diff --git a/components/wrist.py b/components/wrist.py
index ad0c2cfa..1b68d03c 100644
--- a/components/wrist.py
+++ b/components/wrist.py
@@ -7,21 +7,19 @@
     SparkMax,
     SparkMaxConfig,
 )
-from wpilib import DutyCycleEncoder
 from wpimath.controller import ArmFeedforward, PIDController
 from wpimath.trajectory import TrapezoidProfile
 
-from ids import DioChannel, SparkId
+from ids import SparkId
 from utilities.functions import clamp
 from utilities.rev import (
     configure_spark_ephemeral,
     configure_spark_reset_and_persist,
-    configure_through_bore_encoder,
 )
 
 
 class WristComponent:
-    ENCODER_ZERO_OFFSET = 3.46463832679
+    ENCODER_ZERO_OFFSET = 3.46463832679 / math.tau
     COM_DIFFERENCE = 0.54722467321
     MAXIMUM_DEPRESSION = math.radians(-112.0) + COM_DIFFERENCE
     MAXIMUM_ELEVATION = math.radians(0) + COM_DIFFERENCE
@@ -42,10 +40,6 @@ def __init__(self, mech_root: wpilib.MechanismRoot2d):
             "wrist_COM", length=0.5, angle=0, color=wpilib.Color8Bit(wpilib.Color.kBlue)
         )
 
-        self.wrist_encoder = DutyCycleEncoder(DioChannel.WRIST_ENCODER, math.tau, 0)
-        configure_through_bore_encoder(self.wrist_encoder)
-        self.wrist_encoder.setInverted(False)
-
         self.motor = SparkMax(SparkId.WRIST, SparkMax.MotorType.kBrushless)
 
         self.idle_mode = SparkMaxConfig.IdleMode.kBrake
@@ -72,10 +66,15 @@ def __init__(self, mech_root: wpilib.MechanismRoot2d):
         wrist_config.encoder.velocityConversionFactor(
             (1 / 60) * math.tau * (1 / self.wrist_gear_ratio)
         )
+        wrist_config.absoluteEncoder.positionConversionFactor(math.tau)
+        wrist_config.absoluteEncoder.velocityConversionFactor(math.tau * (1 / 60))
+        wrist_config.absoluteEncoder.zeroOffset(self.ENCODER_ZERO_OFFSET)
+        wrist_config.absoluteEncoder.inverted(False)
 
         configure_spark_reset_and_persist(self.motor, wrist_config)
 
         self.motor_encoder = self.motor.getEncoder()
+        self.wrist_encoder = self.motor.getAbsoluteEncoder()
 
         self.desired_state = TrapezoidProfile.State(WristComponent.NEUTRAL_ANGLE, 0.0)
         self.tracked_state = self.desired_state
@@ -111,13 +110,9 @@ def toggle_neutral_mode(self) -> None:
 
         configure_spark_ephemeral(self.motor, wrist_config)
 
-    @feedback
-    def raw_encoder(self) -> float:
-        return self.wrist_encoder.get()
-
     @feedback
     def inclination(self) -> float:
-        return self.wrist_encoder.get() - self.ENCODER_ZERO_OFFSET
+        return self.wrist_encoder.getPosition()
 
     @feedback
     def inclination_deg(self) -> float:
diff --git a/physics.py b/physics.py
index 3f860794..6ff9c764 100644
--- a/physics.py
+++ b/physics.py
@@ -195,7 +195,7 @@ def __init__(self, physics_controller: PhysicsInterface, robot: MyRobot):
 
         wrist_gearbox = DCMotor.NEO(1)
         wrist_motor = rev.SparkMaxSim(robot.wrist.motor, wrist_gearbox)
-        self.wrist_encoder_sim = DutyCycleEncoderSim(robot.wrist.wrist_encoder)
+        self.wrist_encoder_sim = rev.SparkAbsoluteEncoderSim(robot.wrist.motor)
 
         wrist_sim = SingleJointedArmSim(
             wrist_gearbox,
@@ -329,9 +329,7 @@ def update_sim(self, now: float, tm_diff: float) -> None:
 
         # Update wrist simulation
         self.wrist.update(tm_diff)
-        self.wrist_encoder_sim.set(
-            self.wrist.mech_sim.getAngle() + WristComponent.ENCODER_ZERO_OFFSET
-        )
+        self.wrist_encoder_sim.setPosition(self.wrist.mech_sim.getAngle())
 
         # Simulate algae pick up
         if self.floor_intake.current_state == "intaking":