diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 018127e..f3e0b19 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -50,9 +50,36 @@ public RobotContainer(RobotRunType runtimeType) {
                 // drivetrain = new Drivetrain(new DrivetrainSim() {});
                 break;
             default:
-                driveTrain = new Drivetrain(new DrivetrainIO() {});
-                intake = new Intake(new IntakeIO() {});
-                randMot = new RandomMotors(new RandomMotorsIO() {});
+                driveTrain = new Drivetrain(new DrivetrainIO() {
+
+                    @Override
+                    public void updateInputsIO(DrivetrainIOInputs inputs) {
+
+                    }
+
+                    @Override
+                    public void setDrivePowerIO(double lvolts, double rvolts) {
+
+                    }
+                });
+                intake = new Intake(new IntakeIO() {
+
+                    @Override
+                    public void updateInputsIO(IntakeIOInputs inputs) {
+
+                    }
+
+                    @Override
+                    public void setIntakePowerIO(double power) {}
+                });
+                randMot = new RandomMotors(new RandomMotorsIO() {
+
+                    @Override
+                    public void updateInputsIO(RandomMotorsIOInputs inputs) {}
+
+                    @Override
+                    public void runMotorIO(double voltage) {}
+                });
         }
         // Configure the button bindings
         configureButtonBindings();
@@ -76,7 +103,6 @@ private void configureButtonBindings() {
     }
 
 
-
     /**
      * Gets the user's selected autonomous command.
      *
diff --git a/src/main/java/frc/robot/subsystems/RandomMotors/RandomMotorsIO.java b/src/main/java/frc/robot/subsystems/RandomMotors/RandomMotorsIO.java
index 3ce5876..8596209 100644
--- a/src/main/java/frc/robot/subsystems/RandomMotors/RandomMotorsIO.java
+++ b/src/main/java/frc/robot/subsystems/RandomMotors/RandomMotorsIO.java
@@ -14,11 +14,9 @@ public static class RandomMotorsIOInputs {
 
     }
 
-    public default void updateInputsIO(RandomMotorsIOInputs inputs) {}
+    public void updateInputsIO(RandomMotorsIOInputs inputs);
+
+    public void runMotorIO(double voltage);
 
-    public default void runMotorIO(double voltage) {}
 
-    public default double encoder() {
-        return 0;
-    }
 }
diff --git a/src/main/java/frc/robot/subsystems/RandomMotors/RandomMotorsReal.java b/src/main/java/frc/robot/subsystems/RandomMotors/RandomMotorsReal.java
index 6cece45..950bdb1 100644
--- a/src/main/java/frc/robot/subsystems/RandomMotors/RandomMotorsReal.java
+++ b/src/main/java/frc/robot/subsystems/RandomMotors/RandomMotorsReal.java
@@ -29,7 +29,8 @@ public void updateInputsIO(RandomMotorsIOInputs inputs) {
 
     }
 
-    public void runMotor(double power) {
+    @Override
+    public void runMotorIO(double power) {
         neo.set(power);
         falcon.set(power);
     }
diff --git a/src/main/java/frc/robot/subsystems/drive/Drivetrain.java b/src/main/java/frc/robot/subsystems/drive/Drivetrain.java
index 5905a61..ad105ed 100644
--- a/src/main/java/frc/robot/subsystems/drive/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/drive/Drivetrain.java
@@ -31,7 +31,7 @@ public void setPower(double lPower, double rPower) {
     }
 
     public Command driveCommand(CommandXboxController controller) {
-        return run(() -> setPower(controller.getLeftY(), controller.getRightY()));
+        return run(() -> {setPower(controller.getLeftY(), controller.getRightY());});
     }
 
 }
diff --git a/src/main/java/frc/robot/subsystems/drive/DrivetrainIO.java b/src/main/java/frc/robot/subsystems/drive/DrivetrainIO.java
index 3ccf8b7..ab5ceba 100644
--- a/src/main/java/frc/robot/subsystems/drive/DrivetrainIO.java
+++ b/src/main/java/frc/robot/subsystems/drive/DrivetrainIO.java
@@ -18,10 +18,10 @@ public static class DrivetrainIOInputs {
     }
 
     /** Updates the set of loggable inputs. */
-    public default void updateInputsIO(DrivetrainIOInputs inputs) {}
+    public void updateInputsIO(DrivetrainIOInputs inputs);
 
     /** Run the motor at the specified voltage. */
-    public default void setDrivePowerIO(double lvolts, double rvolts) {}
+    public void setDrivePowerIO(double lvolts, double rvolts);
 
 
 }
diff --git a/src/main/java/frc/robot/subsystems/drive/DrivetrainReal.java b/src/main/java/frc/robot/subsystems/drive/DrivetrainReal.java
index 94d130f..2428fd7 100644
--- a/src/main/java/frc/robot/subsystems/drive/DrivetrainReal.java
+++ b/src/main/java/frc/robot/subsystems/drive/DrivetrainReal.java
@@ -35,7 +35,8 @@ public void updateInputsIO(DrivetrainIOInputs inputs) {
     /**
      * Drive Voltage
      */
-    public void setDrivePower(double lvolts, double rvolts) {
+    @Override
+    public void setDrivePowerIO(double lvolts, double rvolts) {
         FLMotor.set(lvolts);
         FRMotor.set(rvolts);
     }
diff --git a/src/main/java/frc/robot/subsystems/intake/intakeIO.java b/src/main/java/frc/robot/subsystems/intake/intakeIO.java
index 4c823fb..1a02560 100644
--- a/src/main/java/frc/robot/subsystems/intake/intakeIO.java
+++ b/src/main/java/frc/robot/subsystems/intake/intakeIO.java
@@ -11,9 +11,9 @@ public static class IntakeIOInputs {
     }
 
     /** Updates the set of loggable inputs. */
-    public default void updateInputsIO(IntakeIOInputs inputs) {}
+    public void updateInputsIO(IntakeIOInputs inputs);
 
-    public default void setIntakePowerIO(double power) {}
+    public void setIntakePowerIO(double power);
 
 }
 
diff --git a/src/main/java/frc/robot/subsystems/intake/intakeReal.java b/src/main/java/frc/robot/subsystems/intake/intakeReal.java
index 9ac4364..1b8e38b 100644
--- a/src/main/java/frc/robot/subsystems/intake/intakeReal.java
+++ b/src/main/java/frc/robot/subsystems/intake/intakeReal.java
@@ -13,7 +13,8 @@ public intakeReal() {
         leftIntake.addFollower(rightIntake);
     }
 
-    public void setIntakePower(double power) {
+    @Override
+    public void setIntakePowerIO(double power) {
         leftIntake.set(power);
     }