diff --git a/.vscode/launch.json b/.vscode/launch.json
index 5b804e8..fb77e69 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -4,18 +4,24 @@
   // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
   "version": "0.2.0",
   "configurations": [
-
+    {
+      "type": "java",
+      "name": "Main",
+      "request": "launch",
+      "mainClass": "frc4388.robot.Main",
+      "projectName": "2025RidgeScape"
+    },
     {
       "type": "wpilib",
       "name": "WPILib Desktop Debug",
       "request": "launch",
-      "desktop": true,
+      "desktop": true
     },
     {
       "type": "wpilib",
       "name": "WPILib roboRIO Debug",
       "request": "launch",
-      "desktop": false,
+      "desktop": false
     }
   ]
 }
diff --git a/.vscode/settings.json b/.vscode/settings.json
index dccbc7c..ef24bd2 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -56,5 +56,7 @@
     "edu.wpi.first.math.proto.*",
     "edu.wpi.first.math.**.proto.*",
     "edu.wpi.first.math.**.struct.*",
-  ]
+  ],
+  "java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx2G -Xms100m -Xlog:disable",
+  "wpilib.autoStartRioLog": false
 }
diff --git a/build.gradle b/build.gradle
index 302477e..e8723ce 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,6 +1,7 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.1.1"
+    id "edu.wpi.first.GradleRIO" version "2025.3.2"
+    id "com.peterabeles.gversion" version "1.10"
 }
 
 java {
@@ -72,6 +73,9 @@ dependencies {
 
     testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
     testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
+
+    def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
+    annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version"
 }
 
 test {
@@ -102,3 +106,19 @@ wpi.java.configureTestTasks(test)
 tasks.withType(JavaCompile) {
     options.compilerArgs.add '-XDstringConcat=inline'
 }
+
+task(replayWatch, type: JavaExec) {
+    mainClass = "org.littletonrobotics.junction.ReplayWatch"
+    classpath = sourceSets.main.runtimeClasspath
+}
+
+// Create version file
+project.compileJava.dependsOn(createVersionFile)
+gversion {
+    srcDir       = "src/main/java/"
+    classPackage = "frc4388.robot.constants"
+    className    = "BuildConstants"
+    dateFormat   = "yyyy-MM-dd HH:mm:ss z"
+    timeZone     = "America/Denver"
+    indent       = "  "
+}
diff --git a/simgui-ds.json b/simgui-ds.json
index 73cc713..47517dc 100644
--- a/simgui-ds.json
+++ b/simgui-ds.json
@@ -1,4 +1,9 @@
 {
+  "System Joysticks": {
+    "window": {
+      "enabled": false
+    }
+  },
   "keyboardJoysticks": [
     {
       "axisConfig": [
@@ -88,5 +93,20 @@
       "buttonCount": 0,
       "povCount": 0
     }
+  ],
+  "robotJoysticks": [
+    {
+      "guid": "030000005e040000ea0200000b050000",
+      "useGamepad": true
+    },
+    {
+      "useGamepad": true
+    },
+    {},
+    {},
+    {},
+    {
+      "useGamepad": true
+    }
   ]
 }
diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
deleted file mode 100644
index b619905..0000000
--- a/src/main/java/frc4388/robot/Constants.java
+++ /dev/null
@@ -1,156 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc4388.robot;
-
-import java.util.ArrayList;
-import java.util.List;
-
-import edu.wpi.first.math.trajectory.TrapezoidProfile;
-import frc4388.utility.CanDevice;
-import frc4388.utility.Gains;
-import frc4388.utility.LEDPatterns;
-
-/**
- * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
- * constants.  This class should not be used for any other purpose.  All constants should be
- * declared globally (i.e. public static).  Do not put anything functional in this class.
- *
- * <p>It is advised to statically import this class (or one of its inner classes) wherever the
- * constants are needed, to reduce verbosity.
- */
-public final class Constants {
-    public static final String CANBUS_NAME = "rio";
-    
-    public static final class SwerveDriveConstants {
-
-        public static final double MAX_ROT_SPEED        = 3.5;
-        public static final double AUTO_MAX_ROT_SPEED = 1.5;
-        public static final double MIN_ROT_SPEED        = 1.0;
-        public static       double ROTATION_SPEED       = MAX_ROT_SPEED;
-        public static       double PLAYBACK_ROTATION_SPEED = AUTO_MAX_ROT_SPEED;
-        public static       double ROT_CORRECTION_SPEED = 10; // MIN_ROT_SPEED;
-
-        public static final double CORRECTION_MIN = 10;
-        public static final double CORRECTION_MAX = 50;
-        
-        public static final double[] GEARS = {0.25, 0.5, 1.0};
-
-        public static final double SLOW_SPEED = 0.25;
-        public static final double FAST_SPEED = 0.5;
-        public static final double TURBO_SPEED = 1.0;
-    
-        // public static List<CanDevice> CAN_DEVICES = new ArrayList<>();
-
-        public static final class DefaultSwerveRotOffsets {
-          public static final double FRONT_LEFT_ROT_OFFSET  = 0.0; //TODO: per robot swerve module offsets.
-          public static final double FRONT_RIGHT_ROT_OFFSET = 0.0; //TODO: per robot swerve module offsets.
-          public static final double BACK_LEFT_ROT_OFFSET   = 0.0; //TODO: per robot swerve module offsets.
-          public static final double BACK_RIGHT_ROT_OFFSET  = 0.0; //TODO: per robot swerve module offsets.
-        }
-
-        public static final class IDs {
-            public static final CanDevice RIGHT_FRONT_WHEEL   = new CanDevice("RIGHT_FRONT_WHEEL", 2);
-            public static final CanDevice RIGHT_FRONT_STEER   = new CanDevice("RIGHT_FRONT_STEER", 3);
-            public static final CanDevice RIGHT_FRONT_ENCODER = new CanDevice("RIGHT_FRONT_ENCODER", 10);
-            
-            public static final CanDevice LEFT_FRONT_WHEEL    = new CanDevice("LEFT_FRONT_WHEEL", 4);
-            public static final CanDevice LEFT_FRONT_STEER    = new CanDevice("LEFT_FRONT_STEER", 5);
-            public static final CanDevice LEFT_FRONT_ENCODER  = new CanDevice("LEFT_FRONT_ENCODER", 11);
-            
-            public static final CanDevice LEFT_BACK_WHEEL     = new CanDevice("LEFT_BACK_WHEEL", 6);
-            public static final CanDevice LEFT_BACK_STEER     = new CanDevice("LEFT_BACK_STEER", 7);
-            public static final CanDevice LEFT_BACK_ENCODER   = new CanDevice("LEFT_BACK_ENCODER", 12);
-            
-            public static final CanDevice RIGHT_BACK_WHEEL    = new CanDevice("RIGHT_BACK_WHEEL", 8);  
-            public static final CanDevice RIGHT_BACK_STEER    = new CanDevice("RIGHT_BACK_STEER", 9);
-            public static final CanDevice RIGHT_BACK_ENCODER  = new CanDevice("RIGHT_BACK_ENCODER", 13);
-
-            public static final CanDevice DRIVE_PIGEON        = new CanDevice("DRIVE_PIGEON", 4);
-            public static final CanDevice e        = new CanDevice("NONEXISTANT_CAN", 50);
-        }
-    
-        public static final class PIDConstants {
-            public static final int SWERVE_SLOT_IDX = 0;
-            public static final int SWERVE_PID_LOOP_IDX = 1;
-            public static final Gains SWERVE_GAINS = new Gains(50, 0.0, 0.32, 0.0, 0, 0.0);
-
-            public static final Gains TEST_SWERVE_GAINS = new Gains(1.2, 0.0, 0.0, 0.0, 0, 0.0);
-
-        }
-    
-        public static final class AutoConstants {
-            public static final Gains X_CONTROLLER = new Gains(0.8, 0.0, 0.0);
-            public static final Gains Y_CONTROLLER = new Gains(0.8, 0.0, 0.0);
-            public static final Gains THETA_CONTROLLER = new Gains(-0.8, 0.0, 0.0);
-            public static final TrapezoidProfile.Constraints THETA_CONSTRAINTS = new TrapezoidProfile.Constraints(Math.PI/2, Math.PI/2); // TODO: tune
-            
-            public static final double PATH_MAX_VEL = 0.3; // TODO: find the actual value
-            public static final double PATH_MAX_ACC = 0.3; // TODO: find the actual value
-        }
-    
-        public static final class Conversions {
-            public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 6.22;
-            public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = JOYSTICK_TO_METERS_PER_SECOND_FAST * 0.5;
-        
-            public static final double MOTOR_REV_PER_WHEEL_REV = 5.12;
-            public static final double MOTOR_REV_PER_STEER_REV = 12.8;
-        
-            public static final double TICKS_PER_MOTOR_REV = 0.5;
-            public static final double WHEEL_DIAMETER_INCHES = 3.9;
-            public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI;
-        
-            public static final double WHEEL_REV_PER_MOTOR_REV = 1 / MOTOR_REV_PER_WHEEL_REV;
-            public static final double TICKS_PER_WHEEL_REV = TICKS_PER_MOTOR_REV * MOTOR_REV_PER_WHEEL_REV;
-            public static final double TICKS_PER_INCH = TICKS_PER_WHEEL_REV / INCHES_PER_WHEEL_REV;
-            public static final double INCHES_PER_TICK = 1 / TICKS_PER_INCH;
-        
-            public static final double TICK_TIME_TO_SECONDS = 10;
-            public static final double SECONDS_TO_TICK_TIME = 1 / TICK_TIME_TO_SECONDS;
-        }
-    
-        public static final class Configurations {
-            public static final double OPEN_LOOP_RAMP_RATE = 0.2;
-            public static final double CLOSED_LOOP_RAMP_RATE = 0.2;
-            public static final double NEUTRAL_DEADBAND = 0.04;
-        }
-    
-        public static final double MAX_SPEED_FEET_PER_SECOND = 20.4;
-        public static final double MAX_ANGULAR_SPEED_FEET_PER_SECOND = 2 * 2 * Math.PI;
-    
-        // dimensions
-        public static final double WIDTH = 18.5;
-        public static final double HEIGHT = 18.5;
-        public static final double HALF_WIDTH = WIDTH / 2.d;
-        public static final double HALF_HEIGHT = HEIGHT / 2.d;
-    
-        // misc
-        public static final int TIMEOUT_MS = 30;
-        public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
-      }
-    
-    public static final class VisionConstants {
-    }
-
-    public static final class DriveConstants {
-        public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
-    }
-    
-    public static final class LEDConstants {
-        public static final int LED_SPARK_ID = 0;
-
-        public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES;
-    }
-
-    public static final class OIConstants {
-        public static final int XBOX_DRIVER_ID = 0;
-        public static final int XBOX_OPERATOR_ID = 1;
-        public static final int XBOX_PROGRAMMER_ID = 2;
-        public static final double LEFT_AXIS_DEADBAND = 0.1;
-
-    }
-}
diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java
index f8acad3..c147692 100644
--- a/src/main/java/frc4388/robot/Robot.java
+++ b/src/main/java/frc4388/robot/Robot.java
@@ -7,26 +7,24 @@
 
 package frc4388.robot;
 
-import java.util.ArrayList;
-import java.util.Base64;
-import java.util.List;
-import java.util.logging.Level;
+// Advantagekit
+import org.littletonrobotics.junction.LogFileUtil;
+import org.littletonrobotics.junction.LoggedRobot;
+import org.littletonrobotics.junction.Logger;
+import org.littletonrobotics.junction.networktables.NT4Publisher;
+import org.littletonrobotics.junction.wpilog.WPILOGReader;
+import org.littletonrobotics.junction.wpilog.WPILOGWriter;
 
-import com.ctre.phoenix6.CANBus;
-import com.ctre.phoenix6.CANBus.CANBusStatus;
-
-import edu.wpi.first.util.sendable.Sendable;
-import edu.wpi.first.wpilibj.TimedRobot;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
-import frc4388.utility.CanDevice;
+import frc4388.robot.constants.BuildConstants;
+import frc4388.robot.constants.Constants.SimConstants;
 import frc4388.utility.DeferredBlock;
-import frc4388.utility.RobotTime;
-import frc4388.utility.Status;
-import frc4388.utility.Subsystem;
-import frc4388.utility.Status.Report;
-import frc4388.utility.Status.ReportLevel;
+import frc4388.utility.compute.RobotTime;
+import frc4388.utility.compute.Trim;
+import frc4388.utility.status.FaultReporter;
+
 //import frc4388.robot.subsystems.LED;
 /**
  * The VM is configured to automatically run this class, and to call the
@@ -35,7 +33,7 @@ import frc4388.utility.Status.ReportLevel;
  * creating this project, you must also update the build.gradle file in the
  * project.
  */
-public class Robot extends TimedRobot {
+public class Robot extends LoggedRobot {
   Command m_autonomousCommand;
 
   private RobotTime m_robotTime = RobotTime.getInstance();
@@ -47,32 +45,20 @@ public class Robot extends TimedRobot {
    */
   @Override
   public void robotInit() {
+    // Start logging with AdvantageKit
+    startLogging();
 
     // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
     // autonomous chooser on the dashboard.
     m_robotContainer = new RobotContainer();
 
 
-
-    new Thread() {
-      public void run() {
-        try{
-        while(!this.isInterrupted() && this.isAlive()){
-          Thread.sleep(500);
-          for(int i=0;i<Subsystem.subsystems.size(); i++){
-            Subsystem.subsystems.get(i).queryStatus();
-          }
-
-          System.out.println("Updated statuses!");
-          
-        }
-        }catch(Exception e){
-          e.printStackTrace();
-        }
-      }
-    }.start();
+    // // Create a shuffleboard update thread, that will periodically update the values on shuffleboard
+    // FaultReporter.startThread();
   }
 
+
+
   /**
    * This function is called every robot packet, no matter the mode. Use
    * this for items like diagnostics that you want ran during disabled,
@@ -84,15 +70,15 @@ public class Robot extends TimedRobot {
   @Override
   public void robotPeriodic() {   
     m_robotTime.updateTimes();
-    //System.out.println(m_robotContainer.limelight.isNearSpeaker());
-    //mled.updateLED();
+    // SmartDashboard.putNumber("Time", System.currentTimeMillis());
+    
+    m_robotContainer.m_robotLED.update();
     // Runs the Scheduler.  This is responsible for polling buttons, adding newly-scheduled
     // commands, running already-scheduled commands, removing finished or interrupted commands,
     // and running subsystem periodic() methods.  This must be called from the robot's periodic
     // block in order for anything in the Command-based framework to work.
     CommandScheduler.getInstance().run();
   }
-
   /**
    * This function is called once each time the robot enters Disabled mode.
    * You can use it to reset any subsystem information you want to clear when
@@ -140,14 +126,20 @@ public class Robot extends TimedRobot {
   public void autonomousPeriodic() {
   }
 
+
   @Override
   public void teleopInit() {
+    m_robotContainer.stop();
     // This makes sure that the autonomous stops running when
     // teleop starts running. If you want the autonomous to
     // continue until interrupted by another command, remove
     // this line or comment it out.
+
     if (m_autonomousCommand != null) {
+      CommandScheduler.getInstance().cancel(m_autonomousCommand);
       m_autonomousCommand.cancel();
+      m_autonomousCommand.end(true);
+
     }
     m_robotTime.startMatchTime();
   }
@@ -160,72 +152,113 @@ public class Robot extends TimedRobot {
   //  m_robotContainer.m_robotMap.rightFront.go(m_robotContainer.getDeadbandedDriverController().getLeft());
   }
 
+  /**
+   * This function is called periodically during operator control.
+   */
+  @Override
+  public void teleopExit() { // the only OTHER mode that teleop can enter into is disabled.
+    Trim.dumpAll();
+  }
+
   @Override
   public void testInit() {
-
-    List<String> errors = new ArrayList<>();
-
-    // Subsystems header
-    System.out.println(new String(Base64.getDecoder().decode("IOKWl+KWhOKWhOKWluKWl+KWliDilpfilpbilpfiloTiloTilpYgIOKWl+KWhOKWhOKWluKWl+KWliAg4paX4paW4paX4paE4paE4paW4paX4paE4paE4paE4paW4paX4paE4paE4paE4paW4paX4paWICDilpfilpYg4paX4paE4paE4paWCuKWkOKWjCAgIOKWkOKWjCDilpDilozilpDilowg4paQ4paM4paQ4paMICAgIOKWneKWmuKWnuKWmOKWkOKWjCAgICAg4paIICDilpDilowgICDilpDilpvilprilp7ilpzilozilpDilowgICAKIOKWneKWgOKWmuKWluKWkOKWjCDilpDilozilpDilpviloDilprilpYg4pad4paA4paa4paWICDilpDilowgIOKWneKWgOKWmuKWliAg4paIICDilpDilpviloDiloDilpjilpDilowgIOKWkOKWjCDilp3iloDilprilpYK4paX4paE4paE4pae4paY4pad4paa4paE4pae4paY4paQ4paZ4paE4pae4paY4paX4paE4paE4pae4paYICDilpDilowg4paX4paE4paE4pae4paYICDiloggIOKWkOKWmeKWhOKWhOKWluKWkOKWjCAg4paQ4paM4paX4paE4paE4pae4paY")));
-
-    for(int i=0;i< Subsystem.subsystems.size();i++){
-
-      Subsystem subsystem = Subsystem.subsystems.get(i);
-      System.out.println("** Subsystem diagnostic report for " + subsystem.getName() + ":");
-      Status status = subsystem.diagnosticStatus();
-
-      for(int a=0;a<status.reports.size();a++){
-        Report r = status.reports.get(a);
-        if(r.reportLevel == ReportLevel.ERROR)
-          errors.add(subsystem.getName() + " - " + r.toString());
-        subsystem.Log(r.toString());
-      }
-    }
-
-    
-    // CAN header
-    System.out.println(new String(Base64.getDecoder().decode("IOKWl+KWhOKWhOKWliDilpfiloTilpYg4paX4paWICDilpfilpYK4paQ4paMICAg4paQ4paMIOKWkOKWjOKWkOKWm+KWmuKWluKWkOKWjArilpDilowgICDilpDilpviloDilpzilozilpDilowg4pad4pac4paMCuKWneKWmuKWhOKWhOKWluKWkOKWjCDilpDilozilpDilowgIOKWkOKWjCh0KQ==")));
-    
-    CANBus canBus = new CANBus(Constants.CANBUS_NAME);
-    
-    CANBusStatus canInfo = canBus.getStatus();
-    
-    System.out.println("CANInfo BusOffCount     - " + canInfo.BusOffCount);
-    System.out.println("CANInfo BusUtilization  - " + canInfo.BusUtilization);
-    System.out.println("CANInfo RX Errors count - " + canInfo.REC);
-    System.out.println("CANInfo TX Errors count - " + canInfo.TEC);
-    System.out.println("CANInfo Transmit buffer full count - " + canInfo.TxFullCount);
-    // Broken turniary operator
-    ReportLevel canReportLevel = canInfo.Status.isOK() ? (canInfo.Status.isWarning() ? ReportLevel.WARNING : ReportLevel.ERROR) : ReportLevel.INFO;
-    String canStatus = "CAN " + canReportLevel.name() + " - " + canInfo.Status.getName() + " (" + canInfo.Status.getDescription() + ")";
-    if(canReportLevel == ReportLevel.ERROR) {
-      errors.add(canStatus);
-    }
-    System.out.println(canStatus);
-
-    for(int i=0;i<CanDevice.devices.size();i++){
-
-      CanDevice device = CanDevice.devices.get(i);
-      System.out.println("** CAN diagnostic report for " + device.name + ":");
-      Status status = device.diagnosticStatus();
-
-      for(int a=0;a<status.reports.size();a++){
-        Report r = status.reports.get(a);
-        if(r.reportLevel == ReportLevel.ERROR)
-          errors.add(device.getName() + " - " + r.toString());
-        device.Log(r.toString());
-      }
-    }
-
-    // System.out.println("Found CAN devices: " + new DeviceFinder().Find());
-    
-    if(errors.size() > 0) {
-      // Errors header
-      System.out.println(new String(Base64.getDecoder().decode("4paX4paE4paE4paE4paW4paX4paE4paE4paWIOKWl+KWhOKWhOKWliAg4paX4paE4paWIOKWl+KWhOKWhOKWliAg4paX4paE4paE4paWCuKWkOKWjCAgIOKWkOKWjCDilpDilozilpDilowg4paQ4paM4paQ4paMIOKWkOKWjOKWkOKWjCDilpDilozilpDilowgICAK4paQ4pab4paA4paA4paY4paQ4pab4paA4paa4paW4paQ4pab4paA4paa4paW4paQ4paMIOKWkOKWjOKWkOKWm+KWgOKWmuKWliDilp3iloDilprilpYK4paQ4paZ4paE4paE4paW4paQ4paMIOKWkOKWjOKWkOKWjCDilpDilozilp3ilpriloTilp7ilpjilpDilowg4paQ4paM4paX4paE4paE4pae4paY")));
-      for(int i=0;i<errors.size(); i++){
-        System.out.println(errors.get(i));
-      }
-    }
-
+    FaultReporter.printReport();
   }
-}
+
+
+
+
+
+
+
+  // VisionSystemSim visionSim;
+  // RobotMapSim robotMapSim;
+
+  // @Override
+  // public void simulationInit() {
+  //   visionSim = new VisionSystemSim("main");
+  //   robotMapSim = m_robotContainer.m_robotMap.configureSim();
+
+
+  //   // A 0.5 x 0.25 meter rectangular target
+  //   TargetModel targetModel = new TargetModel(0.5, 0.25);
+  //   // The pose of where the target is on the field.
+  //   // Its rotation determines where "forward" or the target x-axis points.
+  //   // Let's say this target is flat against the far wall center, facing the blue driver stations.
+  //   Pose3d targetPose = new Pose3d(16, 4, 2, new Rotation3d(0, 0, Math.PI));
+  //   // The given target model at the given pose
+  //   VisionTargetSim visionTarget = new VisionTargetSim(targetPose, targetModel);
+
+  //   // Add this vision target to the vision system simulation to make it visible
+  //   visionSim.addVisionTargets(visionTarget);
+
+  //   // The layout of AprilTags which we want to add to the vision system
+  //   AprilTagFieldLayout tagLayout = Constants.FieldConstants.kTagLayout;
+
+  //   visionSim.addAprilTags(tagLayout);
+
+
+  //   visionSim.addCamera(robotMapSim.leftCamera, Constants.VisionConstants.LEFT_CAMERA_POS);
+  //   visionSim.addCamera(robotMapSim.rightCamera, Constants.VisionConstants.RIGHT_CAMERA_POS);
+
+  //   SmartDashboard.putData(visionSim.getDebugField());
+  // }
+
+
+  // @Override
+  // public void simulationPeriodic() {
+  //   m_robotContainer.m_robotSwerveDrive.updateSim(RobotController.getBatteryVoltage());
+  //   // visionSim.update(m_robotContainer.m_robotSwerveDrive.getPose2d());
+
+  //   // m_robotContainer.m_robotSwerveDrive.
+  // }
+
+
+
+// Start AdvantageKit logging / replay and record metadata
+// Refrence: https://github.com/Mechanical-Advantage/AdvantageKit/blob/main/template_projects/sources/skeleton/src/main/java/frc/robot/Robot.java
+  public void startLogging() {
+    // Record metadata
+    Logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME);
+    Logger.recordMetadata("BuildDate", BuildConstants.BUILD_DATE);
+    Logger.recordMetadata("Git+SHA", BuildConstants.GIT_SHA);
+    Logger.recordMetadata("GitDate", BuildConstants.GIT_DATE);
+    Logger.recordMetadata("GitBranch", BuildConstants.GIT_BRANCH);
+    switch (BuildConstants.DIRTY) {
+      case 0:
+        Logger.recordMetadata("GitDirty", "All changes committed");
+        break;
+      case 1:
+        Logger.recordMetadata("GitDirty", "Uncomitted changes");
+        break;
+      default:
+        Logger.recordMetadata("GitDirty", "Unknown");
+        break;
+    }
+
+    // Set up data receivers & replay source
+    switch (SimConstants.currentMode) {
+      case REAL:
+        // Running on a real robot, log to a USB stick ("/U/logs")
+        Logger.addDataReceiver(new WPILOGWriter());
+        Logger.addDataReceiver(new NT4Publisher());
+        break;
+
+      case SIM:
+        // Running a physics simulator, log to NT
+        Logger.addDataReceiver(new NT4Publisher());
+        break;
+
+      case REPLAY:
+        // Replaying a log, set up replay source
+        setUseTiming(false); // Run as fast as possible
+        String logPath = LogFileUtil.findReplayLog();
+        Logger.setReplaySource(new WPILOGReader(logPath));
+        Logger.addDataReceiver(new WPILOGWriter(LogFileUtil.addPathSuffix(logPath, "_sim")));
+        break;
+    }
+
+    // Start AdvantageKit logger
+    Logger.start();
+  }
+}
\ No newline at end of file
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 1d5fd95..4d81a20 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -10,177 +10,102 @@ package frc4388.robot;
 // Drive Systems
 import edu.wpi.first.wpilibj.DriverStation;
 
-import java.util.ArrayList;
-import java.util.List;
-
-import edu.wpi.first.cameraserver.CameraServer;
+import java.io.File;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj.RobotBase;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import frc4388.utility.controller.XboxController;
+import frc4388.utility.controller.ButtonBox;
 import frc4388.utility.controller.DeadbandedXboxController;
-import frc4388.robot.Constants.OIConstants;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 
 // Commands
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
 import edu.wpi.first.wpilibj2.command.RunCommand;
-
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.ConditionalCommand;
 // Autos
 import frc4388.utility.controller.VirtualController;
-import frc4388.robot.commands.Swerve.neoJoystickPlayback;
-import frc4388.robot.commands.Swerve.neoJoystickRecorder;
+import frc4388.robot.commands.MoveForTimeCommand;
+import frc4388.robot.commands.MoveUntilSuply;
+import frc4388.robot.commands.alignment.DriveToReef;
+import frc4388.robot.commands.alignment.DriveUntilLiDAR;
+import frc4388.robot.commands.alignment.LidarAlign;
+import frc4388.robot.commands.wait.waitElevatorRefrence;
+import frc4388.robot.commands.wait.waitEndefectorRefrence;
+import frc4388.robot.commands.wait.waitFeedCoral;
+import frc4388.robot.commands.wait.waitSupplier;
+import frc4388.robot.constants.Constants;
+import frc4388.robot.constants.Constants.AutoConstants;
+import frc4388.robot.constants.Constants.LiDARConstants;
+import frc4388.robot.constants.Constants.OIConstants;
+import frc4388.robot.constants.Constants.SimConstants.Mode;
+
+import com.pathplanner.lib.auto.NamedCommands;
+import com.pathplanner.lib.commands.PathPlannerAuto;
 
 // Subsystems
-// import frc4388.robot.subsystems.LED;
-import frc4388.robot.subsystems.SwerveDrive;
-
+import frc4388.robot.subsystems.LED;
+import frc4388.robot.subsystems.elevator.Elevator;
+import frc4388.robot.subsystems.elevator.Elevator.CoordinationState;
+import frc4388.robot.subsystems.lidar.LiDAR;
+import frc4388.robot.subsystems.swerve.SwerveDrive;
+import frc4388.robot.subsystems.vision.Vision;
 // Utilites
 import frc4388.utility.DeferredBlock;
-import frc4388.utility.Subsystem;
-import frc4388.utility.configurable.ConfigurableString;
+import frc4388.utility.compute.TimesNegativeOne;
+import frc4388.utility.compute.ReefPositionHelper.Side;
 
 /**
  * This class is where the bulk of the robot should be declared. Since
  * Command-based is a "declarative" paradigm, very little robot logic should
  * actually be handled in the {@link Robot} periodic methods (other than the
- * scheduler calls). Instead, the structure of the robot (including subsystems,
+ * scheduler calls). Instead, the structure of the robot (2including subsystems,
  * commands, and button mappings) should be declared here.
  */
 public class RobotContainer {
     /* RobotMap */
-    public final RobotMap m_robotMap = new RobotMap();
+    
+    public final RobotMap m_robotMap = new RobotMap(Mode.REAL);
     
     /* Subsystems */
-    // private final LED m_robotLED = new LED();
+    public final LED m_robotLED = new LED();
+    public final Vision m_vision = new Vision(m_robotMap.leftCamera, m_robotMap.rightCamera);
+    public final Elevator m_robotElevator = new Elevator(m_robotMap.elevatorIO, m_robotLED);
+    public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
+    // public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
+
+    public final LiDAR reefLidar = new LiDAR(m_robotMap.reefLidar, "Reef");
+    public final LiDAR reverseLidar = new LiDAR(m_robotMap.reverseLidar, "Reverse");
 
-    public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront,
-                                                                  m_robotMap.rightFront,
-                                                                  m_robotMap.leftBack,
-                                                                  m_robotMap.rightBack,
-                                              
-                                                                  m_robotMap.gyro);
 
     /* Controllers */
     private final DeadbandedXboxController m_driverXbox   = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
-    private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);    
-    private final DeadbandedXboxController m_autoRecorderXbox = new DeadbandedXboxController(OIConstants.XBOX_PROGRAMMER_ID);
-
-    /* Virtual Controllers */
-    private final VirtualController m_virtualDriver = new VirtualController(0);
-    private final VirtualController m_virtualOperator = new VirtualController(1);
+    private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
+    private final ButtonBox m_buttonBox = new ButtonBox(OIConstants.BUTTONBOX_ID);
 
     // public List<Subsystem> subsystems = new ArrayList<>();
 
     // ! Teleop Commands
+    public void stop() {
+        new InstantCommand(()->{}, m_robotSwerveDrive).schedule();
+        m_robotSwerveDrive.stopModules();
+        Constants.AutoConstants.Y_OFFSET_TRIM.set(0);
+    }
 
     // ! /*  Autos */
-    private String lastAutoName = "defualt.auto";
-    private ConfigurableString autoplaybackName = new ConfigurableString("Auto Playback Name", lastAutoName);
-    private neoJoystickPlayback autoPlayback = new neoJoystickPlayback(m_robotSwerveDrive, 
-    () -> autoplaybackName.get(), // lastAutoName
-           new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
-           true, false);
-    
-    /**
-     * The container for the robot. Contains subsystems, OI devices, and commands.
-     */
-    public RobotContainer() {
-        configureButtonBindings();        
-        configureVirtualButtonBindings();
-        new DeferredBlock(() -> m_robotSwerveDrive.resetGyroFlip());
-        DriverStation.silenceJoystickConnectionWarning(true);
-        // CameraServer.startAutomaticCapture();
+    private SendableChooser<String> autoChooser;
+    private Command autoCommand;
 
-        /* Default Commands */
-        // ! Swerve Drive Default Command (Regular Rotation)
-        // drives the robot with a two-axis input from the driver controller
-        m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
-            m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getLeft(),
-                                            getDeadbandedDriverController().getRight(),
-                                true);
-        }, m_robotSwerveDrive)
-        .withName("SwerveDrive DefaultCommand"));
-        m_robotSwerveDrive.setToSlow();
-
-        // this.subsystems.add(m_robotSwerveDrive);
-        // this.subsystems.add(m_robotMap.leftFront);
-        // this.subsystems.add(m_robotMap.rightFront);
-        // this.subsystems.add(m_robotMap.rightBack);
-        // this.subsystems.add(m_robotMap.leftBack);
-
-        // ! Swerve Drive One Module Test
-        // m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
-        //     m_robotMap.rightFront.go(getDeadbandedDriverController().getLeft());
-        // }
-
-        // ! Swerve Drive Default Command (Orientation Rotation)
-        // m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
-        //     m_robotSwerveDrive.driveWithInputOrientation(getDeadbandedDriverController().getLeft(), 
-        //                                                  getDeadbandedDriverController().getRightX(), 
-        //                                                  getDeadbandedDriverController().getRightY(), 
-        //                                                  true);
-        // }, m_robotSwerveDrive))
-        // .withName("SwerveDrive OrientationCommand"));
-        // continually sends updates to the Blinkin LED controller to keep the lights on
-        // m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
-
-        // m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
-        //     m_robotSwerveDrive.driveWithInput(
-        //                                     getDeadbandedDriverController().getLeft(), 
-        //                                     getDeadbandedDriverController().getRight(),
-        //                                     true);
-        // }, m_robotSwerveDrive));
-
-
-
-
-    }
-
-    /**
-     * Use this method to define your button->command mappings. Buttons can be
-     * created by instantiating a {@link GenericHID} or one of its subclasses
-     * ({@link edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then
-     * passing it to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
-     */
-    private void configureButtonBindings() {
-
-        // ? /* Driver Buttons */
-
-        DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON)
-            .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroFlip()));
-            
-        // ! /* Speed */
-        new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
-            .onTrue(new InstantCommand(()  -> m_robotSwerveDrive.shiftUp()));
-        
-        new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
-            .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
-
-        new Trigger(() -> getDeadbandedDriverController().getPOV() == 270)
-            .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDownRot()));
-
-        new Trigger(() -> getDeadbandedDriverController().getPOV() == 90)
-            .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUpRot()));
-          
-        // ?  /* Operator Buttons */
-            
-        // ? /* Programer Buttons (Controller 3)*/
-
-        // * /* Auto Recording */
-        new JoystickButton(m_autoRecorderXbox, XboxController.LEFT_BUMPER_BUTTON)
-            .whileTrue(new neoJoystickRecorder(m_robotSwerveDrive,
-                        new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()},
-                                            () -> autoplaybackName.get()))
-            .onFalse(new InstantCommand());
-        
-        new JoystickButton(m_autoRecorderXbox, XboxController.RIGHT_BUMPER_BUTTON)
-            .onTrue(new neoJoystickPlayback(m_robotSwerveDrive,
-            () -> autoplaybackName.get(),
-            new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
-            true, false))
-            .onFalse(new InstantCommand());
-    }
     
     /**
      * This method is used to replcate {@link Trigger Triggers} for {@link VirtualController Virtual Controllers}. <p/>
@@ -214,7 +139,62 @@ public class RobotContainer {
      * @return the command to run in autonomous
      */
     public Command getAutonomousCommand() {
-        return autoPlayback;
+
+
+        //return autoPlayback;
+        //return new GotoPositionCommand(m_robotSwerveDrive, m_vision)
+        //return autoChooser.getSelected();
+	// try{
+	// //     // Load the path you want to follow using its name in the GUI
+    //     return autoCommand;
+	// } catch (Exception e) {
+	//     DriverStation.reportError("Path planner error: " + e.getMessage(), e.getStackTrace());
+	    return autoCommand;
+	// }
+    // return new PathPlannerAuto("Line-up-no-arm");
+	// zach told me to do the below comment
+	//return new GotoPositionCommand(m_robotSwerveDrive, m_vision);
+      //  return new GotoPositionCommand(m_robotSwerveDrive, m_vision, AutoConstants.targetpos);
+    }
+
+    public boolean autoChooserUpdated = false;
+    public void makeAutoChooser() {
+        autoChooser = new SendableChooser<String>();
+        
+        File dir;
+
+        if(RobotBase.isReal()) {
+            dir = new File("/home/lvuser/deploy/pathplanner/autos/");
+        } else {
+            // dir = new File("C:\\Users\\Ridgebotics\\Documents\\GitHub\\2025RidgeScape\\src\\main\\deploy\\pathplanner\\autos\\");
+            dir = new File("/home/astatin3/Documents/GitHub/2025RidgeScape/src/main/deploy/pathplanner/autos");
+        }
+
+        String[] autos = dir.list();
+
+        if(autos == null) return;
+
+        for (String auto : autos) {
+            if (auto.endsWith(".auto"))
+                autoChooser.addOption(auto.replaceAll(".auto", ""), auto.replaceAll(".auto", ""));
+            // System.out.println(auto);
+        }
+
+        autoChooser.onChange((filename) -> {
+            autoChooserUpdated = true;
+            if (filename.equals("Taxi")) {
+                autoCommand = new SequentialCommandGroup(
+                    new MoveForTimeCommand(m_robotSwerveDrive, 
+                        new Translation2d(0, -1), 
+                        new Translation2d(), 1000, true
+                ), new InstantCommand(()-> {m_robotSwerveDrive.softStop();} , m_robotSwerveDrive));
+            } else {
+                autoCommand = new PathPlannerAuto(filename);
+            }
+            System.out.println("Robot Auto Changed " + filename);
+        });
+        // SmartDashboard.putData(autoChooser);
+
     }
 
     /**
@@ -235,11 +215,7 @@ public class RobotContainer {
         return this.m_operatorXbox;
     }
 
-    public VirtualController getVirtualDriverController() {
-        return m_virtualDriver;
-    }
-
-    public VirtualController getVirtualOperatorController() {
-        return m_virtualOperator;
+    public ButtonBox getButtonBox() {
+        return this.m_buttonBox;
     }
 }
diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
index a5e29df..01cdb68 100644
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -8,58 +8,168 @@
 package frc4388.robot;
 
 import com.ctre.phoenix6.hardware.TalonFX;
-import com.ctre.phoenix6.hardware.CANcoder;
-import com.ctre.phoenix6.hardware.Pigeon2;
 
-// import edu.wpi.first.wpilibj.motorcontrol.Spark;
-// import frc4388.robot.Constants.LEDConstants;
-import frc4388.robot.Constants.SwerveDriveConstants;
-import frc4388.robot.subsystems.SwerveModule;
-import frc4388.utility.RobotGyro;
+import org.photonvision.PhotonCamera;
+import org.photonvision.simulation.PhotonCameraSim;
+import org.photonvision.simulation.SimCameraProperties;
+
+import com.ctre.phoenix6.hardware.CANcoder;
+import com.ctre.phoenix6.swerve.SwerveDrivetrain;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.DigitalInput;
+import frc4388.robot.constants.Constants.ElevatorConstants;
+import frc4388.robot.constants.Constants.LiDARConstants;
+import frc4388.robot.constants.Constants.SimConstants;
+import frc4388.robot.constants.Constants.VisionConstants;
+import frc4388.robot.subsystems.elevator.ElevatorIO;
+import frc4388.robot.subsystems.elevator.ElevatorReal;
+import frc4388.robot.subsystems.lidar.LiDAR;
+import frc4388.robot.subsystems.lidar.LidarIO;
+import frc4388.robot.subsystems.lidar.LidarReal;
+import frc4388.robot.subsystems.swerve.SwerveDriveConstants;
+import frc4388.robot.subsystems.swerve.SwerveIO;
+import frc4388.robot.subsystems.swerve.SwerveReal;
+import frc4388.robot.subsystems.vision.VisionIO;
+import frc4388.robot.subsystems.vision.VisionReal;
+import frc4388.utility.status.FaultCANCoder;
+import frc4388.utility.status.FaultPhotonCamera;
+import frc4388.utility.status.FaultPidgeon2;
+import frc4388.utility.status.FaultTalonFX;
 
 /**
  * Defines and holds all I/O objects on the Roborio. This is useful for unit
  * testing and modularization.
  */
 public class RobotMap {
-    private Pigeon2 m_pigeon2 = new Pigeon2(SwerveDriveConstants.IDs.DRIVE_PIGEON.id);
-    public RobotGyro gyro = new RobotGyro(m_pigeon2);
-    
-    public SwerveModule leftFront;
-    public SwerveModule rightFront;
-    public SwerveModule leftBack;
-    public SwerveModule rightBack;
+    // private Pigeon2 m_pigeon2 = new Pigeon2(SwerveDriveConstants.IDs.DRIVE_PIGEON.id);
+    // public RobotGyro gyro = new RobotGyro(m_pigeon2);
+
+    public final VisionIO leftCamera;
+    public final VisionIO rightCamera;
+
+    // public final LiDAR lidar = new 
+
+    public final LidarIO reefLidar;
+    public final LidarIO reverseLidar;
 
-    public RobotMap() {
-        configureDriveMotorControllers();
-    }
 
     /* LED Subsystem */
     // public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
-
+    
     /* Swreve Drive Subsystem */
-    public final TalonFX  leftFrontWheel    = new  TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_WHEEL.id);
-    public final TalonFX  leftFrontSteer    = new  TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_STEER.id);
-    public final CANcoder leftFrontEncoder  = new CANcoder(SwerveDriveConstants.IDs.LEFT_FRONT_ENCODER.id);
+    public final SwerveIO swerveDrivetrain;
+
+    /* Elevator Subsystem */
+    public final ElevatorIO elevatorIO;
+
+    public RobotMap(SimConstants.Mode mode) {
+        switch (mode) {
+            case REAL:
+                // Configure cameras
+                PhotonCamera leftCameraReal = new PhotonCamera(VisionConstants.LEFT_CAMERA_NAME);
+                PhotonCamera rightCameraReal = new PhotonCamera(VisionConstants.RIGHT_CAMERA_NAME);
+
+                leftCamera =  new VisionReal(leftCameraReal, VisionConstants.LEFT_CAMERA_POS);                ;
+                rightCamera = new VisionReal(rightCameraReal, VisionConstants.RIGHT_CAMERA_POS);
+
+                FaultPhotonCamera.addDevice(leftCameraReal, "Left Camera");
+                FaultPhotonCamera.addDevice(rightCameraReal , "Right Camera");
+
+                // Configure LiDAR
+                reefLidar = new LidarReal(LiDARConstants.REEF_LIDAR_DIO_CHANNEL);
+                reverseLidar = new LidarReal(LiDARConstants.REVERSE_LIDAR_DIO_CHANNEL);
+
+                // Configure swerve drive train
+                SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDrivetrainReal = new SwerveDrivetrain<TalonFX, TalonFX, CANcoder> (TalonFX::new, TalonFX::new, CANcoder::new, 
+                    SwerveDriveConstants.DrivetrainConstants, 
+                    SwerveDriveConstants.FRONT_LEFT, SwerveDriveConstants.FRONT_RIGHT,
+                    SwerveDriveConstants.BACK_LEFT, SwerveDriveConstants.BACK_RIGHT
+                );
+
+                swerveDrivetrain = new SwerveReal(swerveDrivetrainReal);
+
+                // Configure elevator
+
+                TalonFX elevator = new TalonFX(ElevatorConstants.ELEVATOR_ID.id);
+                TalonFX endeffector = new TalonFX(ElevatorConstants.ENDEFFECTOR_ID.id);
+                
+
+                DigitalInput basinLimitSwitch = new DigitalInput(ElevatorConstants.BASIN_LIMIT_SWITCH);
+                DigitalInput endeffectorLimitSwitch = new DigitalInput(ElevatorConstants.ENDEFFECTOR_LIMIT_SWITCH);
+                DigitalInput IRIntakeBeam = new DigitalInput(ElevatorConstants.INTAKE_LIMIT_SWITCH);
+
+                elevatorIO = new ElevatorReal(elevator, endeffector, basinLimitSwitch, endeffectorLimitSwitch, IRIntakeBeam);
 
 
-    public final TalonFX  rightFrontWheel   = new  TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_WHEEL.id);
-    public final TalonFX  rightFrontSteer   = new  TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_STEER.id);
-    public final CANcoder rightFrontEncoder = new CANcoder(SwerveDriveConstants.IDs.RIGHT_FRONT_ENCODER.id);
-    
-    public final TalonFX  leftBackWheel     = new  TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_WHEEL.id);
-    public final TalonFX  leftBackSteer     = new  TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_STEER.id);
-    public final CANcoder leftBackEncoder   = new CANcoder(SwerveDriveConstants.IDs.LEFT_BACK_ENCODER.id);
-    
-    public final TalonFX  rightBackWheel    = new  TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_WHEEL.id);
-    public final TalonFX  rightBackSteer    = new  TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_STEER.id);
-    public final CANcoder rightBackEncoder  = new CANcoder(SwerveDriveConstants.IDs.RIGHT_BACK_ENCODER.id);
 
-    void configureDriveMotorControllers() {
-        // initialize SwerveModules
-        this.rightFront = new SwerveModule("Right Front Swerve Module", rightFrontWheel, rightFrontSteer, rightFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_RIGHT_ROT_OFFSET);
-        this.leftFront  = new SwerveModule("Left Front Swerve Module",  leftFrontWheel,  leftFrontSteer,  leftFrontEncoder,  SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_LEFT_ROT_OFFSET);
-        this.leftBack   = new SwerveModule("Left Back Swerve Module",   leftBackWheel,   leftBackSteer,   leftBackEncoder,   SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_LEFT_ROT_OFFSET);
-        this.rightBack  = new SwerveModule("Right Back Swerve Module",  rightBackWheel,  rightBackSteer,  rightBackEncoder,  SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_RIGHT_ROT_OFFSET);
+                // Fault
+                FaultPidgeon2.addDevice(swerveDrivetrainReal.getPigeon2(), "Gyro");
+
+                FaultTalonFX.addDevice(elevator, "Elevator");
+                FaultTalonFX.addDevice(endeffector, "Endeffector");
+                
+                FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getDriveMotor(), "Module 0 Drive");
+                FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getSteerMotor(), "Module 0 Steer");
+                FaultCANCoder.addDevice(swerveDrivetrainReal.getModule(0).getEncoder(), "Module 0 CANCoder");
+                FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(1).getDriveMotor(), "Module 1 Drive");
+                FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(1).getSteerMotor(), "Module 1 Steer");
+                FaultCANCoder.addDevice(swerveDrivetrainReal.getModule(1).getEncoder(), "Module 1 CANCoder");
+                FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(2).getDriveMotor(), "Module 2 Drive");
+                FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(2).getSteerMotor(), "Module 2 Steer");
+                FaultCANCoder.addDevice(swerveDrivetrainReal.getModule(2).getEncoder(), "Module 2 CANCoder");
+                FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(3).getDriveMotor(), "Module 3 Drive");
+                FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(3).getSteerMotor(), "Module 3 Steer");
+                FaultCANCoder.addDevice(swerveDrivetrainReal.getModule(3).getEncoder(), "Module 3 CANCoder");
+
+                break;
+            // case SIM:
+            //     break;
+            default:
+                leftCamera = new VisionIO() {};
+                rightCamera = new VisionIO() {};
+                reefLidar = new LidarIO() {};
+                reverseLidar = new LidarIO() {};
+                swerveDrivetrain = new SwerveIO() {};
+                elevatorIO = new ElevatorIO() {};
+                break;
+        }
     }
-}
+
+    // public class RobotMapSim {
+    //     public PhotonCameraSim leftCamera;
+    //     public PhotonCameraSim rightCamera;
+    // }
+
+    // public RobotMapSim configureSim() {
+    //     RobotMapSim sim = new RobotMapSim();
+
+    //     // The simulated camera properties
+    //     SimCameraProperties cameraProp = new SimCameraProperties();
+    //     // A 640 x 480 camera with a 100 degree diagonal FOV.
+    //     cameraProp.setCalibration(640, 480, Rotation2d.fromDegrees(100));
+    //     // Approximate detection noise with average and standard deviation error in pixels.
+    //     cameraProp.setCalibError(0.25, 0.08);
+    //     // Set the camera image capture framerate (Note: this is limited by robot loop rate).
+    //     cameraProp.setFPS(20);
+    //     // The average and standard deviation in milliseconds of image data latency.
+    //     cameraProp.setAvgLatencyMs(35);
+    //     cameraProp.setLatencyStdDevMs(5);
+
+    //     // sim.leftCamera = new PhotonCameraSim(leftCamera, cameraProp);
+    //     // sim.rightCamera = new PhotonCameraSim(rightCamera, cameraProp);
+
+        
+    //     sim.leftCamera.enableRawStream(true);
+    //     sim.leftCamera.enableProcessedStream(true);
+    //     sim.leftCamera.enableDrawWireframe(true);
+
+
+    //     sim.rightCamera.enableRawStream(true);
+    //     sim.rightCamera.enableProcessedStream(true);
+    //     sim.rightCamera.enableDrawWireframe(true);
+
+    //     return sim;
+
+    // }
+   
+}
\ No newline at end of file
diff --git a/src/main/java/frc4388/robot/commands/Autos/Taxi.txt b/src/main/java/frc4388/robot/commands/Autos/Taxi.txt
deleted file mode 100644
index c99ee2c..0000000
--- a/src/main/java/frc4388/robot/commands/Autos/Taxi.txt
+++ /dev/null
@@ -1,225 +0,0 @@
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\ No newline at end of file
diff --git a/src/main/java/frc4388/robot/commands/Autos/neoPlaybackChooser.java b/src/main/java/frc4388/robot/commands/Autos/neoPlaybackChooser.java
index 86bc7b2..a069786 100644
--- a/src/main/java/frc4388/robot/commands/Autos/neoPlaybackChooser.java
+++ b/src/main/java/frc4388/robot/commands/Autos/neoPlaybackChooser.java
@@ -1,3 +1,4 @@
+package frc4388.robot.commands.autos;
 // package frc4388.robot.commands.Autos;
 
 // import java.io.File;
diff --git a/src/main/java/frc4388/robot/commands/MoveForTimeCommand.java b/src/main/java/frc4388/robot/commands/MoveForTimeCommand.java
new file mode 100644
index 0000000..3a4e043
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/MoveForTimeCommand.java
@@ -0,0 +1,49 @@
+package frc4388.robot.commands;
+
+import java.time.Instant;
+
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc4388.robot.subsystems.swerve.SwerveDrive;
+
+// Command to repeat a joystick movement for a specific time.
+public class MoveForTimeCommand extends Command {
+    private final SwerveDrive swerveDrive;
+    private final Translation2d leftStick;
+    private final Translation2d rightStick;
+    private final long duration;
+    private final boolean robotRelative;
+
+    private Instant startTime;
+
+    public MoveForTimeCommand(
+        SwerveDrive swerveDrive, 
+        Translation2d leftStick, 
+        Translation2d rightStick, 
+        long millis,
+        boolean robotRelative) {
+        
+        addRequirements(swerveDrive);
+
+        this.swerveDrive = swerveDrive;
+        this.leftStick = leftStick;
+        this.rightStick = rightStick;
+        this.duration = millis;
+        this.robotRelative = robotRelative;
+    }
+
+    @Override
+    public void initialize() {
+        startTime = Instant.now();
+    }
+
+    @Override
+    public void execute() {
+        swerveDrive.driveWithInput(leftStick, rightStick, !robotRelative);
+    }
+
+    @Override
+    public boolean isFinished() {
+        return Math.abs(startTime.toEpochMilli() - Instant.now().toEpochMilli()) > duration;
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/frc4388/robot/commands/MoveUntilSuply.java b/src/main/java/frc4388/robot/commands/MoveUntilSuply.java
new file mode 100644
index 0000000..c5b5e53
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/MoveUntilSuply.java
@@ -0,0 +1,45 @@
+package frc4388.robot.commands;
+
+import java.util.function.Supplier;
+
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc4388.robot.subsystems.swerve.SwerveDrive;
+
+// Command to repeat a joystick movement for a specific time.
+public class MoveUntilSuply extends Command {
+    private final SwerveDrive swerveDrive;
+    private final Translation2d leftStick;
+    private final Translation2d rightStick;
+    private final Supplier<Boolean> truth;
+    private final boolean robotRelative;
+
+    public MoveUntilSuply(
+        SwerveDrive swerveDrive, 
+        Translation2d leftStick, 
+        Translation2d rightStick, 
+        Supplier<Boolean> truth,
+        boolean robotRelative) {
+            addRequirements(swerveDrive);
+
+        this.swerveDrive = swerveDrive;
+        this.leftStick = leftStick;
+        this.rightStick = rightStick;
+        this.truth = truth;
+        this.robotRelative = robotRelative;
+    }
+
+    @Override
+    public void initialize() {
+    }
+
+    @Override
+    public void execute() {
+        swerveDrive.driveWithInput(leftStick, rightStick, !robotRelative);
+    }
+
+    @Override
+    public boolean isFinished() {
+        return truth.get();
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/frc4388/robot/commands/PID.java b/src/main/java/frc4388/robot/commands/PID.java
index 97233f8..c95c9fd 100644
--- a/src/main/java/frc4388/robot/commands/PID.java
+++ b/src/main/java/frc4388/robot/commands/PID.java
@@ -5,7 +5,7 @@
 package frc4388.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc4388.utility.Gains;
+import frc4388.utility.structs.Gains;
 
 public abstract class PID extends Command {
 	protected Gains  gains;
diff --git a/src/main/java/frc4388/robot/commands/Swerve/RotateToAngle.java b/src/main/java/frc4388/robot/commands/Swerve/RotateToAngle.java
index a2945c0..50e616c 100644
--- a/src/main/java/frc4388/robot/commands/Swerve/RotateToAngle.java
+++ b/src/main/java/frc4388/robot/commands/Swerve/RotateToAngle.java
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package frc4388.robot.commands.Swerve;
+package frc4388.robot.commands.swerve;
 
 import edu.wpi.first.math.geometry.Translation2d;
 import frc4388.robot.commands.PID;
-import frc4388.robot.subsystems.SwerveDrive;
+import frc4388.robot.subsystems.swerve.SwerveDrive;
 
 public class RotateToAngle extends PID {
 
diff --git a/src/main/java/frc4388/robot/commands/Swerve/neoJoystickPlayback.java b/src/main/java/frc4388/robot/commands/Swerve/neoJoystickPlayback.java
index 8b5afdf..bff5105 100644
--- a/src/main/java/frc4388/robot/commands/Swerve/neoJoystickPlayback.java
+++ b/src/main/java/frc4388/robot/commands/Swerve/neoJoystickPlayback.java
@@ -1,4 +1,4 @@
-package frc4388.robot.commands.Swerve;
+package frc4388.robot.commands.swerve;
 
 import java.io.FileInputStream;
 import java.util.ArrayList;
@@ -6,11 +6,11 @@ import java.util.function.Supplier;
 
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj2.command.Command;
-import frc4388.robot.subsystems.SwerveDrive;
-import frc4388.utility.DataUtils;
-import frc4388.utility.UtilityStructs.AutoRecordingControllerFrame;
-import frc4388.utility.UtilityStructs.AutoRecordingFrame;
+import frc4388.robot.subsystems.swerve.SwerveDrive;
+import frc4388.utility.compute.DataUtils;
 import frc4388.utility.controller.VirtualController;
+import frc4388.utility.structs.UtilityStructs.AutoRecordingControllerFrame;
+import frc4388.utility.structs.UtilityStructs.AutoRecordingFrame;
 
 
 /**
@@ -24,8 +24,8 @@ public class neoJoystickPlayback extends Command {
     private final Supplier<String>              filenameGetter;
     private       String                        filename;
     private       int                           frame_index    = 0;
-    private       long                          startTime      = 0;
-    private       long                          playbackTime   = 0;
+    // private       long                          startTime      = 0;
+    // private       long                          playbackTime   = 0;
     private       boolean                       m_finished     = false; // ! There is no better way.
     private       boolean                       m_shouldfree   = false; // should free memory on ending
     
@@ -150,8 +150,8 @@ public class neoJoystickPlayback extends Command {
 
     @Override
     public void initialize() {
-        startTime = System.currentTimeMillis();
-        playbackTime = 0;
+        // startTime = System.currentTimeMillis();
+        // playbackTime = 0;
         frame_index = 0;
 
         m_finished = !loadAuto();
diff --git a/src/main/java/frc4388/robot/commands/Swerve/neoJoystickRecorder.java b/src/main/java/frc4388/robot/commands/Swerve/neoJoystickRecorder.java
index 7f48a6c..4cf3159 100644
--- a/src/main/java/frc4388/robot/commands/Swerve/neoJoystickRecorder.java
+++ b/src/main/java/frc4388/robot/commands/Swerve/neoJoystickRecorder.java
@@ -1,4 +1,4 @@
-package frc4388.robot.commands.Swerve;
+package frc4388.robot.commands.swerve;
 
 import java.io.FileOutputStream;
 import java.util.ArrayList;
@@ -7,11 +7,11 @@ import java.util.function.Supplier;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
-import frc4388.robot.subsystems.SwerveDrive;
-import frc4388.utility.DataUtils;
-import frc4388.utility.UtilityStructs.AutoRecordingControllerFrame;
-import frc4388.utility.UtilityStructs.AutoRecordingFrame;
+import frc4388.robot.subsystems.swerve.SwerveDrive;
+import frc4388.utility.compute.DataUtils;
 import frc4388.utility.controller.DeadbandedXboxController;
+import frc4388.utility.structs.UtilityStructs.AutoRecordingControllerFrame;
+import frc4388.utility.structs.UtilityStructs.AutoRecordingFrame;
 
 /**
  * The NEO autonomus recording system, designed based the old {@link JoystickRecorder} System but with {@link frc4388.utility.controller.VirtualController VirtualController}s 
diff --git a/src/main/java/frc4388/robot/commands/WhileTrueCommand.java b/src/main/java/frc4388/robot/commands/WhileTrueCommand.java
new file mode 100644
index 0000000..2a0d045
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/WhileTrueCommand.java
@@ -0,0 +1,104 @@
+package frc4388.robot.commands;
+
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
+
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.wpilibj2.command.Command;
+
+import java.util.function.BooleanSupplier;
+
+/**
+ * A command composition that runs one of two commands, depending on the value of the given
+ * condition when this command is initialized.
+ *
+ * <p>The rules for command compositions apply: command instances that are passed to it cannot be
+ * added to any other composition or scheduled individually, and the composition requires all
+ * subsystems its components require.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
+ */
+public class WhileTrueCommand extends Command {
+  private final Command m_whileTrue;
+  private final BooleanSupplier m_condition;
+
+  /**
+   * Creates a new WhileTrueCommand.
+   *
+   * @param whileTrue the command to run while the condition is true
+   * @param condition the condition to determine which command to run
+   */
+  @SuppressWarnings("this-escape")
+  public WhileTrueCommand(Command whileTrue, BooleanSupplier condition) {
+    m_whileTrue = requireNonNullParam(whileTrue, "whileTrue", "WhileTrueCommand");
+    m_condition = requireNonNullParam(condition, "condition", "WhileTrueCommand");
+
+    //CommandScheduler.getInstance().registerComposedCommands(whileTrue);
+
+    // addRequirements(whileTrue.getRequirements());
+  }
+
+  @Override
+  public void initialize() {
+    if(m_condition.getAsBoolean())
+      m_whileTrue.initialize();
+  }
+
+  @Override
+  public void execute() {
+    m_whileTrue.execute();
+
+    System.out.println("Loop, " + !m_whileTrue.isFinished() + ", " +  m_condition.getAsBoolean());
+
+    if(!m_whileTrue.isFinished())
+      return;
+
+    if(m_condition.getAsBoolean()){
+      m_whileTrue.end(false);
+      m_whileTrue.initialize();
+    }
+  }
+
+  @Override
+  public void end(boolean interrupted) {
+    m_whileTrue.end(interrupted);
+  }
+
+  @Override
+  public boolean isFinished() {
+    return !m_condition.getAsBoolean() && m_whileTrue.isFinished();
+  }
+
+  @Override
+  public boolean runsWhenDisabled() {
+    return m_whileTrue.runsWhenDisabled();
+  }
+
+  @Override
+  public InterruptionBehavior getInterruptionBehavior() {
+    if (m_whileTrue.getInterruptionBehavior() == InterruptionBehavior.kCancelSelf) {
+      return InterruptionBehavior.kCancelSelf;
+    } else {
+      return InterruptionBehavior.kCancelIncoming;
+    }
+  }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    super.initSendable(builder);
+    builder.addStringProperty("whileTrue", m_whileTrue::getName, null);
+    builder.addStringProperty(
+        "selected",
+        () -> {
+          if (m_whileTrue == null) {
+            return "null";
+          } else {
+            return m_whileTrue.getName();
+          }
+        },
+        null);
+  }
+}
diff --git a/src/main/java/frc4388/robot/commands/alignment/DriveToReef.java b/src/main/java/frc4388/robot/commands/alignment/DriveToReef.java
new file mode 100644
index 0000000..6a11e85
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/alignment/DriveToReef.java
@@ -0,0 +1,188 @@
+package frc4388.robot.commands.alignment;
+
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc4388.robot.constants.Constants.AutoConstants;
+import frc4388.robot.subsystems.swerve.SwerveDrive;
+import frc4388.robot.subsystems.vision.Vision;
+import frc4388.utility.compute.ReefPositionHelper;
+import frc4388.utility.compute.TimesNegativeOne;
+import frc4388.utility.compute.ReefPositionHelper.Side;
+import frc4388.utility.structs.Gains;
+
+public class DriveToReef extends Command {
+    
+
+    // private Translation2d translation2d= new Translation2d(14.579471999999997,0.24587199999999998);
+    // private Translation2d translation2d= new Translation2d(16.579342-0.15,5.547867999999999);
+
+    private PID xPID = new PID(AutoConstants.XY_GAINS, 0);
+    private PID yPID = new PID(AutoConstants.XY_GAINS, 0);
+    // private PID rotPID = new PID(AutoConstants.ROT_GAINS, 0);
+    private Pose2d targetpos;
+
+    SwerveDrive swerveDrive;
+    Vision vision;
+    double distance;
+    Side side;
+    boolean waitVelocityZero;
+
+    /**
+     * Command to drive robot to position.
+     * @param SwerveDrive m_robotSwerveDrive
+     */
+
+    public DriveToReef(SwerveDrive swerveDrive, Vision vision, double distance, Side side, boolean waitVelocityZero) {
+        this.swerveDrive = swerveDrive;
+        this.vision = vision;
+        this.distance = distance;
+        this.side = side;
+        this.waitVelocityZero = waitVelocityZero && false;
+        addRequirements(swerveDrive);
+    }
+
+
+    public static double tagRelativeXError = -1;
+    private static void setTagRelativeXError(double val){
+        tagRelativeXError = val;
+    }
+
+    @Override
+    public void initialize() {
+        xPID.initialize();
+        yPID.initialize();
+        this.targetpos = ReefPositionHelper.getNearestPosition(
+            this.vision.getPose2d(), 
+            side, 
+            Units.inchesToMeters(AutoConstants.X_OFFSET_TRIM.get()), 
+            distance + Units.inchesToMeters(AutoConstants.Y_OFFSET_TRIM.get())
+        );
+    }
+    
+    double xerr;
+    double yerr;
+    double roterr;
+
+    double xoutput;
+    double youtput;
+    double rotoutput;
+
+    @Override
+    public void execute() {
+        xerr = TimesNegativeOne.invert(targetpos.getX() - vision.getPose2d().getX(), TimesNegativeOne.XAxis);
+        yerr = TimesNegativeOne.invert(targetpos.getY() - vision.getPose2d().getY(), !TimesNegativeOne.YAxis);
+        // xerr = targetpos.getX() - vision.getPose2d().getX();
+        // yerr = targetpos.getX() - vision.getPose2d().getY();
+
+        // roterr = TimesNegativeOne.invert(targetpos.getRotation().getDegrees() - vision.getPose2d().getRotation().getDegrees(), TimesNegativeOne.isRed);
+
+        roterr = ((targetpos.getRotation().getDegrees() - vision.getPose2d().getRotation().getDegrees()));
+
+        if(roterr > 180){
+            roterr -= 360;
+        }else if(roterr < -180){
+            roterr += 360;
+        }
+
+        // SmartDashboard.putNumber("Rotational PID target", targetpos.getRotation().getDegrees());
+        // SmartDashboard.putNumber("Rotational PID position", vision.getPose2d().getRotation().getDegrees());
+        // SmartDashboard.putNumber("Rotational PID error", roterr);
+
+        SmartDashboard.putNumber("PID X Error", xerr);
+        SmartDashboard.putNumber("PID Y Error", yerr);
+        SmartDashboard.putNumber("PID Rot Error", roterr);
+
+        xoutput = xPID.update(xerr);
+        youtput = yPID.update(yerr);
+        // rotoutput = rotPID.update(roterr);
+
+        xoutput *= Math.abs(xerr) < AutoConstants.XY_TOLERANCE ? 0 : 1;
+        youtput *= Math.abs(yerr) < AutoConstants.XY_TOLERANCE ? 0 : 1;
+        // rotoutput *= Math.abs(roterr) < AutoConstants.ROT_TOLERANCE ? 0 : 1;
+        
+
+
+        Translation2d leftStick = new Translation2d(
+            Math.max(Math.min(-youtput, 1), -1),
+            Math.max(Math.min(-xoutput, 1), -1)
+            // 0,0
+        );
+
+        // Translation2d rightStick = new Translation2d(
+        //     Math.max(Math.min(rotoutput, 1), -1), 
+        //    0
+        // );
+
+        setTagRelativeXError(
+            new Translation2d(xerr, yerr).getAngle()
+            .rotateBy(targetpos.getRotation())
+            .getCos());
+
+        swerveDrive.driveRelativeAngle(leftStick, targetpos.getRotation());
+        // swerveDrive.driveWithInputOrientation(leftStick, rightStick, true);
+    }
+
+    @Override
+    public final boolean isFinished() {
+        boolean finished = (
+            (Math.abs(xerr) < AutoConstants.XY_TOLERANCE || Math.abs(xoutput) <= AutoConstants.MIN_XY_PID_OUTPUT) && 
+            (Math.abs(yerr) < AutoConstants.XY_TOLERANCE || Math.abs(youtput) <= AutoConstants.MIN_XY_PID_OUTPUT) && 
+            (Math.abs(roterr) < AutoConstants.ROT_TOLERANCE) &&
+            (!waitVelocityZero || swerveDrive.lastOdomSpeed < AutoConstants.VELOCITY_THRESHHOLD)
+        );
+        // System.out.println(finished);
+
+        if(finished)
+            swerveDrive.softStop();
+
+        return finished;
+                // this statement is a boolean in and of itself
+    }
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+    private class PID {
+        protected Gains  gains;
+        private   double output    = 0;
+
+
+        /** Creates a new PelvicInflammatoryDisease. */
+        public PID(Gains gains, double tolerance) {
+            this.gains     = gains;
+        }
+
+        // Called when the command is initially scheduled.
+        public final void initialize() {
+            output = 0;
+        }
+
+        private double prevError, cumError = 0;
+        
+        // Called every time the scheduler runs while the command is scheduled.
+        public double update(double error) {
+            cumError += error * .02; // 20 ms
+            double delta = error - prevError;
+
+            output = error * gains.kP;
+            output += cumError * gains.kI;
+            output += delta * gains.kD;
+            output += gains.kF;
+
+            return output;
+        }
+    }
+}
diff --git a/src/main/java/frc4388/robot/commands/alignment/DriveUntilLiDAR.java b/src/main/java/frc4388/robot/commands/alignment/DriveUntilLiDAR.java
new file mode 100644
index 0000000..648a7d8
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/alignment/DriveUntilLiDAR.java
@@ -0,0 +1,48 @@
+package frc4388.robot.commands.alignment;
+
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc4388.robot.subsystems.lidar.LiDAR;
+import frc4388.robot.subsystems.swerve.SwerveDrive;
+
+// Command to repeat a joystick movement for a specific time.
+public class DriveUntilLiDAR extends Command {
+    private final SwerveDrive swerveDrive;
+    private final Translation2d leftStick;
+    private final Translation2d rightStick;
+    private final LiDAR m_lidar;
+    private final double mindistance;
+
+    public DriveUntilLiDAR(
+        SwerveDrive swerveDrive, 
+        Translation2d leftStick, 
+        Translation2d rightStick, 
+        LiDAR lidar,
+        double mindistance) {
+            addRequirements(swerveDrive);
+
+        this.swerveDrive = swerveDrive;
+        this.leftStick = leftStick;
+        this.rightStick = rightStick;
+        this.m_lidar = lidar;
+        this.mindistance = mindistance;
+    }
+
+    @Override
+    public void initialize() {
+    }
+
+    @Override
+    public void execute() {
+        swerveDrive.driveFine(leftStick, rightStick, 0.3);
+    }
+
+    @Override
+    public boolean isFinished() {
+        if (Math.abs(m_lidar.getDistance()) < mindistance) {
+            swerveDrive.softStop();
+            return true;
+        }
+        return false;
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/frc4388/robot/commands/alignment/LidarAlign.java b/src/main/java/frc4388/robot/commands/alignment/LidarAlign.java
new file mode 100644
index 0000000..19efd85
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/alignment/LidarAlign.java
@@ -0,0 +1,107 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.robot.commands.alignment;
+
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc4388.robot.subsystems.lidar.LiDAR;
+import frc4388.robot.subsystems.swerve.SwerveDrive;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class LidarAlign extends Command {
+  private SwerveDrive swerveDrive;
+  private LiDAR lidar;  
+
+  private int currentFinderTick;
+  // private int tickFoundPipe;
+  private boolean foundReef;
+  private boolean headedRight;
+  private double speed;
+  private int bounces;
+  private double additionalDistance = 0;
+  // private final boolean constructedHeadedRight;
+
+  /** Creates a new LidarAlign. */
+  public LidarAlign(SwerveDrive swerveDrive, LiDAR lidar) {//, boolean headedRight) {
+    // Use addRequirements() here to declare subsystem dependencies.
+
+    this.swerveDrive = swerveDrive;
+    this.lidar = lidar;
+
+    addRequirements(swerveDrive, lidar);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    this.currentFinderTick = 0;
+    this.speed = 0.4; // TODO: find good speed for this
+    this.foundReef = false;
+    this.headedRight = (DriveToReef.tagRelativeXError < 0);
+    this.additionalDistance = 0;
+    this.bounces = 0;
+  }
+
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if (lidar.withinDistance()) {
+      swerveDrive.softStop(); 
+      foundReef = true;
+      return;
+    }
+
+    if (currentFinderTick > (15 + additionalDistance)) { //arbutrary threshhold for now.
+      headedRight = !headedRight;
+      currentFinderTick *= -1;
+      bounces++;
+      additionalDistance += 5;
+      if (bounces == 5) return;
+    }
+    double currentHeading = (swerveDrive.getGyroAngle() * 180) / Math.PI;
+    double relAngle = (Math.round(currentHeading / 60.d) * 60); // Relative driving to the side of the reef
+    SmartDashboard.putNumber("Rel Angle", relAngle);
+    SmartDashboard.putNumber("heading", currentHeading);
+    if (!headedRight) {
+      swerveDrive.driveRelativeLockedAngle(new Translation2d(0, -speed), Rotation2d.fromDegrees(relAngle));
+    } else {
+      swerveDrive.driveRelativeLockedAngle(new Translation2d(0, speed), Rotation2d.fromDegrees(relAngle));
+    }
+
+    currentFinderTick++;
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    if (lidar.getDistance() < 4) {
+      swerveDrive.stopModules();
+      return true;
+    } else if (foundReef && lidar.withinDistance()) { // spot on
+      swerveDrive.stopModules();
+      return true;
+    } else if (foundReef && !lidar.withinDistance()) { // over shot
+      speed = speed / 2;
+      headedRight = !headedRight;
+      currentFinderTick = 0;
+      foundReef = false;
+      return false;
+    } else if (bounces >= 3) {
+      swerveDrive.stopModules();
+      return true;
+    } else {
+      return false;
+    }
+  }
+}
diff --git a/src/main/java/frc4388/robot/commands/wait/waitElevatorRefrence.java b/src/main/java/frc4388/robot/commands/wait/waitElevatorRefrence.java
new file mode 100644
index 0000000..7d2ec77
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/wait/waitElevatorRefrence.java
@@ -0,0 +1,36 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.robot.commands.wait;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc4388.robot.subsystems.elevator.Elevator;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class waitElevatorRefrence extends Command {
+  /** Creates a new waitElevatorRefrence. */
+  private Elevator elevator;
+  public waitElevatorRefrence(Elevator elevator) {
+    this.elevator = elevator;
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return elevator.elevatorAtReference();
+  }
+}
diff --git a/src/main/java/frc4388/robot/commands/wait/waitEndefectorRefrence.java b/src/main/java/frc4388/robot/commands/wait/waitEndefectorRefrence.java
new file mode 100644
index 0000000..1ff48cd
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/wait/waitEndefectorRefrence.java
@@ -0,0 +1,36 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.robot.commands.wait;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc4388.robot.subsystems.elevator.Elevator;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class waitEndefectorRefrence extends Command {
+  /** Creates a new waitElevatorRefrence. */
+  private Elevator elevator;
+  public waitEndefectorRefrence(Elevator elevator) {
+    this.elevator = elevator;
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return elevator.endeffectorAtReference();
+  }
+}
diff --git a/src/main/java/frc4388/robot/commands/wait/waitFeedCoral.java b/src/main/java/frc4388/robot/commands/wait/waitFeedCoral.java
new file mode 100644
index 0000000..992879a
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/wait/waitFeedCoral.java
@@ -0,0 +1,36 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.robot.commands.wait;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc4388.robot.subsystems.elevator.Elevator;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class waitFeedCoral extends Command {
+  /** Creates a new waitElevatorRefrence. */
+  private Elevator elevator;
+  public waitFeedCoral(Elevator elevator) {
+    this.elevator = elevator;
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return elevator.hasCoral();
+  }
+}
diff --git a/src/main/java/frc4388/robot/commands/wait/waitSupplier.java b/src/main/java/frc4388/robot/commands/wait/waitSupplier.java
new file mode 100644
index 0000000..a23db69
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/wait/waitSupplier.java
@@ -0,0 +1,36 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.robot.commands.wait;
+
+import java.util.function.Supplier;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class waitSupplier extends Command {
+  /** Creates a new waitSupplier. */
+  private final Supplier<Boolean> truth;
+  public waitSupplier(Supplier<Boolean> truth) {
+    this.truth = truth;
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return truth.get();
+  }
+}
diff --git a/src/main/java/frc4388/robot/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java
new file mode 100644
index 0000000..5aeda6b
--- /dev/null
+++ b/src/main/java/frc4388/robot/constants/BuildConstants.java
@@ -0,0 +1,19 @@
+package frc4388.robot.constants;
+
+/**
+ * Automatically generated file containing build version information.
+ */
+public final class BuildConstants {
+  public static final String MAVEN_GROUP = "";
+  public static final String MAVEN_NAME = "2025RidgeScape";
+  public static final String VERSION = "unspecified";
+  public static final int GIT_REVISION = 173;
+  public static final String GIT_SHA = "2b7bb1224195b9e001e60b895ee04d63abdfc513";
+  public static final String GIT_DATE = "2025-07-17 09:15:19 MDT";
+  public static final String GIT_BRANCH = "advantagekit";
+  public static final String BUILD_DATE = "2025-07-17 11:55:31 MDT";
+  public static final long BUILD_UNIX_TIME = 1752774931371L;
+  public static final int DIRTY = 1;
+
+  private BuildConstants(){}
+}
diff --git a/src/main/java/frc4388/robot/constants/Constants.java b/src/main/java/frc4388/robot/constants/Constants.java
new file mode 100644
index 0000000..05bfe77
--- /dev/null
+++ b/src/main/java/frc4388/robot/constants/Constants.java
@@ -0,0 +1,146 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.constants;
+
+import com.ctre.phoenix6.configs.Slot0Configs;
+
+import edu.wpi.first.apriltag.AprilTagFieldLayout;
+import edu.wpi.first.apriltag.AprilTagFields;
+import edu.wpi.first.math.Matrix;
+import edu.wpi.first.math.VecBuilder;
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.math.geometry.Translation3d;
+import edu.wpi.first.math.numbers.N1;
+import edu.wpi.first.math.numbers.N3;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.RobotBase;
+import frc4388.utility.compute.Trim;
+import frc4388.utility.status.CanDevice;
+import frc4388.utility.structs.Gains;
+import frc4388.utility.structs.LEDPatterns;
+
+/**
+ * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
+ * constants.  This class should not be used for any other purpose.  All constants should be
+ * declared globally (i.e. public static).  Do not put anything functional in this class.
+ *
+ * <p>It is advised to statically import this class (or one of its inner classes) wherever the
+ * constants are needed, to reduce verbosity.
+ */
+public final class Constants {
+    public static final String CANBUS_NAME = "rio";
+
+    public static final class LiDARConstants {
+        public static final int REEF_LIDAR_DIO_CHANNEL = 7;
+        public static final int REVERSE_LIDAR_DIO_CHANNEL = 4;
+
+        public static final int HUMAN_PLAYER_STATION_DISTANCE = 40;
+
+        public static final int LIDAR_DETECT_DISTANCE = 100; // Min distance to detect pole
+        public static final int LIDAR_MICROS_TO_CM = 10;
+        public static final int SECONDS_TO_MICROS = 1000000;
+    }
+
+    public static final class AutoConstants {
+        // public static final Gains XY_GAINS = new Gains(5,0.6,0.0);
+        public static final Gains XY_GAINS = new Gains(8,0,0.0);
+        // public static final ConfigurableDouble P_XY_GAINS = new ConfigurableDouble("P_XY_GAINS", XY_GAINS.kP);
+        // public static final ConfigurableDouble I_XY_GAINS = new ConfigurableDouble("I_XY_GAINS", XY_GAINS.kI);
+        // public static final ConfigurableDouble D_XY_GAINS = new ConfigurableDouble("D_XY_GAINS", XY_GAINS.kD);
+       // public static final Gains XY_GAINS = new Gains(3,0.3,0.0);
+
+        // public static final Gains ROT_GAINS = new Gains(0.05,0,0.007);
+        // public static final Gains ROT_GAINS = new Gains(0.05,0,0.0);
+
+        public static final Trim X_OFFSET_TRIM =        new Trim("X Offset Trim",        Double.MAX_VALUE, -Double.MAX_VALUE,0.5, 0);
+        // public static final Trim Y_OFFSET_TRIM =        new Trim("Y Offset Trim",        Double.MAX_VALUE, -Double.MAX_VALUE, 0.5, 1.5);
+        public static final Trim Y_OFFSET_TRIM =        new Trim("Y Offset Trim",        Double.MAX_VALUE, -Double.MAX_VALUE, 0.5, 0);
+         
+        public static final double XY_TOLERANCE = 0.07; // Meters
+        public static final double ROT_TOLERANCE = 5; // Degrees
+
+        public static final double MIN_XY_PID_OUTPUT = 0.0;
+        public static final double MIN_ROT_PID_OUTPUT = 0.0;
+
+        public static final double VELOCITY_THRESHHOLD = 0.01;
+    }
+  
+
+    public static final class VisionConstants { 
+        public static final String LEFT_CAMERA_NAME = "CAMERA_LEFT";
+        public static final String RIGHT_CAMERA_NAME = "CAMERA_RIGHT";
+
+        public static final Transform3d LEFT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(4.547), Units.inchesToMeters(8.031), Units.inchesToMeters(8.858)), new Rotation3d(0,0.0,0.0));
+        public static final Transform3d RIGHT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(4.547), -Units.inchesToMeters(8.031), Units.inchesToMeters(8.858)), new Rotation3d(0,0.0,0.0));
+        
+        public static final double MIN_ESTIMATION_DISTANCE = 2; // Meters
+
+        // Photonvision thing
+        // The standard deviations of our vision estimated poses, which affect correction rate
+        // X, Y, Theta
+        // https://www.chiefdelphi.com/t/photonvision-finding-standard-deviations-for-swervedriveposeestimator/467802/2
+        public static final Matrix<N3, N1> kSingleTagStdDevs = VecBuilder.fill(0.5, 0.5, 4);
+        public static final Matrix<N3, N1> kMultiTagStdDevs = VecBuilder.fill(0.1, 0.1, 1);
+    }
+
+    public static final class FieldConstants {
+        public static final AprilTagFieldLayout kTagLayout = AprilTagFieldLayout.loadField(AprilTagFields.k2025ReefscapeWelded);
+
+        // Test april tag field layout
+        // public static final AprilTagFieldLayout kTagLayout = new AprilTagFieldLayout(
+        //     Arrays.asList(new AprilTag[] {
+        //         new AprilTag(1, new Pose3d(
+        //             new Translation3d(0.,0.,0.26035), new Rotation3d(0.,0.,0.)
+        //         )),
+        //     }), 100, 100);
+
+    }
+
+    public static final class LEDConstants {
+        public static final int LED_SPARK_ID = 9;
+
+        public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES;
+
+        public static final LEDPatterns WAITING_PATTERN = LEDPatterns.SOLID_RED;
+        public static final LEDPatterns DOWN_PATTERN = LEDPatterns.SOLID_YELLOW;
+        public static final LEDPatterns READY_PATTERN = LEDPatterns.SOLID_GREEN_DARK;
+        public static final LEDPatterns SCORING_PATTERN = LEDPatterns.RAINBOW_RAINBOW;
+
+        public static final LEDPatterns RED_PATTERN = LEDPatterns.LAVA_WAVES;
+        public static final LEDPatterns BLUE_PATTERN = LEDPatterns.OCEAN_WAVES;
+    }
+
+    public static final class OIConstants {
+        public static final int XBOX_DRIVER_ID = 0;
+        public static final int XBOX_OPERATOR_ID = 1;
+        public static final int BUTTONBOX_ID = 2;
+        public static final int XBOX_PROGRAMMER_ID = 3;
+        public static final double LEFT_AXIS_DEADBAND = 0.1;
+
+    }
+
+
+
+    // Logging constants
+    public static class SimConstants {
+        public static final Mode simMode = Mode.SIM;
+        public static final Mode currentMode = RobotBase.isReal() ? Mode.REAL : simMode;
+
+        public static enum Mode {
+            /** Running on a real robot. */
+            REAL,
+
+            /** Running a physics simulator. */
+            SIM,
+
+            /** Replaying from a log file. */
+            REPLAY
+        }
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/frc4388/robot/subsystems/DiffDrive.java b/src/main/java/frc4388/robot/subsystems/DiffDrive.java
deleted file mode 100644
index 0cffe0b..0000000
--- a/src/main/java/frc4388/robot/subsystems/DiffDrive.java
+++ /dev/null
@@ -1,112 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc4388.robot.subsystems;
-
-import java.util.logging.Level;
-
-import com.ctre.phoenix6.controls.Follower;
-import com.ctre.phoenix6.hardware.TalonFX;
-
-import edu.wpi.first.wpilibj.drive.DifferentialDrive;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
-import frc4388.robot.Constants.DriveConstants;
-import frc4388.utility.RobotGyro;
-import frc4388.utility.RobotTime;
-import frc4388.utility.Status;
-import frc4388.utility.Subsystem;
-import frc4388.utility.Status.ReportLevel;
-
-/**
- * Add your docs here.
- */
-public class DiffDrive extends Subsystem {
-  // Put methods for controlling this subsystem
-  // here. Call these from Commands.
-
-  private RobotTime m_robotTime = RobotTime.getInstance();
-
-  private TalonFX m_leftFrontMotor;
-  private TalonFX m_rightFrontMotor;
-  private TalonFX m_leftBackMotor;
-  private TalonFX m_rightBackMotor;
-  private DifferentialDrive m_driveTrain;
-  private RobotGyro m_gyro;
-
-  /**
-   * Add your docs here.
-   */
-  public DiffDrive(TalonFX leftFrontMotor, TalonFX rightFrontMotor, TalonFX leftBackMotor,
-      TalonFX rightBackMotor, DifferentialDrive driveTrain, RobotGyro gyro) {
-    
-        super();
-
-    m_leftFrontMotor = leftFrontMotor;
-    m_rightFrontMotor = rightFrontMotor;
-    m_leftBackMotor = leftBackMotor;
-    m_rightBackMotor = rightBackMotor;
-    m_leftBackMotor .setControl(new Follower(m_leftFrontMotor.getDeviceID(), false));
-    m_rightBackMotor.setControl(new Follower(m_rightBackMotor.getDeviceID(), false));
-    m_driveTrain = driveTrain;
-    m_gyro = gyro;
-  }
-
-  @Override
-  public void periodic() {
-    m_gyro.updatePigeonDeltas();
-
-    if (m_robotTime.m_frameNumber % DriveConstants.SMARTDASHBOARD_UPDATE_FRAME == 0) {
-      updateSmartDashboard();
-    }
-  }
-
-  /**
-   * Add your docs here.
-   */
-  public void driveWithInput(double move, double steer) {
-    m_driveTrain.arcadeDrive(move, steer);
-  }
-
-  /**
-   * Add your docs here.
-   */
-  public void tankDriveWithInput(double leftMove, double rightMove) {
-    m_leftFrontMotor.set(leftMove);
-    m_rightFrontMotor.set(rightMove);
-  }
-
-  /**
-   * Add your docs here.
-   */
-  private void updateSmartDashboard() {
-
-    // Examples of the functionality of RobotGyro
-    SmartDashboard.putBoolean("Is Gyro a Pigeon?", m_gyro.m_isGyroAPigeon);
-    SmartDashboard.putNumber("Turn Rate", m_gyro.getRate());
-    SmartDashboard.putNumber("Gyro Pitch", m_gyro.getPitch());
-    //SmartDashboard.putData(m_gyro);
-  }
-
-
-  @Override
-  public String getSubsystemName() {
-      return "Diff Drive";
-  }
-
-  @Override
-  public void queryStatus() {
-      // TODO: Add Stuff
-  }
-
-  @Override
-  public Status diagnosticStatus() {
-      Log("Diagnostic info for this has not been inplemented!"); //TODO
-      return new Status();
-  }
-}
diff --git a/src/main/java/frc4388/robot/subsystems/LED.java b/src/main/java/frc4388/robot/subsystems/LED.java
index e9e070c..c050278 100644
--- a/src/main/java/frc4388/robot/subsystems/LED.java
+++ b/src/main/java/frc4388/robot/subsystems/LED.java
@@ -7,84 +7,69 @@
 
 package frc4388.robot.subsystems;
 
-import edu.wpi.first.wpilibj.AddressableLED;
-import edu.wpi.first.wpilibj.AddressableLEDBuffer;
-import edu.wpi.first.wpilibj.motorcontrol.Spark;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import org.littletonrobotics.junction.AutoLogOutput;
 
-import frc4388.robot.Constants.LEDConstants;
-import frc4388.utility.LEDPatterns;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.constants.Constants.LEDConstants;
+import frc4388.utility.status.Status;
+import frc4388.utility.status.FaultReporter;
+import frc4388.utility.status.Queryable;
+import frc4388.utility.status.Status.ReportLevel;
+import frc4388.utility.structs.LEDPatterns;
 
 /**
  * Allows for the control of a 5v LED Strip using a Rev Robotics Blinkin LED
  * Driver
  */
-public class LED extends SubsystemBase {
-
-  static AddressableLED m_led;
-  static AddressableLEDBuffer m_ledBuffer;
-  static LED m_self;
-  /**
-   * Add your docs here.
-   */
-
-  public LED(){
-    if(m_self != null)
-      return;
-    m_led = new AddressableLED(9);
-    m_ledBuffer = new AddressableLEDBuffer(10);
-    m_led.setLength(m_ledBuffer.getLength());
-    m_led.setData(m_ledBuffer);
-    m_led.start();
-    System.err.println("In the Beginning, there was Joe.\nAnd he said, 'Let there be LEDs.'\nAnd it was good.");
+public class LED extends SubsystemBase implements Queryable {
+  public LED() {
+    FaultReporter.register(this);
   }
-  public static LED getInstance() {
-    if(m_self == null)
-      m_self = new LED();
-    return m_self;
+
+  private static Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
+  private LEDPatterns mode = LEDConstants.DEFAULT_PATTERN;
+
+  public void setMode(LEDPatterns pattern){
+    this.mode = pattern;
   }
+
   @Override
-  public void periodic(){
-    //gamermode();
-    //SmartDashboard.putNumber("LED", m_currentPattern.getValue());
-    return;
-  }
-  static int firstcolor = 0;
-  static void gamermode() {
-      for(int i = 0; i < m_ledBuffer.getLength(); i++) {
-          final int hue = (firstcolor + (i * 180 / m_ledBuffer.getLength())) % 180;
-          setLEDHSV(i, hue, 255, 128);
-      }
-      firstcolor +=3;
-      firstcolor %= 180;
-  }
-  /**
-   * Add your docs here.
-   */
-  public static void updateLED (){
-    gamermode();
-   // m_LEDController.set(m_currentPattern.getValue());
+  public void periodic() {
+    update();
   }
 
-  /**
-   * Add your docs here.
-   */
-  public static void setLEDRGB(int lednum, int r, int g, int b){
-    m_ledBuffer.setRGB(lednum, r, g, b);
-    //m_currentPattern = pattern;
-   // m_LEDController.set(m_currentPattern.getValue());
+  public void update() {
+    if(!LEDController.isAlive() || LEDController.isSafetyEnabled()) return;
+
+    if(DriverStation.isDisabled()){
+      LEDController.set(LEDConstants.DEFAULT_PATTERN.getValue());
+    }else
+      LEDController.set(mode.getValue());
   }
-  public static void setLEDHSV(int lednum, int hue, int sat, int val){
-    m_ledBuffer.setRGB(lednum, hue, sat, val);
-    //m_currentPattern = pattern;
-   // m_LEDController.set(m_currentPattern.getValue());
+
+  @AutoLogOutput
+  public String state() {
+    return mode.getClass().toString();
   }
-  /**
-   * Add your docs here.
-   * @return
-   */
-  public AddressableLEDBuffer getBuffer() {
-    return m_ledBuffer;
+
+  @Override
+  public String getName() {
+    return "LEDs";
   }
+
+  @Override
+  public Status diagnosticStatus() {
+    Status status = new Status();
+
+    if(!LEDController.isAlive())
+      status.addReport(ReportLevel.ERROR, "LED is DISCONNECTED");
+    
+    status.addReport(ReportLevel.INFO, "LED Mode: " + mode.name());
+
+    return status;
+  }
+  
+
 }
\ No newline at end of file
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
deleted file mode 100644
index cafe872..0000000
--- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+++ /dev/null
@@ -1,364 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc4388.robot.subsystems;
-
-import java.util.logging.Level;
-
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.math.kinematics.ChassisSpeeds;
-import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
-import edu.wpi.first.math.kinematics.SwerveModuleState;
-import edu.wpi.first.math.util.Units;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-// import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc4388.robot.Constants.SwerveDriveConstants;
-import frc4388.robot.Constants.SwerveDriveConstants.Conversions;
-import frc4388.utility.RobotGyro;
-import frc4388.utility.RobotUnits;
-import frc4388.utility.Status;
-import frc4388.utility.Subsystem;
-import frc4388.utility.Status.Report;
-import frc4388.utility.Status.ReportLevel;
-
-public class SwerveDrive extends Subsystem {
-  
-  private SwerveModule leftFront;
-  private SwerveModule rightFront;
-  private SwerveModule leftBack;
-  private SwerveModule rightBack;
-
-  private SwerveModule[] modules;
-
-  private Translation2d leftFrontLocation = new Translation2d(Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH));
-  private Translation2d rightFrontLocation = new Translation2d(-Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH));
-  private Translation2d leftBackLocation = new Translation2d(Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), -Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH));
-  private Translation2d rightBackLocation = new Translation2d(-Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), -Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH));
-  
-  private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(leftFrontLocation, rightFrontLocation, leftBackLocation, rightBackLocation);
-  
-  private RobotGyro gyro;
-  
-  private int gear_index;
-  private boolean stopped = false;
-
-  public double speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST;
-  public double rotSpeedAdjust = SwerveDriveConstants.MAX_ROT_SPEED;
-  public double autoSpeedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW;
-  
-  public double rotTarget = 0.0;
-  public Rotation2d orientRotTarget = new Rotation2d();
-  public ChassisSpeeds chassisSpeeds = new ChassisSpeeds();
-
-  /** Creates a new SwerveDrive. */
-  public SwerveDrive(SwerveModule leftFront, SwerveModule rightFront, SwerveModule leftBack, SwerveModule rightBack, RobotGyro gyro) {
-    super();
-    this.leftFront = leftFront;
-    this.rightFront = rightFront;
-    this.leftBack = leftBack;
-    this.rightBack = rightBack;
-    
-    this.gyro = gyro;
-    reset_index();
-    this.modules = new SwerveModule[] {this.leftFront, this.rightFront, this.leftBack, this.rightBack};
-  }
-
-  public void oneModuleTest(SwerveModule module, Translation2d leftStick, Translation2d rightStick){
-    // double ang = Math.atan2(rightStick.getY(), rightStick.getX());
-    // rightStick.getAngle()
-    double speed = Math.sqrt(Math.pow(leftStick.getX(), 2) + Math.pow(leftStick.getY(), 2));
-    // System.out.println(ang);
-    // module.go(ang);
-    // Rotation2d rot = Rotation2d.fromRadians(ang);
-    Rotation2d rot = new Rotation2d(rightStick.getX(), rightStick.getY());
-    SwerveModuleState state = new SwerveModuleState(speed, rot);
-    module.setDesiredState(state);
-  }
-
-  public void driveWithInput(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) {
-
-    double rot_correction = RobotUnits.degreesToRadians(gyro.getRotation2d().getDegrees() - rotTarget) * 0.0;
-    SmartDashboard.putNumber("Rot_correct", RobotUnits.radiansToDegrees(rot_correction));
-
-    if (fieldRelative) {
-
-      double rot = 0;
-      
-      // ! drift correction
-      if (rightStick.getNorm() > 0.05) {
-        rotTarget = gyro.getAngle();
-        rot_correction = 0;
-        // rot = rightStick.getX();
-      //  SmartDashboard.putBoolean("drift correction", false);
-        stopped = false;
-      } else if(leftStick.getNorm() > 0.05) {
-        if (!stopped) {
-          stopModules();
-          stopped = true;
-        }
-
-     //   SmartDashboard.putBoolean("drift correction", true);
-        
-        // rot = ((rotTarget - gyro.getAngle()) / 360) * SwerveDriveConstants.ROT_CORRECTION_SPEED;
-
-      }
-
-      // Use the left joystick to set speed. Apply a cubic curve and the set max speed.
-      Translation2d speed = leftStick.times(leftStick.getNorm() * speedAdjust);
-      // Translation2d cubedSpeed = new Translation2d(Math.pow(speed.getX(), 3.00), Math.pow(speed.getY(), 3.00));
-
-      // Convert field-relative speeds to robot-relative speeds.
-      // chassisSpeeds = chassisSpeeds.
-      chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 * speed.getY(), (-1 * rightStick.getX() * rotSpeedAdjust) - rot_correction, gyro.getRotation2d().times(-1));
-    } else {      // Create robot-relative speeds.
-      chassisSpeeds = new ChassisSpeeds(-1 * leftStick.getX(), -1 * leftStick.getY(), -1 * rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED);
-    }
-    setModuleStates(kinematics.toSwerveModuleStates(chassisSpeeds));
-  }
-
-  public void playbackDriveWithInput(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) {
-    if (fieldRelative) {
-
-      double rot = 0;
-      
-      // ! drift correction
-      if (rightStick.getNorm() > 0.05) {
-        rotTarget = gyro.getAngle();
-        rot = rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED;
-      //  SmartDashboard.putBoolean("drift correction", false);
-        stopped = false;
-      } else if(leftStick.getNorm() > 0.05) {
-        if (!stopped) {
-          stopModules();
-          stopped = true;
-        }
-
-     //   SmartDashboard.putBoolean("drift correction", true);
-        // double rot_correction = ((rotTarget - gyro.getAngle()) / 360) * SwerveDriveConstants.ROT_CORRECTION_SPEED;
-        
-
-      }
-
-      // Use the left joystick to set speed. Apply a cubic curve and the set max speed.
-      Translation2d speed = leftStick.times(leftStick.getNorm() * autoSpeedAdjust);
-      // Translation2d cubedSpeed = new Translation2d(Math.pow(speed.getX(), 3.00), Math.pow(speed.getY(), 3.00));
-
-      // Convert field-relative speeds to robot-relative speeds.
-      chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 * speed.getY(), rightStick.getX() * SwerveDriveConstants.PLAYBACK_ROTATION_SPEED, gyro.getRotation2d());//.times(-1));
-    } else {      // Create robot-relative speeds.
-      chassisSpeeds = new ChassisSpeeds(-1 * leftStick.getX(), -1 * leftStick.getY(), -1 * rightStick.getX() * SwerveDriveConstants.PLAYBACK_ROTATION_SPEED);
-    }
-    // setModuleStates(kinematics.toSwerveModuleStates(chassisSpeeds));
-  }
-
-  public void driveWithInputOrientation(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) {
-
-    // Translation2d rightStick = new Translation2d(-rightX, rightY);
-    double rightX = rightStick.getX();
-    double rightY = rightStick.getY();
-
-    double rot_correction = 0;
-
-    // double rot_correction = ((rightStick.getAngle().getDegrees() - gyro.getAngle()) / 360) * SwerveDriveConstants.ROT_CORRECTION_SPEED;
-
-    if(fieldRelative) {
-      double rot = 0;
-      if(rightStick.getNorm() > 0.5) {
-        orientRotTarget = new Rotation2d(rightX, -rightY).minus(new Rotation2d(0,1));
-        
-        Rotation2d tmp =  orientRotTarget.minus(gyro.getRotation2d().minus(new Rotation2d(Math.PI)).interpolate(orientRotTarget, 0.5));
-        double min = tmp.getDegrees();
-        min = Math.max(Math.abs(min), 2);
-        if(tmp.getDegrees() < 0)
-          min*=-1;
-        tmp = new Rotation2d(min * Math.PI / 180);
-        rot = tmp.getRadians(); // x   x - y/x
-      }
-    
-    Translation2d speed = leftStick.times(leftStick.getNorm() * speedAdjust);
-
-      chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 * speed.getY(), ((-1 * rightStick.getX()) * SwerveDriveConstants.ROTATION_SPEED) + rot_correction, gyro.getRotation2d()).times(1);
-    } else {      // Create robot-relative speeds.
-      chassisSpeeds = new ChassisSpeeds(-1 * leftStick.getX(), -1 * leftStick.getY(), -1 * rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED);
-    }
-    // setModuleStates(kinematics.toSwerveModuleStates(chassisSpeeds));  
-    }
-
-  /**
-   * Set each module of the swerve drive to the corresponding desired state.
-   * @param desiredStates Array of module states to set.
-   */
-  public void setModuleStates(SwerveModuleState[] desiredStates) {
-    SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
-    for (int i = 0; i < desiredStates.length; i++) {
-      SwerveModule module = modules[i];
-      SwerveModuleState state = desiredStates[i];
-      module.setDesiredState(state);
-    }
-  }
-
-  public boolean rotateToTarget(double angle) {
-    double currentAngle = getGyroAngle();
-    double error = angle - currentAngle;
-
-    driveWithInput(new Translation2d(0, 0), new Translation2d(error / Math.abs(error) * 0.3, 0), true);
-
-    if (Math.abs(angle - getGyroAngle()) < 5.0) {
-      return true;
-    }
-
-    return false;
-  }
-
-  public double getGyroAngle() {
-    return -gyro.getAngle();
-  }
-
-  public void add180() {
-    gyro.reset(gyro.getAngle()+180);
-    rotTarget = gyro.getAngle();
-
-  }
-
-  public void resetGyro() {
-    gyro.reset();
-    rotTarget = gyro.getAngle();
-  }
-
-  public void resetGyroFlip() {
-    gyro.resetFlip();
-    rotTarget = gyro.getAngle();
-  }
-
-  public void resetGyroRightBlue() {
-    gyro.resetRightSideBlue();
-    rotTarget = gyro.getAngle();
-  }
-
-  public void resetGyroRightAmp() {
-    gyro.resetAmpSide();
-    rotTarget = gyro.getAngle();
-  }
-  
-  public void stopModules() {
-    for (SwerveModule module : this.modules) {
-      module.stop();
-    }
-  }
-
-  public SwerveDriveKinematics getKinematics() {
-    return this.kinematics;
-  }
-
-  public boolean getSpeedState() {
-    
-    return false;
-  }
-
-  @Override
-  public void periodic() {
-    // This method will be called once per scheduler run\
-    SmartDashboard.putNumber("Gyro", getGyroAngle());
-    SmartDashboard.putNumber("RotTartget", rotTarget);
-  }
-
-  private void reset_index() {
-    gear_index = 0; // however we wish to initialize the gear (What gear does the robot start in?)
-  }
-
-  public void shiftDown() {
-    if (gear_index == -1 || gear_index >= SwerveDriveConstants.GEARS.length) reset_index(); // If outof bounds: reset index
-    int i = gear_index - 1;
-    if (i == -1) i = 0;
-    setPercentOutput(SwerveDriveConstants.GEARS[i]);
-    gear_index = i;
-  }
-
-  public void shiftUp() {
-    if (gear_index == -1 || gear_index >= SwerveDriveConstants.GEARS.length) reset_index(); // If outof bounds: reset index
-    int i = gear_index + 1;
-    if (i == SwerveDriveConstants.GEARS.length) i = SwerveDriveConstants.GEARS.length - 1;
-    setPercentOutput(SwerveDriveConstants.GEARS[i]);
-    gear_index = i;
-  }
-
-  public void setPercentOutput(double speed) {
-    speedAdjust = Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST * speed;
-    gear_index = -1;
-  }
-
-  public void setToSlow() {
-    this.speedAdjust = Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST * SwerveDriveConstants.SLOW_SPEED;
-    for(int i=0;i<5;i++){
-      Log("SLOW");
-    }
-  }
-
-  public void setToFast() {
-    this.speedAdjust = Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST * SwerveDriveConstants.FAST_SPEED;
-    for(int i=0;i<5;i++){
-      Log("FAST");
-    }
-  }
-
-  public void setToTurbo() {
-    this.speedAdjust = Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST * SwerveDriveConstants.TURBO_SPEED;
-        for(int i=0;i<5;i++){
-      Log("TURBO");
-    }
-  }
-
-  public void toggleGear(double angle) {
-    if (Math.abs(this.speedAdjust - SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW) < .01 && Math.abs(angle) < 10) {
-      this.speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST;
-      SwerveDriveConstants.ROT_CORRECTION_SPEED = SwerveDriveConstants.CORRECTION_MIN;
-    } else {
-      this.speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW;
-      SwerveDriveConstants.ROT_CORRECTION_SPEED = SwerveDriveConstants.CORRECTION_MIN;
-    }
-  }
-
-  public void shiftUpRot() {
-    rotSpeedAdjust = SwerveDriveConstants.ROTATION_SPEED;
-  }
-
-  public void shiftDownRot() {
-    rotSpeedAdjust = SwerveDriveConstants.MIN_ROT_SPEED;
-  }
-
-  @Override
-  public String getSubsystemName() {
-    return "Swerve Drive Controller";
-  }
-
-  @Override
-  public void queryStatus() {
-
-    SmartDashboard.putNumber("[" + getSubsystemName() + "] Gyro angle", this.gyro.getAngle());
-    SmartDashboard.putNumber("[" + getSubsystemName() + "] Shift State", this.speedAdjust);
-
-    // this.leftFront.queryStatus();
-    // this.leftBack.queryStatus();
-    // this.rightFront.queryStatus();
-    // this.rightBack.queryStatus();
-  
-    //TODO: Add more status things
-  }
-
-  @Override
-  public Status diagnosticStatus() {
-    Status status = new Status();
-    for (SwerveModule module : modules) {
-      for (Report moduleDignostic : module.diagnosticStatus().reports) {
-        status.addReport(moduleDignostic.reportLevel, "[" + module.getSubsystemName() + "] " + moduleDignostic.description);
-      }
-    }
-
-    status.diagnoseHardwareCTRE("Swerve Gyro", gyro.getPigeon());
-    
-    return status;
-  }
-}
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java
deleted file mode 100644
index 2ee9ca6..0000000
--- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java
+++ /dev/null
@@ -1,280 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc4388.robot.subsystems;
-
-import java.util.logging.Level;
-
-import com.ctre.phoenix6.StatusSignal;
-import com.ctre.phoenix6.Utils;
-import com.ctre.phoenix6.configs.CANcoderConfiguration;
-import com.ctre.phoenix6.configs.ClosedLoopRampsConfigs;
-import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
-import com.ctre.phoenix6.configs.FeedbackConfigs;
-import com.ctre.phoenix6.configs.MotorOutputConfigs;
-import com.ctre.phoenix6.configs.OpenLoopRampsConfigs;
-import com.ctre.phoenix6.configs.Slot0Configs;
-import com.ctre.phoenix6.configs.TalonFXConfiguration;
-import com.ctre.phoenix6.controls.ControlRequest;
-import com.ctre.phoenix6.controls.DutyCycleOut;
-import com.ctre.phoenix6.controls.Follower;
-import com.ctre.phoenix6.controls.PositionVoltage;
-import com.ctre.phoenix6.hardware.TalonFX;
-import com.ctre.phoenix6.signals.FeedbackSensorSourceValue;
-import com.ctre.phoenix6.signals.InvertedValue;
-import com.ctre.phoenix6.signals.MagnetHealthValue;
-import com.ctre.phoenix6.signals.NeutralModeValue;
-import com.ctre.phoenix6.signals.SensorDirectionValue;
-import com.ctre.phoenix6.hardware.CANcoder;
-
-import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.kinematics.SwerveModulePosition;
-import edu.wpi.first.math.kinematics.SwerveModuleState;
-import edu.wpi.first.math.util.Units;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-// import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc4388.robot.Constants.SwerveDriveConstants;
-import frc4388.utility.Gains;
-import frc4388.utility.Status;
-import frc4388.utility.Subsystem;
-import frc4388.utility.Status.ReportLevel;
-
-public class SwerveModule extends Subsystem {
-    private String name = "Null";
-    private TalonFX driveMotor;
-    private TalonFX angleMotor;
-    private CANcoder encoder;
-    // private final StatusSignal<Double> cc_pos;
-    // private final StatusSignal<Double> cc_vel;
-    // private int selfid;
-    // private ConfigurableDouble offsetGetter;
-    private static int swerveId = 0;
-    public static Gains swerveGains = SwerveDriveConstants.PIDConstants.SWERVE_GAINS;
-  
-    
-    /** Creates a new SwerveModule. */
-    public SwerveModule(String name, TalonFX driveMotor, TalonFX angleMotor, CANcoder encoder, double offset) {
-        super();
-        this.name = name;
-        this.driveMotor = driveMotor;
-        this.angleMotor = angleMotor;
-        this.encoder = encoder;
-
-        var motorCfg = new TalonFXConfiguration()
-            .withOpenLoopRamps(
-                new OpenLoopRampsConfigs()
-                    .withDutyCycleOpenLoopRampPeriod(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE)
-            ).withClosedLoopRamps(
-                new ClosedLoopRampsConfigs()
-                    .withDutyCycleClosedLoopRampPeriod(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE)
-            ).withMotorOutput(
-                new MotorOutputConfigs()
-                    .withNeutralMode(NeutralModeValue.Brake)
-                    .withDutyCycleNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND)
-            ).withCurrentLimits(
-                new CurrentLimitsConfigs()
-                    .withStatorCurrentLimit(100)
-                    .withStatorCurrentLimitEnable(true)
-                    .withSupplyCurrentLimit(100)
-                    .withSupplyCurrentLimitEnable(true)
-            );
-
-        driveMotor.getConfigurator().apply(motorCfg);
-        
-        TalonFXConfiguration angleConfig = new TalonFXConfiguration()
-            .withOpenLoopRamps(
-                new OpenLoopRampsConfigs()
-                    .withDutyCycleOpenLoopRampPeriod(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE)
-            ).withClosedLoopRamps(
-                new ClosedLoopRampsConfigs()
-                    .withDutyCycleClosedLoopRampPeriod(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE)
-            ).withMotorOutput(
-                new MotorOutputConfigs()
-                    .withNeutralMode(NeutralModeValue.Brake)
-                    .withDutyCycleNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND)
-            );
-
-        angleConfig.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
-
-        angleConfig.Slot0.kP = swerveGains.kP;
-        angleConfig.Slot0.kI = swerveGains.kI;   
-        angleConfig.Slot0.kD = swerveGains.kD;
-
-        angleConfig.Feedback.FeedbackRemoteSensorID = encoder.getDeviceID();
-        angleConfig.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.RemoteCANcoder;
-        angleMotor.getConfigurator().apply(angleConfig);
-
-        CANcoderConfiguration canconfig = new CANcoderConfiguration();
-        canconfig.MagnetSensor.SensorDirection = SensorDirectionValue.Clockwise_Positive;
-        canconfig.MagnetSensor.MagnetOffset = offset;
-        encoder.getConfigurator().apply(canconfig);
-
-        rotateToAngle(0);
-    }
-
-    // public void go(double ang){
-    //     // double curang = this.encoder.getAbsolutePosition().getValue();
-    //     System.out.println(getAngle().getDegrees());
-    //     rotateToAngle(ang);
-    // }
-    
-    @Override
-    public void periodic() {
-        //encoder.configMagnetOffset(offsetGetter.get());
-        //SmartDashboard.putString("Error Code: " + selfid, getstuff());
-        // SmartDashboard.putNumber("Angular Position: " + selfid, getAngle().getDegrees());
-        // SmartDashboard.putNumber("Angular Velocity: " + selfid, getAngularVel());
-        // SmartDashboard.putNumber("Drive Position: " + selfid, getDrivePos());
-        // SmartDashboard.putNumber("Drive Velocity: " + selfid, getDriveVel());
-    }
-    /**
-     * Get the drive motor of the SwerveModule
-     * @return the drive motor of the SwerveModule
-     */
-    public TalonFX getDriveMotor() {
-        return this.driveMotor;
-    }
-
-    /**
-     * Get the angle motor of the SwerveModule
-     * @return the angle motor of the SwerveModule
-     */
-    public TalonFX getAngleMotor() {
-        return this.angleMotor;
-    }
-
-    /**
-     * Get the CANcoder of the SwerveModule
-     * @return the CANcoder of the SwerveModule
-     */
-    public CANcoder getEncoder() {
-        return this.encoder;
-    }
-
-    /**
-     * Get the angle of a SwerveModule as a Rotation2d
-     * @return the angle of a SwerveModule as a Rotation2d
-     */
-    public Rotation2d getAngle() {
-        // * Note: This assumes that the CANCoders are setup with the default feedback coefficient and the sensor value reports degrees.
-        // return Rotation2d.fromDegrees(encoder.getAbsolutePosition());
-        return Rotation2d.fromRotations(encoder.getPosition().getValue().baseUnitMagnitude());
-    }
-    
-    public double getAngularVel() {
-        // return this.angleMotor.getSelectedSensorVelocity();
-        return angleMotor.getVelocity().getValueAsDouble();
-    }
-
-    public double getDrivePos() {
-        // return this.driveMotor.getSelectedSensorPosition() / SwerveDriveConstants.Conversions.TICKS_PER_MOTOR_REV;
-        return driveMotor.getPosition().getValueAsDouble();
-    }
-
-    public double getDriveVel() {
-        // return this.driveMotor.getSelectedSensorVelocity(0);
-        return driveMotor.getVelocity().getValueAsDouble();
-    }
-
-    public void stop() {
-        driveMotor.set(0);
-        angleMotor.set(0);
-    }
-
-    public void rotateToAngle(double angle) {
-        final PositionVoltage m_request = new PositionVoltage(angle);
-        angleMotor.setControl(m_request);
-    }
-
-    /**
-     * Get state of swerve module
-     * @return speed in m/s and angle in degrees
-     */
-    public SwerveModuleState getState() {
-        return new SwerveModuleState(
-            Units.inchesToMeters(driveMotor.getVelocity().getValue().baseUnitMagnitude() *
-            SwerveDriveConstants.Conversions.INCHES_PER_WHEEL_REV *
-            SwerveDriveConstants.Conversions.WHEEL_REV_PER_MOTOR_REV), 
-            getAngle()
-        );
-    }
-
-    // private SwerveModuleState optimizeState(SwerveModuleState desiredState) {
-    //     Rotation2d curRot = this.getAngle();
-        
-    // }
-
-    /**
-     * Returns the current position of the SwerveModule
-     * @return The current position of the SwerveModule in meters traveled by the driveMotor and the angle of the angleMotor.
-    //  */
-    // public SwerveModulePosition getPosition() {
-    //     return new SwerveModulePosition(Units.inchesToMeters(driveMotor.getSelectedSensorPosition() * SwerveDriveConstants.Conversions.INCHES_PER_TICK), getAngle());
-    // }
-
-    /**
-     * Set the speed and rotation of the SwerveModule from a SwerveModuleState object
-     * @param desiredState a SwerveModuleState representing the desired new state of the module
-    //  */
-    public void setDesiredState(SwerveModuleState state) {
-        Rotation2d currentRotation = this.getAngle();
-
-        state.optimize(currentRotation);//SwerveModuleState.optimize(desiredState, currentRotation);
-
-        // calculate the difference between our current rotational position and our new rotational position
-        Rotation2d rotationDelta = state.angle.minus(currentRotation);
-
-        double speed = Units.metersToFeet(state.speedMetersPerSecond) / SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND;
-
-        rotateToAngle(rotationDelta.getRotations() + currentRotation.getRotations());
-
-        driveMotor.set(Math.max(Math.min(speed, 1.), -1.));
-    }
-
-    public void reset() {
-        // encoder.setPosition(0);
-    }
-
-    @Override
-    public String getSubsystemName() {
-        return this.name;
-    }
-
-    @Override
-    public void queryStatus() {
-        SmartDashboard.putNumber("[" + getSubsystemName() + "] Drive motor speed", this.driveMotor.get());
-        SmartDashboard.putNumber("[" + getSubsystemName() + "] Angle motor angle", this.angleMotor.getRotorPosition().getValueAsDouble());
-        //TODO: Add more status things
-    }
-
-    public boolean motorsAlive() {
-        return this.driveMotor.isAlive() && this.angleMotor.isAlive();
-    }
-
-    @Override
-    public Status diagnosticStatus() {
-        Status status = new Status();
-        
-        status.diagnoseHardwareCTRE("Drive", this.driveMotor);
-        status.diagnoseHardwareCTRE("Angle", this.angleMotor);
-        status.diagnoseHardwareCTRE("Steer", this.encoder);
-        
-        return status;
-    }
-
-    // public double getCurrent() {
-    //     return angleMotor.getSupplyCurrent() + driveMotor.getSupplyCurrent();
-    // }
-
-    // public double getVoltage() {
-    //     return (Math.abs(angleMotor.getMotorOutputVoltage()) + Math.abs(driveMotor.getMotorOutputVoltage()));
-    // }
-
-    // public String getstuff() {
-    //     encoder.getPosition();
-    //     return "" + encoder.getLastError().value;
-    // }
-}
diff --git a/src/main/java/frc4388/robot/subsystems/lidar/LiDAR.java b/src/main/java/frc4388/robot/subsystems/lidar/LiDAR.java
new file mode 100644
index 0000000..2945c2d
--- /dev/null
+++ b/src/main/java/frc4388/robot/subsystems/lidar/LiDAR.java
@@ -0,0 +1,58 @@
+package frc4388.robot.subsystems.lidar;
+
+import org.littletonrobotics.junction.Logger;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.constants.Constants.LiDARConstants;
+import frc4388.utility.status.Status;
+import frc4388.utility.status.FaultReporter;
+import frc4388.utility.status.Queryable;
+import frc4388.utility.status.Status.ReportLevel;
+
+public class LiDAR extends SubsystemBase implements Queryable {
+    LidarIO io;
+    LidarStateAutoLogged state = new LidarStateAutoLogged();
+
+    private String name = "Lidar";
+
+    public LiDAR(LidarIO device, String name) {
+        FaultReporter.register(this);
+
+        this.io = device;
+        this.name = name;
+    }
+
+    @Override
+    public void periodic() {
+        io.updateInputs(state);
+        Logger.processInputs("LiDAR/"+name, state);
+    }
+
+    // @AutoLogOutput(key = "Lidar/{name}")
+    public double getDistance(){
+        return state.distance;
+    }
+
+    public boolean withinDistance(){
+        if(state.distance == -1) return false;
+        return state.distance < LiDARConstants.LIDAR_DETECT_DISTANCE;
+    }
+
+    @Override
+    public String getName() {
+        return "Lidar " + name;
+    }
+
+    @Override
+    public Status diagnosticStatus() {
+        Status s = new Status();
+
+        if(state.distance == -1)
+            s.addReport(ReportLevel.ERROR, "LiDAR DISCONNECTED");
+        
+        s.addReport(ReportLevel.INFO, "LiDAR Distance: " + state.distance);
+
+        return s;
+    }
+    
+}
diff --git a/src/main/java/frc4388/robot/subsystems/lidar/LidarIO.java b/src/main/java/frc4388/robot/subsystems/lidar/LidarIO.java
new file mode 100644
index 0000000..e3b4ebc
--- /dev/null
+++ b/src/main/java/frc4388/robot/subsystems/lidar/LidarIO.java
@@ -0,0 +1,13 @@
+package frc4388.robot.subsystems.lidar;
+
+import org.littletonrobotics.junction.AutoLog;
+
+public interface LidarIO {
+    @AutoLog
+    public class LidarState {
+        public boolean connected;
+        public double distance;
+    }
+    
+    public default void updateInputs(LidarState state) {}
+}
diff --git a/src/main/java/frc4388/robot/subsystems/lidar/LidarReal.java b/src/main/java/frc4388/robot/subsystems/lidar/LidarReal.java
new file mode 100644
index 0000000..3bf33d5
--- /dev/null
+++ b/src/main/java/frc4388/robot/subsystems/lidar/LidarReal.java
@@ -0,0 +1,27 @@
+package frc4388.robot.subsystems.lidar;
+
+import edu.wpi.first.wpilibj.Counter;
+import frc4388.robot.constants.Constants.LiDARConstants;
+
+// https://girlsofsteeldocs.readthedocs.io/en/latest/technical-resources/sensors/LIDAR-Lite-Distance-Sensor.html#minimal-roborio-interface
+public class LidarReal implements LidarIO {
+
+    
+    private Counter LidarPWM;
+
+    public LidarReal(int port) {
+        LidarPWM = new Counter(port);
+        LidarPWM.setMaxPeriod(1.00); //set the max period that can be measured
+        LidarPWM.setSemiPeriodMode(true); //Set the counter to period measurement
+        LidarPWM.reset();
+    }
+
+    @Override
+    public void updateInputs(LidarState state) {
+        
+        if(LidarPWM.get() < 1)
+            state.distance = -1;
+        else
+            state.distance = (LidarPWM.getPeriod() * LiDARConstants.SECONDS_TO_MICROS) / LiDARConstants.LIDAR_MICROS_TO_CM;
+    }
+}
diff --git a/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
new file mode 100644
index 0000000..bbc61e4
--- /dev/null
+++ b/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
@@ -0,0 +1,467 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.robot.subsystems.swerve;
+
+import org.littletonrobotics.junction.AutoLogOutput;
+import org.littletonrobotics.junction.Logger;
+
+import com.ctre.phoenix6.swerve.SwerveRequest;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.constants.Constants.AutoConstants;
+import frc4388.robot.subsystems.vision.Vision;
+import frc4388.utility.compute.TimesNegativeOne;
+import frc4388.utility.status.Status;
+import frc4388.utility.status.FaultReporter;
+import frc4388.utility.status.Queryable;
+
+import com.pathplanner.lib.controllers.PPHolonomicDriveController;
+import com.pathplanner.lib.util.PathPlannerLogging;
+import com.pathplanner.lib.config.PIDConstants;
+import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.config.RobotConfig;
+
+public class SwerveDrive extends SubsystemBase implements Queryable {
+    // private SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDriveTrain;
+
+    private SwerveIO io;
+    private SwerveStateAutoLogged state;
+
+    private Vision vision;
+
+
+
+    public int gear_index = SwerveDriveConstants.STARTING_GEAR;
+    public boolean stopped = false;
+    public boolean robotKnowsWhereItIs = false;
+
+    public double speedAdjust = SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * SwerveDriveConstants.GEARS[gear_index];
+    public double rotSpeedAdjust = SwerveDriveConstants.MAX_ROT_SPEED;
+    public double autoSpeedAdjust = SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * 0.25; // cap auto performance to
+                                                                                            // 25%
+
+    public double lastOdomSpeed;
+
+    public Pose2d initalPose2d = new Pose2d();
+
+
+    public double rotTarget = 0.0;
+    public Rotation2d orientRotTarget = new Rotation2d();
+    public ChassisSpeeds chassisSpeeds = new ChassisSpeeds();
+
+    /** Creates a new SwerveDrive. */
+    public SwerveDrive(SwerveIO swerveDriveTrain, Vision vision) {
+        // public SwerveDrive(SwerveDrivetrain<TalonFX, TalonFX, CANcoder>
+        // swerveDriveTrain) {
+        FaultReporter.register(this);
+
+        this.io = swerveDriveTrain;
+        this.state = new SwerveStateAutoLogged();
+
+        this.vision = vision;
+
+        RobotConfig config;
+        try {
+            config = RobotConfig.fromGUISettings();
+        } catch (Exception e) {
+            // Handle exception as needed
+            config = null;
+        }
+        // DoubleSupplier a = () -> 1.d;
+        AutoBuilder.configure(
+                () -> {
+                    return getPose2d();
+                }, // Robot pose supplier
+                this::setOdoPose, // Method to reset odometry (will be called if your auto has a starting
+                                             // pose)
+                () -> state.speeds, // ChassisSpeeds supplier. MUST BE ROBOT RELATIVE
+                (speeds, feedforwards) -> io.setControl(new SwerveRequest.ApplyRobotSpeeds()
+                        .withSpeeds(speeds)), // Method that will drive the robot given ROBOT RELATIVE ChassisSpeeds.
+                                              // Also optionally outputs individual module feedforwards
+                new PPHolonomicDriveController( // PPHolonomicController is the built in path following controller for
+                                                // holonomic drive trains
+                        new PIDConstants(5.0, 0.0, 0.0), // Translation PID constants
+                        new PIDConstants(5.0, 0.0, 0.0) // Rotation PID constants
+                ),
+                config, // The robot configuration
+                () -> {
+                    // Boolean supplier that controls when the path will be mirrored for the red
+                    // alliance
+                    // This will flip the path being followed to the red side of the field.
+                    // THE ORIGIN WILL REMAIN ON THE BLUE SIDE
+
+                    // var alliance = DriverStation.getAlliance();
+                    // if (alliance.isPresent()) {
+                    //     return alliance.get() == DriverStation.Alliance.Red;
+                    // }
+                    return TimesNegativeOne.isRed;
+                },
+                this // Reference to this subsystem to set requirements
+        );
+
+        PathPlannerLogging.setLogActivePathCallback(
+        (activePath) -> {
+          Logger.recordOutput(
+              "Odometry/Trajectory", activePath.toArray(new Pose2d[activePath.size()]));
+        });
+        
+        PathPlannerLogging.setLogTargetPoseCallback(
+        (targetPose) -> {
+          Logger.recordOutput("Odometry/TrajectorySetpoint", targetPose);
+        });
+
+
+
+        // // Configure SysId
+        // sysId =
+        //     new SysIdRoutine(
+        //         new SysIdRoutine.Config(
+        //             null,
+        //             null,
+        //             null,
+        //             (state) -> Logger.recordOutput("Drive/SysIdState", toString())),
+        //         new SysIdRoutine.Mechanism(
+        //             (voltage) -> runCharacterization(voltage.in(Volts)), null, this));
+
+    }
+
+    public void setOdoPose(Pose2d pose) {
+        if (pose == null) return;
+        initalPose2d = pose;
+        io.resetPose(pose);
+    }
+
+    // public void oneModuleTest(SwerveModule module, Translation2d leftStick,
+    // Translation2d rightStick){
+    // // double ang = Math.atan2(rightStick.getY(), rightStick.getX());
+    // // rightStick.getAngle()
+    // double speed = Math.sqrt(Math.pow(leftStick.getX(), 2) +
+    // Math.pow(leftStick.getY(), 2));
+    // // System.out.println(ang);
+    // // module.go(ang);
+    // // Rotation2d rot = Rotation2d.fromRadians(ang);
+    // Rotation2d rot = new Rotation2d(rightStick.getX(), rightStick.getY());
+    // SwerveModuleState state = new SwerveModuleState(speed, rot);
+    // module.setDesiredState(state);
+    // }
+
+    public void driveWithInput(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) {
+        if (rightStick.getNorm() < 0.05 && leftStick.getNorm() < 0.05 && stopped == false) // if no imput and the swerve drive is still going:
+            stopModules(); // stop the swerve
+
+        if (rightStick.getNorm() < 0.05 && leftStick.getNorm() < 0.05) // if no imput
+            return; // don't bother doing swerve drive math and return early.
+
+        leftStick = leftStick.rotateBy(TimesNegativeOne.ForwardOffset);
+        
+        stopped = false;
+        if (fieldRelative) {
+            
+            leftStick = TimesNegativeOne.invert(leftStick, TimesNegativeOne.XAxis, TimesNegativeOne.YAxis);
+            rightStick = TimesNegativeOne.invert(rightStick, TimesNegativeOne.RotAxis);    
+
+            // ! drift correction
+            if (rightStick.getNorm() > 0.05 || !SwerveDriveConstants.DRIFT_CORRECTION_ENABLED) {
+
+                rotTarget = state.currentPose.getRotation().getDegrees();
+
+                io.setControl(new SwerveRequest.FieldCentric()
+                    .withVelocityX(leftStick.getX() * speedAdjust)
+                    .withVelocityY(leftStick.getY() * speedAdjust)
+                    .withRotationalRate(rightStick.getX() * rotSpeedAdjust));
+
+                    // .withForwardPerspective(ForwardPerspectiveValue.OperatorPerspective));
+                SmartDashboard.putBoolean("drift correction", false);
+            } else {
+                var ctrl = new SwerveRequest.FieldCentricFacingAngle()
+                    .withVelocityX(leftStick.getX() * speedAdjust)
+                    .withVelocityY(leftStick.getY() * speedAdjust)
+                    .withTargetDirection(Rotation2d.fromDegrees(rotTarget));
+                ctrl.HeadingController.setPID(
+                    SwerveDriveConstants.PIDConstants.DRIFT_CORRECTION_GAINS.kP,
+                    SwerveDriveConstants.PIDConstants.DRIFT_CORRECTION_GAINS.kI,
+                    SwerveDriveConstants.PIDConstants.DRIFT_CORRECTION_GAINS.kD
+                );
+                io.setControl(ctrl);
+                SmartDashboard.putBoolean("drift correction", true);
+            }
+
+           
+        } else { // Create robot-relative speeds.
+            io.setControl(new SwerveRequest.RobotCentric()
+                    .withVelocityX(leftStick.getX() * speedAdjust)
+                    .withVelocityY(-leftStick.getY() * speedAdjust)
+                    .withRotationalRate(rightStick.getX() * rotSpeedAdjust));
+        }
+    }
+
+    public void driveFine(Translation2d leftStick, Translation2d rightStick, double percentOutput) {
+        stopped = false;
+        // Create robot-relative speeds.
+        if (rightStick.getNorm() > 0.1) rightStick = rightStick.times(0);
+        io.setControl(new SwerveRequest.RobotCentric()
+            .withVelocityX(leftStick.getX() * SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * percentOutput)
+            .withVelocityY(-leftStick.getY() * SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * percentOutput)
+            .withRotationalRate(rightStick.getX() * rotSpeedAdjust));
+        
+    }
+
+
+    public void driveWithInputOrientation(Translation2d leftStick, Translation2d rightStick) { // there is no practical
+                                                                                               // reason to have a robot
+                                                                                               // relitive version of
+                                                                                               // this, and no pre
+                                                                                               // provided version
+        if (rightStick.getNorm() < 0.05 && leftStick.getNorm() < 0.05 && stopped == false) // if no imput and the swerve
+                                                                                           // drive is still going:
+            stopModules(); // stop the swerve
+
+        if (rightStick.getNorm() < 0.05 && leftStick.getNorm() < 0.05) // if no imput
+            return; // don't bother doing swerve drive math and return early.
+
+        leftStick.rotateBy(TimesNegativeOne.ForwardOffset);
+
+        io.setControl(new SwerveRequest.FieldCentricFacingAngle()
+                .withVelocityX(leftStick.getX() * speedAdjust)
+                .withVelocityY(leftStick.getY() * speedAdjust)
+                .withTargetDirection(rightStick.getAngle()));
+    }
+
+    public void driveRelativeAngle(Translation2d leftStick, Rotation2d heading) {
+        leftStick = leftStick.rotateBy(TimesNegativeOne.ForwardOffset);
+        leftStick = TimesNegativeOne.invert(leftStick, TimesNegativeOne.XAxis, TimesNegativeOne.YAxis);
+        var ctrl = new SwerveRequest.FieldCentricFacingAngle()
+            .withVelocityX(leftStick.getX() * speedAdjust)
+            .withVelocityY(leftStick.getY() * speedAdjust)
+            .withTargetDirection(heading);
+        ctrl.HeadingController.setPID(
+            SwerveDriveConstants.PIDConstants.RELATIVE_LOCKED_ANGLE_GAINS.kP,
+            SwerveDriveConstants.PIDConstants.RELATIVE_LOCKED_ANGLE_GAINS.kI,
+            SwerveDriveConstants.PIDConstants.RELATIVE_LOCKED_ANGLE_GAINS.kD
+        );
+        io.setControl(ctrl);
+    }
+
+    public void driveRelativeLockedAngle(Translation2d leftStick, Rotation2d heading) {
+        leftStick = leftStick.rotateBy(heading);
+
+        var ctrl = new SwerveRequest.FieldCentricFacingAngle()
+            .withVelocityX(leftStick.getX() * speedAdjust)
+            .withVelocityY(leftStick.getY() * speedAdjust)
+            .withTargetDirection(heading);
+        // ctrl.HeadingController.setPID(
+        //     DriveConstants.PIDConstants.RELATIVE_LOCKED_ANGLE_GAINS.kP,
+        //     DriveConstants.PIDConstants.RELATIVE_LOCKED_ANGLE_GAINS.kI,
+        //     DriveConstants.PIDConstants.RELATIVE_LOCKED_ANGLE_GAINS.kD
+        // );
+        io.setControl(ctrl);
+    }
+
+    public void activateLuigiMode() {
+        io.setLimits(20);
+    }
+
+    public void deactivateLuigiMode() {
+        io.setLimits(SwerveDriveConstants.Configurations.SLIP_CURRENT);
+    }
+
+    public boolean rotateToTarget(double angle) {
+        io.setControl(new SwerveRequest.FieldCentricFacingAngle()
+                .withVelocityX(0)
+                .withVelocityY(0)
+                .withTargetDirection(Rotation2d.fromDegrees(angle)));
+
+        if (Math.abs(angle - getGyroAngle()) < 5.0) {
+            return true;
+        }
+
+        return false;
+    }
+
+    public boolean isStopped() {
+        return lastOdomSpeed < AutoConstants.STOP_VELOCITY;
+    }
+
+    public void driveWithInputRotation(Translation2d leftStick, Rotation2d rot) {
+        // if (leftStick.getNorm() < 0.05 && stopped == false) // if no imput and the
+        // swerve drive is still going:
+        // stopModules(); // stop the swerve
+
+        // if (leftStick.getNorm() < 0.05) //if no imput
+        // return; // don't bother doing swerve drive math and return early.
+
+        leftStick = leftStick.rotateBy(TimesNegativeOne.ForwardOffset);
+
+        io.setControl(new SwerveRequest.FieldCentricFacingAngle()
+                .withVelocityX(leftStick.getX() * -speedAdjust)
+                .withVelocityY(leftStick.getY() * speedAdjust)
+                .withTargetDirection(rot));
+        // double
+    }
+
+    public double getGyroAngle() {
+        return getPose2d().getRotation().getRadians();
+    }
+
+    public Pose2d getPose2d() {
+        if(state.currentPose == null)
+            return initalPose2d;
+        return state.currentPose;
+    }
+
+    public void resetGyro() {
+        io.tareEverything();
+        robotKnowsWhereItIs = false;
+        rotTarget = 0;
+        // vision.resetRotations();
+    }
+
+
+    public void softStop() {
+        stopped = true;
+        io.setControl(new SwerveRequest.FieldCentric()
+            .withVelocityX(0)
+            .withVelocityY(0)
+            .withRotationalRate(0)
+        ); // stop the modules without breaking
+    }
+
+    public void stopModules() {
+        // stopped = true;
+        // swerveDriveTrain.setControl(new SwerveRequest.SwerveDriveBrake());
+        softStop();
+    }
+
+    @Override
+    public void periodic() {
+        // This method will be called once per scheduler run\
+        SmartDashboard.putNumber("Gyro", (getGyroAngle() * 180) / Math.PI);
+        SmartDashboard.putNumber("RotTartget", rotTarget);
+
+        io.updateInputs(state);
+        Logger.processInputs("SwerveDrive", state);
+        
+        vision.setLastOdomPose(state.currentPose);
+        setLastOdomSpeed(state.currentPose, state.lastPose, state.odometryRate);
+
+        if (vision.isTag()) {
+            Pose2d pose = vision.getPose2d();
+            if (!robotKnowsWhereItIs) {
+                robotKnowsWhereItIs = true;
+                Pose2d curPose = getPose2d();
+                rotTarget += pose.getRotation().getDegrees() - curPose.getRotation().getDegrees();
+            }
+
+            io.addVisionMeasurement(vision.getPosesToAdd());
+        }
+
+        // if(e.isPresent())
+    }
+
+    private void reset_index() {
+        gear_index = SwerveDriveConstants.STARTING_GEAR; // however we wish to initialize the gear (What gear does the
+                                                         // robot start in?)
+    }
+
+    public void shiftDown() {
+        if (gear_index == -1 || gear_index >= SwerveDriveConstants.GEARS.length)
+            reset_index(); // If outof bounds: reset index
+        int i = gear_index - 1;
+        if (i == -1)
+            i = 0;
+        setPercentOutput(SwerveDriveConstants.GEARS[i]);
+        gear_index = i;
+    }
+
+    public void shiftUp() {
+        if (gear_index == -1 || gear_index >= SwerveDriveConstants.GEARS.length)
+            reset_index(); // If outof bounds: reset index
+        int i = gear_index + 1;
+        if (i == SwerveDriveConstants.GEARS.length)
+            i = SwerveDriveConstants.GEARS.length - 1;
+        setPercentOutput(SwerveDriveConstants.GEARS[i]);
+        gear_index = i;
+    }
+
+    public void setPercentOutput(double speed) {
+        speedAdjust = SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * speed;
+        gear_index = -1;
+    }
+
+    public void setToSlow() {
+        setPercentOutput(SwerveDriveConstants.SLOW_SPEED);
+        gear_index = 0;
+    }
+
+    public void setToFast() {
+        setPercentOutput(SwerveDriveConstants.FAST_SPEED);
+        gear_index = 1;
+    }
+
+    public void setToTurbo() {
+        setPercentOutput(SwerveDriveConstants.TURBO_SPEED);
+        gear_index = 2;
+    }
+
+    public void shiftUpRot() {
+        rotSpeedAdjust = SwerveDriveConstants.ROTATION_SPEED;
+    }
+
+    public void shiftDownRot() {
+        rotSpeedAdjust = SwerveDriveConstants.MIN_ROT_SPEED;
+    }
+
+    private int tmp_gear_index = SwerveDriveConstants.STARTING_GEAR;
+
+    public void startSlowPeriod() {
+        tmp_gear_index = gear_index;
+        setToSlow();
+    }
+
+    public void startTurboPeriod() {
+        tmp_gear_index = gear_index;
+        setToTurbo();
+    }
+
+    public void endSlowPeriod() {
+        setPercentOutput(SwerveDriveConstants.GEARS[tmp_gear_index]);
+        gear_index = tmp_gear_index;
+    }
+
+
+
+    public void setLastOdomSpeed(Pose2d curPose, Pose2d lastPose, double freq){
+        if(curPose != null && lastPose != null){
+            lastOdomSpeed = curPose.getTranslation().getDistance(lastPose.getTranslation())/freq;
+        }
+    }
+
+    @AutoLogOutput(key="SwerveDrive/speed ")
+    public double getOdometrySpeed() {
+        return lastOdomSpeed;
+    }
+    
+
+
+    @Override
+    public String getName() {
+        return "Swerve Drive Controller";
+    }
+
+    @Override
+    public Status diagnosticStatus() {
+        Status status = new Status();
+
+        // status.addReport(ReportLevel.INFO,
+        //         "Don't know how to diganose new CTRE swerve systems. please check under the CAN(t) section for more detailed information about the swerves there.");
+
+        return status;
+    }
+}
+
diff --git a/src/main/java/frc4388/robot/subsystems/swerve/SwerveDriveConstants.java b/src/main/java/frc4388/robot/subsystems/swerve/SwerveDriveConstants.java
new file mode 100644
index 0000000..35b02db
--- /dev/null
+++ b/src/main/java/frc4388/robot/subsystems/swerve/SwerveDriveConstants.java
@@ -0,0 +1,246 @@
+package frc4388.robot.subsystems.swerve;
+
+import static edu.wpi.first.units.Units.Inches;
+import static edu.wpi.first.units.Units.Rotations;
+
+import com.ctre.phoenix6.configs.CANcoderConfiguration;
+import com.ctre.phoenix6.configs.ClosedLoopRampsConfigs;
+import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
+import com.ctre.phoenix6.configs.MotorOutputConfigs;
+import com.ctre.phoenix6.configs.OpenLoopRampsConfigs;
+import com.ctre.phoenix6.configs.Slot0Configs;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+import com.ctre.phoenix6.signals.StaticFeedforwardSignValue;
+import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants;
+import com.ctre.phoenix6.swerve.SwerveModuleConstants;
+import com.ctre.phoenix6.swerve.SwerveModuleConstants.ClosedLoopOutputType;
+import com.ctre.phoenix6.swerve.SwerveModuleConstants.DriveMotorArrangement;
+import com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerFeedbackType;
+import com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerMotorArrangement;
+import com.ctre.phoenix6.swerve.SwerveModuleConstantsFactory;
+
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.Distance;
+import frc4388.utility.status.CanDevice;
+import frc4388.utility.structs.Gains;
+
+
+// No mans land
+// Beware, there be dragons.
+public final class SwerveDriveConstants {
+    public static final double MAX_ROT_SPEED        = Math.PI * 2;
+    public static final double AUTO_MAX_ROT_SPEED = 1.5;
+    public static final double MIN_ROT_SPEED        = 1.0;
+    public static       double ROTATION_SPEED       = MAX_ROT_SPEED;
+    public static       double PLAYBACK_ROTATION_SPEED = AUTO_MAX_ROT_SPEED;
+    public static       double ROT_CORRECTION_SPEED = 10; // MIN_ROT_SPEED;
+
+    public static final double CORRECTION_MIN = 10;
+    public static final double CORRECTION_MAX = 50;
+    
+    public static final double SLOW_SPEED = 0.25;
+    public static final double FAST_SPEED = 0.5;
+    public static final double TURBO_SPEED = 1.0;
+    
+    public static final double[] GEARS = {SLOW_SPEED, FAST_SPEED, TURBO_SPEED};
+    public static final int STARTING_GEAR = 0;
+    // Dimensions
+    public static final double WIDTH = 18.5; // TODO: validate
+    public static final double HEIGHT = 18.5; // TODO: validate
+    public static final double HALF_WIDTH = WIDTH / 2.d;
+    public static final double HALF_HEIGHT = HEIGHT / 2.d;
+
+    // Mechanics
+    private static final double COUPLE_RATIO = 3; //todo: find
+    private static final double DRIVE_RATIO = 6.12;
+    private static final double STEER_RATIO = (150/7);
+    private static final Distance WHEEL_RADIUS = Inches.of(2);
+    
+    public static final double MAX_SPEED_MEETERS_PER_SEC = 6.22; // TODO: Validate
+
+    public static final double MAX_SPEED_FEET_PER_SECOND = MAX_SPEED_MEETERS_PER_SEC * 3.28084;
+    public static final double MAX_ANGULAR_SPEED_FEET_PER_SECOND = 2 * 2 * Math.PI;
+
+    // Operation
+    public static final double FORWARD_OFFSET = 90; // 0, 90, 180, 270
+
+    public static final boolean DRIFT_CORRECTION_ENABLED = true;
+    public static final boolean INVERT_X = false;
+    public static final boolean INVERT_Y = true;
+    public static final boolean INVERT_ROTATION = false;
+
+    // public static final Trim POINTLESS_TRIM = new Trim("Pointless Trim", Double.MAX_VALUE, Double.MIN_VALUE, 0.1, 0);
+
+    private static final class ModuleSpecificConstants { //2025
+        //Front Left
+        private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(-0.368896484375);
+        private static final boolean FRONT_LEFT_DRIVE_MOTOR_INVERTED = false;
+        private static final boolean FRONT_LEFT_STEER_MOTOR_INVERTED = true;
+        private static final boolean FRONT_LEFT_ENCODER_INVERTED = false;
+        private static final Distance FRONT_LEFT_XPOS = Inches.of(HALF_WIDTH);
+        private static final Distance FRONT_LEFT_YPOS = Inches.of(HALF_HEIGHT);
+        
+        //Front Right
+        private static final Angle FRONT_RIGHT_ENCODER_OFFSET = Rotations.of(-0.011474609375);
+        private static final boolean FRONT_RIGHT_DRIVE_MOTOR_INVERTED = true;
+        private static final boolean FRONT_RIGHT_STEER_MOTOR_INVERTED = true;
+        private static final boolean FRONT_RIGHT_ENCODER_INVERTED = false;
+        private static final Distance FRONT_RIGHT_XPOS = Inches.of(HALF_WIDTH);
+        private static final Distance FRONT_RIGHT_YPOS = Inches.of(-HALF_HEIGHT);
+
+        //Back Left
+        private static final Angle BACK_LEFT_ENCODER_OFFSET = Rotations.of(0.333251953125+0.5);
+        private static final boolean BACK_LEFT_DRIVE_MOTOR_INVERTED = false;
+        private static final boolean BACK_LEFT_STEER_MOTOR_INVERTED = true;
+        private static final boolean BACK_LEFT_ENCODER_INVERTED = false;
+        private static final Distance BACK_LEFT_XPOS = Inches.of(-HALF_WIDTH);
+        private static final Distance BACK_LEFT_YPOS = Inches.of(HALF_HEIGHT);
+        
+        //Back Right
+        private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(0.4306640625+0.5);
+        private static final boolean BACK_RIGHT_DRIVE_MOTOR_INVERTED = false;
+        private static final boolean BACK_RIGHT_STEER_MOTOR_INVERTED = true;
+        private static final boolean BACK_RIGHT_ENCODER_INVERTED = false;
+        private static final Distance BACK_RIGHT_XPOS = Inches.of(-HALF_WIDTH);
+        private static final Distance BACK_RIGHT_YPOS = Inches.of(-HALF_HEIGHT);
+    }
+
+    public static final class IDs {
+        public static final CanDevice RIGHT_FRONT_WHEEL   = new CanDevice("RIGHT_FRONT_WHEEL", 4);
+        public static final CanDevice RIGHT_FRONT_STEER   = new CanDevice("RIGHT_FRONT_STEER", 5);
+        public static final CanDevice RIGHT_FRONT_ENCODER = new CanDevice("RIGHT_FRONT_ENCODER", 11);
+        
+        public static final CanDevice LEFT_FRONT_WHEEL    = new CanDevice("LEFT_FRONT_WHEEL", 2);
+        public static final CanDevice LEFT_FRONT_STEER    = new CanDevice("LEFT_FRONT_STEER", 3);
+        public static final CanDevice LEFT_FRONT_ENCODER  = new CanDevice("LEFT_FRONT_ENCODER", 10);
+        
+        public static final CanDevice LEFT_BACK_WHEEL     = new CanDevice("LEFT_BACK_WHEEL", 6);
+        public static final CanDevice LEFT_BACK_STEER     = new CanDevice("LEFT_BACK_STEER", 7);
+        public static final CanDevice LEFT_BACK_ENCODER   = new CanDevice("LEFT_BACK_ENCODER", 12);
+        
+        public static final CanDevice RIGHT_BACK_WHEEL    = new CanDevice("RIGHT_BACK_WHEEL", 8);  
+        public static final CanDevice RIGHT_BACK_STEER    = new CanDevice("RIGHT_BACK_STEER", 9);
+        public static final CanDevice RIGHT_BACK_ENCODER  = new CanDevice("RIGHT_BACK_ENCODER", 13);
+
+        public static final CanDevice DRIVE_PIGEON        = new CanDevice("DRIVE_PIGEON", 14);
+    }
+
+    public static final class PIDConstants {
+        public static final int SWERVE_SLOT_IDX = 0;
+        public static final int SWERVE_PID_LOOP_IDX = 1;
+        public static final Gains SWERVE_GAINS = new Gains(50, 0.0, 0.32, 0.0, 0, 0.0);
+
+        public static final Slot0Configs CURRENT_SWERVE_ROT_GAINS = new Slot0Configs()
+            .withKP(50).withKI(0).withKD(0.32)
+            .withKS(0).withKV(0).withKA(0);
+        
+            public static final Slot0Configs TEST_SWERVE_ROT_GAINS = new Slot0Configs()
+            .withKP(10).withKI(0).withKD(0.3)
+            .withKS(0).withKV(0).withKA(0);
+
+        public static final Gains TEST_SWERVE_GAINS = new Gains(1.2, 0.0, 0.0, 0.0, 0, 0.0);
+
+        // The steer motor uses any SwerveModule.SteerRequestType control request with the
+        // output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput
+        public static final Slot0Configs PREPROVIDED_STEER_GAINS = new Slot0Configs()
+            .withKP(100).withKI(0).withKD(0.6)
+            .withKS(0.1).withKV(1.91).withKA(0)
+            .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign);
+        // When using closed-loop control, the drive motor uses the control
+        // output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput
+        public static final Slot0Configs PREPROVIDED_DRIVE_GAINS = new Slot0Configs()
+            .withKP(0.1).withKI(0).withKD(0)
+            .withKS(0).withKV(0.124);
+        
+        public static final Gains DRIFT_CORRECTION_GAINS = new Gains(2.5, 0, 0.1);
+        public static final Gains RELATIVE_LOCKED_ANGLE_GAINS = new Gains(10, 0, 1);
+    }
+
+    public static final class Configurations {
+        public static final double OPEN_LOOP_RAMP_RATE = 0.4; // Todo: Test. think this will help.
+        public static final double CLOSED_LOOP_RAMP_RATE = 0.4; // Todo: Test. think this will help.
+        public static final double NEUTRAL_DEADBAND = 0.04;
+
+        // POWER! (limiting)
+        private static final TalonFXConfiguration DRIVE_MOTOR_CONFIGS = new TalonFXConfiguration()
+            .withMotorOutput(
+                new MotorOutputConfigs()
+                    .withNeutralMode(NeutralModeValue.Brake)
+                    .withDutyCycleNeutralDeadband(NEUTRAL_DEADBAND)
+            ).withOpenLoopRamps(
+                new OpenLoopRampsConfigs()
+                    .withDutyCycleOpenLoopRampPeriod(OPEN_LOOP_RAMP_RATE)
+            ).withClosedLoopRamps(
+                new ClosedLoopRampsConfigs()
+                    .withDutyCycleClosedLoopRampPeriod(CLOSED_LOOP_RAMP_RATE)
+        );
+        private static final TalonFXConfiguration STEER_MOTOR_CONFIGS = new TalonFXConfiguration()
+            .withCurrentLimits(
+                new CurrentLimitsConfigs()
+                    .withStatorCurrentLimit(40) // TODO: tune???
+                    .withStatorCurrentLimitEnable(true)
+                ).withMotorOutput(
+                    new MotorOutputConfigs()
+                        .withNeutralMode(NeutralModeValue.Brake)
+                        .withDutyCycleNeutralDeadband(NEUTRAL_DEADBAND)
+                // ).withOpenLoopRamps(
+                //     new OpenLoopRampsConfigs()
+                //         .withDutyCycleOpenLoopRampPeriod(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE)
+                // ).withClosedLoopRamps(
+                //     new ClosedLoopRampsConfigs()
+                //         .withDutyCycleClosedLoopRampPeriod(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE)
+        );
+        public static final double SLIP_CURRENT = 60; // TODO: Tune??? 
+    }
+
+    public static final SwerveDrivetrainConstants DrivetrainConstants = new SwerveDrivetrainConstants()
+        .withPigeon2Id(IDs.DRIVE_PIGEON.id);
+
+    private static final SwerveModuleConstantsFactory<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> ConstantCreator =
+        new SwerveModuleConstantsFactory<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>() // holy verbosity batman.
+            .withDriveMotorGearRatio(DRIVE_RATIO)
+            .withSteerMotorGearRatio(STEER_RATIO)
+            .withCouplingGearRatio(COUPLE_RATIO)
+            .withWheelRadius(WHEEL_RADIUS)
+            .withSteerMotorGains(PIDConstants.PREPROVIDED_STEER_GAINS) // ?
+            .withDriveMotorGains(PIDConstants.PREPROVIDED_DRIVE_GAINS) // ?
+            .withSteerMotorClosedLoopOutput(ClosedLoopOutputType.Voltage)
+            .withDriveMotorClosedLoopOutput(ClosedLoopOutputType.Voltage)
+            .withSlipCurrent(Configurations.SLIP_CURRENT)
+            .withSpeedAt12Volts(MAX_SPEED_MEETERS_PER_SEC)
+            .withDriveMotorType(DriveMotorArrangement.TalonFX_Integrated)
+            .withSteerMotorType(SteerMotorArrangement.TalonFX_Integrated)
+            .withFeedbackSource(SteerFeedbackType.RemoteCANcoder)
+            .withDriveMotorInitialConfigs(Configurations.DRIVE_MOTOR_CONFIGS)
+            .withSteerMotorInitialConfigs(Configurations.STEER_MOTOR_CONFIGS);
+
+    public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> FRONT_LEFT =
+        ConstantCreator.createModuleConstants(
+            IDs.LEFT_FRONT_STEER.id, IDs.LEFT_FRONT_WHEEL.id, IDs.LEFT_FRONT_ENCODER.id, ModuleSpecificConstants.FRONT_LEFT_ENCODER_OFFSET,
+            ModuleSpecificConstants.FRONT_LEFT_XPOS, ModuleSpecificConstants.FRONT_LEFT_YPOS, 
+            ModuleSpecificConstants.FRONT_LEFT_DRIVE_MOTOR_INVERTED, ModuleSpecificConstants.FRONT_LEFT_STEER_MOTOR_INVERTED, ModuleSpecificConstants.FRONT_LEFT_ENCODER_INVERTED
+    );
+    public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> FRONT_RIGHT =
+        ConstantCreator.createModuleConstants(
+            IDs.RIGHT_FRONT_STEER.id, IDs.RIGHT_FRONT_WHEEL.id, IDs.RIGHT_FRONT_ENCODER.id, ModuleSpecificConstants.FRONT_RIGHT_ENCODER_OFFSET,
+            ModuleSpecificConstants.FRONT_RIGHT_XPOS, ModuleSpecificConstants.FRONT_RIGHT_YPOS, 
+            ModuleSpecificConstants.FRONT_RIGHT_DRIVE_MOTOR_INVERTED, ModuleSpecificConstants.FRONT_RIGHT_STEER_MOTOR_INVERTED, ModuleSpecificConstants.FRONT_RIGHT_ENCODER_INVERTED
+    );
+    public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> BACK_LEFT =
+        ConstantCreator.createModuleConstants(
+            IDs.LEFT_BACK_STEER.id, IDs.LEFT_BACK_WHEEL.id, IDs.LEFT_BACK_ENCODER.id, ModuleSpecificConstants.BACK_LEFT_ENCODER_OFFSET,
+            ModuleSpecificConstants.BACK_LEFT_XPOS, ModuleSpecificConstants.BACK_LEFT_YPOS, 
+            ModuleSpecificConstants.BACK_LEFT_DRIVE_MOTOR_INVERTED, ModuleSpecificConstants.BACK_LEFT_STEER_MOTOR_INVERTED, ModuleSpecificConstants.BACK_LEFT_ENCODER_INVERTED
+    );
+    public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> BACK_RIGHT =
+        ConstantCreator.createModuleConstants(
+            IDs.RIGHT_BACK_STEER.id, IDs.RIGHT_BACK_WHEEL.id, IDs.RIGHT_BACK_ENCODER.id, ModuleSpecificConstants.BACK_RIGHT_ENCODER_OFFSET,
+            ModuleSpecificConstants.BACK_RIGHT_XPOS, ModuleSpecificConstants.BACK_RIGHT_YPOS, 
+            ModuleSpecificConstants.BACK_RIGHT_DRIVE_MOTOR_INVERTED, ModuleSpecificConstants.BACK_RIGHT_STEER_MOTOR_INVERTED, ModuleSpecificConstants.BACK_RIGHT_ENCODER_INVERTED
+    );
+    
+    // misc
+    public static final int TIMEOUT_MS = 30;
+    public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
+}
diff --git a/src/main/java/frc4388/robot/subsystems/swerve/SwerveIO.java b/src/main/java/frc4388/robot/subsystems/swerve/SwerveIO.java
new file mode 100644
index 0000000..fa7de1a
--- /dev/null
+++ b/src/main/java/frc4388/robot/subsystems/swerve/SwerveIO.java
@@ -0,0 +1,33 @@
+package frc4388.robot.subsystems.swerve;
+
+import java.util.List;
+
+import org.littletonrobotics.junction.AutoLog;
+
+import com.ctre.phoenix6.swerve.SwerveRequest;
+
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import frc4388.robot.subsystems.vision.VisionIO.PoseObservation;
+
+public interface SwerveIO {
+    @AutoLog
+    public class SwerveState {
+        public Pose2d currentPose = null;
+        public Pose2d lastPose = null;
+        public ChassisSpeeds speeds = null;
+        public double odometryRate = 1;
+    }
+
+    public default void setControl(SwerveRequest ctrl) {}
+
+    public default void setLimits(double limitInAmps) {}
+
+    public default void tareEverything() {}
+
+    public default void resetPose(Pose2d pose) {}
+
+    public default void addVisionMeasurement(List<PoseObservation> poses) {}
+
+    public default void updateInputs(SwerveState state) {}
+}
diff --git a/src/main/java/frc4388/robot/subsystems/swerve/SwerveReal.java b/src/main/java/frc4388/robot/subsystems/swerve/SwerveReal.java
new file mode 100644
index 0000000..05d9e8f
--- /dev/null
+++ b/src/main/java/frc4388/robot/subsystems/swerve/SwerveReal.java
@@ -0,0 +1,63 @@
+package frc4388.robot.subsystems.swerve;
+
+import java.util.List;
+
+import com.ctre.phoenix6.Utils;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.hardware.CANcoder;
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.swerve.SwerveDrivetrain;
+import com.ctre.phoenix6.swerve.SwerveModule;
+import com.ctre.phoenix6.swerve.SwerveRequest;
+
+import frc4388.robot.subsystems.vision.Vision;
+import frc4388.robot.subsystems.vision.VisionIO.PoseObservation;
+
+public class SwerveReal implements SwerveIO {
+    SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDriveTrain;
+
+    public SwerveReal(SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDriveTrain) {
+        this.swerveDriveTrain = swerveDriveTrain;
+        swerveDriveTrain.getOdometryFrequency();
+    }
+
+    @Override
+    public void updateInputs(SwerveState state) {
+        double time = Vision.getTime();
+        state.odometryRate = 1 / swerveDriveTrain.getOdometryFrequency();
+        state.currentPose = swerveDriveTrain.samplePoseAt(time).orElse(null);
+        state.lastPose = swerveDriveTrain.samplePoseAt(time - state.odometryRate).orElse(null);
+        state.speeds = swerveDriveTrain.getState().Speeds;
+    }
+
+    @Override
+    public void setControl(SwerveRequest ctrl) {
+        swerveDriveTrain.setControl(ctrl);
+    }
+
+    @Override
+    public void tareEverything() {
+        swerveDriveTrain.tareEverything();
+    }
+
+    @Override
+    public void setLimits(double limitInAmps) {
+        for (SwerveModule<TalonFX, TalonFX, CANcoder> module : swerveDriveTrain.getModules()) {
+            var talonFXConfigurator = module.getDriveMotor().getConfigurator();
+            var talonFXConfigs = new TalonFXConfiguration();
+
+            talonFXConfigurator.refresh(talonFXConfigs);
+            talonFXConfigs.CurrentLimits.StatorCurrentLimit = limitInAmps;
+            talonFXConfigs.CurrentLimits.SupplyCurrentLimit = limitInAmps+10;
+            talonFXConfigurator.apply(talonFXConfigs);
+        }
+    }
+
+    @Override
+    public void addVisionMeasurement(List<PoseObservation> poses) {
+        for(PoseObservation pose : poses) {
+            swerveDriveTrain.addVisionMeasurement(pose.pose(), Utils.fpgaToCurrentTime(pose.timestamp()));
+        }
+    }
+
+}
diff --git a/src/main/java/frc4388/robot/subsystems/vision/Vision.java b/src/main/java/frc4388/robot/subsystems/vision/Vision.java
new file mode 100644
index 0000000..a069af7
--- /dev/null
+++ b/src/main/java/frc4388/robot/subsystems/vision/Vision.java
@@ -0,0 +1,95 @@
+package frc4388.robot.subsystems.vision;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Optional;
+
+import org.littletonrobotics.junction.AutoLogOutput;
+import org.littletonrobotics.junction.Logger;
+
+import com.ctre.phoenix6.Utils;
+import com.ctre.phoenix6.hardware.CANcoder;
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.swerve.SwerveDrivetrain;
+
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.subsystems.vision.VisionIO.PoseObservation;
+import frc4388.utility.status.FaultReporter;
+import frc4388.utility.status.Queryable;
+import frc4388.utility.status.Status;
+
+public class Vision extends SubsystemBase implements Queryable {
+    VisionIO[] io;
+    VisionStateAutoLogged[] state;
+
+    
+    public Pose2d lastVisionPose = new Pose2d();
+    public Pose2d lastPhysOdomPose = new Pose2d();
+
+    public Vision(VisionIO... devices) {
+        FaultReporter.register(this);
+        io = devices;
+        state = new VisionStateAutoLogged[io.length];
+
+        for(int i = 0; i < io.length; i++) {
+            state[i] = new VisionStateAutoLogged();
+        }
+    }
+
+    @Override
+    public void periodic() {
+        for(int i = 0; i < io.length; i++) {
+            io[i].updateInputs(state[i]);
+            Logger.processInputs("Vision/Camera" + i , state[i]);
+        }
+    }
+
+    public List<PoseObservation> getPosesToAdd(){
+        List<PoseObservation> poses = new ArrayList<>();
+        for(int i = 0; i < state.length; i++) {
+            if(state[i].lastEstimatedPose != null) {
+                poses.add(state[i].lastEstimatedPose);
+            }
+        }
+
+        return poses;
+    }
+
+    public void setLastOdomPose(Pose2d pose){
+        if(pose != null)
+            lastPhysOdomPose = pose;
+    }
+
+    public boolean isTag(){
+        for(int i = 0; i < state.length; i++){
+            if(state[i].isTagDetected && state[i].isTagProcessed)
+                return true;
+        }
+        return false;
+    }
+
+    @AutoLogOutput
+    public Pose2d getPose2d() {
+        if(lastPhysOdomPose != null)
+            return lastPhysOdomPose;
+
+        // if(lastVisionPose != null)
+        //     return lastVisionPose;
+        return new Pose2d();
+
+    }
+
+    public static double getTime() {
+        return Utils.getCurrentTimeSeconds();
+    }
+
+
+    @Override
+    public Status diagnosticStatus() {
+        return new Status();
+        // // TODO Auto-generated method stub
+        // throw new UnsupportedOperationException("Unimplemented method 'diagnosticStatus'");
+    }
+    
+}
diff --git a/src/main/java/frc4388/robot/subsystems/vision/VisionIO.java b/src/main/java/frc4388/robot/subsystems/vision/VisionIO.java
new file mode 100644
index 0000000..f979135
--- /dev/null
+++ b/src/main/java/frc4388/robot/subsystems/vision/VisionIO.java
@@ -0,0 +1,22 @@
+package frc4388.robot.subsystems.vision;
+
+import org.littletonrobotics.junction.AutoLog;
+
+import edu.wpi.first.math.geometry.Pose2d;
+
+public interface VisionIO {
+    @AutoLog
+    public class VisionState {
+        public boolean isTagDetected = false;
+        public boolean isTagProcessed = false;
+        // public double latency = 0;
+        public PoseObservation lastEstimatedPose = null;
+    }
+
+    public static record PoseObservation(
+        Pose2d pose,
+        double timestamp
+    ) {}
+
+    public default void updateInputs(VisionState state) {}
+}
diff --git a/src/main/java/frc4388/robot/subsystems/vision/VisionReal.java b/src/main/java/frc4388/robot/subsystems/vision/VisionReal.java
new file mode 100644
index 0000000..1c12437
--- /dev/null
+++ b/src/main/java/frc4388/robot/subsystems/vision/VisionReal.java
@@ -0,0 +1,158 @@
+package frc4388.robot.subsystems.vision;
+
+import edu.wpi.first.math.geometry.Transform3d;
+import java.util.Optional;
+
+import org.photonvision.EstimatedRobotPose;
+import org.photonvision.PhotonCamera;
+import org.photonvision.PhotonPoseEstimator;
+import org.photonvision.PhotonPoseEstimator.PoseStrategy;
+import org.photonvision.targeting.PhotonPipelineResult;
+import frc4388.robot.constants.Constants.FieldConstants;
+import frc4388.robot.constants.Constants.VisionConstants;
+
+public class VisionReal implements VisionIO {
+    // private PhotonCamera[] cameras;
+    // private PhotonPoseEstimator[] estimators;
+    
+    private PhotonCamera camera;
+    private PhotonPoseEstimator estimator;
+
+    // public List<EstimatedRobotPose> poses = new ArrayList<>();
+
+    
+    public VisionReal(PhotonCamera camera, Transform3d position){
+        this.camera = camera;
+        estimator = new PhotonPoseEstimator(FieldConstants.kTagLayout, PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, position);
+        estimator.setMultiTagFallbackStrategy(PoseStrategy.LOWEST_AMBIGUITY);
+    }
+
+    // private Instant lastVisionTime = null;
+
+
+    public void updateInputs(VisionState state) {
+        state.isTagProcessed = false;
+        state.isTagDetected = false;
+
+        state.lastEstimatedPose = null;
+
+        var results = camera.getAllUnreadResults();
+
+        // If there are no more updates from the camera
+        if (results.size() == 0) 
+            return;
+
+        
+        var result = results.get(results.size()-1);
+
+        state.isTagDetected = state.isTagDetected | result.hasTargets();
+
+        // If there are no tags
+        if(!result.hasTargets())
+            return;
+
+        Optional<EstimatedRobotPose> estimatedRobotPose = getEstimatedGlobalPose(result, estimator);
+
+        // If the tag was failed to be processed
+        if(estimatedRobotPose.isEmpty())
+            return;
+        
+        EstimatedRobotPose pose = estimatedRobotPose.get();
+
+        state.lastEstimatedPose = new PoseObservation(pose.estimatedPose.toPose2d(), pose.timestampSeconds);
+
+        state.isTagProcessed = true;
+    }
+
+
+    /**
+     * The latest estimated robot pose on the field from vision data. This may be empty. This should
+     * only be called once per loop.
+     *
+     * <p>Also includes updates for the standard deviations, which can (optionally) be retrieved with
+     * {@link getEstimationStdDevs}
+     *
+     * @return An {@link EstimatedRobotPose} with an estimated pose, estimate timestamp, and targets
+     *     used for estimation.
+     */
+    public Optional<EstimatedRobotPose> getEstimatedGlobalPose(PhotonPipelineResult change, PhotonPoseEstimator estimator) {
+        Optional<EstimatedRobotPose> visionEst = Optional.empty();
+
+        var targets = change.getTargets();
+        for(int i = targets.size()-1; i >= 0; i--){
+            Transform3d pos = targets.get(i).getBestCameraToTarget();
+            double distance = Math.sqrt(Math.pow(pos.getX(),2) + Math.pow(pos.getY(),2) + Math.pow(pos.getZ(),2));
+            if (distance > VisionConstants.MIN_ESTIMATION_DISTANCE) {
+                change.targets.remove(i);
+            }
+        }
+
+        if(targets.size() <= 0)
+            return visionEst; // Will be empty
+
+        visionEst = estimator.update(change);
+        // updateEstimationStdDevs(visionEst, change.getTargets(), estimator);
+
+        return visionEst;
+    }
+
+    public String getName() {
+        return camera.getName();
+    }
+
+
+    // /**
+    //  * Calculates new standard deviations This algorithm is a heuristic that creates dynamic standard
+    //  * deviations based on number of tags, estimation strategy, and distance from the tags.
+    //  *
+    //  * @param estimatedPose The estimated pose to guess standard deviations for.
+    //  * @param targets All targets in this camera frame
+    //  */
+    // private void updateEstimationStdDevs(
+    //         Optional<EstimatedRobotPose> estimatedPose, 
+    //         List<PhotonTrackedTarget> targets,
+    //         PhotonPoseEstimator estimator) {
+    //     if (estimatedPose.isEmpty()) {
+    //         // No pose input. Default to single-tag std devs
+    //         curStdDevs = VisionConstants.kSingleTagStdDevs;
+
+    //     } else {
+    //         // Pose present. Start running Heuristic
+    //         var estStdDevs = VisionConstants.kSingleTagStdDevs;
+    //         int numTags = 0;
+    //         double avgDist = 0;
+
+    //         // Precalculation - see how many tags we found, and calculate an average-distance metric
+    //         for (var tgt : targets) {
+    //             var tagPose = estimator.getFieldTags().getTagPose(tgt.getFiducialId());
+    //             if (tagPose.isEmpty()) continue;
+                
+    //             double distance = tagPose
+    //             .get()
+    //             .toPose2d()
+    //             .getTranslation()
+    //             .getDistance(estimatedPose.get().estimatedPose.toPose2d().getTranslation());
+                
+    //             if (distance < VisionConstants.MIN_ESTIMATION_DISTANCE) {
+    //                 numTags++;
+    //                 avgDist += distance;
+    //             }
+    //         }
+
+    //         if (numTags == 0) {
+    //             // No tags visible. Default to single-tag std devs
+    //             curStdDevs = VisionConstants.kSingleTagStdDevs;
+    //         } else {
+    //             // One or more tags visible, run the full heuristic.
+    //             avgDist /= numTags;
+    //             // Decrease std devs if multiple targets are visible
+    //             if (numTags > 1) estStdDevs = VisionConstants.kMultiTagStdDevs;
+    //             // Increase std devs based on (average) distance
+    //             if (numTags == 1 && avgDist > 4)
+    //                 estStdDevs = VecBuilder.fill(Double.MAX_VALUE, Double.MAX_VALUE, Double.MAX_VALUE);
+    //             else estStdDevs = estStdDevs.times(1 + (avgDist * avgDist / 30));
+    //             curStdDevs = estStdDevs;
+    //         }
+    //     }
+    // }
+}
diff --git a/src/main/java/frc4388/utility/AprilTag.java b/src/main/java/frc4388/utility/AprilTag.java
deleted file mode 100644
index c2ad269..0000000
--- a/src/main/java/frc4388/utility/AprilTag.java
+++ /dev/null
@@ -1,13 +0,0 @@
-package frc4388.utility;
-
-// This is a seperate class in case I want to encode rotation or other
-// information about the tag
-public class AprilTag {
-    public final double x, y, z;
-
-    public AprilTag(double _x, double _y, double _z) {
-        x = _x;
-        y = _y;
-        z = _z;
-    }
-}
diff --git a/src/main/java/frc4388/utility/DeferredBlock.java b/src/main/java/frc4388/utility/DeferredBlock.java
index 20d3c57..c5a558e 100644
--- a/src/main/java/frc4388/utility/DeferredBlock.java
+++ b/src/main/java/frc4388/utility/DeferredBlock.java
@@ -2,22 +2,40 @@ package frc4388.utility;
 
 import java.util.ArrayList;
 
+// Class for running code snippets whenever the robot is enabled.
 public class DeferredBlock {
-    private static ArrayList<Runnable> m_blocks = new ArrayList<>();
+    private static ArrayList<Runnable> m_blocks_norerun = new ArrayList<>();
+    private static ArrayList<Runnable> m_blocks_rerun = new ArrayList<>();
     private static boolean             m_hasRun = false;
 
-    public DeferredBlock(Runnable block) {
-        m_blocks.add(block);
+    public static void addBlock(Runnable block) {
+        addBlock(block, false);
+    }
+
+
+    public static void addBlock(Runnable block, boolean rerun) {
+        if(rerun) {
+            m_blocks_rerun.add(block);
+        } else {
+            m_blocks_norerun.add(block);
+        }
     }
 
     public static void execute() {
-        if (m_hasRun) return;
 
-        for (Runnable block : m_blocks) {
+        // Run blocks that run multiple times.
+        for (Runnable block : m_blocks_rerun) {
             block.run();
         }
 
-        m_blocks.clear(); // for garbage collection
+        // Run blocks that only run once
+        if (m_hasRun) return;
+
+        for (Runnable block : m_blocks_norerun) {
+            block.run();
+        }
+
+        m_blocks_norerun.clear(); // for garbage collection
         m_hasRun = true;
     }
 }
diff --git a/src/main/java/frc4388/utility/RobotGyro.java b/src/main/java/frc4388/utility/RobotGyro.java
deleted file mode 100644
index 3ae503f..0000000
--- a/src/main/java/frc4388/utility/RobotGyro.java
+++ /dev/null
@@ -1,269 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc4388.utility;
-
-// import com.ctre.phoenix.sensors.WPI_Pigeon2;
-import com.ctre.phoenix6.hardware.Pigeon2;
-import com.kauailabs.navx.frc.AHRS;
-
-// import edu.wpi.first.wpilibj.GyroBase;
-// import edu.wpi.first.wpilibj.interfaces.Gyro;
-import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.math.geometry.Rotation2d;
-
-/**
- * Gyro class that allows for interchangeable use between a pigeon and a navX
- */
-public class RobotGyro {
-    private RobotTime m_robotTime = RobotTime.getInstance();
-
-    private Pigeon2 m_pigeon = null;
-    private AHRS m_navX = null;
-    public boolean m_isGyroAPigeon; //true if pigeon, false if navX
-
-    private double m_lastPigeonAngle;
-    private double m_deltaPigeonAngle;
-
-    private double pitchZero = 0;
-    private double rollZero = 0;
-
-    /**
-     * Creates a Gyro based on a pigeon
-     * @param gyro the gyroscope to use for Gyro
-     */
-    public RobotGyro(Pigeon2 gyro) {
-        m_pigeon = gyro;
-        m_isGyroAPigeon = true;
-    }
-
-    /**
-     * Creates a Gyro based on a navX
-     * @param gyro the gyroscope to use for Gyro
-     */
-    public RobotGyro(AHRS gyro){
-        m_navX = gyro;
-        m_isGyroAPigeon = false;
-    }
-
-    /**
-     * Resets yaw, pitch, and roll.
-     */
-    public void resetZeroValues() {
-        if (!m_isGyroAPigeon) return;
-
-        // pitchZero = m_pigeon.getPitch();
-        // rollZero =  m_pigeon.getRoll();
-    }
-
-    /**
-     * Run in periodic if you are using a pigeon. Updates a delta angle so that it can calculate getRate(). Note
-     * that the getRate() method for a navX will likely be much more accurate than for a pigeon.
-     */
-    public void updatePigeonDeltas() {
-        double currentPigeonAngle = getAngle();
-        m_deltaPigeonAngle = currentPigeonAngle - m_lastPigeonAngle;
-        m_lastPigeonAngle = currentPigeonAngle;
-    }
-
-    /**
-     * <p>NavX:
-     * <p>Calibrate the gyro by running for a number of samples and computing the center value. Then use
-     * the center value as the Accumulator center value for subsequent measurements. It's important to
-     * make sure that the robot is not moving while the centering calculations are in progress, this
-     * is typically done when the robot is first turned on while it's sitting at rest before the
-     * competition starts.
-     * 
-     * <p>Pigeon:
-     * <p>Calibrate the gyro by collecting data at a range of tempuratures. Allow pigeon to cool, then boot
-     * into calibration mode. For faster calibration, use a heat lamp to heat up the pigeon. Once the pigeon
-     * has seen a reasonable range of tempuratures, it will exit calibration mode. It's important to
-     * make sure that the robot is not moving while the tempurature calculations are in progress, this
-     * is typically done when the robot is first turned on while it's sitting at rest before the
-     * competition starts.
-     */
-    public void calibrate() {
-        return;
-        // if (m_isGyroAPigeon) {
-        //     m_pigeon.calibrate();
-        // } else {
-        //     m_navX.calibrate();
-        // }
-    }
-
-    public void reset() {
-        resetZeroValues();
-
-        if (m_isGyroAPigeon) {
-            m_pigeon.setYaw(0);
-        } else {
-            m_navX.reset();
-        }
-
-    }
-
-    public void reset(double val) {
-        resetZeroValues();
-
-        if (m_isGyroAPigeon) {
-            m_pigeon.setYaw(val);
-        } else {
-            m_navX.reset();
-        }
-
-    }
-
-    public void resetFlip() {
-        resetZeroValues();
-
-        if (m_isGyroAPigeon) {
-            m_pigeon.setYaw(180);
-        } else {
-            m_navX.reset();
-        }
-
-    }
-
-    public void resetNinety() {
-        resetZeroValues();
-        
-        if (m_isGyroAPigeon) {
-            m_pigeon.setYaw(90);
-        } else {
-            m_navX.reset();
-        }
-        
-    }
-
-    public void resetTwoSeventy() {
-        resetZeroValues();
-
-        if (m_isGyroAPigeon) {
-            m_pigeon.setYaw(270);
-        } else {
-            m_navX.reset();
-        }
-
-    }
-
-    public void resetRightSideBlue() {
-        resetZeroValues();
-
-        if (m_isGyroAPigeon) {
-            m_pigeon.setYaw(60);
-        } else {
-            m_navX.reset();
-        }   
-
-    }
-
-    public void resetAmpSide() {
-        resetZeroValues();
-
-        if (m_isGyroAPigeon) {
-            m_pigeon.setYaw(-60);
-        } else {
-            m_navX.reset();
-        }   
-
-    }
-
-    /**
-	 * Get Yaw, Pitch, and Roll data.
-	 *
-	 * @return ypr_deg Array with yaw[0], pitch[1], and roll[2] data.
-	 *					Yaw is within [-368,640, +368,640] degrees.
-	 *					Pitch is within [-90,+90] degrees.
-	 *					Roll is within [-90,+90] degrees.
-     */
-    private double[] getPigeonAngles() {
-        //m_pigeon.getAngle(); // This appeared to not do anything?
-        var rotation = m_pigeon.getRotation3d();
-
-        return new double[] {RobotUnits.radiansToDegrees(rotation.getX() - rollZero), RobotUnits.radiansToDegrees(rotation.getY() - pitchZero), RobotUnits.radiansToDegrees(rotation.getZ())};
-    }
-
-    public Rotation2d getRotation2d() {
-        return m_pigeon.getRotation2d();
-    }
-
-    public double getAngle() {
-        if (m_isGyroAPigeon) {
-            return getPigeonAngles()[2];
-        } else {
-            return m_navX.getAngle();
-        }
-    }
-
-    public double getYaw() {
-       return this.getAngle();
-    }
-
-    /**
-     * Gets an absolute heading of the robot
-     * @return heading from -180 to 180 degrees
-     */
-    public double getHeading() {
-        return getHeading(getAngle());
-    }
-
-    /**
-     * Gets an absolute heading of the robot
-     * @return heading from -180 to 180 degrees
-     */
-    public double getHeading(double angle) {
-        return Math.IEEEremainder(angle, 360);
-    }
-
-    /**
-     * Returns the current pitch value (in degrees, from -90 to 90)
-     * reported by the sensor.  Pitch is a measure of rotation around
-     * the Y Axis.
-     * @return The current pitch value in degrees (-90 to 90).
-     */
-    public double getPitch() {
-        if (m_isGyroAPigeon) {
-            return MathUtil.clamp(getPigeonAngles()[1], -90, 90);
-        } else {
-            return MathUtil.clamp(m_navX.getPitch(), -90, 90);
-        }
-    }
-
-    /**
-     * Returns the current roll value (in degrees, from -90 to 90)
-     * reported by the sensor.  Roll is a measure of rotation around
-     * the X Axis.
-     * @return The current roll value in degrees (-90 to 90).
-     */
-    public double getRoll() {
-        if (m_isGyroAPigeon) {
-            return MathUtil.clamp(getPigeonAngles()[2], -90, 90);
-        } else {
-            return MathUtil.clamp(m_navX.getRoll(), -90, 90);
-        }
-    }
-
-    public double getRate() {
-        if (m_isGyroAPigeon) {
-            return m_deltaPigeonAngle / m_robotTime.m_deltaTime * 1000;
-        } else {
-            return m_navX.getRate();
-        }
-    }
-
-    public Pigeon2 getPigeon(){
-        return m_pigeon;
-    }
-
-    public AHRS getNavX(){
-        return m_navX;
-    }
-
-    public void close() throws Exception {
-
-    }
-}
diff --git a/src/main/java/frc4388/utility/Subsystem.java b/src/main/java/frc4388/utility/Subsystem.java
deleted file mode 100644
index 961900d..0000000
--- a/src/main/java/frc4388/utility/Subsystem.java
+++ /dev/null
@@ -1,25 +0,0 @@
-package frc4388.utility;
-
-import java.util.ArrayList;
-import java.util.List;
-
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
-public abstract class Subsystem extends SubsystemBase {
-    public static List<Subsystem> subsystems = new ArrayList<>();
-
-    public Subsystem(){
-        subsystems.add(this);
-    }
-
-    public void Log(String str) {
-        System.out.println(getSubsystemName() + " - " + str);
-    }
-
-    // Get name of subsystem, for use in log.
-    public abstract String getSubsystemName();
-    // Get what the subystem is currently doing, such as "Shooter spun up". This should post to SmartDashboard
-    public abstract void queryStatus();
-    // Proactivly search for any errors in each subsystem
-    public abstract Status diagnosticStatus(); 
-}
diff --git a/src/main/java/frc4388/utility/DataUtils.java b/src/main/java/frc4388/utility/compute/DataUtils.java
similarity index 96%
rename from src/main/java/frc4388/utility/DataUtils.java
rename to src/main/java/frc4388/utility/compute/DataUtils.java
index 3d998b6..3b83190 100644
--- a/src/main/java/frc4388/utility/DataUtils.java
+++ b/src/main/java/frc4388/utility/compute/DataUtils.java
@@ -1,4 +1,4 @@
-package frc4388.utility;
+package frc4388.utility.compute;
 
 import java.nio.ByteBuffer;
 
diff --git a/src/main/java/frc4388/utility/compute/ReefPositionHelper.java b/src/main/java/frc4388/utility/compute/ReefPositionHelper.java
new file mode 100644
index 0000000..73dc6a5
--- /dev/null
+++ b/src/main/java/frc4388/utility/compute/ReefPositionHelper.java
@@ -0,0 +1,106 @@
+package frc4388.utility.compute;
+
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.util.Units;
+import frc4388.robot.constants.Constants.AutoConstants;
+import frc4388.robot.constants.Constants.FieldConstants;
+
+public class ReefPositionHelper {
+    public enum Side {
+        LEFT,
+        RIGHT,
+        CENTER,
+        FAR_LEFT
+    }
+
+    public static final Pose2d[] RED_TAGS = {
+        FieldConstants.kTagLayout.getTagPose(6).get().toPose2d(),
+        FieldConstants.kTagLayout.getTagPose(7).get().toPose2d(),
+        FieldConstants.kTagLayout.getTagPose(8).get().toPose2d(),
+        FieldConstants.kTagLayout.getTagPose(9).get().toPose2d(),
+        FieldConstants.kTagLayout.getTagPose(10).get().toPose2d(),
+        FieldConstants.kTagLayout.getTagPose(11).get().toPose2d()
+    };
+
+    public static final Pose2d[] BLUE_TAGS = {
+        FieldConstants.kTagLayout.getTagPose(17).get().toPose2d(),
+        FieldConstants.kTagLayout.getTagPose(18).get().toPose2d(),
+        FieldConstants.kTagLayout.getTagPose(19).get().toPose2d(),
+        FieldConstants.kTagLayout.getTagPose(20).get().toPose2d(),
+        FieldConstants.kTagLayout.getTagPose(21).get().toPose2d(),
+        FieldConstants.kTagLayout.getTagPose(22).get().toPose2d()
+    };
+
+    public static double distanceTo(Pose2d first, Pose2d second){
+        return Math.sqrt(Math.pow(first.getX()  -  second.getX(),2) + Math.pow(first.getY()  -  second.getY(),2));
+    }
+
+
+    /*
+    * Function to loop through a list of tag locations to figure out closest one
+    */
+    public static Pose2d getNearestTag(Pose2d[] locations, Pose2d position){
+        if(locations.length <= 0) return new Pose2d();
+
+        Pose2d minPos = locations[0];
+        double minDistance = distanceTo(position,minPos);
+
+        for(int i = 1; i < locations.length; i++){
+            double dist = distanceTo(locations[i],position);
+            if(dist < minDistance){
+                minPos = locations[i];
+                minDistance = dist;
+            }
+        }
+        
+        System.out.println(minPos.getRotation().getDegrees());
+
+        return minPos;
+    }
+
+    /*
+     * Function to find closest tag location based on side
+     */
+    public static Pose2d getNearestTag(Pose2d position) {
+
+        if(TimesNegativeOne.isRed)
+            return getNearestTag(RED_TAGS, position);
+        else
+            return getNearestTag(BLUE_TAGS, position);
+    }
+
+    public static Pose2d getNearestPosition(Pose2d position, Side side, double xtrim, double ydistance) {
+        return offset(getNearestTag(position), 
+        getSide(side) + xtrim,
+        ydistance); 
+    }
+
+    public static double getSide(Side side){
+        switch(side) {
+            case LEFT:
+                return -(AutoConstants.X_SCORING_POSITION_OFFSET);
+            case FAR_LEFT:
+                return -(AutoConstants.X_SCORING_POSITION_OFFSET+Units.inchesToMeters(8));
+            case RIGHT:
+                return (AutoConstants.X_SCORING_POSITION_OFFSET);
+            case CENTER:
+                return 0;
+        }
+        assert false;
+        return 0;
+    }
+
+
+    public static Pose2d offset(Pose2d oldPose, double xoffset, double yoffset){
+        Translation2d oldTranslation = oldPose.getTranslation();
+        
+        double rot = oldPose.getRotation().getRadians();
+
+        return new Pose2d(new Translation2d(
+            oldTranslation.getX() + Math.cos(rot + Math.PI/2) * xoffset + Math.cos(rot) * yoffset,
+            oldTranslation.getY() + Math.sin(rot + Math.PI/2) * xoffset + Math.sin(rot) * yoffset
+        ), oldPose.getRotation().rotateBy(Rotation2d.k180deg));
+    }
+}
diff --git a/src/main/java/frc4388/utility/RobotTime.java b/src/main/java/frc4388/utility/compute/RobotTime.java
similarity index 98%
rename from src/main/java/frc4388/utility/RobotTime.java
rename to src/main/java/frc4388/utility/compute/RobotTime.java
index 694f850..ebb43d8 100644
--- a/src/main/java/frc4388/utility/RobotTime.java
+++ b/src/main/java/frc4388/utility/compute/RobotTime.java
@@ -5,7 +5,7 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
-package frc4388.utility;
+package frc4388.utility.compute;
 
 /**
  * <p>Keeps track of Robot times like time passed, delta time, etc
diff --git a/src/main/java/frc4388/utility/RobotUnits.java b/src/main/java/frc4388/utility/compute/RobotUnits.java
similarity index 96%
rename from src/main/java/frc4388/utility/RobotUnits.java
rename to src/main/java/frc4388/utility/compute/RobotUnits.java
index 9e07312..0f76d06 100644
--- a/src/main/java/frc4388/utility/RobotUnits.java
+++ b/src/main/java/frc4388/utility/compute/RobotUnits.java
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package frc4388.utility;
+package frc4388.utility.compute;
 
 /** Aarav's good units class (better than WPILib)
  * @author Aarav Shah */
diff --git a/src/main/java/frc4388/utility/compute/TimesNegativeOne.java b/src/main/java/frc4388/utility/compute/TimesNegativeOne.java
new file mode 100644
index 0000000..2ba0d55
--- /dev/null
+++ b/src/main/java/frc4388/utility/compute/TimesNegativeOne.java
@@ -0,0 +1,51 @@
+package frc4388.utility.compute;
+
+import java.util.Optional;
+
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import frc4388.robot.subsystems.swerve.SwerveDriveConstants;
+
+// Class that holds weather the drivers sticks should be inverted
+public class TimesNegativeOne {
+
+    public static boolean XAxis = SwerveDriveConstants.INVERT_X;
+    public static boolean YAxis = SwerveDriveConstants.INVERT_Y;
+    public static boolean RotAxis = SwerveDriveConstants.INVERT_ROTATION;
+    public static boolean isRed = false;
+    public static Rotation2d ForwardOffset = Rotation2d.fromDegrees(SwerveDriveConstants.FORWARD_OFFSET);
+
+    private static boolean isRed() {
+        Optional<Alliance> alliance = DriverStation.getAlliance();
+        if(alliance.isEmpty()) return false;
+        return (alliance.get() == Alliance.Red);
+    }
+
+    public static void update(){
+        isRed = isRed();
+        XAxis = SwerveDriveConstants.INVERT_X ^ isRed;
+        YAxis = SwerveDriveConstants.INVERT_Y ^ isRed;
+        RotAxis = SwerveDriveConstants.INVERT_ROTATION;
+        ForwardOffset = Rotation2d.fromDegrees((SwerveDriveConstants.FORWARD_OFFSET + (isRed ? 0 : 0)));
+        SmartDashboard.putBoolean("Is red alliance", isRed);
+    }
+
+    public static double invert(double num, boolean invert){
+        return invert ? -num : num;
+    }
+
+    public static Translation2d invert(Translation2d stick, boolean invertXY){
+        if(invertXY) return stick.times(-1);
+        else return stick;
+    }
+
+    public static Translation2d invert(Translation2d stick, boolean invertX, boolean invertY){
+        return new Translation2d(
+            invert(stick.getX(), invertX), 
+            invert(stick.getY(), invertY)
+        );
+    }
+}
diff --git a/src/main/java/frc4388/utility/compute/Trim.java b/src/main/java/frc4388/utility/compute/Trim.java
new file mode 100644
index 0000000..429d526
--- /dev/null
+++ b/src/main/java/frc4388/utility/compute/Trim.java
@@ -0,0 +1,145 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.utility.compute;
+
+import java.io.FileInputStream;
+import java.io.FileOutputStream;
+import java.util.ArrayList;
+
+import edu.wpi.first.networktables.GenericEntry;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+
+/**
+ * Reboot persistant Trims.
+ * @author Zachary Wilke
+ */
+public class Trim {
+    private static ArrayList<Trim> trims = new ArrayList<Trim>();
+    private static ShuffleboardTab trimTab = Shuffleboard.getTab("Trims");
+
+    private String trimName; 
+    private double upperBound;
+    private double lowerBound;
+    private double step;
+
+    private boolean modified = false;
+    private double currentValue;
+    private boolean persistant = false;
+
+    private GenericEntry trimElement = null;
+
+    /**
+     * Creates a variably Trim with a given name, upper and lower bounds, step size and intial value
+     * @param trimName please keep the trim name without special symbols
+     * @param upperBound the upper limit inclusive
+     * @param lowerBound the lower limit inclusive
+     * @param step the step size
+     * @param inital the inital value, will get overridden if the persistant trim exists on disk.
+     * @param persistnat Weather the trim is persistant or not
+     */
+    public Trim(String trimName, double upperBound, double lowerBound, double step, double inital, boolean persistant) {
+        this.trimName = trimName;
+        this.upperBound = upperBound;
+        this.lowerBound = lowerBound;
+        this.step = step;
+        this.persistant = persistant;
+        currentValue = inital;
+        load();
+        trimElement = trimTab.add(trimName, currentValue).getEntry();
+
+        trims.add(this);
+    }
+
+    /**
+     * Creates a non-Trim with a given name, upper and lower bounds, step size and intial value
+     * @param trimName please keep the trim name without special symbols
+     * @param upperBound the upper limit inclusive
+     * @param lowerBound the lower limit inclusive
+     * @param step the step size
+     * @param inital the inital value, will get overridden if the persistant trim exists on disk.
+     */
+    public Trim(String trimName, double upperBound, double lowerBound, double step, double inital) {
+        this.trimName = trimName;
+        this.upperBound = upperBound;
+        this.lowerBound = lowerBound;
+        this.step = step;
+        currentValue = inital;
+        load();
+        trimElement = trimTab.add(trimName, currentValue).getEntry();
+
+        trims.add(this);
+    }
+
+    private void clampModify() {
+        currentValue = Math.min(upperBound, Math.max(currentValue, lowerBound));
+        if (trimElement != null) 
+            trimElement.setValue(currentValue);
+        modified = true;
+    }
+
+    public void stepUp() {
+        this.currentValue += step;
+        clampModify();
+    }
+
+    public void stepDown() {
+        this.currentValue -= step;
+        clampModify();
+    }
+    
+    public void set(double value) {
+        this.currentValue = value;
+        clampModify();
+    }
+
+    public double get() {
+        return this.currentValue;
+    }
+
+    public boolean isModified() {
+        return modified;
+    }
+
+    public boolean load() {
+        if(!persistant)
+            return false;
+
+        try (FileInputStream stream = new FileInputStream("/home/lvuser/trims/" + trimName)) {
+            double fileValue = DataUtils.byteArrayToDouble(stream.readNBytes(8));
+            currentValue = fileValue;
+            clampModify();
+            modified = false;
+            if (fileValue != currentValue) {
+                System.out.println("TRIMS: Loaded trim `" + trimName + "` has a value that is higher than or less than the bounds set for the trim, clamping...");
+                modified = true;
+            }
+            return true;
+        } catch (Exception e) {
+            // e.printStackTrace();
+            System.out.println("TRIMS: Unable to read trim file `" + trimName + "`, using current value...");
+            return false;
+        }
+        
+    }
+
+    public void dump() {
+        try (FileOutputStream stream = new FileOutputStream("/home/lvuser/trims/" + trimName)) {
+            stream.write(DataUtils.doubleToByteArray(currentValue));
+            modified = false;
+        } catch (Exception e) {
+            // e.printStackTrace();
+            System.out.println("TRIMS: Unable to write to trim file `" + trimName + "`!?!");
+        }
+    }
+
+    public static void dumpAll() {
+        for (int i = 0; i < trims.size(); i++) {
+            Trim trim = trims.get(i);
+            if (trim.isModified()) 
+                trim.dump();
+        }
+    }
+}
diff --git a/src/main/java/frc4388/utility/controller/ButtonBox.java b/src/main/java/frc4388/utility/controller/ButtonBox.java
new file mode 100644
index 0000000..33c7744
--- /dev/null
+++ b/src/main/java/frc4388/utility/controller/ButtonBox.java
@@ -0,0 +1,19 @@
+package frc4388.utility.controller;
+
+import edu.wpi.first.wpilibj.GenericHID;
+
+public class ButtonBox extends GenericHID {
+    public static final int White = 1;
+    public static final int One = 2;
+    public static final int Two = 3;
+    public static final int Three = 4;
+    public static final int Four = 5;
+    public static final int Five = 6;
+    public static final int Six = 7;
+    public static final int Seven = 8;
+    public static final int Eight = 9;
+
+    public ButtonBox(int ID){
+        super(ID);
+    }
+}
diff --git a/src/main/java/frc4388/utility/controller/DeadbandedXboxController.java b/src/main/java/frc4388/utility/controller/DeadbandedXboxController.java
index 4577a2e..ae4202b 100644
--- a/src/main/java/frc4388/utility/controller/DeadbandedXboxController.java
+++ b/src/main/java/frc4388/utility/controller/DeadbandedXboxController.java
@@ -1,6 +1,7 @@
+
 package frc4388.utility.controller;
 
-import static frc4388.robot.Constants.OIConstants.LEFT_AXIS_DEADBAND;
+import static frc4388.robot.constants.Constants.OIConstants.LEFT_AXIS_DEADBAND;
 
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj.XboxController;
diff --git a/src/main/java/frc4388/utility/status/Alerts.java b/src/main/java/frc4388/utility/status/Alerts.java
new file mode 100644
index 0000000..4065586
--- /dev/null
+++ b/src/main/java/frc4388/utility/status/Alerts.java
@@ -0,0 +1,10 @@
+package frc4388.utility.status;
+
+import edu.wpi.first.wpilibj.Alert;
+import edu.wpi.first.wpilibj.Alert.AlertType;
+import frc4388.robot.RobotContainer;
+
+// Class to update a series of WPILIB Alerts
+public class Alerts {
+  public static Alert no_auto = new Alert("No auto has been selected!", AlertType.kError);
+}
diff --git a/src/main/java/frc4388/utility/CanDevice.java b/src/main/java/frc4388/utility/status/CanDevice.java
similarity index 72%
rename from src/main/java/frc4388/utility/CanDevice.java
rename to src/main/java/frc4388/utility/status/CanDevice.java
index ec05fdb..ef72647 100644
--- a/src/main/java/frc4388/utility/CanDevice.java
+++ b/src/main/java/frc4388/utility/status/CanDevice.java
@@ -1,13 +1,9 @@
-package frc4388.utility;
+package frc4388.utility.status;
 
 import java.util.ArrayList;
 import java.util.List;
 
-import edu.wpi.first.hal.CANData;
-import edu.wpi.first.hal.can.CANJNI;
-import edu.wpi.first.wpilibj.CAN;
-import frc4388.utility.Status.Report;
-import frc4388.utility.Status.ReportLevel;
+import frc4388.utility.status.Status.ReportLevel;
 
 public class CanDevice {
     public static List<CanDevice> devices = new ArrayList<>();
@@ -35,13 +31,13 @@ public class CanDevice {
         System.out.println(getName() + " - " + str);
     }
 
-    public Status queryStatus() {
-         Status s = new Status();
+    // public Status queryStatus() {
+    //      Status s = new Status();
 
-        s.addReport(ReportLevel.INFO, "TODO");
+    //     s.addReport(ReportLevel.INFO, "TODO");
 
-        return s;
-    }
+    //     return s;
+    // }
 
     public Status diagnosticStatus() {
         Status s = new Status();
diff --git a/src/main/java/frc4388/utility/status/FaultCANCoder.java b/src/main/java/frc4388/utility/status/FaultCANCoder.java
new file mode 100644
index 0000000..a1631fb
--- /dev/null
+++ b/src/main/java/frc4388/utility/status/FaultCANCoder.java
@@ -0,0 +1,76 @@
+package frc4388.utility.status;
+
+import com.ctre.phoenix6.controls.EmptyControl;
+import com.ctre.phoenix6.hardware.CANcoder;
+
+import frc4388.utility.status.Status.ReportLevel;
+
+public class FaultCANCoder implements Queryable {
+    private String name;
+    private CANcoder cancoder;
+
+    public static void addDevice(CANcoder cancoder, String name) {
+        FaultCANCoder p = new FaultCANCoder();
+
+        p.name = name;
+        p.cancoder = cancoder;
+
+        FaultReporter.register(p);
+    }
+
+    @Override
+    public String getName() {
+        return name;
+    }
+    
+    @Override
+    public Status diagnosticStatus() {
+        Status s = new Status();
+
+        boolean debounceBad = !QueryUtils.isDebounceOk(cancoder.getSupplyVoltage());
+        boolean emptyControlBad = cancoder.setControl(new EmptyControl()).value != 0;
+
+        if(debounceBad || emptyControlBad) {
+            s.addReport(ReportLevel.ERROR, "device is unreachable - Failed" + 
+            (debounceBad ? " Failed debounce test" : "") + 
+            (emptyControlBad ? " Failed empty control test" : "")
+            );
+        }
+
+        // faults
+        if (cancoder.getFault_Hardware().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "Hardware fault detected");
+        }
+        if (cancoder.getFault_BootDuringEnable().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "Device booted while enabled");
+        }
+        if (cancoder.getFault_BadMagnet().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "Bad magnet");
+        }
+        if (cancoder.getFault_Undervoltage().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "Device supply voltage near brownout");
+        }
+        if (cancoder.getFault_UnlicensedFeatureInUse().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "Unlicensed feature in use");
+        }
+    
+        // sticky faults
+        if (cancoder.getStickyFault_Hardware().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] Hardware fault detected");
+        }
+        if (cancoder.getStickyFault_BootDuringEnable().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] Device booted while enabled");
+        }
+        if (cancoder.getStickyFault_BadMagnet().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] Bad magnet");
+        }
+        if (cancoder.getStickyFault_Undervoltage().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] Device supply voltage near brownout");
+        }
+        if (cancoder.getStickyFault_UnlicensedFeatureInUse().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] Unlicensed feature in use");
+        }
+
+        return s;
+    }
+}
diff --git a/src/main/java/frc4388/utility/status/FaultPhotonCamera.java b/src/main/java/frc4388/utility/status/FaultPhotonCamera.java
new file mode 100644
index 0000000..5ea8b70
--- /dev/null
+++ b/src/main/java/frc4388/utility/status/FaultPhotonCamera.java
@@ -0,0 +1,35 @@
+package frc4388.utility.status;
+
+import org.photonvision.PhotonCamera;
+
+import frc4388.utility.status.Status.ReportLevel;
+
+public class FaultPhotonCamera implements Queryable {
+    private String name;
+    private PhotonCamera cam;
+
+    public static void addDevice(PhotonCamera cam, String name) {
+        FaultPhotonCamera p = new FaultPhotonCamera();
+
+        p.name = name;
+        p.cam = cam;
+
+        FaultReporter.register(p);
+    }
+
+    @Override
+    public String getName() {
+        return name;
+    }
+
+    @Override
+    public Status diagnosticStatus() {
+        Status s = new Status();
+
+        if(!cam.isConnected())
+            s.addReport(ReportLevel.ERROR, "Not Connected!");
+
+        return s;
+    }
+}
+
diff --git a/src/main/java/frc4388/utility/status/FaultPidgeon2.java b/src/main/java/frc4388/utility/status/FaultPidgeon2.java
new file mode 100644
index 0000000..1e0bb4f
--- /dev/null
+++ b/src/main/java/frc4388/utility/status/FaultPidgeon2.java
@@ -0,0 +1,168 @@
+package frc4388.utility.status;
+
+import com.ctre.phoenix6.controls.EmptyControl;
+import com.ctre.phoenix6.hardware.Pigeon2;
+
+import frc4388.utility.status.Status.ReportLevel;
+
+public class FaultPidgeon2 implements Queryable {
+    private String name;
+    private Pigeon2 pigeon2;
+
+    public static void addDevice(Pigeon2 pigeon2, String name) {
+        FaultPidgeon2 p = new FaultPidgeon2();
+
+        p.name = name;
+        p.pigeon2 = pigeon2;
+
+        FaultReporter.register(p);
+    }
+
+    @Override
+    public String getName() {
+        return name;
+    }
+    
+    @Override
+    public Status diagnosticStatus() {
+        Status s = new Status();
+
+
+
+        boolean debounceBad = !QueryUtils.isDebounceOk(pigeon2.getSupplyVoltage());
+        boolean emptyControlBad = pigeon2.setControl(new EmptyControl()).value != 0;
+
+        if(debounceBad || emptyControlBad) {
+            s.addReport(ReportLevel.ERROR, "device is unreachable - Failed" + 
+            (debounceBad ? " Failed debounce test" : "") + 
+            (emptyControlBad ? " Failed empty control test" : "")
+            );
+        }
+
+
+        s.addReport(ReportLevel.INFO, "Voltage: " + pigeon2.getSupplyVoltage());
+
+        s.addReport(ReportLevel.INFO, "Pitch: " + pigeon2.getPitch());
+        s.addReport(ReportLevel.INFO, "Yaw: " + pigeon2.getYaw());
+        s.addReport(ReportLevel.INFO, "Roll: " + pigeon2.getRoll());
+
+        s.addReport(ReportLevel.INFO, "Acceleration X: " + pigeon2.getAccelerationX());
+        s.addReport(ReportLevel.INFO, "Acceleration Y: " + pigeon2.getAccelerationY());
+        s.addReport(ReportLevel.INFO, "Acceleration Z: " + pigeon2.getAccelerationZ());
+
+        s.addReport(ReportLevel.INFO, "Magnomiter X: " + pigeon2.getMagneticFieldX());
+        s.addReport(ReportLevel.INFO, "Magnomiter Y: " + pigeon2.getMagneticFieldY());
+        s.addReport(ReportLevel.INFO, "Magnomiter Z: " + pigeon2.getMagneticFieldZ());
+
+
+        // faults
+        if (pigeon2.getFault_BootDuringEnable().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "Device booted while enabled");
+        }
+        if (pigeon2.getFault_BootIntoMotion().getValue() == Boolean.TRUE) {
+        s.addReport(ReportLevel.ERROR, "Device booted while in motion");
+        }
+        if (pigeon2.getFault_BootupAccelerometer().getValue() == Boolean.TRUE) {
+        s.addReport(ReportLevel.ERROR, "Accelerometer fault detected");
+        }
+        if (pigeon2.getFault_BootupGyroscope().getValue() == Boolean.TRUE) {
+        s.addReport(ReportLevel.ERROR, "Gyro fault detected");
+        }
+        if (pigeon2.getFault_BootupMagnetometer().getValue() == Boolean.TRUE) {
+        s.addReport(ReportLevel.ERROR, "Magnetometer fault detected");
+        }
+        if (pigeon2.getFault_DataAcquiredLate().getValue() == Boolean.TRUE) {
+        s.addReport(
+            ReportLevel.ERROR, 
+                "Motion stack data acquisition slower than expected");
+        }
+        if (pigeon2.getFault_Hardware().getValue() == Boolean.TRUE) {
+        s.addReport(ReportLevel.ERROR, "Hardware fault detected");
+        }
+        if (pigeon2.getFault_LoopTimeSlow().getValue() == Boolean.TRUE) {
+        s.addReport(
+            ReportLevel.ERROR, 
+                "Motion stack loop time was slower than expected");
+        }
+        if (pigeon2.getFault_SaturatedAccelerometer().getValue() == Boolean.TRUE) {
+        s.addReport(
+            ReportLevel.ERROR, "Accelerometer values are saturated");
+        }
+        if (pigeon2.getFault_SaturatedGyroscope().getValue() == Boolean.TRUE) {
+        s.addReport(ReportLevel.ERROR, "Gyro values are saturated");
+        }
+        if (pigeon2.getFault_SaturatedMagnetometer().getValue() == Boolean.TRUE) {
+        s.addReport(
+            ReportLevel.ERROR, "Magnetometer values are saturated");
+        }
+        if (pigeon2.getFault_Undervoltage().getValue() == Boolean.TRUE) {
+        s.addReport(
+            ReportLevel.ERROR, "Device supply voltage near brownout");
+        }
+        if (pigeon2.getFault_UnlicensedFeatureInUse().getValue() == Boolean.TRUE) {
+        s.addReport(ReportLevel.ERROR, "Unlicensed feature in use");
+        }
+
+        // sticky faults
+        if (pigeon2.getStickyFault_BootDuringEnable().getValue() == Boolean.TRUE) {
+        s.addReport(
+            ReportLevel.ERROR, "[STICKY] Device booted while enabled");
+        }
+        if (pigeon2.getStickyFault_BootIntoMotion().getValue() == Boolean.TRUE) {
+        s.addReport(
+            ReportLevel.ERROR, "[STICKY] Device booted while in motion");
+        }
+        if (pigeon2.getStickyFault_BootupAccelerometer().getValue() == Boolean.TRUE) {
+        s.addReport(
+            ReportLevel.ERROR, "[STICKY] Accelerometer fault detected");
+        }
+        if (pigeon2.getStickyFault_BootupGyroscope().getValue() == Boolean.TRUE) {
+        s.addReport(ReportLevel.ERROR, "[STICKY] Gyro fault detected");
+        }
+        if (pigeon2.getStickyFault_BootupMagnetometer().getValue() == Boolean.TRUE) {
+        s.addReport(
+            ReportLevel.ERROR, "[STICKY] Magnetometer fault detected");
+        }
+        if (pigeon2.getStickyFault_DataAcquiredLate().getValue() == Boolean.TRUE) {
+        s.addReport(
+            ReportLevel.ERROR, 
+                String.format(
+                    "[STICKY] Motion stack data acquisition slower than expected"));
+        }
+        if (pigeon2.getStickyFault_Hardware().getValue() == Boolean.TRUE) {
+        s.addReport(
+            ReportLevel.ERROR, "[STICKY] Hardware fault detected");
+        }
+        if (pigeon2.getStickyFault_LoopTimeSlow().getValue() == Boolean.TRUE) {
+        s.addReport(
+            ReportLevel.ERROR, 
+                String.format(
+                    "[STICKY] Motion stack loop time was slower than expected"));
+        }
+        if (pigeon2.getStickyFault_SaturatedAccelerometer().getValue() == Boolean.TRUE) {
+        s.addReport(
+            ReportLevel.ERROR, 
+                "[STICKY] Accelerometer values are saturated");
+        }
+        if (pigeon2.getStickyFault_SaturatedGyroscope().getValue() == Boolean.TRUE) {
+        s.addReport(
+            ReportLevel.ERROR, "[STICKY] Gyro values are saturated");
+        }
+        if (pigeon2.getStickyFault_SaturatedMagnetometer().getValue() == Boolean.TRUE) {
+        s.addReport(
+            ReportLevel.ERROR, 
+                "[STICKY] Magnetometer values are saturated");
+        }
+        if (pigeon2.getStickyFault_Undervoltage().getValue() == Boolean.TRUE) {
+        s.addReport(
+            ReportLevel.ERROR, 
+                "[STICKY] Device supply voltage near brownout");
+        }
+        if (pigeon2.getStickyFault_UnlicensedFeatureInUse().getValue() == Boolean.TRUE) {
+        s.addReport(
+            ReportLevel.ERROR, "[STICKY] Unlicensed feature in use");
+        }
+      
+        return s;
+    }
+}
diff --git a/src/main/java/frc4388/utility/status/FaultReporter.java b/src/main/java/frc4388/utility/status/FaultReporter.java
new file mode 100644
index 0000000..afd4dd4
--- /dev/null
+++ b/src/main/java/frc4388/utility/status/FaultReporter.java
@@ -0,0 +1,133 @@
+package frc4388.utility.status;
+
+import java.util.ArrayList;
+import java.util.List;
+
+import com.ctre.phoenix6.CANBus;
+import com.ctre.phoenix6.CANBus.CANBusStatus;
+
+import frc4388.robot.constants.Constants;
+import frc4388.utility.status.Status.Report;
+import frc4388.utility.status.Status.ReportLevel;
+
+public class FaultReporter {
+
+    private static final String REPORTS_HEADER = 
+    "###############\n" + //
+    "#.............#\n" + //
+    "#...Reports...#\n" + //
+    "#.............#\n" + //
+    "###############\n";
+
+
+    private static final String CAN_HEADER = 
+    "###############\n" + //
+    "#.............#\n" + //
+    "#....CAN(t)...#\n" + //
+    "#.............#\n" + //
+    "###############\n";
+
+    private static final String ERROR_HEADER = 
+    "###############\n" + //
+    "#.............#\n" + //
+    "#....ERRORS...#\n" + //
+    "#.............#\n" + //
+    "###############\n";
+
+    private static List<Queryable> queryables = new ArrayList<>();
+
+    // public static void startThread() {
+    //     new Thread() {
+    //         public void run() {
+    //           try{
+    //           while(!this.isInterrupted() && this.isAlive()){
+    //             Thread.sleep(500);
+    //             for(int i=0;i<queryables.size(); i++){
+    //               queryables.get(i).queryStatus();
+    //             }
+      
+    //             // System.out.println("Updated statuses!");
+                
+    //           }
+    //           }catch(Exception e){
+    //               e.printStackTrace();
+    //           }
+    //         }
+    //     }.start();
+    // }
+
+    public static void register(Queryable q) {
+        queryables.add(q);
+    }
+
+    private static void Log(Queryable q, String s){
+        System.out.println(q.getName() + " - " + s);
+    }
+
+    public static void printReport() {
+
+        List<String> errors = new ArrayList<>();
+
+        // Subsystems header
+        System.out.println(REPORTS_HEADER);
+
+        for(int i=0;i< queryables.size();i++){
+
+            Queryable q = queryables.get(i);
+            System.out.println("** Subsystem diagnostic report for " + q.getName() + ":");
+            Status status = q.diagnosticStatus();
+
+            for(int a=0;a<status.reports.size();a++){
+                Report r = status.reports.get(a);
+                if(r.reportLevel == ReportLevel.ERROR)
+                errors.add(q.getName() + " - " + r.toString());
+                Log(q, r.toString());
+            }
+        }
+
+        
+        // CAN header
+        System.out.println(CAN_HEADER);
+
+        CANBus canBus = new CANBus(Constants.CANBUS_NAME);
+        
+        CANBusStatus canInfo = canBus.getStatus();
+        
+        System.out.println("CANInfo BusOffCount     - " + canInfo.BusOffCount);
+        System.out.println("CANInfo BusUtilization  - " + canInfo.BusUtilization);
+        System.out.println("CANInfo RX Errors count - " + canInfo.REC);
+        System.out.println("CANInfo TX Errors count - " + canInfo.TEC);
+        System.out.println("CANInfo Transmit buffer full count - " + canInfo.TxFullCount);
+        // Broken turniary operator
+        ReportLevel canReportLevel = canInfo.Status.isOK() ? (canInfo.Status.isWarning() ? ReportLevel.WARNING : ReportLevel.ERROR) : ReportLevel.INFO;
+        String canStatus = "CAN " + canReportLevel.name() + " - " + canInfo.Status.getName() + " (" + canInfo.Status.getDescription() + ")";
+        if(canReportLevel == ReportLevel.ERROR) {
+            errors.add(canStatus);
+        }
+        System.out.println(canStatus);
+
+        // for(int i=0;i<CanDevice.devices.size();i++){
+
+        //     CanDevice device = CanDevice.devices.get(i);
+        //     System.out.println("** CAN diagnostic report for " + device.name + ":");
+        //     Status status = device.diagnosticStatus();
+
+        //     for(int a=0;a<status.reports.size();a++){
+        //         Report r = status.reports.get(a);
+        //         if(r.reportLevel == ReportLevel.ERROR)
+        //         errors.add(device.getName() + " - " + r.toString());
+        //         device.Log(r.toString());
+        //     }
+        // }
+
+            // System.out.println("Found CAN devices: " + new DeviceFinder().Find());
+            
+        if(errors.size() > 0) {
+            // Errors header
+            System.out.println(ERROR_HEADER);
+            for(int i=0;i<errors.size(); i++){
+                System.out.println(errors.get(i));
+            }
+        }
+    }
+}
diff --git a/src/main/java/frc4388/utility/status/FaultTalonFX.java b/src/main/java/frc4388/utility/status/FaultTalonFX.java
new file mode 100644
index 0000000..57b24d4
--- /dev/null
+++ b/src/main/java/frc4388/utility/status/FaultTalonFX.java
@@ -0,0 +1,154 @@
+package frc4388.utility.status;
+
+import com.ctre.phoenix6.controls.EmptyControl;
+import com.ctre.phoenix6.hardware.TalonFX;
+
+import frc4388.utility.status.Status.ReportLevel;
+
+public class FaultTalonFX implements Queryable {
+    private String name;
+    private TalonFX motor;
+
+    public static void addDevice(TalonFX motor, String name) {
+        FaultTalonFX p = new FaultTalonFX();
+
+        p.name = name;
+        p.motor = motor;
+
+        FaultReporter.register(p);
+    }
+
+    @Override
+    public String getName() {
+        return name;
+    }
+
+    @Override
+    public Status diagnosticStatus() {
+        Status s = new Status();
+
+
+        boolean debounceBad = !QueryUtils.isDebounceOk(motor.getSupplyVoltage());
+        boolean emptyControlBad = motor.setControl(new EmptyControl()).value != 0;
+
+        if(debounceBad || emptyControlBad) {
+            s.addReport(ReportLevel.ERROR, "device is unreachable - Failed" + 
+            (debounceBad ? " Failed debounce test" : "") + 
+            (emptyControlBad ? " Failed empty control test" : "")
+            );
+        }
+
+
+        s.addReport(ReportLevel.INFO, "Voltage: " + motor.getSupplyVoltage());
+        s.addReport(ReportLevel.INFO, "Current: " + motor.getSupplyCurrent());
+        s.addReport(ReportLevel.INFO, "Device temp: " + motor.getDeviceTemp());
+        s.addReport(ReportLevel.INFO, "Processor temp: " + motor.getProcessorTemp());
+        s.addReport(ReportLevel.INFO, "Position: " + motor.getPosition());
+        s.addReport(ReportLevel.INFO, "Velocity: " + motor.getVelocity());
+        s.addReport(ReportLevel.INFO, "Acceleration: " + motor.getAcceleration());
+
+        // faults<
+        if (motor.getFault_BootDuringEnable().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "Device booted while enabled");
+        }
+        if (motor.getFault_BridgeBrownout().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "Bridge was disabled most likely due to supply voltage dropping too low");
+        }
+        if (motor.getFault_DeviceTemp().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "Device temperature exceeded limit");
+        }
+        if (motor.getFault_FusedSensorOutOfSync().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "Remote sensor is out of sync");
+        }
+        if (motor.getFault_Hardware().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "Hardware failure detected");
+        }
+        if (motor.getFault_MissingDifferentialFX().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "The remote Talon used for differential control is not present");
+        }
+        if (motor.getFault_MissingHardLimitRemote().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR,"The remote limit switch device is not present");
+        }
+        if (motor.getFault_MissingSoftLimitRemote().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "The remote soft limit device is not present");
+        }
+        if (motor.getFault_OverSupplyV().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "Supply voltage exceeded limit");
+        }
+        if (motor.getFault_ProcTemp().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "Processor temperature exceeded limit");
+        }
+        if (motor.getFault_RemoteSensorDataInvalid().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "The remote sensor's data is no longer trusted");
+        }
+        if (motor.getFault_RemoteSensorPosOverflow().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "remote sensor position has overflowed");
+        }
+        if (motor.getFault_RemoteSensorReset().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "The remote sensor has reset");
+        }
+        if (motor.getFault_Undervoltage().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, " Device supply voltage near brownout");
+        }
+        if (motor.getFault_UnlicensedFeatureInUse().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "Unlicensed feature in use");
+        }
+        if (motor.getFault_UnstableSupplyV().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "Supply voltage is unstable");
+        }
+  
+
+        // sticky faults
+        if (motor.getStickyFault_BootDuringEnable().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] Device booted while enabled");
+        }
+        if (motor.getStickyFault_BridgeBrownout().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] Bridge was disabled most likely due to supply voltage dropping too low");
+        }
+        if (motor.getStickyFault_DeviceTemp().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] Device temperature exceeded limit");
+        }
+        if (motor.getStickyFault_FusedSensorOutOfSync().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] Remote sensor is out of sync");
+        }
+        if (motor.getStickyFault_Hardware().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] Hardware failure detected");
+        }
+        if (motor.getStickyFault_MissingDifferentialFX().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] The remote Talon used for differential control is not present");
+        }
+        if (motor.getStickyFault_MissingHardLimitRemote().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] The remote limit switch device is not present");
+        }
+        if (motor.getStickyFault_MissingSoftLimitRemote().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] The remote soft limit device is not present");
+        }
+        if (motor.getStickyFault_OverSupplyV().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] Supply voltage exceeded limit");
+        }
+        if (motor.getStickyFault_ProcTemp().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] Processor temperature exceeded limit");
+        }
+        if (motor.getStickyFault_RemoteSensorDataInvalid().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] The remote sensor's data is no longer trusted");
+        }
+        if (motor.getStickyFault_RemoteSensorPosOverflow().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] The remote sensor position has overflowed");
+        }
+        if (motor.getStickyFault_RemoteSensorReset().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] The remote sensor has reset");
+        }
+        if (motor.getStickyFault_Undervoltage().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] Device supply voltage near brownout");
+        }
+        if (motor.getStickyFault_UnlicensedFeatureInUse().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] Unlicensed feature in use");
+        }
+        if (motor.getStickyFault_UnstableSupplyV().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] Supply voltage is unstable");
+        }
+
+
+        return s;
+    }
+}
diff --git a/src/main/java/frc4388/utility/status/QueryUtils.java b/src/main/java/frc4388/utility/status/QueryUtils.java
new file mode 100644
index 0000000..c42643d
--- /dev/null
+++ b/src/main/java/frc4388/utility/status/QueryUtils.java
@@ -0,0 +1,13 @@
+package frc4388.utility.status;
+
+import com.ctre.phoenix6.StatusSignal;
+
+import edu.wpi.first.math.filter.Debouncer;
+
+public class QueryUtils {
+    public static boolean isDebounceOk(@SuppressWarnings("rawtypes") StatusSignal status) {
+        Debouncer connectedDebounce = new Debouncer(0.5);
+        status.refresh();
+        return connectedDebounce.calculate(status.getStatus().isOK());
+    };
+}
diff --git a/src/main/java/frc4388/utility/status/Queryable.java b/src/main/java/frc4388/utility/status/Queryable.java
new file mode 100644
index 0000000..deac2f3
--- /dev/null
+++ b/src/main/java/frc4388/utility/status/Queryable.java
@@ -0,0 +1,8 @@
+package frc4388.utility.status;
+
+public interface Queryable {
+    // Get name of subsystem, for use in log.
+    String getName();
+    // Proactivly search for any errors in each subsystem
+    Status diagnosticStatus(); 
+}
diff --git a/src/main/java/frc4388/utility/Status.java b/src/main/java/frc4388/utility/status/Status.java
similarity index 95%
rename from src/main/java/frc4388/utility/Status.java
rename to src/main/java/frc4388/utility/status/Status.java
index bf0de19..4f9c8f2 100644
--- a/src/main/java/frc4388/utility/Status.java
+++ b/src/main/java/frc4388/utility/status/Status.java
@@ -1,4 +1,4 @@
-package frc4388.utility;
+package frc4388.utility.status;
 
 import java.util.ArrayList;
 import java.util.List;
@@ -44,6 +44,10 @@ public class Status {
     }
 
     public void diagnoseHardwareCTRE(String deviceName, TalonFX motor) {
+        addReport(ReportLevel.ERROR, deviceName + " Motor (TalonFX) Alive?: " + (motor.isAlive() ? "Alive." : "Dead!"));
+
+
+
         if (motor.isAlive()) addReport(ReportLevel.INFO, deviceName + " Motor (TalonFX) Alive?: Alive.");
         else addReport(ReportLevel.ERROR, deviceName + " Motor (TalonFX) Alive?: Dead!");
     }
diff --git a/src/main/java/frc4388/utility/Gains.java b/src/main/java/frc4388/utility/structs/Gains.java
similarity index 98%
rename from src/main/java/frc4388/utility/Gains.java
rename to src/main/java/frc4388/utility/structs/Gains.java
index 7a3a026..0d5b674 100644
--- a/src/main/java/frc4388/utility/Gains.java
+++ b/src/main/java/frc4388/utility/structs/Gains.java
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package frc4388.utility;
+package frc4388.utility.structs;
 
 /** Add your docs here. */
 public class Gains {
diff --git a/src/main/java/frc4388/utility/LEDPatterns.java b/src/main/java/frc4388/utility/structs/LEDPatterns.java
similarity index 98%
rename from src/main/java/frc4388/utility/LEDPatterns.java
rename to src/main/java/frc4388/utility/structs/LEDPatterns.java
index 6df032c..585dc43 100644
--- a/src/main/java/frc4388/utility/LEDPatterns.java
+++ b/src/main/java/frc4388/utility/structs/LEDPatterns.java
@@ -1,4 +1,4 @@
-package frc4388.utility;
+package frc4388.utility.structs;
 
 /**
  * Add your docs here.
diff --git a/src/main/java/frc4388/utility/UtilityStructs.java b/src/main/java/frc4388/utility/structs/UtilityStructs.java
similarity index 95%
rename from src/main/java/frc4388/utility/UtilityStructs.java
rename to src/main/java/frc4388/utility/structs/UtilityStructs.java
index 935dbbe..2307f2f 100644
--- a/src/main/java/frc4388/utility/UtilityStructs.java
+++ b/src/main/java/frc4388/utility/structs/UtilityStructs.java
@@ -1,4 +1,4 @@
-package frc4388.utility;
+package frc4388.utility.structs;
 
 public class UtilityStructs {
     public static class TimedOutput {
diff --git a/vendordeps/AdvantageKit.json b/vendordeps/AdvantageKit.json
new file mode 100644
index 0000000..bef4a15
--- /dev/null
+++ b/vendordeps/AdvantageKit.json
@@ -0,0 +1,35 @@
+{
+    "fileName": "AdvantageKit.json",
+    "name": "AdvantageKit",
+    "version": "4.1.2",
+    "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
+    "frcYear": "2025",
+    "mavenUrls": [
+        "https://frcmaven.wpi.edu/artifactory/littletonrobotics-mvn-release/"
+    ],
+    "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json",
+    "javaDependencies": [
+        {
+            "groupId": "org.littletonrobotics.akit",
+            "artifactId": "akit-java",
+            "version": "4.1.2"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "org.littletonrobotics.akit",
+            "artifactId": "akit-wpilibio",
+            "version": "4.1.2",
+            "skipInvalidPlatforms": false,
+            "isJar": false,
+            "validPlatforms": [
+                "linuxathena",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal",
+                "windowsx86-64"
+            ]
+        }
+    ],
+    "cppDependencies": []
+}
\ No newline at end of file
diff --git a/vendordeps/PathplannerLib-2025.2.7.json b/vendordeps/PathplannerLib-2025.2.7.json
new file mode 100644
index 0000000..d3f84e5
--- /dev/null
+++ b/vendordeps/PathplannerLib-2025.2.7.json
@@ -0,0 +1,38 @@
+{
+    "fileName": "PathplannerLib-2025.2.7.json",
+    "name": "PathplannerLib",
+    "version": "2025.2.7",
+    "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
+    "frcYear": "2025",
+    "mavenUrls": [
+        "https://3015rangerrobotics.github.io/pathplannerlib/repo"
+    ],
+    "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.pathplanner.lib",
+            "artifactId": "PathplannerLib-java",
+            "version": "2025.2.7"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "com.pathplanner.lib",
+            "artifactId": "PathplannerLib-cpp",
+            "version": "2025.2.7",
+            "libName": "PathplannerLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal",
+                "linuxathena",
+                "linuxarm32",
+                "linuxarm64"
+            ]
+        }
+    ]
+}
\ No newline at end of file
diff --git a/vendordeps/Phoenix6-25.1.0.json b/vendordeps/Phoenix6-frc2025-latest.json
similarity index 75%
rename from vendordeps/Phoenix6-25.1.0.json
rename to vendordeps/Phoenix6-frc2025-latest.json
index 473f6a8..6f40c84 100644
--- a/vendordeps/Phoenix6-25.1.0.json
+++ b/vendordeps/Phoenix6-frc2025-latest.json
@@ -1,7 +1,7 @@
 {
-    "fileName": "Phoenix6-25.1.0.json",
+    "fileName": "Phoenix6-frc2025-latest.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "25.1.0",
+    "version": "25.4.0",
     "frcYear": "2025",
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
@@ -19,14 +19,14 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "25.1.0"
+            "version": "25.4.0"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "api-cpp",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -40,7 +40,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -54,7 +54,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "api-cpp-sim",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -68,7 +68,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -82,7 +82,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -96,7 +96,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +110,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -124,7 +124,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -138,7 +138,21 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "25.1.0",
+            "version": "25.4.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFXS",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -152,7 +166,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -166,7 +180,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -180,7 +194,35 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "25.1.0",
+            "version": "25.4.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANdi",
+            "version": "25.4.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANdle",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -196,7 +238,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -212,7 +254,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -228,7 +270,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -244,7 +286,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -260,7 +302,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -276,7 +318,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -292,7 +334,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -308,7 +350,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -324,7 +366,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -337,10 +379,26 @@
             ],
             "simMode": "swsim"
         },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFXS",
+            "version": "25.4.0",
+            "libName": "CTRE_SimProTalonFXS",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -356,7 +414,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -372,7 +430,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "libName": "CTRE_SimProCANrange",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -384,6 +442,38 @@
                 "osxuniversal"
             ],
             "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANdi",
+            "version": "25.4.0",
+            "libName": "CTRE_SimProCANdi",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANdle",
+            "version": "25.4.0",
+            "libName": "CTRE_SimProCANdle",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
         }
     ]
 }
\ No newline at end of file
diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json
new file mode 100644
index 0000000..2d7b1d8
--- /dev/null
+++ b/vendordeps/photonlib.json
@@ -0,0 +1,71 @@
+{
+    "fileName": "photonlib.json",
+    "name": "photonlib",
+    "version": "v2025.3.1",
+    "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
+    "frcYear": "2025",
+    "mavenUrls": [
+        "https://maven.photonvision.org/repository/internal",
+        "https://maven.photonvision.org/repository/snapshots"
+    ],
+    "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json",
+    "jniDependencies": [
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photontargeting-cpp",
+            "version": "v2025.3.1",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxathena",
+                "linuxx86-64",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photonlib-cpp",
+            "version": "v2025.3.1",
+            "libName": "photonlib",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxathena",
+                "linuxx86-64",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photontargeting-cpp",
+            "version": "v2025.3.1",
+            "libName": "photontargeting",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxathena",
+                "linuxx86-64",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "javaDependencies": [
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photonlib-java",
+            "version": "v2025.3.1"
+        },
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photontargeting-java",
+            "version": "v2025.3.1"
+        }
+    ]
+}
\ No newline at end of file