diff --git a/rio/constants/robot_hardware.yaml b/rio/constants/robot_hardware.yaml
new file mode 100644
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+++ b/rio/constants/robot_hardware.yaml
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+# This file defines the robot's
+# physical dimensions. Things like
+# Motor placement, max and min extensions
+# of arms, and similar should go here.
+
+drivetrain:
+  max_velocity: 1.5               # Updated Never by Nobody
+  encoderConversionFactor: 21.43  # Updated 1/27 by Joe
+
+  # All pose coordinates are in meters.
+  leftMotor:
+    Motor1Port: 2                # Updated 1/12 by Keegan
+    Motor2Port: 1                # Updated 1/12 by Keegan 
+    EncoderPorts: [2, 1]         # Updated 2/12 by Keegan
+    EncoderReversed: False       # Updated Never by Nobody
+    Inverted: False              # Updated Never by Nobody
+
+  rightMotor:
+    Motor1Port: 3                # Updated 1/8 by Keegan
+    Motor2Port: 4                # Updated 1/8 by Keegan
+    EncoderPorts: [3, 4]         # Updated Never by Nobody
+    EncoderReversed: True        # Updated Never by Nobody
+    Inverted: True               # Updated Never by Nobody
+
+  navX: # NavX ids
+    can_id: 0                    # Updated 1/13 by Keegan
+    yaw: 0                       # Updated 1/13 by Keegan
+    pitch: 0                     # Updated 1/13 by Keegan
+    roll: 0                      # Updated 1/13 by Keegan
+
+intake:
+  # can IDS
+  LiftPort: 9            # Updated Never by Nobody
+  IntakePort: 10         # Updated Never by Nobody
+
+  # inversion
+  LiftInverted: False    # Updated Never by Nobody
+  IntakeInverted: False  # Updated Never by Nobody
\ No newline at end of file