diff --git a/template_projects/sources/kitbot_2025/src/main/deploy/pathplanner/autos/Example Auto.auto b/template_projects/sources/kitbot_2025/src/main/deploy/pathplanner/autos/Example Auto.auto
index 70b7ab2e..c6c7bb76 100644
--- a/template_projects/sources/kitbot_2025/src/main/deploy/pathplanner/autos/Example Auto.auto	
+++ b/template_projects/sources/kitbot_2025/src/main/deploy/pathplanner/autos/Example Auto.auto	
@@ -9,6 +9,12 @@
           "data": {
             "pathName": "Example Path"
           }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Score"
+          }
         }
       ]
     }
diff --git a/template_projects/sources/kitbot_2025/src/main/deploy/pathplanner/navgrid.json b/template_projects/sources/kitbot_2025/src/main/deploy/pathplanner/navgrid.json
index 18fe1e1d..bbd91940 100644
--- a/template_projects/sources/kitbot_2025/src/main/deploy/pathplanner/navgrid.json
+++ b/template_projects/sources/kitbot_2025/src/main/deploy/pathplanner/navgrid.json
@@ -1,1634 +1,1656 @@
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+      true,
+      false,
+      false,
+      false,
+      false,
+      false,
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+      false,
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+    ],
+    [
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+      false,
+      false,
+      false,
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+      false,
+      false,
+      true,
+      true
+    ],
+    [
+      true,
+      true,
+      false,
+      false,
+      false,
+      false,
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+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      true,
+      true
+    ],
+    [
+      true,
+      true,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
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+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
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+      false,
+      false,
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+      false,
+      false,
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+      false,
+      false,
+      false,
+      false,
+      false,
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+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      true,
+      true
+    ],
+    [
+      true,
+      true,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
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+      false,
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+      false,
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+      false,
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+      false,
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+      false,
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+      false,
+      false,
+      false,
+      false,
+      false,
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+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      true,
+      true
+    ],
+    [
+      true,
+      true,
+      true,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      true,
+      true,
+      true
+    ],
+    [
+      true,
+      true,
+      true,
+      true,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      true,
+      true,
+      true,
+      true
+    ],
+    [
+      true,
+      true,
+      true,
+      true,
+      true,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      true,
+      true,
+      true,
+      true,
+      true
+    ],
+    [
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true
+    ],
+    [
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true
     ]
-  }
-  
\ No newline at end of file
+  ]
+}
diff --git a/template_projects/sources/kitbot_2025/src/main/deploy/pathplanner/paths/Example Path.path b/template_projects/sources/kitbot_2025/src/main/deploy/pathplanner/paths/Example Path.path
index 303dbb20..27509123 100644
--- a/template_projects/sources/kitbot_2025/src/main/deploy/pathplanner/paths/Example Path.path	
+++ b/template_projects/sources/kitbot_2025/src/main/deploy/pathplanner/paths/Example Path.path	
@@ -3,41 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.0,
-        "y": 7.0
+        "x": 7.585319010416666,
+        "y": 6.652197627314815
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.013282910175676,
-        "y": 6.5274984191074985
+        "x": 6.695252066386318,
+        "y": 6.652197627314815
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 5.166769560390973,
-        "y": 5.0964860911203305
+        "x": 5.132468171296296,
+        "y": 5.18579788773148
       },
       "prevControl": {
-        "x": 4.166769560390973,
-        "y": 6.0964860911203305
-      },
-      "nextControl": {
-        "x": 6.166769560390973,
-        "y": 4.0964860911203305
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 7.0,
-        "y": 1.0
-      },
-      "prevControl": {
-        "x": 6.75,
-        "y": 2.5
+        "x": 5.77864231772467,
+        "y": 6.305004339882877
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/template_projects/sources/kitbot_2025/src/main/java/frc/robot/RobotContainer.java b/template_projects/sources/kitbot_2025/src/main/java/frc/robot/RobotContainer.java
index 634c7545..1f0c3026 100644
--- a/template_projects/sources/kitbot_2025/src/main/java/frc/robot/RobotContainer.java
+++ b/template_projects/sources/kitbot_2025/src/main/java/frc/robot/RobotContainer.java
@@ -14,6 +14,7 @@
 package frc.robot;
 
 import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.auto.NamedCommands;
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -26,6 +27,10 @@
 import frc.robot.subsystems.drive.DriveIOTalonSRX;
 import frc.robot.subsystems.drive.GyroIO;
 import frc.robot.subsystems.drive.GyroIOPigeon2;
+import frc.robot.subsystems.roller.Roller;
+import frc.robot.subsystems.roller.RollerIO;
+import frc.robot.subsystems.roller.RollerIOSim;
+import frc.robot.subsystems.roller.RollerIOTalonSRX;
 import org.littletonrobotics.junction.networktables.LoggedDashboardChooser;
 
 /**
@@ -37,6 +42,7 @@
 public class RobotContainer {
   // Subsystems
   private final Drive drive;
+  private final Roller roller;
 
   // Controller
   private final CommandXboxController controller = new CommandXboxController(0);
@@ -50,20 +56,24 @@ public RobotContainer() {
       case REAL:
         // Real robot, instantiate hardware IO implementations
         drive = new Drive(new DriveIOTalonSRX(), new GyroIOPigeon2());
+        roller = new Roller(new RollerIOTalonSRX());
         break;
 
       case SIM:
         // Sim robot, instantiate physics sim IO implementations
         drive = new Drive(new DriveIOSim(), new GyroIO() {});
+        roller = new Roller(new RollerIOSim());
         break;
 
       default:
         // Replayed robot, disable IO implementations
         drive = new Drive(new DriveIO() {}, new GyroIO() {});
+        roller = new Roller(new RollerIO() {});
         break;
     }
 
     // Set up auto routines
+    NamedCommands.registerCommand("Score", roller.runPercent(1.0).withTimeout(3.0));
     autoChooser = new LoggedDashboardChooser<>("Auto Choices", AutoBuilder.buildAutoChooser());
 
     // Set up SysId routines
@@ -91,10 +101,15 @@ public RobotContainer() {
    * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
    */
   private void configureButtonBindings() {
-    // Default command, normal arcade drive
+    // Default drive command, normal arcade drive
     drive.setDefaultCommand(
         DriveCommands.arcadeDrive(
             drive, () -> -controller.getLeftY(), () -> -controller.getRightX()));
+
+    // Default roller command, control with triggers
+    roller.setDefaultCommand(
+        roller.runTeleop(
+            () -> controller.getRightTriggerAxis(), () -> controller.getLeftTriggerAxis()));
   }
 
   /**
diff --git a/template_projects/sources/kitbot_2025/src/main/java/frc/robot/subsystems/roller/Roller.java b/template_projects/sources/kitbot_2025/src/main/java/frc/robot/subsystems/roller/Roller.java
new file mode 100644
index 00000000..25921e8e
--- /dev/null
+++ b/template_projects/sources/kitbot_2025/src/main/java/frc/robot/subsystems/roller/Roller.java
@@ -0,0 +1,44 @@
+// Copyright 2021-2025 FRC 6328
+// http://github.com/Mechanical-Advantage
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
+package frc.robot.subsystems.roller;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import java.util.function.DoubleSupplier;
+import org.littletonrobotics.junction.Logger;
+
+public class Roller extends SubsystemBase {
+  private final RollerIO io;
+  private final RollerIOInputsAutoLogged inputs = new RollerIOInputsAutoLogged();
+
+  public Roller(RollerIO io) {
+    this.io = io;
+  }
+
+  @Override
+  public void periodic() {
+    io.updateInputs(inputs);
+    Logger.processInputs("Roller", inputs);
+  }
+
+  public Command runPercent(double percent) {
+    return runEnd(() -> io.setVoltage(percent * 12.0), () -> io.setVoltage(0.0));
+  }
+
+  public Command runTeleop(DoubleSupplier forward, DoubleSupplier reverse) {
+    return runEnd(
+        () -> io.setVoltage((forward.getAsDouble() - reverse.getAsDouble()) * 12.0),
+        () -> io.setVoltage(0.0));
+  }
+}
diff --git a/template_projects/sources/kitbot_2025/src/main/java/frc/robot/subsystems/roller/RollerConstants.java b/template_projects/sources/kitbot_2025/src/main/java/frc/robot/subsystems/roller/RollerConstants.java
new file mode 100644
index 00000000..d33cd309
--- /dev/null
+++ b/template_projects/sources/kitbot_2025/src/main/java/frc/robot/subsystems/roller/RollerConstants.java
@@ -0,0 +1,20 @@
+// Copyright 2021-2025 FRC 6328
+// http://github.com/Mechanical-Advantage
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
+package frc.robot.subsystems.roller;
+
+public class RollerConstants {
+  public static final int rollerCanId = 5;
+  public static final double motorReduction = 1.0;
+  public static final int currentLimit = 40;
+}
diff --git a/template_projects/sources/kitbot_2025/src/main/java/frc/robot/subsystems/roller/RollerIO.java b/template_projects/sources/kitbot_2025/src/main/java/frc/robot/subsystems/roller/RollerIO.java
new file mode 100644
index 00000000..692bca27
--- /dev/null
+++ b/template_projects/sources/kitbot_2025/src/main/java/frc/robot/subsystems/roller/RollerIO.java
@@ -0,0 +1,32 @@
+// Copyright 2021-2025 FRC 6328
+// http://github.com/Mechanical-Advantage
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
+package frc.robot.subsystems.roller;
+
+import org.littletonrobotics.junction.AutoLog;
+
+public interface RollerIO {
+  @AutoLog
+  public static class RollerIOInputs {
+    public double positionRad = 0.0;
+    public double velocityRadPerSec = 0.0;
+    public double appliedVolts = 0.0;
+    public double currentAmps = 0.0;
+  }
+
+  /** Update the set of loggable inputs. */
+  public default void updateInputs(RollerIOInputs inputs) {}
+
+  /** Run open loop at the specified voltage. */
+  public default void setVoltage(double volts) {}
+}
diff --git a/template_projects/sources/kitbot_2025/src/main/java/frc/robot/subsystems/roller/RollerIOSim.java b/template_projects/sources/kitbot_2025/src/main/java/frc/robot/subsystems/roller/RollerIOSim.java
new file mode 100644
index 00000000..2d595376
--- /dev/null
+++ b/template_projects/sources/kitbot_2025/src/main/java/frc/robot/subsystems/roller/RollerIOSim.java
@@ -0,0 +1,46 @@
+// Copyright 2021-2025 FRC 6328
+// http://github.com/Mechanical-Advantage
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
+package frc.robot.subsystems.roller;
+
+import static frc.robot.subsystems.roller.RollerConstants.*;
+
+import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.math.system.plant.LinearSystemId;
+import edu.wpi.first.wpilibj.simulation.DCMotorSim;
+
+public class RollerIOSim implements RollerIO {
+  private DCMotorSim sim =
+      new DCMotorSim(
+          LinearSystemId.createDCMotorSystem(DCMotor.getCIM(1), 0.004, motorReduction),
+          DCMotor.getCIM(1));
+
+  private double appliedVolts = 0.0;
+
+  @Override
+  public void updateInputs(RollerIOInputs inputs) {
+    sim.setInputVoltage(appliedVolts);
+    sim.update(0.02);
+
+    inputs.positionRad = sim.getAngularPositionRad();
+    inputs.velocityRadPerSec = sim.getAngularVelocityRadPerSec();
+    inputs.appliedVolts = appliedVolts;
+    inputs.currentAmps = sim.getCurrentDrawAmps();
+  }
+
+  @Override
+  public void setVoltage(double volts) {
+    appliedVolts = MathUtil.clamp(volts, -12.0, 12.0);
+  }
+}
diff --git a/template_projects/sources/kitbot_2025/src/main/java/frc/robot/subsystems/roller/RollerIOSpark.java b/template_projects/sources/kitbot_2025/src/main/java/frc/robot/subsystems/roller/RollerIOSpark.java
new file mode 100644
index 00000000..2e5f4315
--- /dev/null
+++ b/template_projects/sources/kitbot_2025/src/main/java/frc/robot/subsystems/roller/RollerIOSpark.java
@@ -0,0 +1,71 @@
+// Copyright 2021-2025 FRC 6328
+// http://github.com/Mechanical-Advantage
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
+package frc.robot.subsystems.roller;
+
+import static frc.robot.subsystems.roller.RollerConstants.*;
+import static frc.robot.util.SparkUtil.*;
+
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.spark.SparkBase.PersistMode;
+import com.revrobotics.spark.SparkBase.ResetMode;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+import com.revrobotics.spark.config.SparkMaxConfig;
+import java.util.function.DoubleSupplier;
+
+/**
+ * This roller implementation is for Spark devices. It defaults to brushless control, but can be
+ * easily adapted for a brushed motor. A Spark Flex can be used by swapping all instances of
+ * "SparkMax" with "SparkFlex".
+ */
+public class RollerIOSpark implements RollerIO {
+  private final SparkMax roller = new SparkMax(rollerCanId, MotorType.kBrushless);
+  private final RelativeEncoder encoder = roller.getEncoder();
+
+  public RollerIOSpark() {
+    var config = new SparkMaxConfig();
+    config.idleMode(IdleMode.kBrake).smartCurrentLimit(currentLimit).voltageCompensation(12.0);
+    config
+        .encoder
+        .positionConversionFactor(
+            2.0 * Math.PI / motorReduction) // Rotor Rotations -> Roller Radians
+        .velocityConversionFactor((2.0 * Math.PI) / 60.0 / motorReduction)
+        .uvwMeasurementPeriod(10)
+        .uvwAverageDepth(2);
+
+    tryUntilOk(
+        roller,
+        5,
+        () ->
+            roller.configure(
+                config, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters));
+  }
+
+  @Override
+  public void updateInputs(RollerIOInputs inputs) {
+    ifOk(roller, encoder::getPosition, (value) -> inputs.positionRad = value);
+    ifOk(roller, encoder::getVelocity, (value) -> inputs.velocityRadPerSec = value);
+    ifOk(
+        roller,
+        new DoubleSupplier[] {roller::getAppliedOutput, roller::getBusVoltage},
+        (values) -> inputs.appliedVolts = values[0] * values[1]);
+    ifOk(roller, roller::getOutputCurrent, (value) -> inputs.currentAmps = value);
+  }
+
+  @Override
+  public void setVoltage(double volts) {
+    roller.setVoltage(volts);
+  }
+}
diff --git a/template_projects/sources/kitbot_2025/src/main/java/frc/robot/subsystems/roller/RollerIOTalonFX.java b/template_projects/sources/kitbot_2025/src/main/java/frc/robot/subsystems/roller/RollerIOTalonFX.java
new file mode 100644
index 00000000..e6abf46d
--- /dev/null
+++ b/template_projects/sources/kitbot_2025/src/main/java/frc/robot/subsystems/roller/RollerIOTalonFX.java
@@ -0,0 +1,70 @@
+// Copyright 2021-2025 FRC 6328
+// http://github.com/Mechanical-Advantage
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
+package frc.robot.subsystems.roller;
+
+import static frc.robot.subsystems.roller.RollerConstants.*;
+import static frc.robot.util.PhoenixUtil.*;
+
+import com.ctre.phoenix6.BaseStatusSignal;
+import com.ctre.phoenix6.StatusSignal;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.controls.VoltageOut;
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.Current;
+import edu.wpi.first.units.measure.Voltage;
+
+/**
+ * This roller implementation is for a Talon FX driving a motor like the Falon 500 or Kraken X60.
+ */
+public class RollerIOTalonFX implements RollerIO {
+  private final TalonFX roller = new TalonFX(rollerCanId);
+  private final StatusSignal<Angle> positionRot = roller.getPosition();
+  private final StatusSignal<AngularVelocity> velocityRotPerSec = roller.getVelocity();
+  private final StatusSignal<Voltage> appliedVolts = roller.getMotorVoltage();
+  private final StatusSignal<Current> currentAmps = roller.getSupplyCurrent();
+
+  private final VoltageOut voltageRequest = new VoltageOut(0.0);
+
+  public RollerIOTalonFX() {
+    var config = new TalonFXConfiguration();
+    config.CurrentLimits.SupplyCurrentLimit = currentLimit;
+    config.CurrentLimits.SupplyCurrentLimitEnable = true;
+    config.MotorOutput.NeutralMode = NeutralModeValue.Brake;
+
+    tryUntilOk(5, () -> roller.getConfigurator().apply(config, 0.25));
+
+    BaseStatusSignal.setUpdateFrequencyForAll(
+        50.0, positionRot, velocityRotPerSec, appliedVolts, currentAmps);
+    roller.optimizeBusUtilization();
+  }
+
+  @Override
+  public void updateInputs(RollerIOInputs inputs) {
+    BaseStatusSignal.refreshAll(positionRot, velocityRotPerSec, appliedVolts, currentAmps);
+
+    inputs.positionRad = Units.rotationsToRadians(positionRot.getValueAsDouble());
+    inputs.velocityRadPerSec = Units.rotationsToRadians(velocityRotPerSec.getValueAsDouble());
+    inputs.appliedVolts = appliedVolts.getValueAsDouble();
+    inputs.currentAmps = currentAmps.getValueAsDouble();
+  }
+
+  @Override
+  public void setVoltage(double volts) {
+    roller.setControl(voltageRequest.withOutput(volts));
+  }
+}
diff --git a/template_projects/sources/kitbot_2025/src/main/java/frc/robot/subsystems/roller/RollerIOTalonSRX.java b/template_projects/sources/kitbot_2025/src/main/java/frc/robot/subsystems/roller/RollerIOTalonSRX.java
new file mode 100644
index 00000000..3df2ae38
--- /dev/null
+++ b/template_projects/sources/kitbot_2025/src/main/java/frc/robot/subsystems/roller/RollerIOTalonSRX.java
@@ -0,0 +1,47 @@
+// Copyright 2021-2025 FRC 6328
+// http://github.com/Mechanical-Advantage
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
+package frc.robot.subsystems.roller;
+
+import static frc.robot.subsystems.roller.RollerConstants.*;
+import static frc.robot.util.PhoenixUtil.tryUntilOkV5;
+
+import com.ctre.phoenix.motorcontrol.TalonSRXControlMode;
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
+import com.ctre.phoenix.motorcontrol.can.TalonSRXConfiguration;
+
+/** This drive implementation is for a Talon SRX driving a brushed motor. */
+public class RollerIOTalonSRX implements RollerIO {
+  private final TalonSRX roller = new TalonSRX(rollerCanId);
+
+  public RollerIOTalonSRX() {
+    var config = new TalonSRXConfiguration();
+    config.peakCurrentLimit = currentLimit;
+    config.continuousCurrentLimit = currentLimit - 15;
+    config.peakCurrentDuration = 250;
+    config.voltageCompSaturation = 12.0;
+
+    tryUntilOkV5(5, () -> roller.configAllSettings(config));
+  }
+
+  @Override
+  public void updateInputs(RollerIOInputs inputs) {
+    inputs.appliedVolts = roller.getMotorOutputVoltage();
+    inputs.currentAmps = roller.getStatorCurrent();
+  }
+
+  @Override
+  public void setVoltage(double volts) {
+    roller.set(TalonSRXControlMode.PercentOutput, volts * 12.0);
+  }
+}