diff --git a/src/main/java/frc/robot/subsystems/ElevatorIO.java b/src/main/java/frc/robot/subsystems/ElevatorIO.java
new file mode 100644
index 0000000..24f2f68
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/ElevatorIO.java
@@ -0,0 +1,29 @@
+package frc.robot.subsystems;
+
+import org.littletonrobotics.junction.AutoLog;
+
+public interface ElevatorIO {
+  @AutoLog
+  public static class FlywheelIOInputs {
+    public double positionRad = 0.0;
+    public double velocityRadPerSec = 0.0;
+    public double appliedVolts = 0.0;
+    public double[] currentAmps = new double[] {};
+  }
+
+  /** Updates the set of loggable inputs. */
+  public default void updateInputs(FlywheelIOInputs inputs) {
+  }
+
+  /** Run closed loop at the specified velocity. */
+  public default void setVelocity(double velocityRadPerSec, double ffVolts) {
+  }
+
+  /** Stop in open loop. */
+  public default void stop() {
+  }
+
+  /** Set velocity PID constants. */
+  public default void configurePID(double kP, double kI, double kD) {
+  }
+}