diff --git a/.vscode/settings.json b/.vscode/settings.json
index 43371ea..4197b65 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -1,5 +1,7 @@
 {
     "cSpell.words": [
+        "canbus",
+        "canivore",
         "coppercore",
         "ctre",
         "dists",
diff --git a/Pipfile b/Pipfile
index 84cea24..4340dc8 100644
--- a/Pipfile
+++ b/Pipfile
@@ -8,6 +8,8 @@ jinja2 = "*"
 robotvibecoder = {file = ".", editable = true}
 mypy = "*"
 pylint = "*"
+pick = "*"
+prompt-toolkit = "*"
 
 [dev-packages]
 
diff --git a/Pipfile.lock b/Pipfile.lock
index 1ba75e1..894e8d9 100644
--- a/Pipfile.lock
+++ b/Pipfile.lock
@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "65a62f41824012d6f47a74ba34783901c313cd621c506d82fb8991e523dfc0fe"
+            "sha256": "dbfed6ea191866e725c8f01e3307aed3875f497ee82733a96089e9b89bbcd8fc"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -171,6 +171,15 @@
             "markers": "python_version >= '3.5'",
             "version": "==1.0.0"
         },
+        "pick": {
+            "hashes": [
+                "sha256:2b07be18d16d655c7f491e1ecca7a29de3be85e1e000c8d46193672f14faa203",
+                "sha256:71f1b1b5d83652f87652fea5f51a3ba0b3388a71718cdcf8c6bc1326f85ae0b9"
+            ],
+            "index": "pypi",
+            "markers": "python_version >= '3.7'",
+            "version": "==2.4.0"
+        },
         "platformdirs": {
             "hashes": [
                 "sha256:a03875334331946f13c549dbd8f4bac7a13a50a895a0eb1e8c6a8ace80d40a94",
@@ -179,6 +188,15 @@
             "markers": "python_version >= '3.9'",
             "version": "==4.3.7"
         },
+        "prompt-toolkit": {
+            "hashes": [
+                "sha256:52742911fde84e2d423e2f9a4cf1de7d7ac4e51958f648d9540e0fb8db077b07",
+                "sha256:931a162e3b27fc90c86f1b48bb1fb2c528c2761475e57c9c06de13311c7b54ed"
+            ],
+            "index": "pypi",
+            "markers": "python_version >= '3.8'",
+            "version": "==3.0.51"
+        },
         "pylint": {
             "hashes": [
                 "sha256:8b7c2d3e86ae3f94fb27703d521dd0b9b6b378775991f504d7c3a6275aa0a6a6",
@@ -207,6 +225,35 @@
             ],
             "markers": "python_version >= '3.8'",
             "version": "==4.13.2"
+        },
+        "wcwidth": {
+            "hashes": [
+                "sha256:3da69048e4540d84af32131829ff948f1e022c1c6bdb8d6102117aac784f6859",
+                "sha256:72ea0c06399eb286d978fdedb6923a9eb47e1c486ce63e9b4e64fc18303972b5"
+            ],
+            "version": "==0.2.13"
+        },
+        "windows-curses": {
+            "hashes": [
+                "sha256:05d1ca01e5199a435ccb6c8c2978df4a169cdff1ec99ab15f11ded9de8e5be26",
+                "sha256:325439cd4f37897a1de8a9c068a5b4c432f9244bf9c855ee2fbeb3fa721a770c",
+                "sha256:4588213f7ef3b0c24c5cb9e309653d7a84c1792c707561e8b471d466ca79f2b8",
+                "sha256:4fa1a176bfcf098d0c9bb7bc03dce6e83a4257fc0c66ad721f5745ebf0c00746",
+                "sha256:53d711e07194d0d3ff7ceff29e0955b35479bc01465d46c3041de67b8141db2f",
+                "sha256:5c9c2635faf171a229caca80e1dd760ab00db078e2a285ba2f667bbfcc31777c",
+                "sha256:618e31458fedba2cf8105485ff00533ece780026c544142fc1647a20dc6c7641",
+                "sha256:6a5a831cabaadde41a6856fea5a0c68c74b7d11d332a816e5a5e6c84577aef3a",
+                "sha256:775a2e0fefeddfdb0e00b3fa6c4f21caf9982db34df30e4e62c49caaef7b5e56",
+                "sha256:8cf653f8928af19c103ae11cfed38124f418dcdd92643c4cd17239c0cec2f9da",
+                "sha256:a36b8fd4e410ddfb1a8eb65af2116c588e9f99b2ff3404412317440106755485",
+                "sha256:bdbe7d58747408aef8a9128b2654acf6fbd11c821b91224b9a046faba8c6b6ca",
+                "sha256:db776df70c10bd523c4a1ab0a7624a1d58c7d47f83ec49c6988f05bc1189e7b8",
+                "sha256:e61be805edc390ccfdeaf0e0c39736d931d3c4a007d6bf0f98d1e792ce437796",
+                "sha256:e9ce84559f80de7ec770d28c3b2991e0da51748def04e25a3c08ada727cfac2d",
+                "sha256:fd7d7a9cf6c1758f46ed76b8c67f608bc5fcd5f0ca91f1580fd2d84cf41c7f4f"
+            ],
+            "markers": "sys_platform == 'win32'",
+            "version": "==2.4.1"
         }
     },
     "develop": {}
diff --git a/pyproject.toml b/pyproject.toml
index c2ba8c8..056ef26 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -22,7 +22,7 @@ classifiers = [
   "Programming Language :: Python :: Implementation :: CPython",
   "Programming Language :: Python :: Implementation :: PyPy",
 ]
-dependencies = ["jinja2==3.1.6"]
+dependencies = ["jinja2==3.1.6", "pick==2.4.0", "prompt_toolkit==3.0.51"]
 
 [project.urls]
 Documentation = "https://github.com/team401/robotvibecoder#readme"
diff --git a/src/robotvibecoder/cli.py b/src/robotvibecoder/cli.py
index bdb946e..7017e82 100644
--- a/src/robotvibecoder/cli.py
+++ b/src/robotvibecoder/cli.py
@@ -4,7 +4,8 @@
 
 from dataclasses import dataclass
 import sys
-from typing import TextIO
+from typing import TextIO, List
+import pick
 
 
 @dataclass
@@ -28,7 +29,7 @@ def print_err(message: str, file: TextIO = sys.stderr):
     :param message: The error message.
     :type message: str
     :param file: File to print the error message to, defaults to sys.stderr
-    :type file: _type_, optional
+    :type file: TextIO, optional
     """
     print(f"{Colors.fg_red}{Colors.bold}Error{Colors.reset}: {message}", file=file)
 
@@ -39,6 +40,31 @@ def print_warning(message: str, file: TextIO = sys.stderr):
     :param message: The warning message.
     :type message: str
     :param file: File to print the warning message to, defaults to sys.stderr
-    :type file: _type_, optional
+    :type file: TextIO, optional
     """
     print(f"{Colors.fg_red}{Colors.bold}Warning{Colors.reset}: {message}", file=file)
+
+
+def rvc_pick(options: List[str], title: str, spoof_input: bool = True) -> str:
+    """Make the user select an option from options using arrow keys/enter
+
+    This is a custom wrapper around the pick library.
+
+    :param options: The options to select from
+    :type options: list[str]
+    :param title: The title message to print above the picker
+    :type title: str
+    :param spoof_input: Print a prompt with the selected option? Defaults to true.
+    :type spoof_input: bool, optional
+    """
+
+    selection, _ = pick.pick(options, title)
+    assert isinstance(
+        selection, str
+    ), """Pick selection wasn't a string. This is a robotvibecoder issue!
+    Please report this on github: https://github.com/team401/robotvibecoder"""
+
+    if spoof_input:
+        print(f"{title}\n> {selection}")
+
+    return selection
diff --git a/src/robotvibecoder/subcommands/new.py b/src/robotvibecoder/subcommands/new.py
index f3b25d5..d614fc7 100644
--- a/src/robotvibecoder/subcommands/new.py
+++ b/src/robotvibecoder/subcommands/new.py
@@ -6,12 +6,32 @@
 import json
 import os
 import sys
+from prompt_toolkit import prompt
+from prompt_toolkit.completion import Completer, Completion
 
 from robotvibecoder import constants
 import robotvibecoder.cli
 from robotvibecoder.config import MechanismConfig, MechanismKind
 
 
+class AppendCompleter(Completer):
+    """
+    An auto-completer that adds a string to the end of the input text.
+    """
+
+    def __init__(self, text: str):
+        """
+        Create an AppendCompleter
+
+        :param text: The text to suggest completing
+        :type text: str
+        """
+        self.text = text
+
+    def get_completions(self, document, complete_event):
+        yield Completion(self.text, start_position=0)
+
+
 def new_config_interactive() -> MechanismConfig:
     """
     Prompt the user for each field of a config to generate one interactively
@@ -21,25 +41,22 @@ def new_config_interactive() -> MechanismConfig:
         "Interactively generating new config. Please enter each field and press [Enter]."
     )
     print("Package: will come after frc.robot (e.g. `subsystems.scoring`)")
-    package: str = input("> ")
+    package: str = prompt("> ", default="subsystems.")
     print(
         "Name: should be capitalized and should not end in Mechanism or Subsystem, as this is automatically added"  # pylint: disable=line-too-long
     )
-    name: str = input("> ")
-
-    print("Kind: Should be either 'Elevator', 'Arm', or 'Flywheel'")
-    kind: str = ""
-    while MechanismKind.try_into(kind) is None:
-        kind = input("> ")
-        if MechanismKind.try_into(kind) is None:
-            print("Please input either Elevator, Arm, or Flywheel.")
+    name: str = prompt("> ")
+
+    kind_choices = ["Elevator", "Arm", "Flywheel"]
+    kind: str = robotvibecoder.cli.rvc_pick(kind_choices, "Mechanism Kind:")
+
     kind_try = MechanismKind.try_into(kind)
     kind_enum: MechanismKind = (
         kind_try if kind_try is not None else MechanismKind.ELEVATOR
     )
 
     print("CAN Bus: whatever the name of the mechanism's bus is (e.g. `canivore`)")
-    canbus: str = input("> ")
+    canbus: str = prompt("> ", default="canivore")
 
     num_motors: int = -1
     while num_motors == -1:
@@ -54,20 +71,22 @@ def new_config_interactive() -> MechanismConfig:
     motors: list[str] = []
     for i in range(num_motors):
         motors.append(
-            input(f"Motor {i + 1} name: a camelcase motor name (e.g. leadMotor)\n> ")
+            prompt(
+                f"Motor {i + 1} name: a camelcase motor name (e.g. leadMotor)\n> ",
+                completer=AppendCompleter("Motor"),
+                complete_while_typing=True,
+            )
         )
 
-    lead_motor: str = ""
-
-    while lead_motor not in motors:
-        lead_motor = input("Lead motor (must be one of previously defined motors)\n> ")
-
-        if lead_motor not in motors:
-            print("Please select one of the previously defined motors:")
-            for motor in motors:
-                print(f" - {motor}")
+    lead_motor: str = robotvibecoder.cli.rvc_pick(
+        motors, "Lead Motor: (Up/Down/K/J to move, Enter to select)"
+    )
 
-    encoder: str = input("Encoder name: a camelcase encoder name (e.g. armEncoder)\n> ")
+    encoder: str = prompt(
+        "Encoder name: a camelcase encoder name (e.g. armEncoder)\n> ",
+        completer=AppendCompleter("Encoder"),
+        complete_while_typing=True,
+    )
 
     return MechanismConfig(
         package, name, kind_enum, canbus, motors, lead_motor, encoder