git a/src/main/java/com/team766/controllers/ExtendableCanSparkMaxSmartMotionPIDController.java b/src/main/java/com/team766/controllers/ExtendableCanSparkMaxSmartMotionPIDController.java
new file mode 100644
index 00000000..19b16e4e
--- /dev/null
+++ b/src/main/java/com/team766/controllers/ExtendableCanSparkMaxSmartMotionPIDController.java
@@ -0,0 +1,291 @@
+package com.team766.controllers;
+
+import com.team766.config.ConfigFileReader;
+import com.team766.hal.RobotProvider;
+import edu.wpi.first.math.MathUtil;
+import com.revrobotics.SparkMaxAbsoluteEncoder;
+import com.revrobotics.SparkMaxPIDController;
+import com.revrobotics.CANSparkMax.ControlType;
+import com.revrobotics.CANSparkMax.IdleMode;
+import com.revrobotics.SparkMaxAbsoluteEncoder.Type;
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.revrobotics.CANSparkMax;
+import com.team766.hal.MotorController;
+import com.team766.controllers.PIDState.*;
+import com.team766.framework.Exceptions.*;
+
+
+public abstract class ExtendableCanSparkMaxSmartMotionPIDController {
+		/*
+		 * These are the hardware variables for the hardware we have on the robot.
+		 * It includes a CanSparkMax, MotorController of any type, and a SparkMaxAbsoluteEncoder.
+		 * @author Max Spier - 9/9/2023
+		 */
+		private MotorController mc;
+		private CANSparkMax csm;
+		private SparkMaxAbsoluteEncoder abs;
+	
+		/*
+		 * These are PID related variables that we will store locally to run PIDs
+		 * We also create an object for the PIDController
+		 * @author Max Spier - 9/9/2023
+		 */
+		private SparkMaxPIDController pid;
+		private double deadzone = 0;
+		private double setPointPosition = 0;
+		private double comboOfTimesInsideDeadzone = 0;
+		private double minPos = 0;
+		private double maxPos = 0;
+	
+		/*
+		 * These are some variables that we can use so that we can reset the motor controller
+		 * We use this so that we can get an accurate ratio for the hall encoder units to absolute encoder units.
+		 * @author Max Spier - 9/9/2023
+		 */
+		private double encoderUnitsPerOneAbsolute = 0;
+
+		private double curAntigrav = 0;
+
+		private NeutralMode defaultNeutralMode;
+	
+	
+		/*
+		* The state of the PID controller so that we know whether to call the respective method for each state.
+		* For more documentation, see the PIDState class.
+		* @author Max Spier - 9/9/2023
+		*/
+		
+		private PIDState theState = PIDState.OFF;
+
+	/*
+	 * Default constructor for the class. This is used to create a new CanSparkMaxSmartMotionPIDController object
+	 * @param configName the configuration name for the motorcontroller
+	 * @param absEncoderOffset the offset (ranging from 0.000 - 0.999) of the absolute encoder
+	 * @param absEncoderOffsetForZeroEncoderUnits the offset that the absolute encoder should have in order for the relative encoder on the motorcontroller to equal zero.
+	 * @param first the first offsetpoint used to reset the encoders - for more info see the OffsetPoint class
+	 * @param second the second offsetpoint used to reset the encoders - for more info see the OffsetPoint class
+	 * @author Max Spier - 9/9/2023
+	 */
+
+	
+	public ExtendableCanSparkMaxSmartMotionPIDController(final String configName, final double absEncoderOffset, final double absEncoderOffsetForZeroEncoderUnits, final OffsetPoint first, final OffsetPoint second, final NeutralMode defaultNeutralMode) {
+		try {
+			this.defaultNeutralMode = defaultNeutralMode;
+			mc = RobotProvider.instance.getMotor(configName);
+			csm = (CANSparkMax) mc;
+			pid = csm.getPIDController();
+			abs = csm.getAbsoluteEncoder(Type.kDutyCycle);
+			abs.setZeroOffset(absEncoderOffset);
+
+			double absoluteDifference = second.getAbsoluteValue() - first.getAbsoluteValue();
+			double motorEncoderDiference = second.getMotorEncoderValue() - first.getMotorEncoderValue();
+
+			encoderUnitsPerOneAbsolute = motorEncoderDiference / absoluteDifference;
+
+			double relEncoder = absToEu(abs.getPosition() - absEncoderOffsetForZeroEncoderUnits);
+
+			mc.setSensorPosition(relEncoder);
+
+			mc.setNeutralMode(defaultNeutralMode);
+		} catch (IllegalArgumentException ill) {
+			throw new AbstractPIDRuntimeException("Error instantiating the PID controller: " + ill);
+		}
+	}
+
+	/*
+	 * Method to convert the absolute encoder units into hall encoder units
+	 * @author Max Spier - 9/9/2023
+	 */
+	private double absToEu(final double abs) {
+
+		if(encoderUnitsPerOneAbsolute == 0){
+			throw new AbstractPIDArithmeticDevideByZeroException("Error: encoderUnitsPerOneAbsolute is zero.");
+		}
+		return encoderUnitsPerOneAbsolute * abs;
+	}
+
+	/*
+	 * This is a method to get the hall sensor position from the motorcontroller, so we can use it in the antigravity calculations in the subclass.
+	 * @return the value of the hall sensor position
+	 * @author Max Spier - 9/13/2023
+	 */
+	protected double getHallSensorPosition(){
+		return mc.getSensorPosition();
+	}
+	
+	/*
+	 * Method to change all PIDF values at once
+	 * @params p-ff the values to set each one for the PIDController
+	 * @author Max Spier - 9/9/2023
+	 */
+	public void setPIDF(final double p, final double i, final double d, final double ff) {
+		pid.setP(p);
+		pid.setI(i);
+		pid.setD(d);
+		pid.setFF(ff);
+	}
+
+	/*
+	 * Method to change the P value of the PIDController
+	 * @param p the value of P to set for the PIDController
+	 * @author Max Spier - 9/9/2023
+	 */
+	public void setP(final double p) {
+		pid.setP(p);
+	}
+
+	/*
+	 * Method to change the I value of the PIDController
+	 * @param i the value of I to set for the PIDController
+	 * @author Max Spier - 9/9/2023
+	 */
+	public void setI(final double i) {
+		pid.setI(i);
+	}
+
+	/*
+	 * Method to change the D value of the PIDController
+	 * @param d the value of D to set for the PIDController
+	 * @author Max Spier - 9/9/2023
+	 */
+	public void setD(final double d) {
+		pid.setD(d);
+	}
+
+	/*
+	 * Method to change the FF value of the PIDController
+	 * @param ff the value of FF to set for the PIDController
+	 * @author Max Spier - 9/9/2023
+	 */
+	public void setFF(final double ff) {
+		pid.setFF(ff);
+	}
+
+	/*
+	 * Method to update the value of the deadzone for the PIDController
+	 * This deadzone is in hall encoder units.
+	 * @param dz the value of the deadzone in hall encoder units
+	 * @author Max Spier - 9/9/2023
+	 */
+	public void setDeadzone(final double dz) {
+		deadzone = dz;
+	}
+
+	/*
+	 * This is a method to update the minimum and maximum output ranges of motorpower for the mechanism
+	 * @param min the minimum value for motor power (make sure that it is negative if you want the mechanism to be able to go both directions)
+	 * @param max the maximum value for motor power (make sure that it is positive if you want the mechanism to be able to go both directions)
+	 * @author Max Spier - 9/9/2023
+	 */
+	public void setOutputRange(final double min, final double max) {
+		pid.setOutputRange(min, max);
+	}
+
+	/*
+	 * This is the method to set the minimum and maximum locations of the mechanism.
+	 * Please check your subclasses documentation for what units this is supposed to be in (usually whichever one is used as an input for the setSetpoint method)
+	 * @author Max Spier - 9/9/2023
+	 */
+	public void setMinMaxLocation(final double min, final double max) {
+		maxPos = max;
+		minPos = min;
+	}
+
+	/*
+	* This method is used to set the maximum velocity of the mechanism for use with PID
+	* @param max the value of the maximum amount of velocity for the motorcontroller
+	* The method also sets the minimum velocity to zero, as a failsafe.
+	* @author Max Spier - 9/9/2023
+	*/
+	public void setMaxVelocity(final double max) {
+		pid.setSmartMotionMaxVelocity(max, 0);
+		pid.setSmartMotionMinOutputVelocity(0, 0);
+	}
+
+	/*
+	 * This is the method to set the maximum acelleration of the robot for the PIDController
+	 * @param max the value for the maximum acelleration
+	 * @author Max Spier - 9/9/2023
+	 */
+	public void setMaxAccel(final double max) {
+		pid.setSmartMotionMaxAccel(max, 0);
+	}
+
+	/*
+	 * This is the method where you update the setpoint position from the subclass
+	 * @param x the setpoint
+	 * @author Max Spier - 9/9/2023
+	 */
+	public void setNewSetpoint(double x){
+		x = MathUtil.clamp(x, minPos, maxPos);
+		setPointPosition = x;
+	}
+
+	/*
+	 * Failsafe for the PIDController to stop it.
+	 * @author Max Spier - 9/9/2023
+	 */
+	public void stop() {
+		theState = PIDState.OFF;
+	}
+
+	/*
+	 * This method does the antigrav
+	 * @author Max Spier - 9/9/2023
+	 */
+	private void antigrav(){
+		mc.set(curAntigrav);
+	}
+
+	/*
+	 * This method sets the antigrav power amount.
+	 * It gets the value for this from the subclass
+	 * @param passedValueFromSubclass the power to set the motorcontroller for antigrav
+	 * @author Max Spier - 9/9/2023
+	 */
+	protected void updateAntigrav(double passedValueFromSubclass){
+		curAntigrav = passedValueFromSubclass;
+	}
+
+	public void disableAntigrav(){
+		curAntigrav = 0;
+		deadzone = 0;
+	}
+
+	/*
+	 * This is the run loop that actually runs the PID Controller
+	 * You need to call this as frequently as possible when running the mechanism
+	 * @author Max Spier - 9/9/2023
+	 */
+	public void run() {
+		switch (theState) {
+			case OFF:
+				mc.set(0);
+				break;
+			case ANTIGRAV:
+				if (setPointPosition <= (deadzone + mc.getSensorPosition()) && setPointPosition >= (mc.getSensorPosition() - deadzone)) {
+					antigrav();
+				} else {
+					theState = PIDState.PID;
+				}
+			case PID:
+				if (setPointPosition <= (deadzone + mc.getSensorPosition()) && setPointPosition >= (mc.getSensorPosition() - deadzone)) {
+					comboOfTimesInsideDeadzone++;
+				} else {
+					comboOfTimesInsideDeadzone = 0;
+					pid.setReference(setPointPosition, ControlType.kSmartMotion);
+				}
+
+				if (comboOfTimesInsideDeadzone >= 6) {
+					theState = PIDState.ANTIGRAV;
+				}
+				break;
+			default:
+				throw new AbstractPIDRuntimeException("Invalid state error");
+		}
+	}
+
+	public String toString(){
+		return "Setpoint: " + setPointPosition + " Current Position: " + mc.getSensorPosition() + " Current State: " + theState;
+	}
+}
diff --git a/src/main/java/com/team766/controllers/OffsetPoint.java b/src/main/java/com/team766/controllers/OffsetPoint.java
new file mode 100644
index 00000000..2206cd35
--- /dev/null
+++ b/src/main/java/com/team766/controllers/OffsetPoint.java
@@ -0,0 +1,31 @@
+package com.team766.controllers;
+	/*
+	* This is a class to make an offset point for the PID controller to be able to reset encoders.
+	* You input the absoluteEncoderValue that equals the motorEncoderValue.
+	* @author Max Spier - 9/12/23
+	*/
+public class OffsetPoint {
+	
+	private double absoluteValue, motorValue;
+
+	public OffsetPoint(final double absoluteEncoderValue, final double motorEncoderValue) {
+		absoluteValue = absoluteEncoderValue;
+		motorValue = motorEncoderValue;
+	}
+
+	public double getAbsoluteValue() {
+		return absoluteValue;
+	}
+
+	public double getMotorEncoderValue() {
+		return motorValue;
+	}
+
+	/*
+	*@Override
+	*@author Max Spier - 9/15/2023
+	*/
+	public String toString(){
+		return "Absolute Value: " + absoluteValue + " Motor Value: " + motorValue;
+	}
+}
diff --git a/src/main/java/com/team766/controllers/PIDState.java b/src/main/java/com/team766/controllers/PIDState.java
new file mode 100644
index 00000000..f5eb442d
--- /dev/null
+++ b/src/main/java/com/team766/controllers/PIDState.java
@@ -0,0 +1,7 @@
+package com.team766.controllers;
+
+	public enum PIDState {
+		PID,
+		OFF,
+		ANTIGRAV
+	}
diff --git a/src/main/java/com/team766/framework/Exceptions/AbstractPIDArithmeticDevideByZeroException.java b/src/main/java/com/team766/framework/Exceptions/AbstractPIDArithmeticDevideByZeroException.java
new file mode 100644
index 00000000..cceba0fb
--- /dev/null
+++ b/src/main/java/com/team766/framework/Exceptions/AbstractPIDArithmeticDevideByZeroException.java
@@ -0,0 +1,7 @@
+package com.team766.framework.Exceptions;
+
+public class AbstractPIDArithmeticDevideByZeroException extends RuntimeException{
+	public AbstractPIDArithmeticDevideByZeroException (String errorMessage) {
+		super(errorMessage);
+	}
+}
diff --git a/src/main/java/com/team766/framework/Exceptions/AbstractPIDRuntimeException.java b/src/main/java/com/team766/framework/Exceptions/AbstractPIDRuntimeException.java
new file mode 100644
index 00000000..188f52d7
--- /dev/null
+++ b/src/main/java/com/team766/framework/Exceptions/AbstractPIDRuntimeException.java
@@ -0,0 +1,7 @@
+package com.team766.framework.Exceptions;
+
+public class AbstractPIDRuntimeException extends RuntimeException {
+	public AbstractPIDRuntimeException (String errorMessage) {
+		super(errorMessage);
+	} 
+}