diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/GenericRollerSubsystem.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/GenericRollerSystem.java
similarity index 88%
rename from src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/GenericRollerSubsystem.java
rename to src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/GenericRollerSystem.java
index 8640d18e..664bace9 100644
--- a/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/GenericRollerSubsystem.java
+++ b/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/GenericRollerSystem.java
@@ -5,7 +5,7 @@
 import org.littletonrobotics.junction.Logger;
 
 @RequiredArgsConstructor
-public abstract class GenericRollerSubsystem<G extends GenericRollerSubsystem.VoltageGoal> {
+public abstract class GenericRollerSystem<G extends GenericRollerSystem.VoltageGoal> {
   protected interface VoltageGoal {
     DoubleSupplier getVoltageSupplier();
   }
diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/feeder/Feeder.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/feeder/Feeder.java
index c77326a5..e4f174ff 100644
--- a/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/feeder/Feeder.java
+++ b/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/feeder/Feeder.java
@@ -4,13 +4,15 @@
 import lombok.Getter;
 import lombok.RequiredArgsConstructor;
 import lombok.Setter;
-import org.littletonrobotics.frc2024.subsystems.rollers.GenericRollerSubsystem;
+import org.littletonrobotics.frc2024.subsystems.rollers.GenericRollerSystem;
 import org.littletonrobotics.frc2024.util.LoggedTunableNumber;
 
-public class Feeder extends GenericRollerSubsystem<Feeder.Goal> {
+@Setter
+@Getter
+public class Feeder extends GenericRollerSystem<Feeder.Goal> {
   @RequiredArgsConstructor
   @Getter
-  public enum Goal implements GenericRollerSubsystem.VoltageGoal {
+  public enum Goal implements GenericRollerSystem.VoltageGoal {
     IDLE(() -> 0.0),
     FLOOR_INTAKING(new LoggedTunableNumber("Feeder/FloorIntakingVoltage", 8.0)),
     BACKSTOPPING(new LoggedTunableNumber("Feeder/BackstoppingVoltage", -4.0)),
@@ -20,7 +22,7 @@ public enum Goal implements GenericRollerSubsystem.VoltageGoal {
     private final DoubleSupplier voltageSupplier;
   }
 
-  @Getter @Setter private Feeder.Goal goal = Feeder.Goal.IDLE;
+  private Feeder.Goal goal = Feeder.Goal.IDLE;
 
   public Feeder(FeederIO io) {
     super("Feeder", io);
diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/indexer/Indexer.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/indexer/Indexer.java
index 784d8049..bd49ea97 100644
--- a/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/indexer/Indexer.java
+++ b/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/indexer/Indexer.java
@@ -4,12 +4,12 @@
 import lombok.Getter;
 import lombok.RequiredArgsConstructor;
 import lombok.Setter;
-import org.littletonrobotics.frc2024.subsystems.rollers.GenericRollerSubsystem;
+import org.littletonrobotics.frc2024.subsystems.rollers.GenericRollerSystem;
 import org.littletonrobotics.frc2024.util.LoggedTunableNumber;
 
 @Setter
 @Getter
-public class Indexer extends GenericRollerSubsystem<Indexer.Goal> {
+public class Indexer extends GenericRollerSystem<Indexer.Goal> {
   @RequiredArgsConstructor
   @Getter
   public enum Goal implements VoltageGoal {
@@ -22,7 +22,7 @@ public enum Goal implements VoltageGoal {
     private final DoubleSupplier voltageSupplier;
   }
 
-  @Getter @Setter private Indexer.Goal goal = Indexer.Goal.IDLE;
+  private Indexer.Goal goal = Indexer.Goal.IDLE;
 
   public Indexer(IndexerIO io) {
     super("Indexer", io);
diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/intake/Intake.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/intake/Intake.java
index e1451451..ae3e9ada 100644
--- a/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/intake/Intake.java
+++ b/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/intake/Intake.java
@@ -4,10 +4,12 @@
 import lombok.Getter;
 import lombok.RequiredArgsConstructor;
 import lombok.Setter;
-import org.littletonrobotics.frc2024.subsystems.rollers.GenericRollerSubsystem;
+import org.littletonrobotics.frc2024.subsystems.rollers.GenericRollerSystem;
 import org.littletonrobotics.frc2024.util.LoggedTunableNumber;
 
-public class Intake extends GenericRollerSubsystem<Intake.Goal> {
+@Setter
+@Getter
+public class Intake extends GenericRollerSystem<Intake.Goal> {
   @RequiredArgsConstructor
   @Getter
   public enum Goal implements VoltageGoal {
@@ -19,7 +21,7 @@ public enum Goal implements VoltageGoal {
     private final DoubleSupplier voltageSupplier;
   }
 
-  @Getter @Setter private Goal goal = Goal.IDLE;
+  private Goal goal = Goal.IDLE;
 
   public Intake(IntakeIO io) {
     super("Intake", io);