diff --git a/lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java b/lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java
index c33a905f..48ef98a7 100644
--- a/lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java
+++ b/lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java
@@ -73,7 +73,7 @@ protected MotorSubsystem(MotorSubsystemConfiguration builder) {
    *
    * @param position the position to go to.
    */
-  public final void setSetpoint(T position) {
+  public void setSetpoint(T position) {
     if (!isEnabled()) {
       enable();
     }
@@ -91,7 +91,7 @@ public final Command setSetpointCommand(T setpoint) {
   }
 
   /** Returns the current setpoint as an angle. */
-  public final Angle getSetpoint() {
+  public Angle getSetpoint() {
     return rotationUnit.of(controller.getSetpoint());
   }
 
@@ -106,7 +106,7 @@ public final boolean atPosition() {
    * <p>Additionally, this method disables PID control of the subsystem
    */
   @Override
-  public final void set(ControlMode mode, double demand, double feedForward) {
+  public void set(ControlMode mode, double demand, double feedForward) {
     if (isEnabled()) {
       disable();
     }
@@ -114,7 +114,7 @@ public final void set(ControlMode mode, double demand, double feedForward) {
   }
 
   @Override
-  public final Current getAppliedCurrent() {
+  public Current getAppliedCurrent() {
     return motor.getAppliedCurrent();
   }
 
@@ -124,7 +124,7 @@ public final Current getAppliedCurrent() {
    * <p>The motor voltage will be periodically updated to move the motor towards the current
    * setupoint.
    */
-  public final void enable() {
+  public void enable() {
     isEnabled = true;
   }
 
@@ -134,7 +134,7 @@ public final void enable() {
    * <p>The motor voltage will be set to zero, and the motor will not adjust to move towards the
    * current setpoint.
    */
-  public final void disable() {
+  public void disable() {
     isEnabled = false;
     motor.disable();
   }
@@ -144,7 +144,7 @@ public final void disable() {
    *
    * @return Whether the controller is enabled.
    */
-  public final boolean isEnabled() {
+  public boolean isEnabled() {
     return isEnabled;
   }
 
@@ -155,7 +155,7 @@ public final boolean isEnabled() {
    * the provided value.
    */
   @Override
-  public final void set(ControlMode mode, double demand) {
+  public void set(ControlMode mode, double demand) {
     isEnabled = false;
     motor.set(mode, demand);
   }
@@ -197,7 +197,7 @@ protected double clampOutput(double output) {
     return output;
   }
 
-  protected final double getMeasurement() {
+  protected double getMeasurement() {
     return encoder.getPositionMeasure().in(rotationUnit);
   }
 
@@ -208,7 +208,7 @@ public double position() {
   }
 
   @Override
-  public final Angle getPositionMeasure() {
+  public Angle getPositionMeasure() {
     return encoder.getPositionMeasure();
   }
 
@@ -219,7 +219,7 @@ public void setPosition(double position) {
   }
 
   @Override
-  public final void setPosition(Angle position) {
+  public void setPosition(Angle position) {
     encoder.setPosition(position);
   }
 
@@ -230,7 +230,7 @@ public double getVelocity() {
   }
 
   @Override
-  public final AngularVelocity getVelocityMeasure() {
+  public AngularVelocity getVelocityMeasure() {
     return encoder.getVelocityMeasure();
   }