diff --git a/lib/src/main/java/com/team2813/lib2813/subsystems/ElevatorBase.java b/lib/src/main/java/com/team2813/lib2813/subsystems/ElevatorBase.java
new file mode 100644
index 00000000..a5bc2dc4
--- /dev/null
+++ b/lib/src/main/java/com/team2813/lib2813/subsystems/ElevatorBase.java
@@ -0,0 +1,92 @@
+package com.team2813.lib2813.subsystems;
+
+import static edu.wpi.first.units.Units.Radians;
+
+import com.ctre.phoenix6.signals.NeutralModeValue;
+import com.team2813.lib2813.control.ControlMode;
+import com.team2813.lib2813.control.InvertType;
+import com.team2813.lib2813.control.motors.TalonFXWrapper;
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.networktables.BooleanPublisher;
+import edu.wpi.first.networktables.DoublePublisher;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.units.measure.Angle;
+import java.util.function.Supplier;
+
+/**
+ * Generic configurable elevator base class. Extend this to create specific elevator implementations
+ * (set motor IDs, PID values, enum positions, etc.).
+ *
+ * <p>Author: Team 2813
+ */
+public abstract class ElevatorBase extends MotorSubsystem<ElevatorBase.PositionBase> {
+
+  /** Defines an elevator position with a unit-safe angle */
+  public interface PositionBase extends Supplier<Angle> {
+    Angle get();
+  }
+
+  protected final TalonFXWrapper motor;
+  protected final PIDController pid;
+
+  protected final BooleanPublisher atPos;
+  protected final DoublePublisher pos;
+
+  /**
+   * @param motor the TalonFXWrapper to control this elevator
+   * @param pid PID controller for closed-loop position control
+   * @param gearRatio mechanism gear ratio (rotations -> mechanism movement)
+   * @param ntInstance NetworkTables instance for telemetry
+   */
+  protected ElevatorBase(
+      TalonFXWrapper motor,
+      PIDController pid,
+      NetworkTableInstance ntInstance,
+      double acceptableError) {
+    super(
+        new MotorSubsystemConfiguration(motor)
+            .controlMode(ControlMode.VOLTAGE)
+            .acceptableError(acceptableError)
+            .rotationUnit(Radians)
+            .controller(pid));
+    this.motor = motor;
+    this.pid = pid;
+    NetworkTable nt = ntInstance.getTable("Elevator");
+    atPos = nt.getBooleanTopic("at position").publish();
+    pos = nt.getDoubleTopic("position").publish();
+  }
+
+  /**
+   * Clamp/control how output is sent to the motor
+   *
+   * @param output - the output sent to the motor
+   * @param setpoint - the PID setpoint of the motor
+   */
+  @Override
+  protected double clampOutput(double output) {
+    // TODO Auto-generated method stub
+    return super.clampOutput(output);
+  }
+
+  /** Telemetry updates */
+  @Override
+  public void periodic() {
+    super.periodic();
+    atPos.set(atPosition());
+    pos.set(getMeasurement());
+  }
+
+  /**
+   * Utility method for making a default-configured motor
+   *
+   * @param masterID - the CAN ID of the master motor
+   * @param followerID - the CAN ID of the follower motor
+   */
+  protected static TalonFXWrapper makeMotor(int masterID, int followerID) {
+    TalonFXWrapper wrapper = new TalonFXWrapper(masterID, InvertType.CLOCKWISE);
+    wrapper.setNeutralMode(NeutralModeValue.Brake);
+    wrapper.addFollower(followerID, InvertType.FOLLOW_MASTER);
+    return wrapper;
+  }
+}