diff --git a/.github/scripts/constants.py b/.github/scripts/constants.py
new file mode 100644
index 0000000..a41199f
--- /dev/null
+++ b/.github/scripts/constants.py
@@ -0,0 +1,105 @@
+import re
+import os
+import sys
+
+# List of files to excuse (constants and things we didnt make and stuff we wont use)
+excused_files = ["Constants.java", "Drive.java", "TunerConstants.java", "BuildConstants.java", "LocalADStarAK.java", "VisionUtil.java", "SwerveModule.java", "VisionIOSim.java"]
+
+# Not really dirs becasue the full ones didnt work
+excused_dirs = [
+    "bin",
+    "build",
+    "src/main/java/frc/robot/pioneersLib"
+]
+
+# Weird stuff that shouldn't go in constants, dont put function/var names in here theyre already checked
+excused_cases = ["ModuleIOSparkMax", "case", "new Module(", "new BaseStatusSignal[", "BaseStatusSignal.waitForAll(", "new ModuleIOHybrid(", "Math.pow(", "+=", "drive.getRotation()", "autoChooser.addOption(", "static final", "getRealTimestamp", "antiJitterThreshold", "trackWidth", "i < 4", "SwerveModuleState[4]", "gearRatio", "Math.PI", "private final", "/ 360", "/360", "* 360", "*360", "DCMotor.get", "/60", "/ 60"]
+
+def check_for_magic_numbers(file_path):
+    magic_numbers = []
+    
+    # Number pattern makes sure number isnt in a var and detects all numbers that arent in a function/var
+    number_pattern = r'(?<!\w)-?(?:\d*\.\d+|\d+\.?)\b(?!\w)'
+    zero_pattern = r'^0*\.?0+$'
+
+    with open(file_path, 'r') as file:
+        lines = file.readlines()
+        in_comment_block = False
+        
+        for line_number, line in enumerate(lines, 1):
+            line = line.strip()
+
+            # Skip empty lines
+            if not line:
+                continue
+            
+            # Skip big comments
+            if '/*' in line:
+                in_comment_block = True
+            # If someone like put a thing after a multi-line comment end this wouldnt work but idk if you can even do that
+            if '*/' in line:
+                in_comment_block = False
+                continue
+            if in_comment_block:
+                continue
+
+            # Skip regular comments and imports
+            if line.startswith('//') or line.startswith('import'):
+                continue
+            
+            # Skips excused cases
+            if any(case in line for case in excused_cases):
+                continue
+
+            numbers = re.findall(number_pattern, line)
+            for number in numbers:
+                # Skip for zeroes, they're fine as is
+                if re.match(zero_pattern, number):
+                    continue                
+                magic_numbers.append((number, line_number))
+    return magic_numbers
+
+def is_file_excused(file_path, project_root):
+    filename = os.path.basename(file_path)
+    if filename in excused_files:
+        return True
+
+    relative_path = os.path.relpath(file_path, project_root)
+    for excluded_dir in excused_dirs:
+        if relative_path.startswith(excluded_dir) or excluded_dir in relative_path:
+            return True
+
+    return False
+
+def scan_directory(directory):
+    magic_number_count = 0
+    for root, _, files in os.walk(directory):
+        for file in files:
+            if file.endswith('.java'):
+                file_path = os.path.join(root, file)
+                if not is_file_excused(file_path, directory):
+                    magic_numbers = check_for_magic_numbers(file_path)
+                    if magic_numbers:
+                        print(f"In {file_path}:")
+                        for number, line_number in magic_numbers:
+                            print(f"  Line {line_number}: Magic number {number}")
+                            magic_number_count += 1
+    return magic_number_count
+
+if __name__ == "__main__":
+    # Get scripts dir
+    script_dir = os.path.dirname(os.path.abspath(__file__))
+    
+    # Move up 2 dirs to get the project root
+    project_root = os.path.dirname(os.path.dirname(script_dir))
+    
+    print(f"Scanning directory: {project_root}")
+    total_magic_numbers = scan_directory(project_root)
+
+    # Fails if magic numbers are in any non excused locations    
+    if total_magic_numbers > 0:
+        print(f"\nTotal magic numbers found: {total_magic_numbers}.\nPlease put these in  Constanats.java!")
+        sys.exit(1)
+    else:
+        print("\nNo Magic Number Found")
+        sys.exit(0)
\ No newline at end of file
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
new file mode 100644
index 0000000..5d6561a
--- /dev/null
+++ b/.github/workflows/build.yml
@@ -0,0 +1,17 @@
+name: Build
+
+on:
+  push:
+
+jobs:
+  build:
+    name: Build
+    runs-on: ubuntu-latest
+    container: wpilib/roborio-cross-ubuntu:2024-22.04
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v2
+      - name: Grant execute permission
+        run: chmod +x gradlew
+      - name: Build robot code
+        run: ./gradlew build
diff --git a/.github/workflows/constants.yml b/.github/workflows/constants.yml
new file mode 100644
index 0000000..b333851
--- /dev/null
+++ b/.github/workflows/constants.yml
@@ -0,0 +1,20 @@
+name: Find Misplaced Constants
+
+on:
+  pull_request:
+  push:
+    branches:
+      - main
+
+jobs:
+  find-misplaced-constants:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout Repo
+        uses: actions/checkout@v2
+      - name: Set up Python
+        uses: actions/setup-python@v2
+        with:
+          python-version: '3.11'
+      - name: Run Python Script
+        run: python .github/scripts/constants.py
\ No newline at end of file
diff --git a/.github/workflows/crash.yml b/.github/workflows/crash.yml
new file mode 100644
index 0000000..a52388b
--- /dev/null
+++ b/.github/workflows/crash.yml
@@ -0,0 +1,41 @@
+name: Crash
+
+on: 
+  push:
+
+jobs:
+  Crash:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v2
+
+      - name: Set up JDK
+        uses: actions/setup-java@v1
+        with:
+          java-version: '17'
+      - name: Grant execute permission
+        run: chmod +x gradlew
+      - name: Build robot code
+        run: ./gradlew build
+      - name: Run Simulation and Capture Logs
+        env:                
+            CI_NAME: "Crash"
+        run: ./gradlew simulateJava | tee simulateJava.log
+
+      - name: Check for Errors in Logs
+        run: |
+          # Check for errors
+          if grep -qE "Exception|Error|NULL|NullPointerException" simulateJava.log; then
+            echo "Errors detected in simulation logs (See Crash for Details)."
+            exit 1
+          fi
+
+          # Check for modes
+          if grep -q "DISABLED" simulateJava.log && grep -q "TELEOP" simulateJava.log && grep -q "AUTONOMOUS" simulateJava.log && grep -q "TEST" simulateJava.log; then
+            echo "All modes found in simulation logs."
+          else
+            echo "One or more modes not found in simulation logs (See Crash for Details)."
+            exit 1
+          fi