diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 1773852..b4e6534 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -4,7 +4,6 @@
 
 package frc.robot;
 
-import frc.robot.subsystems.ExampleSubsystem;
 
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
diff --git a/src/main/java/frc/robot/subsystems/ExampleSubsystem.java b/src/main/java/frc/robot/subsystems/ExampleSubsystem.java
index a568f00..94a5b23 100644
--- a/src/main/java/frc/robot/subsystems/ExampleSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/ExampleSubsystem.java
@@ -9,38 +9,51 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants.exampleSubsystem_Constants;
 
-public class ExampleSubsystem extends SubsystemBase{
-  /** Creates a new ExampleSubsystem. */
-  private Encoder m_encoder;
-  
-  public ExampleSubsystem() {
-    m_encoder = new Encoder(exampleSubsystem_Constants.encoderA,
-                            exampleSubsystem_Constants.encoderB);
-    
-  }
-  public ExampleSubsystem(Encoder encoder) {
-    m_encoder = encoder;
-  }
-
-  @Override
-  public void periodic() {
-    // This method will be called once per scheduler run
-  }
-
-  @Override
-  public void simulationPeriodic() {
-    // This method will be called once per scheduler run during simulation
-  }
-
-  public String helloWorld(String string){
-    System.out.println(string);
-    return string;
-  }
-
-public double getDistance_Inch() {
-  System.out.println("Encoder Distance = " + m_encoder.getDistance());
-    return m_encoder.getDistance();
-}
+public class ExampleSubsystem extends SubsystemBase implements AutoCloseable {
+    /** Creates a new ExampleSubsystem. */
+    private Encoder m_encoder;
+    public EncoderSim mEncoderSim;
+
+    public ExampleSubsystem() {this(false);}
+
+    public ExampleSubsystem(boolean simulation) {
+        m_encoder = new Encoder(exampleSubsystem_Constants.encoderA,
+                                exampleSubsystem_Constants.encoderB);
+        if (simulation) {
+            mEncoderSim = new EncoderSim(m_encoder);
+        } else {
+
+        }
+    }
+
+    @Override
+    public void close() throws Exception {
+        m_encoder.close();
+    }
+
+    // public ExampleSubsystem(Encoder encoder) {
+    // m_encoder = encoder;
+    // }
+
+    @Override
+    public void periodic() {
+        // This method will be called once per scheduler run
+    }
+
+    @Override
+    public void simulationPeriodic() {
+        // This method will be called once per scheduler run during simulation
+    }
+
+    public String helloWorld(String string) {
+        System.out.println(string);
+        return string;
+    }
+
+    public double getDistance_Inch() {
+        System.out.println("Encoder Distance = " + m_encoder.getDistance());
+        return m_encoder.getDistance();
+    }
 
 
 }
diff --git a/src/test/java/frc/commands/ExampleCommandTest.java b/src/test/java/frc/commands/ExampleCommandTest.java
index 93c1aed..209ec1d 100644
--- a/src/test/java/frc/commands/ExampleCommandTest.java
+++ b/src/test/java/frc/commands/ExampleCommandTest.java
@@ -4,7 +4,6 @@
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.simulation.EncoderSim;
-import frc.robot.Constants.exampleSubsystem_Constants;
 import frc.robot.commands.ExampleCommand;
 import frc.robot.subsystems.ExampleSubsystem;
 
@@ -20,18 +19,17 @@ public class ExampleCommandTest {
 
     @Before // this method will run before each test
     public void setup() {
-       assert HAL.initialize(500, 0); // initialize the HAL, crash if failed
-       encoder = new Encoder(exampleSubsystem_Constants.encoderA,
-                                exampleSubsystem_Constants.encoderB);
-       encoderSim = new EncoderSim(encoder);
-       subsystem = new ExampleSubsystem(encoder); // create our ExampleSubsystem.
+        assert HAL.initialize(500, 0); // initialize the HAL, crash if failed
+
+        subsystem = new ExampleSubsystem(true); // create our ExampleSubsystem.
+        
+       encoderSim = subsystem.mEncoderSim;
        
     }
  
     @After // this method will run after each test
     public void shutdown() throws Exception {
-       // exampleSubsystem.close(); // destroy our exampleSubsystem object
-       encoder.close();
+       subsystem.close(); // destroy our exampleSubsystem object
     }
 
     @Test // Is Initilized
diff --git a/src/test/java/frc/subsystems/ExampleSubsystemTest.java b/src/test/java/frc/subsystems/ExampleSubsystemTest.java
index a5e9dd6..074f89a 100644
--- a/src/test/java/frc/subsystems/ExampleSubsystemTest.java
+++ b/src/test/java/frc/subsystems/ExampleSubsystemTest.java
@@ -1,42 +1,50 @@
 package frc.subsystems;
+
 import static org.junit.Assert.*;
 
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.simulation.EncoderSim;
-import frc.robot.Constants.exampleSubsystem_Constants;
 import frc.robot.subsystems.ExampleSubsystem;
 import org.junit.*;
 
 public class ExampleSubsystemTest {
-   ExampleSubsystem exampleSubsystem;
-   Encoder encoder;
-   EncoderSim encoderSim;
-
-   @Before // this method will run before each test
-   public void setup() {
-      assert HAL.initialize(500, 0); // initialize the HAL, crash if failed
-      encoder = new Encoder(exampleSubsystem_Constants.encoderA,
-                              exampleSubsystem_Constants.encoderB);
-      encoderSim = new EncoderSim(encoder);
-      exampleSubsystem = new ExampleSubsystem(encoder); // create our ExampleSubsystem.
-   }
-
-   @After // this method will run after each test
-   public void shutdown() throws Exception {
-      // exampleSubsystem.close(); // destroy our exampleSubsystem object
-      encoder.close();
-   }
-
-   @Test // marks this method as a test
-   public void hello_World() {
-      System.out.print("Hello ");
-      assertEquals("World", exampleSubsystem.helloWorld("World"));
-   }
-
-   @Test // Checks that Capsensitive fails if not Equal
-   public void NOT_Hello_World() {
-      System.out.print("Hello ");
-      assertNotEquals("World", exampleSubsystem.helloWorld("world"));
-   }
+    private double delta = 1e-5;
+
+    ExampleSubsystem exampleSubsystem;
+    Encoder encoder;
+    EncoderSim encoderSim;
+
+    @Before // this method will run before each test
+    public void setup() {
+        assert HAL.initialize(500, 0); // initialize the HAL, crash if failed
+
+        exampleSubsystem = new ExampleSubsystem(true); // create our ExampleSubsystem.
+
+        encoderSim = exampleSubsystem.mEncoderSim;
+    }
+
+    @After // this method will run after each test
+    public void shutdown() throws Exception {
+        // exampleSubsystem.close(); // destroy our exampleSubsystem object
+        exampleSubsystem.close();
+    }
+
+    @Test // marks this method as a test
+    public void hello_World() {
+        System.out.print("Hello ");
+        assertEquals("World", exampleSubsystem.helloWorld("World"));
+    }
+
+    @Test // Checks that Capsensitive fails if not Equal
+    public void NOT_Hello_World() {
+        System.out.print("Hello ");
+        assertNotEquals("World", exampleSubsystem.helloWorld("world"));
+    }
+
+    @Test
+    public void encoderTest() {
+        encoderSim.setDistance(5);
+        assertEquals(5.0, exampleSubsystem.getDistance_Inch(), delta);
+    }
 }