diff --git a/src/main/java/frc/robot/subsystems/magicCarpet/MagicCarpet.java b/src/main/java/frc/robot/subsystems/magicCarpet/MagicCarpet.java
index 8802c0bec..13da0f95c 100644
--- a/src/main/java/frc/robot/subsystems/magicCarpet/MagicCarpet.java
+++ b/src/main/java/frc/robot/subsystems/magicCarpet/MagicCarpet.java
@@ -3,9 +3,10 @@
 import org.wpilib.command3.Command;
 import frc.robot.RobotState;
 import org.littletonrobotics.junction.Logger;
-import org.wpilib.command3.Mechanism;
 
-public class MagicCarpet implements Mechanism {
+import frc.lib.SubsystemBase;
+
+public class MagicCarpet extends SubsystemBase {
   private final MagicCarpetIO io;
   private final MagicCarpetIOInputsAutoLogged inputs = new MagicCarpetIOInputsAutoLogged();
   public boolean manualRun;
@@ -26,19 +27,22 @@ public MagicCarpet(MagicCarpetIO io) {
    * @return A command to run the magic carpet at a constant speed
    */
   public Command run() {
-    return setManualControl(true)
-        .andThen(Commands.run(() -> io.setSpeed(MagicCarpetConstants.BELT_SPEED), this))
-        .finallyDo(() -> setManualControl(false).schedule())
-        .withName("start");
+    return this.run(
+        coro -> {
+          io.setSpeed(MagicCarpetConstants.BELT_SPEED);
+          coro.fork(setManualControl(false));
+        }
+    ).named("MagicCarpet Start");
   }
 
+
   /**
    * Control whether to run magic carpet through commands or periodic
    *
    * @param manual Call run manually instead of through periodic
    */
   public Command setManualControl(boolean manual) {
-    return Commands.runOnce(() -> this.manualRun = manual, this);
+    return this.run(_ -> this.manualRun = manual).named("MagicCarpet SetManualControl");
   }
 
   @Override
diff --git a/src/main/java/frc/robot/subsystems/magicCarpet/MagicCarpetSparkMax.java b/src/main/java/frc/robot/subsystems/magicCarpet/MagicCarpetSparkMax.java
index 87ad37118..358295b05 100644
--- a/src/main/java/frc/robot/subsystems/magicCarpet/MagicCarpetSparkMax.java
+++ b/src/main/java/frc/robot/subsystems/magicCarpet/MagicCarpetSparkMax.java
@@ -10,6 +10,7 @@
 import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 import com.revrobotics.spark.config.SparkMaxConfig;
+import org.wpilib.hardware.bus.CANPort;
 import org.wpilib.math.util.MathUtil;
 import frc.robot.Schematic;
 
@@ -20,7 +21,7 @@ public class MagicCarpetSparkMax implements MagicCarpetIO {
 
   public MagicCarpetSparkMax() {
 
-    motor = new SparkMax(Schematic.magicCarpetCanId, MotorType.kBrushless);
+    motor = new SparkMax(CANPort.CAN_D0, Schematic.magicCarpetCanId, MotorType.kBrushless);
 
     SparkMaxConfig config = new SparkMaxConfig();
     config
@@ -37,15 +38,14 @@ public MagicCarpetSparkMax() {
   @Override
   public void updateInputs(MagicCarpetIOInputs inputs) {
     // Called every 20 ms by subsystem periodic
-    inputs.appliedVolts = motor.getAppliedOutput() * motor.getBusVoltage();
-    inputs.currentAmps = motor.getOutputCurrent();
-    inputs.motorVelocity = encoder.getVelocity();
+    inputs.appliedVolts = motor.getAppliedOutput().get() * motor.getBusVoltage().get();
+    inputs.currentAmps = motor.getOutputCurrent().get();
+    inputs.motorVelocity = encoder.getVelocity().get();
   }
 
   @Override
   public void setSpeed(double speed) {
-
-    motor.set(MathUtil.clamp(speed, 0.0, 1.0)); // so the is between 0 and 1, 1==100%
+    motor.setVoltage(MagicCarpetConstants.CURRENT_LIMIT * Math.clamp(speed, 0.0, 1.0));
   }
 
   /**
@@ -53,6 +53,6 @@ public void setSpeed(double speed) {
    */
   @Override
   public void stop() {
-    motor.set(0.0);
+    motor.setVoltage(0);
   }
 }