From ec2beb6eba67732a0dca85e63ff5eae93207e37f Mon Sep 17 00:00:00 2001
From: Noah Gleason <noah.gleason1@gmail.com>
Date: Sat, 30 Sep 2017 23:06:27 -0400
Subject: [PATCH 01/13] Add field-oriented OI

---
 R scripts/eventLog-2017.09.16.11.04.04.csv    |  32 ++
 .../oi/fieldoriented/OIFieldOriented.java     |  28 ++
 .../fieldoriented/OIFieldOrientedPosCos.java  | 111 ++++++
 docs/allclasses-frame.html                    |   6 +-
 docs/allclasses-noframe.html                  |   6 +-
 docs/constant-values.html                     |   4 +-
 docs/deprecated-list.html                     |   4 +-
 docs/help-doc.html                            |   4 +-
 docs/index-all.html                           |  36 +-
 docs/index.html                               |   2 +-
 docs/org/usfirst/frc/team449/robot/Robot.html |   4 +-
 .../frc/team449/robot/RobotMap2017.html       |   4 +-
 .../commands/autonomous/Auto2017Boiler.html   |   4 +-
 .../commands/autonomous/Auto2017Center.html   |   4 +-
 .../commands/autonomous/Auto2017Feeder.html   |   4 +-
 .../commands/autonomous/package-frame.html    |   4 +-
 .../commands/autonomous/package-summary.html  |   4 +-
 .../commands/autonomous/package-tree.html     |   4 +-
 .../commands/general/CommandSequence.html     |   4 +-
 .../general/ParallelCommandGroup.html         |   4 +-
 .../robot/commands/general/WaitForMillis.html |   4 +-
 .../robot/commands/general/package-frame.html |   4 +-
 .../commands/general/package-summary.html     |   4 +-
 .../robot/commands/general/package-tree.html  |   4 +-
 .../RunMotorWhileConditonMet.html             |   4 +-
 .../multiInterface/drive/JiggleRobot.html     |   4 +-
 .../drive/NavXDriveStraight.html              |   4 +-
 .../multiInterface/drive/NavXTurnToAngle.html |   4 +-
 .../drive/NavXTurnToAngleRelative.html        |   4 +-
 .../drive/UnidirectionalNavXDefaultDrive.html |   4 +-
 ...nidirectionalNavXShiftingDefaultDrive.html |   4 +-
 .../multiInterface/drive/package-frame.html   |   4 +-
 .../multiInterface/drive/package-summary.html |   4 +-
 .../multiInterface/drive/package-tree.html    |   4 +-
 .../multiInterface/package-frame.html         |   4 +-
 .../multiInterface/package-summary.html       |   4 +-
 .../commands/multiInterface/package-tree.html |   4 +-
 .../commands/multiSubsystem/FireShooter.html  |   4 +-
 .../commands/multiSubsystem/LoadShooter.html  |   4 +-
 .../commands/multiSubsystem/RackShooter.html  |   4 +-
 .../commands/multiSubsystem/ResetShooter.html |   4 +-
 .../multiSubsystem/package-frame.html         |   4 +-
 .../multiSubsystem/package-summary.html       |   4 +-
 .../commands/multiSubsystem/package-tree.html |   4 +-
 .../robot/components/AutoshiftComponent.html  |   4 +-
 .../robot/components/ShiftComponent.html      |   4 +-
 .../components/ShiftWithSensorComponent.html  |   4 +-
 .../robot/components/package-frame.html       |   4 +-
 .../robot/components/package-summary.html     |   4 +-
 .../robot/components/package-tree.html        |   4 +-
 .../team449/robot/drive/DriveSubsystem.html   |   4 +-
 .../team449/robot/drive/package-frame.html    |   4 +-
 .../team449/robot/drive/package-summary.html  |   4 +-
 .../frc/team449/robot/drive/package-tree.html |   4 +-
 .../robot/drive/shifting/DriveShiftable.html  |   4 +-
 .../shifting/commands/OverrideAutoShift.html  |   4 +-
 .../commands/ToggleOverrideAutoShift.html     |   4 +-
 .../shifting/commands/package-frame.html      |   4 +-
 .../shifting/commands/package-summary.html    |   4 +-
 .../drive/shifting/commands/package-tree.html |   4 +-
 .../robot/drive/shifting/package-frame.html   |   4 +-
 .../robot/drive/shifting/package-summary.html |   4 +-
 .../robot/drive/shifting/package-tree.html    |   4 +-
 .../unidirectional/DriveTalonCluster.html     |  44 +--
 .../DriveTalonClusterShiftable.html           |   4 +-
 .../unidirectional/DriveUnidirectional.html   |   4 +-
 .../DriveUnidirectionalSimple.html            |   4 +-
 .../commands/DetermineNominalVoltage.html     |   4 +-
 .../unidirectional/commands/DriveAtSpeed.html |   4 +-
 .../commands/DriveStraight.html               |   4 +-
 .../commands/PIDBackAndForth.html             |   4 +-
 .../unidirectional/commands/PIDTest.html      |   4 +-
 .../commands/SimpleUnidirectionalDrive.html   |   4 +-
 .../commands/package-frame.html               |   4 +-
 .../commands/package-summary.html             |   4 +-
 .../unidirectional/commands/package-tree.html |   4 +-
 .../drive/unidirectional/package-frame.html   |   4 +-
 .../drive/unidirectional/package-summary.html |   4 +-
 .../drive/unidirectional/package-tree.html    |   4 +-
 .../generalInterfaces/loggable/Loggable.html  |   4 +-
 .../loggable/package-frame.html               |   4 +-
 .../loggable/package-summary.html             |   4 +-
 .../loggable/package-tree.html                |   4 +-
 .../shiftable/Shiftable.gear.html             |   4 +-
 .../shiftable/Shiftable.html                  |   4 +-
 .../shiftable/commands/ShiftGears.html        |   4 +-
 .../shiftable/commands/SwitchToGear.html      |   4 +-
 .../shiftable/commands/SwitchToHighGear.html  |   4 +-
 .../shiftable/commands/SwitchToLowGear.html   |   4 +-
 .../shiftable/commands/package-frame.html     |   4 +-
 .../shiftable/commands/package-summary.html   |   4 +-
 .../shiftable/commands/package-tree.html      |   4 +-
 .../shiftable/package-frame.html              |   4 +-
 .../shiftable/package-summary.html            |   4 +-
 .../shiftable/package-tree.html               |   4 +-
 .../simpleMotor/SimpleMotor.html              |   4 +-
 .../simpleMotor/package-frame.html            |   4 +-
 .../simpleMotor/package-summary.html          |   4 +-
 .../simpleMotor/package-tree.html             |   4 +-
 .../robot/jacksonWrappers/FPSTalon.html       |   4 +-
 .../robot/jacksonWrappers/MappedAHRS.html     |   4 +-
 .../jacksonWrappers/MappedDigitalInput.html   |   4 +-
 .../jacksonWrappers/MappedDoubleSolenoid.html |   4 +-
 .../robot/jacksonWrappers/MappedJoystick.html |   4 +-
 .../jacksonWrappers/MappedUsbCamera.html      |   4 +-
 .../robot/jacksonWrappers/MappedVictor.html   |   4 +-
 .../robot/jacksonWrappers/PressureSensor.html |   4 +-
 .../jacksonWrappers/SimpleMotorCluster.html   |   4 +-
 .../robot/jacksonWrappers/YamlCommand.html    |   4 +-
 .../YamlCommandGroupWrapper.html              |   4 +-
 .../jacksonWrappers/YamlCommandWrapper.html   |   4 +-
 .../robot/jacksonWrappers/YamlSubsystem.html  |   4 +-
 .../robot/jacksonWrappers/package-frame.html  |   4 +-
 .../jacksonWrappers/package-summary.html      |   4 +-
 .../robot/jacksonWrappers/package-tree.html   |   4 +-
 .../robot/oi/buttons/CommandButton.html       |   4 +-
 .../robot/oi/buttons/FactoryButton.html       |   4 +-
 .../oi/buttons/FactoryJoystickButton.html     |   4 +-
 .../robot/oi/buttons/TriggerButton.html       |   4 +-
 .../team449/robot/oi/buttons/dPadButton.html  |   4 +-
 .../robot/oi/buttons/package-frame.html       |   4 +-
 .../robot/oi/buttons/package-summary.html     |   8 +-
 .../robot/oi/buttons/package-tree.html        |   8 +-
 .../oi/fieldoriented/OIFieldOriented.html     | 253 +++++++++++++
 .../fieldoriented/OIFieldOrientedPosCos.html  | 333 ++++++++++++++++++
 .../robot/oi/fieldoriented/package-frame.html |  24 ++
 .../oi/fieldoriented/package-summary.html     | 159 +++++++++
 .../robot/oi/fieldoriented/package-tree.html  | 139 ++++++++
 .../team449/robot/oi/throttles/Throttle.html  |   4 +-
 .../oi/throttles/ThrottleDeadbanded.html      |   4 +-
 .../oi/throttles/ThrottleExponential.html     |   4 +-
 .../oi/throttles/ThrottlePolynomial.html      |   4 +-
 .../robot/oi/throttles/package-frame.html     |   4 +-
 .../robot/oi/throttles/package-summary.html   |   8 +-
 .../robot/oi/throttles/package-tree.html      |   8 +-
 .../robot/oi/unidirectional/OIOutreach.html   |   4 +-
 .../oi/unidirectional/OIUnidirectional.html   |   4 +-
 .../oi/unidirectional/arcade/OIArcade.html    |   4 +-
 .../unidirectional/arcade/OIArcadeSimple.html |   4 +-
 .../arcade/OIArcadeWithDPad.html              |   4 +-
 .../unidirectional/arcade/package-frame.html  |   4 +-
 .../arcade/package-summary.html               |   4 +-
 .../unidirectional/arcade/package-tree.html   |   4 +-
 .../oi/unidirectional/package-frame.html      |   4 +-
 .../oi/unidirectional/package-summary.html    |   4 +-
 .../robot/oi/unidirectional/package-tree.html |   4 +-
 .../robot/oi/unidirectional/tank/OITank.html  |   4 +-
 .../oi/unidirectional/tank/OITankSimple.html  |   4 +-
 .../oi/unidirectional/tank/package-frame.html |   4 +-
 .../unidirectional/tank/package-summary.html  |   4 +-
 .../oi/unidirectional/tank/package-tree.html  |   4 +-
 .../frc/team449/robot/other/BufferTimer.html  |   4 +-
 .../frc/team449/robot/other/LogEvent.html     |   4 +-
 .../frc/team449/robot/other/Logger.html       |   4 +-
 .../robot/other/MotionProfileData.html        |   4 +-
 .../frc/team449/robot/other/Polynomial.html   |   4 +-
 .../team449/robot/other/package-frame.html    |   4 +-
 .../team449/robot/other/package-summary.html  |   4 +-
 .../frc/team449/robot/other/package-tree.html |   4 +-
 .../frc/team449/robot/package-frame.html      |   4 +-
 .../frc/team449/robot/package-summary.html    |   4 +-
 .../frc/team449/robot/package-tree.html       |   4 +-
 .../climber/ClimberCurrentLimited.html        |   4 +-
 .../complex/climber/package-frame.html        |   4 +-
 .../complex/climber/package-summary.html      |   4 +-
 .../complex/climber/package-tree.html         |   4 +-
 .../intake/IntakeFixedAndActuated.html        |   4 +-
 .../complex/intake/package-frame.html         |   4 +-
 .../complex/intake/package-summary.html       |   4 +-
 .../complex/intake/package-tree.html          |   4 +-
 .../complex/shooter/LoggingShooter.html       |   4 +-
 .../complex/shooter/package-frame.html        |   4 +-
 .../complex/shooter/package-summary.html      |   4 +-
 .../complex/shooter/package-tree.html         |   4 +-
 .../binaryMotor/BinaryMotorSimple.html        |   4 +-
 .../binaryMotor/SubsystemBinaryMotor.html     |   4 +-
 .../binaryMotor/commands/ToggleMotor.html     |   4 +-
 .../binaryMotor/commands/TurnMotorOff.html    |   4 +-
 .../commands/TurnMotorOffWithRequires.html    |   4 +-
 .../binaryMotor/commands/TurnMotorOn.html     |   4 +-
 .../binaryMotor/commands/package-frame.html   |   4 +-
 .../binaryMotor/commands/package-summary.html |   4 +-
 .../binaryMotor/commands/package-tree.html    |   4 +-
 .../interfaces/binaryMotor/package-frame.html |   4 +-
 .../binaryMotor/package-summary.html          |   4 +-
 .../interfaces/binaryMotor/package-tree.html  |   4 +-
 .../conditional/SubsystemConditional.html     |   4 +-
 .../interfaces/conditional/package-frame.html |   4 +-
 .../conditional/package-summary.html          |   4 +-
 .../interfaces/conditional/package-tree.html  |   4 +-
 .../interfaces/intake/IntakeSimple.html       |   4 +-
 .../intake/SubsystemIntake.IntakeMode.html    |   4 +-
 .../interfaces/intake/SubsystemIntake.html    |   4 +-
 .../intake/commands/SetIntakeMode.html        |   4 +-
 .../intake/commands/ToggleIntaking.html       |   4 +-
 .../intake/commands/package-frame.html        |   4 +-
 .../intake/commands/package-summary.html      |   4 +-
 .../intake/commands/package-tree.html         |   4 +-
 .../interfaces/intake/package-frame.html      |   4 +-
 .../interfaces/intake/package-summary.html    |   4 +-
 .../interfaces/intake/package-tree.html       |   4 +-
 .../interfaces/motionProfile/SubsystemMP.html |   4 +-
 .../SubsystemMPTwoSides.html                  |   4 +-
 .../commands/LoadProfileTwoSides.html         |   4 +-
 .../commands/RunProfileTwoSides.html          |   4 +-
 .../commands/package-frame.html               |   4 +-
 .../commands/package-summary.html             |   4 +-
 .../commands/package-tree.html                |   4 +-
 .../TwoSideMPSubsystem/package-frame.html     |   4 +-
 .../TwoSideMPSubsystem/package-summary.html   |   4 +-
 .../TwoSideMPSubsystem/package-tree.html      |   4 +-
 .../motionProfile/commands/LoadProfile.html   |   4 +-
 .../commands/RunLoadedProfile.html            |   4 +-
 .../motionProfile/commands/RunProfile.html    |   4 +-
 .../motionProfile/commands/package-frame.html |   4 +-
 .../commands/package-summary.html             |   4 +-
 .../motionProfile/commands/package-tree.html  |   4 +-
 .../motionProfile/package-frame.html          |   4 +-
 .../motionProfile/package-summary.html        |   4 +-
 .../motionProfile/package-tree.html           |   4 +-
 .../interfaces/navX/SubsystemNavX.html        |   4 +-
 .../navX/commands/OverrideNavX.html           |   4 +-
 .../navX/commands/PIDAngleCommand.html        |   4 +-
 .../navX/commands/ToggleOverrideNavX.html     |   4 +-
 .../navX/commands/package-frame.html          |   4 +-
 .../navX/commands/package-summary.html        |   4 +-
 .../navX/commands/package-tree.html           |   4 +-
 .../interfaces/navX/package-frame.html        |   4 +-
 .../interfaces/navX/package-summary.html      |   4 +-
 .../interfaces/navX/package-tree.html         |   4 +-
 .../interfaces/shooter/ShooterSimple.html     |   4 +-
 .../SubsystemShooter.ShooterState.html        |   4 +-
 .../interfaces/shooter/SubsystemShooter.html  |   4 +-
 .../shooter/commands/SpinUpShooter.html       |   4 +-
 .../shooter/commands/SpinUpThenShoot.html     |   4 +-
 .../shooter/commands/ToggleShooting.html      |   4 +-
 .../shooter/commands/TurnAllOff.html          |   4 +-
 .../commands/TurnAllOffWithRequires.html      |   4 +-
 .../shooter/commands/TurnAllOn.html           |   4 +-
 .../shooter/commands/package-frame.html       |   4 +-
 .../shooter/commands/package-summary.html     |   4 +-
 .../shooter/commands/package-tree.html        |   4 +-
 .../interfaces/shooter/package-frame.html     |   4 +-
 .../interfaces/shooter/package-summary.html   |   4 +-
 .../interfaces/shooter/package-tree.html      |   4 +-
 .../interfaces/solenoid/SolenoidSimple.html   |   4 +-
 .../solenoid/SubsystemSolenoid.html           |   4 +-
 .../solenoid/commands/SolenoidForward.html    |   4 +-
 .../solenoid/commands/SolenoidOff.html        |   4 +-
 .../solenoid/commands/SolenoidReverse.html    |   4 +-
 .../solenoid/commands/ToggleSolenoid.html     |   4 +-
 .../solenoid/commands/package-frame.html      |   4 +-
 .../solenoid/commands/package-summary.html    |   4 +-
 .../solenoid/commands/package-tree.html       |   4 +-
 .../interfaces/solenoid/package-frame.html    |   4 +-
 .../interfaces/solenoid/package-summary.html  |   4 +-
 .../interfaces/solenoid/package-tree.html     |   4 +-
 .../camera/CameraNetwork.html                 |   4 +-
 .../camera/commands/ChangeCam.html            |   4 +-
 .../camera/commands/package-frame.html        |   4 +-
 .../camera/commands/package-summary.html      |   4 +-
 .../camera/commands/package-tree.html         |   4 +-
 .../camera/package-frame.html                 |   4 +-
 .../camera/package-summary.html               |   4 +-
 .../camera/package-tree.html                  |   4 +-
 .../pneumatics/Pneumatics.html                |   4 +-
 .../pneumatics/commands/StartCompressor.html  |   4 +-
 .../pneumatics/commands/package-frame.html    |   4 +-
 .../pneumatics/commands/package-summary.html  |   4 +-
 .../pneumatics/commands/package-tree.html     |   4 +-
 .../pneumatics/package-frame.html             |   4 +-
 .../pneumatics/package-summary.html           |   4 +-
 .../pneumatics/package-tree.html              |   4 +-
 docs/overview-frame.html                      |   5 +-
 docs/overview-summary.html                    |  60 ++--
 docs/overview-tree.html                       |   7 +-
 docs/package-list                             |   1 +
 277 files changed, 1713 insertions(+), 589 deletions(-)
 create mode 100644 R scripts/eventLog-2017.09.16.11.04.04.csv
 create mode 100644 RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.java
 create mode 100644 RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.java
 create mode 100644 docs/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html
 create mode 100644 docs/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html
 create mode 100644 docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-frame.html
 create mode 100644 docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-summary.html
 create mode 100644 docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-tree.html

diff --git a/R scripts/eventLog-2017.09.16.11.04.04.csv b/R scripts/eventLog-2017.09.16.11.04.04.csv
new file mode 100644
index 00000000..33ccffe5
--- /dev/null
+++ b/R scripts/eventLog-2017.09.16.11.04.04.csv	
@@ -0,0 +1,32 @@
+time,class,message
+0,class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXShiftingDefaultDrive,Drive Robot bueno
+0,class org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.CameraNetwork,CameraSubsystem construct start
+0,class org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.CameraNetwork,Set URL of MJPGServer to "http://roboRIO-449-frc.local:5800/stream.mjpg"
+0,class org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.CameraNetwork,CameraSubsystem construct end
+0,class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DriveAtSpeed,Drive Robot bueno
+0,class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DriveAtSpeed,Drive Robot bueno
+0,class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DriveAtSpeed,Drive Robot bueno
+0,class org.usfirst.frc.team449.robot.Robot,redAlliance: false
+0,class org.usfirst.frc.team449.robot.Robot,dropGear: true
+0,class org.usfirst.frc.team449.robot.Robot,position: right
+9057,class org.usfirst.frc.team449.robot.drive.shifting.commands.SwitchToGear,SwitchToGear init.
+9057,class org.usfirst.frc.team449.robot.drive.shifting.commands.SwitchToGear,SwitchToGear end.
+9057,class org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands.StartCompressor,StartCompressor init.
+9057,class org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands.StartCompressor,StartCompressor end.
+9057,class org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidForward,SolenoidForward init.
+9057,class org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidForward,SolenoidForward end.
+9057,class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXShiftingDefaultDrive,UnidirectionalNavXArcadeDrive init.
+9217,class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXShiftingDefaultDrive,Switching to DriveStraight.
+19538,class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXShiftingDefaultDrive,Switching to free drive.
+24077,class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXShiftingDefaultDrive,Switching to DriveStraight.
+24777,class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXShiftingDefaultDrive,Switching to free drive.
+50538,class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXShiftingDefaultDrive,Switching to DriveStraight.
+50878,class org.usfirst.frc.team449.robot.drive.shifting.commands.SwitchToLowGear,SwitchToLowGear init.
+50878,class org.usfirst.frc.team449.robot.drive.shifting.commands.SwitchToLowGear,SwitchToLowGear end.
+52960,class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXShiftingDefaultDrive,Switching to free drive.
+58719,class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXShiftingDefaultDrive,Switching to DriveStraight.
+59817,class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXShiftingDefaultDrive,Switching to free drive.
+65738,class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXShiftingDefaultDrive,Switching to DriveStraight.
+100,class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DetermineVelVsVoltage,1
+200,class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DetermineVelVsVoltage,1.5
+200,class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DetermineVelVsVoltage,2
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.java
new file mode 100644
index 00000000..3d81298f
--- /dev/null
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.java
@@ -0,0 +1,28 @@
+package org.usfirst.frc.team449.robot.oi.fieldoriented;
+
+import com.fasterxml.jackson.annotation.JsonTypeInfo;
+import org.jetbrains.annotations.Nullable;
+
+/**
+ * An OI that gives an absolute heading, relative to the field, and a velocity.
+ */
+@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class")
+public interface OIFieldOriented {
+
+	/**
+	 * Get the absolute angle for the robot to move towards.
+	 *
+	 * @return An angular setpoint for the robot in degrees, where 0 is pointing at the other alliance's driver station
+	 * and 90 is pointing at the left wall when looking out from the driver station. Returns null if vel is 0.
+	 */
+	@Nullable
+	Double getTheta();
+
+	/**
+	 * Get the velocity for the robot to go at.
+	 *
+	 * @return A velocity from [-1, 1].
+	 */
+	double getVel();
+
+}
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.java
new file mode 100644
index 00000000..4775458d
--- /dev/null
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.java
@@ -0,0 +1,111 @@
+package org.usfirst.frc.team449.robot.oi.fieldoriented;
+
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonIdentityInfo;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import com.fasterxml.jackson.annotation.ObjectIdGenerators;
+import org.jetbrains.annotations.NotNull;
+import org.jetbrains.annotations.Nullable;
+import org.usfirst.frc.team449.robot.Robot;
+import org.usfirst.frc.team449.robot.oi.throttles.Throttle;
+
+/**
+ * A field-oriented OI that always points the robot an angle where cosine is positive, i.e. always pointing away from the driver station.
+ */
+@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class)
+public class OIFieldOrientedPosCos implements OIFieldOriented{
+
+	/**
+	 * The throttle for the X-axis, which points towards the opposing driver station.
+	 */
+	@NotNull
+	private final Throttle xThrottle;
+
+	/**
+	 * The throttle for the Y-axis, which points towards the driver's left.
+	 */
+	@NotNull
+	private final Throttle yThrottle;
+
+	/**
+	 * The theta value calculated the last time calcValues was called.
+	 */
+	@Nullable
+	private Double theta;
+
+	/**
+	 * The velocity value calculated the last time calcValues was called.
+	 */
+	private double vel;
+
+	/**
+	 * The time calcValues was last called, in milliseconds
+	 */
+	private long timeLastUpdated;
+
+	/**
+	 * Variables for the outputs of the x and y throttles. Fields to avoid garbage collection.
+	 */
+	private double x, y;
+
+	/**
+	 * Default constructor
+	 *
+	 * @param xThrottle The throttle for the X-axis, which points towards the opposing driver station.
+	 * @param yThrottle The throttle for the Y-axis, which points towards the driver's left.
+	 */
+	@JsonCreator
+	public OIFieldOrientedPosCos(@NotNull @JsonProperty(required = true) Throttle xThrottle,
+	                             @NotNull @JsonProperty(required = true) Throttle yThrottle) {
+		this.xThrottle = xThrottle;
+		this.yThrottle = yThrottle;
+	}
+
+	protected void calcValues(){
+		if (timeLastUpdated != Robot.currentTimeMillis()){
+			x = xThrottle.getValue();
+			y = yThrottle.getValue();
+			if (x == 0 && y == 0){
+				theta = null;
+				vel = 0;
+			} else {
+				theta = Math.toDegrees(Math.atan2(y,x));
+				if (theta > 90){
+					vel = -Math.sqrt(Math.pow(x, 2) + Math.pow(y, 2));
+					theta -= 180;
+				} else if (theta < -90){
+					vel = -Math.sqrt(Math.pow(x, 2) + Math.pow(y, 2));
+					theta += 180;
+				} else {
+					vel = Math.sqrt(Math.pow(x, 2) + Math.pow(y, 2));
+				}
+			}
+			timeLastUpdated = Robot.currentTimeMillis();
+		}
+	}
+
+
+	/**
+	 * Get the absolute angle for the robot to move towards.
+	 *
+	 * @return An angular setpoint for the robot in degrees, where 0 is pointing at the other alliance's driver station
+	 * and 90 is pointing at the left wall when looking out from the driver station.
+	 */
+	@Override
+	@Nullable
+	public Double getTheta() {
+		calcValues();
+		return theta;
+	}
+
+	/**
+	 * Get the velocity for the robot to go at.
+	 *
+	 * @return A velocity from [-1, 1].
+	 */
+	@Override
+	public double getVel() {
+		calcValues();
+		return vel;
+	}
+}
diff --git a/docs/allclasses-frame.html b/docs/allclasses-frame.html
index ccf1e11b..a028cd64 100644
--- a/docs/allclasses-frame.html
+++ b/docs/allclasses-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>All Classes (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <script type="text/javascript" src="script.js"></script>
 </head>
@@ -60,6 +60,8 @@ <h1 class="bar">All&nbsp;Classes</h1>
 <li><a href="org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcade.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional.arcade" target="classFrame">OIArcade</a></li>
 <li><a href="org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeSimple.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional.arcade" target="classFrame">OIArcadeSimple</a></li>
 <li><a href="org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeWithDPad.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional.arcade" target="classFrame">OIArcadeWithDPad</a></li>
+<li><a href="org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html" title="interface in org.usfirst.frc.team449.robot.oi.fieldoriented" target="classFrame"><span class="interfaceName">OIFieldOriented</span></a></li>
+<li><a href="org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html" title="class in org.usfirst.frc.team449.robot.oi.fieldoriented" target="classFrame">OIFieldOrientedPosCos</a></li>
 <li><a href="org/usfirst/frc/team449/robot/oi/unidirectional/OIOutreach.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional" target="classFrame">OIOutreach</a></li>
 <li><a href="org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITank.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional.tank" target="classFrame">OITank</a></li>
 <li><a href="org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITankSimple.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional.tank" target="classFrame">OITankSimple</a></li>
diff --git a/docs/allclasses-noframe.html b/docs/allclasses-noframe.html
index d0d5aea6..dd399ff0 100644
--- a/docs/allclasses-noframe.html
+++ b/docs/allclasses-noframe.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>All Classes (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <script type="text/javascript" src="script.js"></script>
 </head>
@@ -60,6 +60,8 @@ <h1 class="bar">All&nbsp;Classes</h1>
 <li><a href="org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcade.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional.arcade">OIArcade</a></li>
 <li><a href="org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeSimple.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional.arcade">OIArcadeSimple</a></li>
 <li><a href="org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeWithDPad.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional.arcade">OIArcadeWithDPad</a></li>
+<li><a href="org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html" title="interface in org.usfirst.frc.team449.robot.oi.fieldoriented"><span class="interfaceName">OIFieldOriented</span></a></li>
+<li><a href="org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html" title="class in org.usfirst.frc.team449.robot.oi.fieldoriented">OIFieldOrientedPosCos</a></li>
 <li><a href="org/usfirst/frc/team449/robot/oi/unidirectional/OIOutreach.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional">OIOutreach</a></li>
 <li><a href="org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITank.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional.tank">OITank</a></li>
 <li><a href="org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITankSimple.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional.tank">OITankSimple</a></li>
diff --git a/docs/constant-values.html b/docs/constant-values.html
index 901a0357..576a4806 100644
--- a/docs/constant-values.html
+++ b/docs/constant-values.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>Constant Field Values (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <script type="text/javascript" src="script.js"></script>
 </head>
diff --git a/docs/deprecated-list.html b/docs/deprecated-list.html
index 3a354711..25bfb87e 100644
--- a/docs/deprecated-list.html
+++ b/docs/deprecated-list.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>Deprecated List (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <script type="text/javascript" src="script.js"></script>
 </head>
diff --git a/docs/help-doc.html b/docs/help-doc.html
index 84d43017..37511cbb 100644
--- a/docs/help-doc.html
+++ b/docs/help-doc.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>API Help (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <script type="text/javascript" src="script.js"></script>
 </head>
diff --git a/docs/index-all.html b/docs/index-all.html
index 04e9ed6a..21ba45ea 100644
--- a/docs/index-all.html
+++ b/docs/index-all.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>Index (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <script type="text/javascript" src="script.js"></script>
 </head>
@@ -161,6 +161,8 @@ <h2 class="title">B</h2>
 </a>
 <h2 class="title">C</h2>
 <dl>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html#calcValues--">calcValues()</a></span> - Method in class org.usfirst.frc.team449.robot.oi.fieldoriented.<a href="org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html" title="class in org.usfirst.frc.team449.robot.oi.fieldoriented">OIFieldOrientedPosCos</a></dt>
+<dd>&nbsp;</dd>
 <dt><a href="org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/CameraNetwork.html" title="class in org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera"><span class="typeNameLink">CameraNetwork</span></a> - Class in <a href="org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-summary.html">org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera</a></dt>
 <dd>
 <div class="block">Subsystem to initialize cameras and put video on SmartDashboard.</div>
@@ -1022,6 +1024,14 @@ <h2 class="title">G</h2>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/RobotMap2017.html#getTestMP--">getTestMP()</a></span> - Method in class org.usfirst.frc.team449.robot.<a href="org/usfirst/frc/team449/robot/RobotMap2017.html" title="class in org.usfirst.frc.team449.robot">RobotMap2017</a></dt>
 <dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html#getTheta--">getTheta()</a></span> - Method in interface org.usfirst.frc.team449.robot.oi.fieldoriented.<a href="org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html" title="interface in org.usfirst.frc.team449.robot.oi.fieldoriented">OIFieldOriented</a></dt>
+<dd>
+<div class="block">Get the absolute angle for the robot to move towards.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html#getTheta--">getTheta()</a></span> - Method in class org.usfirst.frc.team449.robot.oi.fieldoriented.<a href="org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html" title="class in org.usfirst.frc.team449.robot.oi.fieldoriented">OIFieldOrientedPosCos</a></dt>
+<dd>
+<div class="block">Get the absolute angle for the robot to move towards.</div>
+</dd>
 <dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/oi/throttles/Throttle.html#getValue--">getValue()</a></span> - Method in class org.usfirst.frc.team449.robot.oi.throttles.<a href="org/usfirst/frc/team449/robot/oi/throttles/Throttle.html" title="class in org.usfirst.frc.team449.robot.oi.throttles">Throttle</a></dt>
 <dd>
 <div class="block">Gets the raw value from the stick and inverts it if necessary.</div>
@@ -1038,6 +1048,14 @@ <h2 class="title">G</h2>
 <dd>
 <div class="block">Passes the deadbanded joystick output to the polynomial, while preserving sign.</div>
 </dd>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html#getVel--">getVel()</a></span> - Method in interface org.usfirst.frc.team449.robot.oi.fieldoriented.<a href="org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html" title="interface in org.usfirst.frc.team449.robot.oi.fieldoriented">OIFieldOriented</a></dt>
+<dd>
+<div class="block">Get the velocity for the robot to go at.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html#getVel--">getVel()</a></span> - Method in class org.usfirst.frc.team449.robot.oi.fieldoriented.<a href="org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html" title="class in org.usfirst.frc.team449.robot.oi.fieldoriented">OIFieldOrientedPosCos</a></dt>
+<dd>
+<div class="block">Get the velocity for the robot to go at.</div>
+</dd>
 <dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.html#getVelocity--">getVelocity()</a></span> - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.<a href="org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">FPSTalon</a></dt>
 <dd>
 <div class="block">Get the velocity of the CANTalon in FPS.</div>
@@ -1791,6 +1809,18 @@ <h2 class="title">O</h2>
 <dd>
 <div class="block">Default constructor</div>
 </dd>
+<dt><a href="org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html" title="interface in org.usfirst.frc.team449.robot.oi.fieldoriented"><span class="typeNameLink">OIFieldOriented</span></a> - Interface in <a href="org/usfirst/frc/team449/robot/oi/fieldoriented/package-summary.html">org.usfirst.frc.team449.robot.oi.fieldoriented</a></dt>
+<dd>
+<div class="block">An OI that gives an absolute heading, relative to the field, and a velocity.</div>
+</dd>
+<dt><a href="org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html" title="class in org.usfirst.frc.team449.robot.oi.fieldoriented"><span class="typeNameLink">OIFieldOrientedPosCos</span></a> - Class in <a href="org/usfirst/frc/team449/robot/oi/fieldoriented/package-summary.html">org.usfirst.frc.team449.robot.oi.fieldoriented</a></dt>
+<dd>
+<div class="block">A field-oriented OI that always points the robot an angle where cosine is positive, i.e.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html#OIFieldOrientedPosCos-org.usfirst.frc.team449.robot.oi.throttles.Throttle-org.usfirst.frc.team449.robot.oi.throttles.Throttle-">OIFieldOrientedPosCos(Throttle, Throttle)</a></span> - Constructor for class org.usfirst.frc.team449.robot.oi.fieldoriented.<a href="org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html" title="class in org.usfirst.frc.team449.robot.oi.fieldoriented">OIFieldOrientedPosCos</a></dt>
+<dd>
+<div class="block">Default constructor</div>
+</dd>
 <dt><a href="org/usfirst/frc/team449/robot/oi/unidirectional/OIOutreach.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional"><span class="typeNameLink">OIOutreach</span></a> - Class in <a href="org/usfirst/frc/team449/robot/oi/unidirectional/package-summary.html">org.usfirst.frc.team449.robot.oi.unidirectional</a></dt>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/oi/unidirectional/OIOutreach.html#OIOutreach-org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional-org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional-org.usfirst.frc.team449.robot.oi.buttons.FactoryButton-">OIOutreach(OIUnidirectional, OIUnidirectional, FactoryButton)</a></span> - Constructor for class org.usfirst.frc.team449.robot.oi.unidirectional.<a href="org/usfirst/frc/team449/robot/oi/unidirectional/OIOutreach.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional">OIOutreach</a></dt>
@@ -1849,6 +1879,8 @@ <h2 class="title">O</h2>
 <dd>&nbsp;</dd>
 <dt><a href="org/usfirst/frc/team449/robot/oi/buttons/package-summary.html">org.usfirst.frc.team449.robot.oi.buttons</a> - package org.usfirst.frc.team449.robot.oi.buttons</dt>
 <dd>&nbsp;</dd>
+<dt><a href="org/usfirst/frc/team449/robot/oi/fieldoriented/package-summary.html">org.usfirst.frc.team449.robot.oi.fieldoriented</a> - package org.usfirst.frc.team449.robot.oi.fieldoriented</dt>
+<dd>&nbsp;</dd>
 <dt><a href="org/usfirst/frc/team449/robot/oi/throttles/package-summary.html">org.usfirst.frc.team449.robot.oi.throttles</a> - package org.usfirst.frc.team449.robot.oi.throttles</dt>
 <dd>&nbsp;</dd>
 <dt><a href="org/usfirst/frc/team449/robot/oi/unidirectional/package-summary.html">org.usfirst.frc.team449.robot.oi.unidirectional</a> - package org.usfirst.frc.team449.robot.oi.unidirectional</dt>
diff --git a/docs/index.html b/docs/index.html
index 51f0415f..877e0876 100644
--- a/docs/index.html
+++ b/docs/index.html
@@ -2,7 +2,7 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>RoboRIO 1.0 API</title>
 <script type="text/javascript">
     tmpTargetPage = "" + window.location.search;
diff --git a/docs/org/usfirst/frc/team449/robot/Robot.html b/docs/org/usfirst/frc/team449/robot/Robot.html
index df2e940f..42bd2052 100644
--- a/docs/org/usfirst/frc/team449/robot/Robot.html
+++ b/docs/org/usfirst/frc/team449/robot/Robot.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>Robot (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/RobotMap2017.html b/docs/org/usfirst/frc/team449/robot/RobotMap2017.html
index bb478a99..67684421 100644
--- a/docs/org/usfirst/frc/team449/robot/RobotMap2017.html
+++ b/docs/org/usfirst/frc/team449/robot/RobotMap2017.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>RobotMap2017 (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Boiler.html b/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Boiler.html
index 375f042b..0f3122c1 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Boiler.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Boiler.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>Auto2017Boiler (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
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index d2a3adda..7d3c057a 100644
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index aa8e2034..240934e1 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Feeder.html
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-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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index 1b709618..32e86de6 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/autonomous/package-frame.html
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-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.commands.autonomous (RoboRIO 1.0 API)</title>
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index 78f13246..c5852046 100644
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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index 8036b5c4..041c251a 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/general/ParallelCommandGroup.html
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-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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index 90e65723..54b7843b 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/general/WaitForMillis.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>WaitForMillis (RoboRIO 1.0 API)</title>
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index 524fb243..bdcdf139 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/general/package-frame.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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index 5c19c344..a796dff1 100644
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-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.commands.general (RoboRIO 1.0 API)</title>
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index 45404872..3cd54e15 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/general/package-tree.html
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-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>RunMotorWhileConditonMet (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>JiggleRobot (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
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 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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-<meta name="date" content="2017-09-25">
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 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
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--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>NavXTurnToAngle (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
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 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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-<meta name="date" content="2017-09-25">
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 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
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diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-frame.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-frame.html
index 66d32670..d5003056 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-frame.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.commands.multiInterface.drive (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html
index 6fa2b67c..80bd5858 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.commands.multiInterface.drive (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-tree.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-tree.html
index ead0b046..b85636de 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-tree.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.commands.multiInterface.drive Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
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diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-frame.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-frame.html
index ae687f99..8ef3b95e 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.commands.multiInterface (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
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 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-summary.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-summary.html
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--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-summary.html
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.commands.multiInterface (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
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 <script type="text/javascript" src="../../../../../../../script.js"></script>
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diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-tree.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-tree.html
index df868fbc..31d910f0 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-tree.html
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@@ -2,9 +2,9 @@
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diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/FireShooter.html b/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/FireShooter.html
index 03744428..9c68735b 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/FireShooter.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/FireShooter.html
@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>FireShooter (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
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diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/LoadShooter.html b/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/LoadShooter.html
index 4fe9e4d2..2ab143b7 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/LoadShooter.html
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@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>LoadShooter (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
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diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/RackShooter.html b/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/RackShooter.html
index dbd1bffe..4cd2fc0e 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/RackShooter.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>RackShooter (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
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diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/ResetShooter.html b/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/ResetShooter.html
index 283b0ec7..2ed87a73 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/ResetShooter.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>ResetShooter (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
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diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/package-frame.html b/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/package-frame.html
index 3de05dd4..6343ddae 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/package-frame.html
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@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.commands.multiSubsystem (RoboRIO 1.0 API)</title>
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diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/package-summary.html b/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/package-summary.html
index 0f498c9d..c7d94b16 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/package-summary.html
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@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.commands.multiSubsystem (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
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diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/package-tree.html b/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/package-tree.html
index 1af3f047..e68d5a7d 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/package-tree.html
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@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.commands.multiSubsystem Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/components/AutoshiftComponent.html b/docs/org/usfirst/frc/team449/robot/components/AutoshiftComponent.html
index a88e3b52..3ca9ad07 100644
--- a/docs/org/usfirst/frc/team449/robot/components/AutoshiftComponent.html
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@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>AutoshiftComponent (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
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diff --git a/docs/org/usfirst/frc/team449/robot/components/ShiftComponent.html b/docs/org/usfirst/frc/team449/robot/components/ShiftComponent.html
index 3e984d2a..8b8fe3ba 100644
--- a/docs/org/usfirst/frc/team449/robot/components/ShiftComponent.html
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@@ -2,9 +2,9 @@
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>ShiftComponent (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/components/ShiftWithSensorComponent.html b/docs/org/usfirst/frc/team449/robot/components/ShiftWithSensorComponent.html
index 20838502..bca64f8b 100644
--- a/docs/org/usfirst/frc/team449/robot/components/ShiftWithSensorComponent.html
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@@ -2,9 +2,9 @@
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>ShiftWithSensorComponent (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/components/package-frame.html b/docs/org/usfirst/frc/team449/robot/components/package-frame.html
index bacc2730..93528321 100644
--- a/docs/org/usfirst/frc/team449/robot/components/package-frame.html
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@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.components (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/components/package-summary.html b/docs/org/usfirst/frc/team449/robot/components/package-summary.html
index 7f932678..66334e74 100644
--- a/docs/org/usfirst/frc/team449/robot/components/package-summary.html
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@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.components (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/components/package-tree.html b/docs/org/usfirst/frc/team449/robot/components/package-tree.html
index 679d18ab..1ff3f093 100644
--- a/docs/org/usfirst/frc/team449/robot/components/package-tree.html
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@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.components Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/drive/DriveSubsystem.html b/docs/org/usfirst/frc/team449/robot/drive/DriveSubsystem.html
index 4638bfd7..73ae62b8 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/DriveSubsystem.html
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@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>DriveSubsystem (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/drive/package-frame.html b/docs/org/usfirst/frc/team449/robot/drive/package-frame.html
index 908c2d98..50953208 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.drive (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/drive/package-summary.html b/docs/org/usfirst/frc/team449/robot/drive/package-summary.html
index a02d0b71..45943188 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.drive (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/drive/package-tree.html b/docs/org/usfirst/frc/team449/robot/drive/package-tree.html
index 27dbbf11..1cb6db19 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.drive Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html b/docs/org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html
index 2d21bc5c..03a2616e 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>DriveShiftable (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/OverrideAutoShift.html b/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/OverrideAutoShift.html
index 60ab1f70..c170b297 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/OverrideAutoShift.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/OverrideAutoShift.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>OverrideAutoShift (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/ToggleOverrideAutoShift.html b/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/ToggleOverrideAutoShift.html
index ced1cf07..06783223 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/ToggleOverrideAutoShift.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/ToggleOverrideAutoShift.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>ToggleOverrideAutoShift (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/package-frame.html
index f8c5a3de..f72c8da9 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.drive.shifting.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/package-summary.html
index 147b2453..2ed56956 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.drive.shifting.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/package-tree.html
index 80a2301f..5c06c6ed 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.drive.shifting.commands Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/drive/shifting/package-frame.html b/docs/org/usfirst/frc/team449/robot/drive/shifting/package-frame.html
index 67deba37..5761d798 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/shifting/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/shifting/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.drive.shifting (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/drive/shifting/package-summary.html b/docs/org/usfirst/frc/team449/robot/drive/shifting/package-summary.html
index 63a06f4d..4fb35fff 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/shifting/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/shifting/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.drive.shifting (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/drive/shifting/package-tree.html b/docs/org/usfirst/frc/team449/robot/drive/shifting/package-tree.html
index 3edc2963..3b8d4e5e 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/shifting/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/shifting/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.drive.shifting Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.html
index 5b43bbfc..e7c0aea1 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>DriveTalonCluster (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
@@ -683,6 +683,26 @@ <h4>loadMotionProfile</h4>
 </dl>
 </li>
 </ul>
+<a name="loadMotionProfile-org.usfirst.frc.team449.robot.other.MotionProfileData-org.usfirst.frc.team449.robot.other.MotionProfileData-">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>loadMotionProfile</h4>
+<pre>public&nbsp;void&nbsp;loadMotionProfile(@NotNull
+                              <a href="../../../../../../../org/usfirst/frc/team449/robot/other/MotionProfileData.html" title="class in org.usfirst.frc.team449.robot.other">MotionProfileData</a>&nbsp;left,
+                              @NotNull
+                              <a href="../../../../../../../org/usfirst/frc/team449/robot/other/MotionProfileData.html" title="class in org.usfirst.frc.team449.robot.other">MotionProfileData</a>&nbsp;right)</pre>
+<div class="block">Loads given profiles into the left and right sides of the drive.</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
+<dd><code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/SubsystemMPTwoSides.html#loadMotionProfile-org.usfirst.frc.team449.robot.other.MotionProfileData-org.usfirst.frc.team449.robot.other.MotionProfileData-">loadMotionProfile</a></code>&nbsp;in interface&nbsp;<code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/SubsystemMPTwoSides.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem">SubsystemMPTwoSides</a></code></dd>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>left</code> - The profile to load into the left side.</dd>
+<dd><code>right</code> - The profile to load into the right side.</dd>
+</dl>
+</li>
+</ul>
 <a name="startRunningLoadedProfile--">
 <!--   -->
 </a>
@@ -771,26 +791,6 @@ <h4>stopMPProcesses</h4>
 </dl>
 </li>
 </ul>
-<a name="loadMotionProfile-org.usfirst.frc.team449.robot.other.MotionProfileData-org.usfirst.frc.team449.robot.other.MotionProfileData-">
-<!--   -->
-</a>
-<ul class="blockList">
-<li class="blockList">
-<h4>loadMotionProfile</h4>
-<pre>public&nbsp;void&nbsp;loadMotionProfile(@NotNull
-                              <a href="../../../../../../../org/usfirst/frc/team449/robot/other/MotionProfileData.html" title="class in org.usfirst.frc.team449.robot.other">MotionProfileData</a>&nbsp;left,
-                              @NotNull
-                              <a href="../../../../../../../org/usfirst/frc/team449/robot/other/MotionProfileData.html" title="class in org.usfirst.frc.team449.robot.other">MotionProfileData</a>&nbsp;right)</pre>
-<div class="block">Loads given profiles into the left and right sides of the drive.</div>
-<dl>
-<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
-<dd><code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/SubsystemMPTwoSides.html#loadMotionProfile-org.usfirst.frc.team449.robot.other.MotionProfileData-org.usfirst.frc.team449.robot.other.MotionProfileData-">loadMotionProfile</a></code>&nbsp;in interface&nbsp;<code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/SubsystemMPTwoSides.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem">SubsystemMPTwoSides</a></code></dd>
-<dt><span class="paramLabel">Parameters:</span></dt>
-<dd><code>left</code> - The profile to load into the left side.</dd>
-<dd><code>right</code> - The profile to load into the right side.</dd>
-</dl>
-</li>
-</ul>
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diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonClusterShiftable.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonClusterShiftable.html
index 06fed84d..f4b8be31 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonClusterShiftable.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonClusterShiftable.html
@@ -2,9 +2,9 @@
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-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>DriveTalonClusterShiftable (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
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diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html
index fa169ba0..cad301c0 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html
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@@ -2,9 +2,9 @@
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-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
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diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectionalSimple.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectionalSimple.html
index 1891d7af..0e8e59ef 100644
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@@ -2,9 +2,9 @@
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-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>DriveUnidirectionalSimple (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
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diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DetermineNominalVoltage.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DetermineNominalVoltage.html
index c676885a..66875789 100644
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@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>DetermineNominalVoltage (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
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diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DriveAtSpeed.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DriveAtSpeed.html
index caf36e2c..fd5ea0b3 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DriveAtSpeed.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DriveAtSpeed.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
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diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DriveStraight.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DriveStraight.html
index ea0a674e..2cd21116 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DriveStraight.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DriveStraight.html
@@ -2,9 +2,9 @@
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>DriveStraight (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
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diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/PIDBackAndForth.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/PIDBackAndForth.html
index f6fcf59b..f72cc067 100644
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+++ b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/PIDBackAndForth.html
@@ -2,9 +2,9 @@
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>PIDBackAndForth (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/PIDTest.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/PIDTest.html
index fc479e21..829d02bc 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/PIDTest.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/PIDTest.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>PIDTest (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/SimpleUnidirectionalDrive.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/SimpleUnidirectionalDrive.html
index 8883a738..6743e1f2 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/SimpleUnidirectionalDrive.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/SimpleUnidirectionalDrive.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>SimpleUnidirectionalDrive (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
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diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-frame.html
index b36a7c84..1f42115c 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.drive.unidirectional.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
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 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-summary.html
index 0c27d69d..5c6238ab 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.drive.unidirectional.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
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diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-tree.html
index 737f526d..48453f03 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.drive.unidirectional.commands Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-frame.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-frame.html
index cab07d3f..ac29bf52 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.drive.unidirectional (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
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 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-summary.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-summary.html
index 7f8da155..75f4ed06 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.drive.unidirectional (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-tree.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-tree.html
index d74aa43e..4b9b79fe 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.drive.unidirectional Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/Loggable.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/Loggable.html
index 62062a5a..2b934989 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/Loggable.html
+++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/Loggable.html
@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>Loggable (RoboRIO 1.0 API)</title>
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/package-frame.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/package-frame.html
index 06e2acf0..32745be2 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/package-summary.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/package-summary.html
index 0e39455a..8a445e7e 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/package-summary.html
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@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.generalInterfaces.loggable (RoboRIO 1.0 API)</title>
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+<meta name="date" content="2017-09-30">
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/package-tree.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/package-tree.html
index d9adf287..aa2c759c 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/package-tree.html
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 <!-- NewPage -->
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/Shiftable.gear.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/Shiftable.gear.html
index ec69741b..f33ad6f8 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/Shiftable.gear.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>Shiftable.gear (RoboRIO 1.0 API)</title>
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/Shiftable.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/Shiftable.html
index 50ae1d39..706ae316 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/Shiftable.html
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-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>Shiftable (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/ShiftGears.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/ShiftGears.html
index b52db943..c69ccb44 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/ShiftGears.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>ShiftGears (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToGear.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToGear.html
index 2924ddfd..460a2dec 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToGear.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>SwitchToGear (RoboRIO 1.0 API)</title>
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToHighGear.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToHighGear.html
index fee68b0a..b20532dd 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToHighGear.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>SwitchToHighGear (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToLowGear.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToLowGear.html
index 60330165..3eddffbc 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToLowGear.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>SwitchToLowGear (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-frame.html
index c91231cd..afde0808 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-frame.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-summary.html
index e48c737d..a5b82b6e 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-summary.html
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@@ -2,9 +2,9 @@
 <!-- NewPage -->
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-tree.html
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--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-tree.html
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@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-frame.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-frame.html
index ba54b0ed..7280fc79 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-frame.html
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@@ -2,9 +2,9 @@
 <!-- NewPage -->
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.generalInterfaces.shiftable (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-summary.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-summary.html
index 566ca309..0e56c281 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.generalInterfaces.shiftable (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-tree.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-tree.html
index f48a3be5..0efe8bf5 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.generalInterfaces.shiftable Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/SimpleMotor.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/SimpleMotor.html
index bac71eb5..18f9534f 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/SimpleMotor.html
+++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/SimpleMotor.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>SimpleMotor (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-frame.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-frame.html
index 9375a0d5..79ae1be0 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-summary.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-summary.html
index 7c7f327f..00e45716 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-tree.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-tree.html
index 39dd3d4e..68cb5b65 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.html
index b483a1d4..f5d5660a 100644
--- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.html
+++ b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>FPSTalon (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedAHRS.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedAHRS.html
index fb366308..9d684771 100644
--- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedAHRS.html
+++ b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedAHRS.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>MappedAHRS (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedDigitalInput.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedDigitalInput.html
index 62ada361..48bcd3e5 100644
--- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedDigitalInput.html
+++ b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedDigitalInput.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>MappedDigitalInput (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedDoubleSolenoid.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedDoubleSolenoid.html
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 <title>YamlCommandGroupWrapper (RoboRIO 1.0 API)</title>
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-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>YamlCommandWrapper (RoboRIO 1.0 API)</title>
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-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>YamlSubsystem (RoboRIO 1.0 API)</title>
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diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/package-frame.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/package-frame.html
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-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.jacksonWrappers (RoboRIO 1.0 API)</title>
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.jacksonWrappers (RoboRIO 1.0 API)</title>
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+<meta name="date" content="2017-09-30">
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diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/package-tree.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/package-tree.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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+<meta name="date" content="2017-09-30">
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/buttons/CommandButton.html b/docs/org/usfirst/frc/team449/robot/oi/buttons/CommandButton.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>CommandButton (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/buttons/FactoryButton.html b/docs/org/usfirst/frc/team449/robot/oi/buttons/FactoryButton.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>FactoryButton (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/buttons/FactoryJoystickButton.html b/docs/org/usfirst/frc/team449/robot/oi/buttons/FactoryJoystickButton.html
index 961917fa..647b8a76 100644
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>FactoryJoystickButton (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/buttons/TriggerButton.html b/docs/org/usfirst/frc/team449/robot/oi/buttons/TriggerButton.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>TriggerButton (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/buttons/dPadButton.html b/docs/org/usfirst/frc/team449/robot/oi/buttons/dPadButton.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>dPadButton (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/buttons/package-frame.html b/docs/org/usfirst/frc/team449/robot/oi/buttons/package-frame.html
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@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.oi.buttons (RoboRIO 1.0 API)</title>
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+<meta name="date" content="2017-09-30">
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/buttons/package-summary.html b/docs/org/usfirst/frc/team449/robot/oi/buttons/package-summary.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.oi.buttons (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
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@@ -43,7 +43,7 @@
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-<li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/throttles/package-summary.html">Next&nbsp;Package</a></li>
+<li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/package-summary.html">Next&nbsp;Package</a></li>
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 <ul class="navList">
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-<li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/throttles/package-summary.html">Next&nbsp;Package</a></li>
+<li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/package-summary.html">Next&nbsp;Package</a></li>
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 <ul class="navList">
 <li><a href="../../../../../../../index.html?org/usfirst/frc/team449/robot/oi/buttons/package-summary.html" target="_top">Frames</a></li>
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-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
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@@ -43,7 +43,7 @@
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-<li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/throttles/package-tree.html">Next</a></li>
+<li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/package-tree.html">Next</a></li>
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 <ul class="navList">
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-<li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/throttles/package-tree.html">Next</a></li>
+<li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/package-tree.html">Next</a></li>
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 <ul class="navList">
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+<div class="header">
+<div class="subTitle">org.usfirst.frc.team449.robot.oi.fieldoriented</div>
+<h2 title="Interface OIFieldOriented" class="title">Interface OIFieldOriented</h2>
+</div>
+<div class="contentContainer">
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<dl>
+<dt>All Known Implementing Classes:</dt>
+<dd><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html" title="class in org.usfirst.frc.team449.robot.oi.fieldoriented">OIFieldOrientedPosCos</a></dd>
+</dl>
+<hr>
+<br>
+<pre>public interface <span class="typeNameLabel">OIFieldOriented</span></pre>
+<div class="block">An OI that gives an absolute heading, relative to the field, and a velocity.</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ========== METHOD SUMMARY =========== -->
+<ul class="blockList">
+<li class="blockList"><a name="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<table class="memberSummary" border="0" cellpadding="3" cellspacing="0" summary="Method Summary table, listing methods, and an explanation">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t3" class="tableTab"><span><a href="javascript:show(4);">Abstract Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colLast" scope="col">Method and Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code>java.lang.Double</code></td>
+<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html#getTheta--">getTheta</a></span>()</code>
+<div class="block">Get the absolute angle for the robot to move towards.</div>
+</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code>double</code></td>
+<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html#getVel--">getVel</a></span>()</code>
+<div class="block">Get the velocity for the robot to go at.</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</li>
+</ul>
+</div>
+<div class="details">
+<ul class="blockList">
+<li class="blockList">
+<!-- ============ METHOD DETAIL ========== -->
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+<li class="blockList"><a name="method.detail">
+<!--   -->
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+<h3>Method Detail</h3>
+<a name="getTheta--">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getTheta</h4>
+<pre>@Nullable
+java.lang.Double&nbsp;getTheta()</pre>
+<div class="block">Get the absolute angle for the robot to move towards.</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>An angular setpoint for the robot in degrees, where 0 is pointing at the other alliance's driver station
+ and 90 is pointing at the left wall when looking out from the driver station. Returns null if vel is 0.</dd>
+</dl>
+</li>
+</ul>
+<a name="getVel--">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>getVel</h4>
+<pre>double&nbsp;getVel()</pre>
+<div class="block">Get the velocity for the robot to go at.</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>A velocity from [-1, 1].</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</div>
+</div>
+<!-- ========= END OF CLASS DATA ========= -->
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html b/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html
new file mode 100644
index 00000000..c0ca1e8b
--- /dev/null
+++ b/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html
@@ -0,0 +1,333 @@
+<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/html4/loose.dtd">
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<title>OIFieldOrientedPosCos (RoboRIO 1.0 API)</title>
+<meta name="date" content="2017-09-30">
+<link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
+<script type="text/javascript" src="../../../../../../../script.js"></script>
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+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="OIFieldOrientedPosCos (RoboRIO 1.0 API)";
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+    catch(err) {
+    }
+//-->
+var methods = {"i0":10,"i1":10,"i2":10};
+var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]};
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+<!-- ======== START OF CLASS DATA ======== -->
+<div class="header">
+<div class="subTitle">org.usfirst.frc.team449.robot.oi.fieldoriented</div>
+<h2 title="Class OIFieldOrientedPosCos" class="title">Class OIFieldOrientedPosCos</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li>java.lang.Object</li>
+<li>
+<ul class="inheritance">
+<li>org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOrientedPosCos</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<dl>
+<dt>All Implemented Interfaces:</dt>
+<dd><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html" title="interface in org.usfirst.frc.team449.robot.oi.fieldoriented">OIFieldOriented</a></dd>
+</dl>
+<hr>
+<br>
+<pre>public class <span class="typeNameLabel">OIFieldOrientedPosCos</span>
+extends java.lang.Object
+implements <a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html" title="interface in org.usfirst.frc.team449.robot.oi.fieldoriented">OIFieldOriented</a></pre>
+<div class="block">A field-oriented OI that always points the robot an angle where cosine is positive, i.e. always pointing away from the driver station.</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<ul class="blockList">
+<li class="blockList"><a name="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary" border="0" cellpadding="3" cellspacing="0" summary="Constructor Summary table, listing constructors, and an explanation">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colOne" scope="col">Constructor and Description</th>
+</tr>
+<tr class="altColor">
+<td class="colOne"><code><span class="memberNameLink"><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html#OIFieldOrientedPosCos-org.usfirst.frc.team449.robot.oi.throttles.Throttle-org.usfirst.frc.team449.robot.oi.throttles.Throttle-">OIFieldOrientedPosCos</a></span>(<a href="../../../../../../../org/usfirst/frc/team449/robot/oi/throttles/Throttle.html" title="class in org.usfirst.frc.team449.robot.oi.throttles">Throttle</a>&nbsp;xThrottle,
+                     <a href="../../../../../../../org/usfirst/frc/team449/robot/oi/throttles/Throttle.html" title="class in org.usfirst.frc.team449.robot.oi.throttles">Throttle</a>&nbsp;yThrottle)</code>
+<div class="block">Default constructor</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+<!-- ========== METHOD SUMMARY =========== -->
+<ul class="blockList">
+<li class="blockList"><a name="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<table class="memberSummary" border="0" cellpadding="3" cellspacing="0" summary="Method Summary table, listing methods, and an explanation">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colLast" scope="col">Method and Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code>protected void</code></td>
+<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html#calcValues--">calcValues</a></span>()</code>&nbsp;</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code>java.lang.Double</code></td>
+<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html#getTheta--">getTheta</a></span>()</code>
+<div class="block">Get the absolute angle for the robot to move towards.</div>
+</td>
+</tr>
+<tr id="i2" class="altColor">
+<td class="colFirst"><code>double</code></td>
+<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html#getVel--">getVel</a></span>()</code>
+<div class="block">Get the velocity for the robot to go at.</div>
+</td>
+</tr>
+</table>
+<ul class="blockList">
+<li class="blockList"><a name="methods.inherited.from.class.java.lang.Object">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;java.lang.Object</h3>
+<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</div>
+<div class="details">
+<ul class="blockList">
+<li class="blockList">
+<!-- ========= CONSTRUCTOR DETAIL ======== -->
+<ul class="blockList">
+<li class="blockList"><a name="constructor.detail">
+<!--   -->
+</a>
+<h3>Constructor Detail</h3>
+<a name="OIFieldOrientedPosCos-org.usfirst.frc.team449.robot.oi.throttles.Throttle-org.usfirst.frc.team449.robot.oi.throttles.Throttle-">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>OIFieldOrientedPosCos</h4>
+<pre>public&nbsp;OIFieldOrientedPosCos(@NotNull
+                             <a href="../../../../../../../org/usfirst/frc/team449/robot/oi/throttles/Throttle.html" title="class in org.usfirst.frc.team449.robot.oi.throttles">Throttle</a>&nbsp;xThrottle,
+                             @NotNull
+                             <a href="../../../../../../../org/usfirst/frc/team449/robot/oi/throttles/Throttle.html" title="class in org.usfirst.frc.team449.robot.oi.throttles">Throttle</a>&nbsp;yThrottle)</pre>
+<div class="block">Default constructor</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>xThrottle</code> - The throttle for the X-axis, which points towards the opposing driver station.</dd>
+<dd><code>yThrottle</code> - The throttle for the Y-axis, which points towards the driver's left.</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+<!-- ============ METHOD DETAIL ========== -->
+<ul class="blockList">
+<li class="blockList"><a name="method.detail">
+<!--   -->
+</a>
+<h3>Method Detail</h3>
+<a name="calcValues--">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>calcValues</h4>
+<pre>protected&nbsp;void&nbsp;calcValues()</pre>
+</li>
+</ul>
+<a name="getTheta--">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getTheta</h4>
+<pre>@Nullable
+public&nbsp;java.lang.Double&nbsp;getTheta()</pre>
+<div class="block">Get the absolute angle for the robot to move towards.</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
+<dd><code><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html#getTheta--">getTheta</a></code>&nbsp;in interface&nbsp;<code><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html" title="interface in org.usfirst.frc.team449.robot.oi.fieldoriented">OIFieldOriented</a></code></dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>An angular setpoint for the robot in degrees, where 0 is pointing at the other alliance's driver station
+ and 90 is pointing at the left wall when looking out from the driver station.</dd>
+</dl>
+</li>
+</ul>
+<a name="getVel--">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>getVel</h4>
+<pre>public&nbsp;double&nbsp;getVel()</pre>
+<div class="block">Get the velocity for the robot to go at.</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
+<dd><code><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html#getVel--">getVel</a></code>&nbsp;in interface&nbsp;<code><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html" title="interface in org.usfirst.frc.team449.robot.oi.fieldoriented">OIFieldOriented</a></code></dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>A velocity from [-1, 1].</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</div>
+</div>
+<!-- ========= END OF CLASS DATA ========= -->
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a name="navbar.bottom">
+<!--   -->
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+</ul>
+</div>
+<div class="subNav">
+<ul class="navList">
+<li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html" title="interface in org.usfirst.frc.team449.robot.oi.fieldoriented"><span class="typeNameLink">Prev&nbsp;Class</span></a></li>
+<li>Next&nbsp;Class</li>
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+<ul class="navList">
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+<ul class="subNavList">
+<li>Summary:&nbsp;</li>
+<li>Nested&nbsp;|&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
+<li><a href="#constructor.summary">Constr</a>&nbsp;|&nbsp;</li>
+<li><a href="#method.summary">Method</a></li>
+</ul>
+<ul class="subNavList">
+<li>Detail:&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
+<li><a href="#constructor.detail">Constr</a>&nbsp;|&nbsp;</li>
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-frame.html b/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-frame.html
new file mode 100644
index 00000000..7666bc1c
--- /dev/null
+++ b/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-frame.html
@@ -0,0 +1,24 @@
+<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/html4/loose.dtd">
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<title>org.usfirst.frc.team449.robot.oi.fieldoriented (RoboRIO 1.0 API)</title>
+<meta name="date" content="2017-09-30">
+<link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
+<script type="text/javascript" src="../../../../../../../script.js"></script>
+</head>
+<body>
+<h1 class="bar"><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/package-summary.html" target="classFrame">org.usfirst.frc.team449.robot.oi.fieldoriented</a></h1>
+<div class="indexContainer">
+<h2 title="Interfaces">Interfaces</h2>
+<ul title="Interfaces">
+<li><a href="OIFieldOriented.html" title="interface in org.usfirst.frc.team449.robot.oi.fieldoriented" target="classFrame"><span class="interfaceName">OIFieldOriented</span></a></li>
+</ul>
+<h2 title="Classes">Classes</h2>
+<ul title="Classes">
+<li><a href="OIFieldOrientedPosCos.html" title="class in org.usfirst.frc.team449.robot.oi.fieldoriented" target="classFrame">OIFieldOrientedPosCos</a></li>
+</ul>
+</div>
+</body>
+</html>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-summary.html b/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-summary.html
new file mode 100644
index 00000000..1a64bafa
--- /dev/null
+++ b/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-summary.html
@@ -0,0 +1,159 @@
+<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/html4/loose.dtd">
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<title>org.usfirst.frc.team449.robot.oi.fieldoriented (RoboRIO 1.0 API)</title>
+<meta name="date" content="2017-09-30">
+<link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
+<script type="text/javascript" src="../../../../../../../script.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="org.usfirst.frc.team449.robot.oi.fieldoriented (RoboRIO 1.0 API)";
+        }
+    }
+    catch(err) {
+    }
+//-->
+</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<!-- ========= START OF TOP NAVBAR ======= -->
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+<li><a href="../../../../../../../index-all.html">Index</a></li>
+<li><a href="../../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList">
+<li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/buttons/package-summary.html">Prev&nbsp;Package</a></li>
+<li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/throttles/package-summary.html">Next&nbsp;Package</a></li>
+</ul>
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+<li><a href="../../../../../../../index.html?org/usfirst/frc/team449/robot/oi/fieldoriented/package-summary.html" target="_top">Frames</a></li>
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+<ul class="navList" id="allclasses_navbar_top">
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+<div>
+<script type="text/javascript"><!--
+  allClassesLink = document.getElementById("allclasses_navbar_top");
+  if(window==top) {
+    allClassesLink.style.display = "block";
+  }
+  else {
+    allClassesLink.style.display = "none";
+  }
+  //-->
+</script>
+</div>
+<a name="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+<div class="header">
+<h1 title="Package" class="title">Package&nbsp;org.usfirst.frc.team449.robot.oi.fieldoriented</h1>
+</div>
+<div class="contentContainer">
+<ul class="blockList">
+<li class="blockList">
+<table class="typeSummary" border="0" cellpadding="3" cellspacing="0" summary="Interface Summary table, listing interfaces, and an explanation">
+<caption><span>Interface Summary</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Interface</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html" title="interface in org.usfirst.frc.team449.robot.oi.fieldoriented">OIFieldOriented</a></td>
+<td class="colLast">
+<div class="block">An OI that gives an absolute heading, relative to the field, and a velocity.</div>
+</td>
+</tr>
+</tbody>
+</table>
+</li>
+<li class="blockList">
+<table class="typeSummary" border="0" cellpadding="3" cellspacing="0" summary="Class Summary table, listing classes, and an explanation">
+<caption><span>Class Summary</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Class</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html" title="class in org.usfirst.frc.team449.robot.oi.fieldoriented">OIFieldOrientedPosCos</a></td>
+<td class="colLast">
+<div class="block">A field-oriented OI that always points the robot an angle where cosine is positive, i.e.</div>
+</td>
+</tr>
+</tbody>
+</table>
+</li>
+</ul>
+</div>
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a name="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
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+<li><a href="../../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../../index-all.html">Index</a></li>
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+</ul>
+</div>
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+</ul>
+<div>
+<script type="text/javascript"><!--
+  allClassesLink = document.getElementById("allclasses_navbar_bottom");
+  if(window==top) {
+    allClassesLink.style.display = "block";
+  }
+  else {
+    allClassesLink.style.display = "none";
+  }
+  //-->
+</script>
+</div>
+<a name="skip.navbar.bottom">
+<!--   -->
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+<!-- ======== END OF BOTTOM NAVBAR ======= -->
+</body>
+</html>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-tree.html b/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-tree.html
new file mode 100644
index 00000000..ca06b17e
--- /dev/null
+++ b/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-tree.html
@@ -0,0 +1,139 @@
+<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/html4/loose.dtd">
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<title>org.usfirst.frc.team449.robot.oi.fieldoriented Class Hierarchy (RoboRIO 1.0 API)</title>
+<meta name="date" content="2017-09-30">
+<link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
+<script type="text/javascript" src="../../../../../../../script.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="org.usfirst.frc.team449.robot.oi.fieldoriented Class Hierarchy (RoboRIO 1.0 API)";
+        }
+    }
+    catch(err) {
+    }
+//-->
+</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a name="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a name="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../../overview-summary.html">Overview</a></li>
+<li><a href="package-summary.html">Package</a></li>
+<li>Class</li>
+<li class="navBarCell1Rev">Tree</li>
+<li><a href="../../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../../index-all.html">Index</a></li>
+<li><a href="../../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList">
+<li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/buttons/package-tree.html">Prev</a></li>
+<li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/throttles/package-tree.html">Next</a></li>
+</ul>
+<ul class="navList">
+<li><a href="../../../../../../../index.html?org/usfirst/frc/team449/robot/oi/fieldoriented/package-tree.html" target="_top">Frames</a></li>
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+</ul>
+<ul class="navList" id="allclasses_navbar_top">
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+<div>
+<script type="text/javascript"><!--
+  allClassesLink = document.getElementById("allclasses_navbar_top");
+  if(window==top) {
+    allClassesLink.style.display = "block";
+  }
+  else {
+    allClassesLink.style.display = "none";
+  }
+  //-->
+</script>
+</div>
+<a name="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+<div class="header">
+<h1 class="title">Hierarchy For Package org.usfirst.frc.team449.robot.oi.fieldoriented</h1>
+<span class="packageHierarchyLabel">Package Hierarchies:</span>
+<ul class="horizontal">
+<li><a href="../../../../../../../overview-tree.html">All Packages</a></li>
+</ul>
+</div>
+<div class="contentContainer">
+<h2 title="Class Hierarchy">Class Hierarchy</h2>
+<ul>
+<li type="circle">java.lang.Object
+<ul>
+<li type="circle">org.usfirst.frc.team449.robot.oi.fieldoriented.<a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html" title="class in org.usfirst.frc.team449.robot.oi.fieldoriented"><span class="typeNameLink">OIFieldOrientedPosCos</span></a> (implements org.usfirst.frc.team449.robot.oi.fieldoriented.<a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html" title="interface in org.usfirst.frc.team449.robot.oi.fieldoriented">OIFieldOriented</a>)</li>
+</ul>
+</li>
+</ul>
+<h2 title="Interface Hierarchy">Interface Hierarchy</h2>
+<ul>
+<li type="circle">org.usfirst.frc.team449.robot.oi.fieldoriented.<a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html" title="interface in org.usfirst.frc.team449.robot.oi.fieldoriented"><span class="typeNameLink">OIFieldOriented</span></a></li>
+</ul>
+</div>
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a name="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a name="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../../overview-summary.html">Overview</a></li>
+<li><a href="package-summary.html">Package</a></li>
+<li>Class</li>
+<li class="navBarCell1Rev">Tree</li>
+<li><a href="../../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../../index-all.html">Index</a></li>
+<li><a href="../../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList">
+<li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/buttons/package-tree.html">Prev</a></li>
+<li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/throttles/package-tree.html">Next</a></li>
+</ul>
+<ul class="navList">
+<li><a href="../../../../../../../index.html?org/usfirst/frc/team449/robot/oi/fieldoriented/package-tree.html" target="_top">Frames</a></li>
+<li><a href="package-tree.html" target="_top">No&nbsp;Frames</a></li>
+</ul>
+<ul class="navList" id="allclasses_navbar_bottom">
+<li><a href="../../../../../../../allclasses-noframe.html">All&nbsp;Classes</a></li>
+</ul>
+<div>
+<script type="text/javascript"><!--
+  allClassesLink = document.getElementById("allclasses_navbar_bottom");
+  if(window==top) {
+    allClassesLink.style.display = "block";
+  }
+  else {
+    allClassesLink.style.display = "none";
+  }
+  //-->
+</script>
+</div>
+<a name="skip.navbar.bottom">
+<!--   -->
+</a></div>
+<!-- ======== END OF BOTTOM NAVBAR ======= -->
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/throttles/Throttle.html b/docs/org/usfirst/frc/team449/robot/oi/throttles/Throttle.html
index 7744fa6d..191e1fed 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/throttles/Throttle.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/throttles/Throttle.html
@@ -2,9 +2,9 @@
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>Throttle (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottleDeadbanded.html b/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottleDeadbanded.html
index 01d22186..9d4b8bd5 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottleDeadbanded.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottleDeadbanded.html
@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>ThrottleDeadbanded (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottleExponential.html b/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottleExponential.html
index 09cd26d2..db5f6380 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottleExponential.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottleExponential.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>ThrottleExponential (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottlePolynomial.html b/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottlePolynomial.html
index c8a8a19c..0b4ca092 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottlePolynomial.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottlePolynomial.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>ThrottlePolynomial (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/throttles/package-frame.html b/docs/org/usfirst/frc/team449/robot/oi/throttles/package-frame.html
index 57b462a9..c9b12026 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/throttles/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/throttles/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.oi.throttles (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/throttles/package-summary.html b/docs/org/usfirst/frc/team449/robot/oi/throttles/package-summary.html
index 4f426bd8..7d9e2910 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/throttles/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/throttles/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.oi.throttles (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
@@ -42,7 +42,7 @@
 </div>
 <div class="subNav">
 <ul class="navList">
-<li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/buttons/package-summary.html">Prev&nbsp;Package</a></li>
+<li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/package-summary.html">Prev&nbsp;Package</a></li>
 <li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/unidirectional/package-summary.html">Next&nbsp;Package</a></li>
 </ul>
 <ul class="navList">
@@ -130,7 +130,7 @@ <h1 title="Package" class="title">Package&nbsp;org.usfirst.frc.team449.robot.oi.
 </div>
 <div class="subNav">
 <ul class="navList">
-<li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/buttons/package-summary.html">Prev&nbsp;Package</a></li>
+<li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/package-summary.html">Prev&nbsp;Package</a></li>
 <li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/unidirectional/package-summary.html">Next&nbsp;Package</a></li>
 </ul>
 <ul class="navList">
diff --git a/docs/org/usfirst/frc/team449/robot/oi/throttles/package-tree.html b/docs/org/usfirst/frc/team449/robot/oi/throttles/package-tree.html
index 00f42492..6d27b243 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/throttles/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/throttles/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.oi.throttles Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
@@ -42,7 +42,7 @@
 </div>
 <div class="subNav">
 <ul class="navList">
-<li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/buttons/package-tree.html">Prev</a></li>
+<li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/package-tree.html">Prev</a></li>
 <li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/unidirectional/package-tree.html">Next</a></li>
 </ul>
 <ul class="navList">
@@ -114,7 +114,7 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 </div>
 <div class="subNav">
 <ul class="navList">
-<li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/buttons/package-tree.html">Prev</a></li>
+<li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/package-tree.html">Prev</a></li>
 <li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/unidirectional/package-tree.html">Next</a></li>
 </ul>
 <ul class="navList">
diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/OIOutreach.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/OIOutreach.html
index b6a0f658..88a8f659 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/OIOutreach.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/OIOutreach.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>OIOutreach (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html
index 9f1aa538..2ea6b491 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>OIUnidirectional (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcade.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcade.html
index 4bd9204e..7458b53c 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcade.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcade.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>OIArcade (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeSimple.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeSimple.html
index fc17b868..7156758e 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeSimple.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeSimple.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>OIArcadeSimple (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeWithDPad.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeWithDPad.html
index b9d851ea..19285293 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeWithDPad.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeWithDPad.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>OIArcadeWithDPad (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-frame.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-frame.html
index f8ee74c1..7b39bc93 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.oi.unidirectional.arcade (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-summary.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-summary.html
index 459a4490..ad071149 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.oi.unidirectional.arcade (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-tree.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-tree.html
index 3dfe57c0..fcb6419a 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.oi.unidirectional.arcade Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-frame.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-frame.html
index fb6da041..70234c68 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.oi.unidirectional (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-summary.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-summary.html
index 997d5966..6a9b55f9 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.oi.unidirectional (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-tree.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-tree.html
index 26842e5a..a4b724fe 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.oi.unidirectional Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITank.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITank.html
index 6f7d4aff..2eeb4721 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITank.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITank.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>OITank (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITankSimple.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITankSimple.html
index 17a28d57..c42c7c02 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITankSimple.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITankSimple.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>OITankSimple (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/package-frame.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/package-frame.html
index 7a989869..59368b56 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.oi.unidirectional.tank (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/package-summary.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/package-summary.html
index d498623e..c41cfb7d 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.oi.unidirectional.tank (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/package-tree.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/package-tree.html
index 527609d1..529f07c1 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.oi.unidirectional.tank Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/other/BufferTimer.html b/docs/org/usfirst/frc/team449/robot/other/BufferTimer.html
index 1e4ba50f..86c29c8b 100644
--- a/docs/org/usfirst/frc/team449/robot/other/BufferTimer.html
+++ b/docs/org/usfirst/frc/team449/robot/other/BufferTimer.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>BufferTimer (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/other/LogEvent.html b/docs/org/usfirst/frc/team449/robot/other/LogEvent.html
index e91c6bb9..0b378f74 100644
--- a/docs/org/usfirst/frc/team449/robot/other/LogEvent.html
+++ b/docs/org/usfirst/frc/team449/robot/other/LogEvent.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>LogEvent (RoboRIO 1.0 API)</title>
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index e8113ae7..3bbaea0f 100644
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diff --git a/docs/org/usfirst/frc/team449/robot/other/MotionProfileData.html b/docs/org/usfirst/frc/team449/robot/other/MotionProfileData.html
index 7d072988..63e5f4c3 100644
--- a/docs/org/usfirst/frc/team449/robot/other/MotionProfileData.html
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index c6d8e091..e595934f 100644
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index a0b50f98..37406b00 100644
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index 75cab05a..3ad6f13b 100644
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index 3ed2eee0..c6552fd5 100644
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index 9615f2c2..b04433b2 100644
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-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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index bcda23df..ff91e740 100644
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index 21621f17..44577d07 100644
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-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.subsystem.complex.climber Class Hierarchy (RoboRIO 1.0 API)</title>
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index 7b010462..efda3a2b 100644
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>IntakeFixedAndActuated (RoboRIO 1.0 API)</title>
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index 2ace084d..f9812762 100644
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-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.subsystem.complex.intake (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/complex/intake/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/complex/intake/package-tree.html
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-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.subsystem.complex.intake Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
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index a5560eb7..844fd549 100644
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>LoggingShooter (RoboRIO 1.0 API)</title>
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/package-frame.html
index f30a0455..fc905a22 100644
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.subsystem.complex.shooter (RoboRIO 1.0 API)</title>
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/package-summary.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.subsystem.complex.shooter (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/package-tree.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.subsystem.complex.shooter Class Hierarchy (RoboRIO 1.0 API)</title>
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 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/BinaryMotorSimple.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/BinaryMotorSimple.html
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--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/BinaryMotorSimple.html
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>BinaryMotorSimple (RoboRIO 1.0 API)</title>
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/SubsystemBinaryMotor.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/SubsystemBinaryMotor.html
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--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/SubsystemBinaryMotor.html
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
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 <title>SubsystemBinaryMotor (RoboRIO 1.0 API)</title>
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 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/ToggleMotor.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/ToggleMotor.html
index c5b0342c..4bd824e2 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/ToggleMotor.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/ToggleMotor.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>ToggleMotor (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOff.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOff.html
index cf122ddb..55d56398 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOff.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOff.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>TurnMotorOff (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOffWithRequires.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOffWithRequires.html
index adf579fc..99ac245d 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOffWithRequires.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOffWithRequires.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>TurnMotorOffWithRequires (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOn.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOn.html
index 5fb13adc..691de9e5 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOn.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOn.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>TurnMotorOn (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-frame.html
index 85fbe1c9..9746543c 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-summary.html
index 460daee6..a28b08d2 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-tree.html
index 54050636..703837ee 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-frame.html
index d3b4141e..60586245 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-summary.html
index 61fc9a5b..6df3ea02 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-tree.html
index eb581301..ecfb30b7 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/SubsystemConditional.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/SubsystemConditional.html
index 34f5d31a..a64c7265 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/SubsystemConditional.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/SubsystemConditional.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>SubsystemConditional (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-frame.html
index 3a4e22c4..1ccec54f 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.conditional (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-summary.html
index 0d36d5bf..0330586f 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.conditional (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-tree.html
index cb09fa3c..1d44a73b 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.conditional Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/IntakeSimple.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/IntakeSimple.html
index acc2e1fe..be0833b9 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/IntakeSimple.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/IntakeSimple.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>IntakeSimple (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.IntakeMode.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.IntakeMode.html
index c0f08007..197b2a53 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.IntakeMode.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.IntakeMode.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>SubsystemIntake.IntakeMode (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.html
index d45f3719..67c45b08 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>SubsystemIntake (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/SetIntakeMode.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/SetIntakeMode.html
index f2033325..e6488a70 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/SetIntakeMode.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/SetIntakeMode.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>SetIntakeMode (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/ToggleIntaking.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/ToggleIntaking.html
index ac4edb96..e7c334d8 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/ToggleIntaking.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/ToggleIntaking.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>ToggleIntaking (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-frame.html
index 9aa9ab7f..c8a924b4 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-summary.html
index 7903682d..2c3e3c09 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-tree.html
index 49549784..750aab0b 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-frame.html
index 34e985d1..e743a905 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.intake (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-summary.html
index 04e20900..809f0b52 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.intake (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-tree.html
index ed43ce1e..1d1a1676 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.intake Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/SubsystemMP.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/SubsystemMP.html
index f0edf74b..11f4b78e 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/SubsystemMP.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/SubsystemMP.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>SubsystemMP (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/SubsystemMPTwoSides.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/SubsystemMPTwoSides.html
index 63682335..50f70e66 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/SubsystemMPTwoSides.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/SubsystemMPTwoSides.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>SubsystemMPTwoSides (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/LoadProfileTwoSides.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/LoadProfileTwoSides.html
index 1d10219f..1dfb1f90 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/LoadProfileTwoSides.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/LoadProfileTwoSides.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>LoadProfileTwoSides (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/RunProfileTwoSides.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/RunProfileTwoSides.html
index 93e2d2f7..8081e1bf 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/RunProfileTwoSides.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/RunProfileTwoSides.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>RunProfileTwoSides (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-frame.html
index d8e07dfa..104da71b 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-summary.html
index 7736347d..40c8047e 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-tree.html
index 1a4b9f21..d0f81ae0 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-frame.html
index f202f86c..609b22ed 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-summary.html
index 0aa7c410..ee9dfa08 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-tree.html
index c5d9c2b6..dc724ce5 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/LoadProfile.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/LoadProfile.html
index 6d78d481..addc16c8 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/LoadProfile.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/LoadProfile.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>LoadProfile (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunLoadedProfile.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunLoadedProfile.html
index ae76074f..0b29c188 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunLoadedProfile.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunLoadedProfile.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>RunLoadedProfile (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunProfile.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunProfile.html
index 411f7fe7..372f4848 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunProfile.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunProfile.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>RunProfile (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-frame.html
index 73a35c2b..78b71e06 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-summary.html
index f6335173..4b6f6ca2 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-tree.html
index 192197d4..ed234527 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-frame.html
index c478b8f6..f6dfdd5a 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-summary.html
index 95c97083..2c13124c 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-tree.html
index a4dd1ecf..b92351c8 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.html
index b1268250..eb57e16e 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>SubsystemNavX (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html
index 634dcab1..18a1bf07 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>OverrideNavX (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html
index 164cbcfd..97dcd735 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>PIDAngleCommand (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html
index e88d0fbd..d1593ccd 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>ToggleOverrideNavX (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-frame.html
index e6921d0d..ec258ef3 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-summary.html
index fbb6bf67..35aa9348 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-tree.html
index 44625e58..fe9f8063 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-frame.html
index 45ac0f71..90fe68cb 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.navX (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-summary.html
index 7bbe502d..92c8c01e 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.navX (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-tree.html
index 9af01cd1..65938a7b 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.navX Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/ShooterSimple.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/ShooterSimple.html
index 704ba6d1..f1f32635 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/ShooterSimple.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/ShooterSimple.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>ShooterSimple (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/SubsystemShooter.ShooterState.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/SubsystemShooter.ShooterState.html
index c61b8ff4..1631ae51 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/SubsystemShooter.ShooterState.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/SubsystemShooter.ShooterState.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>SubsystemShooter.ShooterState (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/SubsystemShooter.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/SubsystemShooter.html
index 06bc6603..a5345d83 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/SubsystemShooter.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/SubsystemShooter.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>SubsystemShooter (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpShooter.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpShooter.html
index 06776c02..d1f3b960 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpShooter.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpShooter.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>SpinUpShooter (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpThenShoot.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpThenShoot.html
index cb432f10..b2350efd 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpThenShoot.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpThenShoot.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>SpinUpThenShoot (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/ToggleShooting.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/ToggleShooting.html
index ba3cb5fe..aed31d22 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/ToggleShooting.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/ToggleShooting.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>ToggleShooting (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOff.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOff.html
index 41207e78..a2a21fd7 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOff.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOff.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>TurnAllOff (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOffWithRequires.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOffWithRequires.html
index a7cf5f86..d4557a2d 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOffWithRequires.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOffWithRequires.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>TurnAllOffWithRequires (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOn.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOn.html
index fd88d9d1..e671b172 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOn.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOn.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>TurnAllOn (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-frame.html
index 2b2f5c0d..cb2b7282 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-summary.html
index b12433d5..44da8221 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-tree.html
index 3f4f90f6..eb7c7a75 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-frame.html
index e34b6336..b5ef48f3 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.shooter (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-summary.html
index 794bc0df..9fbca3d5 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.shooter (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-tree.html
index 11f44b29..be6b1507 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.shooter Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SolenoidSimple.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SolenoidSimple.html
index 41f0c9a6..0b97de9b 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SolenoidSimple.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SolenoidSimple.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>SolenoidSimple (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SubsystemSolenoid.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SubsystemSolenoid.html
index 7e25756a..1c1dfdf4 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SubsystemSolenoid.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SubsystemSolenoid.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>SubsystemSolenoid (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidForward.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidForward.html
index b2f3f9e0..cdc8f77c 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidForward.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidForward.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>SolenoidForward (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidOff.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidOff.html
index 86994240..b9b46c1c 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidOff.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidOff.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>SolenoidOff (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidReverse.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidReverse.html
index e8e0333d..3ad44f9a 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidReverse.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidReverse.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>SolenoidReverse (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/ToggleSolenoid.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/ToggleSolenoid.html
index 29ed7800..299f6c39 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/ToggleSolenoid.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/ToggleSolenoid.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>ToggleSolenoid (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-frame.html
index 404be9cb..6acb18b5 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-summary.html
index 1b3be334..eb2c70f5 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-tree.html
index 74392b12..2debbfb6 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-frame.html
index 8f6c2429..36308989 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-summary.html
index 66d138c7..dacc6ce1 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-tree.html
index da79f902..495f36c3 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/CameraNetwork.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/CameraNetwork.html
index 09503191..0b9909ca 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/CameraNetwork.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/CameraNetwork.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>CameraNetwork (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/ChangeCam.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/ChangeCam.html
index ad920937..eb69fd0f 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/ChangeCam.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/ChangeCam.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>ChangeCam (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-frame.html
index f6d0935f..78088416 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-summary.html
index dd2b8e0b..41a0bb3a 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-tree.html
index 605eecaa..f5f8c0f1 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.commands Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-frame.html
index 49f58bea..ddf6a1a4 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-summary.html
index d9639a4d..1523060f 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-tree.html
index a915308d..77bdeba9 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/Pneumatics.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/Pneumatics.html
index 418614b2..2be51bf1 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/Pneumatics.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/Pneumatics.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>Pneumatics (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/StartCompressor.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/StartCompressor.html
index b750a6cd..0147fa7f 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/StartCompressor.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/StartCompressor.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>StartCompressor (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-frame.html
index a66270ed..467ff1c2 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-summary.html
index d777e903..64b15427 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-tree.html
index 0d61f60a..a9accae5 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-frame.html
index 5d3a02ee..e604b9c6 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-summary.html
index 29a6aa68..1d981a24 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-tree.html
index 411a1622..6890da57 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/overview-frame.html b/docs/overview-frame.html
index 2f467604..9c1f1f0a 100644
--- a/docs/overview-frame.html
+++ b/docs/overview-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>Overview List (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <script type="text/javascript" src="script.js"></script>
 </head>
@@ -31,6 +31,7 @@ <h2 title="Packages">Packages</h2>
 <li><a href="org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-frame.html" target="packageFrame">org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor</a></li>
 <li><a href="org/usfirst/frc/team449/robot/jacksonWrappers/package-frame.html" target="packageFrame">org.usfirst.frc.team449.robot.jacksonWrappers</a></li>
 <li><a href="org/usfirst/frc/team449/robot/oi/buttons/package-frame.html" target="packageFrame">org.usfirst.frc.team449.robot.oi.buttons</a></li>
+<li><a href="org/usfirst/frc/team449/robot/oi/fieldoriented/package-frame.html" target="packageFrame">org.usfirst.frc.team449.robot.oi.fieldoriented</a></li>
 <li><a href="org/usfirst/frc/team449/robot/oi/throttles/package-frame.html" target="packageFrame">org.usfirst.frc.team449.robot.oi.throttles</a></li>
 <li><a href="org/usfirst/frc/team449/robot/oi/unidirectional/package-frame.html" target="packageFrame">org.usfirst.frc.team449.robot.oi.unidirectional</a></li>
 <li><a href="org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-frame.html" target="packageFrame">org.usfirst.frc.team449.robot.oi.unidirectional.arcade</a></li>
diff --git a/docs/overview-summary.html b/docs/overview-summary.html
index 11d94839..03cebed8 100644
--- a/docs/overview-summary.html
+++ b/docs/overview-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>Overview (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <script type="text/javascript" src="script.js"></script>
 </head>
@@ -152,110 +152,114 @@ <h1 class="title">RoboRIO 1.0 API</h1>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="altColor">
-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/oi/throttles/package-summary.html">org.usfirst.frc.team449.robot.oi.throttles</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/oi/fieldoriented/package-summary.html">org.usfirst.frc.team449.robot.oi.fieldoriented</a></td>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="rowColor">
-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/oi/unidirectional/package-summary.html">org.usfirst.frc.team449.robot.oi.unidirectional</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/oi/throttles/package-summary.html">org.usfirst.frc.team449.robot.oi.throttles</a></td>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="altColor">
-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-summary.html">org.usfirst.frc.team449.robot.oi.unidirectional.arcade</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/oi/unidirectional/package-summary.html">org.usfirst.frc.team449.robot.oi.unidirectional</a></td>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="rowColor">
-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/oi/unidirectional/tank/package-summary.html">org.usfirst.frc.team449.robot.oi.unidirectional.tank</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-summary.html">org.usfirst.frc.team449.robot.oi.unidirectional.arcade</a></td>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="altColor">
-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/other/package-summary.html">org.usfirst.frc.team449.robot.other</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/oi/unidirectional/tank/package-summary.html">org.usfirst.frc.team449.robot.oi.unidirectional.tank</a></td>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="rowColor">
-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/complex/climber/package-summary.html">org.usfirst.frc.team449.robot.subsystem.complex.climber</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/other/package-summary.html">org.usfirst.frc.team449.robot.other</a></td>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="altColor">
-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/complex/intake/package-summary.html">org.usfirst.frc.team449.robot.subsystem.complex.intake</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/complex/climber/package-summary.html">org.usfirst.frc.team449.robot.subsystem.complex.climber</a></td>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="rowColor">
-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/complex/shooter/package-summary.html">org.usfirst.frc.team449.robot.subsystem.complex.shooter</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/complex/intake/package-summary.html">org.usfirst.frc.team449.robot.subsystem.complex.intake</a></td>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="altColor">
-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/complex/shooter/package-summary.html">org.usfirst.frc.team449.robot.subsystem.complex.shooter</a></td>
 <td class="colLast">&nbsp;</td>
 </tr>
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-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor</a></td>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="altColor">
-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.conditional</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands</a></td>
 <td class="colLast">&nbsp;</td>
 </tr>
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-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.intake</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.conditional</a></td>
 <td class="colLast">&nbsp;</td>
 </tr>
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-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.intake</a></td>
 <td class="colLast">&nbsp;</td>
 </tr>
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-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands</a></td>
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-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile</a></td>
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-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands</a></td>
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-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem</a></td>
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-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.navX</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands</a></td>
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-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.navX</a></td>
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 <tr class="rowColor">
-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.shooter</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands</a></td>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="altColor">
-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.shooter</a></td>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="rowColor">
-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands</a></td>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="altColor">
-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid</a></td>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="rowColor">
-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-summary.html">org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands</a></td>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="altColor">
-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-summary.html">org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.commands</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-summary.html">org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera</a></td>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="rowColor">
-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-summary.html">org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-summary.html">org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.commands</a></td>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="altColor">
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-summary.html">org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics</a></td>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
 <td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-summary.html">org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands</a></td>
 <td class="colLast">&nbsp;</td>
 </tr>
diff --git a/docs/overview-tree.html b/docs/overview-tree.html
index eaedb721..8e4aa3a1 100644
--- a/docs/overview-tree.html
+++ b/docs/overview-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Mon Sep 25 16:56:40 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
 <title>Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-25">
+<meta name="date" content="2017-09-30">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <script type="text/javascript" src="script.js"></script>
 </head>
@@ -90,6 +90,7 @@ <h1 class="title">Hierarchy For All Packages</h1>
 <li><a href="org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-tree.html">org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor</a>, </li>
 <li><a href="org/usfirst/frc/team449/robot/jacksonWrappers/package-tree.html">org.usfirst.frc.team449.robot.jacksonWrappers</a>, </li>
 <li><a href="org/usfirst/frc/team449/robot/oi/buttons/package-tree.html">org.usfirst.frc.team449.robot.oi.buttons</a>, </li>
+<li><a href="org/usfirst/frc/team449/robot/oi/fieldoriented/package-tree.html">org.usfirst.frc.team449.robot.oi.fieldoriented</a>, </li>
 <li><a href="org/usfirst/frc/team449/robot/oi/throttles/package-tree.html">org.usfirst.frc.team449.robot.oi.throttles</a>, </li>
 <li><a href="org/usfirst/frc/team449/robot/oi/unidirectional/package-tree.html">org.usfirst.frc.team449.robot.oi.unidirectional</a>, </li>
 <li><a href="org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-tree.html">org.usfirst.frc.team449.robot.oi.unidirectional.arcade</a>, </li>
@@ -241,6 +242,7 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 <li type="circle">org.usfirst.frc.team449.robot.oi.unidirectional.arcade.<a href="org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeWithDPad.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional.arcade"><span class="typeNameLink">OIArcadeWithDPad</span></a></li>
 </ul>
 </li>
+<li type="circle">org.usfirst.frc.team449.robot.oi.fieldoriented.<a href="org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html" title="class in org.usfirst.frc.team449.robot.oi.fieldoriented"><span class="typeNameLink">OIFieldOrientedPosCos</span></a> (implements org.usfirst.frc.team449.robot.oi.fieldoriented.<a href="org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html" title="interface in org.usfirst.frc.team449.robot.oi.fieldoriented">OIFieldOriented</a>)</li>
 <li type="circle">org.usfirst.frc.team449.robot.oi.unidirectional.<a href="org/usfirst/frc/team449/robot/oi/unidirectional/OIOutreach.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional"><span class="typeNameLink">OIOutreach</span></a> (implements org.usfirst.frc.team449.robot.oi.unidirectional.<a href="org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.oi.unidirectional">OIUnidirectional</a>)</li>
 <li type="circle">org.usfirst.frc.team449.robot.oi.unidirectional.tank.<a href="org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITank.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional.tank"><span class="typeNameLink">OITank</span></a> (implements org.usfirst.frc.team449.robot.oi.unidirectional.<a href="org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.oi.unidirectional">OIUnidirectional</a>)
 <ul>
@@ -372,6 +374,7 @@ <h2 title="Interface Hierarchy">Interface Hierarchy</h2>
 </ul>
 </li>
 <li type="circle">org.usfirst.frc.team449.robot.generalInterfaces.loggable.<a href="org/usfirst/frc/team449/robot/generalInterfaces/loggable/Loggable.html" title="interface in org.usfirst.frc.team449.robot.generalInterfaces.loggable"><span class="typeNameLink">Loggable</span></a></li>
+<li type="circle">org.usfirst.frc.team449.robot.oi.fieldoriented.<a href="org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html" title="interface in org.usfirst.frc.team449.robot.oi.fieldoriented"><span class="typeNameLink">OIFieldOriented</span></a></li>
 <li type="circle">org.usfirst.frc.team449.robot.oi.unidirectional.<a href="org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.oi.unidirectional"><span class="typeNameLink">OIUnidirectional</span></a></li>
 <li type="circle">org.usfirst.frc.team449.robot.generalInterfaces.shiftable.<a href="org/usfirst/frc/team449/robot/generalInterfaces/shiftable/Shiftable.html" title="interface in org.usfirst.frc.team449.robot.generalInterfaces.shiftable"><span class="typeNameLink">Shiftable</span></a>
 <ul>
diff --git a/docs/package-list b/docs/package-list
index 8a234c3a..71bf34fd 100644
--- a/docs/package-list
+++ b/docs/package-list
@@ -16,6 +16,7 @@ org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands
 org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor
 org.usfirst.frc.team449.robot.jacksonWrappers
 org.usfirst.frc.team449.robot.oi.buttons
+org.usfirst.frc.team449.robot.oi.fieldoriented
 org.usfirst.frc.team449.robot.oi.throttles
 org.usfirst.frc.team449.robot.oi.unidirectional
 org.usfirst.frc.team449.robot.oi.unidirectional.arcade

From 1d93fb9d4f3494f09b241adda6f6c4d91b03da60 Mon Sep 17 00:00:00 2001
From: Noah Gleason <noah.gleason1@gmail.com>
Date: Sat, 30 Sep 2017 23:57:10 -0400
Subject: [PATCH 02/13] Begin work on the default drive command

---
 .../FieldOrientedUnidirectionalDrive.java     | 75 +++++++++++++++++++
 .../fieldoriented/OIFieldOrientedPosCos.java  |  5 ++
 2 files changed, 80 insertions(+)
 create mode 100644 RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/fieldOriented/FieldOrientedUnidirectionalDrive.java

diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/fieldOriented/FieldOrientedUnidirectionalDrive.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/fieldOriented/FieldOrientedUnidirectionalDrive.java
new file mode 100644
index 00000000..b0b540b1
--- /dev/null
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/fieldOriented/FieldOrientedUnidirectionalDrive.java
@@ -0,0 +1,75 @@
+package org.usfirst.frc.team449.robot.drive.fieldOriented;
+
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonIdentityInfo;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import com.fasterxml.jackson.annotation.ObjectIdGenerators;
+import org.jetbrains.annotations.NotNull;
+import org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional;
+import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper;
+import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem;
+import org.usfirst.frc.team449.robot.other.Logger;
+import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemNavX;
+
+/**
+ * A default command for driving a unidirectional drive using a field-oriented OI.
+ */
+@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class)
+public class FieldOrientedUnidirectionalDrive <T extends YamlSubsystem & DriveUnidirectional & SubsystemNavX> extends YamlCommandWrapper {
+
+	/**
+	 * The subsystem to execute this command on.
+	 */
+	@NotNull
+	private final T subsystem;
+
+	/**
+	 * Default constructor
+	 *
+	 * @param subsystem The subsystem to execute this command on
+	 */
+	@JsonCreator
+	public FieldOrientedUnidirectionalDrive(@NotNull @JsonProperty(required = true) T subsystem) {
+		this.subsystem = subsystem;
+	}
+
+	/**
+	 *
+	 */
+	@Override
+	protected void initialize() {
+		Logger.addEvent("FieldOrientedUnidirectionalDrive init.", this.getClass());
+	}
+
+	/**
+	 *
+	 */
+	@Override
+	protected void execute() {
+	}
+
+	/**
+	 * @return
+	 */
+	@Override
+	protected boolean isFinished() {
+		//This does NOT have to be true.
+		return true;
+	}
+
+	/**
+	 *
+	 */
+	@Override
+	protected void end() {
+		Logger.addEvent("FieldOrientedUnidirectionalDrive end.", this.getClass());
+	}
+
+	/**
+	 *
+	 */
+	@Override
+	protected void interrupted() {
+		Logger.addEvent("FieldOrientedUnidirectionalDrive Interrupted!", this.getClass());
+	}
+}
\ No newline at end of file
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.java
index 4775458d..a2310946 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.java
@@ -61,14 +61,19 @@ public OIFieldOrientedPosCos(@NotNull @JsonProperty(required = true) Throttle xT
 		this.yThrottle = yThrottle;
 	}
 
+	/**
+	 * Calculate the theta and vel values, can be called multiple times per tic but will only execute logic once.
+	 */
 	protected void calcValues(){
 		if (timeLastUpdated != Robot.currentTimeMillis()){
 			x = xThrottle.getValue();
 			y = yThrottle.getValue();
+			//0,0 has no angle so null
 			if (x == 0 && y == 0){
 				theta = null;
 				vel = 0;
 			} else {
+				//Use atan2 to get angle from -180 to 180
 				theta = Math.toDegrees(Math.atan2(y,x));
 				if (theta > 90){
 					vel = -Math.sqrt(Math.pow(x, 2) + Math.pow(y, 2));

From db9f9feef121b3b1b7a73638bb69cae9c556a0e5 Mon Sep 17 00:00:00 2001
From: Noah Gleason <noah.gleason1@gmail.com>
Date: Sun, 1 Oct 2017 12:29:25 -0400
Subject: [PATCH 03/13] In-progress

---
 ...eldOrientedUnidirectionalDriveCommand.java | 147 ++++++++++++++++++
 .../FieldOrientedUnidirectionalDrive.java     |  75 ---------
 2 files changed, 147 insertions(+), 75 deletions(-)
 create mode 100644 RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java
 delete mode 100644 RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/fieldOriented/FieldOrientedUnidirectionalDrive.java

diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java
new file mode 100644
index 00000000..1028702b
--- /dev/null
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java
@@ -0,0 +1,147 @@
+package org.usfirst.frc.team449.robot.commands.multiInterface.drive;
+
+import com.fasterxml.jackson.annotation.*;
+import org.jetbrains.annotations.NotNull;
+import org.jetbrains.annotations.Nullable;
+import org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional;
+import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem;
+import org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented;
+import org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional;
+import org.usfirst.frc.team449.robot.other.BufferTimer;
+import org.usfirst.frc.team449.robot.other.Logger;
+import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemNavX;
+import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.PIDAngleCommand;
+
+/**
+ * Unidirectional drive with field-oriented control
+ */
+@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class")
+@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class)
+public class FieldOrientedUnidirectionalDriveCommand<T extends YamlSubsystem & DriveUnidirectional & SubsystemNavX> extends PIDAngleCommand {
+
+	/**
+	 * The drive this command is controlling.
+	 */
+	@NotNull
+	protected final T subsystem;
+
+	/**
+	 * The OI giving the input stick values.
+	 */
+	@NotNull
+	protected final OIFieldOriented oi;
+
+	/**
+	 * Default constructor
+	 *
+	 * @param toleranceBuffer             How many consecutive loops have to be run while within tolerance to be
+	 *                                    considered on target. Multiply by loop period of ~20 milliseconds for time.
+	 *                                    Defaults to 0.
+	 * @param absoluteTolerance           The maximum number of degrees off from the target at which we can be
+	 *                                    considered within tolerance.
+	 * @param minimumOutput               The minimum output of the loop. Defaults to zero.
+	 * @param maximumOutput               The maximum output of the loop. Can be null, and if it is, no maximum output
+	 *                                    is used.
+	 * @param deadband                    The deadband around the setpoint, in degrees, within which no output is given
+	 *                                    to the motors. Defaults to zero.
+	 * @param maxAngularVelToEnterLoop    The maximum angular velocity, in degrees/sec, at which the loop will be
+	 *                                    entered. Defaults to 180.
+	 * @param inverted                    Whether the loop is inverted. Defaults to false.
+	 * @param kP                          Proportional gain. Defaults to zero.
+	 * @param kI                          Integral gain. Defaults to zero.
+	 * @param kD                          Derivative gain. Defaults to zero.
+	 * @param subsystem                   The drive to execute this command on.
+	 * @param oi                          The OI controlling the robot.
+	 */
+	@JsonCreator
+	public FieldOrientedUnidirectionalDriveCommand(@JsonProperty(required = true) double absoluteTolerance,
+	                                               int toleranceBuffer,
+	                                               double minimumOutput, @Nullable Double maximumOutput,
+	                                               double deadband,
+	                                               @Nullable Double maxAngularVelToEnterLoop,
+	                                               boolean inverted,
+	                                               int kP,
+	                                               int kI,
+	                                               int kD,
+	                                               @NotNull @JsonProperty(required = true) T subsystem,
+	                                               @NotNull @JsonProperty(required = true) OIFieldOriented oi) {
+		//Assign stuff
+		super(absoluteTolerance, toleranceBuffer, minimumOutput, maximumOutput, deadband, inverted, subsystem, kP, kI, kD);
+		this.oi = oi;
+		this.subsystem = subsystem;
+
+		//Needs a requires because it's a default command.
+		requires(this.subsystem);
+
+		//Logging, but in Spanish.
+		Logger.addEvent("Drive Robot bueno", this.getClass());
+	}
+
+	/**
+	 * Initialize PIDController and variables.
+	 */
+	@Override
+	protected void initialize() {
+		//Reset all values of the PIDController and enable it.
+		this.getPIDController().reset();
+		this.getPIDController().enable();
+		Logger.addEvent("FieldOrientedUnidirectionalDriveCommand init.", this.getClass());
+	}
+
+	/**
+	 * Decide whether or not we should be in free drive or straight drive, and log data.
+	 */
+	@Override
+	protected void execute() {
+		//Do nothing
+	}
+
+	/**
+	 * Run constantly because this is a defaultDrive
+	 *
+	 * @return false
+	 */
+	@Override
+	protected boolean isFinished() {
+		return false;
+	}
+
+	/**
+	 * Log when this command ends
+	 */
+	@Override
+	protected void end() {
+		Logger.addEvent("FieldOrientedUnidirectionalDriveCommand End.", this.getClass());
+	}
+
+	/**
+	 * Stop the motors and log when this command is interrupted.
+	 */
+	@Override
+	protected void interrupted() {
+		Logger.addEvent("FieldOrientedUnidirectionalDriveCommand Interrupted! Stopping the robot.", this.getClass());
+		subsystem.fullStop();
+	}
+
+	/**
+	 * Give the correct output to the motors based on whether we're in free drive or drive straight.
+	 *
+	 * @param output The output of the angular PID loop.
+	 */
+	@Override
+	protected void usePIDOutput(double output) {
+		//If we're driving straight..
+		if (drivingStraight) {
+			//Process the output (minimumOutput, deadband, etc.)
+			output = processPIDOutput(output);
+
+			//Adjust the heading according to the PID output, it'll be positive if we want to go right.
+			subsystem.setOutput(oi.getLeftOutput() - output, oi.getRightOutput() + output);
+		}
+		//If we're free driving...
+		else {
+			//Set the throttle to normal arcade throttle.
+			subsystem.setOutput(oi.getLeftOutput(), oi.getRightOutput());
+		}
+	}
+}
\ No newline at end of file
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/fieldOriented/FieldOrientedUnidirectionalDrive.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/fieldOriented/FieldOrientedUnidirectionalDrive.java
deleted file mode 100644
index b0b540b1..00000000
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/fieldOriented/FieldOrientedUnidirectionalDrive.java
+++ /dev/null
@@ -1,75 +0,0 @@
-package org.usfirst.frc.team449.robot.drive.fieldOriented;
-
-import com.fasterxml.jackson.annotation.JsonCreator;
-import com.fasterxml.jackson.annotation.JsonIdentityInfo;
-import com.fasterxml.jackson.annotation.JsonProperty;
-import com.fasterxml.jackson.annotation.ObjectIdGenerators;
-import org.jetbrains.annotations.NotNull;
-import org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional;
-import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper;
-import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem;
-import org.usfirst.frc.team449.robot.other.Logger;
-import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemNavX;
-
-/**
- * A default command for driving a unidirectional drive using a field-oriented OI.
- */
-@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class)
-public class FieldOrientedUnidirectionalDrive <T extends YamlSubsystem & DriveUnidirectional & SubsystemNavX> extends YamlCommandWrapper {
-
-	/**
-	 * The subsystem to execute this command on.
-	 */
-	@NotNull
-	private final T subsystem;
-
-	/**
-	 * Default constructor
-	 *
-	 * @param subsystem The subsystem to execute this command on
-	 */
-	@JsonCreator
-	public FieldOrientedUnidirectionalDrive(@NotNull @JsonProperty(required = true) T subsystem) {
-		this.subsystem = subsystem;
-	}
-
-	/**
-	 *
-	 */
-	@Override
-	protected void initialize() {
-		Logger.addEvent("FieldOrientedUnidirectionalDrive init.", this.getClass());
-	}
-
-	/**
-	 *
-	 */
-	@Override
-	protected void execute() {
-	}
-
-	/**
-	 * @return
-	 */
-	@Override
-	protected boolean isFinished() {
-		//This does NOT have to be true.
-		return true;
-	}
-
-	/**
-	 *
-	 */
-	@Override
-	protected void end() {
-		Logger.addEvent("FieldOrientedUnidirectionalDrive end.", this.getClass());
-	}
-
-	/**
-	 *
-	 */
-	@Override
-	protected void interrupted() {
-		Logger.addEvent("FieldOrientedUnidirectionalDrive Interrupted!", this.getClass());
-	}
-}
\ No newline at end of file

From 86b1872671fd39b33b25dcb71fd846db5c888750 Mon Sep 17 00:00:00 2001
From: Noah Gleason <noah.gleason1@gmail.com>
Date: Mon, 2 Oct 2017 21:58:57 -0400
Subject: [PATCH 04/13] Program field-oriented drive command

---
 ...eldOrientedUnidirectionalDriveCommand.java | 105 ++++++++++++++++--
 1 file changed, 95 insertions(+), 10 deletions(-)

diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java
index 1028702b..da6deb5a 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java
@@ -12,6 +12,9 @@
 import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemNavX;
 import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.PIDAngleCommand;
 
+import java.util.ArrayList;
+import java.util.List;
+
 /**
  * Unidirectional drive with field-oriented control
  */
@@ -31,6 +34,18 @@ public class FieldOrientedUnidirectionalDriveCommand<T extends YamlSubsystem & D
 	@NotNull
 	protected final OIFieldOriented oi;
 
+	/**
+	 * The points to snap the PID controller input to.
+	 */
+	@NotNull
+	private final List<AngularSnapPoint> snapPoints;
+
+	/**
+	 * The absolute angular setpoint for the robot to go to. Field to avoid garbage collection.
+	 */
+	@Nullable
+	private Double theta;
+
 	/**
 	 * Default constructor
 	 *
@@ -44,31 +59,31 @@ public class FieldOrientedUnidirectionalDriveCommand<T extends YamlSubsystem & D
 	 *                                    is used.
 	 * @param deadband                    The deadband around the setpoint, in degrees, within which no output is given
 	 *                                    to the motors. Defaults to zero.
-	 * @param maxAngularVelToEnterLoop    The maximum angular velocity, in degrees/sec, at which the loop will be
-	 *                                    entered. Defaults to 180.
 	 * @param inverted                    Whether the loop is inverted. Defaults to false.
 	 * @param kP                          Proportional gain. Defaults to zero.
 	 * @param kI                          Integral gain. Defaults to zero.
 	 * @param kD                          Derivative gain. Defaults to zero.
 	 * @param subsystem                   The drive to execute this command on.
 	 * @param oi                          The OI controlling the robot.
+	 * @param snapPoints The points to snap the PID controller input to.
 	 */
 	@JsonCreator
 	public FieldOrientedUnidirectionalDriveCommand(@JsonProperty(required = true) double absoluteTolerance,
 	                                               int toleranceBuffer,
 	                                               double minimumOutput, @Nullable Double maximumOutput,
 	                                               double deadband,
-	                                               @Nullable Double maxAngularVelToEnterLoop,
 	                                               boolean inverted,
 	                                               int kP,
 	                                               int kI,
 	                                               int kD,
 	                                               @NotNull @JsonProperty(required = true) T subsystem,
-	                                               @NotNull @JsonProperty(required = true) OIFieldOriented oi) {
+	                                               @NotNull @JsonProperty(required = true) OIFieldOriented oi,
+	                                               @Nullable List<AngularSnapPoint> snapPoints) {
 		//Assign stuff
 		super(absoluteTolerance, toleranceBuffer, minimumOutput, maximumOutput, deadband, inverted, subsystem, kP, kI, kD);
 		this.oi = oi;
 		this.subsystem = subsystem;
+		this.snapPoints = snapPoints != null ? snapPoints : new ArrayList<>();
 
 		//Needs a requires because it's a default command.
 		requires(this.subsystem);
@@ -94,6 +109,18 @@ protected void initialize() {
 	@Override
 	protected void execute() {
 		//Do nothing
+		theta = oi.getTheta();
+		if(theta != null){
+			for (AngularSnapPoint snapPoint : snapPoints){
+				//See if we should snap
+				if (snapPoint.getLowerBound() < theta && theta < snapPoint.getUpperBound()){
+					theta = snapPoint.getSnapTo();
+					//Break to shorten runtime, we'll never snap twice.
+					break;
+				}
+			}
+			this.getPIDController().setSetpoint(oi.getTheta());
+		}
 	}
 
 	/**
@@ -130,18 +157,76 @@ protected void interrupted() {
 	 */
 	@Override
 	protected void usePIDOutput(double output) {
-		//If we're driving straight..
-		if (drivingStraight) {
+		//If we're using angular PID
+		if (!subsystem.getOverrideNavX()) {
 			//Process the output (minimumOutput, deadband, etc.)
 			output = processPIDOutput(output);
 
 			//Adjust the heading according to the PID output, it'll be positive if we want to go right.
-			subsystem.setOutput(oi.getLeftOutput() - output, oi.getRightOutput() + output);
+			subsystem.setOutput(oi.getVel() - output, oi.getVel() + output);
 		}
-		//If we're free driving...
+		//If we're not using the NavX
 		else {
-			//Set the throttle to normal arcade throttle.
-			subsystem.setOutput(oi.getLeftOutput(), oi.getRightOutput());
+			//Just go straight, field-oriented drive can't really do anything without the NavX.
+			subsystem.setOutput(oi.getVel(), oi.getVel());
+		}
+	}
+
+	/**
+	 * A data-holding class representing an angular setpoint to "snap" the controller output to.
+	 */
+	private class AngularSnapPoint{
+
+		/**
+		 * The angle to snap the setpoint to, in degrees.
+		 */
+		private final double snapTo;
+
+		/**
+		 * The upper bound, below which all angles above snapTo are changed to snapTo. Measured in degrees.
+		 */
+		private final double upperBound;
+
+		/**
+		 * The lower bound, above which all angles below snapTo are changed to snapTo. Measured in degrees.
+		 */
+		private final double lowerBound;
+
+		/**
+		 * Default constructor.
+		 *
+		 * @param snapTo The angle to snap the setpoint to, in degrees.
+		 * @param upperBound The upper bound, below which all angles above snapTo are changed to snapTo. Measured in degrees.
+		 * @param lowerBound The lower bound, above which all angles below snapTo are changed to snapTo. Measured in degrees.
+		 */
+		@JsonCreator
+		public AngularSnapPoint(@JsonProperty(required = true) double snapTo,
+		                        @JsonProperty(required = true) double upperBound,
+		                        @JsonProperty(required = true) double lowerBound) {
+			this.snapTo = snapTo;
+			this.upperBound = upperBound;
+			this.lowerBound = lowerBound;
+		}
+
+		/**
+		 * @return The angle to snap the setpoint to, in degrees.
+		 */
+		public double getSnapTo() {
+			return snapTo;
+		}
+
+		/**
+		 * @return The upper bound, below which all angles above snapTo are changed to snapTo. Measured in degrees.
+		 */
+		public double getUpperBound() {
+			return upperBound;
+		}
+
+		/**
+		 * @return The lower bound, above which all angles below snapTo are changed to snapTo. Measured in degrees.
+		 */
+		public double getLowerBound() {
+			return lowerBound;
 		}
 	}
 }
\ No newline at end of file

From 322f89ec9d7a68f1031051fe65c602e735e1e72c Mon Sep 17 00:00:00 2001
From: Noah Gleason <noah.gleason1@gmail.com>
Date: Mon, 2 Oct 2017 22:08:45 -0400
Subject: [PATCH 05/13] Add shifting command

---
 ...eldOrientedUnidirectionalDriveCommand.java |  2 +-
 ...tedUnidirectionalDriveCommandShifting.java | 95 +++++++++++++++++++
 RoboRIO/src/main/resources/calcifer_map.yml   | 31 +++---
 3 files changed, 107 insertions(+), 21 deletions(-)
 create mode 100644 RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.java

diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java
index da6deb5a..7aae58d8 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java
@@ -175,7 +175,7 @@ protected void usePIDOutput(double output) {
 	/**
 	 * A data-holding class representing an angular setpoint to "snap" the controller output to.
 	 */
-	private class AngularSnapPoint{
+	protected class AngularSnapPoint{
 
 		/**
 		 * The angle to snap the setpoint to, in degrees.
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.java
new file mode 100644
index 00000000..689310fe
--- /dev/null
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.java
@@ -0,0 +1,95 @@
+package org.usfirst.frc.team449.robot.commands.multiInterface.drive;
+
+import com.fasterxml.jackson.annotation.*;
+import org.jetbrains.annotations.NotNull;
+import org.jetbrains.annotations.Nullable;
+import org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional;
+import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem;
+import org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented;
+import org.usfirst.frc.team449.robot.other.Logger;
+import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemNavX;
+import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.PIDAngleCommand;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * Unidirectional drive with field-oriented control
+ */
+@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class")
+@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class)
+public class FieldOrientedUnidirectionalDriveCommandShifting<T extends YamlSubsystem & DriveUnidirectional & SubsystemNavX> extends FieldOrientedUnidirectionalDriveCommand {
+
+	/**
+	 * Default constructor
+	 *
+	 * @param toleranceBuffer             How many consecutive loops have to be run while within tolerance to be
+	 *                                    considered on target. Multiply by loop period of ~20 milliseconds for time.
+	 *                                    Defaults to 0.
+	 * @param absoluteTolerance           The maximum number of degrees off from the target at which we can be
+	 *                                    considered within tolerance.
+	 * @param minimumOutput               The minimum output of the loop. Defaults to zero.
+	 * @param maximumOutput               The maximum output of the loop. Can be null, and if it is, no maximum output
+	 *                                    is used.
+	 * @param deadband                    The deadband around the setpoint, in degrees, within which no output is given
+	 *                                    to the motors. Defaults to zero.
+	 * @param inverted                    Whether the loop is inverted. Defaults to false.
+	 * @param kP                          Proportional gain. Defaults to zero.
+	 * @param kI                          Integral gain. Defaults to zero.
+	 * @param kD                          Derivative gain. Defaults to zero.
+	 * @param subsystem                   The drive to execute this command on.
+	 * @param oi                          The OI controlling the robot.
+	 * @param snapPoints The points to snap the PID controller input to.
+	 */
+	@JsonCreator
+	public FieldOrientedUnidirectionalDriveCommandShifting(@JsonProperty(required = true) double absoluteTolerance,
+	                                                       int toleranceBuffer,
+	                                                       double minimumOutput, @Nullable Double maximumOutput,
+	                                                       double deadband,
+	                                                       boolean inverted,
+	                                                       int kP,
+	                                                       int kI,
+	                                                       int kD,
+	                                                       @NotNull @JsonProperty(required = true) T subsystem,
+	                                                       @NotNull @JsonProperty(required = true) OIFieldOriented oi,
+	                                                       @Nullable List<AngularSnapPoint> snapPoints) {
+		//Assign stuff
+		super(absoluteTolerance, toleranceBuffer, minimumOutput, maximumOutput, deadband, inverted, kP, kI, kD, subsystem, oi, snapPoints);
+	}
+
+	/**
+	 * Decide whether or not we should be in free drive or straight drive, and log data.
+	 */
+	@Override
+	protected void execute() {
+		//Do nothing
+		super.execute();
+	}
+
+	/**
+	 * Run constantly because this is a defaultDrive
+	 *
+	 * @return false
+	 */
+	@Override
+	protected boolean isFinished() {
+		return false;
+	}
+
+	/**
+	 * Log when this command ends
+	 */
+	@Override
+	protected void end() {
+		Logger.addEvent("FieldOrientedUnidirectionalDriveCommandShifting End.", this.getClass());
+	}
+
+	/**
+	 * Stop the motors and log when this command is interrupted.
+	 */
+	@Override
+	protected void interrupted() {
+		Logger.addEvent("FieldOrientedUnidirectionalDriveCommandShifting Interrupted! Stopping the robot.", this.getClass());
+	}
+
+}
\ No newline at end of file
diff --git a/RoboRIO/src/main/resources/calcifer_map.yml b/RoboRIO/src/main/resources/calcifer_map.yml
index 056e72fd..8c304475 100644
--- a/RoboRIO/src/main/resources/calcifer_map.yml
+++ b/RoboRIO/src/main/resources/calcifer_map.yml
@@ -70,16 +70,15 @@ locationDial:
     ports: [0, 1]
 RIOduinoPort: 4
 oi:
-    org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeWithDPad:
+    org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOrientedPosCos:
         '@id': oi
-        gamepad:
-            '@id': driverGamepad
-            port: 1
-        rotThrottle:
+        xThrottle:
             org.usfirst.frc.team449.robot.oi.throttles.ThrottlePolynomial:
-                &rotThrottle
-                '@id': rotThrottle
-                stick: driverGamepad
+                &xThrottle
+                '@id': xThrottle
+                gamepad:
+                    '@id': driverGamepad
+                    port: 1
                 axis: 0
                 deadband: 0.05
                 inverted: false
@@ -87,24 +86,16 @@ oi:
                     '@id': rotPoly
                     powerToCoefficientMap: !!map
                         2 : 1
-        fwdThrottle:
+        yThrottle:
             org.usfirst.frc.team449.robot.oi.throttles.ThrottlePolynomial:
-                <<: *rotThrottle
-                '@id': fwdThrottle
-                axis: 5
+                <<: *xThrottle
+                '@id': yThrottle
+                axis: 1
                 inverted: true
                 polynomial:
                     '@id': fwdPoly
                     powerToCoefficientMap: !!map
                         2 : 1
-        invertDPad: false
-        dPadShift: 0.1
-        turnInPlaceRotScale: 0.3
-        scaleRotByFwdPoly:
-            '@id': scaleRotByFwdPoly
-            powerToCoefficientMap: !!map
-                0.5: 0.6
-                0: 0.1
 drive:
     org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable:
         '@id': drive

From 1ced8fc8e1e89f95143a3d5eba9f2a29e3767173 Mon Sep 17 00:00:00 2001
From: Noah Gleason <noah.gleason1@gmail.com>
Date: Tue, 3 Oct 2017 16:39:36 -0400
Subject: [PATCH 06/13] Add commands for field-oriented driving

---
 ...eldOrientedUnidirectionalDriveCommand.java |  77 ++-
 ...tedUnidirectionalDriveCommandShifting.java |  79 +--
 .../drive/UnidirectionalNavXDefaultDrive.java |   4 +-
 ...nidirectionalNavXShiftingDefaultDrive.java |   4 +-
 .../robot/components/AutoshiftComponent.java  |  39 +-
 docs/allclasses-frame.html                    |   6 +-
 docs/allclasses-noframe.html                  |   6 +-
 docs/constant-values.html                     |   4 +-
 docs/deprecated-list.html                     |   4 +-
 docs/help-doc.html                            |   4 +-
 docs/index-all.html                           | 100 +++-
 docs/index.html                               |   2 +-
 docs/org/usfirst/frc/team449/robot/Robot.html |   4 +-
 .../frc/team449/robot/RobotMap2017.html       |   4 +-
 .../commands/autonomous/Auto2017Boiler.html   |   4 +-
 .../commands/autonomous/Auto2017Center.html   |   4 +-
 .../commands/autonomous/Auto2017Feeder.html   |   4 +-
 .../commands/autonomous/package-frame.html    |   4 +-
 .../commands/autonomous/package-summary.html  |   4 +-
 .../commands/autonomous/package-tree.html     |   4 +-
 .../commands/general/CommandSequence.html     |   4 +-
 .../general/ParallelCommandGroup.html         |   4 +-
 .../robot/commands/general/WaitForMillis.html |   4 +-
 .../robot/commands/general/package-frame.html |   4 +-
 .../commands/general/package-summary.html     |   4 +-
 .../robot/commands/general/package-tree.html  |   4 +-
 .../RunMotorWhileConditonMet.html             |   4 +-
 ...ectionalDriveCommand.AngularSnapPoint.html | 327 ++++++++++
 ...eldOrientedUnidirectionalDriveCommand.html | 559 ++++++++++++++++++
 ...tedUnidirectionalDriveCommandShifting.html | 491 +++++++++++++++
 .../multiInterface/drive/JiggleRobot.html     |   8 +-
 .../drive/NavXDriveStraight.html              |   4 +-
 .../multiInterface/drive/NavXTurnToAngle.html |   4 +-
 .../drive/NavXTurnToAngleRelative.html        |   4 +-
 .../drive/UnidirectionalNavXDefaultDrive.html |   8 +-
 ...nidirectionalNavXShiftingDefaultDrive.html |   8 +-
 .../multiInterface/drive/package-frame.html   |   6 +-
 .../multiInterface/drive/package-summary.html |  26 +-
 .../multiInterface/drive/package-tree.html    |  10 +-
 .../multiInterface/package-frame.html         |   4 +-
 .../multiInterface/package-summary.html       |   4 +-
 .../commands/multiInterface/package-tree.html |   4 +-
 .../commands/multiSubsystem/FireShooter.html  |   4 +-
 .../commands/multiSubsystem/LoadShooter.html  |   4 +-
 .../commands/multiSubsystem/RackShooter.html  |   4 +-
 .../commands/multiSubsystem/ResetShooter.html |   4 +-
 .../multiSubsystem/package-frame.html         |   4 +-
 .../multiSubsystem/package-summary.html       |   4 +-
 .../commands/multiSubsystem/package-tree.html |   4 +-
 .../robot/components/AutoshiftComponent.html  |  79 +--
 .../robot/components/ShiftComponent.html      |   4 +-
 .../components/ShiftWithSensorComponent.html  |   4 +-
 .../robot/components/package-frame.html       |   4 +-
 .../robot/components/package-summary.html     |   4 +-
 .../robot/components/package-tree.html        |   4 +-
 .../team449/robot/drive/DriveSubsystem.html   |   4 +-
 .../team449/robot/drive/package-frame.html    |   4 +-
 .../team449/robot/drive/package-summary.html  |   4 +-
 .../frc/team449/robot/drive/package-tree.html |   4 +-
 .../robot/drive/shifting/DriveShiftable.html  |   4 +-
 .../shifting/commands/OverrideAutoShift.html  |   4 +-
 .../commands/ToggleOverrideAutoShift.html     |   4 +-
 .../shifting/commands/package-frame.html      |   4 +-
 .../shifting/commands/package-summary.html    |   4 +-
 .../drive/shifting/commands/package-tree.html |   4 +-
 .../robot/drive/shifting/package-frame.html   |   4 +-
 .../robot/drive/shifting/package-summary.html |   4 +-
 .../robot/drive/shifting/package-tree.html    |   4 +-
 .../unidirectional/DriveTalonCluster.html     |   4 +-
 .../DriveTalonClusterShiftable.html           |   4 +-
 .../unidirectional/DriveUnidirectional.html   |   4 +-
 .../DriveUnidirectionalSimple.html            |   4 +-
 .../commands/DetermineNominalVoltage.html     |   4 +-
 .../unidirectional/commands/DriveAtSpeed.html |   4 +-
 .../commands/DriveStraight.html               |   4 +-
 .../commands/PIDBackAndForth.html             |   4 +-
 .../unidirectional/commands/PIDTest.html      |   4 +-
 .../commands/SimpleUnidirectionalDrive.html   |   4 +-
 .../commands/package-frame.html               |   4 +-
 .../commands/package-summary.html             |   4 +-
 .../unidirectional/commands/package-tree.html |   4 +-
 .../drive/unidirectional/package-frame.html   |   4 +-
 .../drive/unidirectional/package-summary.html |   4 +-
 .../drive/unidirectional/package-tree.html    |   4 +-
 .../generalInterfaces/loggable/Loggable.html  |   4 +-
 .../loggable/package-frame.html               |   4 +-
 .../loggable/package-summary.html             |   4 +-
 .../loggable/package-tree.html                |   4 +-
 .../shiftable/Shiftable.gear.html             |   4 +-
 .../shiftable/Shiftable.html                  |   4 +-
 .../shiftable/commands/ShiftGears.html        |   4 +-
 .../shiftable/commands/SwitchToGear.html      |   4 +-
 .../shiftable/commands/SwitchToHighGear.html  |   4 +-
 .../shiftable/commands/SwitchToLowGear.html   |   4 +-
 .../shiftable/commands/package-frame.html     |   4 +-
 .../shiftable/commands/package-summary.html   |   4 +-
 .../shiftable/commands/package-tree.html      |   4 +-
 .../shiftable/package-frame.html              |   4 +-
 .../shiftable/package-summary.html            |   4 +-
 .../shiftable/package-tree.html               |   4 +-
 .../simpleMotor/SimpleMotor.html              |   4 +-
 .../simpleMotor/package-frame.html            |   4 +-
 .../simpleMotor/package-summary.html          |   4 +-
 .../simpleMotor/package-tree.html             |   4 +-
 .../robot/jacksonWrappers/FPSTalon.html       |   4 +-
 .../robot/jacksonWrappers/MappedAHRS.html     |   4 +-
 .../jacksonWrappers/MappedDigitalInput.html   |   4 +-
 .../jacksonWrappers/MappedDoubleSolenoid.html |   4 +-
 .../robot/jacksonWrappers/MappedJoystick.html |   4 +-
 .../jacksonWrappers/MappedUsbCamera.html      |   4 +-
 .../robot/jacksonWrappers/MappedVictor.html   |   4 +-
 .../robot/jacksonWrappers/PressureSensor.html |   4 +-
 .../jacksonWrappers/SimpleMotorCluster.html   |   4 +-
 .../robot/jacksonWrappers/YamlCommand.html    |   6 +-
 .../YamlCommandGroupWrapper.html              |   4 +-
 .../jacksonWrappers/YamlCommandWrapper.html   |   4 +-
 .../robot/jacksonWrappers/YamlSubsystem.html  |   4 +-
 .../robot/jacksonWrappers/package-frame.html  |   4 +-
 .../jacksonWrappers/package-summary.html      |   4 +-
 .../robot/jacksonWrappers/package-tree.html   |   4 +-
 .../robot/oi/buttons/CommandButton.html       |   4 +-
 .../robot/oi/buttons/FactoryButton.html       |   4 +-
 .../oi/buttons/FactoryJoystickButton.html     |   4 +-
 .../robot/oi/buttons/TriggerButton.html       |   4 +-
 .../team449/robot/oi/buttons/dPadButton.html  |   4 +-
 .../robot/oi/buttons/package-frame.html       |   4 +-
 .../robot/oi/buttons/package-summary.html     |   4 +-
 .../robot/oi/buttons/package-tree.html        |   4 +-
 .../oi/fieldoriented/OIFieldOriented.html     |   4 +-
 .../fieldoriented/OIFieldOrientedPosCos.html  |   9 +-
 .../robot/oi/fieldoriented/package-frame.html |   4 +-
 .../oi/fieldoriented/package-summary.html     |   4 +-
 .../robot/oi/fieldoriented/package-tree.html  |   4 +-
 .../team449/robot/oi/throttles/Throttle.html  |   4 +-
 .../oi/throttles/ThrottleDeadbanded.html      |   4 +-
 .../oi/throttles/ThrottleExponential.html     |   4 +-
 .../oi/throttles/ThrottlePolynomial.html      |   4 +-
 .../robot/oi/throttles/package-frame.html     |   4 +-
 .../robot/oi/throttles/package-summary.html   |   4 +-
 .../robot/oi/throttles/package-tree.html      |   4 +-
 .../robot/oi/unidirectional/OIOutreach.html   |   4 +-
 .../oi/unidirectional/OIUnidirectional.html   |   4 +-
 .../oi/unidirectional/arcade/OIArcade.html    |   4 +-
 .../unidirectional/arcade/OIArcadeSimple.html |   4 +-
 .../arcade/OIArcadeWithDPad.html              |   4 +-
 .../unidirectional/arcade/package-frame.html  |   4 +-
 .../arcade/package-summary.html               |   4 +-
 .../unidirectional/arcade/package-tree.html   |   4 +-
 .../oi/unidirectional/package-frame.html      |   4 +-
 .../oi/unidirectional/package-summary.html    |   4 +-
 .../robot/oi/unidirectional/package-tree.html |   4 +-
 .../robot/oi/unidirectional/tank/OITank.html  |   4 +-
 .../oi/unidirectional/tank/OITankSimple.html  |   4 +-
 .../oi/unidirectional/tank/package-frame.html |   4 +-
 .../unidirectional/tank/package-summary.html  |   4 +-
 .../oi/unidirectional/tank/package-tree.html  |   4 +-
 .../frc/team449/robot/other/BufferTimer.html  |   4 +-
 .../frc/team449/robot/other/LogEvent.html     |   4 +-
 .../frc/team449/robot/other/Logger.html       |   4 +-
 .../robot/other/MotionProfileData.html        |   4 +-
 .../frc/team449/robot/other/Polynomial.html   |   4 +-
 .../team449/robot/other/package-frame.html    |   4 +-
 .../team449/robot/other/package-summary.html  |   4 +-
 .../frc/team449/robot/other/package-tree.html |   4 +-
 .../frc/team449/robot/package-frame.html      |   4 +-
 .../frc/team449/robot/package-summary.html    |   4 +-
 .../frc/team449/robot/package-tree.html       |   4 +-
 .../climber/ClimberCurrentLimited.html        |   4 +-
 .../complex/climber/package-frame.html        |   4 +-
 .../complex/climber/package-summary.html      |   4 +-
 .../complex/climber/package-tree.html         |   4 +-
 .../intake/IntakeFixedAndActuated.html        |   4 +-
 .../complex/intake/package-frame.html         |   4 +-
 .../complex/intake/package-summary.html       |   4 +-
 .../complex/intake/package-tree.html          |   4 +-
 .../complex/shooter/LoggingShooter.html       |   4 +-
 .../complex/shooter/package-frame.html        |   4 +-
 .../complex/shooter/package-summary.html      |   4 +-
 .../complex/shooter/package-tree.html         |   4 +-
 .../binaryMotor/BinaryMotorSimple.html        |   4 +-
 .../binaryMotor/SubsystemBinaryMotor.html     |   4 +-
 .../binaryMotor/commands/ToggleMotor.html     |   4 +-
 .../binaryMotor/commands/TurnMotorOff.html    |   4 +-
 .../commands/TurnMotorOffWithRequires.html    |   4 +-
 .../binaryMotor/commands/TurnMotorOn.html     |   4 +-
 .../binaryMotor/commands/package-frame.html   |   4 +-
 .../binaryMotor/commands/package-summary.html |   4 +-
 .../binaryMotor/commands/package-tree.html    |   4 +-
 .../interfaces/binaryMotor/package-frame.html |   4 +-
 .../binaryMotor/package-summary.html          |   4 +-
 .../interfaces/binaryMotor/package-tree.html  |   4 +-
 .../conditional/SubsystemConditional.html     |   4 +-
 .../interfaces/conditional/package-frame.html |   4 +-
 .../conditional/package-summary.html          |   4 +-
 .../interfaces/conditional/package-tree.html  |   4 +-
 .../interfaces/intake/IntakeSimple.html       |   4 +-
 .../intake/SubsystemIntake.IntakeMode.html    |   4 +-
 .../interfaces/intake/SubsystemIntake.html    |   4 +-
 .../intake/commands/SetIntakeMode.html        |   4 +-
 .../intake/commands/ToggleIntaking.html       |   4 +-
 .../intake/commands/package-frame.html        |   4 +-
 .../intake/commands/package-summary.html      |   4 +-
 .../intake/commands/package-tree.html         |   4 +-
 .../interfaces/intake/package-frame.html      |   4 +-
 .../interfaces/intake/package-summary.html    |   4 +-
 .../interfaces/intake/package-tree.html       |   4 +-
 .../interfaces/motionProfile/SubsystemMP.html |   4 +-
 .../SubsystemMPTwoSides.html                  |   4 +-
 .../commands/LoadProfileTwoSides.html         |   4 +-
 .../commands/RunProfileTwoSides.html          |   4 +-
 .../commands/package-frame.html               |   4 +-
 .../commands/package-summary.html             |   4 +-
 .../commands/package-tree.html                |   4 +-
 .../TwoSideMPSubsystem/package-frame.html     |   4 +-
 .../TwoSideMPSubsystem/package-summary.html   |   4 +-
 .../TwoSideMPSubsystem/package-tree.html      |   4 +-
 .../motionProfile/commands/LoadProfile.html   |   4 +-
 .../commands/RunLoadedProfile.html            |   4 +-
 .../motionProfile/commands/RunProfile.html    |   4 +-
 .../motionProfile/commands/package-frame.html |   4 +-
 .../commands/package-summary.html             |   4 +-
 .../motionProfile/commands/package-tree.html  |   4 +-
 .../motionProfile/package-frame.html          |   4 +-
 .../motionProfile/package-summary.html        |   4 +-
 .../motionProfile/package-tree.html           |   4 +-
 .../interfaces/navX/SubsystemNavX.html        |   4 +-
 .../navX/commands/OverrideNavX.html           |   4 +-
 .../navX/commands/PIDAngleCommand.html        |   6 +-
 .../navX/commands/ToggleOverrideNavX.html     |   4 +-
 .../navX/commands/package-frame.html          |   4 +-
 .../navX/commands/package-summary.html        |   4 +-
 .../navX/commands/package-tree.html           |   4 +-
 .../interfaces/navX/package-frame.html        |   4 +-
 .../interfaces/navX/package-summary.html      |   4 +-
 .../interfaces/navX/package-tree.html         |   4 +-
 .../interfaces/shooter/ShooterSimple.html     |   4 +-
 .../SubsystemShooter.ShooterState.html        |   4 +-
 .../interfaces/shooter/SubsystemShooter.html  |   4 +-
 .../shooter/commands/SpinUpShooter.html       |   4 +-
 .../shooter/commands/SpinUpThenShoot.html     |   4 +-
 .../shooter/commands/ToggleShooting.html      |   4 +-
 .../shooter/commands/TurnAllOff.html          |   4 +-
 .../commands/TurnAllOffWithRequires.html      |   4 +-
 .../shooter/commands/TurnAllOn.html           |   4 +-
 .../shooter/commands/package-frame.html       |   4 +-
 .../shooter/commands/package-summary.html     |   4 +-
 .../shooter/commands/package-tree.html        |   4 +-
 .../interfaces/shooter/package-frame.html     |   4 +-
 .../interfaces/shooter/package-summary.html   |   4 +-
 .../interfaces/shooter/package-tree.html      |   4 +-
 .../interfaces/solenoid/SolenoidSimple.html   |   4 +-
 .../solenoid/SubsystemSolenoid.html           |   4 +-
 .../solenoid/commands/SolenoidForward.html    |   4 +-
 .../solenoid/commands/SolenoidOff.html        |   4 +-
 .../solenoid/commands/SolenoidReverse.html    |   4 +-
 .../solenoid/commands/ToggleSolenoid.html     |   4 +-
 .../solenoid/commands/package-frame.html      |   4 +-
 .../solenoid/commands/package-summary.html    |   4 +-
 .../solenoid/commands/package-tree.html       |   4 +-
 .../interfaces/solenoid/package-frame.html    |   4 +-
 .../interfaces/solenoid/package-summary.html  |   4 +-
 .../interfaces/solenoid/package-tree.html     |   4 +-
 .../camera/CameraNetwork.html                 |   4 +-
 .../camera/commands/ChangeCam.html            |   4 +-
 .../camera/commands/package-frame.html        |   4 +-
 .../camera/commands/package-summary.html      |   4 +-
 .../camera/commands/package-tree.html         |   4 +-
 .../camera/package-frame.html                 |   4 +-
 .../camera/package-summary.html               |   4 +-
 .../camera/package-tree.html                  |   4 +-
 .../pneumatics/Pneumatics.html                |   4 +-
 .../pneumatics/commands/StartCompressor.html  |   4 +-
 .../pneumatics/commands/package-frame.html    |   4 +-
 .../pneumatics/commands/package-summary.html  |   4 +-
 .../pneumatics/commands/package-tree.html     |   4 +-
 .../pneumatics/package-frame.html             |   4 +-
 .../pneumatics/package-summary.html           |   4 +-
 .../pneumatics/package-tree.html              |   4 +-
 docs/overview-frame.html                      |   4 +-
 docs/overview-summary.html                    |   4 +-
 docs/overview-tree.html                       |  10 +-
 281 files changed, 2155 insertions(+), 747 deletions(-)
 create mode 100644 docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html
 create mode 100644 docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html
 create mode 100644 docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html

diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java
index 7aae58d8..85f0be26 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java
@@ -6,8 +6,6 @@
 import org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional;
 import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem;
 import org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented;
-import org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional;
-import org.usfirst.frc.team449.robot.other.BufferTimer;
 import org.usfirst.frc.team449.robot.other.Logger;
 import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemNavX;
 import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.PIDAngleCommand;
@@ -20,7 +18,7 @@
  */
 @JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class")
 @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class)
-public class FieldOrientedUnidirectionalDriveCommand<T extends YamlSubsystem & DriveUnidirectional & SubsystemNavX> extends PIDAngleCommand {
+public class FieldOrientedUnidirectionalDriveCommand <T extends YamlSubsystem & DriveUnidirectional & SubsystemNavX> extends PIDAngleCommand {
 
 	/**
 	 * The drive this command is controlling.
@@ -49,23 +47,21 @@ public class FieldOrientedUnidirectionalDriveCommand<T extends YamlSubsystem & D
 	/**
 	 * Default constructor
 	 *
-	 * @param toleranceBuffer             How many consecutive loops have to be run while within tolerance to be
-	 *                                    considered on target. Multiply by loop period of ~20 milliseconds for time.
-	 *                                    Defaults to 0.
-	 * @param absoluteTolerance           The maximum number of degrees off from the target at which we can be
-	 *                                    considered within tolerance.
-	 * @param minimumOutput               The minimum output of the loop. Defaults to zero.
-	 * @param maximumOutput               The maximum output of the loop. Can be null, and if it is, no maximum output
-	 *                                    is used.
-	 * @param deadband                    The deadband around the setpoint, in degrees, within which no output is given
-	 *                                    to the motors. Defaults to zero.
-	 * @param inverted                    Whether the loop is inverted. Defaults to false.
-	 * @param kP                          Proportional gain. Defaults to zero.
-	 * @param kI                          Integral gain. Defaults to zero.
-	 * @param kD                          Derivative gain. Defaults to zero.
-	 * @param subsystem                   The drive to execute this command on.
-	 * @param oi                          The OI controlling the robot.
-	 * @param snapPoints The points to snap the PID controller input to.
+	 * @param toleranceBuffer   How many consecutive loops have to be run while within tolerance to be considered on
+	 *                          target. Multiply by loop period of ~20 milliseconds for time. Defaults to 0.
+	 * @param absoluteTolerance The maximum number of degrees off from the target at which we can be considered within
+	 *                          tolerance.
+	 * @param minimumOutput     The minimum output of the loop. Defaults to zero.
+	 * @param maximumOutput     The maximum output of the loop. Can be null, and if it is, no maximum output is used.
+	 * @param deadband          The deadband around the setpoint, in degrees, within which no output is given to the
+	 *                          motors. Defaults to zero.
+	 * @param inverted          Whether the loop is inverted. Defaults to false.
+	 * @param kP                Proportional gain. Defaults to zero.
+	 * @param kI                Integral gain. Defaults to zero.
+	 * @param kD                Derivative gain. Defaults to zero.
+	 * @param subsystem         The drive to execute this command on.
+	 * @param oi                The OI controlling the robot.
+	 * @param snapPoints        The points to snap the PID controller input to.
 	 */
 	@JsonCreator
 	public FieldOrientedUnidirectionalDriveCommand(@JsonProperty(required = true) double absoluteTolerance,
@@ -104,16 +100,16 @@ protected void initialize() {
 	}
 
 	/**
-	 * Decide whether or not we should be in free drive or straight drive, and log data.
+	 * Set PID setpoint to processed controller setpoint.
 	 */
 	@Override
 	protected void execute() {
 		//Do nothing
 		theta = oi.getTheta();
-		if(theta != null){
-			for (AngularSnapPoint snapPoint : snapPoints){
+		if (theta != null) {
+			for (AngularSnapPoint snapPoint : snapPoints) {
 				//See if we should snap
-				if (snapPoint.getLowerBound() < theta && theta < snapPoint.getUpperBound()){
+				if (snapPoint.getLowerBound() < theta && theta < snapPoint.getUpperBound()) {
 					theta = snapPoint.getSnapTo();
 					//Break to shorten runtime, we'll never snap twice.
 					break;
@@ -142,40 +138,31 @@ protected void end() {
 	}
 
 	/**
-	 * Stop the motors and log when this command is interrupted.
+	 * Log when this command is interrupted.
 	 */
 	@Override
 	protected void interrupted() {
-		Logger.addEvent("FieldOrientedUnidirectionalDriveCommand Interrupted! Stopping the robot.", this.getClass());
-		subsystem.fullStop();
+		Logger.addEvent("FieldOrientedUnidirectionalDriveCommand Interrupted!", this.getClass());
 	}
 
 	/**
-	 * Give the correct output to the motors based on whether we're in free drive or drive straight.
+	 * Give the correct output to the motors based on the PID output and velocity input.
 	 *
 	 * @param output The output of the angular PID loop.
 	 */
 	@Override
 	protected void usePIDOutput(double output) {
-		//If we're using angular PID
-		if (!subsystem.getOverrideNavX()) {
-			//Process the output (minimumOutput, deadband, etc.)
-			output = processPIDOutput(output);
+		//Process or zero the input depending on whether the NavX is being overriden.
+		output = subsystem.getOverrideNavX() ? 0 : processPIDOutput(output);
 
-			//Adjust the heading according to the PID output, it'll be positive if we want to go right.
-			subsystem.setOutput(oi.getVel() - output, oi.getVel() + output);
-		}
-		//If we're not using the NavX
-		else {
-			//Just go straight, field-oriented drive can't really do anything without the NavX.
-			subsystem.setOutput(oi.getVel(), oi.getVel());
-		}
+		//Adjust the heading according to the PID output, it'll be positive if we want to go right.
+		subsystem.setOutput(oi.getVel() - output, oi.getVel() + output);
 	}
 
 	/**
 	 * A data-holding class representing an angular setpoint to "snap" the controller output to.
 	 */
-	protected class AngularSnapPoint{
+	protected class AngularSnapPoint {
 
 		/**
 		 * The angle to snap the setpoint to, in degrees.
@@ -195,9 +182,11 @@ protected class AngularSnapPoint{
 		/**
 		 * Default constructor.
 		 *
-		 * @param snapTo The angle to snap the setpoint to, in degrees.
-		 * @param upperBound The upper bound, below which all angles above snapTo are changed to snapTo. Measured in degrees.
-		 * @param lowerBound The lower bound, above which all angles below snapTo are changed to snapTo. Measured in degrees.
+		 * @param snapTo     The angle to snap the setpoint to, in degrees.
+		 * @param upperBound The upper bound, below which all angles above snapTo are changed to snapTo. Measured in
+		 *                   degrees.
+		 * @param lowerBound The lower bound, above which all angles below snapTo are changed to snapTo. Measured in
+		 *                   degrees.
 		 */
 		@JsonCreator
 		public AngularSnapPoint(@JsonProperty(required = true) double snapTo,
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.java
index 689310fe..c3113e09 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.java
@@ -3,43 +3,55 @@
 import com.fasterxml.jackson.annotation.*;
 import org.jetbrains.annotations.NotNull;
 import org.jetbrains.annotations.Nullable;
+import org.usfirst.frc.team449.robot.components.AutoshiftComponent;
+import org.usfirst.frc.team449.robot.drive.shifting.DriveShiftable;
 import org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional;
 import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem;
 import org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented;
 import org.usfirst.frc.team449.robot.other.Logger;
 import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemNavX;
-import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.PIDAngleCommand;
 
-import java.util.ArrayList;
 import java.util.List;
 
 /**
- * Unidirectional drive with field-oriented control
+ * Unidirectional drive with field-oriented control and autoshifting.
  */
 @JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class")
 @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class)
-public class FieldOrientedUnidirectionalDriveCommandShifting<T extends YamlSubsystem & DriveUnidirectional & SubsystemNavX> extends FieldOrientedUnidirectionalDriveCommand {
+public class FieldOrientedUnidirectionalDriveCommandShifting <T extends YamlSubsystem & DriveUnidirectional & SubsystemNavX & DriveShiftable>
+		extends FieldOrientedUnidirectionalDriveCommand {
+
+	/**
+	 * The drive to execute this command on.
+	 */
+	@NotNull
+	protected final T subsystem;
+
+	/**
+	 * The helper object for autoshifting.
+	 */
+	@NotNull
+	private final AutoshiftComponent autoshiftComponent;
 
 	/**
 	 * Default constructor
 	 *
-	 * @param toleranceBuffer             How many consecutive loops have to be run while within tolerance to be
-	 *                                    considered on target. Multiply by loop period of ~20 milliseconds for time.
-	 *                                    Defaults to 0.
-	 * @param absoluteTolerance           The maximum number of degrees off from the target at which we can be
-	 *                                    considered within tolerance.
-	 * @param minimumOutput               The minimum output of the loop. Defaults to zero.
-	 * @param maximumOutput               The maximum output of the loop. Can be null, and if it is, no maximum output
-	 *                                    is used.
-	 * @param deadband                    The deadband around the setpoint, in degrees, within which no output is given
-	 *                                    to the motors. Defaults to zero.
-	 * @param inverted                    Whether the loop is inverted. Defaults to false.
-	 * @param kP                          Proportional gain. Defaults to zero.
-	 * @param kI                          Integral gain. Defaults to zero.
-	 * @param kD                          Derivative gain. Defaults to zero.
-	 * @param subsystem                   The drive to execute this command on.
-	 * @param oi                          The OI controlling the robot.
-	 * @param snapPoints The points to snap the PID controller input to.
+	 * @param toleranceBuffer    How many consecutive loops have to be run while within tolerance to be considered on
+	 *                           target. Multiply by loop period of ~20 milliseconds for time. Defaults to 0.
+	 * @param absoluteTolerance  The maximum number of degrees off from the target at which we can be considered within
+	 *                           tolerance.
+	 * @param minimumOutput      The minimum output of the loop. Defaults to zero.
+	 * @param maximumOutput      The maximum output of the loop. Can be null, and if it is, no maximum output is used.
+	 * @param deadband           The deadband around the setpoint, in degrees, within which no output is given to the
+	 *                           motors. Defaults to zero.
+	 * @param inverted           Whether the loop is inverted. Defaults to false.
+	 * @param kP                 Proportional gain. Defaults to zero.
+	 * @param kI                 Integral gain. Defaults to zero.
+	 * @param kD                 Derivative gain. Defaults to zero.
+	 * @param subsystem          The drive to execute this command on.
+	 * @param oi                 The OI controlling the robot.
+	 * @param snapPoints         The points to snap the PID controller input to.
+	 * @param autoshiftComponent The helper object for autoshifting.
 	 */
 	@JsonCreator
 	public FieldOrientedUnidirectionalDriveCommandShifting(@JsonProperty(required = true) double absoluteTolerance,
@@ -52,30 +64,25 @@ public FieldOrientedUnidirectionalDriveCommandShifting(@JsonProperty(required =
 	                                                       int kD,
 	                                                       @NotNull @JsonProperty(required = true) T subsystem,
 	                                                       @NotNull @JsonProperty(required = true) OIFieldOriented oi,
-	                                                       @Nullable List<AngularSnapPoint> snapPoints) {
+	                                                       @Nullable List<AngularSnapPoint> snapPoints,
+	                                                       @NotNull @JsonProperty(required = true) AutoshiftComponent autoshiftComponent) {
 		//Assign stuff
 		super(absoluteTolerance, toleranceBuffer, minimumOutput, maximumOutput, deadband, inverted, kP, kI, kD, subsystem, oi, snapPoints);
+		this.subsystem = subsystem;
+		this.autoshiftComponent = autoshiftComponent;
 	}
 
 	/**
-	 * Decide whether or not we should be in free drive or straight drive, and log data.
+	 * Set PID setpoint to processed controller setpoint and autoshift.
 	 */
 	@Override
 	protected void execute() {
-		//Do nothing
+		if (!subsystem.getOverrideAutoshift()) {
+			autoshiftComponent.autoshift(oi.getVel(), subsystem.getLeftVel(), subsystem.getRightVel(), gear -> subsystem.setGear(gear));
+		}
 		super.execute();
 	}
 
-	/**
-	 * Run constantly because this is a defaultDrive
-	 *
-	 * @return false
-	 */
-	@Override
-	protected boolean isFinished() {
-		return false;
-	}
-
 	/**
 	 * Log when this command ends
 	 */
@@ -85,11 +92,11 @@ protected void end() {
 	}
 
 	/**
-	 * Stop the motors and log when this command is interrupted.
+	 * Log when this command is interrupted.
 	 */
 	@Override
 	protected void interrupted() {
-		Logger.addEvent("FieldOrientedUnidirectionalDriveCommandShifting Interrupted! Stopping the robot.", this.getClass());
+		Logger.addEvent("FieldOrientedUnidirectionalDriveCommandShifting Interrupted!", this.getClass());
 	}
 
 }
\ No newline at end of file
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.java
index 31c8e319..ef2a7441 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.java
@@ -112,7 +112,7 @@ protected void initialize() {
 	}
 
 	/**
-	 * Decide whether or not we should be in free drive or straight drive, and log data.
+	 * Decide whether or not we should be in free drive or straight drive.
 	 */
 	@Override
 	protected void execute() {
@@ -123,7 +123,6 @@ protected void execute() {
 		if (drivingStraight && (!commandingStraight || subsystem.getOverrideNavX())) {
 			//Switch to free drive
 			drivingStraight = false;
-			Logger.addEvent("Switching to free drive.", this.getClass());
 		}
 		//If we're free driving and the driver stops turning:
 		else if (driveStraightLoopEntryTimer.get(!(subsystem.getOverrideNavX()) && !(drivingStraight) &&
@@ -134,7 +133,6 @@ else if (driveStraightLoopEntryTimer.get(!(subsystem.getOverrideNavX()) && !(dri
 			this.getPIDController().reset();
 			this.getPIDController().setSetpoint(subsystem.getGyroOutput());
 			this.getPIDController().enable();
-			Logger.addEvent("Switching to DriveStraight.", this.getClass());
 		}
 	}
 
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.java
index 746bb87e..e28c45e3 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.java
@@ -77,13 +77,13 @@ public UnidirectionalNavXShiftingDefaultDrive(@JsonProperty(required = true) dou
 	}
 
 	/**
-	 * Autoshift, decide whether or not we should be in free drive or straight drive, and log data.
+	 * Autoshift and decide whether or not we should be in free drive or straight drive
 	 */
 	@Override
 	public void execute() {
 		//Auto-shifting
 		if (!subsystem.getOverrideAutoshift()) {
-			autoshiftComponent.autoshift(oi.getLeftOutput(), oi.getRightOutput(), subsystem.getLeftVel(),
+			autoshiftComponent.autoshift((oi.getLeftOutput() + oi.getRightOutput())/2., subsystem.getLeftVel(),
 					subsystem.getRightVel(), gear -> subsystem.setGear(gear));
 		}
 		super.execute();
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/components/AutoshiftComponent.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/components/AutoshiftComponent.java
index f4a69789..baa0948c 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/components/AutoshiftComponent.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/components/AutoshiftComponent.java
@@ -93,19 +93,18 @@ public AutoshiftComponent(@JsonProperty(required = true) double upshiftSpeed,
 	/**
 	 * Determine whether the robot should downshift.
 	 *
-	 * @param leftThrottle  The left side's throttle, on [-1, 1].
-	 * @param rightThrottle The right side's throttle, on [-1, 1].
-	 * @param leftVel       The velocity of the left side of the drive.
-	 * @param rightVel      The velocity of the right side of the drive.
+	 * @param forwardThrottle The forwards throttle, on [-1, 1].
+	 * @param leftVel         The velocity of the left side of the drive.
+	 * @param rightVel        The velocity of the right side of the drive.
 	 * @return True if the drive should downshift, false otherwise.
 	 */
-	public boolean shouldDownshift(double leftThrottle, double rightThrottle, double leftVel, double rightVel) {
+	private boolean shouldDownshift(double forwardThrottle, double leftVel, double rightVel) {
 		//We should shift if we're going slower than the downshift speed
 		boolean okToShift = Math.max(Math.abs(leftVel), Math.abs(rightVel)) < downshiftSpeed;
 		//Or if we're just turning in place.
-		okToShift = okToShift || (leftThrottle == -rightThrottle);
+		okToShift = okToShift || (forwardThrottle == 0);
 		//Or commanding a low speed.
-		okToShift = okToShift || (Math.abs((leftThrottle + rightThrottle) / 2.) < upshiftFwdThresh);
+		okToShift = okToShift || (Math.abs(forwardThrottle) < upshiftFwdThresh);
 		//But we can only shift if we're out of the cooldown period.
 		okToShift = okToShift && Robot.currentTimeMillis() - timeLastUpshifted > cooldownAfterUpshift;
 
@@ -123,17 +122,16 @@ public boolean shouldDownshift(double leftThrottle, double rightThrottle, double
 	/**
 	 * Determine whether the robot should upshift.
 	 *
-	 * @param leftThrottle  The left side's throttle, on [-1, 1].
-	 * @param rightThrottle The right side's throttle, on [-1, 1].
-	 * @param leftVel       The velocity of the left side of the drive.
-	 * @param rightVel      The velocity of the right side of the drive.
+	 * @param forwardThrottle The forwards throttle, on [-1, 1].
+	 * @param leftVel         The velocity of the left side of the drive.
+	 * @param rightVel        The velocity of the right side of the drive.
 	 * @return True if the drive should upshift, false otherwise.
 	 */
-	public boolean shouldUpshift(double leftThrottle, double rightThrottle, double leftVel, double rightVel) {
+	private boolean shouldUpshift(double forwardThrottle, double leftVel, double rightVel) {
 		//We should shift if we're going faster than the upshift speed...
 		boolean okToShift = Math.min(Math.abs(leftVel), Math.abs(rightVel)) > upshiftSpeed;
 		//AND the driver's trying to go forward fast.
-		okToShift = okToShift && Math.abs((leftThrottle + rightThrottle) / 2.) > upshiftFwdThresh;
+		okToShift = okToShift && Math.abs(forwardThrottle) > upshiftFwdThresh;
 		//But we can only shift if we're out of the cooldown period.
 		okToShift = okToShift && Robot.currentTimeMillis() - timeLastDownshifted > cooldownAfterDownshift;
 
@@ -149,17 +147,16 @@ public boolean shouldUpshift(double leftThrottle, double rightThrottle, double l
 	/**
 	 * Determine if the subsystem should shift, and if yes, do the shifting.
 	 *
-	 * @param leftThrottle  The left side's throttle, on [-1, 1].
-	 * @param rightThrottle The right side's throttle, on [-1, 1].
-	 * @param leftVel       The velocity of the left side of the drive.
-	 * @param rightVel      The velocity of the right side of the drive.
-	 * @param shift         The function to actually shift gears.
+	 * @param forwardThrottle The forwards throttle, on [-1, 1].
+	 * @param leftVel         The velocity of the left side of the drive.
+	 * @param rightVel        The velocity of the right side of the drive.
+	 * @param shift           The function to actually shift gears.
 	 */
-	public void autoshift(double leftThrottle, double rightThrottle, double leftVel, double rightVel, Consumer<Integer> shift) {
-		if (shouldDownshift(leftThrottle, rightThrottle, leftVel, rightVel)) {
+	public void autoshift(double forwardThrottle, double leftVel, double rightVel, Consumer<Integer> shift) {
+		if (shouldDownshift(forwardThrottle, leftVel, rightVel)) {
 			shift.accept(Shiftable.gear.LOW.getNumVal());
 			System.out.println("Downshifted");
-		} else if (shouldUpshift(leftThrottle, rightThrottle, leftVel, rightVel)) {
+		} else if (shouldUpshift(forwardThrottle, leftVel, rightVel)) {
 			shift.accept(Shiftable.gear.HIGH.getNumVal());
 			System.out.println("Upshifted");
 		}
diff --git a/docs/allclasses-frame.html b/docs/allclasses-frame.html
index a028cd64..4a583d1f 100644
--- a/docs/allclasses-frame.html
+++ b/docs/allclasses-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>All Classes (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <script type="text/javascript" src="script.js"></script>
 </head>
@@ -35,6 +35,8 @@ <h1 class="bar">All&nbsp;Classes</h1>
 <li><a href="org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectionalSimple.html" title="class in org.usfirst.frc.team449.robot.drive.unidirectional" target="classFrame">DriveUnidirectionalSimple</a></li>
 <li><a href="org/usfirst/frc/team449/robot/oi/buttons/FactoryButton.html" title="class in org.usfirst.frc.team449.robot.oi.buttons" target="classFrame">FactoryButton</a></li>
 <li><a href="org/usfirst/frc/team449/robot/oi/buttons/FactoryJoystickButton.html" title="class in org.usfirst.frc.team449.robot.oi.buttons" target="classFrame">FactoryJoystickButton</a></li>
+<li><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive" target="classFrame">FieldOrientedUnidirectionalDriveCommand</a></li>
+<li><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive" target="classFrame">FieldOrientedUnidirectionalDriveCommandShifting</a></li>
 <li><a href="org/usfirst/frc/team449/robot/commands/multiSubsystem/FireShooter.html" title="class in org.usfirst.frc.team449.robot.commands.multiSubsystem" target="classFrame">FireShooter</a></li>
 <li><a href="org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers" target="classFrame">FPSTalon</a></li>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/complex/intake/IntakeFixedAndActuated.html" title="class in org.usfirst.frc.team449.robot.subsystem.complex.intake" target="classFrame">IntakeFixedAndActuated</a></li>
diff --git a/docs/allclasses-noframe.html b/docs/allclasses-noframe.html
index dd399ff0..cc49c6b4 100644
--- a/docs/allclasses-noframe.html
+++ b/docs/allclasses-noframe.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>All Classes (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <script type="text/javascript" src="script.js"></script>
 </head>
@@ -35,6 +35,8 @@ <h1 class="bar">All&nbsp;Classes</h1>
 <li><a href="org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectionalSimple.html" title="class in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectionalSimple</a></li>
 <li><a href="org/usfirst/frc/team449/robot/oi/buttons/FactoryButton.html" title="class in org.usfirst.frc.team449.robot.oi.buttons">FactoryButton</a></li>
 <li><a href="org/usfirst/frc/team449/robot/oi/buttons/FactoryJoystickButton.html" title="class in org.usfirst.frc.team449.robot.oi.buttons">FactoryJoystickButton</a></li>
+<li><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand</a></li>
+<li><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommandShifting</a></li>
 <li><a href="org/usfirst/frc/team449/robot/commands/multiSubsystem/FireShooter.html" title="class in org.usfirst.frc.team449.robot.commands.multiSubsystem">FireShooter</a></li>
 <li><a href="org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">FPSTalon</a></li>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/complex/intake/IntakeFixedAndActuated.html" title="class in org.usfirst.frc.team449.robot.subsystem.complex.intake">IntakeFixedAndActuated</a></li>
diff --git a/docs/constant-values.html b/docs/constant-values.html
index 576a4806..74c592be 100644
--- a/docs/constant-values.html
+++ b/docs/constant-values.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>Constant Field Values (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <script type="text/javascript" src="script.js"></script>
 </head>
diff --git a/docs/deprecated-list.html b/docs/deprecated-list.html
index 25bfb87e..52844d4e 100644
--- a/docs/deprecated-list.html
+++ b/docs/deprecated-list.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>Deprecated List (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <script type="text/javascript" src="script.js"></script>
 </head>
diff --git a/docs/help-doc.html b/docs/help-doc.html
index 37511cbb..a1b611a4 100644
--- a/docs/help-doc.html
+++ b/docs/help-doc.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>API Help (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <script type="text/javascript" src="script.js"></script>
 </head>
diff --git a/docs/index-all.html b/docs/index-all.html
index 21ba45ea..6c235631 100644
--- a/docs/index-all.html
+++ b/docs/index-all.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>Index (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <script type="text/javascript" src="script.js"></script>
 </head>
@@ -77,6 +77,10 @@ <h2 class="title">A</h2>
 <dd>
 <div class="block">Log an event to be written to the event log file.</div>
 </dd>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html#AngularSnapPoint-double-double-double-">AngularSnapPoint(double, double, double)</a></span> - Constructor for class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint</a></dt>
+<dd>
+<div class="block">Default constructor.</div>
+</dd>
 <dt><a href="org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Boiler.html" title="class in org.usfirst.frc.team449.robot.commands.autonomous"><span class="typeNameLink">Auto2017Boiler</span></a> - Class in <a href="org/usfirst/frc/team449/robot/commands/autonomous/package-summary.html">org.usfirst.frc.team449.robot.commands.autonomous</a></dt>
 <dd>
 <div class="block">The autonomous routine to deliver a gear to the center gear.</div>
@@ -109,7 +113,7 @@ <h2 class="title">A</h2>
 <dd>
 <div class="block">Runs every tick in autonomous.</div>
 </dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/components/AutoshiftComponent.html#autoshift-double-double-double-double-java.util.function.Consumer-">autoshift(double, double, double, double, Consumer&lt;Integer&gt;)</a></span> - Method in class org.usfirst.frc.team449.robot.components.<a href="org/usfirst/frc/team449/robot/components/AutoshiftComponent.html" title="class in org.usfirst.frc.team449.robot.components">AutoshiftComponent</a></dt>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/components/AutoshiftComponent.html#autoshift-double-double-double-java.util.function.Consumer-">autoshift(double, double, double, Consumer&lt;Integer&gt;)</a></span> - Method in class org.usfirst.frc.team449.robot.components.<a href="org/usfirst/frc/team449/robot/components/AutoshiftComponent.html" title="class in org.usfirst.frc.team449.robot.components">AutoshiftComponent</a></dt>
 <dd>
 <div class="block">Determine if the subsystem should shift, and if yes, do the shifting.</div>
 </dd>
@@ -162,7 +166,9 @@ <h2 class="title">B</h2>
 <h2 class="title">C</h2>
 <dl>
 <dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html#calcValues--">calcValues()</a></span> - Method in class org.usfirst.frc.team449.robot.oi.fieldoriented.<a href="org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html" title="class in org.usfirst.frc.team449.robot.oi.fieldoriented">OIFieldOrientedPosCos</a></dt>
-<dd>&nbsp;</dd>
+<dd>
+<div class="block">Calculate the theta and vel values, can be called multiple times per tic but will only execute logic once.</div>
+</dd>
 <dt><a href="org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/CameraNetwork.html" title="class in org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera"><span class="typeNameLink">CameraNetwork</span></a> - Class in <a href="org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-summary.html">org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera</a></dt>
 <dd>
 <div class="block">Subsystem to initialize cameras and put video on SmartDashboard.</div>
@@ -371,6 +377,14 @@ <h2 class="title">E</h2>
 <dd>
 <div class="block">If this drive uses motors that can be disabled, enable them.</div>
 </dd>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html#end--">end()</a></span> - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand</a></dt>
+<dd>
+<div class="block">Log when this command ends</div>
+</dd>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html#end--">end()</a></span> - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommandShifting</a></dt>
+<dd>
+<div class="block">Log when this command ends</div>
+</dd>
 <dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html#end--">end()</a></span> - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">NavXDriveStraight</a></dt>
 <dd>
 <div class="block">Log when this command ends</div>
@@ -507,13 +521,21 @@ <h2 class="title">E</h2>
 <dd>
 <div class="block">Log when this command ends</div>
 </dd>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html#execute--">execute()</a></span> - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand</a></dt>
+<dd>
+<div class="block">Set PID setpoint to processed controller setpoint.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html#execute--">execute()</a></span> - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommandShifting</a></dt>
+<dd>
+<div class="block">Set PID setpoint to processed controller setpoint and autoshift.</div>
+</dd>
 <dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html#execute--">execute()</a></span> - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">UnidirectionalNavXDefaultDrive</a></dt>
 <dd>
-<div class="block">Decide whether or not we should be in free drive or straight drive, and log data.</div>
+<div class="block">Decide whether or not we should be in free drive or straight drive.</div>
 </dd>
 <dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html#execute--">execute()</a></span> - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">UnidirectionalNavXShiftingDefaultDrive</a></dt>
 <dd>
-<div class="block">Autoshift, decide whether or not we should be in free drive or straight drive, and log data.</div>
+<div class="block">Autoshift and decide whether or not we should be in free drive or straight drive</div>
 </dd>
 <dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/RunMotorWhileConditonMet.html#execute--">execute()</a></span> - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/RunMotorWhileConditonMet.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface">RunMotorWhileConditonMet</a></dt>
 <dd>
@@ -655,6 +677,26 @@ <h2 class="title">F</h2>
 <dd>
 <div class="block">Default constructor.</div>
 </dd>
+<dt><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">FieldOrientedUnidirectionalDriveCommand</span></a>&lt;<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="type parameter in FieldOrientedUnidirectionalDriveCommand">T</a> extends <a href="org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemNavX</a>&gt; - Class in <a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html">org.usfirst.frc.team449.robot.commands.multiInterface.drive</a></dt>
+<dd>
+<div class="block">Unidirectional drive with field-oriented control</div>
+</dd>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html#FieldOrientedUnidirectionalDriveCommand-double-int-double-java.lang.Double-double-boolean-int-int-int-T-org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented-java.util.List-">FieldOrientedUnidirectionalDriveCommand(double, int, double, Double, double, boolean, int, int, int, T, OIFieldOriented, List&lt;FieldOrientedUnidirectionalDriveCommand&lt;T&gt;.AngularSnapPoint&gt;)</a></span> - Constructor for class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand</a></dt>
+<dd>
+<div class="block">Default constructor</div>
+</dd>
+<dt><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint</span></a> - Class in <a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html">org.usfirst.frc.team449.robot.commands.multiInterface.drive</a></dt>
+<dd>
+<div class="block">A data-holding class representing an angular setpoint to "snap" the controller output to.</div>
+</dd>
+<dt><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">FieldOrientedUnidirectionalDriveCommandShifting</span></a>&lt;<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="type parameter in FieldOrientedUnidirectionalDriveCommandShifting">T</a> extends <a href="org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemNavX</a> &amp; <a href="org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html" title="interface in org.usfirst.frc.team449.robot.drive.shifting">DriveShiftable</a>&gt; - Class in <a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html">org.usfirst.frc.team449.robot.commands.multiInterface.drive</a></dt>
+<dd>
+<div class="block">Unidirectional drive with field-oriented control and autoshifting.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html#FieldOrientedUnidirectionalDriveCommandShifting-double-int-double-java.lang.Double-double-boolean-int-int-int-T-org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented-java.util.List-org.usfirst.frc.team449.robot.components.AutoshiftComponent-">FieldOrientedUnidirectionalDriveCommandShifting(double, int, double, Double, double, boolean, int, int, int, T, OIFieldOriented, List&lt;FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint&gt;, AutoshiftComponent)</a></span> - Constructor for class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommandShifting</a></dt>
+<dd>
+<div class="block">Default constructor</div>
+</dd>
 <dt><a href="org/usfirst/frc/team449/robot/commands/multiSubsystem/FireShooter.html" title="class in org.usfirst.frc.team449.robot.commands.multiSubsystem"><span class="typeNameLink">FireShooter</span></a> - Class in <a href="org/usfirst/frc/team449/robot/commands/multiSubsystem/package-summary.html">org.usfirst.frc.team449.robot.commands.multiSubsystem</a></dt>
 <dd>
 <div class="block">Command group for firing the shooter.</div>
@@ -876,6 +918,8 @@ <h2 class="title">G</h2>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/other/Logger.html#getLoopTimeSecs--">getLoopTimeSecs()</a></span> - Method in class org.usfirst.frc.team449.robot.other.<a href="org/usfirst/frc/team449/robot/other/Logger.html" title="class in org.usfirst.frc.team449.robot.other">Logger</a></dt>
 <dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html#getLowerBound--">getLowerBound()</a></span> - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint</a></dt>
+<dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/complex/intake/IntakeFixedAndActuated.html#getMode--">getMode()</a></span> - Method in class org.usfirst.frc.team449.robot.subsystem.complex.intake.<a href="org/usfirst/frc/team449/robot/subsystem/complex/intake/IntakeFixedAndActuated.html" title="class in org.usfirst.frc.team449.robot.subsystem.complex.intake">IntakeFixedAndActuated</a></dt>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/intake/IntakeSimple.html#getMode--">getMode()</a></span> - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.intake.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/intake/IntakeSimple.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.intake">IntakeSimple</a></dt>
@@ -1004,6 +1048,8 @@ <h2 class="title">G</h2>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/SubsystemShooter.html#getShooterState--">getShooterState()</a></span> - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/SubsystemShooter.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.shooter">SubsystemShooter</a></dt>
 <dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html#getSnapTo--">getSnapTo()</a></span> - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint</a></dt>
+<dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/complex/intake/IntakeFixedAndActuated.html#getSolenoidPosition--">getSolenoidPosition()</a></span> - Method in class org.usfirst.frc.team449.robot.subsystem.complex.intake.<a href="org/usfirst/frc/team449/robot/subsystem/complex/intake/IntakeFixedAndActuated.html" title="class in org.usfirst.frc.team449.robot.subsystem.complex.intake">IntakeFixedAndActuated</a></dt>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SolenoidSimple.html#getSolenoidPosition--">getSolenoidPosition()</a></span> - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SolenoidSimple.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid">SolenoidSimple</a></dt>
@@ -1032,6 +1078,8 @@ <h2 class="title">G</h2>
 <dd>
 <div class="block">Get the absolute angle for the robot to move towards.</div>
 </dd>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html#getUpperBound--">getUpperBound()</a></span> - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint</a></dt>
+<dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/oi/throttles/Throttle.html#getValue--">getValue()</a></span> - Method in class org.usfirst.frc.team449.robot.oi.throttles.<a href="org/usfirst/frc/team449/robot/oi/throttles/Throttle.html" title="class in org.usfirst.frc.team449.robot.oi.throttles">Throttle</a></dt>
 <dd>
 <div class="block">Gets the raw value from the stick and inverts it if necessary.</div>
@@ -1133,6 +1181,10 @@ <h2 class="title">I</h2>
 <dd>
 <div class="block">Store the start time.</div>
 </dd>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html#initialize--">initialize()</a></span> - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand</a></dt>
+<dd>
+<div class="block">Initialize PIDController and variables.</div>
+</dd>
 <dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html#initialize--">initialize()</a></span> - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">NavXDriveStraight</a></dt>
 <dd>
 <div class="block">Set the setpoint of the angle PID.</div>
@@ -1289,6 +1341,14 @@ <h2 class="title">I</h2>
 <dd>
 <div class="block">Default constructor</div>
 </dd>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html#interrupted--">interrupted()</a></span> - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand</a></dt>
+<dd>
+<div class="block">Log when this command is interrupted.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html#interrupted--">interrupted()</a></span> - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommandShifting</a></dt>
+<dd>
+<div class="block">Log when this command is interrupted.</div>
+</dd>
 <dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html#interrupted--">interrupted()</a></span> - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">NavXDriveStraight</a></dt>
 <dd>
 <div class="block">Log when this command is interrupted.</div>
@@ -1441,6 +1501,10 @@ <h2 class="title">I</h2>
 <dd>
 <div class="block">Finish if the specified amount of time has passed.</div>
 </dd>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html#isFinished--">isFinished()</a></span> - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand</a></dt>
+<dd>
+<div class="block">Run constantly because this is a defaultDrive</div>
+</dd>
 <dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html#isFinished--">isFinished()</a></span> - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">NavXDriveStraight</a></dt>
 <dd>
 <div class="block">Never finishes.</div>
@@ -1779,6 +1843,10 @@ <h2 class="title">N</h2>
 </a>
 <h2 class="title">O</h2>
 <dl>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html#oi">oi</a></span> - Variable in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand</a></dt>
+<dd>
+<div class="block">The OI giving the input stick values.</div>
+</dd>
 <dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html#oi">oi</a></span> - Variable in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">UnidirectionalNavXDefaultDrive</a></dt>
 <dd>
 <div class="block">The OI giving the input stick values.</div>
@@ -2301,14 +2369,6 @@ <h2 class="title">S</h2>
 <dd>
 <div class="block">Default constructor</div>
 </dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/components/AutoshiftComponent.html#shouldDownshift-double-double-double-double-">shouldDownshift(double, double, double, double)</a></span> - Method in class org.usfirst.frc.team449.robot.components.<a href="org/usfirst/frc/team449/robot/components/AutoshiftComponent.html" title="class in org.usfirst.frc.team449.robot.components">AutoshiftComponent</a></dt>
-<dd>
-<div class="block">Determine whether the robot should downshift.</div>
-</dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/components/AutoshiftComponent.html#shouldUpshift-double-double-double-double-">shouldUpshift(double, double, double, double)</a></span> - Method in class org.usfirst.frc.team449.robot.components.<a href="org/usfirst/frc/team449/robot/components/AutoshiftComponent.html" title="class in org.usfirst.frc.team449.robot.components">AutoshiftComponent</a></dt>
-<dd>
-<div class="block">Determine whether the robot should upshift.</div>
-</dd>
 <dt><a href="org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/SimpleMotor.html" title="interface in org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor"><span class="typeNameLink">SimpleMotor</span></a> - Interface in <a href="org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-summary.html">org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="org/usfirst/frc/team449/robot/jacksonWrappers/SimpleMotorCluster.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers"><span class="typeNameLink">SimpleMotorCluster</span></a> - Class in <a href="org/usfirst/frc/team449/robot/jacksonWrappers/package-summary.html">org.usfirst.frc.team449.robot.jacksonWrappers</a></dt>
@@ -2419,6 +2479,14 @@ <h2 class="title">S</h2>
 <dd>
 <div class="block">Stops any MP-related threads currently running.</div>
 </dd>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html#subsystem">subsystem</a></span> - Variable in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand</a></dt>
+<dd>
+<div class="block">The drive this command is controlling.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html#subsystem">subsystem</a></span> - Variable in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommandShifting</a></dt>
+<dd>
+<div class="block">The drive to execute this command on.</div>
+</dd>
 <dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html#subsystem">subsystem</a></span> - Variable in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">NavXDriveStraight</a></dt>
 <dd>
 <div class="block">The drive subsystem to give output to.</div>
@@ -2758,6 +2826,10 @@ <h2 class="title">U</h2>
 <dd>
 <div class="block">Default constructor</div>
 </dd>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html#usePIDOutput-double-">usePIDOutput(double)</a></span> - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand</a></dt>
+<dd>
+<div class="block">Give the correct output to the motors based on the PID output and velocity input.</div>
+</dd>
 <dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html#usePIDOutput-double-">usePIDOutput(double)</a></span> - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">NavXDriveStraight</a></dt>
 <dd>
 <div class="block">Give output to the drive based on the out of the PID loop.</div>
diff --git a/docs/index.html b/docs/index.html
index 877e0876..8437cfa9 100644
--- a/docs/index.html
+++ b/docs/index.html
@@ -2,7 +2,7 @@
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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 <script type="text/javascript">
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diff --git a/docs/org/usfirst/frc/team449/robot/Robot.html b/docs/org/usfirst/frc/team449/robot/Robot.html
index 42bd2052..e4cb2f4d 100644
--- a/docs/org/usfirst/frc/team449/robot/Robot.html
+++ b/docs/org/usfirst/frc/team449/robot/Robot.html
@@ -2,9 +2,9 @@
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 <html lang="en">
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>Robot (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/RobotMap2017.html b/docs/org/usfirst/frc/team449/robot/RobotMap2017.html
index 67684421..57d2b6ab 100644
--- a/docs/org/usfirst/frc/team449/robot/RobotMap2017.html
+++ b/docs/org/usfirst/frc/team449/robot/RobotMap2017.html
@@ -2,9 +2,9 @@
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>RobotMap2017 (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html
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+<meta name="date" content="2017-10-03">
+<link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
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+        if (location.href.indexOf('is-external=true') == -1) {
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+    }
+    catch(err) {
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+var methods = {"i0":10,"i1":10,"i2":10};
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+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a name="navbar.top">
+<!--   -->
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+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a name="navbar.top.firstrow">
+<!--   -->
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+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../../../overview-summary.html">Overview</a></li>
+<li><a href="package-summary.html">Package</a></li>
+<li class="navBarCell1Rev">Class</li>
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+<li><a href="../../../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../../../index-all.html">Index</a></li>
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+</ul>
+</div>
+<div class="subNav">
+<ul class="navList">
+<li><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">Prev&nbsp;Class</span></a></li>
+<li><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">Next&nbsp;Class</span></a></li>
+</ul>
+<ul class="navList">
+<li><a href="../../../../../../../../index.html?org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html" target="_top">Frames</a></li>
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+</script>
+</div>
+<div>
+<ul class="subNavList">
+<li>Summary:&nbsp;</li>
+<li>Nested&nbsp;|&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
+<li><a href="#constructor.summary">Constr</a>&nbsp;|&nbsp;</li>
+<li><a href="#method.summary">Method</a></li>
+</ul>
+<ul class="subNavList">
+<li>Detail:&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
+<li><a href="#constructor.detail">Constr</a>&nbsp;|&nbsp;</li>
+<li><a href="#method.detail">Method</a></li>
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+<!-- ========= END OF TOP NAVBAR ========= -->
+<!-- ======== START OF CLASS DATA ======== -->
+<div class="header">
+<div class="subTitle">org.usfirst.frc.team449.robot.commands.multiInterface.drive</div>
+<h2 title="Class FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint" class="title">Class FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li>java.lang.Object</li>
+<li>
+<ul class="inheritance">
+<li>org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<dl>
+<dt>Enclosing class:</dt>
+<dd><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand</a>&lt;<a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="type parameter in FieldOrientedUnidirectionalDriveCommand">T</a> extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemNavX</a>&gt;</dd>
+</dl>
+<hr>
+<br>
+<pre>protected class <span class="typeNameLabel">FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint</span>
+extends java.lang.Object</pre>
+<div class="block">A data-holding class representing an angular setpoint to "snap" the controller output to.</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<ul class="blockList">
+<li class="blockList"><a name="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary" border="0" cellpadding="3" cellspacing="0" summary="Constructor Summary table, listing constructors, and an explanation">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colOne" scope="col">Constructor and Description</th>
+</tr>
+<tr class="altColor">
+<td class="colOne"><code><span class="memberNameLink"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html#AngularSnapPoint-double-double-double-">AngularSnapPoint</a></span>(double&nbsp;snapTo,
+                double&nbsp;upperBound,
+                double&nbsp;lowerBound)</code>
+<div class="block">Default constructor.</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+<!-- ========== METHOD SUMMARY =========== -->
+<ul class="blockList">
+<li class="blockList"><a name="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<table class="memberSummary" border="0" cellpadding="3" cellspacing="0" summary="Method Summary table, listing methods, and an explanation">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colLast" scope="col">Method and Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code>double</code></td>
+<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html#getLowerBound--">getLowerBound</a></span>()</code>&nbsp;</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code>double</code></td>
+<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html#getSnapTo--">getSnapTo</a></span>()</code>&nbsp;</td>
+</tr>
+<tr id="i2" class="altColor">
+<td class="colFirst"><code>double</code></td>
+<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html#getUpperBound--">getUpperBound</a></span>()</code>&nbsp;</td>
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+</table>
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+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;java.lang.Object</h3>
+<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</div>
+<div class="details">
+<ul class="blockList">
+<li class="blockList">
+<!-- ========= CONSTRUCTOR DETAIL ======== -->
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+<li class="blockList"><a name="constructor.detail">
+<!--   -->
+</a>
+<h3>Constructor Detail</h3>
+<a name="AngularSnapPoint-double-double-double-">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>AngularSnapPoint</h4>
+<pre>public&nbsp;AngularSnapPoint(double&nbsp;snapTo,
+                        double&nbsp;upperBound,
+                        double&nbsp;lowerBound)</pre>
+<div class="block">Default constructor.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>snapTo</code> - The angle to snap the setpoint to, in degrees.</dd>
+<dd><code>upperBound</code> - The upper bound, below which all angles above snapTo are changed to snapTo. Measured in
+                   degrees.</dd>
+<dd><code>lowerBound</code> - The lower bound, above which all angles below snapTo are changed to snapTo. Measured in
+                   degrees.</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+<!-- ============ METHOD DETAIL ========== -->
+<ul class="blockList">
+<li class="blockList"><a name="method.detail">
+<!--   -->
+</a>
+<h3>Method Detail</h3>
+<a name="getSnapTo--">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getSnapTo</h4>
+<pre>public&nbsp;double&nbsp;getSnapTo()</pre>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>The angle to snap the setpoint to, in degrees.</dd>
+</dl>
+</li>
+</ul>
+<a name="getUpperBound--">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getUpperBound</h4>
+<pre>public&nbsp;double&nbsp;getUpperBound()</pre>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>The upper bound, below which all angles above snapTo are changed to snapTo. Measured in degrees.</dd>
+</dl>
+</li>
+</ul>
+<a name="getLowerBound--">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>getLowerBound</h4>
+<pre>public&nbsp;double&nbsp;getLowerBound()</pre>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>The lower bound, above which all angles below snapTo are changed to snapTo. Measured in degrees.</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</div>
+</div>
+<!-- ========= END OF CLASS DATA ========= -->
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+<li><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">Next&nbsp;Class</span></a></li>
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diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html
new file mode 100644
index 00000000..9fad2d55
--- /dev/null
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html
@@ -0,0 +1,559 @@
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+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<title>FieldOrientedUnidirectionalDriveCommand (RoboRIO 1.0 API)</title>
+<meta name="date" content="2017-10-03">
+<link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
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+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="FieldOrientedUnidirectionalDriveCommand (RoboRIO 1.0 API)";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var methods = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10};
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+<ul class="subNavList">
+<li>Summary:&nbsp;</li>
+<li><a href="#nested.class.summary">Nested</a>&nbsp;|&nbsp;</li>
+<li><a href="#field.summary">Field</a>&nbsp;|&nbsp;</li>
+<li><a href="#constructor.summary">Constr</a>&nbsp;|&nbsp;</li>
+<li><a href="#method.summary">Method</a></li>
+</ul>
+<ul class="subNavList">
+<li>Detail:&nbsp;</li>
+<li><a href="#field.detail">Field</a>&nbsp;|&nbsp;</li>
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+<!-- ========= END OF TOP NAVBAR ========= -->
+<!-- ======== START OF CLASS DATA ======== -->
+<div class="header">
+<div class="subTitle">org.usfirst.frc.team449.robot.commands.multiInterface.drive</div>
+<h2 title="Class FieldOrientedUnidirectionalDriveCommand" class="title">Class FieldOrientedUnidirectionalDriveCommand&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemNavX</a>&gt;</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li>java.lang.Object</li>
+<li>
+<ul class="inheritance">
+<li>edu.wpi.first.wpilibj.command.Command</li>
+<li>
+<ul class="inheritance">
+<li>edu.wpi.first.wpilibj.command.PIDCommand</li>
+<li>
+<ul class="inheritance">
+<li><a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.PIDAngleCommand</a></li>
+<li>
+<ul class="inheritance">
+<li>org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommand&lt;T&gt;</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<dl>
+<dt>All Implemented Interfaces:</dt>
+<dd>edu.wpi.first.wpilibj.NamedSendable, edu.wpi.first.wpilibj.Sendable, <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommand.html" title="interface in org.usfirst.frc.team449.robot.jacksonWrappers">YamlCommand</a></dd>
+</dl>
+<dl>
+<dt>Direct Known Subclasses:</dt>
+<dd><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommandShifting</a></dd>
+</dl>
+<hr>
+<br>
+<pre>public class <span class="typeNameLabel">FieldOrientedUnidirectionalDriveCommand&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemNavX</a>&gt;</span>
+extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">PIDAngleCommand</a></pre>
+<div class="block">Unidirectional drive with field-oriented control</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ======== NESTED CLASS SUMMARY ======== -->
+<ul class="blockList">
+<li class="blockList"><a name="nested.class.summary">
+<!--   -->
+</a>
+<h3>Nested Class Summary</h3>
+<table class="memberSummary" border="0" cellpadding="3" cellspacing="0" summary="Nested Class Summary table, listing nested classes, and an explanation">
+<caption><span>Nested Classes</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colLast" scope="col">Class and Description</th>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code>protected class&nbsp;</code></td>
+<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint</a></span></code>
+<div class="block">A data-holding class representing an angular setpoint to "snap" the controller output to.</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+<!-- =========== FIELD SUMMARY =========== -->
+<ul class="blockList">
+<li class="blockList"><a name="field.summary">
+<!--   -->
+</a>
+<h3>Field Summary</h3>
+<table class="memberSummary" border="0" cellpadding="3" cellspacing="0" summary="Field Summary table, listing fields, and an explanation">
+<caption><span>Fields</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colLast" scope="col">Field and Description</th>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code>protected <a href="../../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html" title="interface in org.usfirst.frc.team449.robot.oi.fieldoriented">OIFieldOriented</a></code></td>
+<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html#oi">oi</a></span></code>
+<div class="block">The OI giving the input stick values.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>protected <a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="type parameter in FieldOrientedUnidirectionalDriveCommand">T</a></code></td>
+<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html#subsystem">subsystem</a></span></code>
+<div class="block">The drive this command is controlling.</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<ul class="blockList">
+<li class="blockList"><a name="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary" border="0" cellpadding="3" cellspacing="0" summary="Constructor Summary table, listing constructors, and an explanation">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colOne" scope="col">Constructor and Description</th>
+</tr>
+<tr class="altColor">
+<td class="colOne"><code><span class="memberNameLink"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html#FieldOrientedUnidirectionalDriveCommand-double-int-double-java.lang.Double-double-boolean-int-int-int-T-org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented-java.util.List-">FieldOrientedUnidirectionalDriveCommand</a></span>(double&nbsp;absoluteTolerance,
+                                       int&nbsp;toleranceBuffer,
+                                       double&nbsp;minimumOutput,
+                                       java.lang.Double&nbsp;maximumOutput,
+                                       double&nbsp;deadband,
+                                       boolean&nbsp;inverted,
+                                       int&nbsp;kP,
+                                       int&nbsp;kI,
+                                       int&nbsp;kD,
+                                       <a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="type parameter in FieldOrientedUnidirectionalDriveCommand">T</a>&nbsp;subsystem,
+                                       <a href="../../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html" title="interface in org.usfirst.frc.team449.robot.oi.fieldoriented">OIFieldOriented</a>&nbsp;oi,
+                                       java.util.List&lt;<a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint</a>&gt;&nbsp;snapPoints)</code>
+<div class="block">Default constructor</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+<!-- ========== METHOD SUMMARY =========== -->
+<ul class="blockList">
+<li class="blockList"><a name="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<table class="memberSummary" border="0" cellpadding="3" cellspacing="0" summary="Method Summary table, listing methods, and an explanation">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colLast" scope="col">Method and Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code>protected void</code></td>
+<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html#end--">end</a></span>()</code>
+<div class="block">Log when this command ends</div>
+</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code>protected void</code></td>
+<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html#execute--">execute</a></span>()</code>
+<div class="block">Set PID setpoint to processed controller setpoint.</div>
+</td>
+</tr>
+<tr id="i2" class="altColor">
+<td class="colFirst"><code>protected void</code></td>
+<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html#initialize--">initialize</a></span>()</code>
+<div class="block">Initialize PIDController and variables.</div>
+</td>
+</tr>
+<tr id="i3" class="rowColor">
+<td class="colFirst"><code>protected void</code></td>
+<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html#interrupted--">interrupted</a></span>()</code>
+<div class="block">Log when this command is interrupted.</div>
+</td>
+</tr>
+<tr id="i4" class="altColor">
+<td class="colFirst"><code>protected boolean</code></td>
+<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html#isFinished--">isFinished</a></span>()</code>
+<div class="block">Run constantly because this is a defaultDrive</div>
+</td>
+</tr>
+<tr id="i5" class="rowColor">
+<td class="colFirst"><code>protected void</code></td>
+<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html#usePIDOutput-double-">usePIDOutput</a></span>(double&nbsp;output)</code>
+<div class="block">Give the correct output to the motors based on the PID output and velocity input.</div>
+</td>
+</tr>
+</table>
+<ul class="blockList">
+<li class="blockList"><a name="methods.inherited.from.class.org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.PIDAngleCommand">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.<a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">PIDAngleCommand</a></h3>
+<code><a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#getCommand--">getCommand</a>, <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#processPIDOutput-double-">processPIDOutput</a>, <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#returnPIDInput--">returnPIDInput</a></code></li>
+</ul>
+<ul class="blockList">
+<li class="blockList"><a name="methods.inherited.from.class.edu.wpi.first.wpilibj.command.PIDCommand">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;edu.wpi.first.wpilibj.command.PIDCommand</h3>
+<code>getPIDController, getPosition, getSetpoint, getSmartDashboardType, initTable, setInputRange, setSetpoint, setSetpointRelative</code></li>
+</ul>
+<ul class="blockList">
+<li class="blockList"><a name="methods.inherited.from.class.edu.wpi.first.wpilibj.command.Command">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;edu.wpi.first.wpilibj.command.Command</h3>
+<code>cancel, clearRequirements, doesRequire, getGroup, getName, getTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled</code></li>
+</ul>
+<ul class="blockList">
+<li class="blockList"><a name="methods.inherited.from.class.java.lang.Object">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;java.lang.Object</h3>
+<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait</code></li>
+</ul>
+<ul class="blockList">
+<li class="blockList"><a name="methods.inherited.from.class.edu.wpi.first.wpilibj.Sendable">
+<!--   -->
+</a>
+<h3>Methods inherited from interface&nbsp;edu.wpi.first.wpilibj.Sendable</h3>
+<code>getTable</code></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</div>
+<div class="details">
+<ul class="blockList">
+<li class="blockList">
+<!-- ============ FIELD DETAIL =========== -->
+<ul class="blockList">
+<li class="blockList"><a name="field.detail">
+<!--   -->
+</a>
+<h3>Field Detail</h3>
+<a name="subsystem">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>subsystem</h4>
+<pre>@NotNull
+protected final&nbsp;<a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="type parameter in FieldOrientedUnidirectionalDriveCommand">T</a> extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemNavX</a> subsystem</pre>
+<div class="block">The drive this command is controlling.</div>
+</li>
+</ul>
+<a name="oi">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>oi</h4>
+<pre>@NotNull
+protected final&nbsp;<a href="../../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html" title="interface in org.usfirst.frc.team449.robot.oi.fieldoriented">OIFieldOriented</a> oi</pre>
+<div class="block">The OI giving the input stick values.</div>
+</li>
+</ul>
+</li>
+</ul>
+<!-- ========= CONSTRUCTOR DETAIL ======== -->
+<ul class="blockList">
+<li class="blockList"><a name="constructor.detail">
+<!--   -->
+</a>
+<h3>Constructor Detail</h3>
+<a name="FieldOrientedUnidirectionalDriveCommand-double-int-double-java.lang.Double-double-boolean-int-int-int-org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem-org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented-java.util.List-">
+<!--   -->
+</a><a name="FieldOrientedUnidirectionalDriveCommand-double-int-double-java.lang.Double-double-boolean-int-int-int-T-org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented-java.util.List-">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>FieldOrientedUnidirectionalDriveCommand</h4>
+<pre>public&nbsp;FieldOrientedUnidirectionalDriveCommand(double&nbsp;absoluteTolerance,
+                                               int&nbsp;toleranceBuffer,
+                                               double&nbsp;minimumOutput,
+                                               @Nullable
+                                               java.lang.Double&nbsp;maximumOutput,
+                                               double&nbsp;deadband,
+                                               boolean&nbsp;inverted,
+                                               int&nbsp;kP,
+                                               int&nbsp;kI,
+                                               int&nbsp;kD,
+                                               @NotNull
+                                               <a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="type parameter in FieldOrientedUnidirectionalDriveCommand">T</a>&nbsp;subsystem,
+                                               @NotNull
+                                               <a href="../../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html" title="interface in org.usfirst.frc.team449.robot.oi.fieldoriented">OIFieldOriented</a>&nbsp;oi,
+                                               @Nullable
+                                               java.util.List&lt;<a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint</a>&gt;&nbsp;snapPoints)</pre>
+<div class="block">Default constructor</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>toleranceBuffer</code> - How many consecutive loops have to be run while within tolerance to be considered on
+                          target. Multiply by loop period of ~20 milliseconds for time. Defaults to 0.</dd>
+<dd><code>absoluteTolerance</code> - The maximum number of degrees off from the target at which we can be considered within
+                          tolerance.</dd>
+<dd><code>minimumOutput</code> - The minimum output of the loop. Defaults to zero.</dd>
+<dd><code>maximumOutput</code> - The maximum output of the loop. Can be null, and if it is, no maximum output is used.</dd>
+<dd><code>deadband</code> - The deadband around the setpoint, in degrees, within which no output is given to the
+                          motors. Defaults to zero.</dd>
+<dd><code>inverted</code> - Whether the loop is inverted. Defaults to false.</dd>
+<dd><code>kP</code> - Proportional gain. Defaults to zero.</dd>
+<dd><code>kI</code> - Integral gain. Defaults to zero.</dd>
+<dd><code>kD</code> - Derivative gain. Defaults to zero.</dd>
+<dd><code>subsystem</code> - The drive to execute this command on.</dd>
+<dd><code>oi</code> - The OI controlling the robot.</dd>
+<dd><code>snapPoints</code> - The points to snap the PID controller input to.</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+<!-- ============ METHOD DETAIL ========== -->
+<ul class="blockList">
+<li class="blockList"><a name="method.detail">
+<!--   -->
+</a>
+<h3>Method Detail</h3>
+<a name="initialize--">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>initialize</h4>
+<pre>protected&nbsp;void&nbsp;initialize()</pre>
+<div class="block">Initialize PIDController and variables.</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code>initialize</code>&nbsp;in class&nbsp;<code>edu.wpi.first.wpilibj.command.Command</code></dd>
+</dl>
+</li>
+</ul>
+<a name="execute--">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>execute</h4>
+<pre>protected&nbsp;void&nbsp;execute()</pre>
+<div class="block">Set PID setpoint to processed controller setpoint.</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code>execute</code>&nbsp;in class&nbsp;<code>edu.wpi.first.wpilibj.command.Command</code></dd>
+</dl>
+</li>
+</ul>
+<a name="isFinished--">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>isFinished</h4>
+<pre>protected&nbsp;boolean&nbsp;isFinished()</pre>
+<div class="block">Run constantly because this is a defaultDrive</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
+<dd><code>isFinished</code>&nbsp;in class&nbsp;<code>edu.wpi.first.wpilibj.command.Command</code></dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>false</dd>
+</dl>
+</li>
+</ul>
+<a name="end--">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>end</h4>
+<pre>protected&nbsp;void&nbsp;end()</pre>
+<div class="block">Log when this command ends</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code>end</code>&nbsp;in class&nbsp;<code>edu.wpi.first.wpilibj.command.Command</code></dd>
+</dl>
+</li>
+</ul>
+<a name="interrupted--">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>interrupted</h4>
+<pre>protected&nbsp;void&nbsp;interrupted()</pre>
+<div class="block">Log when this command is interrupted.</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code>interrupted</code>&nbsp;in class&nbsp;<code>edu.wpi.first.wpilibj.command.Command</code></dd>
+</dl>
+</li>
+</ul>
+<a name="usePIDOutput-double-">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>usePIDOutput</h4>
+<pre>protected&nbsp;void&nbsp;usePIDOutput(double&nbsp;output)</pre>
+<div class="block">Give the correct output to the motors based on the PID output and velocity input.</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
+<dd><code>usePIDOutput</code>&nbsp;in class&nbsp;<code>edu.wpi.first.wpilibj.command.PIDCommand</code></dd>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>output</code> - The output of the angular PID loop.</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</div>
+</div>
+<!-- ========= END OF CLASS DATA ========= -->
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a name="navbar.bottom">
+<!--   -->
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+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
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+</ul>
+</div>
+<div class="subNav">
+<ul class="navList">
+<li>Prev&nbsp;Class</li>
+<li><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">Next&nbsp;Class</span></a></li>
+</ul>
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+<ul class="subNavList">
+<li>Summary:&nbsp;</li>
+<li><a href="#nested.class.summary">Nested</a>&nbsp;|&nbsp;</li>
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diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html
new file mode 100644
index 00000000..9c1070ed
--- /dev/null
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html
@@ -0,0 +1,491 @@
+<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/html4/loose.dtd">
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<title>FieldOrientedUnidirectionalDriveCommandShifting (RoboRIO 1.0 API)</title>
+<meta name="date" content="2017-10-03">
+<link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
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+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="FieldOrientedUnidirectionalDriveCommandShifting (RoboRIO 1.0 API)";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var methods = {"i0":10,"i1":10,"i2":10};
+var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]};
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+<li><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/JiggleRobot.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">Next&nbsp;Class</span></a></li>
+</ul>
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+  }
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+<ul class="subNavList">
+<li>Summary:&nbsp;</li>
+<li><a href="#nested.classes.inherited.from.class.org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommand">Nested</a>&nbsp;|&nbsp;</li>
+<li><a href="#field.summary">Field</a>&nbsp;|&nbsp;</li>
+<li><a href="#constructor.summary">Constr</a>&nbsp;|&nbsp;</li>
+<li><a href="#method.summary">Method</a></li>
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+<li>Detail:&nbsp;</li>
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+<li><a href="#constructor.detail">Constr</a>&nbsp;|&nbsp;</li>
+<li><a href="#method.detail">Method</a></li>
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+<!--   -->
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+<!-- ========= END OF TOP NAVBAR ========= -->
+<!-- ======== START OF CLASS DATA ======== -->
+<div class="header">
+<div class="subTitle">org.usfirst.frc.team449.robot.commands.multiInterface.drive</div>
+<h2 title="Class FieldOrientedUnidirectionalDriveCommandShifting" class="title">Class FieldOrientedUnidirectionalDriveCommandShifting&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemNavX</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html" title="interface in org.usfirst.frc.team449.robot.drive.shifting">DriveShiftable</a>&gt;</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li>java.lang.Object</li>
+<li>
+<ul class="inheritance">
+<li>edu.wpi.first.wpilibj.command.Command</li>
+<li>
+<ul class="inheritance">
+<li>edu.wpi.first.wpilibj.command.PIDCommand</li>
+<li>
+<ul class="inheritance">
+<li><a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.PIDAngleCommand</a></li>
+<li>
+<ul class="inheritance">
+<li><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommand</a></li>
+<li>
+<ul class="inheritance">
+<li>org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommandShifting&lt;T&gt;</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<dl>
+<dt>All Implemented Interfaces:</dt>
+<dd>edu.wpi.first.wpilibj.NamedSendable, edu.wpi.first.wpilibj.Sendable, <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommand.html" title="interface in org.usfirst.frc.team449.robot.jacksonWrappers">YamlCommand</a></dd>
+</dl>
+<hr>
+<br>
+<pre>public class <span class="typeNameLabel">FieldOrientedUnidirectionalDriveCommandShifting&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemNavX</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html" title="interface in org.usfirst.frc.team449.robot.drive.shifting">DriveShiftable</a>&gt;</span>
+extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand</a></pre>
+<div class="block">Unidirectional drive with field-oriented control and autoshifting.</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ======== NESTED CLASS SUMMARY ======== -->
+<ul class="blockList">
+<li class="blockList"><a name="nested.class.summary">
+<!--   -->
+</a>
+<h3>Nested Class Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a name="nested.classes.inherited.from.class.org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommand">
+<!--   -->
+</a>
+<h3>Nested classes/interfaces inherited from class&nbsp;org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand</a></h3>
+<code><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint</a></code></li>
+</ul>
+</li>
+</ul>
+<!-- =========== FIELD SUMMARY =========== -->
+<ul class="blockList">
+<li class="blockList"><a name="field.summary">
+<!--   -->
+</a>
+<h3>Field Summary</h3>
+<table class="memberSummary" border="0" cellpadding="3" cellspacing="0" summary="Field Summary table, listing fields, and an explanation">
+<caption><span>Fields</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colLast" scope="col">Field and Description</th>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code>protected <a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="type parameter in FieldOrientedUnidirectionalDriveCommandShifting">T</a></code></td>
+<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html#subsystem">subsystem</a></span></code>
+<div class="block">The drive to execute this command on.</div>
+</td>
+</tr>
+</table>
+<ul class="blockList">
+<li class="blockList"><a name="fields.inherited.from.class.org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommand">
+<!--   -->
+</a>
+<h3>Fields inherited from class&nbsp;org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand</a></h3>
+<code><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html#oi">oi</a></code></li>
+</ul>
+</li>
+</ul>
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<ul class="blockList">
+<li class="blockList"><a name="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary" border="0" cellpadding="3" cellspacing="0" summary="Constructor Summary table, listing constructors, and an explanation">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colOne" scope="col">Constructor and Description</th>
+</tr>
+<tr class="altColor">
+<td class="colOne"><code><span class="memberNameLink"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html#FieldOrientedUnidirectionalDriveCommandShifting-double-int-double-java.lang.Double-double-boolean-int-int-int-T-org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented-java.util.List-org.usfirst.frc.team449.robot.components.AutoshiftComponent-">FieldOrientedUnidirectionalDriveCommandShifting</a></span>(double&nbsp;absoluteTolerance,
+                                               int&nbsp;toleranceBuffer,
+                                               double&nbsp;minimumOutput,
+                                               java.lang.Double&nbsp;maximumOutput,
+                                               double&nbsp;deadband,
+                                               boolean&nbsp;inverted,
+                                               int&nbsp;kP,
+                                               int&nbsp;kI,
+                                               int&nbsp;kD,
+                                               <a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="type parameter in FieldOrientedUnidirectionalDriveCommandShifting">T</a>&nbsp;subsystem,
+                                               <a href="../../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html" title="interface in org.usfirst.frc.team449.robot.oi.fieldoriented">OIFieldOriented</a>&nbsp;oi,
+                                               java.util.List&lt;<a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint</a>&gt;&nbsp;snapPoints,
+                                               <a href="../../../../../../../../org/usfirst/frc/team449/robot/components/AutoshiftComponent.html" title="class in org.usfirst.frc.team449.robot.components">AutoshiftComponent</a>&nbsp;autoshiftComponent)</code>
+<div class="block">Default constructor</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+<!-- ========== METHOD SUMMARY =========== -->
+<ul class="blockList">
+<li class="blockList"><a name="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<table class="memberSummary" border="0" cellpadding="3" cellspacing="0" summary="Method Summary table, listing methods, and an explanation">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colLast" scope="col">Method and Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code>protected void</code></td>
+<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html#end--">end</a></span>()</code>
+<div class="block">Log when this command ends</div>
+</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code>protected void</code></td>
+<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html#execute--">execute</a></span>()</code>
+<div class="block">Set PID setpoint to processed controller setpoint and autoshift.</div>
+</td>
+</tr>
+<tr id="i2" class="altColor">
+<td class="colFirst"><code>protected void</code></td>
+<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html#interrupted--">interrupted</a></span>()</code>
+<div class="block">Log when this command is interrupted.</div>
+</td>
+</tr>
+</table>
+<ul class="blockList">
+<li class="blockList"><a name="methods.inherited.from.class.org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommand">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand</a></h3>
+<code><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html#initialize--">initialize</a>, <a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html#isFinished--">isFinished</a>, <a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html#usePIDOutput-double-">usePIDOutput</a></code></li>
+</ul>
+<ul class="blockList">
+<li class="blockList"><a name="methods.inherited.from.class.org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.PIDAngleCommand">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.<a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">PIDAngleCommand</a></h3>
+<code><a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#getCommand--">getCommand</a>, <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#processPIDOutput-double-">processPIDOutput</a>, <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#returnPIDInput--">returnPIDInput</a></code></li>
+</ul>
+<ul class="blockList">
+<li class="blockList"><a name="methods.inherited.from.class.edu.wpi.first.wpilibj.command.PIDCommand">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;edu.wpi.first.wpilibj.command.PIDCommand</h3>
+<code>getPIDController, getPosition, getSetpoint, getSmartDashboardType, initTable, setInputRange, setSetpoint, setSetpointRelative</code></li>
+</ul>
+<ul class="blockList">
+<li class="blockList"><a name="methods.inherited.from.class.edu.wpi.first.wpilibj.command.Command">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;edu.wpi.first.wpilibj.command.Command</h3>
+<code>cancel, clearRequirements, doesRequire, getGroup, getName, getTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled</code></li>
+</ul>
+<ul class="blockList">
+<li class="blockList"><a name="methods.inherited.from.class.java.lang.Object">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;java.lang.Object</h3>
+<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait</code></li>
+</ul>
+<ul class="blockList">
+<li class="blockList"><a name="methods.inherited.from.class.edu.wpi.first.wpilibj.Sendable">
+<!--   -->
+</a>
+<h3>Methods inherited from interface&nbsp;edu.wpi.first.wpilibj.Sendable</h3>
+<code>getTable</code></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</div>
+<div class="details">
+<ul class="blockList">
+<li class="blockList">
+<!-- ============ FIELD DETAIL =========== -->
+<ul class="blockList">
+<li class="blockList"><a name="field.detail">
+<!--   -->
+</a>
+<h3>Field Detail</h3>
+<a name="subsystem">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>subsystem</h4>
+<pre>@NotNull
+protected final&nbsp;<a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="type parameter in FieldOrientedUnidirectionalDriveCommandShifting">T</a> extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemNavX</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html" title="interface in org.usfirst.frc.team449.robot.drive.shifting">DriveShiftable</a> subsystem</pre>
+<div class="block">The drive to execute this command on.</div>
+</li>
+</ul>
+</li>
+</ul>
+<!-- ========= CONSTRUCTOR DETAIL ======== -->
+<ul class="blockList">
+<li class="blockList"><a name="constructor.detail">
+<!--   -->
+</a>
+<h3>Constructor Detail</h3>
+<a name="FieldOrientedUnidirectionalDriveCommandShifting-double-int-double-java.lang.Double-double-boolean-int-int-int-org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem-org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented-java.util.List-org.usfirst.frc.team449.robot.components.AutoshiftComponent-">
+<!--   -->
+</a><a name="FieldOrientedUnidirectionalDriveCommandShifting-double-int-double-java.lang.Double-double-boolean-int-int-int-T-org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented-java.util.List-org.usfirst.frc.team449.robot.components.AutoshiftComponent-">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>FieldOrientedUnidirectionalDriveCommandShifting</h4>
+<pre>public&nbsp;FieldOrientedUnidirectionalDriveCommandShifting(double&nbsp;absoluteTolerance,
+                                                       int&nbsp;toleranceBuffer,
+                                                       double&nbsp;minimumOutput,
+                                                       @Nullable
+                                                       java.lang.Double&nbsp;maximumOutput,
+                                                       double&nbsp;deadband,
+                                                       boolean&nbsp;inverted,
+                                                       int&nbsp;kP,
+                                                       int&nbsp;kI,
+                                                       int&nbsp;kD,
+                                                       @NotNull
+                                                       <a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="type parameter in FieldOrientedUnidirectionalDriveCommandShifting">T</a>&nbsp;subsystem,
+                                                       @NotNull
+                                                       <a href="../../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html" title="interface in org.usfirst.frc.team449.robot.oi.fieldoriented">OIFieldOriented</a>&nbsp;oi,
+                                                       @Nullable
+                                                       java.util.List&lt;<a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint</a>&gt;&nbsp;snapPoints,
+                                                       @NotNull
+                                                       <a href="../../../../../../../../org/usfirst/frc/team449/robot/components/AutoshiftComponent.html" title="class in org.usfirst.frc.team449.robot.components">AutoshiftComponent</a>&nbsp;autoshiftComponent)</pre>
+<div class="block">Default constructor</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>toleranceBuffer</code> - How many consecutive loops have to be run while within tolerance to be considered on
+                           target. Multiply by loop period of ~20 milliseconds for time. Defaults to 0.</dd>
+<dd><code>absoluteTolerance</code> - The maximum number of degrees off from the target at which we can be considered within
+                           tolerance.</dd>
+<dd><code>minimumOutput</code> - The minimum output of the loop. Defaults to zero.</dd>
+<dd><code>maximumOutput</code> - The maximum output of the loop. Can be null, and if it is, no maximum output is used.</dd>
+<dd><code>deadband</code> - The deadband around the setpoint, in degrees, within which no output is given to the
+                           motors. Defaults to zero.</dd>
+<dd><code>inverted</code> - Whether the loop is inverted. Defaults to false.</dd>
+<dd><code>kP</code> - Proportional gain. Defaults to zero.</dd>
+<dd><code>kI</code> - Integral gain. Defaults to zero.</dd>
+<dd><code>kD</code> - Derivative gain. Defaults to zero.</dd>
+<dd><code>subsystem</code> - The drive to execute this command on.</dd>
+<dd><code>oi</code> - The OI controlling the robot.</dd>
+<dd><code>snapPoints</code> - The points to snap the PID controller input to.</dd>
+<dd><code>autoshiftComponent</code> - The helper object for autoshifting.</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+<!-- ============ METHOD DETAIL ========== -->
+<ul class="blockList">
+<li class="blockList"><a name="method.detail">
+<!--   -->
+</a>
+<h3>Method Detail</h3>
+<a name="execute--">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>execute</h4>
+<pre>protected&nbsp;void&nbsp;execute()</pre>
+<div class="block">Set PID setpoint to processed controller setpoint and autoshift.</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html#execute--">execute</a></code>&nbsp;in class&nbsp;<code><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand</a></code></dd>
+</dl>
+</li>
+</ul>
+<a name="end--">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>end</h4>
+<pre>protected&nbsp;void&nbsp;end()</pre>
+<div class="block">Log when this command ends</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html#end--">end</a></code>&nbsp;in class&nbsp;<code><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand</a></code></dd>
+</dl>
+</li>
+</ul>
+<a name="interrupted--">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>interrupted</h4>
+<pre>protected&nbsp;void&nbsp;interrupted()</pre>
+<div class="block">Log when this command is interrupted.</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html#interrupted--">interrupted</a></code>&nbsp;in class&nbsp;<code><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand</a></code></dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</div>
+</div>
+<!-- ========= END OF CLASS DATA ========= -->
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a name="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a name="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../../../overview-summary.html">Overview</a></li>
+<li><a href="package-summary.html">Package</a></li>
+<li class="navBarCell1Rev">Class</li>
+<li><a href="package-tree.html">Tree</a></li>
+<li><a href="../../../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../../../index-all.html">Index</a></li>
+<li><a href="../../../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList">
+<li><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">Prev&nbsp;Class</span></a></li>
+<li><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/JiggleRobot.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">Next&nbsp;Class</span></a></li>
+</ul>
+<ul class="navList">
+<li><a href="../../../../../../../../index.html?org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" target="_top">Frames</a></li>
+<li><a href="FieldOrientedUnidirectionalDriveCommandShifting.html" target="_top">No&nbsp;Frames</a></li>
+</ul>
+<ul class="navList" id="allclasses_navbar_bottom">
+<li><a href="../../../../../../../../allclasses-noframe.html">All&nbsp;Classes</a></li>
+</ul>
+<div>
+<script type="text/javascript"><!--
+  allClassesLink = document.getElementById("allclasses_navbar_bottom");
+  if(window==top) {
+    allClassesLink.style.display = "block";
+  }
+  else {
+    allClassesLink.style.display = "none";
+  }
+  //-->
+</script>
+</div>
+<div>
+<ul class="subNavList">
+<li>Summary:&nbsp;</li>
+<li><a href="#nested.classes.inherited.from.class.org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommand">Nested</a>&nbsp;|&nbsp;</li>
+<li><a href="#field.summary">Field</a>&nbsp;|&nbsp;</li>
+<li><a href="#constructor.summary">Constr</a>&nbsp;|&nbsp;</li>
+<li><a href="#method.summary">Method</a></li>
+</ul>
+<ul class="subNavList">
+<li>Detail:&nbsp;</li>
+<li><a href="#field.detail">Field</a>&nbsp;|&nbsp;</li>
+<li><a href="#constructor.detail">Constr</a>&nbsp;|&nbsp;</li>
+<li><a href="#method.detail">Method</a></li>
+</ul>
+</div>
+<a name="skip.navbar.bottom">
+<!--   -->
+</a></div>
+<!-- ======== END OF BOTTOM NAVBAR ======= -->
+</body>
+</html>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/JiggleRobot.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/JiggleRobot.html
index 580759c1..85a96813 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/JiggleRobot.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/JiggleRobot.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>JiggleRobot (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
@@ -42,7 +42,7 @@
 </div>
 <div class="subNav">
 <ul class="navList">
-<li>Prev&nbsp;Class</li>
+<li><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">Prev&nbsp;Class</span></a></li>
 <li><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">Next&nbsp;Class</span></a></li>
 </ul>
 <ul class="navList">
@@ -272,7 +272,7 @@ <h4>JiggleRobot</h4>
 </div>
 <div class="subNav">
 <ul class="navList">
-<li>Prev&nbsp;Class</li>
+<li><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">Prev&nbsp;Class</span></a></li>
 <li><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">Next&nbsp;Class</span></a></li>
 </ul>
 <ul class="navList">
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html
index 750a7315..91c138c3 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>NavXDriveStraight (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.html
index c2ea3fd9..de54062c 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>NavXTurnToAngle (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngleRelative.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngleRelative.html
index fc9464ce..c6d479b6 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngleRelative.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngleRelative.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>NavXTurnToAngleRelative (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html
index 5c2ce991..aa775ad7 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>UnidirectionalNavXDefaultDrive (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
@@ -219,7 +219,7 @@ <h3>Method Summary</h3>
 <tr id="i1" class="rowColor">
 <td class="colFirst"><code>protected void</code></td>
 <td class="colLast"><code><span class="memberNameLink"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html#execute--">execute</a></span>()</code>
-<div class="block">Decide whether or not we should be in free drive or straight drive, and log data.</div>
+<div class="block">Decide whether or not we should be in free drive or straight drive.</div>
 </td>
 </tr>
 <tr id="i2" class="altColor">
@@ -406,7 +406,7 @@ <h4>initialize</h4>
 <li class="blockList">
 <h4>execute</h4>
 <pre>protected&nbsp;void&nbsp;execute()</pre>
-<div class="block">Decide whether or not we should be in free drive or straight drive, and log data.</div>
+<div class="block">Decide whether or not we should be in free drive or straight drive.</div>
 <dl>
 <dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
 <dd><code>execute</code>&nbsp;in class&nbsp;<code>edu.wpi.first.wpilibj.command.Command</code></dd>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html
index 4394b43b..74e5b7b1 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>UnidirectionalNavXShiftingDefaultDrive (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
@@ -229,7 +229,7 @@ <h3>Method Summary</h3>
 <tr id="i1" class="rowColor">
 <td class="colFirst"><code>void</code></td>
 <td class="colLast"><code><span class="memberNameLink"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html#execute--">execute</a></span>()</code>
-<div class="block">Autoshift, decide whether or not we should be in free drive or straight drive, and log data.</div>
+<div class="block">Autoshift and decide whether or not we should be in free drive or straight drive</div>
 </td>
 </tr>
 <tr id="i2" class="altColor">
@@ -394,7 +394,7 @@ <h3>Method Detail</h3>
 <li class="blockList">
 <h4>execute</h4>
 <pre>public&nbsp;void&nbsp;execute()</pre>
-<div class="block">Autoshift, decide whether or not we should be in free drive or straight drive, and log data.</div>
+<div class="block">Autoshift and decide whether or not we should be in free drive or straight drive</div>
 <dl>
 <dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
 <dd><code><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html#execute--">execute</a></code>&nbsp;in class&nbsp;<code><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">UnidirectionalNavXDefaultDrive</a></code></dd>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-frame.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-frame.html
index d5003056..d52f89da 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.commands.multiInterface.drive (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
@@ -13,6 +13,8 @@ <h1 class="bar"><a href="../../../../../../../../org/usfirst/frc/team449/robot/c
 <div class="indexContainer">
 <h2 title="Classes">Classes</h2>
 <ul title="Classes">
+<li><a href="FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive" target="classFrame">FieldOrientedUnidirectionalDriveCommand</a></li>
+<li><a href="FieldOrientedUnidirectionalDriveCommandShifting.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive" target="classFrame">FieldOrientedUnidirectionalDriveCommandShifting</a></li>
 <li><a href="JiggleRobot.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive" target="classFrame">JiggleRobot</a></li>
 <li><a href="NavXDriveStraight.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive" target="classFrame">NavXDriveStraight</a></li>
 <li><a href="NavXTurnToAngle.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive" target="classFrame">NavXTurnToAngle</a></li>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html
index 80bd5858..6f125c3a 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.commands.multiInterface.drive (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
@@ -82,36 +82,48 @@ <h1 title="Package" class="title">Package&nbsp;org.usfirst.frc.team449.robot.com
 </tr>
 <tbody>
 <tr class="altColor">
+<td class="colFirst"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand</a>&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemNavX</a>&gt;</td>
+<td class="colLast">
+<div class="block">Unidirectional drive with field-oriented control</div>
+</td>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommandShifting</a>&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemNavX</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html" title="interface in org.usfirst.frc.team449.robot.drive.shifting">DriveShiftable</a>&gt;</td>
+<td class="colLast">
+<div class="block">Unidirectional drive with field-oriented control and autoshifting.</div>
+</td>
+</tr>
+<tr class="rowColor">
 <td class="colFirst"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/JiggleRobot.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">JiggleRobot</a>&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemNavX</a>&gt;</td>
 <td class="colLast">
 <div class="block">Rotates the robot back and forth in order to dislodge any stuck balls.</div>
 </td>
 </tr>
-<tr class="rowColor">
+<tr class="altColor">
 <td class="colFirst"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">NavXDriveStraight</a>&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemNavX</a>&gt;</td>
 <td class="colLast">
 <div class="block">Drives straight using the NavX gyro to keep a constant alignment.</div>
 </td>
 </tr>
-<tr class="altColor">
+<tr class="rowColor">
 <td class="colFirst"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">NavXTurnToAngle</a>&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemNavX</a>&gt;</td>
 <td class="colLast">
 <div class="block">Turns to a specified angle, relative to the angle the navX was at when the robot was turned on.</div>
 </td>
 </tr>
-<tr class="rowColor">
+<tr class="altColor">
 <td class="colFirst"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngleRelative.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">NavXTurnToAngleRelative</a>&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemNavX</a>&gt;</td>
 <td class="colLast">
 <div class="block">Turn a certain number of degrees from the current heading.</div>
 </td>
 </tr>
-<tr class="altColor">
+<tr class="rowColor">
 <td class="colFirst"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">UnidirectionalNavXDefaultDrive</a>&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemNavX</a>&gt;</td>
 <td class="colLast">
 <div class="block">Drive with arcade drive setup, and when the driver isn't turning, use a NavX to stabilize the robot's alignment.</div>
 </td>
 </tr>
-<tr class="rowColor">
+<tr class="altColor">
 <td class="colFirst"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">UnidirectionalNavXShiftingDefaultDrive</a>&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemNavX</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html" title="interface in org.usfirst.frc.team449.robot.drive.shifting">DriveShiftable</a>&gt;</td>
 <td class="colLast">
 <div class="block">Drive with arcade drive setup, autoshift, and when the driver isn't turning, use a NavX to stabilize the robot's
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-tree.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-tree.html
index b85636de..7597fa2a 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.commands.multiInterface.drive Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
@@ -95,6 +95,11 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 <ul>
 <li type="circle">org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.<a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands"><span class="typeNameLink">PIDAngleCommand</span></a> (implements org.usfirst.frc.team449.robot.jacksonWrappers.<a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommand.html" title="interface in org.usfirst.frc.team449.robot.jacksonWrappers">YamlCommand</a>)
 <ul>
+<li type="circle">org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">FieldOrientedUnidirectionalDriveCommand</span></a>&lt;T&gt;
+<ul>
+<li type="circle">org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">FieldOrientedUnidirectionalDriveCommandShifting</span></a>&lt;T&gt;</li>
+</ul>
+</li>
 <li type="circle">org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">NavXDriveStraight</span></a>&lt;T&gt;</li>
 <li type="circle">org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">NavXTurnToAngle</span></a>&lt;T&gt;
 <ul>
@@ -112,6 +117,7 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 </li>
 </ul>
 </li>
+<li type="circle">org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint</span></a></li>
 </ul>
 </li>
 </ul>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-frame.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-frame.html
index 8ef3b95e..675c369b 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.commands.multiInterface (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-summary.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-summary.html
index a60fea68..d259a81e 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.commands.multiInterface (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-tree.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-tree.html
index 31d910f0..01128b91 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.commands.multiInterface Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/FireShooter.html b/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/FireShooter.html
index 9c68735b..157df33f 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/FireShooter.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/FireShooter.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>FireShooter (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/LoadShooter.html b/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/LoadShooter.html
index 2ab143b7..769ba458 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/LoadShooter.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/LoadShooter.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>LoadShooter (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/RackShooter.html b/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/RackShooter.html
index 4cd2fc0e..4864ca9f 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/RackShooter.html
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@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>RackShooter (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/ResetShooter.html b/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/ResetShooter.html
index 2ed87a73..e1ace65a 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/ResetShooter.html
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@@ -2,9 +2,9 @@
 <!-- NewPage -->
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>ResetShooter (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/package-frame.html b/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/package-frame.html
index 6343ddae..1080bc8f 100644
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@@ -2,9 +2,9 @@
 <!-- NewPage -->
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.commands.multiSubsystem (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/package-summary.html b/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/package-summary.html
index c7d94b16..553a245f 100644
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@@ -2,9 +2,9 @@
 <!-- NewPage -->
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.commands.multiSubsystem (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/package-tree.html b/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/package-tree.html
index e68d5a7d..3b9cd5fd 100644
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@@ -2,9 +2,9 @@
 <!-- NewPage -->
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.commands.multiSubsystem Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/components/AutoshiftComponent.html b/docs/org/usfirst/frc/team449/robot/components/AutoshiftComponent.html
index 3ca9ad07..6fedf5ac 100644
--- a/docs/org/usfirst/frc/team449/robot/components/AutoshiftComponent.html
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@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>AutoshiftComponent (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
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 </head>
@@ -18,7 +18,7 @@
     catch(err) {
     }
 //-->
-var methods = {"i0":10,"i1":10,"i2":10};
+var methods = {"i0":10};
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 var altColor = "altColor";
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@@ -156,32 +156,13 @@ <h3>Method Summary</h3>
 </tr>
 <tr id="i0" class="altColor">
 <td class="colFirst"><code>void</code></td>
-<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../../org/usfirst/frc/team449/robot/components/AutoshiftComponent.html#autoshift-double-double-double-double-java.util.function.Consumer-">autoshift</a></span>(double&nbsp;leftThrottle,
-         double&nbsp;rightThrottle,
+<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../../org/usfirst/frc/team449/robot/components/AutoshiftComponent.html#autoshift-double-double-double-java.util.function.Consumer-">autoshift</a></span>(double&nbsp;forwardThrottle,
          double&nbsp;leftVel,
          double&nbsp;rightVel,
          java.util.function.Consumer&lt;java.lang.Integer&gt;&nbsp;shift)</code>
 <div class="block">Determine if the subsystem should shift, and if yes, do the shifting.</div>
 </td>
 </tr>
-<tr id="i1" class="rowColor">
-<td class="colFirst"><code>boolean</code></td>
-<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../../org/usfirst/frc/team449/robot/components/AutoshiftComponent.html#shouldDownshift-double-double-double-double-">shouldDownshift</a></span>(double&nbsp;leftThrottle,
-               double&nbsp;rightThrottle,
-               double&nbsp;leftVel,
-               double&nbsp;rightVel)</code>
-<div class="block">Determine whether the robot should downshift.</div>
-</td>
-</tr>
-<tr id="i2" class="altColor">
-<td class="colFirst"><code>boolean</code></td>
-<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../../org/usfirst/frc/team449/robot/components/AutoshiftComponent.html#shouldUpshift-double-double-double-double-">shouldUpshift</a></span>(double&nbsp;leftThrottle,
-             double&nbsp;rightThrottle,
-             double&nbsp;leftVel,
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@@ -243,66 +224,20 @@ <h4>AutoshiftComponent</h4>
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-<pre>public&nbsp;boolean&nbsp;shouldDownshift(double&nbsp;leftThrottle,
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-                               double&nbsp;leftVel,
-                               double&nbsp;rightVel)</pre>
-<div class="block">Determine whether the robot should downshift.</div>
-<dl>
-<dt><span class="paramLabel">Parameters:</span></dt>
-<dd><code>leftThrottle</code> - The left side's throttle, on [-1, 1].</dd>
-<dd><code>rightThrottle</code> - The right side's throttle, on [-1, 1].</dd>
-<dd><code>leftVel</code> - The velocity of the left side of the drive.</dd>
-<dd><code>rightVel</code> - The velocity of the right side of the drive.</dd>
-<dt><span class="returnLabel">Returns:</span></dt>
-<dd>True if the drive should downshift, false otherwise.</dd>
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-                             double&nbsp;rightVel)</pre>
-<div class="block">Determine whether the robot should upshift.</div>
-<dl>
-<dt><span class="paramLabel">Parameters:</span></dt>
-<dd><code>leftThrottle</code> - The left side's throttle, on [-1, 1].</dd>
-<dd><code>rightThrottle</code> - The right side's throttle, on [-1, 1].</dd>
-<dd><code>leftVel</code> - The velocity of the left side of the drive.</dd>
-<dd><code>rightVel</code> - The velocity of the right side of the drive.</dd>
-<dt><span class="returnLabel">Returns:</span></dt>
-<dd>True if the drive should upshift, false otherwise.</dd>
-</dl>
-</li>
-</ul>
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-<pre>public&nbsp;void&nbsp;autoshift(double&nbsp;leftThrottle,
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                       double&nbsp;leftVel,
                       double&nbsp;rightVel,
                       java.util.function.Consumer&lt;java.lang.Integer&gt;&nbsp;shift)</pre>
 <div class="block">Determine if the subsystem should shift, and if yes, do the shifting.</div>
 <dl>
 <dt><span class="paramLabel">Parameters:</span></dt>
-<dd><code>leftThrottle</code> - The left side's throttle, on [-1, 1].</dd>
-<dd><code>rightThrottle</code> - The right side's throttle, on [-1, 1].</dd>
+<dd><code>forwardThrottle</code> - The forwards throttle, on [-1, 1].</dd>
 <dd><code>leftVel</code> - The velocity of the left side of the drive.</dd>
 <dd><code>rightVel</code> - The velocity of the right side of the drive.</dd>
 <dd><code>shift</code> - The function to actually shift gears.</dd>
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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 <title>ShiftComponent (RoboRIO 1.0 API)</title>
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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 <title>ShiftWithSensorComponent (RoboRIO 1.0 API)</title>
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diff --git a/docs/org/usfirst/frc/team449/robot/components/package-frame.html b/docs/org/usfirst/frc/team449/robot/components/package-frame.html
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.components (RoboRIO 1.0 API)</title>
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diff --git a/docs/org/usfirst/frc/team449/robot/components/package-summary.html b/docs/org/usfirst/frc/team449/robot/components/package-summary.html
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.components (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/components/package-tree.html b/docs/org/usfirst/frc/team449/robot/components/package-tree.html
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 <!-- NewPage -->
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.components Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/drive/DriveSubsystem.html b/docs/org/usfirst/frc/team449/robot/drive/DriveSubsystem.html
index 73ae62b8..67a6bfe0 100644
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 <!-- NewPage -->
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>DriveSubsystem (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/drive/package-frame.html b/docs/org/usfirst/frc/team449/robot/drive/package-frame.html
index 50953208..2befa690 100644
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 <!-- NewPage -->
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.drive (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../script.js"></script>
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diff --git a/docs/org/usfirst/frc/team449/robot/drive/package-summary.html b/docs/org/usfirst/frc/team449/robot/drive/package-summary.html
index 45943188..56415985 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.drive (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../script.js"></script>
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diff --git a/docs/org/usfirst/frc/team449/robot/drive/package-tree.html b/docs/org/usfirst/frc/team449/robot/drive/package-tree.html
index 1cb6db19..d2a596ef 100644
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@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.drive Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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 <script type="text/javascript" src="../../../../../../script.js"></script>
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index 03a2616e..9c5790ba 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html
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index c170b297..e28fa5f5 100644
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index cad301c0..9084898f 100644
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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-<meta name="date" content="2017-09-30">
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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-<meta name="date" content="2017-09-30">
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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-<meta name="date" content="2017-09-30">
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--- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/PIDTest.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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-<meta name="date" content="2017-09-30">
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diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/SimpleUnidirectionalDrive.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/SimpleUnidirectionalDrive.html
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--- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/SimpleUnidirectionalDrive.html
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@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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-<meta name="date" content="2017-09-30">
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diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-frame.html
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--- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-frame.html
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@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-summary.html
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--- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-summary.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-tree.html
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--- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-tree.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-frame.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-frame.html
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--- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-frame.html
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@@ -2,9 +2,9 @@
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-summary.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-summary.html
index 75f4ed06..b6e7c5e0 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-summary.html
@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.drive.unidirectional (RoboRIO 1.0 API)</title>
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diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-tree.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-tree.html
index 4b9b79fe..14f9d49d 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-tree.html
@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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-<meta name="date" content="2017-09-30">
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/Loggable.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/Loggable.html
index 2b934989..6cb05cdc 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/Loggable.html
+++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/Loggable.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>Loggable (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/package-frame.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/package-frame.html
index 32745be2..dfbc6945 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/package-frame.html
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@@ -2,9 +2,9 @@
 <!-- NewPage -->
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/package-summary.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/package-summary.html
index 8a445e7e..bd0f6b0e 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.generalInterfaces.loggable (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/package-tree.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/package-tree.html
index aa2c759c..a871187e 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/package-tree.html
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 <!-- NewPage -->
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.generalInterfaces.loggable Class Hierarchy (RoboRIO 1.0 API)</title>
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/Shiftable.gear.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/Shiftable.gear.html
index f33ad6f8..312dea90 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/Shiftable.gear.html
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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 <title>Shiftable.gear (RoboRIO 1.0 API)</title>
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/Shiftable.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/Shiftable.html
index 706ae316..f1c2a1f6 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/Shiftable.html
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@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>Shiftable (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/ShiftGears.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/ShiftGears.html
index c69ccb44..247cec97 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/ShiftGears.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>ShiftGears (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToGear.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToGear.html
index 460a2dec..93bff37b 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToGear.html
+++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToGear.html
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>SwitchToGear (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToHighGear.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToHighGear.html
index b20532dd..352e7f56 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToHighGear.html
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>SwitchToHighGear (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToLowGear.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToLowGear.html
index 3eddffbc..9853e802 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToLowGear.html
+++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToLowGear.html
@@ -2,9 +2,9 @@
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>SwitchToLowGear (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
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 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-frame.html
index afde0808..bc4b49b9 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-frame.html
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@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-summary.html
index a5b82b6e..3d3a5f49 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-tree.html
index 8843df29..efb2dc1e 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-frame.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-frame.html
index 7280fc79..9957b35a 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.generalInterfaces.shiftable (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-summary.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-summary.html
index 0e56c281..7abac4c6 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.generalInterfaces.shiftable (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-tree.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-tree.html
index 0efe8bf5..9dc81fcb 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.generalInterfaces.shiftable Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/SimpleMotor.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/SimpleMotor.html
index 18f9534f..9edb89b9 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/SimpleMotor.html
+++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/SimpleMotor.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>SimpleMotor (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-frame.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-frame.html
index 79ae1be0..5b227de1 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-summary.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-summary.html
index 00e45716..05bd295d 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-tree.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-tree.html
index 68cb5b65..f4067021 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.html
index f5d5660a..5023b3e8 100644
--- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.html
+++ b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>FPSTalon (RoboRIO 1.0 API)</title>
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index 9d684771..ed177907 100644
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 <title>MappedAHRS (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
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diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedDigitalInput.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedDigitalInput.html
index 48bcd3e5..4e921fd0 100644
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 <title>MappedDigitalInput (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedDoubleSolenoid.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedDoubleSolenoid.html
index a4ab9c88..508c9cd3 100644
--- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedDoubleSolenoid.html
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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 <title>MappedDoubleSolenoid (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedJoystick.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedJoystick.html
index 96447d06..95b36b8f 100644
--- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedJoystick.html
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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 <title>MappedJoystick (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedUsbCamera.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedUsbCamera.html
index 8dbaacaa..32367d44 100644
--- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedUsbCamera.html
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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 <title>MappedUsbCamera (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedVictor.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedVictor.html
index 5d5fc2c3..a437e6cc 100644
--- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedVictor.html
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>MappedVictor (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/PressureSensor.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/PressureSensor.html
index b663a51c..cd5c1afd 100644
--- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/PressureSensor.html
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@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>PressureSensor (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/SimpleMotorCluster.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/SimpleMotorCluster.html
index f709c286..e50eaa6a 100644
--- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/SimpleMotorCluster.html
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@@ -2,9 +2,9 @@
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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 <title>SimpleMotorCluster (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommand.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommand.html
index 09ff7129..1dfbbb8d 100644
--- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommand.html
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>YamlCommand (RoboRIO 1.0 API)</title>
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+<meta name="date" content="2017-10-03">
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 </head>
@@ -100,7 +100,7 @@ <h2 title="Interface YamlCommand" class="title">Interface YamlCommand</h2>
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href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/ToggleIntaking.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands">ToggleIntaking</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/ToggleMotor.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands">ToggleMotor</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/drive/shifting/commands/ToggleOverrideAutoShift.html" title="class in org.usfirst.frc.team449.robot.drive.shifting.commands">ToggleOverrideAutoShift</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">ToggleOverrideNavX</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/ToggleShooting.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands">ToggleShooting</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/ToggleSolenoid.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands">ToggleSolenoid</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOff.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands">TurnAllOff</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOffWithRequires.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands">TurnAllOffWithRequires</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOn.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands">TurnAllOn</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOff.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands">TurnMotorOff</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOffWithRequires.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands">TurnMotorOffWithRequires</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOn.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands">TurnMotorOn</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">UnidirectionalNavXDefaultDrive</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">UnidirectionalNavXShiftingDefaultDrive</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/commands/general/WaitForMillis.html" title="class in org.usfirst.frc.team449.robot.commands.general">WaitForMillis</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommandGroupWrapper.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlCommandGroupWrapper</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommandWrapper.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlCommandWrapper</a></dd>
+<dd><a href="../../../../../../org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Boiler.html" title="class in org.usfirst.frc.team449.robot.commands.autonomous">Auto2017Boiler</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Center.html" title="class in org.usfirst.frc.team449.robot.commands.autonomous">Auto2017Center</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Feeder.html" title="class in org.usfirst.frc.team449.robot.commands.autonomous">Auto2017Feeder</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/ChangeCam.html" title="class in org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.commands">ChangeCam</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/commands/general/CommandSequence.html" title="class in org.usfirst.frc.team449.robot.commands.general">CommandSequence</a>, <a 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diff --git a/docs/org/usfirst/frc/team449/robot/oi/buttons/package-tree.html b/docs/org/usfirst/frc/team449/robot/oi/buttons/package-tree.html
index b07cbfdc..5dafb7cd 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/buttons/package-tree.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html b/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html
index 2aa1e929..b6398e61 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html
@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>OIFieldOriented (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html b/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html
index c0ca1e8b..371e0c85 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html
@@ -2,9 +2,9 @@
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>OIFieldOrientedPosCos (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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@@ -156,7 +156,9 @@ <h3>Method Summary</h3>
 </tr>
 <tr id="i0" class="altColor">
 <td class="colFirst"><code>protected void</code></td>
-<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html#calcValues--">calcValues</a></span>()</code>&nbsp;</td>
+<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html#calcValues--">calcValues</a></span>()</code>
+<div class="block">Calculate the theta and vel values, can be called multiple times per tic but will only execute logic once.</div>
+</td>
 </tr>
 <tr id="i1" class="rowColor">
 <td class="colFirst"><code>java.lang.Double</code></td>
@@ -225,6 +227,7 @@ <h3>Method Detail</h3>
 <li class="blockList">
 <h4>calcValues</h4>
 <pre>protected&nbsp;void&nbsp;calcValues()</pre>
+<div class="block">Calculate the theta and vel values, can be called multiple times per tic but will only execute logic once.</div>
 </li>
 </ul>
 <a name="getTheta--">
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--- a/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-frame.html
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-summary.html b/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-summary.html
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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+<meta name="date" content="2017-10-03">
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index ca06b17e..33091faa 100644
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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+<meta name="date" content="2017-10-03">
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index 191e1fed..1c33a482 100644
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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 <title>Throttle (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottleDeadbanded.html b/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottleDeadbanded.html
index 9d4b8bd5..7e682ece 100644
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottleExponential.html b/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottleExponential.html
index db5f6380..88ab0506 100644
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>ThrottleExponential (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottlePolynomial.html b/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottlePolynomial.html
index 0b4ca092..3d07082f 100644
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>ThrottlePolynomial (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/throttles/package-frame.html b/docs/org/usfirst/frc/team449/robot/oi/throttles/package-frame.html
index c9b12026..fa28cb6d 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/throttles/package-frame.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/throttles/package-summary.html b/docs/org/usfirst/frc/team449/robot/oi/throttles/package-summary.html
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--- a/docs/org/usfirst/frc/team449/robot/oi/throttles/package-summary.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/throttles/package-tree.html b/docs/org/usfirst/frc/team449/robot/oi/throttles/package-tree.html
index 6d27b243..bbfc746b 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/throttles/package-tree.html
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/OIOutreach.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/OIOutreach.html
index 88a8f659..2d49a956 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/OIOutreach.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>OIOutreach (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html
index 2ea6b491..aeae73b7 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>OIUnidirectional (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcade.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcade.html
index 7458b53c..47156801 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcade.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcade.html
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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 <title>OIArcade (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeSimple.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeSimple.html
index 7156758e..0a9d824d 100644
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>OIArcadeSimple (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeWithDPad.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeWithDPad.html
index 19285293..f78280ef 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeWithDPad.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeWithDPad.html
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>OIArcadeWithDPad (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-frame.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-frame.html
index 7b39bc93..d2cddfaf 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-frame.html
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.oi.unidirectional.arcade (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-summary.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-summary.html
index ad071149..4929fd7b 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-summary.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.oi.unidirectional.arcade (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-tree.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-tree.html
index fcb6419a..4f36a23f 100644
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.oi.unidirectional.arcade Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-frame.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-frame.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.oi.unidirectional (RoboRIO 1.0 API)</title>
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index a4b724fe..9ba7cfc1 100644
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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index c42c7c02..b50ede79 100644
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index 59368b56..441dac83 100644
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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diff --git a/docs/org/usfirst/frc/team449/robot/other/package-frame.html b/docs/org/usfirst/frc/team449/robot/other/package-frame.html
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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diff --git a/docs/org/usfirst/frc/team449/robot/other/package-summary.html b/docs/org/usfirst/frc/team449/robot/other/package-summary.html
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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-<meta name="date" content="2017-09-30">
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diff --git a/docs/org/usfirst/frc/team449/robot/other/package-tree.html b/docs/org/usfirst/frc/team449/robot/other/package-tree.html
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
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diff --git a/docs/org/usfirst/frc/team449/robot/package-summary.html b/docs/org/usfirst/frc/team449/robot/package-summary.html
index c6552fd5..ed7da20d 100644
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
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index b04433b2..8945c766 100644
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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index ff91e740..22e13528 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/complex/climber/ClimberCurrentLimited.html
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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-<meta name="date" content="2017-09-30">
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index 44577d07..fb54b602 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/complex/climber/package-frame.html
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/complex/climber/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/complex/climber/package-summary.html
index cf66682e..571e118e 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/complex/climber/package-summary.html
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.subsystem.complex.climber (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/complex/climber/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/complex/climber/package-tree.html
index 1081f14e..5a8667f7 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/complex/climber/package-tree.html
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.subsystem.complex.climber Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/complex/intake/IntakeFixedAndActuated.html b/docs/org/usfirst/frc/team449/robot/subsystem/complex/intake/IntakeFixedAndActuated.html
index efda3a2b..c81d4dde 100644
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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-<meta name="date" content="2017-09-30">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/complex/intake/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/complex/intake/package-frame.html
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--- a/docs/org/usfirst/frc/team449/robot/subsystem/complex/intake/package-frame.html
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@@ -2,9 +2,9 @@
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.complex.intake (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/complex/intake/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/complex/intake/package-summary.html
index cd0c77c8..a3502ddb 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/complex/intake/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/complex/intake/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.complex.intake (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/complex/intake/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/complex/intake/package-tree.html
index 353ebaa2..f58df27b 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/complex/intake/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/complex/intake/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.complex.intake Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/LoggingShooter.html b/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/LoggingShooter.html
index 844fd549..ece03032 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/LoggingShooter.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/LoggingShooter.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>LoggingShooter (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/package-frame.html
index fc905a22..43f57642 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.complex.shooter (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/package-summary.html
index b64226af..497546e3 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.complex.shooter (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/package-tree.html
index ce1fad5f..75205350 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.complex.shooter Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/BinaryMotorSimple.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/BinaryMotorSimple.html
index 70f87aad..f17c0688 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/BinaryMotorSimple.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/BinaryMotorSimple.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>BinaryMotorSimple (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/SubsystemBinaryMotor.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/SubsystemBinaryMotor.html
index bf325633..aaa4b34d 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/SubsystemBinaryMotor.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/SubsystemBinaryMotor.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>SubsystemBinaryMotor (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/ToggleMotor.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/ToggleMotor.html
index 4bd824e2..102fcbb7 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/ToggleMotor.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/ToggleMotor.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>ToggleMotor (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOff.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOff.html
index 55d56398..a5c6457e 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOff.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOff.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>TurnMotorOff (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOffWithRequires.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOffWithRequires.html
index 99ac245d..87588cb9 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOffWithRequires.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOffWithRequires.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>TurnMotorOffWithRequires (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOn.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOn.html
index 691de9e5..bbed4435 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOn.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOn.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>TurnMotorOn (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-frame.html
index 9746543c..99206064 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-summary.html
index a28b08d2..4d77aaad 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-tree.html
index 703837ee..20cdd310 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-frame.html
index 60586245..4ea130b0 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-summary.html
index 6df3ea02..99c454cf 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-tree.html
index ecfb30b7..37b97060 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/SubsystemConditional.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/SubsystemConditional.html
index a64c7265..b52ada72 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/SubsystemConditional.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/SubsystemConditional.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>SubsystemConditional (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-frame.html
index 1ccec54f..3596f17a 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.conditional (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-summary.html
index 0330586f..b4071088 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.conditional (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-tree.html
index 1d44a73b..2eea63e9 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.conditional Class Hierarchy (RoboRIO 1.0 API)</title>
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index be0833b9..6eb41b45 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/IntakeSimple.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/IntakeSimple.html
@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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 <title>IntakeSimple (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.IntakeMode.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.IntakeMode.html
index 197b2a53..baaa8872 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.IntakeMode.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.IntakeMode.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>SubsystemIntake.IntakeMode (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.html
index 67c45b08..b769377d 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>SubsystemIntake (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/SetIntakeMode.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/SetIntakeMode.html
index e6488a70..8e8fdaa2 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/SetIntakeMode.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/SetIntakeMode.html
@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>SetIntakeMode (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/ToggleIntaking.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/ToggleIntaking.html
index e7c334d8..cb421489 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/ToggleIntaking.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/ToggleIntaking.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>ToggleIntaking (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-frame.html
index c8a924b4..faf8a415 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-frame.html
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@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-summary.html
index 2c3e3c09..850bbb48 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-summary.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-tree.html
index 750aab0b..e2415963 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-tree.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-frame.html
index e743a905..084d31b8 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-frame.html
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@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.intake (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-summary.html
index 809f0b52..7c320b50 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-summary.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.intake (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-tree.html
index 1d1a1676..46f1eb82 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-tree.html
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@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.intake Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/SubsystemMP.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/SubsystemMP.html
index 11f4b78e..441acca7 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/SubsystemMP.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/SubsystemMP.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>SubsystemMP (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/SubsystemMPTwoSides.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/SubsystemMPTwoSides.html
index 50f70e66..8650817f 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/SubsystemMPTwoSides.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/SubsystemMPTwoSides.html
@@ -2,9 +2,9 @@
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>SubsystemMPTwoSides (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/LoadProfileTwoSides.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/LoadProfileTwoSides.html
index 1dfb1f90..7b36935e 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/LoadProfileTwoSides.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/LoadProfileTwoSides.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>LoadProfileTwoSides (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/RunProfileTwoSides.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/RunProfileTwoSides.html
index 8081e1bf..ed2afdae 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/RunProfileTwoSides.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/RunProfileTwoSides.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>RunProfileTwoSides (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-frame.html
index 104da71b..50aef596 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-summary.html
index 40c8047e..2a614962 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-tree.html
index d0f81ae0..2100abaa 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-frame.html
index 609b22ed..83bdcb00 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-summary.html
index ee9dfa08..740d20d6 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-tree.html
index dc724ce5..87b27210 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/LoadProfile.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/LoadProfile.html
index addc16c8..d8f3b65a 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/LoadProfile.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/LoadProfile.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>LoadProfile (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunLoadedProfile.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunLoadedProfile.html
index 0b29c188..2e3b9e23 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunLoadedProfile.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunLoadedProfile.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>RunLoadedProfile (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunProfile.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunProfile.html
index 372f4848..256f2584 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunProfile.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunProfile.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>RunProfile (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-frame.html
index 78b71e06..87027bc4 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-summary.html
index 4b6f6ca2..8119f4b6 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-tree.html
index ed234527..c9278b49 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-frame.html
index f6dfdd5a..26a2910c 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-summary.html
index 2c13124c..5e67b453 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-tree.html
index b92351c8..6ea792e8 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.html
index eb57e16e..06d7dbee 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>SubsystemNavX (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html
index 18a1bf07..a58e2d97 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>OverrideNavX (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html
index 97dcd735..bdf359c2 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>PIDAngleCommand (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
@@ -122,7 +122,7 @@ <h2 title="Class PIDAngleCommand" class="title">Class PIDAngleCommand</h2>
 </dl>
 <dl>
 <dt>Direct Known Subclasses:</dt>
-<dd><a href="../../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">NavXDriveStraight</a>, <a href="../../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">NavXTurnToAngle</a>, <a href="../../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">UnidirectionalNavXDefaultDrive</a></dd>
+<dd><a href="../../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand</a>, <a href="../../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">NavXDriveStraight</a>, <a href="../../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">NavXTurnToAngle</a>, <a href="../../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">UnidirectionalNavXDefaultDrive</a></dd>
 </dl>
 <hr>
 <br>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html
index d1593ccd..04610cb7 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>ToggleOverrideNavX (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-frame.html
index ec258ef3..b42656dc 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-summary.html
index 35aa9348..8c7b5b62 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-tree.html
index fe9f8063..73070172 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-frame.html
index 90fe68cb..c3ac4a8f 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.navX (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-summary.html
index 92c8c01e..97424c22 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.navX (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-tree.html
index 65938a7b..c154d980 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.navX Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/ShooterSimple.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/ShooterSimple.html
index f1f32635..d14d0504 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/ShooterSimple.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/ShooterSimple.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>ShooterSimple (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/SubsystemShooter.ShooterState.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/SubsystemShooter.ShooterState.html
index 1631ae51..eefc2b4d 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/SubsystemShooter.ShooterState.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/SubsystemShooter.ShooterState.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>SubsystemShooter.ShooterState (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/SubsystemShooter.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/SubsystemShooter.html
index a5345d83..9bca4739 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/SubsystemShooter.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/SubsystemShooter.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>SubsystemShooter (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpShooter.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpShooter.html
index d1f3b960..ece8cd69 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpShooter.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpShooter.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>SpinUpShooter (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpThenShoot.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpThenShoot.html
index b2350efd..2abafd63 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpThenShoot.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpThenShoot.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>SpinUpThenShoot (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/ToggleShooting.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/ToggleShooting.html
index aed31d22..3de8de3e 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/ToggleShooting.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/ToggleShooting.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>ToggleShooting (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOff.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOff.html
index a2a21fd7..8ebc7a64 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOff.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOff.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>TurnAllOff (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOffWithRequires.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOffWithRequires.html
index d4557a2d..e6c4134b 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOffWithRequires.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOffWithRequires.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>TurnAllOffWithRequires (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOn.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOn.html
index e671b172..41eca958 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOn.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOn.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>TurnAllOn (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-frame.html
index cb2b7282..0693f7e2 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-summary.html
index 44da8221..e8c9ebff 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-tree.html
index eb7c7a75..333195f9 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-frame.html
index b5ef48f3..73b3aa64 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.shooter (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-summary.html
index 9fbca3d5..2b9ac513 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.shooter (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-tree.html
index be6b1507..d80510d3 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.shooter Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SolenoidSimple.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SolenoidSimple.html
index 0b97de9b..9e94dd59 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SolenoidSimple.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SolenoidSimple.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>SolenoidSimple (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SubsystemSolenoid.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SubsystemSolenoid.html
index 1c1dfdf4..c69ea65b 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SubsystemSolenoid.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SubsystemSolenoid.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>SubsystemSolenoid (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidForward.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidForward.html
index cdc8f77c..91303dfb 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidForward.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidForward.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>SolenoidForward (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidOff.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidOff.html
index b9b46c1c..caa95781 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidOff.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidOff.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>SolenoidOff (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidReverse.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidReverse.html
index 3ad44f9a..4a1a2b06 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidReverse.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidReverse.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>SolenoidReverse (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/ToggleSolenoid.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/ToggleSolenoid.html
index 299f6c39..d94b6289 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/ToggleSolenoid.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/ToggleSolenoid.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>ToggleSolenoid (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-frame.html
index 6acb18b5..bc060d1e 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-summary.html
index eb2c70f5..c0dee39c 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
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index 2debbfb6..1c97da5f 100644
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index 0b9909ca..43b3a90e 100644
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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index a9accae5..4acc597c 100644
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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+<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-summary.html
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-tree.html
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-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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diff --git a/docs/overview-frame.html b/docs/overview-frame.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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-<meta name="date" content="2017-09-30">
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
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 <title>Overview (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
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diff --git a/docs/overview-tree.html b/docs/overview-tree.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Sat Sep 30 23:06:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
 <title>Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-09-30">
+<meta name="date" content="2017-10-03">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <script type="text/javascript" src="script.js"></script>
 </head>
@@ -157,6 +157,11 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 <ul>
 <li type="circle">org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands"><span class="typeNameLink">PIDAngleCommand</span></a> (implements org.usfirst.frc.team449.robot.jacksonWrappers.<a href="org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommand.html" title="interface in org.usfirst.frc.team449.robot.jacksonWrappers">YamlCommand</a>)
 <ul>
+<li type="circle">org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">FieldOrientedUnidirectionalDriveCommand</span></a>&lt;T&gt;
+<ul>
+<li type="circle">org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">FieldOrientedUnidirectionalDriveCommandShifting</span></a>&lt;T&gt;</li>
+</ul>
+</li>
 <li type="circle">org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">NavXDriveStraight</span></a>&lt;T&gt;</li>
 <li type="circle">org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">NavXTurnToAngle</span></a>&lt;T&gt;
 <ul>
@@ -218,6 +223,7 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 </ul>
 </li>
 <li type="circle">org.usfirst.frc.team449.robot.oi.buttons.<a href="org/usfirst/frc/team449/robot/oi/buttons/CommandButton.html" title="class in org.usfirst.frc.team449.robot.oi.buttons"><span class="typeNameLink">CommandButton</span></a></li>
+<li type="circle">org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint</span></a></li>
 <li type="circle">org.usfirst.frc.team449.robot.jacksonWrappers.<a href="org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers"><span class="typeNameLink">FPSTalon</span></a> (implements org.usfirst.frc.team449.robot.generalInterfaces.shiftable.<a href="org/usfirst/frc/team449/robot/generalInterfaces/shiftable/Shiftable.html" title="interface in org.usfirst.frc.team449.robot.generalInterfaces.shiftable">Shiftable</a>, org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor.<a href="org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/SimpleMotor.html" title="interface in org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor">SimpleMotor</a>)</li>
 <li type="circle">edu.wpi.first.wpilibj.GenericHID
 <ul>

From 646b25f36e6fbf76c3c66a07dc57158f180f33b8 Mon Sep 17 00:00:00 2001
From: Noah Gleason <noah.gleason1@gmail.com>
Date: Tue, 3 Oct 2017 17:02:46 -0400
Subject: [PATCH 07/13] Add field-oriented drive to map

---
 RoboRIO/src/main/resources/calcifer_map.yml | 16 +++++++++++-----
 1 file changed, 11 insertions(+), 5 deletions(-)

diff --git a/RoboRIO/src/main/resources/calcifer_map.yml b/RoboRIO/src/main/resources/calcifer_map.yml
index 8c304475..2941722d 100644
--- a/RoboRIO/src/main/resources/calcifer_map.yml
+++ b/RoboRIO/src/main/resources/calcifer_map.yml
@@ -177,7 +177,7 @@ drive:
                 lowGearPistonPos: kForward
                 startingGear: LOW
 defaultDriveCommand:
-    org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXShiftingDefaultDrive:
+    org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommandShifting:
         '@id': defaultDriveCommand
         kP: 0.012
         kI: 0.0
@@ -186,17 +186,23 @@ defaultDriveCommand:
         maximumOutput: 0.33333
         toleranceBuffer: 25
         deadband: 2
-        maxAngularVelToEnterLoop: 0.05
         inverted: true
-        driveStraightLoopEntryTimer:
-            '@id': driveStraightLoopEntryTimer
-            bufferTimeSeconds: 0.15
         subsystem:
             org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable:
                 drive
         oi:
             org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeWithDPad:
                 oi
+        snapPoints:
+            -   snapTo: 0
+                upperBound: 10
+                lowerBound: -10
+            -   snapTo: 60
+                upperBound: 70
+                lowerBound: 50
+            -   snapTo: -60
+                upperBound: -50
+                lowerBound: -70
         autoshiftComponent:
             '@id': autoshiftComponent
             upshiftSpeed: 4

From 6bb04a69f3562d6539a1875e13b6e2aa820968f1 Mon Sep 17 00:00:00 2001
From: Noah Gleason <noah.gleason1@gmail.com>
Date: Sat, 7 Oct 2017 13:21:20 -0400
Subject: [PATCH 08/13] Fix map errors

---
 .../frc/team449/robot/RobotMap2017.java       |  7 ++--
 ...eldOrientedUnidirectionalDriveCommand.java | 11 ++++-
 .../robot/components/AutoshiftComponent.java  |  2 -
 .../unidirectional/DriveTalonCluster.java     |  1 +
 .../robot/jacksonWrappers/MappedAHRS.java     |  1 +
 .../org/usfirst/frc/team449/robot/oi/OI.java  |  7 ++++
 .../oi/fieldoriented/OIFieldOriented.java     |  3 +-
 .../fieldoriented/OIFieldOrientedPosCos.java  |  9 ++++
 .../oi/unidirectional/OIUnidirectional.java   |  3 +-
 RoboRIO/src/main/resources/calcifer_map.yml   | 42 ++++++++-----------
 10 files changed, 53 insertions(+), 33 deletions(-)
 create mode 100644 RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/OI.java

diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/RobotMap2017.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/RobotMap2017.java
index 05811281..2899c1da 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/RobotMap2017.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/RobotMap2017.java
@@ -8,6 +8,7 @@
 import org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster;
 import org.usfirst.frc.team449.robot.jacksonWrappers.MappedDigitalInput;
 import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand;
+import org.usfirst.frc.team449.robot.oi.OI;
 import org.usfirst.frc.team449.robot.other.Logger;
 import org.usfirst.frc.team449.robot.oi.buttons.CommandButton;
 import org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional;
@@ -37,7 +38,7 @@ public class RobotMap2017 {
 	 * The OI for controlling this robot's drive.
 	 */
 	@NotNull
-	private final OIUnidirectional oi;
+	private final OI oi;
 
 	/**
 	 * The logger for recording events and telemetry data.
@@ -246,7 +247,7 @@ public class RobotMap2017 {
 	 */
 	@JsonCreator
 	public RobotMap2017(@NotNull @JsonProperty(required = true) List<CommandButton> buttons,
-	                    @NotNull @JsonProperty(required = true) OIUnidirectional oi,
+	                    @NotNull @JsonProperty(required = true) OI oi,
 	                    @NotNull @JsonProperty(required = true) Logger logger,
 	                    @NotNull @JsonProperty(required = true) DriveTalonCluster drive,
 	                    @NotNull @JsonProperty(required = true) YamlCommand defaultDriveCommand,
@@ -311,7 +312,7 @@ public List<CommandButton> getButtons() {
 	 * @return The OI for controlling this robot's drive.
 	 */
 	@NotNull
-	public OIUnidirectional getOI() {
+	public OI getOI() {
 		return oi;
 	}
 
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java
index 85f0be26..9ed31825 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java
@@ -1,6 +1,7 @@
 package org.usfirst.frc.team449.robot.commands.multiInterface.drive;
 
 import com.fasterxml.jackson.annotation.*;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import org.jetbrains.annotations.NotNull;
 import org.jetbrains.annotations.Nullable;
 import org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional;
@@ -115,7 +116,10 @@ protected void execute() {
 					break;
 				}
 			}
-			this.getPIDController().setSetpoint(oi.getTheta());
+			this.getPIDController().setSetpoint(theta);
+			SmartDashboard.putNumber("Theta navx setpoint", theta);
+		} else {
+			System.out.println("Null theta");
 		}
 	}
 
@@ -152,9 +156,12 @@ protected void interrupted() {
 	 */
 	@Override
 	protected void usePIDOutput(double output) {
+		SmartDashboard.putNumber("Unprocessed loop output", output);
 		//Process or zero the input depending on whether the NavX is being overriden.
 		output = subsystem.getOverrideNavX() ? 0 : processPIDOutput(output);
 
+		SmartDashboard.putNumber("PID loop output", output);
+
 		//Adjust the heading according to the PID output, it'll be positive if we want to go right.
 		subsystem.setOutput(oi.getVel() - output, oi.getVel() + output);
 	}
@@ -162,7 +169,7 @@ protected void usePIDOutput(double output) {
 	/**
 	 * A data-holding class representing an angular setpoint to "snap" the controller output to.
 	 */
-	protected class AngularSnapPoint {
+	protected static class AngularSnapPoint {
 
 		/**
 		 * The angle to snap the setpoint to, in degrees.
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/components/AutoshiftComponent.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/components/AutoshiftComponent.java
index baa0948c..d8a25bca 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/components/AutoshiftComponent.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/components/AutoshiftComponent.java
@@ -155,10 +155,8 @@ private boolean shouldUpshift(double forwardThrottle, double leftVel, double rig
 	public void autoshift(double forwardThrottle, double leftVel, double rightVel, Consumer<Integer> shift) {
 		if (shouldDownshift(forwardThrottle, leftVel, rightVel)) {
 			shift.accept(Shiftable.gear.LOW.getNumVal());
-			System.out.println("Downshifted");
 		} else if (shouldUpshift(forwardThrottle, leftVel, rightVel)) {
 			shift.accept(Shiftable.gear.HIGH.getNumVal());
-			System.out.println("Upshifted");
 		}
 	}
 }
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.java
index 77e3630b..f704679e 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.java
@@ -69,6 +69,7 @@ public DriveTalonCluster(@NotNull @JsonProperty(required = true) FPSTalon leftMa
 		this.rightMaster = rightMaster;
 		this.leftMaster = leftMaster;
 		this.navX = navX;
+		this.overrideNavX = false;
 	}
 
 	/**
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/MappedAHRS.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/MappedAHRS.java
index 1f773625..9b0b54ac 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/MappedAHRS.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/MappedAHRS.java
@@ -21,5 +21,6 @@ public class MappedAHRS extends AHRS {
 	@JsonCreator
 	public MappedAHRS(@JsonProperty(required = true) SPI.Port port) {
 		super(port);
+		this.reset();
 	}
 }
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/OI.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/OI.java
new file mode 100644
index 00000000..2e217de3
--- /dev/null
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/OI.java
@@ -0,0 +1,7 @@
+package org.usfirst.frc.team449.robot.oi;
+
+import com.fasterxml.jackson.annotation.JsonTypeInfo;
+
+@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class")
+public interface OI {
+}
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.java
index 3d81298f..711063d1 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.java
@@ -2,12 +2,13 @@
 
 import com.fasterxml.jackson.annotation.JsonTypeInfo;
 import org.jetbrains.annotations.Nullable;
+import org.usfirst.frc.team449.robot.oi.OI;
 
 /**
  * An OI that gives an absolute heading, relative to the field, and a velocity.
  */
 @JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class")
-public interface OIFieldOriented {
+public interface OIFieldOriented extends OI {
 
 	/**
 	 * Get the absolute angle for the robot to move towards.
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.java
index a2310946..805fcf01 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.java
@@ -4,6 +4,7 @@
 import com.fasterxml.jackson.annotation.JsonIdentityInfo;
 import com.fasterxml.jackson.annotation.JsonProperty;
 import com.fasterxml.jackson.annotation.ObjectIdGenerators;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import org.jetbrains.annotations.NotNull;
 import org.jetbrains.annotations.Nullable;
 import org.usfirst.frc.team449.robot.Robot;
@@ -72,6 +73,7 @@ protected void calcValues(){
 			if (x == 0 && y == 0){
 				theta = null;
 				vel = 0;
+				System.out.println("Null");
 			} else {
 				//Use atan2 to get angle from -180 to 180
 				theta = Math.toDegrees(Math.atan2(y,x));
@@ -100,6 +102,12 @@ protected void calcValues(){
 	@Nullable
 	public Double getTheta() {
 		calcValues();
+		if (theta != null) {
+			SmartDashboard.putNumber("theta", theta);
+			SmartDashboard.putBoolean("thetaNull",false);
+		} else {
+			SmartDashboard.putBoolean("thetaNull",true);
+		}
 		return theta;
 	}
 
@@ -111,6 +119,7 @@ public Double getTheta() {
 	@Override
 	public double getVel() {
 		calcValues();
+		SmartDashboard.putNumber("Vel",vel);
 		return vel;
 	}
 }
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.java
index aa4ac4de..c95a332a 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.java
@@ -1,13 +1,14 @@
 package org.usfirst.frc.team449.robot.oi.unidirectional;
 
 import com.fasterxml.jackson.annotation.JsonTypeInfo;
+import org.usfirst.frc.team449.robot.oi.OI;
 
 /**
  * An OI to control a robot with a unidirectional drive that has a left and right side (e.g. not meccanum, swerve, or
  * holonomic)
  */
 @JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class")
-public interface OIUnidirectional {
+public interface OIUnidirectional extends OI{
 
 	/**
 	 * The output to be given to the left side of the drive.
diff --git a/RoboRIO/src/main/resources/calcifer_map.yml b/RoboRIO/src/main/resources/calcifer_map.yml
index 2941722d..9b0ba5ea 100644
--- a/RoboRIO/src/main/resources/calcifer_map.yml
+++ b/RoboRIO/src/main/resources/calcifer_map.yml
@@ -76,12 +76,12 @@ oi:
             org.usfirst.frc.team449.robot.oi.throttles.ThrottlePolynomial:
                 &xThrottle
                 '@id': xThrottle
-                gamepad:
+                stick:
                     '@id': driverGamepad
                     port: 1
-                axis: 0
+                axis: 1
                 deadband: 0.05
-                inverted: false
+                inverted: true
                 polynomial:
                     '@id': rotPoly
                     powerToCoefficientMap: !!map
@@ -90,7 +90,9 @@ oi:
             org.usfirst.frc.team449.robot.oi.throttles.ThrottlePolynomial:
                 <<: *xThrottle
                 '@id': yThrottle
-                axis: 1
+                axis: 0
+                stick:
+                    driverGamepad
                 inverted: true
                 polynomial:
                     '@id': fwdPoly
@@ -179,7 +181,7 @@ drive:
 defaultDriveCommand:
     org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommandShifting:
         '@id': defaultDriveCommand
-        kP: 0.012
+        kP: 0.1
         kI: 0.0
         kD: 0.0
         absoluteTolerance: 1
@@ -191,7 +193,7 @@ defaultDriveCommand:
             org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable:
                 drive
         oi:
-            org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeWithDPad:
+            org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOrientedPosCos:
                 oi
         snapPoints:
             -   snapTo: 0
@@ -625,15 +627,11 @@ buttons:
                         drive
         action: WHEN_PRESSED
     -   button:
-            org.usfirst.frc.team449.robot.oi.buttons.TriggerButton:
+            org.usfirst.frc.team449.robot.oi.buttons.FactoryJoystickButton:
                 '@id': climbButton
-                throttle:
-                    org.usfirst.frc.team449.robot.oi.throttles.Throttle:
-                        '@id': climbButtonThrottle
-                        stick:
-                            driverGamepad
-                        axis: 2
-                triggerAt: 0.9
+                joystick:
+                    driverGamepad
+                buttonNumber: 2
         command:
             org.usfirst.frc.team449.robot.commands.multiInterface.RunMotorWhileConditonMet:
                 '@id': climbCommand
@@ -642,7 +640,7 @@ buttons:
                         climber
         action: WHEN_PRESSED
     -   button:
-            org.usfirst.frc.team449.robot.oi.buttons.TriggerButton:
+            org.usfirst.frc.team449.robot.oi.buttons.FactoryJoystickButton:
                 climbButton
         command:
             org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.TurnMotorOffWithRequires:
@@ -685,22 +683,18 @@ buttons:
                         cameras
         action: WHEN_PRESSED
     -   button:
-            org.usfirst.frc.team449.robot.oi.buttons.TriggerButton:
+            org.usfirst.frc.team449.robot.oi.buttons.FactoryJoystickButton:
                 '@id': pushGearButton
-                throttle:
-                    org.usfirst.frc.team449.robot.oi.throttles.Throttle:
-                        '@id': pushGearThrottle
-                        stick:
-                            driverGamepad
-                        axis: 3
-                triggerAt: 0.9
+                joystick:
+                    driverGamepad
+                buttonNumber: 1
         command:
             org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidReverse:
                 <<: *openGearHandler
                 '@id': openGearHandlerCommand
         action: WHEN_PRESSED
     -   button:
-            org.usfirst.frc.team449.robot.oi.buttons.TriggerButton:
+            org.usfirst.frc.team449.robot.oi.buttons.FactoryJoystickButton:
                 pushGearButton
         command:
             org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidForward:

From 994726e185c2636e5c1d10e8d51ab578cf1ddbd2 Mon Sep 17 00:00:00 2001
From: Noah Gleason <noah.gleason1@gmail.com>
Date: Sat, 7 Oct 2017 13:38:24 -0400
Subject: [PATCH 09/13] I'm a moron

---
 .../drive/FieldOrientedUnidirectionalDriveCommand.java   | 9 ++++++---
 .../FieldOrientedUnidirectionalDriveCommandShifting.java | 6 +++---
 .../drive/UnidirectionalNavXDefaultDrive.java            | 6 +++---
 .../drive/UnidirectionalNavXShiftingDefaultDrive.java    | 6 +++---
 .../interfaces/navX/commands/PIDAngleCommand.java        | 2 +-
 RoboRIO/src/main/resources/calcifer_map.yml              | 4 +---
 6 files changed, 17 insertions(+), 16 deletions(-)

diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java
index 9ed31825..5f9e689e 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java
@@ -70,9 +70,9 @@ public FieldOrientedUnidirectionalDriveCommand(@JsonProperty(required = true) do
 	                                               double minimumOutput, @Nullable Double maximumOutput,
 	                                               double deadband,
 	                                               boolean inverted,
-	                                               int kP,
-	                                               int kI,
-	                                               int kD,
+	                                               double kP,
+	                                               double kI,
+	                                               double kD,
 	                                               @NotNull @JsonProperty(required = true) T subsystem,
 	                                               @NotNull @JsonProperty(required = true) OIFieldOriented oi,
 	                                               @Nullable List<AngularSnapPoint> snapPoints) {
@@ -105,6 +105,9 @@ protected void initialize() {
 	 */
 	@Override
 	protected void execute() {
+		SmartDashboard.putBoolean("enabled",this.getPIDController().isEnabled());
+		SmartDashboard.putNumber("NavX Error",this.getPIDController().getError());
+		SmartDashboard.putNumber("kP",this.getPIDController().getP());
 		//Do nothing
 		theta = oi.getTheta();
 		if (theta != null) {
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.java
index c3113e09..c5e1be72 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.java
@@ -59,9 +59,9 @@ public FieldOrientedUnidirectionalDriveCommandShifting(@JsonProperty(required =
 	                                                       double minimumOutput, @Nullable Double maximumOutput,
 	                                                       double deadband,
 	                                                       boolean inverted,
-	                                                       int kP,
-	                                                       int kI,
-	                                                       int kD,
+	                                                       double kP,
+	                                                       double kI,
+	                                                       double kD,
 	                                                       @NotNull @JsonProperty(required = true) T subsystem,
 	                                                       @NotNull @JsonProperty(required = true) OIFieldOriented oi,
 	                                                       @Nullable List<AngularSnapPoint> snapPoints,
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.java
index ef2a7441..7ff95d70 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.java
@@ -76,9 +76,9 @@ public UnidirectionalNavXDefaultDrive(@JsonProperty(required = true) double abso
 	                                      double deadband,
 	                                      @Nullable Double maxAngularVelToEnterLoop,
 	                                      boolean inverted,
-	                                      int kP,
-	                                      int kI,
-	                                      int kD,
+	                                      double kP,
+	                                      double kI,
+	                                      double kD,
 	                                      @NotNull @JsonProperty(required = true) BufferTimer driveStraightLoopEntryTimer,
 	                                      @NotNull @JsonProperty(required = true) T subsystem,
 	                                      @NotNull @JsonProperty(required = true) OIUnidirectional oi) {
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.java
index e28c45e3..a9b883b1 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.java
@@ -63,9 +63,9 @@ public UnidirectionalNavXShiftingDefaultDrive(@JsonProperty(required = true) dou
 	                                              double deadband,
 	                                              @Nullable Double maxAngularVelToEnterLoop,
 	                                              boolean inverted,
-	                                              int kP,
-	                                              int kI,
-	                                              int kD,
+	                                              double kP,
+	                                              double kI,
+	                                              double kD,
 	                                              @NotNull @JsonProperty(required = true) BufferTimer driveStraightLoopEntryTimer,
 	                                              @NotNull @JsonProperty(required = true) T subsystem,
 	                                              @NotNull @JsonProperty(required = true) OIUnidirectional oi,
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.java
index 4d4cdc8a..9514f347 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.java
@@ -62,7 +62,7 @@ public PIDAngleCommand(@JsonProperty(required = true) double absoluteTolerance,
 	                       double deadband,
 	                       boolean inverted,
 	                       @NotNull @JsonProperty(required = true) SubsystemNavX subsystem,
-	                       double kP,
+	                       @JsonProperty(required = true) double kP,
 	                       double kI,
 	                       double kD) {
 		//Set P, I and D. I and D will normally be 0 if you're using cascading control, like you should be.
diff --git a/RoboRIO/src/main/resources/calcifer_map.yml b/RoboRIO/src/main/resources/calcifer_map.yml
index 9b0ba5ea..103cddf0 100644
--- a/RoboRIO/src/main/resources/calcifer_map.yml
+++ b/RoboRIO/src/main/resources/calcifer_map.yml
@@ -181,12 +181,10 @@ drive:
 defaultDriveCommand:
     org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommandShifting:
         '@id': defaultDriveCommand
-        kP: 0.1
+        kP: 0.012
         kI: 0.0
         kD: 0.0
         absoluteTolerance: 1
-        maximumOutput: 0.33333
-        toleranceBuffer: 25
         deadband: 2
         inverted: true
         subsystem:

From e7fc9a871dc0306d56ced408b48e50d15297c8a5 Mon Sep 17 00:00:00 2001
From: Noah Gleason <noah.gleason1@gmail.com>
Date: Sat, 7 Oct 2017 14:03:31 -0400
Subject: [PATCH 10/13] Add rDeadband

---
 .../fieldoriented/OIFieldOrientedPosCos.java   | 18 +++++++++++-------
 RoboRIO/src/main/resources/calcifer_map.yml    |  7 ++++---
 2 files changed, 15 insertions(+), 10 deletions(-)

diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.java
index 805fcf01..22cd4dbf 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.java
@@ -49,6 +49,8 @@ public class OIFieldOrientedPosCos implements OIFieldOriented{
 	 */
 	private double x, y;
 
+	private double rDeadband;
+
 	/**
 	 * Default constructor
 	 *
@@ -57,9 +59,11 @@ public class OIFieldOrientedPosCos implements OIFieldOriented{
 	 */
 	@JsonCreator
 	public OIFieldOrientedPosCos(@NotNull @JsonProperty(required = true) Throttle xThrottle,
-	                             @NotNull @JsonProperty(required = true) Throttle yThrottle) {
+	                             @NotNull @JsonProperty(required = true) Throttle yThrottle,
+	                             double rDeadband) {
 		this.xThrottle = xThrottle;
 		this.yThrottle = yThrottle;
+		this.rDeadband = rDeadband;
 	}
 
 	/**
@@ -69,8 +73,10 @@ protected void calcValues(){
 		if (timeLastUpdated != Robot.currentTimeMillis()){
 			x = xThrottle.getValue();
 			y = yThrottle.getValue();
-			//0,0 has no angle so null
-			if (x == 0 && y == 0){
+			vel = Math.sqrt(Math.pow(x, 2) + Math.pow(y, 2));
+
+			//0,0ish has no angle so null
+			if (vel < rDeadband){
 				theta = null;
 				vel = 0;
 				System.out.println("Null");
@@ -78,13 +84,11 @@ protected void calcValues(){
 				//Use atan2 to get angle from -180 to 180
 				theta = Math.toDegrees(Math.atan2(y,x));
 				if (theta > 90){
-					vel = -Math.sqrt(Math.pow(x, 2) + Math.pow(y, 2));
+					vel *= -1;
 					theta -= 180;
 				} else if (theta < -90){
-					vel = -Math.sqrt(Math.pow(x, 2) + Math.pow(y, 2));
+					vel *= -1;
 					theta += 180;
-				} else {
-					vel = Math.sqrt(Math.pow(x, 2) + Math.pow(y, 2));
 				}
 			}
 			timeLastUpdated = Robot.currentTimeMillis();
diff --git a/RoboRIO/src/main/resources/calcifer_map.yml b/RoboRIO/src/main/resources/calcifer_map.yml
index 103cddf0..ff9be467 100644
--- a/RoboRIO/src/main/resources/calcifer_map.yml
+++ b/RoboRIO/src/main/resources/calcifer_map.yml
@@ -80,7 +80,7 @@ oi:
                     '@id': driverGamepad
                     port: 1
                 axis: 1
-                deadband: 0.05
+                deadband: 0.02
                 inverted: true
                 polynomial:
                     '@id': rotPoly
@@ -93,11 +93,12 @@ oi:
                 axis: 0
                 stick:
                     driverGamepad
-                inverted: true
+                inverted: false
                 polynomial:
                     '@id': fwdPoly
                     powerToCoefficientMap: !!map
                         2 : 1
+        rDeadband: 0.1
 drive:
     org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable:
         '@id': drive
@@ -181,7 +182,7 @@ drive:
 defaultDriveCommand:
     org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommandShifting:
         '@id': defaultDriveCommand
-        kP: 0.012
+        kP: 0.005
         kI: 0.0
         kD: 0.0
         absoluteTolerance: 1

From 52392ee5d64a6ba695e97fc06f3379d45583f7ae Mon Sep 17 00:00:00 2001
From: Noah Gleason <noah.gleason1@gmail.com>
Date: Mon, 9 Oct 2017 20:54:21 -0400
Subject: [PATCH 11/13] Remove logging

---
 ...eldOrientedUnidirectionalDriveCommand.java |   2 -
 .../fieldoriented/OIFieldOrientedPosCos.java  |   5 +-
 docs/allclasses-frame.html                    |   6 +-
 docs/allclasses-noframe.html                  |   6 +-
 docs/constant-values.html                     |   4 +-
 docs/deprecated-list.html                     |   4 +-
 docs/help-doc.html                            |   4 +-
 docs/index-all.html                           |  20 +-
 docs/index.html                               |   2 +-
 docs/org/usfirst/frc/team449/robot/Robot.html |   4 +-
 .../frc/team449/robot/RobotMap2017.html       |  16 +-
 .../commands/autonomous/Auto2017Boiler.html   |   4 +-
 .../commands/autonomous/Auto2017Center.html   |   4 +-
 .../commands/autonomous/Auto2017Feeder.html   |   4 +-
 .../commands/autonomous/package-frame.html    |   4 +-
 .../commands/autonomous/package-summary.html  |   4 +-
 .../commands/autonomous/package-tree.html     |   4 +-
 .../commands/general/CommandSequence.html     |   4 +-
 .../general/ParallelCommandGroup.html         |   4 +-
 .../robot/commands/general/WaitForMillis.html |   4 +-
 .../robot/commands/general/package-frame.html |   4 +-
 .../commands/general/package-summary.html     |   4 +-
 .../robot/commands/general/package-tree.html  |   4 +-
 .../RunMotorWhileConditonMet.html             |   4 +-
 ...ectionalDriveCommand.AngularSnapPoint.html |   6 +-
 ...eldOrientedUnidirectionalDriveCommand.html |  24 +--
 ...tedUnidirectionalDriveCommandShifting.html |  22 +--
 .../multiInterface/drive/JiggleRobot.html     |   4 +-
 .../drive/NavXDriveStraight.html              |   4 +-
 .../multiInterface/drive/NavXTurnToAngle.html |   4 +-
 .../drive/NavXTurnToAngleRelative.html        |   4 +-
 .../drive/UnidirectionalNavXDefaultDrive.html |  22 +--
 ...nidirectionalNavXShiftingDefaultDrive.html |  22 +--
 .../multiInterface/drive/package-frame.html   |   5 +-
 .../multiInterface/drive/package-summary.html |  10 +-
 .../multiInterface/drive/package-tree.html    |   4 +-
 .../multiInterface/package-frame.html         |   4 +-
 .../multiInterface/package-summary.html       |   4 +-
 .../commands/multiInterface/package-tree.html |   4 +-
 .../commands/multiSubsystem/FireShooter.html  |   4 +-
 .../commands/multiSubsystem/LoadShooter.html  |   4 +-
 .../commands/multiSubsystem/RackShooter.html  |   4 +-
 .../commands/multiSubsystem/ResetShooter.html |   4 +-
 .../multiSubsystem/package-frame.html         |   4 +-
 .../multiSubsystem/package-summary.html       |   4 +-
 .../commands/multiSubsystem/package-tree.html |   4 +-
 .../robot/components/AutoshiftComponent.html  |   4 +-
 .../robot/components/ShiftComponent.html      |   4 +-
 .../components/ShiftWithSensorComponent.html  |   4 +-
 .../robot/components/package-frame.html       |   4 +-
 .../robot/components/package-summary.html     |   4 +-
 .../robot/components/package-tree.html        |   4 +-
 .../team449/robot/drive/DriveSubsystem.html   |   4 +-
 .../team449/robot/drive/package-frame.html    |   4 +-
 .../team449/robot/drive/package-summary.html  |   4 +-
 .../frc/team449/robot/drive/package-tree.html |   4 +-
 .../robot/drive/shifting/DriveShiftable.html  |   4 +-
 .../shifting/commands/OverrideAutoShift.html  |   4 +-
 .../commands/ToggleOverrideAutoShift.html     |   4 +-
 .../shifting/commands/package-frame.html      |   4 +-
 .../shifting/commands/package-summary.html    |   4 +-
 .../drive/shifting/commands/package-tree.html |   4 +-
 .../robot/drive/shifting/package-frame.html   |   4 +-
 .../robot/drive/shifting/package-summary.html |   4 +-
 .../robot/drive/shifting/package-tree.html    |   4 +-
 .../unidirectional/DriveTalonCluster.html     |   4 +-
 .../DriveTalonClusterShiftable.html           |   4 +-
 .../unidirectional/DriveUnidirectional.html   |   4 +-
 .../DriveUnidirectionalSimple.html            |   4 +-
 .../commands/DetermineNominalVoltage.html     |   4 +-
 .../unidirectional/commands/DriveAtSpeed.html |   4 +-
 .../commands/DriveStraight.html               |   4 +-
 .../commands/PIDBackAndForth.html             |   4 +-
 .../unidirectional/commands/PIDTest.html      |   4 +-
 .../commands/SimpleUnidirectionalDrive.html   |   4 +-
 .../commands/package-frame.html               |   4 +-
 .../commands/package-summary.html             |   4 +-
 .../unidirectional/commands/package-tree.html |   4 +-
 .../drive/unidirectional/package-frame.html   |   4 +-
 .../drive/unidirectional/package-summary.html |   4 +-
 .../drive/unidirectional/package-tree.html    |   4 +-
 .../generalInterfaces/loggable/Loggable.html  |   4 +-
 .../loggable/package-frame.html               |   4 +-
 .../loggable/package-summary.html             |   4 +-
 .../loggable/package-tree.html                |   4 +-
 .../shiftable/Shiftable.gear.html             |   4 +-
 .../shiftable/Shiftable.html                  |   4 +-
 .../shiftable/commands/ShiftGears.html        |   4 +-
 .../shiftable/commands/SwitchToGear.html      |   4 +-
 .../shiftable/commands/SwitchToHighGear.html  |   4 +-
 .../shiftable/commands/SwitchToLowGear.html   |   4 +-
 .../shiftable/commands/package-frame.html     |   4 +-
 .../shiftable/commands/package-summary.html   |   4 +-
 .../shiftable/commands/package-tree.html      |   4 +-
 .../shiftable/package-frame.html              |   4 +-
 .../shiftable/package-summary.html            |   4 +-
 .../shiftable/package-tree.html               |   4 +-
 .../simpleMotor/SimpleMotor.html              |   4 +-
 .../simpleMotor/package-frame.html            |   4 +-
 .../simpleMotor/package-summary.html          |   4 +-
 .../simpleMotor/package-tree.html             |   4 +-
 .../robot/jacksonWrappers/FPSTalon.html       |   4 +-
 .../robot/jacksonWrappers/MappedAHRS.html     |   4 +-
 .../jacksonWrappers/MappedDigitalInput.html   |   4 +-
 .../jacksonWrappers/MappedDoubleSolenoid.html |   4 +-
 .../robot/jacksonWrappers/MappedJoystick.html |   4 +-
 .../jacksonWrappers/MappedUsbCamera.html      |   4 +-
 .../robot/jacksonWrappers/MappedVictor.html   |   4 +-
 .../robot/jacksonWrappers/PressureSensor.html |   4 +-
 .../jacksonWrappers/SimpleMotorCluster.html   |   4 +-
 .../robot/jacksonWrappers/YamlCommand.html    |   4 +-
 .../YamlCommandGroupWrapper.html              |   4 +-
 .../jacksonWrappers/YamlCommandWrapper.html   |   4 +-
 .../robot/jacksonWrappers/YamlSubsystem.html  |   4 +-
 .../robot/jacksonWrappers/package-frame.html  |   4 +-
 .../jacksonWrappers/package-summary.html      |   8 +-
 .../robot/jacksonWrappers/package-tree.html   |   8 +-
 docs/org/usfirst/frc/team449/robot/oi/OI.html | 173 ++++++++++++++++++
 .../robot/oi/buttons/CommandButton.html       |   4 +-
 .../robot/oi/buttons/FactoryButton.html       |  22 +--
 .../oi/buttons/FactoryJoystickButton.html     |   4 +-
 .../robot/oi/buttons/TriggerButton.html       |   4 +-
 .../team449/robot/oi/buttons/dPadButton.html  |   4 +-
 .../robot/oi/buttons/package-frame.html       |   4 +-
 .../robot/oi/buttons/package-summary.html     |   8 +-
 .../robot/oi/buttons/package-tree.html        |   8 +-
 .../oi/fieldoriented/OIFieldOriented.html     |  11 +-
 .../fieldoriented/OIFieldOrientedPosCos.html  |  17 +-
 .../robot/oi/fieldoriented/package-frame.html |   4 +-
 .../oi/fieldoriented/package-summary.html     |   4 +-
 .../robot/oi/fieldoriented/package-tree.html  |   8 +-
 .../frc/team449/robot/oi/package-frame.html   |  20 ++
 .../frc/team449/robot/oi/package-summary.html | 140 ++++++++++++++
 .../frc/team449/robot/oi/package-tree.html    | 131 +++++++++++++
 .../team449/robot/oi/throttles/Throttle.html  |   4 +-
 .../oi/throttles/ThrottleDeadbanded.html      |   4 +-
 .../oi/throttles/ThrottleExponential.html     |   4 +-
 .../oi/throttles/ThrottlePolynomial.html      |   4 +-
 .../robot/oi/throttles/package-frame.html     |   4 +-
 .../robot/oi/throttles/package-summary.html   |   4 +-
 .../robot/oi/throttles/package-tree.html      |   4 +-
 .../robot/oi/unidirectional/OIOutreach.html   |   6 +-
 .../oi/unidirectional/OIUnidirectional.html   |  11 +-
 .../oi/unidirectional/arcade/OIArcade.html    |   6 +-
 .../unidirectional/arcade/OIArcadeSimple.html |   6 +-
 .../arcade/OIArcadeWithDPad.html              |   6 +-
 .../unidirectional/arcade/package-frame.html  |   4 +-
 .../arcade/package-summary.html               |   4 +-
 .../unidirectional/arcade/package-tree.html   |   4 +-
 .../oi/unidirectional/package-frame.html      |   4 +-
 .../oi/unidirectional/package-summary.html    |   4 +-
 .../robot/oi/unidirectional/package-tree.html |   8 +-
 .../robot/oi/unidirectional/tank/OITank.html  |   6 +-
 .../oi/unidirectional/tank/OITankSimple.html  |   6 +-
 .../oi/unidirectional/tank/package-frame.html |   4 +-
 .../unidirectional/tank/package-summary.html  |   4 +-
 .../oi/unidirectional/tank/package-tree.html  |   4 +-
 .../frc/team449/robot/other/BufferTimer.html  |   4 +-
 .../frc/team449/robot/other/LogEvent.html     |   4 +-
 .../frc/team449/robot/other/Logger.html       |   4 +-
 .../robot/other/MotionProfileData.html        |   4 +-
 .../frc/team449/robot/other/Polynomial.html   |   4 +-
 .../team449/robot/other/package-frame.html    |   4 +-
 .../team449/robot/other/package-summary.html  |   4 +-
 .../frc/team449/robot/other/package-tree.html |   4 +-
 .../frc/team449/robot/package-frame.html      |   4 +-
 .../frc/team449/robot/package-summary.html    |   4 +-
 .../frc/team449/robot/package-tree.html       |   4 +-
 .../climber/ClimberCurrentLimited.html        |   4 +-
 .../complex/climber/package-frame.html        |   4 +-
 .../complex/climber/package-summary.html      |   4 +-
 .../complex/climber/package-tree.html         |   4 +-
 .../intake/IntakeFixedAndActuated.html        |   4 +-
 .../complex/intake/package-frame.html         |   4 +-
 .../complex/intake/package-summary.html       |   4 +-
 .../complex/intake/package-tree.html          |   4 +-
 .../complex/shooter/LoggingShooter.html       |   4 +-
 .../complex/shooter/package-frame.html        |   4 +-
 .../complex/shooter/package-summary.html      |   4 +-
 .../complex/shooter/package-tree.html         |   4 +-
 .../binaryMotor/BinaryMotorSimple.html        |   4 +-
 .../binaryMotor/SubsystemBinaryMotor.html     |   4 +-
 .../binaryMotor/commands/ToggleMotor.html     |   4 +-
 .../binaryMotor/commands/TurnMotorOff.html    |   4 +-
 .../commands/TurnMotorOffWithRequires.html    |   4 +-
 .../binaryMotor/commands/TurnMotorOn.html     |   4 +-
 .../binaryMotor/commands/package-frame.html   |   4 +-
 .../binaryMotor/commands/package-summary.html |   4 +-
 .../binaryMotor/commands/package-tree.html    |   4 +-
 .../interfaces/binaryMotor/package-frame.html |   4 +-
 .../binaryMotor/package-summary.html          |   4 +-
 .../interfaces/binaryMotor/package-tree.html  |   4 +-
 .../conditional/SubsystemConditional.html     |   4 +-
 .../interfaces/conditional/package-frame.html |   4 +-
 .../conditional/package-summary.html          |   4 +-
 .../interfaces/conditional/package-tree.html  |   4 +-
 .../interfaces/intake/IntakeSimple.html       |   4 +-
 .../intake/SubsystemIntake.IntakeMode.html    |   4 +-
 .../interfaces/intake/SubsystemIntake.html    |   4 +-
 .../intake/commands/SetIntakeMode.html        |   4 +-
 .../intake/commands/ToggleIntaking.html       |   4 +-
 .../intake/commands/package-frame.html        |   4 +-
 .../intake/commands/package-summary.html      |   4 +-
 .../intake/commands/package-tree.html         |   4 +-
 .../interfaces/intake/package-frame.html      |   4 +-
 .../interfaces/intake/package-summary.html    |   4 +-
 .../interfaces/intake/package-tree.html       |   4 +-
 .../interfaces/motionProfile/SubsystemMP.html |   4 +-
 .../SubsystemMPTwoSides.html                  |   4 +-
 .../commands/LoadProfileTwoSides.html         |   4 +-
 .../commands/RunProfileTwoSides.html          |   4 +-
 .../commands/package-frame.html               |   4 +-
 .../commands/package-summary.html             |   4 +-
 .../commands/package-tree.html                |   4 +-
 .../TwoSideMPSubsystem/package-frame.html     |   4 +-
 .../TwoSideMPSubsystem/package-summary.html   |   4 +-
 .../TwoSideMPSubsystem/package-tree.html      |   4 +-
 .../motionProfile/commands/LoadProfile.html   |   4 +-
 .../commands/RunLoadedProfile.html            |   4 +-
 .../motionProfile/commands/RunProfile.html    |   4 +-
 .../motionProfile/commands/package-frame.html |   4 +-
 .../commands/package-summary.html             |   4 +-
 .../motionProfile/commands/package-tree.html  |   4 +-
 .../motionProfile/package-frame.html          |   4 +-
 .../motionProfile/package-summary.html        |   4 +-
 .../motionProfile/package-tree.html           |   4 +-
 .../interfaces/navX/SubsystemNavX.html        |   4 +-
 .../navX/commands/OverrideNavX.html           |   4 +-
 .../navX/commands/PIDAngleCommand.html        |   4 +-
 .../navX/commands/ToggleOverrideNavX.html     |   4 +-
 .../navX/commands/package-frame.html          |   4 +-
 .../navX/commands/package-summary.html        |   4 +-
 .../navX/commands/package-tree.html           |   4 +-
 .../interfaces/navX/package-frame.html        |   4 +-
 .../interfaces/navX/package-summary.html      |   4 +-
 .../interfaces/navX/package-tree.html         |   4 +-
 .../interfaces/shooter/ShooterSimple.html     |   4 +-
 .../SubsystemShooter.ShooterState.html        |   4 +-
 .../interfaces/shooter/SubsystemShooter.html  |   4 +-
 .../shooter/commands/SpinUpShooter.html       |   4 +-
 .../shooter/commands/SpinUpThenShoot.html     |   4 +-
 .../shooter/commands/ToggleShooting.html      |   4 +-
 .../shooter/commands/TurnAllOff.html          |   4 +-
 .../commands/TurnAllOffWithRequires.html      |   4 +-
 .../shooter/commands/TurnAllOn.html           |   4 +-
 .../shooter/commands/package-frame.html       |   4 +-
 .../shooter/commands/package-summary.html     |   4 +-
 .../shooter/commands/package-tree.html        |   4 +-
 .../interfaces/shooter/package-frame.html     |   4 +-
 .../interfaces/shooter/package-summary.html   |   4 +-
 .../interfaces/shooter/package-tree.html      |   4 +-
 .../interfaces/solenoid/SolenoidSimple.html   |   4 +-
 .../solenoid/SubsystemSolenoid.html           |   4 +-
 .../solenoid/commands/SolenoidForward.html    |   4 +-
 .../solenoid/commands/SolenoidOff.html        |   4 +-
 .../solenoid/commands/SolenoidReverse.html    |   4 +-
 .../solenoid/commands/ToggleSolenoid.html     |   4 +-
 .../solenoid/commands/package-frame.html      |   4 +-
 .../solenoid/commands/package-summary.html    |   4 +-
 .../solenoid/commands/package-tree.html       |   4 +-
 .../interfaces/solenoid/package-frame.html    |   4 +-
 .../interfaces/solenoid/package-summary.html  |   4 +-
 .../interfaces/solenoid/package-tree.html     |   4 +-
 .../camera/CameraNetwork.html                 |   4 +-
 .../camera/commands/ChangeCam.html            |   4 +-
 .../camera/commands/package-frame.html        |   4 +-
 .../camera/commands/package-summary.html      |   4 +-
 .../camera/commands/package-tree.html         |   4 +-
 .../camera/package-frame.html                 |   4 +-
 .../camera/package-summary.html               |   4 +-
 .../camera/package-tree.html                  |   4 +-
 .../pneumatics/Pneumatics.html                |   4 +-
 .../pneumatics/commands/StartCompressor.html  |   4 +-
 .../pneumatics/commands/package-frame.html    |   4 +-
 .../pneumatics/commands/package-summary.html  |   4 +-
 .../pneumatics/commands/package-tree.html     |   4 +-
 .../pneumatics/package-frame.html             |   4 +-
 .../pneumatics/package-summary.html           |   4 +-
 .../pneumatics/package-tree.html              |   4 +-
 docs/overview-frame.html                      |   5 +-
 docs/overview-summary.html                    |  64 ++++---
 docs/overview-tree.html                       |   9 +-
 docs/package-list                             |   1 +
 283 files changed, 1174 insertions(+), 662 deletions(-)
 create mode 100644 docs/org/usfirst/frc/team449/robot/oi/OI.html
 create mode 100644 docs/org/usfirst/frc/team449/robot/oi/package-frame.html
 create mode 100644 docs/org/usfirst/frc/team449/robot/oi/package-summary.html
 create mode 100644 docs/org/usfirst/frc/team449/robot/oi/package-tree.html

diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java
index 5f9e689e..0eb3087d 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java
@@ -121,8 +121,6 @@ protected void execute() {
 			}
 			this.getPIDController().setSetpoint(theta);
 			SmartDashboard.putNumber("Theta navx setpoint", theta);
-		} else {
-			System.out.println("Null theta");
 		}
 	}
 
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.java
index 22cd4dbf..f942ba09 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.java
@@ -49,6 +49,9 @@ public class OIFieldOrientedPosCos implements OIFieldOriented{
 	 */
 	private double x, y;
 
+	/**
+	 * The radius, from [0,1], within which the joystick is considered to be "at rest."
+	 */
 	private double rDeadband;
 
 	/**
@@ -56,6 +59,7 @@ public class OIFieldOrientedPosCos implements OIFieldOriented{
 	 *
 	 * @param xThrottle The throttle for the X-axis, which points towards the opposing driver station.
 	 * @param yThrottle The throttle for the Y-axis, which points towards the driver's left.
+	 * @param rDeadband The radius, from [0,1], within which the joystick is considered to be "at rest." Defaults to 0.
 	 */
 	@JsonCreator
 	public OIFieldOrientedPosCos(@NotNull @JsonProperty(required = true) Throttle xThrottle,
@@ -79,7 +83,6 @@ protected void calcValues(){
 			if (vel < rDeadband){
 				theta = null;
 				vel = 0;
-				System.out.println("Null");
 			} else {
 				//Use atan2 to get angle from -180 to 180
 				theta = Math.toDegrees(Math.atan2(y,x));
diff --git a/docs/allclasses-frame.html b/docs/allclasses-frame.html
index 4a583d1f..2ab30b0c 100644
--- a/docs/allclasses-frame.html
+++ b/docs/allclasses-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>All Classes (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <script type="text/javascript" src="script.js"></script>
 </head>
@@ -36,6 +36,7 @@ <h1 class="bar">All&nbsp;Classes</h1>
 <li><a href="org/usfirst/frc/team449/robot/oi/buttons/FactoryButton.html" title="class in org.usfirst.frc.team449.robot.oi.buttons" target="classFrame">FactoryButton</a></li>
 <li><a href="org/usfirst/frc/team449/robot/oi/buttons/FactoryJoystickButton.html" title="class in org.usfirst.frc.team449.robot.oi.buttons" target="classFrame">FactoryJoystickButton</a></li>
 <li><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive" target="classFrame">FieldOrientedUnidirectionalDriveCommand</a></li>
+<li><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive" target="classFrame">FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint</a></li>
 <li><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive" target="classFrame">FieldOrientedUnidirectionalDriveCommandShifting</a></li>
 <li><a href="org/usfirst/frc/team449/robot/commands/multiSubsystem/FireShooter.html" title="class in org.usfirst.frc.team449.robot.commands.multiSubsystem" target="classFrame">FireShooter</a></li>
 <li><a href="org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers" target="classFrame">FPSTalon</a></li>
@@ -59,6 +60,7 @@ <h1 class="bar">All&nbsp;Classes</h1>
 <li><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive" target="classFrame">NavXDriveStraight</a></li>
 <li><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive" target="classFrame">NavXTurnToAngle</a></li>
 <li><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngleRelative.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive" target="classFrame">NavXTurnToAngleRelative</a></li>
+<li><a href="org/usfirst/frc/team449/robot/oi/OI.html" title="interface in org.usfirst.frc.team449.robot.oi" target="classFrame"><span class="interfaceName">OI</span></a></li>
 <li><a href="org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcade.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional.arcade" target="classFrame">OIArcade</a></li>
 <li><a href="org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeSimple.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional.arcade" target="classFrame">OIArcadeSimple</a></li>
 <li><a href="org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeWithDPad.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional.arcade" target="classFrame">OIArcadeWithDPad</a></li>
diff --git a/docs/allclasses-noframe.html b/docs/allclasses-noframe.html
index cc49c6b4..85247d9e 100644
--- a/docs/allclasses-noframe.html
+++ b/docs/allclasses-noframe.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>All Classes (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <script type="text/javascript" src="script.js"></script>
 </head>
@@ -36,6 +36,7 @@ <h1 class="bar">All&nbsp;Classes</h1>
 <li><a href="org/usfirst/frc/team449/robot/oi/buttons/FactoryButton.html" title="class in org.usfirst.frc.team449.robot.oi.buttons">FactoryButton</a></li>
 <li><a href="org/usfirst/frc/team449/robot/oi/buttons/FactoryJoystickButton.html" title="class in org.usfirst.frc.team449.robot.oi.buttons">FactoryJoystickButton</a></li>
 <li><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand</a></li>
+<li><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint</a></li>
 <li><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommandShifting</a></li>
 <li><a href="org/usfirst/frc/team449/robot/commands/multiSubsystem/FireShooter.html" title="class in org.usfirst.frc.team449.robot.commands.multiSubsystem">FireShooter</a></li>
 <li><a href="org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">FPSTalon</a></li>
@@ -59,6 +60,7 @@ <h1 class="bar">All&nbsp;Classes</h1>
 <li><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">NavXDriveStraight</a></li>
 <li><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">NavXTurnToAngle</a></li>
 <li><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngleRelative.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">NavXTurnToAngleRelative</a></li>
+<li><a href="org/usfirst/frc/team449/robot/oi/OI.html" title="interface in org.usfirst.frc.team449.robot.oi"><span class="interfaceName">OI</span></a></li>
 <li><a href="org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcade.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional.arcade">OIArcade</a></li>
 <li><a href="org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeSimple.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional.arcade">OIArcadeSimple</a></li>
 <li><a href="org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeWithDPad.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional.arcade">OIArcadeWithDPad</a></li>
diff --git a/docs/constant-values.html b/docs/constant-values.html
index 74c592be..550d0838 100644
--- a/docs/constant-values.html
+++ b/docs/constant-values.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>Constant Field Values (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <script type="text/javascript" src="script.js"></script>
 </head>
diff --git a/docs/deprecated-list.html b/docs/deprecated-list.html
index 52844d4e..646eee46 100644
--- a/docs/deprecated-list.html
+++ b/docs/deprecated-list.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>Deprecated List (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <script type="text/javascript" src="script.js"></script>
 </head>
diff --git a/docs/help-doc.html b/docs/help-doc.html
index a1b611a4..5ec977af 100644
--- a/docs/help-doc.html
+++ b/docs/help-doc.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>API Help (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <script type="text/javascript" src="script.js"></script>
 </head>
diff --git a/docs/index-all.html b/docs/index-all.html
index 6c235631..9d643aef 100644
--- a/docs/index-all.html
+++ b/docs/index-all.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>Index (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <script type="text/javascript" src="script.js"></script>
 </head>
@@ -681,7 +681,7 @@ <h2 class="title">F</h2>
 <dd>
 <div class="block">Unidirectional drive with field-oriented control</div>
 </dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html#FieldOrientedUnidirectionalDriveCommand-double-int-double-java.lang.Double-double-boolean-int-int-int-T-org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented-java.util.List-">FieldOrientedUnidirectionalDriveCommand(double, int, double, Double, double, boolean, int, int, int, T, OIFieldOriented, List&lt;FieldOrientedUnidirectionalDriveCommand&lt;T&gt;.AngularSnapPoint&gt;)</a></span> - Constructor for class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand</a></dt>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html#FieldOrientedUnidirectionalDriveCommand-double-int-double-java.lang.Double-double-boolean-double-double-double-T-org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented-java.util.List-">FieldOrientedUnidirectionalDriveCommand(double, int, double, Double, double, boolean, double, double, double, T, OIFieldOriented, List&lt;FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint&gt;)</a></span> - Constructor for class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand</a></dt>
 <dd>
 <div class="block">Default constructor</div>
 </dd>
@@ -693,7 +693,7 @@ <h2 class="title">F</h2>
 <dd>
 <div class="block">Unidirectional drive with field-oriented control and autoshifting.</div>
 </dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html#FieldOrientedUnidirectionalDriveCommandShifting-double-int-double-java.lang.Double-double-boolean-int-int-int-T-org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented-java.util.List-org.usfirst.frc.team449.robot.components.AutoshiftComponent-">FieldOrientedUnidirectionalDriveCommandShifting(double, int, double, Double, double, boolean, int, int, int, T, OIFieldOriented, List&lt;FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint&gt;, AutoshiftComponent)</a></span> - Constructor for class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommandShifting</a></dt>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html#FieldOrientedUnidirectionalDriveCommandShifting-double-int-double-java.lang.Double-double-boolean-double-double-double-T-org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented-java.util.List-org.usfirst.frc.team449.robot.components.AutoshiftComponent-">FieldOrientedUnidirectionalDriveCommandShifting(double, int, double, Double, double, boolean, double, double, double, T, OIFieldOriented, List&lt;FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint&gt;, AutoshiftComponent)</a></span> - Constructor for class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommandShifting</a></dt>
 <dd>
 <div class="block">Default constructor</div>
 </dd>
@@ -1855,6 +1855,8 @@ <h2 class="title">O</h2>
 <dd>
 <div class="block">The OI used for input.</div>
 </dd>
+<dt><a href="org/usfirst/frc/team449/robot/oi/OI.html" title="interface in org.usfirst.frc.team449.robot.oi"><span class="typeNameLink">OI</span></a> - Interface in <a href="org/usfirst/frc/team449/robot/oi/package-summary.html">org.usfirst.frc.team449.robot.oi</a></dt>
+<dd>&nbsp;</dd>
 <dt><a href="org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcade.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional.arcade"><span class="typeNameLink">OIArcade</span></a> - Class in <a href="org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-summary.html">org.usfirst.frc.team449.robot.oi.unidirectional.arcade</a></dt>
 <dd>
 <div class="block">An arcade-style dual joystick OI.</div>
@@ -1885,7 +1887,7 @@ <h2 class="title">O</h2>
 <dd>
 <div class="block">A field-oriented OI that always points the robot an angle where cosine is positive, i.e.</div>
 </dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html#OIFieldOrientedPosCos-org.usfirst.frc.team449.robot.oi.throttles.Throttle-org.usfirst.frc.team449.robot.oi.throttles.Throttle-">OIFieldOrientedPosCos(Throttle, Throttle)</a></span> - Constructor for class org.usfirst.frc.team449.robot.oi.fieldoriented.<a href="org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html" title="class in org.usfirst.frc.team449.robot.oi.fieldoriented">OIFieldOrientedPosCos</a></dt>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html#OIFieldOrientedPosCos-org.usfirst.frc.team449.robot.oi.throttles.Throttle-org.usfirst.frc.team449.robot.oi.throttles.Throttle-double-">OIFieldOrientedPosCos(Throttle, Throttle, double)</a></span> - Constructor for class org.usfirst.frc.team449.robot.oi.fieldoriented.<a href="org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html" title="class in org.usfirst.frc.team449.robot.oi.fieldoriented">OIFieldOrientedPosCos</a></dt>
 <dd>
 <div class="block">Default constructor</div>
 </dd>
@@ -1945,6 +1947,8 @@ <h2 class="title">O</h2>
 <dd>&nbsp;</dd>
 <dt><a href="org/usfirst/frc/team449/robot/jacksonWrappers/package-summary.html">org.usfirst.frc.team449.robot.jacksonWrappers</a> - package org.usfirst.frc.team449.robot.jacksonWrappers</dt>
 <dd>&nbsp;</dd>
+<dt><a href="org/usfirst/frc/team449/robot/oi/package-summary.html">org.usfirst.frc.team449.robot.oi</a> - package org.usfirst.frc.team449.robot.oi</dt>
+<dd>&nbsp;</dd>
 <dt><a href="org/usfirst/frc/team449/robot/oi/buttons/package-summary.html">org.usfirst.frc.team449.robot.oi.buttons</a> - package org.usfirst.frc.team449.robot.oi.buttons</dt>
 <dd>&nbsp;</dd>
 <dt><a href="org/usfirst/frc/team449/robot/oi/fieldoriented/package-summary.html">org.usfirst.frc.team449.robot.oi.fieldoriented</a> - package org.usfirst.frc.team449.robot.oi.fieldoriented</dt>
@@ -2169,7 +2173,7 @@ <h2 class="title">R</h2>
 <dd>
 <div class="block">The Jackson-compatible object representing the entire robot.</div>
 </dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/RobotMap2017.html#RobotMap2017-java.util.List-org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional-org.usfirst.frc.team449.robot.other.Logger-org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited-org.usfirst.frc.team449.robot.subsystem.complex.shooter.LoggingShooter-org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.CameraNetwork-org.usfirst.frc.team449.robot.subsystem.complex.intake.IntakeFixedAndActuated-org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.Pneumatics-org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SolenoidSimple-java.lang.Integer-org.usfirst.frc.team449.robot.jacksonWrappers.MappedDigitalInput-org.usfirst.frc.team449.robot.jacksonWrappers.MappedDigitalInput-org.usfirst.frc.team449.robot.jacksonWrappers.MappedDigitalInput-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.other.MotionProfileData-org.usfirst.frc.team449.robot.other.MotionProfileData-java.util.Map-java.util.Map-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-boolean-java.lang.Boolean-">RobotMap2017(List&lt;CommandButton&gt;, OIUnidirectional, Logger, DriveTalonCluster, YamlCommand, ClimberCurrentLimited, LoggingShooter, CameraNetwork, IntakeFixedAndActuated, Pneumatics, SolenoidSimple, Integer, MappedDigitalInput, MappedDigitalInput, MappedDigitalInput, YamlCommand, YamlCommand, YamlCommand, MotionProfileData, MotionProfileData, Map&lt;String, MotionProfileData&gt;, Map&lt;String, MotionProfileData&gt;, YamlCommand, YamlCommand, YamlCommand, boolean, Boolean)</a></span> - Constructor for class org.usfirst.frc.team449.robot.<a href="org/usfirst/frc/team449/robot/RobotMap2017.html" title="class in org.usfirst.frc.team449.robot">RobotMap2017</a></dt>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/RobotMap2017.html#RobotMap2017-java.util.List-org.usfirst.frc.team449.robot.oi.OI-org.usfirst.frc.team449.robot.other.Logger-org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited-org.usfirst.frc.team449.robot.subsystem.complex.shooter.LoggingShooter-org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.CameraNetwork-org.usfirst.frc.team449.robot.subsystem.complex.intake.IntakeFixedAndActuated-org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.Pneumatics-org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SolenoidSimple-java.lang.Integer-org.usfirst.frc.team449.robot.jacksonWrappers.MappedDigitalInput-org.usfirst.frc.team449.robot.jacksonWrappers.MappedDigitalInput-org.usfirst.frc.team449.robot.jacksonWrappers.MappedDigitalInput-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.other.MotionProfileData-org.usfirst.frc.team449.robot.other.MotionProfileData-java.util.Map-java.util.Map-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-boolean-java.lang.Boolean-">RobotMap2017(List&lt;CommandButton&gt;, OI, Logger, DriveTalonCluster, YamlCommand, ClimberCurrentLimited, LoggingShooter, CameraNetwork, IntakeFixedAndActuated, Pneumatics, SolenoidSimple, Integer, MappedDigitalInput, MappedDigitalInput, MappedDigitalInput, YamlCommand, YamlCommand, YamlCommand, MotionProfileData, MotionProfileData, Map&lt;String, MotionProfileData&gt;, Map&lt;String, MotionProfileData&gt;, YamlCommand, YamlCommand, YamlCommand, boolean, Boolean)</a></span> - Constructor for class org.usfirst.frc.team449.robot.<a href="org/usfirst/frc/team449/robot/RobotMap2017.html" title="class in org.usfirst.frc.team449.robot">RobotMap2017</a></dt>
 <dd>
 <div class="block">Default constructor.</div>
 </dd>
@@ -2813,7 +2817,7 @@ <h2 class="title">U</h2>
 <dd>
 <div class="block">Drive with arcade drive setup, and when the driver isn't turning, use a NavX to stabilize the robot's alignment.</div>
 </dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html#UnidirectionalNavXDefaultDrive-double-int-double-java.lang.Double-double-java.lang.Double-boolean-int-int-int-org.usfirst.frc.team449.robot.other.BufferTimer-T-org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional-">UnidirectionalNavXDefaultDrive(double, int, double, Double, double, Double, boolean, int, int, int, BufferTimer, T, OIUnidirectional)</a></span> - Constructor for class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">UnidirectionalNavXDefaultDrive</a></dt>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html#UnidirectionalNavXDefaultDrive-double-int-double-java.lang.Double-double-java.lang.Double-boolean-double-double-double-org.usfirst.frc.team449.robot.other.BufferTimer-T-org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional-">UnidirectionalNavXDefaultDrive(double, int, double, Double, double, Double, boolean, double, double, double, BufferTimer, T, OIUnidirectional)</a></span> - Constructor for class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">UnidirectionalNavXDefaultDrive</a></dt>
 <dd>
 <div class="block">Default constructor</div>
 </dd>
@@ -2822,7 +2826,7 @@ <h2 class="title">U</h2>
 <div class="block">Drive with arcade drive setup, autoshift, and when the driver isn't turning, use a NavX to stabilize the robot's
  alignment.</div>
 </dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html#UnidirectionalNavXShiftingDefaultDrive-double-int-double-java.lang.Double-double-java.lang.Double-boolean-int-int-int-org.usfirst.frc.team449.robot.other.BufferTimer-T-org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional-org.usfirst.frc.team449.robot.components.AutoshiftComponent-">UnidirectionalNavXShiftingDefaultDrive(double, int, double, Double, double, Double, boolean, int, int, int, BufferTimer, T, OIUnidirectional, AutoshiftComponent)</a></span> - Constructor for class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">UnidirectionalNavXShiftingDefaultDrive</a></dt>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html#UnidirectionalNavXShiftingDefaultDrive-double-int-double-java.lang.Double-double-java.lang.Double-boolean-double-double-double-org.usfirst.frc.team449.robot.other.BufferTimer-T-org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional-org.usfirst.frc.team449.robot.components.AutoshiftComponent-">UnidirectionalNavXShiftingDefaultDrive(double, int, double, Double, double, Double, boolean, double, double, double, BufferTimer, T, OIUnidirectional, AutoshiftComponent)</a></span> - Constructor for class org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">UnidirectionalNavXShiftingDefaultDrive</a></dt>
 <dd>
 <div class="block">Default constructor</div>
 </dd>
diff --git a/docs/index.html b/docs/index.html
index 8437cfa9..3b3e8e27 100644
--- a/docs/index.html
+++ b/docs/index.html
@@ -2,7 +2,7 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>RoboRIO 1.0 API</title>
 <script type="text/javascript">
     tmpTargetPage = "" + window.location.search;
diff --git a/docs/org/usfirst/frc/team449/robot/Robot.html b/docs/org/usfirst/frc/team449/robot/Robot.html
index e4cb2f4d..53ddcd97 100644
--- a/docs/org/usfirst/frc/team449/robot/Robot.html
+++ b/docs/org/usfirst/frc/team449/robot/Robot.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>Robot (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/RobotMap2017.html b/docs/org/usfirst/frc/team449/robot/RobotMap2017.html
index 57d2b6ab..6e4766bb 100644
--- a/docs/org/usfirst/frc/team449/robot/RobotMap2017.html
+++ b/docs/org/usfirst/frc/team449/robot/RobotMap2017.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>RobotMap2017 (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../script.js"></script>
 </head>
@@ -129,8 +129,8 @@ <h3>Constructor Summary</h3>
 <th class="colOne" scope="col">Constructor and Description</th>
 </tr>
 <tr class="altColor">
-<td class="colOne"><code><span class="memberNameLink"><a href="../../../../../org/usfirst/frc/team449/robot/RobotMap2017.html#RobotMap2017-java.util.List-org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional-org.usfirst.frc.team449.robot.other.Logger-org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited-org.usfirst.frc.team449.robot.subsystem.complex.shooter.LoggingShooter-org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.CameraNetwork-org.usfirst.frc.team449.robot.subsystem.complex.intake.IntakeFixedAndActuated-org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.Pneumatics-org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SolenoidSimple-java.lang.Integer-org.usfirst.frc.team449.robot.jacksonWrappers.MappedDigitalInput-org.usfirst.frc.team449.robot.jacksonWrappers.MappedDigitalInput-org.usfirst.frc.team449.robot.jacksonWrappers.MappedDigitalInput-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.other.MotionProfileData-org.usfirst.frc.team449.robot.other.MotionProfileData-java.util.Map-java.util.Map-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-boolean-java.lang.Boolean-">RobotMap2017</a></span>(java.util.List&lt;<a href="../../../../../org/usfirst/frc/team449/robot/oi/buttons/CommandButton.html" title="class in org.usfirst.frc.team449.robot.oi.buttons">CommandButton</a>&gt;&nbsp;buttons,
-            <a href="../../../../../org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.oi.unidirectional">OIUnidirectional</a>&nbsp;oi,
+<td class="colOne"><code><span class="memberNameLink"><a href="../../../../../org/usfirst/frc/team449/robot/RobotMap2017.html#RobotMap2017-java.util.List-org.usfirst.frc.team449.robot.oi.OI-org.usfirst.frc.team449.robot.other.Logger-org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited-org.usfirst.frc.team449.robot.subsystem.complex.shooter.LoggingShooter-org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.CameraNetwork-org.usfirst.frc.team449.robot.subsystem.complex.intake.IntakeFixedAndActuated-org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.Pneumatics-org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SolenoidSimple-java.lang.Integer-org.usfirst.frc.team449.robot.jacksonWrappers.MappedDigitalInput-org.usfirst.frc.team449.robot.jacksonWrappers.MappedDigitalInput-org.usfirst.frc.team449.robot.jacksonWrappers.MappedDigitalInput-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.other.MotionProfileData-org.usfirst.frc.team449.robot.other.MotionProfileData-java.util.Map-java.util.Map-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-boolean-java.lang.Boolean-">RobotMap2017</a></span>(java.util.List&lt;<a href="../../../../../org/usfirst/frc/team449/robot/oi/buttons/CommandButton.html" title="class in org.usfirst.frc.team449.robot.oi.buttons">CommandButton</a>&gt;&nbsp;buttons,
+            <a href="../../../../../org/usfirst/frc/team449/robot/oi/OI.html" title="interface in org.usfirst.frc.team449.robot.oi">OI</a>&nbsp;oi,
             <a href="../../../../../org/usfirst/frc/team449/robot/other/Logger.html" title="class in org.usfirst.frc.team449.robot.other">Logger</a>&nbsp;logger,
             <a href="../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.html" title="class in org.usfirst.frc.team449.robot.drive.unidirectional">DriveTalonCluster</a>&nbsp;drive,
             <a href="../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommand.html" title="interface in org.usfirst.frc.team449.robot.jacksonWrappers">YamlCommand</a>&nbsp;defaultDriveCommand,
@@ -251,7 +251,7 @@ <h3>Method Summary</h3>
 <td class="colLast"><code><span class="memberNameLink"><a href="../../../../../org/usfirst/frc/team449/robot/RobotMap2017.html#getNonMPAutoCommand--">getNonMPAutoCommand</a></span>()</code>&nbsp;</td>
 </tr>
 <tr id="i19" class="rowColor">
-<td class="colFirst"><code><a href="../../../../../org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.oi.unidirectional">OIUnidirectional</a></code></td>
+<td class="colFirst"><code><a href="../../../../../org/usfirst/frc/team449/robot/oi/OI.html" title="interface in org.usfirst.frc.team449.robot.oi">OI</a></code></td>
 <td class="colLast"><code><span class="memberNameLink"><a href="../../../../../org/usfirst/frc/team449/robot/RobotMap2017.html#getOI--">getOI</a></span>()</code>&nbsp;</td>
 </tr>
 <tr id="i20" class="altColor">
@@ -304,7 +304,7 @@ <h3>Methods inherited from class&nbsp;java.lang.Object</h3>
 <!--   -->
 </a>
 <h3>Constructor Detail</h3>
-<a name="RobotMap2017-java.util.List-org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional-org.usfirst.frc.team449.robot.other.Logger-org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited-org.usfirst.frc.team449.robot.subsystem.complex.shooter.LoggingShooter-org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.CameraNetwork-org.usfirst.frc.team449.robot.subsystem.complex.intake.IntakeFixedAndActuated-org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.Pneumatics-org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SolenoidSimple-java.lang.Integer-org.usfirst.frc.team449.robot.jacksonWrappers.MappedDigitalInput-org.usfirst.frc.team449.robot.jacksonWrappers.MappedDigitalInput-org.usfirst.frc.team449.robot.jacksonWrappers.MappedDigitalInput-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.other.MotionProfileData-org.usfirst.frc.team449.robot.other.MotionProfileData-java.util.Map-java.util.Map-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-boolean-java.lang.Boolean-">
+<a name="RobotMap2017-java.util.List-org.usfirst.frc.team449.robot.oi.OI-org.usfirst.frc.team449.robot.other.Logger-org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited-org.usfirst.frc.team449.robot.subsystem.complex.shooter.LoggingShooter-org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.CameraNetwork-org.usfirst.frc.team449.robot.subsystem.complex.intake.IntakeFixedAndActuated-org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.Pneumatics-org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SolenoidSimple-java.lang.Integer-org.usfirst.frc.team449.robot.jacksonWrappers.MappedDigitalInput-org.usfirst.frc.team449.robot.jacksonWrappers.MappedDigitalInput-org.usfirst.frc.team449.robot.jacksonWrappers.MappedDigitalInput-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.other.MotionProfileData-org.usfirst.frc.team449.robot.other.MotionProfileData-java.util.Map-java.util.Map-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand-boolean-java.lang.Boolean-">
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 </a>
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@@ -313,7 +313,7 @@ <h4>RobotMap2017</h4>
 <pre>public&nbsp;RobotMap2017(@NotNull
                     java.util.List&lt;<a href="../../../../../org/usfirst/frc/team449/robot/oi/buttons/CommandButton.html" title="class in org.usfirst.frc.team449.robot.oi.buttons">CommandButton</a>&gt;&nbsp;buttons,
                     @NotNull
-                    <a href="../../../../../org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.oi.unidirectional">OIUnidirectional</a>&nbsp;oi,
+                    <a href="../../../../../org/usfirst/frc/team449/robot/oi/OI.html" title="interface in org.usfirst.frc.team449.robot.oi">OI</a>&nbsp;oi,
                     @NotNull
                     <a href="../../../../../org/usfirst/frc/team449/robot/other/Logger.html" title="class in org.usfirst.frc.team449.robot.other">Logger</a>&nbsp;logger,
                     @NotNull
@@ -438,7 +438,7 @@ <h4>getButtons</h4>
 <li class="blockList">
 <h4>getOI</h4>
 <pre>@NotNull
-public&nbsp;<a href="../../../../../org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.oi.unidirectional">OIUnidirectional</a>&nbsp;getOI()</pre>
+public&nbsp;<a href="../../../../../org/usfirst/frc/team449/robot/oi/OI.html" title="interface in org.usfirst.frc.team449.robot.oi">OI</a>&nbsp;getOI()</pre>
 <dl>
 <dt><span class="returnLabel">Returns:</span></dt>
 <dd>The OI for controlling this robot's drive.</dd>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Boiler.html b/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Boiler.html
index b346c926..9ed78308 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Boiler.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Boiler.html
@@ -2,9 +2,9 @@
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>Auto2017Boiler (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Center.html b/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Center.html
index 8bda561d..54fec83a 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Center.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Center.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>Auto2017Center (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Feeder.html b/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Feeder.html
index f2535be1..9afad52d 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Feeder.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Feeder.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>Auto2017Feeder (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/autonomous/package-frame.html b/docs/org/usfirst/frc/team449/robot/commands/autonomous/package-frame.html
index 28bb72ad..23a350af 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/autonomous/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/autonomous/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.commands.autonomous (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/autonomous/package-summary.html b/docs/org/usfirst/frc/team449/robot/commands/autonomous/package-summary.html
index 7218f978..284bb69f 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/autonomous/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/autonomous/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.commands.autonomous (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/autonomous/package-tree.html b/docs/org/usfirst/frc/team449/robot/commands/autonomous/package-tree.html
index 45f10cfd..5600f00b 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/autonomous/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/autonomous/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.commands.autonomous Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/general/CommandSequence.html b/docs/org/usfirst/frc/team449/robot/commands/general/CommandSequence.html
index d98ea5fa..e88011ac 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/general/CommandSequence.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/general/CommandSequence.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>CommandSequence (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/general/ParallelCommandGroup.html b/docs/org/usfirst/frc/team449/robot/commands/general/ParallelCommandGroup.html
index daf95f18..bcc2df64 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/general/ParallelCommandGroup.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/general/ParallelCommandGroup.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>ParallelCommandGroup (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/general/WaitForMillis.html b/docs/org/usfirst/frc/team449/robot/commands/general/WaitForMillis.html
index e3c68294..16908bdf 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/general/WaitForMillis.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/general/WaitForMillis.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>WaitForMillis (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/general/package-frame.html b/docs/org/usfirst/frc/team449/robot/commands/general/package-frame.html
index 9017cf24..8130844a 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/general/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/general/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.commands.general (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/general/package-summary.html b/docs/org/usfirst/frc/team449/robot/commands/general/package-summary.html
index 2001a66c..7eb635d0 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/general/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/general/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.commands.general (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/general/package-tree.html b/docs/org/usfirst/frc/team449/robot/commands/general/package-tree.html
index fdf08ecd..30adc694 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/general/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/general/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.commands.general Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/RunMotorWhileConditonMet.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/RunMotorWhileConditonMet.html
index 39529cc6..0044ae0f 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/RunMotorWhileConditonMet.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/RunMotorWhileConditonMet.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>RunMotorWhileConditonMet (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html
index afd08e32..53e9640c 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
@@ -112,7 +112,7 @@ <h2 title="Class FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint" class
 </dl>
 <hr>
 <br>
-<pre>protected class <span class="typeNameLabel">FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint</span>
+<pre>protected static class <span class="typeNameLabel">FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint</span>
 extends java.lang.Object</pre>
 <div class="block">A data-holding class representing an angular setpoint to "snap" the controller output to.</div>
 </li>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html
index 9fad2d55..773a84c3 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>FieldOrientedUnidirectionalDriveCommand (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
@@ -153,7 +153,7 @@ <h3>Nested Class Summary</h3>
 <th class="colLast" scope="col">Class and Description</th>
 </tr>
 <tr class="altColor">
-<td class="colFirst"><code>protected class&nbsp;</code></td>
+<td class="colFirst"><code>protected static class&nbsp;</code></td>
 <td class="colLast"><code><span class="memberNameLink"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint</a></span></code>
 <div class="block">A data-holding class representing an angular setpoint to "snap" the controller output to.</div>
 </td>
@@ -200,15 +200,15 @@ <h3>Constructor Summary</h3>
 <th class="colOne" scope="col">Constructor and Description</th>
 </tr>
 <tr class="altColor">
-<td class="colOne"><code><span class="memberNameLink"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html#FieldOrientedUnidirectionalDriveCommand-double-int-double-java.lang.Double-double-boolean-int-int-int-T-org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented-java.util.List-">FieldOrientedUnidirectionalDriveCommand</a></span>(double&nbsp;absoluteTolerance,
+<td class="colOne"><code><span class="memberNameLink"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html#FieldOrientedUnidirectionalDriveCommand-double-int-double-java.lang.Double-double-boolean-double-double-double-T-org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented-java.util.List-">FieldOrientedUnidirectionalDriveCommand</a></span>(double&nbsp;absoluteTolerance,
                                        int&nbsp;toleranceBuffer,
                                        double&nbsp;minimumOutput,
                                        java.lang.Double&nbsp;maximumOutput,
                                        double&nbsp;deadband,
                                        boolean&nbsp;inverted,
-                                       int&nbsp;kP,
-                                       int&nbsp;kI,
-                                       int&nbsp;kD,
+                                       double&nbsp;kP,
+                                       double&nbsp;kI,
+                                       double&nbsp;kD,
                                        <a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="type parameter in FieldOrientedUnidirectionalDriveCommand">T</a>&nbsp;subsystem,
                                        <a href="../../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html" title="interface in org.usfirst.frc.team449.robot.oi.fieldoriented">OIFieldOriented</a>&nbsp;oi,
                                        java.util.List&lt;<a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint</a>&gt;&nbsp;snapPoints)</code>
@@ -346,9 +346,9 @@ <h4>oi</h4>
 <!--   -->
 </a>
 <h3>Constructor Detail</h3>
-<a name="FieldOrientedUnidirectionalDriveCommand-double-int-double-java.lang.Double-double-boolean-int-int-int-org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem-org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented-java.util.List-">
+<a name="FieldOrientedUnidirectionalDriveCommand-double-int-double-java.lang.Double-double-boolean-double-double-double-org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem-org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented-java.util.List-">
 <!--   -->
-</a><a name="FieldOrientedUnidirectionalDriveCommand-double-int-double-java.lang.Double-double-boolean-int-int-int-T-org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented-java.util.List-">
+</a><a name="FieldOrientedUnidirectionalDriveCommand-double-int-double-java.lang.Double-double-boolean-double-double-double-T-org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented-java.util.List-">
 <!--   -->
 </a>
 <ul class="blockListLast">
@@ -361,9 +361,9 @@ <h4>FieldOrientedUnidirectionalDriveCommand</h4>
                                                java.lang.Double&nbsp;maximumOutput,
                                                double&nbsp;deadband,
                                                boolean&nbsp;inverted,
-                                               int&nbsp;kP,
-                                               int&nbsp;kI,
-                                               int&nbsp;kD,
+                                               double&nbsp;kP,
+                                               double&nbsp;kI,
+                                               double&nbsp;kD,
                                                @NotNull
                                                <a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="type parameter in FieldOrientedUnidirectionalDriveCommand">T</a>&nbsp;subsystem,
                                                @NotNull
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html
index 9c1070ed..86fc0ef0 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>FieldOrientedUnidirectionalDriveCommandShifting (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
@@ -196,15 +196,15 @@ <h3>Constructor Summary</h3>
 <th class="colOne" scope="col">Constructor and Description</th>
 </tr>
 <tr class="altColor">
-<td class="colOne"><code><span class="memberNameLink"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html#FieldOrientedUnidirectionalDriveCommandShifting-double-int-double-java.lang.Double-double-boolean-int-int-int-T-org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented-java.util.List-org.usfirst.frc.team449.robot.components.AutoshiftComponent-">FieldOrientedUnidirectionalDriveCommandShifting</a></span>(double&nbsp;absoluteTolerance,
+<td class="colOne"><code><span class="memberNameLink"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html#FieldOrientedUnidirectionalDriveCommandShifting-double-int-double-java.lang.Double-double-boolean-double-double-double-T-org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented-java.util.List-org.usfirst.frc.team449.robot.components.AutoshiftComponent-">FieldOrientedUnidirectionalDriveCommandShifting</a></span>(double&nbsp;absoluteTolerance,
                                                int&nbsp;toleranceBuffer,
                                                double&nbsp;minimumOutput,
                                                java.lang.Double&nbsp;maximumOutput,
                                                double&nbsp;deadband,
                                                boolean&nbsp;inverted,
-                                               int&nbsp;kP,
-                                               int&nbsp;kI,
-                                               int&nbsp;kD,
+                                               double&nbsp;kP,
+                                               double&nbsp;kI,
+                                               double&nbsp;kD,
                                                <a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="type parameter in FieldOrientedUnidirectionalDriveCommandShifting">T</a>&nbsp;subsystem,
                                                <a href="../../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html" title="interface in org.usfirst.frc.team449.robot.oi.fieldoriented">OIFieldOriented</a>&nbsp;oi,
                                                java.util.List&lt;<a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint</a>&gt;&nbsp;snapPoints,
@@ -321,9 +321,9 @@ <h4>subsystem</h4>
 <!--   -->
 </a>
 <h3>Constructor Detail</h3>
-<a name="FieldOrientedUnidirectionalDriveCommandShifting-double-int-double-java.lang.Double-double-boolean-int-int-int-org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem-org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented-java.util.List-org.usfirst.frc.team449.robot.components.AutoshiftComponent-">
+<a name="FieldOrientedUnidirectionalDriveCommandShifting-double-int-double-java.lang.Double-double-boolean-double-double-double-org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem-org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented-java.util.List-org.usfirst.frc.team449.robot.components.AutoshiftComponent-">
 <!--   -->
-</a><a name="FieldOrientedUnidirectionalDriveCommandShifting-double-int-double-java.lang.Double-double-boolean-int-int-int-T-org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented-java.util.List-org.usfirst.frc.team449.robot.components.AutoshiftComponent-">
+</a><a name="FieldOrientedUnidirectionalDriveCommandShifting-double-int-double-java.lang.Double-double-boolean-double-double-double-T-org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented-java.util.List-org.usfirst.frc.team449.robot.components.AutoshiftComponent-">
 <!--   -->
 </a>
 <ul class="blockListLast">
@@ -336,9 +336,9 @@ <h4>FieldOrientedUnidirectionalDriveCommandShifting</h4>
                                                        java.lang.Double&nbsp;maximumOutput,
                                                        double&nbsp;deadband,
                                                        boolean&nbsp;inverted,
-                                                       int&nbsp;kP,
-                                                       int&nbsp;kI,
-                                                       int&nbsp;kD,
+                                                       double&nbsp;kP,
+                                                       double&nbsp;kI,
+                                                       double&nbsp;kD,
                                                        @NotNull
                                                        <a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="type parameter in FieldOrientedUnidirectionalDriveCommandShifting">T</a>&nbsp;subsystem,
                                                        @NotNull
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/JiggleRobot.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/JiggleRobot.html
index 85a96813..0daaa87d 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/JiggleRobot.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/JiggleRobot.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>JiggleRobot (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html
index 91c138c3..87ff34d4 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>NavXDriveStraight (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.html
index de54062c..7d27289b 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>NavXTurnToAngle (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngleRelative.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngleRelative.html
index c6d479b6..7825bfca 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngleRelative.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngleRelative.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>NavXTurnToAngleRelative (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html
index aa775ad7..3e84bd29 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>UnidirectionalNavXDefaultDrive (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
@@ -179,16 +179,16 @@ <h3>Constructor Summary</h3>
 <th class="colOne" scope="col">Constructor and Description</th>
 </tr>
 <tr class="altColor">
-<td class="colOne"><code><span class="memberNameLink"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html#UnidirectionalNavXDefaultDrive-double-int-double-java.lang.Double-double-java.lang.Double-boolean-int-int-int-org.usfirst.frc.team449.robot.other.BufferTimer-T-org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional-">UnidirectionalNavXDefaultDrive</a></span>(double&nbsp;absoluteTolerance,
+<td class="colOne"><code><span class="memberNameLink"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html#UnidirectionalNavXDefaultDrive-double-int-double-java.lang.Double-double-java.lang.Double-boolean-double-double-double-org.usfirst.frc.team449.robot.other.BufferTimer-T-org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional-">UnidirectionalNavXDefaultDrive</a></span>(double&nbsp;absoluteTolerance,
                               int&nbsp;toleranceBuffer,
                               double&nbsp;minimumOutput,
                               java.lang.Double&nbsp;maximumOutput,
                               double&nbsp;deadband,
                               java.lang.Double&nbsp;maxAngularVelToEnterLoop,
                               boolean&nbsp;inverted,
-                              int&nbsp;kP,
-                              int&nbsp;kI,
-                              int&nbsp;kD,
+                              double&nbsp;kP,
+                              double&nbsp;kI,
+                              double&nbsp;kD,
                               <a href="../../../../../../../../org/usfirst/frc/team449/robot/other/BufferTimer.html" title="class in org.usfirst.frc.team449.robot.other">BufferTimer</a>&nbsp;driveStraightLoopEntryTimer,
                               <a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html" title="type parameter in UnidirectionalNavXDefaultDrive">T</a>&nbsp;subsystem,
                               <a href="../../../../../../../../org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.oi.unidirectional">OIUnidirectional</a>&nbsp;oi)</code>
@@ -326,9 +326,9 @@ <h4>oi</h4>
 <!--   -->
 </a>
 <h3>Constructor Detail</h3>
-<a name="UnidirectionalNavXDefaultDrive-double-int-double-java.lang.Double-double-java.lang.Double-boolean-int-int-int-org.usfirst.frc.team449.robot.other.BufferTimer-org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem-org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional-">
+<a name="UnidirectionalNavXDefaultDrive-double-int-double-java.lang.Double-double-java.lang.Double-boolean-double-double-double-org.usfirst.frc.team449.robot.other.BufferTimer-org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem-org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional-">
 <!--   -->
-</a><a name="UnidirectionalNavXDefaultDrive-double-int-double-java.lang.Double-double-java.lang.Double-boolean-int-int-int-org.usfirst.frc.team449.robot.other.BufferTimer-T-org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional-">
+</a><a name="UnidirectionalNavXDefaultDrive-double-int-double-java.lang.Double-double-java.lang.Double-boolean-double-double-double-org.usfirst.frc.team449.robot.other.BufferTimer-T-org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional-">
 <!--   -->
 </a>
 <ul class="blockListLast">
@@ -343,9 +343,9 @@ <h4>UnidirectionalNavXDefaultDrive</h4>
                                       @Nullable
                                       java.lang.Double&nbsp;maxAngularVelToEnterLoop,
                                       boolean&nbsp;inverted,
-                                      int&nbsp;kP,
-                                      int&nbsp;kI,
-                                      int&nbsp;kD,
+                                      double&nbsp;kP,
+                                      double&nbsp;kI,
+                                      double&nbsp;kD,
                                       @NotNull
                                       <a href="../../../../../../../../org/usfirst/frc/team449/robot/other/BufferTimer.html" title="class in org.usfirst.frc.team449.robot.other">BufferTimer</a>&nbsp;driveStraightLoopEntryTimer,
                                       @NotNull
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html
index 74e5b7b1..cb377ed6 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>UnidirectionalNavXShiftingDefaultDrive (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
@@ -188,16 +188,16 @@ <h3>Constructor Summary</h3>
 <th class="colOne" scope="col">Constructor and Description</th>
 </tr>
 <tr class="altColor">
-<td class="colOne"><code><span class="memberNameLink"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html#UnidirectionalNavXShiftingDefaultDrive-double-int-double-java.lang.Double-double-java.lang.Double-boolean-int-int-int-org.usfirst.frc.team449.robot.other.BufferTimer-T-org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional-org.usfirst.frc.team449.robot.components.AutoshiftComponent-">UnidirectionalNavXShiftingDefaultDrive</a></span>(double&nbsp;absoluteTolerance,
+<td class="colOne"><code><span class="memberNameLink"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html#UnidirectionalNavXShiftingDefaultDrive-double-int-double-java.lang.Double-double-java.lang.Double-boolean-double-double-double-org.usfirst.frc.team449.robot.other.BufferTimer-T-org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional-org.usfirst.frc.team449.robot.components.AutoshiftComponent-">UnidirectionalNavXShiftingDefaultDrive</a></span>(double&nbsp;absoluteTolerance,
                                       int&nbsp;toleranceBuffer,
                                       double&nbsp;minimumOutput,
                                       java.lang.Double&nbsp;maximumOutput,
                                       double&nbsp;deadband,
                                       java.lang.Double&nbsp;maxAngularVelToEnterLoop,
                                       boolean&nbsp;inverted,
-                                      int&nbsp;kP,
-                                      int&nbsp;kI,
-                                      int&nbsp;kD,
+                                      double&nbsp;kP,
+                                      double&nbsp;kI,
+                                      double&nbsp;kD,
                                       <a href="../../../../../../../../org/usfirst/frc/team449/robot/other/BufferTimer.html" title="class in org.usfirst.frc.team449.robot.other">BufferTimer</a>&nbsp;driveStraightLoopEntryTimer,
                                       <a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html" title="type parameter in UnidirectionalNavXShiftingDefaultDrive">T</a>&nbsp;subsystem,
                                       <a href="../../../../../../../../org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.oi.unidirectional">OIUnidirectional</a>&nbsp;oi,
@@ -325,9 +325,9 @@ <h4>autoshiftComponent</h4>
 <!--   -->
 </a>
 <h3>Constructor Detail</h3>
-<a name="UnidirectionalNavXShiftingDefaultDrive-double-int-double-java.lang.Double-double-java.lang.Double-boolean-int-int-int-org.usfirst.frc.team449.robot.other.BufferTimer-org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem-org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional-org.usfirst.frc.team449.robot.components.AutoshiftComponent-">
+<a name="UnidirectionalNavXShiftingDefaultDrive-double-int-double-java.lang.Double-double-java.lang.Double-boolean-double-double-double-org.usfirst.frc.team449.robot.other.BufferTimer-org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem-org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional-org.usfirst.frc.team449.robot.components.AutoshiftComponent-">
 <!--   -->
-</a><a name="UnidirectionalNavXShiftingDefaultDrive-double-int-double-java.lang.Double-double-java.lang.Double-boolean-int-int-int-org.usfirst.frc.team449.robot.other.BufferTimer-T-org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional-org.usfirst.frc.team449.robot.components.AutoshiftComponent-">
+</a><a name="UnidirectionalNavXShiftingDefaultDrive-double-int-double-java.lang.Double-double-java.lang.Double-boolean-double-double-double-org.usfirst.frc.team449.robot.other.BufferTimer-T-org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional-org.usfirst.frc.team449.robot.components.AutoshiftComponent-">
 <!--   -->
 </a>
 <ul class="blockListLast">
@@ -342,9 +342,9 @@ <h4>UnidirectionalNavXShiftingDefaultDrive</h4>
                                               @Nullable
                                               java.lang.Double&nbsp;maxAngularVelToEnterLoop,
                                               boolean&nbsp;inverted,
-                                              int&nbsp;kP,
-                                              int&nbsp;kI,
-                                              int&nbsp;kD,
+                                              double&nbsp;kP,
+                                              double&nbsp;kI,
+                                              double&nbsp;kD,
                                               @NotNull
                                               <a href="../../../../../../../../org/usfirst/frc/team449/robot/other/BufferTimer.html" title="class in org.usfirst.frc.team449.robot.other">BufferTimer</a>&nbsp;driveStraightLoopEntryTimer,
                                               @NotNull
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-frame.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-frame.html
index d52f89da..22c76b3a 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.commands.multiInterface.drive (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
@@ -14,6 +14,7 @@ <h1 class="bar"><a href="../../../../../../../../org/usfirst/frc/team449/robot/c
 <h2 title="Classes">Classes</h2>
 <ul title="Classes">
 <li><a href="FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive" target="classFrame">FieldOrientedUnidirectionalDriveCommand</a></li>
+<li><a href="FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive" target="classFrame">FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint</a></li>
 <li><a href="FieldOrientedUnidirectionalDriveCommandShifting.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive" target="classFrame">FieldOrientedUnidirectionalDriveCommandShifting</a></li>
 <li><a href="JiggleRobot.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive" target="classFrame">JiggleRobot</a></li>
 <li><a href="NavXDriveStraight.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive" target="classFrame">NavXDriveStraight</a></li>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html
index 6f125c3a..3b32fc77 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.commands.multiInterface.drive (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
@@ -87,6 +87,12 @@ <h1 title="Package" class="title">Package&nbsp;org.usfirst.frc.team449.robot.com
 <div class="block">Unidirectional drive with field-oriented control</div>
 </td>
 </tr>
+<tr class="rowColor">
+<td class="colFirst"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint</a></td>
+<td class="colLast">
+<div class="block">A data-holding class representing an angular setpoint to "snap" the controller output to.</div>
+</td>
+</tr>
 <tr class="altColor">
 <td class="colFirst"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommandShifting</a>&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemNavX</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html" title="interface in org.usfirst.frc.team449.robot.drive.shifting">DriveShiftable</a>&gt;</td>
 <td class="colLast">
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-tree.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-tree.html
index 7597fa2a..4d0364fa 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.commands.multiInterface.drive Class Hierarchy (RoboRIO 1.0 API)</title>
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index 675c369b..dab921a3 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-frame.html
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index d259a81e..fe08f526 100644
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index 01128b91..c720e25a 100644
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index 157df33f..d3db19c5 100644
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index 769ba458..14f3b551 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/LoadShooter.html
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index 4864ca9f..878b3475 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/RackShooter.html
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 <title>RackShooter (RoboRIO 1.0 API)</title>
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index e1ace65a..e6625208 100644
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index 1080bc8f..81c3198d 100644
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-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/package-summary.html b/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/package-summary.html
index 553a245f..6fbb23a9 100644
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-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/package-tree.html b/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/package-tree.html
index 3b9cd5fd..f762e9b7 100644
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-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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index 6fedf5ac..067116fd 100644
--- a/docs/org/usfirst/frc/team449/robot/components/AutoshiftComponent.html
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-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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 <title>AutoshiftComponent (RoboRIO 1.0 API)</title>
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diff --git a/docs/org/usfirst/frc/team449/robot/components/ShiftComponent.html b/docs/org/usfirst/frc/team449/robot/components/ShiftComponent.html
index 11bd2b31..e6255c48 100644
--- a/docs/org/usfirst/frc/team449/robot/components/ShiftComponent.html
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@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>ShiftComponent (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/components/ShiftWithSensorComponent.html b/docs/org/usfirst/frc/team449/robot/components/ShiftWithSensorComponent.html
index 1e4ef609..564eac54 100644
--- a/docs/org/usfirst/frc/team449/robot/components/ShiftWithSensorComponent.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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-<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/components/package-frame.html b/docs/org/usfirst/frc/team449/robot/components/package-frame.html
index 5cbe9a34..b93b7808 100644
--- a/docs/org/usfirst/frc/team449/robot/components/package-frame.html
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@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.components (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../script.js"></script>
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diff --git a/docs/org/usfirst/frc/team449/robot/components/package-summary.html b/docs/org/usfirst/frc/team449/robot/components/package-summary.html
index c4ee4f70..ca3913d2 100644
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@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.components (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../script.js"></script>
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diff --git a/docs/org/usfirst/frc/team449/robot/components/package-tree.html b/docs/org/usfirst/frc/team449/robot/components/package-tree.html
index 1137b6e2..cf445316 100644
--- a/docs/org/usfirst/frc/team449/robot/components/package-tree.html
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@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.components Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
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 </head>
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index 67a6bfe0..88bc607a 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/DriveSubsystem.html
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@@ -2,9 +2,9 @@
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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 <title>DriveSubsystem (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
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 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/drive/package-frame.html b/docs/org/usfirst/frc/team449/robot/drive/package-frame.html
index 2befa690..75bb3bd1 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/package-frame.html
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@@ -2,9 +2,9 @@
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.drive (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../script.js"></script>
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diff --git a/docs/org/usfirst/frc/team449/robot/drive/package-summary.html b/docs/org/usfirst/frc/team449/robot/drive/package-summary.html
index 56415985..aada8e4e 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/package-summary.html
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@@ -2,9 +2,9 @@
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.drive (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/drive/package-tree.html b/docs/org/usfirst/frc/team449/robot/drive/package-tree.html
index d2a596ef..d9955408 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/package-tree.html
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@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.drive Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../script.js"></script>
 </head>
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index 9c5790ba..028b44de 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>DriveShiftable (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/OverrideAutoShift.html b/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/OverrideAutoShift.html
index e28fa5f5..370b91f6 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/OverrideAutoShift.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/OverrideAutoShift.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>OverrideAutoShift (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
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diff --git a/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/ToggleOverrideAutoShift.html b/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/ToggleOverrideAutoShift.html
index 9b1b0ea9..4de7ee72 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/ToggleOverrideAutoShift.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/ToggleOverrideAutoShift.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>ToggleOverrideAutoShift (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/package-frame.html
index ca8d4d01..92b56c56 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/package-frame.html
@@ -2,9 +2,9 @@
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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index 2a04c717..3c01448e 100644
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index 5c7fa993..a0b50eb0 100644
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index 9084898f..09c24df0 100644
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-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-summary.html
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-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-frame.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-frame.html
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--- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-frame.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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+<meta name="date" content="2017-10-09">
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diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-summary.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-summary.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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+<meta name="date" content="2017-10-09">
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diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-tree.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-tree.html
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--- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-tree.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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index a871187e..b8ae6381 100644
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index 312dea90..8a3fa25a 100644
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index f1c2a1f6..03f4ab9e 100644
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-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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index 247cec97..c634866f 100644
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-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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 <title>ShiftGears (RoboRIO 1.0 API)</title>
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index 93bff37b..0a23d857 100644
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToHighGear.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToHighGear.html
index 352e7f56..1f6659ae 100644
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-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToLowGear.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToLowGear.html
index 9853e802..51936e48 100644
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-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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 <title>SwitchToLowGear (RoboRIO 1.0 API)</title>
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-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-summary.html
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-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-tree.html
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-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands Class Hierarchy (RoboRIO 1.0 API)</title>
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-frame.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-frame.html
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--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-frame.html
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-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.generalInterfaces.shiftable (RoboRIO 1.0 API)</title>
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-summary.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-summary.html
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--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-summary.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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+<meta name="date" content="2017-10-09">
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-tree.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-tree.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.generalInterfaces.shiftable Class Hierarchy (RoboRIO 1.0 API)</title>
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+<meta name="date" content="2017-10-09">
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/SimpleMotor.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/SimpleMotor.html
index 9edb89b9..0183317c 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/SimpleMotor.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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 <title>SimpleMotor (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-frame.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-frame.html
index 5b227de1..991d4f55 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-frame.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor (RoboRIO 1.0 API)</title>
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+<meta name="date" content="2017-10-09">
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-summary.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-summary.html
index 05bd295d..d1bcc2be 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-summary.html
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-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
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diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-tree.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-tree.html
index f4067021..42a72e8e 100644
--- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-tree.html
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-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
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diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.html
index 5023b3e8..595313ed 100644
--- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.html
+++ b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.html
@@ -2,9 +2,9 @@
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>FPSTalon (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedAHRS.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedAHRS.html
index ed177907..0d3bd42f 100644
--- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedAHRS.html
+++ b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedAHRS.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>MappedAHRS (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedDigitalInput.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedDigitalInput.html
index 4e921fd0..3d90289d 100644
--- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedDigitalInput.html
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@@ -2,9 +2,9 @@
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>MappedDigitalInput (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedDoubleSolenoid.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedDoubleSolenoid.html
index 508c9cd3..1238417d 100644
--- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedDoubleSolenoid.html
+++ b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedDoubleSolenoid.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>MappedDoubleSolenoid (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedJoystick.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedJoystick.html
index 95b36b8f..0f52c269 100644
--- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedJoystick.html
+++ b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedJoystick.html
@@ -2,9 +2,9 @@
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-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>MappedJoystick (RoboRIO 1.0 API)</title>
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+<meta name="date" content="2017-10-09">
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diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedUsbCamera.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedUsbCamera.html
index 32367d44..ee736c34 100644
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@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>MappedUsbCamera (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedVictor.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedVictor.html
index a437e6cc..c23b3381 100644
--- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedVictor.html
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@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>MappedVictor (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/PressureSensor.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/PressureSensor.html
index cd5c1afd..8a6d5fa6 100644
--- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/PressureSensor.html
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@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>PressureSensor (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/SimpleMotorCluster.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/SimpleMotorCluster.html
index e50eaa6a..ce72f7b5 100644
--- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/SimpleMotorCluster.html
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@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>SimpleMotorCluster (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommand.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommand.html
index 1dfbbb8d..666c94a3 100644
--- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommand.html
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@@ -2,9 +2,9 @@
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>YamlCommand (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommandGroupWrapper.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommandGroupWrapper.html
index e448bab8..bcff9803 100644
--- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommandGroupWrapper.html
+++ b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommandGroupWrapper.html
@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>YamlCommandGroupWrapper (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommandWrapper.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommandWrapper.html
index f034e020..3ccf0ac3 100644
--- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommandWrapper.html
+++ b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommandWrapper.html
@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>YamlCommandWrapper (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html
index a82b87b1..67fc5c97 100644
--- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html
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@@ -2,9 +2,9 @@
 <!-- NewPage -->
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>YamlSubsystem (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../script.js"></script>
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diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/package-frame.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/package-frame.html
index 171341a1..b368c898 100644
--- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/package-frame.html
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@@ -2,9 +2,9 @@
 <!-- NewPage -->
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.jacksonWrappers (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../script.js"></script>
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diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/package-summary.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/package-summary.html
index e236e152..4b7106e3 100644
--- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.jacksonWrappers (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
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 </head>
@@ -43,7 +43,7 @@
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-<li><a href="../../../../../../org/usfirst/frc/team449/robot/oi/buttons/package-summary.html">Next&nbsp;Package</a></li>
+<li><a href="../../../../../../org/usfirst/frc/team449/robot/oi/package-summary.html">Next&nbsp;Package</a></li>
 </ul>
 <ul class="navList">
 <li><a href="../../../../../../index.html?org/usfirst/frc/team449/robot/jacksonWrappers/package-summary.html" target="_top">Frames</a></li>
@@ -196,7 +196,7 @@ <h1 title="Package" class="title">Package&nbsp;org.usfirst.frc.team449.robot.jac
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-<li><a href="../../../../../../org/usfirst/frc/team449/robot/oi/buttons/package-summary.html">Next&nbsp;Package</a></li>
+<li><a href="../../../../../../org/usfirst/frc/team449/robot/oi/package-summary.html">Next&nbsp;Package</a></li>
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 <ul class="navList">
 <li><a href="../../../../../../index.html?org/usfirst/frc/team449/robot/jacksonWrappers/package-summary.html" target="_top">Frames</a></li>
diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/package-tree.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/package-tree.html
index 6f748a1e..e72b5d87 100644
--- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/package-tree.html
@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
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-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
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@@ -43,7 +43,7 @@
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-<li><a href="../../../../../../org/usfirst/frc/team449/robot/oi/buttons/package-tree.html">Next</a></li>
+<li><a href="../../../../../../org/usfirst/frc/team449/robot/oi/package-tree.html">Next</a></li>
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 <ul class="navList">
 <li><a href="../../../../../../index.html?org/usfirst/frc/team449/robot/jacksonWrappers/package-tree.html" target="_top">Frames</a></li>
@@ -189,7 +189,7 @@ <h2 title="Interface Hierarchy">Interface Hierarchy</h2>
 <div class="subNav">
 <ul class="navList">
 <li><a href="../../../../../../org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-tree.html">Prev</a></li>
-<li><a href="../../../../../../org/usfirst/frc/team449/robot/oi/buttons/package-tree.html">Next</a></li>
+<li><a href="../../../../../../org/usfirst/frc/team449/robot/oi/package-tree.html">Next</a></li>
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 <ul class="navList">
 <li><a href="../../../../../../index.html?org/usfirst/frc/team449/robot/jacksonWrappers/package-tree.html" target="_top">Frames</a></li>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/OI.html b/docs/org/usfirst/frc/team449/robot/oi/OI.html
new file mode 100644
index 00000000..84255a06
--- /dev/null
+++ b/docs/org/usfirst/frc/team449/robot/oi/OI.html
@@ -0,0 +1,173 @@
+<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/html4/loose.dtd">
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
+<title>OI (RoboRIO 1.0 API)</title>
+<meta name="date" content="2017-10-09">
+<link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
+<script type="text/javascript" src="../../../../../../script.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="OI (RoboRIO 1.0 API)";
+        }
+    }
+    catch(err) {
+    }
+//-->
+</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a name="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a name="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../overview-summary.html">Overview</a></li>
+<li><a href="package-summary.html">Package</a></li>
+<li class="navBarCell1Rev">Class</li>
+<li><a href="package-tree.html">Tree</a></li>
+<li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../index-all.html">Index</a></li>
+<li><a href="../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList">
+<li>Prev&nbsp;Class</li>
+<li>Next&nbsp;Class</li>
+</ul>
+<ul class="navList">
+<li><a href="../../../../../../index.html?org/usfirst/frc/team449/robot/oi/OI.html" target="_top">Frames</a></li>
+<li><a href="OI.html" target="_top">No&nbsp;Frames</a></li>
+</ul>
+<ul class="navList" id="allclasses_navbar_top">
+<li><a href="../../../../../../allclasses-noframe.html">All&nbsp;Classes</a></li>
+</ul>
+<div>
+<script type="text/javascript"><!--
+  allClassesLink = document.getElementById("allclasses_navbar_top");
+  if(window==top) {
+    allClassesLink.style.display = "block";
+  }
+  else {
+    allClassesLink.style.display = "none";
+  }
+  //-->
+</script>
+</div>
+<div>
+<ul class="subNavList">
+<li>Summary:&nbsp;</li>
+<li>Nested&nbsp;|&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
+<li>Constr&nbsp;|&nbsp;</li>
+<li>Method</li>
+</ul>
+<ul class="subNavList">
+<li>Detail:&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
+<li>Constr&nbsp;|&nbsp;</li>
+<li>Method</li>
+</ul>
+</div>
+<a name="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+<!-- ======== START OF CLASS DATA ======== -->
+<div class="header">
+<div class="subTitle">org.usfirst.frc.team449.robot.oi</div>
+<h2 title="Interface OI" class="title">Interface OI</h2>
+</div>
+<div class="contentContainer">
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<dl>
+<dt>All Known Subinterfaces:</dt>
+<dd><a href="../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html" title="interface in org.usfirst.frc.team449.robot.oi.fieldoriented">OIFieldOriented</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.oi.unidirectional">OIUnidirectional</a></dd>
+</dl>
+<dl>
+<dt>All Known Implementing Classes:</dt>
+<dd><a href="../../../../../../org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcade.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional.arcade">OIArcade</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeSimple.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional.arcade">OIArcadeSimple</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeWithDPad.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional.arcade">OIArcadeWithDPad</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html" title="class in org.usfirst.frc.team449.robot.oi.fieldoriented">OIFieldOrientedPosCos</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/oi/unidirectional/OIOutreach.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional">OIOutreach</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITank.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional.tank">OITank</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITankSimple.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional.tank">OITankSimple</a></dd>
+</dl>
+<hr>
+<br>
+<pre>public interface <span class="typeNameLabel">OI</span></pre>
+</li>
+</ul>
+</div>
+</div>
+<!-- ========= END OF CLASS DATA ========= -->
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a name="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a name="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../overview-summary.html">Overview</a></li>
+<li><a href="package-summary.html">Package</a></li>
+<li class="navBarCell1Rev">Class</li>
+<li><a href="package-tree.html">Tree</a></li>
+<li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../index-all.html">Index</a></li>
+<li><a href="../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList">
+<li>Prev&nbsp;Class</li>
+<li>Next&nbsp;Class</li>
+</ul>
+<ul class="navList">
+<li><a href="../../../../../../index.html?org/usfirst/frc/team449/robot/oi/OI.html" target="_top">Frames</a></li>
+<li><a href="OI.html" target="_top">No&nbsp;Frames</a></li>
+</ul>
+<ul class="navList" id="allclasses_navbar_bottom">
+<li><a href="../../../../../../allclasses-noframe.html">All&nbsp;Classes</a></li>
+</ul>
+<div>
+<script type="text/javascript"><!--
+  allClassesLink = document.getElementById("allclasses_navbar_bottom");
+  if(window==top) {
+    allClassesLink.style.display = "block";
+  }
+  else {
+    allClassesLink.style.display = "none";
+  }
+  //-->
+</script>
+</div>
+<div>
+<ul class="subNavList">
+<li>Summary:&nbsp;</li>
+<li>Nested&nbsp;|&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
+<li>Constr&nbsp;|&nbsp;</li>
+<li>Method</li>
+</ul>
+<ul class="subNavList">
+<li>Detail:&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
+<li>Constr&nbsp;|&nbsp;</li>
+<li>Method</li>
+</ul>
+</div>
+<a name="skip.navbar.bottom">
+<!--   -->
+</a></div>
+<!-- ======== END OF BOTTOM NAVBAR ======= -->
+</body>
+</html>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/buttons/CommandButton.html b/docs/org/usfirst/frc/team449/robot/oi/buttons/CommandButton.html
index 7c3d76eb..46df2006 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/buttons/CommandButton.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/buttons/CommandButton.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>CommandButton (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/buttons/FactoryButton.html b/docs/org/usfirst/frc/team449/robot/oi/buttons/FactoryButton.html
index e4bc729a..43fbf053 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/buttons/FactoryButton.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/buttons/FactoryButton.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>FactoryButton (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
@@ -250,15 +250,15 @@ <h3>Method Detail</h3>
 <h4>constructButton</h4>
 <pre>@NotNull
 public static&nbsp;<a href="../../../../../../../org/usfirst/frc/team449/robot/oi/buttons/FactoryButton.html" title="class in org.usfirst.frc.team449.robot.oi.buttons">FactoryButton</a>&nbsp;constructButton(@NotNull
-                                                     <a href="../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/MappedJoystick.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">MappedJoystick</a>&nbsp;joystick,
-                                                     @Nullable
-                                                     java.lang.Integer&nbsp;buttonNumber,
-                                                     @Nullable
-                                                     java.lang.Integer&nbsp;triggerAxis,
-                                                     @Nullable
-                                                     java.lang.Double&nbsp;triggerAt,
-                                                     @Nullable
-                                                     java.lang.Integer&nbsp;angle)</pre>
+                                                      <a href="../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/MappedJoystick.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">MappedJoystick</a>&nbsp;joystick,
+                                                      @Nullable
+                                                      java.lang.Integer&nbsp;buttonNumber,
+                                                      @Nullable
+                                                      java.lang.Integer&nbsp;triggerAxis,
+                                                      @Nullable
+                                                      java.lang.Double&nbsp;triggerAt,
+                                                      @Nullable
+                                                      java.lang.Integer&nbsp;angle)</pre>
 <div class="block">Static factory for constructing different types of buttons.</div>
 <dl>
 <dt><span class="paramLabel">Parameters:</span></dt>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/buttons/FactoryJoystickButton.html b/docs/org/usfirst/frc/team449/robot/oi/buttons/FactoryJoystickButton.html
index fb857b41..c5e4808b 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/buttons/FactoryJoystickButton.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/buttons/FactoryJoystickButton.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>FactoryJoystickButton (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/buttons/TriggerButton.html b/docs/org/usfirst/frc/team449/robot/oi/buttons/TriggerButton.html
index f6c11a4b..d7799cf1 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/buttons/TriggerButton.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/buttons/TriggerButton.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>TriggerButton (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/buttons/dPadButton.html b/docs/org/usfirst/frc/team449/robot/oi/buttons/dPadButton.html
index 0d61c1d0..e13d0fb4 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/buttons/dPadButton.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/buttons/dPadButton.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>dPadButton (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/buttons/package-frame.html b/docs/org/usfirst/frc/team449/robot/oi/buttons/package-frame.html
index ab1ee4fc..bc62a802 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/buttons/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/buttons/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.oi.buttons (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/buttons/package-summary.html b/docs/org/usfirst/frc/team449/robot/oi/buttons/package-summary.html
index f223cd6b..17b54997 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/buttons/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/buttons/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.oi.buttons (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
@@ -42,7 +42,7 @@
 </div>
 <div class="subNav">
 <ul class="navList">
-<li><a href="../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/package-summary.html">Prev&nbsp;Package</a></li>
+<li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/package-summary.html">Prev&nbsp;Package</a></li>
 <li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/package-summary.html">Next&nbsp;Package</a></li>
 </ul>
 <ul class="navList">
@@ -136,7 +136,7 @@ <h1 title="Package" class="title">Package&nbsp;org.usfirst.frc.team449.robot.oi.
 </div>
 <div class="subNav">
 <ul class="navList">
-<li><a href="../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/package-summary.html">Prev&nbsp;Package</a></li>
+<li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/package-summary.html">Prev&nbsp;Package</a></li>
 <li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/package-summary.html">Next&nbsp;Package</a></li>
 </ul>
 <ul class="navList">
diff --git a/docs/org/usfirst/frc/team449/robot/oi/buttons/package-tree.html b/docs/org/usfirst/frc/team449/robot/oi/buttons/package-tree.html
index 5dafb7cd..291d23c1 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/buttons/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/buttons/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.oi.buttons Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
@@ -42,7 +42,7 @@
 </div>
 <div class="subNav">
 <ul class="navList">
-<li><a href="../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/package-tree.html">Prev</a></li>
+<li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/package-tree.html">Prev</a></li>
 <li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/package-tree.html">Next</a></li>
 </ul>
 <ul class="navList">
@@ -120,7 +120,7 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 </div>
 <div class="subNav">
 <ul class="navList">
-<li><a href="../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/package-tree.html">Prev</a></li>
+<li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/package-tree.html">Prev</a></li>
 <li><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/package-tree.html">Next</a></li>
 </ul>
 <ul class="navList">
diff --git a/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html b/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html
index b6398e61..3e72c4a1 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>OIFieldOriented (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
@@ -99,12 +99,17 @@ <h2 title="Interface OIFieldOriented" class="title">Interface OIFieldOriented</h
 <ul class="blockList">
 <li class="blockList">
 <dl>
+<dt>All Superinterfaces:</dt>
+<dd><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/OI.html" title="interface in org.usfirst.frc.team449.robot.oi">OI</a></dd>
+</dl>
+<dl>
 <dt>All Known Implementing Classes:</dt>
 <dd><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html" title="class in org.usfirst.frc.team449.robot.oi.fieldoriented">OIFieldOrientedPosCos</a></dd>
 </dl>
 <hr>
 <br>
-<pre>public interface <span class="typeNameLabel">OIFieldOriented</span></pre>
+<pre>public interface <span class="typeNameLabel">OIFieldOriented</span>
+extends <a href="../../../../../../../org/usfirst/frc/team449/robot/oi/OI.html" title="interface in org.usfirst.frc.team449.robot.oi">OI</a></pre>
 <div class="block">An OI that gives an absolute heading, relative to the field, and a velocity.</div>
 </li>
 </ul>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html b/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html
index 371e0c85..de5dc502 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>OIFieldOrientedPosCos (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
@@ -108,7 +108,7 @@ <h2 title="Class OIFieldOrientedPosCos" class="title">Class OIFieldOrientedPosCo
 <li class="blockList">
 <dl>
 <dt>All Implemented Interfaces:</dt>
-<dd><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html" title="interface in org.usfirst.frc.team449.robot.oi.fieldoriented">OIFieldOriented</a></dd>
+<dd><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html" title="interface in org.usfirst.frc.team449.robot.oi.fieldoriented">OIFieldOriented</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/oi/OI.html" title="interface in org.usfirst.frc.team449.robot.oi">OI</a></dd>
 </dl>
 <hr>
 <br>
@@ -134,8 +134,9 @@ <h3>Constructor Summary</h3>
 <th class="colOne" scope="col">Constructor and Description</th>
 </tr>
 <tr class="altColor">
-<td class="colOne"><code><span class="memberNameLink"><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html#OIFieldOrientedPosCos-org.usfirst.frc.team449.robot.oi.throttles.Throttle-org.usfirst.frc.team449.robot.oi.throttles.Throttle-">OIFieldOrientedPosCos</a></span>(<a href="../../../../../../../org/usfirst/frc/team449/robot/oi/throttles/Throttle.html" title="class in org.usfirst.frc.team449.robot.oi.throttles">Throttle</a>&nbsp;xThrottle,
-                     <a href="../../../../../../../org/usfirst/frc/team449/robot/oi/throttles/Throttle.html" title="class in org.usfirst.frc.team449.robot.oi.throttles">Throttle</a>&nbsp;yThrottle)</code>
+<td class="colOne"><code><span class="memberNameLink"><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html#OIFieldOrientedPosCos-org.usfirst.frc.team449.robot.oi.throttles.Throttle-org.usfirst.frc.team449.robot.oi.throttles.Throttle-double-">OIFieldOrientedPosCos</a></span>(<a href="../../../../../../../org/usfirst/frc/team449/robot/oi/throttles/Throttle.html" title="class in org.usfirst.frc.team449.robot.oi.throttles">Throttle</a>&nbsp;xThrottle,
+                     <a href="../../../../../../../org/usfirst/frc/team449/robot/oi/throttles/Throttle.html" title="class in org.usfirst.frc.team449.robot.oi.throttles">Throttle</a>&nbsp;yThrottle,
+                     double&nbsp;rDeadband)</code>
 <div class="block">Default constructor</div>
 </td>
 </tr>
@@ -194,7 +195,7 @@ <h3>Methods inherited from class&nbsp;java.lang.Object</h3>
 <!--   -->
 </a>
 <h3>Constructor Detail</h3>
-<a name="OIFieldOrientedPosCos-org.usfirst.frc.team449.robot.oi.throttles.Throttle-org.usfirst.frc.team449.robot.oi.throttles.Throttle-">
+<a name="OIFieldOrientedPosCos-org.usfirst.frc.team449.robot.oi.throttles.Throttle-org.usfirst.frc.team449.robot.oi.throttles.Throttle-double-">
 <!--   -->
 </a>
 <ul class="blockListLast">
@@ -203,12 +204,14 @@ <h4>OIFieldOrientedPosCos</h4>
 <pre>public&nbsp;OIFieldOrientedPosCos(@NotNull
                              <a href="../../../../../../../org/usfirst/frc/team449/robot/oi/throttles/Throttle.html" title="class in org.usfirst.frc.team449.robot.oi.throttles">Throttle</a>&nbsp;xThrottle,
                              @NotNull
-                             <a href="../../../../../../../org/usfirst/frc/team449/robot/oi/throttles/Throttle.html" title="class in org.usfirst.frc.team449.robot.oi.throttles">Throttle</a>&nbsp;yThrottle)</pre>
+                             <a href="../../../../../../../org/usfirst/frc/team449/robot/oi/throttles/Throttle.html" title="class in org.usfirst.frc.team449.robot.oi.throttles">Throttle</a>&nbsp;yThrottle,
+                             double&nbsp;rDeadband)</pre>
 <div class="block">Default constructor</div>
 <dl>
 <dt><span class="paramLabel">Parameters:</span></dt>
 <dd><code>xThrottle</code> - The throttle for the X-axis, which points towards the opposing driver station.</dd>
 <dd><code>yThrottle</code> - The throttle for the Y-axis, which points towards the driver's left.</dd>
+<dd><code>rDeadband</code> - The radius, from [0,1], within which the joystick is considered to be "at rest." Defaults to 0.</dd>
 </dl>
 </li>
 </ul>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-frame.html b/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-frame.html
index 7c9d468f..92f9a6e1 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.oi.fieldoriented (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-summary.html b/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-summary.html
index 7317442d..8941e6cf 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.oi.fieldoriented (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-tree.html b/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-tree.html
index 33091faa..47b8006e 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.oi.fieldoriented Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
@@ -86,8 +86,12 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 </ul>
 <h2 title="Interface Hierarchy">Interface Hierarchy</h2>
 <ul>
+<li type="circle">org.usfirst.frc.team449.robot.oi.<a href="../../../../../../../org/usfirst/frc/team449/robot/oi/OI.html" title="interface in org.usfirst.frc.team449.robot.oi"><span class="typeNameLink">OI</span></a>
+<ul>
 <li type="circle">org.usfirst.frc.team449.robot.oi.fieldoriented.<a href="../../../../../../../org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html" title="interface in org.usfirst.frc.team449.robot.oi.fieldoriented"><span class="typeNameLink">OIFieldOriented</span></a></li>
 </ul>
+</li>
+</ul>
 </div>
 <!-- ======= START OF BOTTOM NAVBAR ====== -->
 <div class="bottomNav"><a name="navbar.bottom">
diff --git a/docs/org/usfirst/frc/team449/robot/oi/package-frame.html b/docs/org/usfirst/frc/team449/robot/oi/package-frame.html
new file mode 100644
index 00000000..f4d57e6b
--- /dev/null
+++ b/docs/org/usfirst/frc/team449/robot/oi/package-frame.html
@@ -0,0 +1,20 @@
+<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/html4/loose.dtd">
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
+<title>org.usfirst.frc.team449.robot.oi (RoboRIO 1.0 API)</title>
+<meta name="date" content="2017-10-09">
+<link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
+<script type="text/javascript" src="../../../../../../script.js"></script>
+</head>
+<body>
+<h1 class="bar"><a href="../../../../../../org/usfirst/frc/team449/robot/oi/package-summary.html" target="classFrame">org.usfirst.frc.team449.robot.oi</a></h1>
+<div class="indexContainer">
+<h2 title="Interfaces">Interfaces</h2>
+<ul title="Interfaces">
+<li><a href="OI.html" title="interface in org.usfirst.frc.team449.robot.oi" target="classFrame"><span class="interfaceName">OI</span></a></li>
+</ul>
+</div>
+</body>
+</html>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/package-summary.html b/docs/org/usfirst/frc/team449/robot/oi/package-summary.html
new file mode 100644
index 00000000..6fdc973f
--- /dev/null
+++ b/docs/org/usfirst/frc/team449/robot/oi/package-summary.html
@@ -0,0 +1,140 @@
+<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/html4/loose.dtd">
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
+<title>org.usfirst.frc.team449.robot.oi (RoboRIO 1.0 API)</title>
+<meta name="date" content="2017-10-09">
+<link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
+<script type="text/javascript" src="../../../../../../script.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="org.usfirst.frc.team449.robot.oi (RoboRIO 1.0 API)";
+        }
+    }
+    catch(err) {
+    }
+//-->
+</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a name="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a name="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../overview-summary.html">Overview</a></li>
+<li class="navBarCell1Rev">Package</li>
+<li>Class</li>
+<li><a href="package-tree.html">Tree</a></li>
+<li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../index-all.html">Index</a></li>
+<li><a href="../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList">
+<li><a href="../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/package-summary.html">Prev&nbsp;Package</a></li>
+<li><a href="../../../../../../org/usfirst/frc/team449/robot/oi/buttons/package-summary.html">Next&nbsp;Package</a></li>
+</ul>
+<ul class="navList">
+<li><a href="../../../../../../index.html?org/usfirst/frc/team449/robot/oi/package-summary.html" target="_top">Frames</a></li>
+<li><a href="package-summary.html" target="_top">No&nbsp;Frames</a></li>
+</ul>
+<ul class="navList" id="allclasses_navbar_top">
+<li><a href="../../../../../../allclasses-noframe.html">All&nbsp;Classes</a></li>
+</ul>
+<div>
+<script type="text/javascript"><!--
+  allClassesLink = document.getElementById("allclasses_navbar_top");
+  if(window==top) {
+    allClassesLink.style.display = "block";
+  }
+  else {
+    allClassesLink.style.display = "none";
+  }
+  //-->
+</script>
+</div>
+<a name="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+<div class="header">
+<h1 title="Package" class="title">Package&nbsp;org.usfirst.frc.team449.robot.oi</h1>
+</div>
+<div class="contentContainer">
+<ul class="blockList">
+<li class="blockList">
+<table class="typeSummary" border="0" cellpadding="3" cellspacing="0" summary="Interface Summary table, listing interfaces, and an explanation">
+<caption><span>Interface Summary</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Interface</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><a href="../../../../../../org/usfirst/frc/team449/robot/oi/OI.html" title="interface in org.usfirst.frc.team449.robot.oi">OI</a></td>
+<td class="colLast">&nbsp;</td>
+</tr>
+</tbody>
+</table>
+</li>
+</ul>
+</div>
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a name="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a name="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../overview-summary.html">Overview</a></li>
+<li class="navBarCell1Rev">Package</li>
+<li>Class</li>
+<li><a href="package-tree.html">Tree</a></li>
+<li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../index-all.html">Index</a></li>
+<li><a href="../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList">
+<li><a href="../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/package-summary.html">Prev&nbsp;Package</a></li>
+<li><a href="../../../../../../org/usfirst/frc/team449/robot/oi/buttons/package-summary.html">Next&nbsp;Package</a></li>
+</ul>
+<ul class="navList">
+<li><a href="../../../../../../index.html?org/usfirst/frc/team449/robot/oi/package-summary.html" target="_top">Frames</a></li>
+<li><a href="package-summary.html" target="_top">No&nbsp;Frames</a></li>
+</ul>
+<ul class="navList" id="allclasses_navbar_bottom">
+<li><a href="../../../../../../allclasses-noframe.html">All&nbsp;Classes</a></li>
+</ul>
+<div>
+<script type="text/javascript"><!--
+  allClassesLink = document.getElementById("allclasses_navbar_bottom");
+  if(window==top) {
+    allClassesLink.style.display = "block";
+  }
+  else {
+    allClassesLink.style.display = "none";
+  }
+  //-->
+</script>
+</div>
+<a name="skip.navbar.bottom">
+<!--   -->
+</a></div>
+<!-- ======== END OF BOTTOM NAVBAR ======= -->
+</body>
+</html>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/package-tree.html b/docs/org/usfirst/frc/team449/robot/oi/package-tree.html
new file mode 100644
index 00000000..92fa9a82
--- /dev/null
+++ b/docs/org/usfirst/frc/team449/robot/oi/package-tree.html
@@ -0,0 +1,131 @@
+<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/html4/loose.dtd">
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
+<title>org.usfirst.frc.team449.robot.oi Class Hierarchy (RoboRIO 1.0 API)</title>
+<meta name="date" content="2017-10-09">
+<link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
+<script type="text/javascript" src="../../../../../../script.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="org.usfirst.frc.team449.robot.oi Class Hierarchy (RoboRIO 1.0 API)";
+        }
+    }
+    catch(err) {
+    }
+//-->
+</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a name="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a name="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../overview-summary.html">Overview</a></li>
+<li><a href="package-summary.html">Package</a></li>
+<li>Class</li>
+<li class="navBarCell1Rev">Tree</li>
+<li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../index-all.html">Index</a></li>
+<li><a href="../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList">
+<li><a href="../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/package-tree.html">Prev</a></li>
+<li><a href="../../../../../../org/usfirst/frc/team449/robot/oi/buttons/package-tree.html">Next</a></li>
+</ul>
+<ul class="navList">
+<li><a href="../../../../../../index.html?org/usfirst/frc/team449/robot/oi/package-tree.html" target="_top">Frames</a></li>
+<li><a href="package-tree.html" target="_top">No&nbsp;Frames</a></li>
+</ul>
+<ul class="navList" id="allclasses_navbar_top">
+<li><a href="../../../../../../allclasses-noframe.html">All&nbsp;Classes</a></li>
+</ul>
+<div>
+<script type="text/javascript"><!--
+  allClassesLink = document.getElementById("allclasses_navbar_top");
+  if(window==top) {
+    allClassesLink.style.display = "block";
+  }
+  else {
+    allClassesLink.style.display = "none";
+  }
+  //-->
+</script>
+</div>
+<a name="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+<div class="header">
+<h1 class="title">Hierarchy For Package org.usfirst.frc.team449.robot.oi</h1>
+<span class="packageHierarchyLabel">Package Hierarchies:</span>
+<ul class="horizontal">
+<li><a href="../../../../../../overview-tree.html">All Packages</a></li>
+</ul>
+</div>
+<div class="contentContainer">
+<h2 title="Interface Hierarchy">Interface Hierarchy</h2>
+<ul>
+<li type="circle">org.usfirst.frc.team449.robot.oi.<a href="../../../../../../org/usfirst/frc/team449/robot/oi/OI.html" title="interface in org.usfirst.frc.team449.robot.oi"><span class="typeNameLink">OI</span></a></li>
+</ul>
+</div>
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a name="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a name="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../overview-summary.html">Overview</a></li>
+<li><a href="package-summary.html">Package</a></li>
+<li>Class</li>
+<li class="navBarCell1Rev">Tree</li>
+<li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../index-all.html">Index</a></li>
+<li><a href="../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList">
+<li><a href="../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/package-tree.html">Prev</a></li>
+<li><a href="../../../../../../org/usfirst/frc/team449/robot/oi/buttons/package-tree.html">Next</a></li>
+</ul>
+<ul class="navList">
+<li><a href="../../../../../../index.html?org/usfirst/frc/team449/robot/oi/package-tree.html" target="_top">Frames</a></li>
+<li><a href="package-tree.html" target="_top">No&nbsp;Frames</a></li>
+</ul>
+<ul class="navList" id="allclasses_navbar_bottom">
+<li><a href="../../../../../../allclasses-noframe.html">All&nbsp;Classes</a></li>
+</ul>
+<div>
+<script type="text/javascript"><!--
+  allClassesLink = document.getElementById("allclasses_navbar_bottom");
+  if(window==top) {
+    allClassesLink.style.display = "block";
+  }
+  else {
+    allClassesLink.style.display = "none";
+  }
+  //-->
+</script>
+</div>
+<a name="skip.navbar.bottom">
+<!--   -->
+</a></div>
+<!-- ======== END OF BOTTOM NAVBAR ======= -->
+</body>
+</html>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/throttles/Throttle.html b/docs/org/usfirst/frc/team449/robot/oi/throttles/Throttle.html
index 1c33a482..1c86f2b2 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/throttles/Throttle.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/throttles/Throttle.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>Throttle (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottleDeadbanded.html b/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottleDeadbanded.html
index 7e682ece..c7b47bc8 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottleDeadbanded.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottleDeadbanded.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>ThrottleDeadbanded (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottleExponential.html b/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottleExponential.html
index 88ab0506..5ccca329 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottleExponential.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottleExponential.html
@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>ThrottleExponential (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottlePolynomial.html b/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottlePolynomial.html
index 3d07082f..6785d74f 100644
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@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>ThrottlePolynomial (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/throttles/package-frame.html b/docs/org/usfirst/frc/team449/robot/oi/throttles/package-frame.html
index fa28cb6d..a48bbfd9 100644
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@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
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-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/throttles/package-summary.html b/docs/org/usfirst/frc/team449/robot/oi/throttles/package-summary.html
index ddb6c84a..87de0b5e 100644
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+++ b/docs/org/usfirst/frc/team449/robot/oi/throttles/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.oi.throttles (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/throttles/package-tree.html b/docs/org/usfirst/frc/team449/robot/oi/throttles/package-tree.html
index bbfc746b..32d3b8d7 100644
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@@ -2,9 +2,9 @@
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.oi.throttles Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/OIOutreach.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/OIOutreach.html
index 2d49a956..fabf8ae5 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/OIOutreach.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/OIOutreach.html
@@ -2,9 +2,9 @@
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>OIOutreach (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
@@ -108,7 +108,7 @@ <h2 title="Class OIOutreach" class="title">Class OIOutreach</h2>
 <li class="blockList">
 <dl>
 <dt>All Implemented Interfaces:</dt>
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+<dd><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/OI.html" title="interface in org.usfirst.frc.team449.robot.oi">OI</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.oi.unidirectional">OIUnidirectional</a></dd>
 </dl>
 <hr>
 <br>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html
index aeae73b7..41b0557f 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html
@@ -2,9 +2,9 @@
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>OIUnidirectional (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
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@@ -99,12 +99,17 @@ <h2 title="Interface OIUnidirectional" class="title">Interface OIUnidirectional<
 <ul class="blockList">
 <li class="blockList">
 <dl>
+<dt>All Superinterfaces:</dt>
+<dd><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/OI.html" title="interface in org.usfirst.frc.team449.robot.oi">OI</a></dd>
+</dl>
+<dl>
 <dt>All Known Implementing Classes:</dt>
 <dd><a href="../../../../../../../org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcade.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional.arcade">OIArcade</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeSimple.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional.arcade">OIArcadeSimple</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeWithDPad.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional.arcade">OIArcadeWithDPad</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/oi/unidirectional/OIOutreach.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional">OIOutreach</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITank.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional.tank">OITank</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITankSimple.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional.tank">OITankSimple</a></dd>
 </dl>
 <hr>
 <br>
-<pre>public interface <span class="typeNameLabel">OIUnidirectional</span></pre>
+<pre>public interface <span class="typeNameLabel">OIUnidirectional</span>
+extends <a href="../../../../../../../org/usfirst/frc/team449/robot/oi/OI.html" title="interface in org.usfirst.frc.team449.robot.oi">OI</a></pre>
 <div class="block">An OI to control a robot with a unidirectional drive that has a left and right side (e.g. not meccanum, swerve, or
  holonomic)</div>
 </li>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcade.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcade.html
index 47156801..f7e1897d 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcade.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcade.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>OIArcade (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
@@ -108,7 +108,7 @@ <h2 title="Class OIArcade" class="title">Class OIArcade</h2>
 <li class="blockList">
 <dl>
 <dt>All Implemented Interfaces:</dt>
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+<dd><a href="../../../../../../../../org/usfirst/frc/team449/robot/oi/OI.html" title="interface in org.usfirst.frc.team449.robot.oi">OI</a>, <a href="../../../../../../../../org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.oi.unidirectional">OIUnidirectional</a></dd>
 </dl>
 <dl>
 <dt>Direct Known Subclasses:</dt>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeSimple.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeSimple.html
index 0a9d824d..2e96348e 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeSimple.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeSimple.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>OIArcadeSimple (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
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 <dl>
 <dt>All Implemented Interfaces:</dt>
-<dd><a href="../../../../../../../../org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.oi.unidirectional">OIUnidirectional</a></dd>
+<dd><a href="../../../../../../../../org/usfirst/frc/team449/robot/oi/OI.html" title="interface in org.usfirst.frc.team449.robot.oi">OI</a>, <a href="../../../../../../../../org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.oi.unidirectional">OIUnidirectional</a></dd>
 </dl>
 <hr>
 <br>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeWithDPad.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeWithDPad.html
index f78280ef..084218bf 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeWithDPad.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeWithDPad.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>OIArcadeWithDPad (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
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@@ -113,7 +113,7 @@ <h2 title="Class OIArcadeWithDPad" class="title">Class OIArcadeWithDPad</h2>
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 <dl>
 <dt>All Implemented Interfaces:</dt>
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+<dd><a href="../../../../../../../../org/usfirst/frc/team449/robot/oi/OI.html" title="interface in org.usfirst.frc.team449.robot.oi">OI</a>, <a href="../../../../../../../../org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.oi.unidirectional">OIUnidirectional</a></dd>
 </dl>
 <hr>
 <br>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-frame.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-frame.html
index d2cddfaf..06e54e40 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.oi.unidirectional.arcade (RoboRIO 1.0 API)</title>
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+<meta name="date" content="2017-10-09">
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-summary.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-summary.html
index 4929fd7b..5e38a31a 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.oi.unidirectional.arcade (RoboRIO 1.0 API)</title>
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+<meta name="date" content="2017-10-09">
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-tree.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-tree.html
index 4f36a23f..3c1f27e9 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-tree.html
@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.oi.unidirectional.arcade Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-frame.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-frame.html
index c3e03960..8166cc6a 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.oi.unidirectional (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-summary.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-summary.html
index 900a08b2..197a3a3e 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.oi.unidirectional (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-tree.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-tree.html
index 9ba7cfc1..664791bf 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.oi.unidirectional Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../script.js"></script>
 </head>
@@ -86,8 +86,12 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 </ul>
 <h2 title="Interface Hierarchy">Interface Hierarchy</h2>
 <ul>
+<li type="circle">org.usfirst.frc.team449.robot.oi.<a href="../../../../../../../org/usfirst/frc/team449/robot/oi/OI.html" title="interface in org.usfirst.frc.team449.robot.oi"><span class="typeNameLink">OI</span></a>
+<ul>
 <li type="circle">org.usfirst.frc.team449.robot.oi.unidirectional.<a href="../../../../../../../org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.oi.unidirectional"><span class="typeNameLink">OIUnidirectional</span></a></li>
 </ul>
+</li>
+</ul>
 </div>
 <!-- ======= START OF BOTTOM NAVBAR ====== -->
 <div class="bottomNav"><a name="navbar.bottom">
diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITank.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITank.html
index c8234ad7..1d3416ba 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITank.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITank.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>OITank (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
@@ -108,7 +108,7 @@ <h2 title="Class OITank" class="title">Class OITank</h2>
 <li class="blockList">
 <dl>
 <dt>All Implemented Interfaces:</dt>
-<dd><a href="../../../../../../../../org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.oi.unidirectional">OIUnidirectional</a></dd>
+<dd><a href="../../../../../../../../org/usfirst/frc/team449/robot/oi/OI.html" title="interface in org.usfirst.frc.team449.robot.oi">OI</a>, <a href="../../../../../../../../org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.oi.unidirectional">OIUnidirectional</a></dd>
 </dl>
 <dl>
 <dt>Direct Known Subclasses:</dt>
diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITankSimple.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITankSimple.html
index b50ede79..7282a2bf 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITankSimple.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITankSimple.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>OITankSimple (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
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 <script type="text/javascript" src="../../../../../../../../script.js"></script>
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@@ -113,7 +113,7 @@ <h2 title="Class OITankSimple" class="title">Class OITankSimple</h2>
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 <dt>All Implemented Interfaces:</dt>
-<dd><a href="../../../../../../../../org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.oi.unidirectional">OIUnidirectional</a></dd>
+<dd><a href="../../../../../../../../org/usfirst/frc/team449/robot/oi/OI.html" title="interface in org.usfirst.frc.team449.robot.oi">OI</a>, <a href="../../../../../../../../org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.oi.unidirectional">OIUnidirectional</a></dd>
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index 441dac83..1fe8cef6 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/package-frame.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.oi.unidirectional.tank (RoboRIO 1.0 API)</title>
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+<meta name="date" content="2017-10-09">
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/package-summary.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/package-summary.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.oi.unidirectional.tank (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/package-tree.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/package-tree.html
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 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.oi.unidirectional.tank Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
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diff --git a/docs/org/usfirst/frc/team449/robot/other/BufferTimer.html b/docs/org/usfirst/frc/team449/robot/other/BufferTimer.html
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--- a/docs/org/usfirst/frc/team449/robot/other/BufferTimer.html
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>BufferTimer (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
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diff --git a/docs/org/usfirst/frc/team449/robot/other/LogEvent.html b/docs/org/usfirst/frc/team449/robot/other/LogEvent.html
index 9204acd6..d9a27770 100644
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>LogEvent (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>Logger (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
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diff --git a/docs/org/usfirst/frc/team449/robot/other/MotionProfileData.html b/docs/org/usfirst/frc/team449/robot/other/MotionProfileData.html
index f1feb7db..3d20f230 100644
--- a/docs/org/usfirst/frc/team449/robot/other/MotionProfileData.html
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@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>MotionProfileData (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
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index 501d0748..1480c68c 100644
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index 22e13528..fc3fa19f 100644
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-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/BinaryMotorSimple.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/BinaryMotorSimple.html
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-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/SubsystemBinaryMotor.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/SubsystemBinaryMotor.html
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-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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-<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOffWithRequires.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOffWithRequires.html
index 87588cb9..f437a5a5 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOffWithRequires.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOffWithRequires.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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 <title>TurnMotorOffWithRequires (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOn.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOn.html
index bbed4435..e562b496 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOn.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOn.html
@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>TurnMotorOn (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-frame.html
index 99206064..084b3c4a 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-frame.html
@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands (RoboRIO 1.0 API)</title>
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-summary.html
index 4d77aaad..28cfd8a4 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-summary.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands (RoboRIO 1.0 API)</title>
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+<meta name="date" content="2017-10-09">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-tree.html
index 20cdd310..dfae825f 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-tree.html
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-frame.html
index 4ea130b0..e6ad27fa 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-frame.html
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@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor (RoboRIO 1.0 API)</title>
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-summary.html
index 99c454cf..1a776de6 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-summary.html
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@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
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 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor (RoboRIO 1.0 API)</title>
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-tree.html
index 37b97060..4c789e39 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-tree.html
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@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/SubsystemConditional.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/SubsystemConditional.html
index b52ada72..73d690d6 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/SubsystemConditional.html
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@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>SubsystemConditional (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-frame.html
index 3596f17a..8ad4c8a2 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-frame.html
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@@ -2,9 +2,9 @@
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.conditional (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-summary.html
index b4071088..db48b935 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-summary.html
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@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.conditional (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-tree.html
index 2eea63e9..cc50ab05 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-tree.html
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@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.conditional Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/IntakeSimple.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/IntakeSimple.html
index 6eb41b45..05743ecb 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/IntakeSimple.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/IntakeSimple.html
@@ -2,9 +2,9 @@
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>IntakeSimple (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.IntakeMode.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.IntakeMode.html
index baaa8872..78e57a08 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.IntakeMode.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.IntakeMode.html
@@ -2,9 +2,9 @@
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>SubsystemIntake.IntakeMode (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.html
index b769377d..2dae7f3a 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>SubsystemIntake (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/SetIntakeMode.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/SetIntakeMode.html
index 8e8fdaa2..c56540bf 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/SetIntakeMode.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/SetIntakeMode.html
@@ -2,9 +2,9 @@
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>SetIntakeMode (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/ToggleIntaking.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/ToggleIntaking.html
index cb421489..6ac15896 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/ToggleIntaking.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/ToggleIntaking.html
@@ -2,9 +2,9 @@
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>ToggleIntaking (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-frame.html
index faf8a415..0a412b97 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-summary.html
index 850bbb48..e91a4a68 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-tree.html
index e2415963..8a1e3157 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-frame.html
index 084d31b8..181e5f75 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.intake (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-summary.html
index 7c320b50..b9f8d58d 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.intake (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-tree.html
index 46f1eb82..c93c9082 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-tree.html
@@ -2,9 +2,9 @@
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 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.intake Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/SubsystemMP.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/SubsystemMP.html
index 441acca7..56828bcf 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/SubsystemMP.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/SubsystemMP.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>SubsystemMP (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/SubsystemMPTwoSides.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/SubsystemMPTwoSides.html
index 8650817f..29121b51 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/SubsystemMPTwoSides.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/SubsystemMPTwoSides.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>SubsystemMPTwoSides (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/LoadProfileTwoSides.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/LoadProfileTwoSides.html
index 7b36935e..132c14bb 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/LoadProfileTwoSides.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/LoadProfileTwoSides.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>LoadProfileTwoSides (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
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 <link rel="stylesheet" type="text/css" href="../../../../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/RunProfileTwoSides.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/RunProfileTwoSides.html
index ed2afdae..044dbad8 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/RunProfileTwoSides.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/RunProfileTwoSides.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>RunProfileTwoSides (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-frame.html
index 50aef596..b806755c 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-summary.html
index 2a614962..148ec68e 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-tree.html
index 2100abaa..74df7b3b 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-frame.html
index 83bdcb00..e055ca5f 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-frame.html
@@ -2,9 +2,9 @@
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-summary.html
index 740d20d6..21412663 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-tree.html
index 87b27210..c330a594 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/LoadProfile.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/LoadProfile.html
index d8f3b65a..a04fbdd0 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/LoadProfile.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/LoadProfile.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>LoadProfile (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunLoadedProfile.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunLoadedProfile.html
index 2e3b9e23..c6589525 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunLoadedProfile.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunLoadedProfile.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>RunLoadedProfile (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunProfile.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunProfile.html
index 256f2584..c9fdd2db 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunProfile.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunProfile.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>RunProfile (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-frame.html
index 87027bc4..425a7dc4 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-summary.html
index 8119f4b6..48fd66a2 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-tree.html
index c9278b49..3f3f4e18 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-frame.html
index 26a2910c..ef95e769 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-summary.html
index 5e67b453..78a7ee15 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-tree.html
index 6ea792e8..fca434f9 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.html
index 06d7dbee..24afe88c 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>SubsystemNavX (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html
index a58e2d97..157afcc5 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>OverrideNavX (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html
index bdf359c2..ba70272f 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>PIDAngleCommand (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html
index 04610cb7..88516073 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>ToggleOverrideNavX (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-frame.html
index b42656dc..24378f40 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-summary.html
index 8c7b5b62..c58a3f90 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-tree.html
index 73070172..07afc195 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-frame.html
index c3ac4a8f..a572ca61 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.navX (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-summary.html
index 97424c22..b0dbc006 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.navX (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-tree.html
index c154d980..fd47359c 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.navX Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/ShooterSimple.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/ShooterSimple.html
index d14d0504..92cadb44 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/ShooterSimple.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/ShooterSimple.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>ShooterSimple (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/SubsystemShooter.ShooterState.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/SubsystemShooter.ShooterState.html
index eefc2b4d..163fd386 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/SubsystemShooter.ShooterState.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/SubsystemShooter.ShooterState.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>SubsystemShooter.ShooterState (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/SubsystemShooter.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/SubsystemShooter.html
index 9bca4739..973e166c 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/SubsystemShooter.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/SubsystemShooter.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>SubsystemShooter (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpShooter.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpShooter.html
index ece8cd69..dcab8e3f 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpShooter.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpShooter.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>SpinUpShooter (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpThenShoot.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpThenShoot.html
index 2abafd63..d78c8a12 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpThenShoot.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpThenShoot.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>SpinUpThenShoot (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/ToggleShooting.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/ToggleShooting.html
index 3de8de3e..4fac303c 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/ToggleShooting.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/ToggleShooting.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>ToggleShooting (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOff.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOff.html
index 8ebc7a64..4b692565 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOff.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOff.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>TurnAllOff (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOffWithRequires.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOffWithRequires.html
index e6c4134b..ebd8f067 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOffWithRequires.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOffWithRequires.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>TurnAllOffWithRequires (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOn.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOn.html
index 41eca958..fcae6f92 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOn.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOn.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>TurnAllOn (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-frame.html
index 0693f7e2..fe93b6c3 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-summary.html
index e8c9ebff..592ddd10 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-tree.html
index 333195f9..a57ff10d 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-frame.html
index 73b3aa64..0bc6d0c4 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.shooter (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-summary.html
index 2b9ac513..b21ad297 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.shooter (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-tree.html
index d80510d3..6b1e719d 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.shooter Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SolenoidSimple.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SolenoidSimple.html
index 9e94dd59..dbb7f776 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SolenoidSimple.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SolenoidSimple.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>SolenoidSimple (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SubsystemSolenoid.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SubsystemSolenoid.html
index c69ea65b..e3eccfdb 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SubsystemSolenoid.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SubsystemSolenoid.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>SubsystemSolenoid (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidForward.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidForward.html
index 91303dfb..ec6a9567 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidForward.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidForward.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>SolenoidForward (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidOff.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidOff.html
index caa95781..a3e9955a 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidOff.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidOff.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>SolenoidOff (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidReverse.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidReverse.html
index 4a1a2b06..173af8b6 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidReverse.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidReverse.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>SolenoidReverse (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/ToggleSolenoid.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/ToggleSolenoid.html
index d94b6289..0fcf3a1f 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/ToggleSolenoid.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/ToggleSolenoid.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>ToggleSolenoid (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
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 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-frame.html
index bc060d1e..576b1bd8 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-summary.html
index c0dee39c..e1c670b4 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-tree.html
index 1c97da5f..1b6cf98f 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-frame.html
index 405464f5..c1e5ad73 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-summary.html
index 4a985b4b..037a3188 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-tree.html
index 96fe9d3f..321e439e 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/CameraNetwork.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/CameraNetwork.html
index 43b3a90e..52388f0d 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/CameraNetwork.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/CameraNetwork.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>CameraNetwork (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/ChangeCam.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/ChangeCam.html
index 8416d5d3..0d41b43b 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/ChangeCam.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/ChangeCam.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>ChangeCam (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-frame.html
index b8696a8d..a447e9b5 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-summary.html
index e73d28db..165e27dc 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-tree.html
index 9985d9b6..b9bf29b3 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.commands Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-frame.html
index 71c26368..e77eb56c 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-summary.html
index 525de013..ae1f712c 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-tree.html
index 5ce098e9..56afba56 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/Pneumatics.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/Pneumatics.html
index f4f89812..787bfd72 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/Pneumatics.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/Pneumatics.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:49 EDT 2017 -->
 <title>Pneumatics (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/StartCompressor.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/StartCompressor.html
index ef6558df..c6c58e86 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/StartCompressor.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/StartCompressor.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:50 EDT 2017 -->
 <title>StartCompressor (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-frame.html
index 7a38edc1..a8ca5864 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-summary.html
index ecec725a..b18233fe 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-tree.html
index 4acc597c..338cf689 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-frame.html
index b3828ac9..816627d1 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-summary.html
index 83d7c5d6..e94dd40c 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-tree.html
index f226c6a0..2059c2d8 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
 </head>
diff --git a/docs/overview-frame.html b/docs/overview-frame.html
index 64e6ed30..721afd7a 100644
--- a/docs/overview-frame.html
+++ b/docs/overview-frame.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:51 EDT 2017 -->
 <title>Overview List (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <script type="text/javascript" src="script.js"></script>
 </head>
@@ -30,6 +30,7 @@ <h2 title="Packages">Packages</h2>
 <li><a href="org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-frame.html" target="packageFrame">org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands</a></li>
 <li><a href="org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-frame.html" target="packageFrame">org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor</a></li>
 <li><a href="org/usfirst/frc/team449/robot/jacksonWrappers/package-frame.html" target="packageFrame">org.usfirst.frc.team449.robot.jacksonWrappers</a></li>
+<li><a href="org/usfirst/frc/team449/robot/oi/package-frame.html" target="packageFrame">org.usfirst.frc.team449.robot.oi</a></li>
 <li><a href="org/usfirst/frc/team449/robot/oi/buttons/package-frame.html" target="packageFrame">org.usfirst.frc.team449.robot.oi.buttons</a></li>
 <li><a href="org/usfirst/frc/team449/robot/oi/fieldoriented/package-frame.html" target="packageFrame">org.usfirst.frc.team449.robot.oi.fieldoriented</a></li>
 <li><a href="org/usfirst/frc/team449/robot/oi/throttles/package-frame.html" target="packageFrame">org.usfirst.frc.team449.robot.oi.throttles</a></li>
diff --git a/docs/overview-summary.html b/docs/overview-summary.html
index 24141610..6383ef8e 100644
--- a/docs/overview-summary.html
+++ b/docs/overview-summary.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>Overview (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <script type="text/javascript" src="script.js"></script>
 </head>
@@ -148,118 +148,122 @@ <h1 class="title">RoboRIO 1.0 API</h1>
 <td class="colLast">&nbsp;</td>
 </tr>
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-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/oi/buttons/package-summary.html">org.usfirst.frc.team449.robot.oi.buttons</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/oi/package-summary.html">org.usfirst.frc.team449.robot.oi</a></td>
 <td class="colLast">&nbsp;</td>
 </tr>
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-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/oi/fieldoriented/package-summary.html">org.usfirst.frc.team449.robot.oi.fieldoriented</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/oi/buttons/package-summary.html">org.usfirst.frc.team449.robot.oi.buttons</a></td>
 <td class="colLast">&nbsp;</td>
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-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/oi/throttles/package-summary.html">org.usfirst.frc.team449.robot.oi.throttles</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/oi/fieldoriented/package-summary.html">org.usfirst.frc.team449.robot.oi.fieldoriented</a></td>
 <td class="colLast">&nbsp;</td>
 </tr>
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-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/oi/unidirectional/package-summary.html">org.usfirst.frc.team449.robot.oi.unidirectional</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/oi/throttles/package-summary.html">org.usfirst.frc.team449.robot.oi.throttles</a></td>
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-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-summary.html">org.usfirst.frc.team449.robot.oi.unidirectional.arcade</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/oi/unidirectional/package-summary.html">org.usfirst.frc.team449.robot.oi.unidirectional</a></td>
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+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-summary.html">org.usfirst.frc.team449.robot.oi.unidirectional.arcade</a></td>
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-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/other/package-summary.html">org.usfirst.frc.team449.robot.other</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/oi/unidirectional/tank/package-summary.html">org.usfirst.frc.team449.robot.oi.unidirectional.tank</a></td>
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+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/other/package-summary.html">org.usfirst.frc.team449.robot.other</a></td>
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-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/complex/intake/package-summary.html">org.usfirst.frc.team449.robot.subsystem.complex.intake</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/complex/climber/package-summary.html">org.usfirst.frc.team449.robot.subsystem.complex.climber</a></td>
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+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/complex/intake/package-summary.html">org.usfirst.frc.team449.robot.subsystem.complex.intake</a></td>
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+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/complex/shooter/package-summary.html">org.usfirst.frc.team449.robot.subsystem.complex.shooter</a></td>
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+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor</a></td>
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+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands</a></td>
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+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.conditional</a></td>
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+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.intake</a></td>
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+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands</a></td>
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+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile</a></td>
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 <tr class="rowColor">
-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid</a></td>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="altColor">
-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-summary.html">org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands</a></td>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="rowColor">
-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-summary.html">org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.commands</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-summary.html">org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera</a></td>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="altColor">
-<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-summary.html">org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics</a></td>
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-summary.html">org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.commands</a></td>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="rowColor">
+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-summary.html">org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics</a></td>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
 <td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-summary.html">org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands</a></td>
 <td class="colLast">&nbsp;</td>
 </tr>
diff --git a/docs/overview-tree.html b/docs/overview-tree.html
index 55abd5b1..52804fa1 100644
--- a/docs/overview-tree.html
+++ b/docs/overview-tree.html
@@ -2,9 +2,9 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (1.8.0_131) on Tue Oct 03 16:39:09 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Mon Oct 09 20:53:52 EDT 2017 -->
 <title>Class Hierarchy (RoboRIO 1.0 API)</title>
-<meta name="date" content="2017-10-03">
+<meta name="date" content="2017-10-09">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <script type="text/javascript" src="script.js"></script>
 </head>
@@ -89,6 +89,7 @@ <h1 class="title">Hierarchy For All Packages</h1>
 <li><a href="org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-tree.html">org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands</a>, </li>
 <li><a href="org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-tree.html">org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor</a>, </li>
 <li><a href="org/usfirst/frc/team449/robot/jacksonWrappers/package-tree.html">org.usfirst.frc.team449.robot.jacksonWrappers</a>, </li>
+<li><a href="org/usfirst/frc/team449/robot/oi/package-tree.html">org.usfirst.frc.team449.robot.oi</a>, </li>
 <li><a href="org/usfirst/frc/team449/robot/oi/buttons/package-tree.html">org.usfirst.frc.team449.robot.oi.buttons</a>, </li>
 <li><a href="org/usfirst/frc/team449/robot/oi/fieldoriented/package-tree.html">org.usfirst.frc.team449.robot.oi.fieldoriented</a>, </li>
 <li><a href="org/usfirst/frc/team449/robot/oi/throttles/package-tree.html">org.usfirst.frc.team449.robot.oi.throttles</a>, </li>
@@ -380,8 +381,12 @@ <h2 title="Interface Hierarchy">Interface Hierarchy</h2>
 </ul>
 </li>
 <li type="circle">org.usfirst.frc.team449.robot.generalInterfaces.loggable.<a href="org/usfirst/frc/team449/robot/generalInterfaces/loggable/Loggable.html" title="interface in org.usfirst.frc.team449.robot.generalInterfaces.loggable"><span class="typeNameLink">Loggable</span></a></li>
+<li type="circle">org.usfirst.frc.team449.robot.oi.<a href="org/usfirst/frc/team449/robot/oi/OI.html" title="interface in org.usfirst.frc.team449.robot.oi"><span class="typeNameLink">OI</span></a>
+<ul>
 <li type="circle">org.usfirst.frc.team449.robot.oi.fieldoriented.<a href="org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html" title="interface in org.usfirst.frc.team449.robot.oi.fieldoriented"><span class="typeNameLink">OIFieldOriented</span></a></li>
 <li type="circle">org.usfirst.frc.team449.robot.oi.unidirectional.<a href="org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.oi.unidirectional"><span class="typeNameLink">OIUnidirectional</span></a></li>
+</ul>
+</li>
 <li type="circle">org.usfirst.frc.team449.robot.generalInterfaces.shiftable.<a href="org/usfirst/frc/team449/robot/generalInterfaces/shiftable/Shiftable.html" title="interface in org.usfirst.frc.team449.robot.generalInterfaces.shiftable"><span class="typeNameLink">Shiftable</span></a>
 <ul>
 <li type="circle">org.usfirst.frc.team449.robot.drive.shifting.<a href="org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html" title="interface in org.usfirst.frc.team449.robot.drive.shifting"><span class="typeNameLink">DriveShiftable</span></a></li>
diff --git a/docs/package-list b/docs/package-list
index 71bf34fd..326d935f 100644
--- a/docs/package-list
+++ b/docs/package-list
@@ -15,6 +15,7 @@ org.usfirst.frc.team449.robot.generalInterfaces.shiftable
 org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands
 org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor
 org.usfirst.frc.team449.robot.jacksonWrappers
+org.usfirst.frc.team449.robot.oi
 org.usfirst.frc.team449.robot.oi.buttons
 org.usfirst.frc.team449.robot.oi.fieldoriented
 org.usfirst.frc.team449.robot.oi.throttles

From 43013fde6f96074a9e9096c82492dfa5e40d39ac Mon Sep 17 00:00:00 2001
From: Noah Gleason <noah.gleason1@gmail.com>
Date: Mon, 9 Oct 2017 21:03:57 -0400
Subject: [PATCH 12/13] Remove log file

---
 .gitignore                                 |  1 +
 R scripts/eventLog-2017.09.16.11.04.04.csv | 32 ----------------------
 2 files changed, 1 insertion(+), 32 deletions(-)
 delete mode 100644 R scripts/eventLog-2017.09.16.11.04.04.csv

diff --git a/.gitignore b/.gitignore
index f77c005d..0bfc5c78 100644
--- a/.gitignore
+++ b/.gitignore
@@ -40,6 +40,7 @@ robot2017.iws
 
 #Copied log files
 logs/
+*Log*.csv
 
 #Generated profiles in the base-level directory
 *Profile.csv
\ No newline at end of file
diff --git a/R scripts/eventLog-2017.09.16.11.04.04.csv b/R scripts/eventLog-2017.09.16.11.04.04.csv
deleted file mode 100644
index 33ccffe5..00000000
--- a/R scripts/eventLog-2017.09.16.11.04.04.csv	
+++ /dev/null
@@ -1,32 +0,0 @@
-time,class,message
-0,class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXShiftingDefaultDrive,Drive Robot bueno
-0,class org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.CameraNetwork,CameraSubsystem construct start
-0,class org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.CameraNetwork,Set URL of MJPGServer to "http://roboRIO-449-frc.local:5800/stream.mjpg"
-0,class org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.CameraNetwork,CameraSubsystem construct end
-0,class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DriveAtSpeed,Drive Robot bueno
-0,class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DriveAtSpeed,Drive Robot bueno
-0,class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DriveAtSpeed,Drive Robot bueno
-0,class org.usfirst.frc.team449.robot.Robot,redAlliance: false
-0,class org.usfirst.frc.team449.robot.Robot,dropGear: true
-0,class org.usfirst.frc.team449.robot.Robot,position: right
-9057,class org.usfirst.frc.team449.robot.drive.shifting.commands.SwitchToGear,SwitchToGear init.
-9057,class org.usfirst.frc.team449.robot.drive.shifting.commands.SwitchToGear,SwitchToGear end.
-9057,class org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands.StartCompressor,StartCompressor init.
-9057,class org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands.StartCompressor,StartCompressor end.
-9057,class org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidForward,SolenoidForward init.
-9057,class org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidForward,SolenoidForward end.
-9057,class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXShiftingDefaultDrive,UnidirectionalNavXArcadeDrive init.
-9217,class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXShiftingDefaultDrive,Switching to DriveStraight.
-19538,class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXShiftingDefaultDrive,Switching to free drive.
-24077,class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXShiftingDefaultDrive,Switching to DriveStraight.
-24777,class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXShiftingDefaultDrive,Switching to free drive.
-50538,class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXShiftingDefaultDrive,Switching to DriveStraight.
-50878,class org.usfirst.frc.team449.robot.drive.shifting.commands.SwitchToLowGear,SwitchToLowGear init.
-50878,class org.usfirst.frc.team449.robot.drive.shifting.commands.SwitchToLowGear,SwitchToLowGear end.
-52960,class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXShiftingDefaultDrive,Switching to free drive.
-58719,class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXShiftingDefaultDrive,Switching to DriveStraight.
-59817,class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXShiftingDefaultDrive,Switching to free drive.
-65738,class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXShiftingDefaultDrive,Switching to DriveStraight.
-100,class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DetermineVelVsVoltage,1
-200,class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DetermineVelVsVoltage,1.5
-200,class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DetermineVelVsVoltage,2

From 6c69ce5af1a90ab475ba1390d53de04803f90063 Mon Sep 17 00:00:00 2001
From: Noah Gleason <noah.gleason1@gmail.com>
Date: Sat, 4 Nov 2017 16:35:29 -0400
Subject: [PATCH 13/13] Cache field-oriented OI

---
 .../org/usfirst/frc/team449/robot/Robot.java  |  4 +-
 ...eldOrientedUnidirectionalDriveCommand.java | 12 +--
 ...tedUnidirectionalDriveCommandShifting.java |  4 +-
 .../multiInterface/drive/JiggleRobot.java     |  2 +-
 .../drive/NavXDriveStraight.java              |  4 +-
 .../multiInterface/drive/NavXTurnToAngle.java |  6 +-
 .../drive/NavXTurnToAngleRelative.java        |  2 +-
 .../drive/UnidirectionalNavXDefaultDrive.java | 12 +--
 ...nidirectionalNavXShiftingDefaultDrive.java |  2 +-
 .../unidirectional/DriveTalonCluster.java     |  4 +-
 .../org/usfirst/frc/team449/robot/oi/OI.java  |  3 +-
 .../oi/fieldoriented/OIFieldOriented.java     | 46 ++++++++++-
 .../fieldoriented/OIFieldOrientedPosCos.java  |  2 +-
 .../robot/oi/unidirectional/OIOutreach.java   | 18 +---
 .../oi/unidirectional/OIUnidirectional.java   |  9 +-
 .../oi/unidirectional/arcade/OIArcade.java    | 16 ----
 .../oi/unidirectional/tank/OITankSimple.java  | 23 +-----
 .../other/UnidirectionalPoseEstimator.java    |  2 +-
 .../{navX => AHRS}/SubsystemAHRS.java         |  6 +-
 .../{navX => AHRS}/commands/OverrideNavX.java | 12 +--
 .../commands/PIDAngleCommand.java             |  6 +-
 .../commands/ToggleOverrideNavX.java          |  8 +-
 RoboRIO/src/main/resources/nate_map.yml       |  4 +-
 RoboRIO/src/main/resources/naveen_map.yml     |  4 +-
 docs/allclasses-frame.html                    |  8 +-
 docs/allclasses-noframe.html                  |  8 +-
 docs/index-all.html                           | 82 +++++++++----------
 ...ectionalDriveCommand.AngularSnapPoint.html |  2 +-
 ...eldOrientedUnidirectionalDriveCommand.html | 12 +--
 ...tedUnidirectionalDriveCommandShifting.html | 10 +--
 .../multiInterface/drive/JiggleRobot.html     |  4 +-
 .../drive/NavXDriveStraight.html              | 12 +--
 .../multiInterface/drive/NavXTurnToAngle.html | 12 +--
 .../drive/NavXTurnToAngleRelative.html        |  8 +-
 .../drive/UnidirectionalNavXDefaultDrive.html | 12 +--
 ...nidirectionalNavXShiftingDefaultDrive.html | 10 +--
 .../multiInterface/drive/package-summary.html | 16 ++--
 .../multiInterface/drive/package-tree.html    |  2 +-
 .../unidirectional/DriveTalonCluster.html     | 20 ++---
 .../DriveTalonClusterShiftable.html           |  2 +-
 .../drive/unidirectional/package-tree.html    |  2 +-
 .../robot/jacksonWrappers/YamlCommand.html    |  2 +-
 .../jacksonWrappers/YamlCommandWrapper.html   |  2 +-
 .../other/UnidirectionalPoseEstimator.html    |  4 +-
 .../team449/robot/other/package-summary.html  |  2 +-
 .../navX/commands/OverrideNavX.html           | 12 +--
 .../navX/commands/PIDAngleCommand.html        | 20 ++---
 .../navX/commands/ToggleOverrideNavX.html     | 12 +--
 .../navX/commands/package-frame.html          | 10 +--
 .../navX/commands/package-summary.html        | 10 +--
 .../navX/commands/package-tree.html           | 10 +--
 .../interfaces/navX/package-frame.html        |  6 +-
 .../interfaces/navX/package-summary.html      |  6 +-
 .../interfaces/navX/package-tree.html         |  6 +-
 docs/overview-frame.html                      |  4 +-
 docs/overview-summary.html                    |  4 +-
 docs/overview-tree.html                       | 14 ++--
 docs/package-list                             |  4 +-
 58 files changed, 268 insertions(+), 293 deletions(-)
 rename RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/{navX => AHRS}/SubsystemAHRS.java (87%)
 rename RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/{navX => AHRS}/commands/OverrideNavX.java (84%)
 rename RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/{navX => AHRS}/commands/PIDAngleCommand.java (96%)
 rename RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/{navX => AHRS}/commands/ToggleOverrideNavX.java (87%)

diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/Robot.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/Robot.java
index 893a1146..18423a1d 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/Robot.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/Robot.java
@@ -92,9 +92,9 @@ public void robotInit() {
 		try {
 			//Read the yaml file with SnakeYaml so we can use anchors and merge syntax.
 //			Map<?, ?> normalized = (Map<?, ?>) yaml.load(new FileReader(RESOURCES_PATH+"ballbasaur_map.yml"));
-			Map<?, ?> normalized = (Map<?, ?>) yaml.load(new FileReader(RESOURCES_PATH + "naveen_map.yml"));
+//			Map<?, ?> normalized = (Map<?, ?>) yaml.load(new FileReader(RESOURCES_PATH + "naveen_map.yml"));
 //			Map<?, ?> normalized = (Map<?, ?>) yaml.load(new FileReader(RESOURCES_PATH + "nate_map.yml"));
-//			Map<?, ?> normalized = (Map<?, ?>) yaml.load(new FileReader(RESOURCES_PATH + "calcifer_outreach_map.yml"));
+			Map<?, ?> normalized = (Map<?, ?>) yaml.load(new FileReader(RESOURCES_PATH + "calcifer_outreach_map.yml"));
 			YAMLMapper mapper = new YAMLMapper();
 			//Turn the Map read by SnakeYaml into a String so Jackson can read it.
 			String fixed = mapper.writeValueAsString(normalized);
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java
index eebf9d98..1ca013ff 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java
@@ -8,8 +8,8 @@
 import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem;
 import org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented;
 import org.usfirst.frc.team449.robot.other.Logger;
-import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS;
-import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.PIDAngleCommand;
+import org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS;
+import org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.PIDAngleCommand;
 
 import java.util.ArrayList;
 import java.util.List;
@@ -105,11 +105,7 @@ protected void initialize() {
 	 */
 	@Override
 	protected void execute() {
-		SmartDashboard.putBoolean("enabled",this.getPIDController().isEnabled());
-		SmartDashboard.putNumber("NavX Error",this.getPIDController().getError());
-		SmartDashboard.putNumber("kP",this.getPIDController().getP());
-		//Do nothing
-		theta = oi.getTheta();
+		theta = oi.getThetaCached();
 		if (theta != null) {
 			for (AngularSnapPoint snapPoint : snapPoints) {
 				//See if we should snap
@@ -164,7 +160,7 @@ protected void usePIDOutput(double output) {
 		SmartDashboard.putNumber("PID loop output", output);
 
 		//Adjust the heading according to the PID output, it'll be positive if we want to go right.
-		subsystem.setOutput(oi.getVel() - output, oi.getVel() + output);
+		subsystem.setOutput(oi.getVelCached() - output, oi.getVelCached() + output);
 	}
 
 	/**
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.java
index f5af6ea2..d5cb2886 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.java
@@ -10,7 +10,7 @@
 import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem;
 import org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented;
 import org.usfirst.frc.team449.robot.other.Logger;
-import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS;
+import org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS;
 
 import java.util.List;
 
@@ -87,7 +87,7 @@ public FieldOrientedUnidirectionalDriveCommandShifting(@JsonProperty(required =
 	@Override
 	protected void execute() {
 		if (!subsystem.getOverrideAutoshift()) {
-			autoshiftComponent.autoshift(oi.getVel(), subsystem.getLeftVel(), subsystem.getRightVel(), gear -> subsystem.setGear(gear));
+			autoshiftComponent.autoshift(oi.getVelCached(), subsystem.getLeftVelCached(), subsystem.getRightVelCached(), gear -> subsystem.setGear(gear));
 		}
 		super.execute();
 	}
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/JiggleRobot.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/JiggleRobot.java
index 196b82a0..3bb3a58f 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/JiggleRobot.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/JiggleRobot.java
@@ -9,7 +9,7 @@
 import org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional;
 import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandGroupWrapper;
 import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem;
-import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS;
+import org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS;
 
 /**
  * Rotates the robot back and forth in order to dislodge any stuck balls.
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.java
index 777ac6d0..2ab92849 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.java
@@ -10,8 +10,8 @@
 import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem;
 import org.usfirst.frc.team449.robot.oi.unidirectional.tank.OITank;
 import org.usfirst.frc.team449.robot.other.Logger;
-import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS;
-import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.PIDAngleCommand;
+import org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS;
+import org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.PIDAngleCommand;
 
 /**
  * Drives straight using the NavX gyro to keep a constant alignment.
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.java
index 98a8b7b5..c3ba9fcf 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.java
@@ -11,11 +11,11 @@
 import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem;
 import org.usfirst.frc.team449.robot.other.Clock;
 import org.usfirst.frc.team449.robot.other.Logger;
-import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS;
-import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.PIDAngleCommand;
+import org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS;
+import org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.PIDAngleCommand;
 
 /**
- * Turns to a specified angle, relative to the angle the navX was at when the robot was turned on.
+ * Turns to a specified angle, relative to the angle the AHRS was at when the robot was turned on.
  */
 @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class)
 public class NavXTurnToAngle <T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS> extends PIDAngleCommand {
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngleRelative.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngleRelative.java
index f397aa20..e785b3a5 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngleRelative.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngleRelative.java
@@ -10,7 +10,7 @@
 import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem;
 import org.usfirst.frc.team449.robot.other.Clock;
 import org.usfirst.frc.team449.robot.other.Logger;
-import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS;
+import org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS;
 
 /**
  * Turn a certain number of degrees from the current heading.
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.java
index 67a8ad40..534b8d17 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.java
@@ -9,8 +9,8 @@
 import org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional;
 import org.usfirst.frc.team449.robot.other.BufferTimer;
 import org.usfirst.frc.team449.robot.other.Logger;
-import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS;
-import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.PIDAngleCommand;
+import org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS;
+import org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.PIDAngleCommand;
 
 /**
  * Drive with arcade drive setup, and when the driver isn't turning, use a NavX to stabilize the robot's alignment.
@@ -118,17 +118,17 @@ protected void initialize() {
 	@Override
 	protected void execute() {
 		SmartDashboard.putBoolean("Override",subsystem.getOverrideGyro());
-		//If we're driving straight but the driver tries to turn or overrides the navX:
-		if (drivingStraight && (!oi.commandingStraightCached() || subsystem.getOverrideGyro())) {
+		//If we're driving straight but the driver tries to turn or overrides the AHRS:
+		if (drivingStraight && (!oi.commandingStraight() || subsystem.getOverrideGyro())) {
 			//Switch to free drive
 			drivingStraight = false;
 		}
 		//If we're free driving and the driver stops turning:
 		else if (driveStraightLoopEntryTimer.get(!(subsystem.getOverrideGyro()) && !(drivingStraight) &&
-				oi.commandingStraightCached() && Math.abs(subsystem.getAngularVelCached()) <= maxAngularVelToEnterLoop)) {
+				oi.commandingStraight() && Math.abs(subsystem.getAngularVelCached()) <= maxAngularVelToEnterLoop)) {
 			//Switch to driving straight
 			drivingStraight = true;
-			//Set the setpoint to the current heading and reset the navX
+			//Set the setpoint to the current heading and reset the AHRS
 			this.getPIDController().reset();
 			this.getPIDController().setSetpoint(subsystem.getHeadingCached());
 			this.getPIDController().enable();
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.java
index a9ce3710..6607d396 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.java
@@ -11,7 +11,7 @@
 import org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional;
 import org.usfirst.frc.team449.robot.other.BufferTimer;
 import org.usfirst.frc.team449.robot.other.Logger;
-import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS;
+import org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS;
 
 /**
  * Drive with arcade drive setup, autoshift, and when the driver isn't turning, use a NavX to stabilize the robot's
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.java
index 256fcf1c..61fac0be 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.java
@@ -13,7 +13,7 @@
 import org.usfirst.frc.team449.robot.other.Logger;
 import org.usfirst.frc.team449.robot.other.MotionProfileData;
 import org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.SubsystemMPTwoSides;
-import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS;
+import org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS;
 
 
 /**
@@ -218,7 +218,7 @@ public void setDefaultCommandManual(Command defaultCommand) {
 	}
 
 	/**
-	 * Get the robot's heading using the navX
+	 * Get the robot's heading using the AHRS
 	 *
 	 * @return robot heading, in degrees, on [-180, 180]
 	 */
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/OI.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/OI.java
index 2e217de3..5e6ab426 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/OI.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/OI.java
@@ -1,7 +1,8 @@
 package org.usfirst.frc.team449.robot.oi;
 
 import com.fasterxml.jackson.annotation.JsonTypeInfo;
+import org.usfirst.frc.team449.robot.generalInterfaces.updatable.Updatable;
 
 @JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class")
-public interface OI {
+public interface OI extends Updatable{
 }
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.java
index 711063d1..db902523 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.java
@@ -8,7 +8,18 @@
  * An OI that gives an absolute heading, relative to the field, and a velocity.
  */
 @JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class")
-public interface OIFieldOriented extends OI {
+public abstract class OIFieldOriented implements OI {
+
+	/**
+	 * The cached linear velocity.
+	 */
+	private double cachedVel;
+
+	/**
+	 * The cached angular setpoint.
+	 */
+	@Nullable
+	private Double cachedTheta;
 
 	/**
 	 * Get the absolute angle for the robot to move towards.
@@ -17,13 +28,42 @@ public interface OIFieldOriented extends OI {
 	 * and 90 is pointing at the left wall when looking out from the driver station. Returns null if vel is 0.
 	 */
 	@Nullable
-	Double getTheta();
+	public abstract Double getTheta();
 
 	/**
 	 * Get the velocity for the robot to go at.
 	 *
 	 * @return A velocity from [-1, 1].
 	 */
-	double getVel();
+	public abstract double getVel();
+
+	/**
+	 * Get the cached absolute angle for the robot to move towards.
+	 *
+	 * @return An angular setpoint for the robot in degrees, where 0 is pointing at the other alliance's driver station
+	 * and 90 is pointing at the left wall when looking out from the driver station. Returns null if vel is 0.
+	 */
+	@Nullable
+	public Double getThetaCached(){
+		return cachedTheta;
+	}
+
+	/**
+	 * Get the cached velocity for the robot to go at.
+	 *
+	 * @return A velocity from [-1, 1].
+	 */
+	public double getVelCached(){
+		return cachedVel;
+	}
+
+	/**
+	 * Updates all cached values with current ones.
+	 */
+	@Override
+	public void update() {
+		cachedVel = getVel();
+		cachedTheta = getTheta();
+	}
 
 }
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.java
index 4c056389..2c511a8f 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.java
@@ -14,7 +14,7 @@
  * A field-oriented OI that always points the robot an angle where cosine is positive, i.e. always pointing away from the driver station.
  */
 @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class)
-public class OIFieldOrientedPosCos implements OIFieldOriented{
+public class OIFieldOrientedPosCos extends OIFieldOriented{
 
 	/**
 	 * The throttle for the X-axis, which points towards the opposing driver station.
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/OIOutreach.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/OIOutreach.java
index c0073b9e..00fd4590 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/OIOutreach.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/OIOutreach.java
@@ -35,11 +35,6 @@ public class OIOutreach implements OIUnidirectional {
 	 */
 	private double cachedLeftOutput, cachedRightOutput;
 
-	/**
-	 * Whether the driver was trying to drive straight when values were cached.
-	 */
-	private boolean cachedCommandingStraight;
-
 	@JsonCreator
 	public OIOutreach(@NotNull @JsonProperty(required = true) OIUnidirectional overridingOI,
 	                  @NotNull @JsonProperty(required = true) OIUnidirectional overridenOI,
@@ -84,7 +79,7 @@ public double getRightOutput() {
 	 */
 	@Override
 	public boolean commandingStraight() {
-		return getLeftOutput() == getRightOutput();
+		return getLeftOutputCached() == getRightOutputCached();
 	}
 
 	/**
@@ -107,16 +102,6 @@ public double getRightOutputCached() {
 		return cachedRightOutput;
 	}
 
-	/**
-	 * Whether the driver was trying to drive straight when values were cached.
-	 *
-	 * @return True if the driver is trying to drive straight, false otherwise.
-	 */
-	@Override
-	public boolean commandingStraightCached() {
-		return cachedCommandingStraight;
-	}
-
 	/**
 	 * Updates all cached values with current ones.
 	 */
@@ -124,6 +109,5 @@ public boolean commandingStraightCached() {
 	public void update() {
 		cachedLeftOutput = getLeftOutput();
 		cachedRightOutput = getRightOutput();
-		cachedCommandingStraight = cachedLeftOutput == cachedRightOutput;
 	}
 }
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.java
index beecbc41..e0e4ae11 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.java
@@ -9,7 +9,7 @@
  * holonomic)
  */
 @JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class")
-public interface OIUnidirectional extends Updatable, OI {
+public interface OIUnidirectional extends OI {
 
 	/**
 	 * The output to be given to the left side of the drive.
@@ -45,11 +45,4 @@ public interface OIUnidirectional extends Updatable, OI {
 	 * @return Output to right side from [-1, 1]
 	 */
 	double getRightOutputCached();
-
-	/**
-	 * Whether the driver was trying to drive straight when values were cached.
-	 *
-	 * @return True if the driver is trying to drive straight, false otherwise.
-	 */
-	boolean commandingStraightCached();
 }
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcade.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcade.java
index 3ed14c45..874121e9 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcade.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcade.java
@@ -14,11 +14,6 @@ public abstract class OIArcade implements OIUnidirectional {
 	 */
 	private double rotCached, fwdCached, leftCached, rightCached;
 
-	/**
-	 * Whether the driver was trying to drive straight when values were cached.
-	 */
-	private boolean commandingStraightCached;
-
 	/**
 	 * Get the rotational input.
 	 *
@@ -97,16 +92,6 @@ public double getRightOutputCached(){
 		return rightCached;
 	}
 
-	/**
-	 * Whether the driver was trying to drive straight when values were cached.
-	 *
-	 * @return True if the driver is trying to drive straight, false otherwise.
-	 */
-	@Override
-	public boolean commandingStraightCached(){
-		return commandingStraightCached;
-	}
-
 	/**
 	 * Updates all cached values with current ones.
 	 */
@@ -114,7 +99,6 @@ public boolean commandingStraightCached(){
 	public void update() {
 		rotCached = getRot();
 		fwdCached = getFwd();
-		commandingStraightCached = commandingStraight();
 		leftCached = fwdCached + rotCached;
 		rightCached = fwdCached - rotCached;
 	}
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITankSimple.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITankSimple.java
index ff32ca11..d8526fd5 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITankSimple.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITankSimple.java
@@ -25,11 +25,6 @@ public class OITankSimple extends OITank {
 	@NotNull
 	private final Throttle rightThrottle;
 
-	/**
-	 * Whether the driver was trying to drive straight when values were cached.
-	 */
-	private boolean commandingStraightCached;
-
 	/**
 	 * The difference between left and right input within which the driver is considered to be trying to drive
 	 * straight.
@@ -88,22 +83,6 @@ public double getRightThrottle() {
 	 */
 	@Override
 	public boolean commandingStraight() {
-		return Math.abs(leftThrottle.getValue() - rightThrottle.getValue()) <= commandingStraightTolerance;
-	}
-
-	/**
-	 * Whether the driver was trying to drive straight when values were cached.
-	 *
-	 * @return True if the driver is trying to drive straight, false otherwise.
-	 */
-	@Override
-	public boolean commandingStraightCached() {
-		return commandingStraightCached;
-	}
-
-	@Override
-	public void update(){
-		commandingStraightCached = commandingStraight();
-		super.update();
+		return Math.abs(getLeftOutputCached() - getRightOutputCached()) <= commandingStraightTolerance;
 	}
 }
\ No newline at end of file
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/other/UnidirectionalPoseEstimator.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/other/UnidirectionalPoseEstimator.java
index 9ff17c70..c459f380 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/other/UnidirectionalPoseEstimator.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/other/UnidirectionalPoseEstimator.java
@@ -9,7 +9,7 @@
 import org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional;
 import org.usfirst.frc.team449.robot.generalInterfaces.loggable.Loggable;
 import org.usfirst.frc.team449.robot.jacksonWrappers.MappedRunnable;
-import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS;
+import org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS;
 
 import java.util.ArrayList;
 import java.util.List;
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/AHRS/SubsystemAHRS.java
similarity index 87%
rename from RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.java
rename to RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/AHRS/SubsystemAHRS.java
index 81bf87ba..a3758952 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/AHRS/SubsystemAHRS.java
@@ -1,12 +1,10 @@
-package org.usfirst.frc.team449.robot.subsystem.interfaces.navX;
+package org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS;
 
 
 import com.fasterxml.jackson.annotation.JsonTypeInfo;
-import com.kauailabs.navx.frc.AHRS;
-import org.jetbrains.annotations.NotNull;
 
 /**
- * A subsystem that has a navX on it.
+ * A subsystem that has a AHRS on it.
  */
 @JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT)
 public interface SubsystemAHRS {
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/AHRS/commands/OverrideNavX.java
similarity index 84%
rename from RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.java
rename to RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/AHRS/commands/OverrideNavX.java
index 9e53608d..8b8ae514 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/AHRS/commands/OverrideNavX.java
@@ -1,4 +1,4 @@
-package org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands;
+package org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands;
 
 import com.fasterxml.jackson.annotation.JsonCreator;
 import com.fasterxml.jackson.annotation.JsonIdentityInfo;
@@ -7,16 +7,16 @@
 import org.jetbrains.annotations.NotNull;
 import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper;
 import org.usfirst.frc.team449.robot.other.Logger;
-import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS;
+import org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS;
 
 /**
- * Set whether or not to override the navX.
+ * Set whether or not to override the AHRS.
  */
 @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class)
 public class OverrideNavX extends YamlCommandWrapper {
 
 	/**
-	 * Whether or not to override the navX.
+	 * Whether or not to override the AHRS.
 	 */
 	private final boolean override;
 
@@ -30,7 +30,7 @@ public class OverrideNavX extends YamlCommandWrapper {
 	 * Default constructor.
 	 *
 	 * @param subsystem The subsystem to execute this command on
-	 * @param override  Whether or not to override the navX.
+	 * @param override  Whether or not to override the AHRS.
 	 */
 	@JsonCreator
 	public OverrideNavX(@NotNull @JsonProperty(required = true) SubsystemAHRS subsystem,
@@ -48,7 +48,7 @@ protected void initialize() {
 	}
 
 	/**
-	 * Set whether or not we're overriding the navX
+	 * Set whether or not we're overriding the AHRS
 	 */
 	@Override
 	protected void execute() {
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/AHRS/commands/PIDAngleCommand.java
similarity index 96%
rename from RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.java
rename to RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/AHRS/commands/PIDAngleCommand.java
index 5903d80f..2e4f861b 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/AHRS/commands/PIDAngleCommand.java
@@ -1,4 +1,4 @@
-package org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands;
+package org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands;
 
 import com.fasterxml.jackson.annotation.JsonCreator;
 import com.fasterxml.jackson.annotation.JsonProperty;
@@ -9,10 +9,10 @@
 import org.jetbrains.annotations.NotNull;
 import org.jetbrains.annotations.Nullable;
 import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand;
-import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS;
+import org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS;
 
 /**
- * A command that uses a navX to turn to a certain angle.
+ * A command that uses a AHRS to turn to a certain angle.
  */
 @JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class")
 public abstract class PIDAngleCommand extends PIDCommand implements YamlCommand {
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/AHRS/commands/ToggleOverrideNavX.java
similarity index 87%
rename from RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.java
rename to RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/AHRS/commands/ToggleOverrideNavX.java
index e7e17b9e..5ecf1a12 100644
--- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.java
+++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/AHRS/commands/ToggleOverrideNavX.java
@@ -1,4 +1,4 @@
-package org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands;
+package org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands;
 
 import com.fasterxml.jackson.annotation.JsonCreator;
 import com.fasterxml.jackson.annotation.JsonIdentityInfo;
@@ -7,10 +7,10 @@
 import org.jetbrains.annotations.NotNull;
 import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper;
 import org.usfirst.frc.team449.robot.other.Logger;
-import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS;
+import org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS;
 
 /**
- * Toggle whether or not to override the navX.
+ * Toggle whether or not to override the AHRS.
  */
 @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class)
 public class ToggleOverrideNavX extends YamlCommandWrapper {
@@ -40,7 +40,7 @@ protected void initialize() {
 	}
 
 	/**
-	 * Toggle whether or not we're overriding the navX
+	 * Toggle whether or not we're overriding the AHRS
 	 */
 	@Override
 	protected void execute() {
diff --git a/RoboRIO/src/main/resources/nate_map.yml b/RoboRIO/src/main/resources/nate_map.yml
index 2f8494be..4b4c4a38 100644
--- a/RoboRIO/src/main/resources/nate_map.yml
+++ b/RoboRIO/src/main/resources/nate_map.yml
@@ -609,7 +609,7 @@ buttons:
                         gunnerGamepad
                 buttonNumber: 1
         command:
-            org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.OverrideNavX:
+            org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.OverrideNavX:
                 '@id': overrideNavXCommand
                 override: true
                 subsystem:
@@ -620,7 +620,7 @@ buttons:
             org.usfirst.frc.team449.robot.oi.buttons.SimpleButton:
                 overrideNavXButton
         command:
-            org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.OverrideNavX:
+            org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.OverrideNavX:
                 '@id': unoverrideNavXCommand
                 override: false
                 subsystem:
diff --git a/RoboRIO/src/main/resources/naveen_map.yml b/RoboRIO/src/main/resources/naveen_map.yml
index f66bc190..fce17c77 100644
--- a/RoboRIO/src/main/resources/naveen_map.yml
+++ b/RoboRIO/src/main/resources/naveen_map.yml
@@ -599,7 +599,7 @@ buttons:
                         gunnerGamepad
                 buttonNumber: 1
         command:
-            org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.OverrideNavX:
+            org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.OverrideNavX:
                 '@id': overrideNavXCommand
                 override: true
                 subsystem:
@@ -610,7 +610,7 @@ buttons:
             org.usfirst.frc.team449.robot.oi.buttons.SimpleButton:
                 overrideNavXButton
         command:
-            org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.OverrideNavX:
+            org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.OverrideNavX:
                 '@id': unoverrideNavXCommand
                 override: false
                 subsystem:
diff --git a/docs/allclasses-frame.html b/docs/allclasses-frame.html
index 137c6154..7cbe98fb 100644
--- a/docs/allclasses-frame.html
+++ b/docs/allclasses-frame.html
@@ -77,9 +77,9 @@ <h1 class="bar">All&nbsp;Classes</h1>
 <li><a href="org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITankSimple.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional.tank" target="classFrame">OITankSimple</a></li>
 <li><a href="org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.oi.unidirectional" target="classFrame"><span class="interfaceName">OIUnidirectional</span></a></li>
 <li><a href="org/usfirst/frc/team449/robot/drive/shifting/commands/OverrideAutoShift.html" title="class in org.usfirst.frc.team449.robot.drive.shifting.commands" target="classFrame">OverrideAutoShift</a></li>
-<li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands" target="classFrame">OverrideNavX</a></li>
+<li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands" target="classFrame">OverrideNavX</a></li>
 <li><a href="org/usfirst/frc/team449/robot/commands/general/ParallelCommandGroup.html" title="class in org.usfirst.frc.team449.robot.commands.general" target="classFrame">ParallelCommandGroup</a></li>
-<li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands" target="classFrame">PIDAngleCommand</a></li>
+<li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands" target="classFrame">PIDAngleCommand</a></li>
 <li><a href="org/usfirst/frc/team449/robot/drive/unidirectional/commands/PIDBackAndForth.html" title="class in org.usfirst.frc.team449.robot.drive.unidirectional.commands" target="classFrame">PIDBackAndForth</a></li>
 <li><a href="org/usfirst/frc/team449/robot/drive/unidirectional/commands/PIDTest.html" title="class in org.usfirst.frc.team449.robot.drive.unidirectional.commands" target="classFrame">PIDTest</a></li>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/Pneumatics.html" title="class in org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics" target="classFrame">Pneumatics</a></li>
@@ -114,7 +114,7 @@ <h1 class="bar">All&nbsp;Classes</h1>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpShooter.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands" target="classFrame">SpinUpShooter</a></li>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpThenShoot.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands" target="classFrame">SpinUpThenShoot</a></li>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/StartCompressor.html" title="class in org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands" target="classFrame">StartCompressor</a></li>
-<li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX" target="classFrame"><span class="interfaceName">SubsystemAHRS</span></a></li>
+<li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS" target="classFrame"><span class="interfaceName">SubsystemAHRS</span></a></li>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/SubsystemBinaryMotor.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor" target="classFrame"><span class="interfaceName">SubsystemBinaryMotor</span></a></li>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/SubsystemConditional.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.conditional" target="classFrame"><span class="interfaceName">SubsystemConditional</span></a></li>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.intake" target="classFrame"><span class="interfaceName">SubsystemIntake</span></a></li>
@@ -136,7 +136,7 @@ <h1 class="bar">All&nbsp;Classes</h1>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/ToggleIntaking.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands" target="classFrame">ToggleIntaking</a></li>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/ToggleMotor.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands" target="classFrame">ToggleMotor</a></li>
 <li><a href="org/usfirst/frc/team449/robot/drive/shifting/commands/ToggleOverrideAutoShift.html" title="class in org.usfirst.frc.team449.robot.drive.shifting.commands" target="classFrame">ToggleOverrideAutoShift</a></li>
-<li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands" target="classFrame">ToggleOverrideNavX</a></li>
+<li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands" target="classFrame">ToggleOverrideNavX</a></li>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/ToggleShooting.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands" target="classFrame">ToggleShooting</a></li>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/ToggleSolenoid.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands" target="classFrame">ToggleSolenoid</a></li>
 <li><a href="org/usfirst/frc/team449/robot/oi/buttons/TriggerButton.html" title="class in org.usfirst.frc.team449.robot.oi.buttons" target="classFrame">TriggerButton</a></li>
diff --git a/docs/allclasses-noframe.html b/docs/allclasses-noframe.html
index 7887a1c2..77395050 100644
--- a/docs/allclasses-noframe.html
+++ b/docs/allclasses-noframe.html
@@ -77,9 +77,9 @@ <h1 class="bar">All&nbsp;Classes</h1>
 <li><a href="org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITankSimple.html" title="class in org.usfirst.frc.team449.robot.oi.unidirectional.tank">OITankSimple</a></li>
 <li><a href="org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.oi.unidirectional"><span class="interfaceName">OIUnidirectional</span></a></li>
 <li><a href="org/usfirst/frc/team449/robot/drive/shifting/commands/OverrideAutoShift.html" title="class in org.usfirst.frc.team449.robot.drive.shifting.commands">OverrideAutoShift</a></li>
-<li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">OverrideNavX</a></li>
+<li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">OverrideNavX</a></li>
 <li><a href="org/usfirst/frc/team449/robot/commands/general/ParallelCommandGroup.html" title="class in org.usfirst.frc.team449.robot.commands.general">ParallelCommandGroup</a></li>
-<li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">PIDAngleCommand</a></li>
+<li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">PIDAngleCommand</a></li>
 <li><a href="org/usfirst/frc/team449/robot/drive/unidirectional/commands/PIDBackAndForth.html" title="class in org.usfirst.frc.team449.robot.drive.unidirectional.commands">PIDBackAndForth</a></li>
 <li><a href="org/usfirst/frc/team449/robot/drive/unidirectional/commands/PIDTest.html" title="class in org.usfirst.frc.team449.robot.drive.unidirectional.commands">PIDTest</a></li>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/Pneumatics.html" title="class in org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics">Pneumatics</a></li>
@@ -114,7 +114,7 @@ <h1 class="bar">All&nbsp;Classes</h1>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpShooter.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands">SpinUpShooter</a></li>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpThenShoot.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands">SpinUpThenShoot</a></li>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/StartCompressor.html" title="class in org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands">StartCompressor</a></li>
-<li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX"><span class="interfaceName">SubsystemAHRS</span></a></li>
+<li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS"><span class="interfaceName">SubsystemAHRS</span></a></li>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/SubsystemBinaryMotor.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor"><span class="interfaceName">SubsystemBinaryMotor</span></a></li>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/SubsystemConditional.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.conditional"><span class="interfaceName">SubsystemConditional</span></a></li>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.intake"><span class="interfaceName">SubsystemIntake</span></a></li>
@@ -136,7 +136,7 @@ <h1 class="bar">All&nbsp;Classes</h1>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/ToggleIntaking.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands">ToggleIntaking</a></li>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/ToggleMotor.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands">ToggleMotor</a></li>
 <li><a href="org/usfirst/frc/team449/robot/drive/shifting/commands/ToggleOverrideAutoShift.html" title="class in org.usfirst.frc.team449.robot.drive.shifting.commands">ToggleOverrideAutoShift</a></li>
-<li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">ToggleOverrideNavX</a></li>
+<li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">ToggleOverrideNavX</a></li>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/ToggleShooting.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands">ToggleShooting</a></li>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/ToggleSolenoid.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands">ToggleSolenoid</a></li>
 <li><a href="org/usfirst/frc/team449/robot/oi/buttons/TriggerButton.html" title="class in org.usfirst.frc.team449.robot.oi.buttons">TriggerButton</a></li>
diff --git a/docs/index-all.html b/docs/index-all.html
index 29f39abc..f45f95d6 100644
--- a/docs/index-all.html
+++ b/docs/index-all.html
@@ -290,7 +290,7 @@ <h2 class="title">D</h2>
 <dd>
 <div class="block">The value below which the joystick input is considered 0.</div>
 </dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#deadbandOutput-double-">deadbandOutput(double)</a></span> - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">PIDAngleCommand</a></dt>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#deadbandOutput-double-">deadbandOutput(double)</a></span> - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">PIDAngleCommand</a></dt>
 <dd>
 <div class="block">Deadband the output of the PID loop.</div>
 </dd>
@@ -568,11 +568,11 @@ <h2 class="title">E</h2>
 <dd>
 <div class="block">Log when this command ends</div>
 </dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html#end--">end()</a></span> - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">OverrideNavX</a></dt>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html#end--">end()</a></span> - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">OverrideNavX</a></dt>
 <dd>
 <div class="block">Log when this command ends</div>
 </dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html#end--">end()</a></span> - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">ToggleOverrideNavX</a></dt>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html#end--">end()</a></span> - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">ToggleOverrideNavX</a></dt>
 <dd>
 <div class="block">Log when this command ends</div>
 </dd>
@@ -724,11 +724,11 @@ <h2 class="title">E</h2>
 <dd>
 <div class="block">Load the profiles.</div>
 </dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html#execute--">execute()</a></span> - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">OverrideNavX</a></dt>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html#execute--">execute()</a></span> - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">OverrideNavX</a></dt>
 <dd>
 <div class="block">Set whether or not we're overriding the navX</div>
 </dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html#execute--">execute()</a></span> - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">ToggleOverrideNavX</a></dt>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html#execute--">execute()</a></span> - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">ToggleOverrideNavX</a></dt>
 <dd>
 <div class="block">Toggle whether or not we're overriding the navX</div>
 </dd>
@@ -778,7 +778,7 @@ <h2 class="title">F</h2>
 <dd>
 <div class="block">Convert a distance from feet to encoder reading in native units.</div>
 </dd>
-<dt><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">FieldOrientedUnidirectionalDriveCommand</span></a>&lt;<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="type parameter in FieldOrientedUnidirectionalDriveCommand">T</a> extends <a href="org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a>&gt; - Class in <a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html">org.usfirst.frc.team449.robot.commands.multiInterface.drive</a></dt>
+<dt><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">FieldOrientedUnidirectionalDriveCommand</span></a>&lt;<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="type parameter in FieldOrientedUnidirectionalDriveCommand">T</a> extends <a href="org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a>&gt; - Class in <a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html">org.usfirst.frc.team449.robot.commands.multiInterface.drive</a></dt>
 <dd>
 <div class="block">Unidirectional drive with field-oriented control</div>
 </dd>
@@ -790,7 +790,7 @@ <h2 class="title">F</h2>
 <dd>
 <div class="block">A data-holding class representing an angular setpoint to "snap" the controller output to.</div>
 </dd>
-<dt><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">FieldOrientedUnidirectionalDriveCommandShifting</span></a>&lt;<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="type parameter in FieldOrientedUnidirectionalDriveCommandShifting">T</a> extends <a href="org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a> &amp; <a href="org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html" title="interface in org.usfirst.frc.team449.robot.drive.shifting">DriveShiftable</a>&gt; - Class in <a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html">org.usfirst.frc.team449.robot.commands.multiInterface.drive</a></dt>
+<dt><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">FieldOrientedUnidirectionalDriveCommandShifting</span></a>&lt;<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="type parameter in FieldOrientedUnidirectionalDriveCommandShifting">T</a> extends <a href="org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a> &amp; <a href="org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html" title="interface in org.usfirst.frc.team449.robot.drive.shifting">DriveShiftable</a>&gt; - Class in <a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html">org.usfirst.frc.team449.robot.commands.multiInterface.drive</a></dt>
 <dd>
 <div class="block">Unidirectional drive with field-oriented control and autoshifting.</div>
 </dd>
@@ -871,7 +871,7 @@ <h2 class="title">G</h2>
 <dd>
 <div class="block">Get the robot's angular displacement since being turned on.</div>
 </dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html#getAngularDisplacement--">getAngularDisplacement()</a></span> - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.navX.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a></dt>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html#getAngularDisplacement--">getAngularDisplacement()</a></span> - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a></dt>
 <dd>
 <div class="block">Get the robot's angular displacement since being turned on.</div>
 </dd>
@@ -879,7 +879,7 @@ <h2 class="title">G</h2>
 <dd>
 <div class="block">Get the robot's cached angular displacement since being turned on.</div>
 </dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html#getAngularDisplacementCached--">getAngularDisplacementCached()</a></span> - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.navX.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a></dt>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html#getAngularDisplacementCached--">getAngularDisplacementCached()</a></span> - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a></dt>
 <dd>
 <div class="block">Get the robot's cached angular displacement since being turned on.</div>
 </dd>
@@ -887,7 +887,7 @@ <h2 class="title">G</h2>
 <dd>
 <div class="block">Get the robot's angular velocity.</div>
 </dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html#getAngularVel--">getAngularVel()</a></span> - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.navX.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a></dt>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html#getAngularVel--">getAngularVel()</a></span> - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a></dt>
 <dd>
 <div class="block">Get the robot's angular velocity.</div>
 </dd>
@@ -895,7 +895,7 @@ <h2 class="title">G</h2>
 <dd>
 <div class="block">Get the robot's cached angular velocity.</div>
 </dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html#getAngularVelCached--">getAngularVelCached()</a></span> - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.navX.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a></dt>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html#getAngularVelCached--">getAngularVelCached()</a></span> - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a></dt>
 <dd>
 <div class="block">Get the robot's cached angular velocity.</div>
 </dd>
@@ -929,7 +929,7 @@ <h2 class="title">G</h2>
 <dd>
 <div class="block">Return the Command this is a wrapper on.</div>
 </dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#getCommand--">getCommand()</a></span> - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">PIDAngleCommand</a></dt>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#getCommand--">getCommand()</a></span> - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">PIDAngleCommand</a></dt>
 <dd>
 <div class="block">Get the command object this object is.</div>
 </dd>
@@ -1044,7 +1044,7 @@ <h2 class="title">G</h2>
 <dd>
 <div class="block">Get the robot's heading using the navX</div>
 </dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html#getHeading--">getHeading()</a></span> - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.navX.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a></dt>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html#getHeading--">getHeading()</a></span> - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a></dt>
 <dd>
 <div class="block">Get the robot's heading.</div>
 </dd>
@@ -1052,7 +1052,7 @@ <h2 class="title">G</h2>
 <dd>
 <div class="block">Get the robot's cached heading.</div>
 </dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html#getHeadingCached--">getHeadingCached()</a></span> - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.navX.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a></dt>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html#getHeadingCached--">getHeadingCached()</a></span> - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a></dt>
 <dd>
 <div class="block">Get the robot's cached heading.</div>
 </dd>
@@ -1244,7 +1244,7 @@ <h2 class="title">G</h2>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.html#getOverrideGyro--">getOverrideGyro()</a></span> - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.<a href="org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.html" title="class in org.usfirst.frc.team449.robot.drive.unidirectional">DriveTalonCluster</a></dt>
 <dd>&nbsp;</dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html#getOverrideGyro--">getOverrideGyro()</a></span> - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.navX.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a></dt>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html#getOverrideGyro--">getOverrideGyro()</a></span> - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a></dt>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/oi/throttles/ThrottleBasic.html#getPIDSourceType--">getPIDSourceType()</a></span> - Method in class org.usfirst.frc.team449.robot.oi.throttles.<a href="org/usfirst/frc/team449/robot/oi/throttles/ThrottleBasic.html" title="class in org.usfirst.frc.team449.robot.oi.throttles">ThrottleBasic</a></dt>
 <dd>
@@ -1677,11 +1677,11 @@ <h2 class="title">I</h2>
 <dd>
 <div class="block">Log when this command is initialized</div>
 </dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html#initialize--">initialize()</a></span> - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">OverrideNavX</a></dt>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html#initialize--">initialize()</a></span> - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">OverrideNavX</a></dt>
 <dd>
 <div class="block">Log when this command is initialized</div>
 </dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html#initialize--">initialize()</a></span> - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">ToggleOverrideNavX</a></dt>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html#initialize--">initialize()</a></span> - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">ToggleOverrideNavX</a></dt>
 <dd>
 <div class="block">Log when this command is initialized</div>
 </dd>
@@ -1865,11 +1865,11 @@ <h2 class="title">I</h2>
 <dd>
 <div class="block">Log when this command is interrupted.</div>
 </dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html#interrupted--">interrupted()</a></span> - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">OverrideNavX</a></dt>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html#interrupted--">interrupted()</a></span> - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">OverrideNavX</a></dt>
 <dd>
 <div class="block">Log when this command is interrupted.</div>
 </dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html#interrupted--">interrupted()</a></span> - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">ToggleOverrideNavX</a></dt>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html#interrupted--">interrupted()</a></span> - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">ToggleOverrideNavX</a></dt>
 <dd>
 <div class="block">Log when this command is interrupted.</div>
 </dd>
@@ -2031,11 +2031,11 @@ <h2 class="title">I</h2>
 <dd>
 <div class="block">Finish immediately because this is a state-change command.</div>
 </dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html#isFinished--">isFinished()</a></span> - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">OverrideNavX</a></dt>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html#isFinished--">isFinished()</a></span> - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">OverrideNavX</a></dt>
 <dd>
 <div class="block">Finish immediately because this is a state-change command.</div>
 </dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html#isFinished--">isFinished()</a></span> - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">ToggleOverrideNavX</a></dt>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html#isFinished--">isFinished()</a></span> - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">ToggleOverrideNavX</a></dt>
 <dd>
 <div class="block">Finish immediately because this is a state-change command.</div>
 </dd>
@@ -2093,7 +2093,7 @@ <h2 class="title">I</h2>
 </a>
 <h2 class="title">J</h2>
 <dl>
-<dt><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/JiggleRobot.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">JiggleRobot</span></a>&lt;<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/JiggleRobot.html" title="type parameter in JiggleRobot">T</a> extends <a href="org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a>&gt; - Class in <a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html">org.usfirst.frc.team449.robot.commands.multiInterface.drive</a></dt>
+<dt><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/JiggleRobot.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">JiggleRobot</span></a>&lt;<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/JiggleRobot.html" title="type parameter in JiggleRobot">T</a> extends <a href="org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a>&gt; - Class in <a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html">org.usfirst.frc.team449.robot.commands.multiInterface.drive</a></dt>
 <dd>
 <div class="block">Rotates the robot back and forth in order to dislodge any stuck balls.</div>
 </dd>
@@ -2265,7 +2265,7 @@ <h2 class="title">M</h2>
 </a>
 <h2 class="title">N</h2>
 <dl>
-<dt><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">NavXDriveStraight</span></a>&lt;<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html" title="type parameter in NavXDriveStraight">T</a> extends <a href="org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a>&gt; - Class in <a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html">org.usfirst.frc.team449.robot.commands.multiInterface.drive</a></dt>
+<dt><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">NavXDriveStraight</span></a>&lt;<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html" title="type parameter in NavXDriveStraight">T</a> extends <a href="org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a>&gt; - Class in <a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html">org.usfirst.frc.team449.robot.commands.multiInterface.drive</a></dt>
 <dd>
 <div class="block">Drives straight using the NavX gyro to keep a constant alignment.</div>
 </dd>
@@ -2281,7 +2281,7 @@ <h2 class="title">N</h2>
 <dd>
 <div class="block">Default constructor.</div>
 </dd>
-<dt><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">NavXTurnToAngle</span></a>&lt;<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.html" title="type parameter in NavXTurnToAngle">T</a> extends <a href="org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a>&gt; - Class in <a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html">org.usfirst.frc.team449.robot.commands.multiInterface.drive</a></dt>
+<dt><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">NavXTurnToAngle</span></a>&lt;<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.html" title="type parameter in NavXTurnToAngle">T</a> extends <a href="org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a>&gt; - Class in <a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html">org.usfirst.frc.team449.robot.commands.multiInterface.drive</a></dt>
 <dd>
 <div class="block">Turns to a specified angle, relative to the angle the navX was at when the robot was turned on.</div>
 </dd>
@@ -2289,7 +2289,7 @@ <h2 class="title">N</h2>
 <dd>
 <div class="block">Default constructor.</div>
 </dd>
-<dt><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngleRelative.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">NavXTurnToAngleRelative</span></a>&lt;<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngleRelative.html" title="type parameter in NavXTurnToAngleRelative">T</a> extends <a href="org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a>&gt; - Class in <a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html">org.usfirst.frc.team449.robot.commands.multiInterface.drive</a></dt>
+<dt><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngleRelative.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">NavXTurnToAngleRelative</span></a>&lt;<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngleRelative.html" title="type parameter in NavXTurnToAngleRelative">T</a> extends <a href="org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a>&gt; - Class in <a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html">org.usfirst.frc.team449.robot.commands.multiInterface.drive</a></dt>
 <dd>
 <div class="block">Turn a certain number of degrees from the current heading.</div>
 </dd>
@@ -2453,9 +2453,9 @@ <h2 class="title">O</h2>
 <dd>&nbsp;</dd>
 <dt><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands</a> - package org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands</dt>
 <dd>&nbsp;</dd>
-<dt><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.navX</a> - package org.usfirst.frc.team449.robot.subsystem.interfaces.navX</dt>
+<dt><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS</a> - package org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS</dt>
 <dd>&nbsp;</dd>
-<dt><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands</a> - package org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands</dt>
+<dt><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands</a> - package org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands</dt>
 <dd>&nbsp;</dd>
 <dt><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.shooter</a> - package org.usfirst.frc.team449.robot.subsystem.interfaces.shooter</dt>
 <dd>&nbsp;</dd>
@@ -2485,11 +2485,11 @@ <h2 class="title">O</h2>
 <dd>
 <div class="block">Default constructor</div>
 </dd>
-<dt><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands"><span class="typeNameLink">OverrideNavX</span></a> - Class in <a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands</a></dt>
+<dt><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands"><span class="typeNameLink">OverrideNavX</span></a> - Class in <a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands</a></dt>
 <dd>
 <div class="block">Set whether or not to override the navX.</div>
 </dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html#OverrideNavX-org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS-boolean-">OverrideNavX(SubsystemAHRS, boolean)</a></span> - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">OverrideNavX</a></dt>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html#OverrideNavX-org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS-boolean-">OverrideNavX(SubsystemAHRS, boolean)</a></span> - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">OverrideNavX</a></dt>
 <dd>
 <div class="block">Default constructor.</div>
 </dd>
@@ -2515,11 +2515,11 @@ <h2 class="title">P</h2>
 <dd>
 <div class="block">Empty constructor that uses all default options.</div>
 </dd>
-<dt><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands"><span class="typeNameLink">PIDAngleCommand</span></a> - Class in <a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands</a></dt>
+<dt><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands"><span class="typeNameLink">PIDAngleCommand</span></a> - Class in <a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands</a></dt>
 <dd>
 <div class="block">A command that uses a navX to turn to a certain angle.</div>
 </dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#PIDAngleCommand-double-int-double-java.lang.Double-double-boolean-org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS-double-double-double-">PIDAngleCommand(double, int, double, Double, double, boolean, SubsystemAHRS, double, double, double)</a></span> - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">PIDAngleCommand</a></dt>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#PIDAngleCommand-double-int-double-java.lang.Double-double-boolean-org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS-double-double-double-">PIDAngleCommand(double, int, double, Double, double, boolean, SubsystemAHRS, double, double, double)</a></span> - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">PIDAngleCommand</a></dt>
 <dd>
 <div class="block">Default constructor.</div>
 </dd>
@@ -2571,7 +2571,7 @@ <h2 class="title">P</h2>
 <dd>
 <div class="block">Default constructor.</div>
 </dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#processPIDOutput-double-">processPIDOutput(double)</a></span> - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">PIDAngleCommand</a></dt>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#processPIDOutput-double-">processPIDOutput(double)</a></span> - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">PIDAngleCommand</a></dt>
 <dd>
 <div class="block">Process the output of the PID loop to account for minimum output and inversion.</div>
 </dd>
@@ -2645,7 +2645,7 @@ <h2 class="title">R</h2>
 <dd>
 <div class="block">The absolute filepath to the resources folder containing the config files.</div>
 </dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#returnPIDInput--">returnPIDInput()</a></span> - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">PIDAngleCommand</a></dt>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#returnPIDInput--">returnPIDInput()</a></span> - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">PIDAngleCommand</a></dt>
 <dd>
 <div class="block">Returns the input for the pid loop.</div>
 </dd>
@@ -2811,7 +2811,7 @@ <h2 class="title">S</h2>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.html#setOverrideGyro-boolean-">setOverrideGyro(boolean)</a></span> - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.<a href="org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.html" title="class in org.usfirst.frc.team449.robot.drive.unidirectional">DriveTalonCluster</a></dt>
 <dd>&nbsp;</dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html#setOverrideGyro-boolean-">setOverrideGyro(boolean)</a></span> - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.navX.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a></dt>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html#setOverrideGyro-boolean-">setOverrideGyro(boolean)</a></span> - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a></dt>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.html#setPercentVoltage-double-">setPercentVoltage(double)</a></span> - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.<a href="org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">FPSTalon</a></dt>
 <dd>
@@ -3061,11 +3061,11 @@ <h2 class="title">S</h2>
 <dd>
 <div class="block">The subsystem to execute this command on.</div>
 </dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#subsystem">subsystem</a></span> - Variable in class org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">PIDAngleCommand</a></dt>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#subsystem">subsystem</a></span> - Variable in class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">PIDAngleCommand</a></dt>
 <dd>
 <div class="block">The subsystem to execute this command on.</div>
 </dd>
-<dt><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX"><span class="typeNameLink">SubsystemAHRS</span></a> - Interface in <a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.navX</a></dt>
+<dt><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS"><span class="typeNameLink">SubsystemAHRS</span></a> - Interface in <a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS</a></dt>
 <dd>
 <div class="block">A subsystem that has a navX on it.</div>
 </dd>
@@ -3219,11 +3219,11 @@ <h2 class="title">T</h2>
 <dd>
 <div class="block">Default constructor</div>
 </dd>
-<dt><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands"><span class="typeNameLink">ToggleOverrideNavX</span></a> - Class in <a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands</a></dt>
+<dt><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands"><span class="typeNameLink">ToggleOverrideNavX</span></a> - Class in <a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands</a></dt>
 <dd>
 <div class="block">Toggle whether or not to override the navX.</div>
 </dd>
-<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html#ToggleOverrideNavX-org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS-">ToggleOverrideNavX(SubsystemAHRS)</a></span> - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">ToggleOverrideNavX</a></dt>
+<dt><span class="memberNameLink"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html#ToggleOverrideNavX-org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS-">ToggleOverrideNavX(SubsystemAHRS)</a></span> - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">ToggleOverrideNavX</a></dt>
 <dd>
 <div class="block">Default constructor.</div>
 </dd>
@@ -3383,7 +3383,7 @@ <h2 class="title">T</h2>
 </a>
 <h2 class="title">U</h2>
 <dl>
-<dt><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">UnidirectionalNavXDefaultDrive</span></a>&lt;<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html" title="type parameter in UnidirectionalNavXDefaultDrive">T</a> extends <a href="org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a>&gt; - Class in <a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html">org.usfirst.frc.team449.robot.commands.multiInterface.drive</a></dt>
+<dt><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">UnidirectionalNavXDefaultDrive</span></a>&lt;<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html" title="type parameter in UnidirectionalNavXDefaultDrive">T</a> extends <a href="org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a>&gt; - Class in <a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html">org.usfirst.frc.team449.robot.commands.multiInterface.drive</a></dt>
 <dd>
 <div class="block">Drive with arcade drive setup, and when the driver isn't turning, use a NavX to stabilize the robot's alignment.</div>
 </dd>
@@ -3391,7 +3391,7 @@ <h2 class="title">U</h2>
 <dd>
 <div class="block">Default constructor</div>
 </dd>
-<dt><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">UnidirectionalNavXShiftingDefaultDrive</span></a>&lt;<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html" title="type parameter in UnidirectionalNavXShiftingDefaultDrive">T</a> extends <a href="org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a> &amp; <a href="org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html" title="interface in org.usfirst.frc.team449.robot.drive.shifting">DriveShiftable</a>&gt; - Class in <a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html">org.usfirst.frc.team449.robot.commands.multiInterface.drive</a></dt>
+<dt><a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">UnidirectionalNavXShiftingDefaultDrive</span></a>&lt;<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html" title="type parameter in UnidirectionalNavXShiftingDefaultDrive">T</a> extends <a href="org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a> &amp; <a href="org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html" title="interface in org.usfirst.frc.team449.robot.drive.shifting">DriveShiftable</a>&gt; - Class in <a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html">org.usfirst.frc.team449.robot.commands.multiInterface.drive</a></dt>
 <dd>
 <div class="block">Drive with arcade drive setup, autoshift, and when the driver isn't turning, use a NavX to stabilize the robot's
  alignment.</div>
@@ -3400,7 +3400,7 @@ <h2 class="title">U</h2>
 <dd>
 <div class="block">Default constructor</div>
 </dd>
-<dt><a href="org/usfirst/frc/team449/robot/other/UnidirectionalPoseEstimator.html" title="class in org.usfirst.frc.team449.robot.other"><span class="typeNameLink">UnidirectionalPoseEstimator</span></a>&lt;<a href="org/usfirst/frc/team449/robot/other/UnidirectionalPoseEstimator.html" title="type parameter in UnidirectionalPoseEstimator">T</a> extends <a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a> &amp; <a href="org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a>&gt; - Class in <a href="org/usfirst/frc/team449/robot/other/package-summary.html">org.usfirst.frc.team449.robot.other</a></dt>
+<dt><a href="org/usfirst/frc/team449/robot/other/UnidirectionalPoseEstimator.html" title="class in org.usfirst.frc.team449.robot.other"><span class="typeNameLink">UnidirectionalPoseEstimator</span></a>&lt;<a href="org/usfirst/frc/team449/robot/other/UnidirectionalPoseEstimator.html" title="type parameter in UnidirectionalPoseEstimator">T</a> extends <a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a> &amp; <a href="org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a>&gt; - Class in <a href="org/usfirst/frc/team449/robot/other/package-summary.html">org.usfirst.frc.team449.robot.other</a></dt>
 <dd>
 <div class="block">A Runnable for pose estimation that can take absolute positions.</div>
 </dd>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html
index 8fb12a99..7583dec3 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html
@@ -108,7 +108,7 @@ <h2 title="Class FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint" class
 <li class="blockList">
 <dl>
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+<dd><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand</a>&lt;<a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="type parameter in FieldOrientedUnidirectionalDriveCommand">T</a> extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a>&gt;</dd>
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 <hr>
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diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html
index b85f167c..f1146301 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html
@@ -92,7 +92,7 @@
 <!-- ======== START OF CLASS DATA ======== -->
 <div class="header">
 <div class="subTitle">org.usfirst.frc.team449.robot.commands.multiInterface.drive</div>
-<h2 title="Class FieldOrientedUnidirectionalDriveCommand" class="title">Class FieldOrientedUnidirectionalDriveCommand&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a>&gt;</h2>
+<h2 title="Class FieldOrientedUnidirectionalDriveCommand" class="title">Class FieldOrientedUnidirectionalDriveCommand&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a>&gt;</h2>
 </div>
 <div class="contentContainer">
 <ul class="inheritance">
@@ -105,7 +105,7 @@ <h2 title="Class FieldOrientedUnidirectionalDriveCommand" class="title">Class Fi
 <li>edu.wpi.first.wpilibj.command.PIDCommand</li>
 <li>
 <ul class="inheritance">
-<li><a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.PIDAngleCommand</a></li>
+<li><a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.PIDAngleCommand</a></li>
 <li>
 <ul class="inheritance">
 <li>org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommand&lt;T&gt;</li>
@@ -131,8 +131,8 @@ <h2 title="Class FieldOrientedUnidirectionalDriveCommand" class="title">Class Fi
 </dl>
 <hr>
 <br>
-<pre>public class <span class="typeNameLabel">FieldOrientedUnidirectionalDriveCommand&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a>&gt;</span>
-extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">PIDAngleCommand</a></pre>
+<pre>public class <span class="typeNameLabel">FieldOrientedUnidirectionalDriveCommand&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a>&gt;</span>
+extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">PIDAngleCommand</a></pre>
 <div class="block">Unidirectional drive with field-oriented control</div>
 </li>
 </ul>
@@ -271,7 +271,7 @@ <h3>Method Summary</h3>
 <li class="blockList"><a name="methods.inherited.from.class.org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.PIDAngleCommand">
 <!--   -->
 </a>
-<h3>Methods inherited from class&nbsp;org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.<a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">PIDAngleCommand</a></h3>
+<h3>Methods inherited from class&nbsp;org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.<a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">PIDAngleCommand</a></h3>
 <code><a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#deadbandOutput-double-">deadbandOutput</a>, <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#getCommand--">getCommand</a>, <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#processPIDOutput-double-">processPIDOutput</a>, <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#returnPIDInput--">returnPIDInput</a></code></li>
 </ul>
 <ul class="blockList">
@@ -323,7 +323,7 @@ <h3>Field Detail</h3>
 <li class="blockList">
 <h4>subsystem</h4>
 <pre>@NotNull
-protected final&nbsp;<a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="type parameter in FieldOrientedUnidirectionalDriveCommand">T</a> extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a> subsystem</pre>
+protected final&nbsp;<a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="type parameter in FieldOrientedUnidirectionalDriveCommand">T</a> extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a> subsystem</pre>
 <div class="block">The drive this command is controlling.</div>
 </li>
 </ul>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html
index 9d114ccd..cc26129d 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html
@@ -92,7 +92,7 @@
 <!-- ======== START OF CLASS DATA ======== -->
 <div class="header">
 <div class="subTitle">org.usfirst.frc.team449.robot.commands.multiInterface.drive</div>
-<h2 title="Class FieldOrientedUnidirectionalDriveCommandShifting" class="title">Class FieldOrientedUnidirectionalDriveCommandShifting&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html" title="interface in org.usfirst.frc.team449.robot.drive.shifting">DriveShiftable</a>&gt;</h2>
+<h2 title="Class FieldOrientedUnidirectionalDriveCommandShifting" class="title">Class FieldOrientedUnidirectionalDriveCommandShifting&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html" title="interface in org.usfirst.frc.team449.robot.drive.shifting">DriveShiftable</a>&gt;</h2>
 </div>
 <div class="contentContainer">
 <ul class="inheritance">
@@ -105,7 +105,7 @@ <h2 title="Class FieldOrientedUnidirectionalDriveCommandShifting" class="title">
 <li>edu.wpi.first.wpilibj.command.PIDCommand</li>
 <li>
 <ul class="inheritance">
-<li><a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.PIDAngleCommand</a></li>
+<li><a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.PIDAngleCommand</a></li>
 <li>
 <ul class="inheritance">
 <li><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommand</a></li>
@@ -132,7 +132,7 @@ <h2 title="Class FieldOrientedUnidirectionalDriveCommandShifting" class="title">
 </dl>
 <hr>
 <br>
-<pre>public class <span class="typeNameLabel">FieldOrientedUnidirectionalDriveCommandShifting&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html" title="interface in org.usfirst.frc.team449.robot.drive.shifting">DriveShiftable</a>&gt;</span>
+<pre>public class <span class="typeNameLabel">FieldOrientedUnidirectionalDriveCommandShifting&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html" title="interface in org.usfirst.frc.team449.robot.drive.shifting">DriveShiftable</a>&gt;</span>
 extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand</a></pre>
 <div class="block">Unidirectional drive with field-oriented control and autoshifting.</div>
 </li>
@@ -264,7 +264,7 @@ <h3>Methods inherited from class&nbsp;org.usfirst.frc.team449.robot.commands.mul
 <li class="blockList"><a name="methods.inherited.from.class.org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.PIDAngleCommand">
 <!--   -->
 </a>
-<h3>Methods inherited from class&nbsp;org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.<a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">PIDAngleCommand</a></h3>
+<h3>Methods inherited from class&nbsp;org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.<a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">PIDAngleCommand</a></h3>
 <code><a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#deadbandOutput-double-">deadbandOutput</a>, <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#getCommand--">getCommand</a>, <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#processPIDOutput-double-">processPIDOutput</a>, <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#returnPIDInput--">returnPIDInput</a></code></li>
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 <ul class="blockList">
@@ -316,7 +316,7 @@ <h3>Field Detail</h3>
 <li class="blockList">
 <h4>subsystem</h4>
 <pre>@NotNull
-protected final&nbsp;<a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="type parameter in FieldOrientedUnidirectionalDriveCommandShifting">T</a> extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html" title="interface in org.usfirst.frc.team449.robot.drive.shifting">DriveShiftable</a> subsystem</pre>
+protected final&nbsp;<a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="type parameter in FieldOrientedUnidirectionalDriveCommandShifting">T</a> extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html" title="interface in org.usfirst.frc.team449.robot.drive.shifting">DriveShiftable</a> subsystem</pre>
 <div class="block">The drive to execute this command on.</div>
 </li>
 </ul>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/JiggleRobot.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/JiggleRobot.html
index 1ae6cc24..a68f53c1 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/JiggleRobot.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/JiggleRobot.html
@@ -86,7 +86,7 @@
 <!-- ======== START OF CLASS DATA ======== -->
 <div class="header">
 <div class="subTitle">org.usfirst.frc.team449.robot.commands.multiInterface.drive</div>
-<h2 title="Class JiggleRobot" class="title">Class JiggleRobot&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a>&gt;</h2>
+<h2 title="Class JiggleRobot" class="title">Class JiggleRobot&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a>&gt;</h2>
 </div>
 <div class="contentContainer">
 <ul class="inheritance">
@@ -121,7 +121,7 @@ <h2 title="Class JiggleRobot" class="title">Class JiggleRobot&lt;T extends <a hr
 </dl>
 <hr>
 <br>
-<pre>public class <span class="typeNameLabel">JiggleRobot&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a>&gt;</span>
+<pre>public class <span class="typeNameLabel">JiggleRobot&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a>&gt;</span>
 extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommandGroupWrapper.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlCommandGroupWrapper</a></pre>
 <div class="block">Rotates the robot back and forth in order to dislodge any stuck balls.</div>
 </li>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html
index fa6a2c26..6c5bf223 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html
@@ -92,7 +92,7 @@
 <!-- ======== START OF CLASS DATA ======== -->
 <div class="header">
 <div class="subTitle">org.usfirst.frc.team449.robot.commands.multiInterface.drive</div>
-<h2 title="Class NavXDriveStraight" class="title">Class NavXDriveStraight&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a>&gt;</h2>
+<h2 title="Class NavXDriveStraight" class="title">Class NavXDriveStraight&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a>&gt;</h2>
 </div>
 <div class="contentContainer">
 <ul class="inheritance">
@@ -105,7 +105,7 @@ <h2 title="Class NavXDriveStraight" class="title">Class NavXDriveStraight&lt;T e
 <li>edu.wpi.first.wpilibj.command.PIDCommand</li>
 <li>
 <ul class="inheritance">
-<li><a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.PIDAngleCommand</a></li>
+<li><a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.PIDAngleCommand</a></li>
 <li>
 <ul class="inheritance">
 <li>org.usfirst.frc.team449.robot.commands.multiInterface.drive.NavXDriveStraight&lt;T&gt;</li>
@@ -127,8 +127,8 @@ <h2 title="Class NavXDriveStraight" class="title">Class NavXDriveStraight&lt;T e
 </dl>
 <hr>
 <br>
-<pre>public class <span class="typeNameLabel">NavXDriveStraight&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a>&gt;</span>
-extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">PIDAngleCommand</a></pre>
+<pre>public class <span class="typeNameLabel">NavXDriveStraight&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a>&gt;</span>
+extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">PIDAngleCommand</a></pre>
 <div class="block">Drives straight using the NavX gyro to keep a constant alignment.</div>
 </li>
 </ul>
@@ -234,7 +234,7 @@ <h3>Method Summary</h3>
 <li class="blockList"><a name="methods.inherited.from.class.org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.PIDAngleCommand">
 <!--   -->
 </a>
-<h3>Methods inherited from class&nbsp;org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.<a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">PIDAngleCommand</a></h3>
+<h3>Methods inherited from class&nbsp;org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.<a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">PIDAngleCommand</a></h3>
 <code><a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#deadbandOutput-double-">deadbandOutput</a>, <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#getCommand--">getCommand</a>, <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#processPIDOutput-double-">processPIDOutput</a>, <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#returnPIDInput--">returnPIDInput</a></code></li>
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 <ul class="blockList">
@@ -286,7 +286,7 @@ <h3>Field Detail</h3>
 <li class="blockList">
 <h4>subsystem</h4>
 <pre>@NotNull
-protected final&nbsp;<a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html" title="type parameter in NavXDriveStraight">T</a> extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a> subsystem</pre>
+protected final&nbsp;<a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html" title="type parameter in NavXDriveStraight">T</a> extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a> subsystem</pre>
 <div class="block">The drive subsystem to give output to.</div>
 </li>
 </ul>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.html
index 0c1225a5..8841805e 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.html
@@ -92,7 +92,7 @@
 <!-- ======== START OF CLASS DATA ======== -->
 <div class="header">
 <div class="subTitle">org.usfirst.frc.team449.robot.commands.multiInterface.drive</div>
-<h2 title="Class NavXTurnToAngle" class="title">Class NavXTurnToAngle&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a>&gt;</h2>
+<h2 title="Class NavXTurnToAngle" class="title">Class NavXTurnToAngle&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a>&gt;</h2>
 </div>
 <div class="contentContainer">
 <ul class="inheritance">
@@ -105,7 +105,7 @@ <h2 title="Class NavXTurnToAngle" class="title">Class NavXTurnToAngle&lt;T exten
 <li>edu.wpi.first.wpilibj.command.PIDCommand</li>
 <li>
 <ul class="inheritance">
-<li><a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.PIDAngleCommand</a></li>
+<li><a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.PIDAngleCommand</a></li>
 <li>
 <ul class="inheritance">
 <li>org.usfirst.frc.team449.robot.commands.multiInterface.drive.NavXTurnToAngle&lt;T&gt;</li>
@@ -131,8 +131,8 @@ <h2 title="Class NavXTurnToAngle" class="title">Class NavXTurnToAngle&lt;T exten
 </dl>
 <hr>
 <br>
-<pre>public class <span class="typeNameLabel">NavXTurnToAngle&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a>&gt;</span>
-extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">PIDAngleCommand</a></pre>
+<pre>public class <span class="typeNameLabel">NavXTurnToAngle&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a>&gt;</span>
+extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">PIDAngleCommand</a></pre>
 <div class="block">Turns to a specified angle, relative to the angle the navX was at when the robot was turned on.</div>
 </li>
 </ul>
@@ -256,7 +256,7 @@ <h3>Method Summary</h3>
 <li class="blockList"><a name="methods.inherited.from.class.org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.PIDAngleCommand">
 <!--   -->
 </a>
-<h3>Methods inherited from class&nbsp;org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.<a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">PIDAngleCommand</a></h3>
+<h3>Methods inherited from class&nbsp;org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.<a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">PIDAngleCommand</a></h3>
 <code><a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#deadbandOutput-double-">deadbandOutput</a>, <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#getCommand--">getCommand</a>, <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#processPIDOutput-double-">processPIDOutput</a>, <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#returnPIDInput--">returnPIDInput</a></code></li>
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 <ul class="blockList">
@@ -308,7 +308,7 @@ <h3>Field Detail</h3>
 <li class="blockList">
 <h4>subsystem</h4>
 <pre>@NotNull
-protected final&nbsp;<a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.html" title="type parameter in NavXTurnToAngle">T</a> extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a> subsystem</pre>
+protected final&nbsp;<a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.html" title="type parameter in NavXTurnToAngle">T</a> extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a> subsystem</pre>
 <div class="block">The drive subsystem to execute this command on and to get the gyro reading from.</div>
 </li>
 </ul>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngleRelative.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngleRelative.html
index 8c9934ce..d2651aeb 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngleRelative.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngleRelative.html
@@ -92,7 +92,7 @@
 <!-- ======== START OF CLASS DATA ======== -->
 <div class="header">
 <div class="subTitle">org.usfirst.frc.team449.robot.commands.multiInterface.drive</div>
-<h2 title="Class NavXTurnToAngleRelative" class="title">Class NavXTurnToAngleRelative&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a>&gt;</h2>
+<h2 title="Class NavXTurnToAngleRelative" class="title">Class NavXTurnToAngleRelative&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a>&gt;</h2>
 </div>
 <div class="contentContainer">
 <ul class="inheritance">
@@ -105,7 +105,7 @@ <h2 title="Class NavXTurnToAngleRelative" class="title">Class NavXTurnToAngleRel
 <li>edu.wpi.first.wpilibj.command.PIDCommand</li>
 <li>
 <ul class="inheritance">
-<li><a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.PIDAngleCommand</a></li>
+<li><a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.PIDAngleCommand</a></li>
 <li>
 <ul class="inheritance">
 <li><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">org.usfirst.frc.team449.robot.commands.multiInterface.drive.NavXTurnToAngle</a></li>
@@ -132,7 +132,7 @@ <h2 title="Class NavXTurnToAngleRelative" class="title">Class NavXTurnToAngleRel
 </dl>
 <hr>
 <br>
-<pre>public class <span class="typeNameLabel">NavXTurnToAngleRelative&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a>&gt;</span>
+<pre>public class <span class="typeNameLabel">NavXTurnToAngleRelative&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a>&gt;</span>
 extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">NavXTurnToAngle</a></pre>
 <div class="block">Turn a certain number of degrees from the current heading.</div>
 </li>
@@ -228,7 +228,7 @@ <h3>Methods inherited from class&nbsp;org.usfirst.frc.team449.robot.commands.mul
 <li class="blockList"><a name="methods.inherited.from.class.org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.PIDAngleCommand">
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-<h3>Methods inherited from class&nbsp;org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.<a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">PIDAngleCommand</a></h3>
+<h3>Methods inherited from class&nbsp;org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.<a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">PIDAngleCommand</a></h3>
 <code><a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#deadbandOutput-double-">deadbandOutput</a>, <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#getCommand--">getCommand</a>, <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#processPIDOutput-double-">processPIDOutput</a>, <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#returnPIDInput--">returnPIDInput</a></code></li>
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diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html
index 9d528e25..6e2f9d32 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html
@@ -92,7 +92,7 @@
 <!-- ======== START OF CLASS DATA ======== -->
 <div class="header">
 <div class="subTitle">org.usfirst.frc.team449.robot.commands.multiInterface.drive</div>
-<h2 title="Class UnidirectionalNavXDefaultDrive" class="title">Class UnidirectionalNavXDefaultDrive&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a>&gt;</h2>
+<h2 title="Class UnidirectionalNavXDefaultDrive" class="title">Class UnidirectionalNavXDefaultDrive&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a>&gt;</h2>
 </div>
 <div class="contentContainer">
 <ul class="inheritance">
@@ -105,7 +105,7 @@ <h2 title="Class UnidirectionalNavXDefaultDrive" class="title">Class Unidirectio
 <li>edu.wpi.first.wpilibj.command.PIDCommand</li>
 <li>
 <ul class="inheritance">
-<li><a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.PIDAngleCommand</a></li>
+<li><a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.PIDAngleCommand</a></li>
 <li>
 <ul class="inheritance">
 <li>org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXDefaultDrive&lt;T&gt;</li>
@@ -131,8 +131,8 @@ <h2 title="Class UnidirectionalNavXDefaultDrive" class="title">Class Unidirectio
 </dl>
 <hr>
 <br>
-<pre>public class <span class="typeNameLabel">UnidirectionalNavXDefaultDrive&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a>&gt;</span>
-extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">PIDAngleCommand</a></pre>
+<pre>public class <span class="typeNameLabel">UnidirectionalNavXDefaultDrive&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a>&gt;</span>
+extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">PIDAngleCommand</a></pre>
 <div class="block">Drive with arcade drive setup, and when the driver isn't turning, use a NavX to stabilize the robot's alignment.</div>
 </li>
 </ul>
@@ -251,7 +251,7 @@ <h3>Method Summary</h3>
 <li class="blockList"><a name="methods.inherited.from.class.org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.PIDAngleCommand">
 <!--   -->
 </a>
-<h3>Methods inherited from class&nbsp;org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.<a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">PIDAngleCommand</a></h3>
+<h3>Methods inherited from class&nbsp;org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.<a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">PIDAngleCommand</a></h3>
 <code><a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#deadbandOutput-double-">deadbandOutput</a>, <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#getCommand--">getCommand</a>, <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#processPIDOutput-double-">processPIDOutput</a>, <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#returnPIDInput--">returnPIDInput</a></code></li>
 </ul>
 <ul class="blockList">
@@ -303,7 +303,7 @@ <h3>Field Detail</h3>
 <li class="blockList">
 <h4>subsystem</h4>
 <pre>@NotNull
-protected final&nbsp;<a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html" title="type parameter in UnidirectionalNavXDefaultDrive">T</a> extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a> subsystem</pre>
+protected final&nbsp;<a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html" title="type parameter in UnidirectionalNavXDefaultDrive">T</a> extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a> subsystem</pre>
 <div class="block">The drive this command is controlling.</div>
 </li>
 </ul>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html
index 977d9d85..7a9cd3e5 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html
@@ -92,7 +92,7 @@
 <!-- ======== START OF CLASS DATA ======== -->
 <div class="header">
 <div class="subTitle">org.usfirst.frc.team449.robot.commands.multiInterface.drive</div>
-<h2 title="Class UnidirectionalNavXShiftingDefaultDrive" class="title">Class UnidirectionalNavXShiftingDefaultDrive&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html" title="interface in org.usfirst.frc.team449.robot.drive.shifting">DriveShiftable</a>&gt;</h2>
+<h2 title="Class UnidirectionalNavXShiftingDefaultDrive" class="title">Class UnidirectionalNavXShiftingDefaultDrive&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html" title="interface in org.usfirst.frc.team449.robot.drive.shifting">DriveShiftable</a>&gt;</h2>
 </div>
 <div class="contentContainer">
 <ul class="inheritance">
@@ -105,7 +105,7 @@ <h2 title="Class UnidirectionalNavXShiftingDefaultDrive" class="title">Class Uni
 <li>edu.wpi.first.wpilibj.command.PIDCommand</li>
 <li>
 <ul class="inheritance">
-<li><a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.PIDAngleCommand</a></li>
+<li><a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.PIDAngleCommand</a></li>
 <li>
 <ul class="inheritance">
 <li><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXDefaultDrive</a></li>
@@ -132,7 +132,7 @@ <h2 title="Class UnidirectionalNavXShiftingDefaultDrive" class="title">Class Uni
 </dl>
 <hr>
 <br>
-<pre>public class <span class="typeNameLabel">UnidirectionalNavXShiftingDefaultDrive&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html" title="interface in org.usfirst.frc.team449.robot.drive.shifting">DriveShiftable</a>&gt;</span>
+<pre>public class <span class="typeNameLabel">UnidirectionalNavXShiftingDefaultDrive&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html" title="interface in org.usfirst.frc.team449.robot.drive.shifting">DriveShiftable</a>&gt;</span>
 extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">UnidirectionalNavXDefaultDrive</a></pre>
 <div class="block">Drive with arcade drive setup, autoshift, and when the driver isn't turning, use a NavX to stabilize the robot's
  alignment.</div>
@@ -257,7 +257,7 @@ <h3>Methods inherited from class&nbsp;org.usfirst.frc.team449.robot.commands.mul
 <li class="blockList"><a name="methods.inherited.from.class.org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.PIDAngleCommand">
 <!--   -->
 </a>
-<h3>Methods inherited from class&nbsp;org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.<a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">PIDAngleCommand</a></h3>
+<h3>Methods inherited from class&nbsp;org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.<a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">PIDAngleCommand</a></h3>
 <code><a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#deadbandOutput-double-">deadbandOutput</a>, <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#getCommand--">getCommand</a>, <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#processPIDOutput-double-">processPIDOutput</a>, <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#returnPIDInput--">returnPIDInput</a></code></li>
 </ul>
 <ul class="blockList">
@@ -309,7 +309,7 @@ <h3>Field Detail</h3>
 <li class="blockList">
 <h4>subsystem</h4>
 <pre>@NotNull
-protected final&nbsp;<a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html" title="type parameter in UnidirectionalNavXShiftingDefaultDrive">T</a> extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html" title="interface in org.usfirst.frc.team449.robot.drive.shifting">DriveShiftable</a> subsystem</pre>
+protected final&nbsp;<a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html" title="type parameter in UnidirectionalNavXShiftingDefaultDrive">T</a> extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html" title="interface in org.usfirst.frc.team449.robot.drive.shifting">DriveShiftable</a> subsystem</pre>
 <div class="block">The drive to execute this command on.</div>
 </li>
 </ul>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html
index 46f63753..20ed36b3 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html
@@ -82,7 +82,7 @@ <h1 title="Package" class="title">Package&nbsp;org.usfirst.frc.team449.robot.com
 </tr>
 <tbody>
 <tr class="altColor">
-<td class="colFirst"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand</a>&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a>&gt;</td>
+<td class="colFirst"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommand</a>&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a>&gt;</td>
 <td class="colLast">
 <div class="block">Unidirectional drive with field-oriented control</div>
 </td>
@@ -94,43 +94,43 @@ <h1 title="Package" class="title">Package&nbsp;org.usfirst.frc.team449.robot.com
 </td>
 </tr>
 <tr class="altColor">
-<td class="colFirst"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommandShifting</a>&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html" title="interface in org.usfirst.frc.team449.robot.drive.shifting">DriveShiftable</a>&gt;</td>
+<td class="colFirst"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">FieldOrientedUnidirectionalDriveCommandShifting</a>&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html" title="interface in org.usfirst.frc.team449.robot.drive.shifting">DriveShiftable</a>&gt;</td>
 <td class="colLast">
 <div class="block">Unidirectional drive with field-oriented control and autoshifting.</div>
 </td>
 </tr>
 <tr class="rowColor">
-<td class="colFirst"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/JiggleRobot.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">JiggleRobot</a>&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a>&gt;</td>
+<td class="colFirst"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/JiggleRobot.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">JiggleRobot</a>&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a>&gt;</td>
 <td class="colLast">
 <div class="block">Rotates the robot back and forth in order to dislodge any stuck balls.</div>
 </td>
 </tr>
 <tr class="altColor">
-<td class="colFirst"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">NavXDriveStraight</a>&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a>&gt;</td>
+<td class="colFirst"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">NavXDriveStraight</a>&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a>&gt;</td>
 <td class="colLast">
 <div class="block">Drives straight using the NavX gyro to keep a constant alignment.</div>
 </td>
 </tr>
 <tr class="rowColor">
-<td class="colFirst"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">NavXTurnToAngle</a>&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a>&gt;</td>
+<td class="colFirst"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">NavXTurnToAngle</a>&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a>&gt;</td>
 <td class="colLast">
 <div class="block">Turns to a specified angle, relative to the angle the navX was at when the robot was turned on.</div>
 </td>
 </tr>
 <tr class="altColor">
-<td class="colFirst"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngleRelative.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">NavXTurnToAngleRelative</a>&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a>&gt;</td>
+<td class="colFirst"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngleRelative.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">NavXTurnToAngleRelative</a>&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a>&gt;</td>
 <td class="colLast">
 <div class="block">Turn a certain number of degrees from the current heading.</div>
 </td>
 </tr>
 <tr class="rowColor">
-<td class="colFirst"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">UnidirectionalNavXDefaultDrive</a>&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a>&gt;</td>
+<td class="colFirst"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">UnidirectionalNavXDefaultDrive</a>&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a>&gt;</td>
 <td class="colLast">
 <div class="block">Drive with arcade drive setup, and when the driver isn't turning, use a NavX to stabilize the robot's alignment.</div>
 </td>
 </tr>
 <tr class="altColor">
-<td class="colFirst"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">UnidirectionalNavXShiftingDefaultDrive</a>&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html" title="interface in org.usfirst.frc.team449.robot.drive.shifting">DriveShiftable</a>&gt;</td>
+<td class="colFirst"><a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">UnidirectionalNavXShiftingDefaultDrive</a>&lt;T extends <a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a> &amp; <a href="../../../../../../../../org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html" title="interface in org.usfirst.frc.team449.robot.drive.shifting">DriveShiftable</a>&gt;</td>
 <td class="colLast">
 <div class="block">Drive with arcade drive setup, autoshift, and when the driver isn't turning, use a NavX to stabilize the robot's
  alignment.</div>
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-tree.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-tree.html
index 00e2e2c4..3f551725 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-tree.html
@@ -93,7 +93,7 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 </li>
 <li type="circle">edu.wpi.first.wpilibj.command.PIDCommand (implements edu.wpi.first.wpilibj.Sendable)
 <ul>
-<li type="circle">org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.<a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands"><span class="typeNameLink">PIDAngleCommand</span></a> (implements org.usfirst.frc.team449.robot.jacksonWrappers.<a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommand.html" title="interface in org.usfirst.frc.team449.robot.jacksonWrappers">YamlCommand</a>)
+<li type="circle">org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.<a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands"><span class="typeNameLink">PIDAngleCommand</span></a> (implements org.usfirst.frc.team449.robot.jacksonWrappers.<a href="../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommand.html" title="interface in org.usfirst.frc.team449.robot.jacksonWrappers">YamlCommand</a>)
 <ul>
 <li type="circle">org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="../../../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">FieldOrientedUnidirectionalDriveCommand</span></a>&lt;T&gt;
 <ul>
diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.html
index 61fe0a37..e1373747 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.html
@@ -118,7 +118,7 @@ <h2 title="Class DriveTalonCluster" class="title">Class DriveTalonCluster</h2>
 <li class="blockList">
 <dl>
 <dt>All Implemented Interfaces:</dt>
-<dd>edu.wpi.first.wpilibj.NamedSendable, edu.wpi.first.wpilibj.Sendable, <a href="../../../../../../../org/usfirst/frc/team449/robot/drive/DriveSubsystem.html" title="interface in org.usfirst.frc.team449.robot.drive">DriveSubsystem</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/generalInterfaces/loggable/Loggable.html" title="interface in org.usfirst.frc.team449.robot.generalInterfaces.loggable">Loggable</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/generalInterfaces/updatable/Updatable.html" title="interface in org.usfirst.frc.team449.robot.generalInterfaces.updatable">Updatable</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/SubsystemMP.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile">SubsystemMP</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/SubsystemMPTwoSides.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem">SubsystemMPTwoSides</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a></dd>
+<dd>edu.wpi.first.wpilibj.NamedSendable, edu.wpi.first.wpilibj.Sendable, <a href="../../../../../../../org/usfirst/frc/team449/robot/drive/DriveSubsystem.html" title="interface in org.usfirst.frc.team449.robot.drive">DriveSubsystem</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/generalInterfaces/loggable/Loggable.html" title="interface in org.usfirst.frc.team449.robot.generalInterfaces.loggable">Loggable</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/generalInterfaces/updatable/Updatable.html" title="interface in org.usfirst.frc.team449.robot.generalInterfaces.updatable">Updatable</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/SubsystemMP.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile">SubsystemMP</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/SubsystemMPTwoSides.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem">SubsystemMPTwoSides</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a></dd>
 </dl>
 <dl>
 <dt>Direct Known Subclasses:</dt>
@@ -128,7 +128,7 @@ <h2 title="Class DriveTalonCluster" class="title">Class DriveTalonCluster</h2>
 <br>
 <pre>public class <span class="typeNameLabel">DriveTalonCluster</span>
 extends <a href="../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlSubsystem</a>
-implements <a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/generalInterfaces/loggable/Loggable.html" title="interface in org.usfirst.frc.team449.robot.generalInterfaces.loggable">Loggable</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/SubsystemMPTwoSides.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem">SubsystemMPTwoSides</a></pre>
+implements <a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/generalInterfaces/loggable/Loggable.html" title="interface in org.usfirst.frc.team449.robot.generalInterfaces.loggable">Loggable</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/SubsystemMPTwoSides.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem">SubsystemMPTwoSides</a></pre>
 <div class="block">A drive with a cluster of any number of CANTalonSRX controlled motors on each side.</div>
 </li>
 </ul>
@@ -727,7 +727,7 @@ <h4>getHeading</h4>
 <div class="block">Get the robot's heading using the navX</div>
 <dl>
 <dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
-<dd><code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html#getHeading--">getHeading</a></code>&nbsp;in interface&nbsp;<code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a></code></dd>
+<dd><code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html#getHeading--">getHeading</a></code>&nbsp;in interface&nbsp;<code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a></code></dd>
 <dt><span class="returnLabel">Returns:</span></dt>
 <dd>robot heading, in degrees, on [-180, 180]</dd>
 </dl>
@@ -743,7 +743,7 @@ <h4>getHeadingCached</h4>
 <div class="block">Get the robot's cached heading.</div>
 <dl>
 <dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
-<dd><code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html#getHeadingCached--">getHeadingCached</a></code>&nbsp;in interface&nbsp;<code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a></code></dd>
+<dd><code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html#getHeadingCached--">getHeadingCached</a></code>&nbsp;in interface&nbsp;<code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a></code></dd>
 <dt><span class="returnLabel">Returns:</span></dt>
 <dd>robot heading, in degrees, on [-180, 180].</dd>
 </dl>
@@ -759,7 +759,7 @@ <h4>getAngularVel</h4>
 <div class="block">Get the robot's angular velocity.</div>
 <dl>
 <dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
-<dd><code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html#getAngularVel--">getAngularVel</a></code>&nbsp;in interface&nbsp;<code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a></code></dd>
+<dd><code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html#getAngularVel--">getAngularVel</a></code>&nbsp;in interface&nbsp;<code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a></code></dd>
 <dt><span class="returnLabel">Returns:</span></dt>
 <dd>Angular velocity in degrees/sec</dd>
 </dl>
@@ -775,7 +775,7 @@ <h4>getAngularVelCached</h4>
 <div class="block">Get the robot's cached angular velocity.</div>
 <dl>
 <dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
-<dd><code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html#getAngularVelCached--">getAngularVelCached</a></code>&nbsp;in interface&nbsp;<code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a></code></dd>
+<dd><code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html#getAngularVelCached--">getAngularVelCached</a></code>&nbsp;in interface&nbsp;<code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a></code></dd>
 <dt><span class="returnLabel">Returns:</span></dt>
 <dd>Angular velocity in degrees/sec</dd>
 </dl>
@@ -791,7 +791,7 @@ <h4>getAngularDisplacement</h4>
 <div class="block">Get the robot's angular displacement since being turned on.</div>
 <dl>
 <dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
-<dd><code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html#getAngularDisplacement--">getAngularDisplacement</a></code>&nbsp;in interface&nbsp;<code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a></code></dd>
+<dd><code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html#getAngularDisplacement--">getAngularDisplacement</a></code>&nbsp;in interface&nbsp;<code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a></code></dd>
 <dt><span class="returnLabel">Returns:</span></dt>
 <dd>Angular displacement in degrees.</dd>
 </dl>
@@ -807,7 +807,7 @@ <h4>getAngularDisplacementCached</h4>
 <div class="block">Get the robot's cached angular displacement since being turned on.</div>
 <dl>
 <dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
-<dd><code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html#getAngularDisplacementCached--">getAngularDisplacementCached</a></code>&nbsp;in interface&nbsp;<code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a></code></dd>
+<dd><code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html#getAngularDisplacementCached--">getAngularDisplacementCached</a></code>&nbsp;in interface&nbsp;<code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a></code></dd>
 <dt><span class="returnLabel">Returns:</span></dt>
 <dd>Angular displacement in degrees.</dd>
 </dl>
@@ -822,7 +822,7 @@ <h4>getOverrideGyro</h4>
 <pre>public&nbsp;boolean&nbsp;getOverrideGyro()</pre>
 <dl>
 <dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
-<dd><code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html#getOverrideGyro--">getOverrideGyro</a></code>&nbsp;in interface&nbsp;<code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a></code></dd>
+<dd><code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html#getOverrideGyro--">getOverrideGyro</a></code>&nbsp;in interface&nbsp;<code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a></code></dd>
 <dt><span class="returnLabel">Returns:</span></dt>
 <dd>true if the NavX is currently overriden, false otherwise.</dd>
 </dl>
@@ -837,7 +837,7 @@ <h4>setOverrideGyro</h4>
 <pre>public&nbsp;void&nbsp;setOverrideGyro(boolean&nbsp;override)</pre>
 <dl>
 <dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
-<dd><code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html#setOverrideGyro-boolean-">setOverrideGyro</a></code>&nbsp;in interface&nbsp;<code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a></code></dd>
+<dd><code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html#setOverrideGyro-boolean-">setOverrideGyro</a></code>&nbsp;in interface&nbsp;<code><a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a></code></dd>
 <dt><span class="paramLabel">Parameters:</span></dt>
 <dd><code>override</code> - true to override the NavX, false to un-override it.</dd>
 </dl>
diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonClusterShiftable.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonClusterShiftable.html
index 5d8daf31..caf11625 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonClusterShiftable.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonClusterShiftable.html
@@ -123,7 +123,7 @@ <h2 title="Class DriveTalonClusterShiftable" class="title">Class DriveTalonClust
 <li class="blockList">
 <dl>
 <dt>All Implemented Interfaces:</dt>
-<dd>edu.wpi.first.wpilibj.NamedSendable, edu.wpi.first.wpilibj.Sendable, <a href="../../../../../../../org/usfirst/frc/team449/robot/drive/DriveSubsystem.html" title="interface in org.usfirst.frc.team449.robot.drive">DriveSubsystem</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html" title="interface in org.usfirst.frc.team449.robot.drive.shifting">DriveShiftable</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/generalInterfaces/loggable/Loggable.html" title="interface in org.usfirst.frc.team449.robot.generalInterfaces.loggable">Loggable</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/generalInterfaces/shiftable/Shiftable.html" title="interface in org.usfirst.frc.team449.robot.generalInterfaces.shiftable">Shiftable</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/generalInterfaces/updatable/Updatable.html" title="interface in org.usfirst.frc.team449.robot.generalInterfaces.updatable">Updatable</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/SubsystemMP.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile">SubsystemMP</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/SubsystemMPTwoSides.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem">SubsystemMPTwoSides</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a></dd>
+<dd>edu.wpi.first.wpilibj.NamedSendable, edu.wpi.first.wpilibj.Sendable, <a href="../../../../../../../org/usfirst/frc/team449/robot/drive/DriveSubsystem.html" title="interface in org.usfirst.frc.team449.robot.drive">DriveSubsystem</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html" title="interface in org.usfirst.frc.team449.robot.drive.shifting">DriveShiftable</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/generalInterfaces/loggable/Loggable.html" title="interface in org.usfirst.frc.team449.robot.generalInterfaces.loggable">Loggable</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/generalInterfaces/shiftable/Shiftable.html" title="interface in org.usfirst.frc.team449.robot.generalInterfaces.shiftable">Shiftable</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/generalInterfaces/updatable/Updatable.html" title="interface in org.usfirst.frc.team449.robot.generalInterfaces.updatable">Updatable</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/SubsystemMP.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile">SubsystemMP</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/SubsystemMPTwoSides.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem">SubsystemMPTwoSides</a>, <a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a></dd>
 </dl>
 <hr>
 <br>
diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-tree.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-tree.html
index 33f7dc70..13609df7 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-tree.html
@@ -84,7 +84,7 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 <ul>
 <li type="circle">org.usfirst.frc.team449.robot.jacksonWrappers.<a href="../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers"><span class="typeNameLink">YamlSubsystem</span></a>
 <ul>
-<li type="circle">org.usfirst.frc.team449.robot.drive.unidirectional.<a href="../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.html" title="class in org.usfirst.frc.team449.robot.drive.unidirectional"><span class="typeNameLink">DriveTalonCluster</span></a> (implements org.usfirst.frc.team449.robot.drive.unidirectional.<a href="../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a>, org.usfirst.frc.team449.robot.generalInterfaces.loggable.<a href="../../../../../../../org/usfirst/frc/team449/robot/generalInterfaces/loggable/Loggable.html" title="interface in org.usfirst.frc.team449.robot.generalInterfaces.loggable">Loggable</a>, org.usfirst.frc.team449.robot.subsystem.interfaces.navX.<a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a>, org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.<a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/SubsystemMPTwoSides.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem">SubsystemMPTwoSides</a>)
+<li type="circle">org.usfirst.frc.team449.robot.drive.unidirectional.<a href="../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.html" title="class in org.usfirst.frc.team449.robot.drive.unidirectional"><span class="typeNameLink">DriveTalonCluster</span></a> (implements org.usfirst.frc.team449.robot.drive.unidirectional.<a href="../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a>, org.usfirst.frc.team449.robot.generalInterfaces.loggable.<a href="../../../../../../../org/usfirst/frc/team449/robot/generalInterfaces/loggable/Loggable.html" title="interface in org.usfirst.frc.team449.robot.generalInterfaces.loggable">Loggable</a>, org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.<a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a>, org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.<a href="../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/SubsystemMPTwoSides.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem">SubsystemMPTwoSides</a>)
 <ul>
 <li type="circle">org.usfirst.frc.team449.robot.drive.unidirectional.<a href="../../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonClusterShiftable.html" title="class in org.usfirst.frc.team449.robot.drive.unidirectional"><span class="typeNameLink">DriveTalonClusterShiftable</span></a> (implements org.usfirst.frc.team449.robot.drive.shifting.<a href="../../../../../../../org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html" title="interface in org.usfirst.frc.team449.robot.drive.shifting">DriveShiftable</a>)</li>
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diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommand.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommand.html
index 1898f8a7..75d5bf07 100644
--- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommand.html
+++ b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommand.html
@@ -100,7 +100,7 @@ <h2 title="Interface YamlCommand" class="title">Interface YamlCommand</h2>
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 <dl>
 <dt>All Known Implementing Classes:</dt>
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org.usfirst.frc.team449.robot.commands.general">ParallelCommandGroup</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">PIDAngleCommand</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/commands/PIDBackAndForth.html" title="class in org.usfirst.frc.team449.robot.drive.unidirectional.commands">PIDBackAndForth</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/commands/PIDTest.html" title="class in org.usfirst.frc.team449.robot.drive.unidirectional.commands">PIDTest</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/commands/multiSubsystem/RackShooter.html" title="class in org.usfirst.frc.team449.robot.commands.multiSubsystem">RackShooter</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/drive/commands/ResetPosition.html" title="class in org.usfirst.frc.team449.robot.drive.commands">ResetPosition</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/commands/multiSubsystem/ResetShooter.html" title="class in org.usfirst.frc.team449.robot.commands.multiSubsystem">ResetShooter</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunLoadedProfile.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands">RunLoadedProfile</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/RunMotorWhileConditonMet.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface">RunMotorWhileConditonMet</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunProfile.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands">RunProfile</a>, <a 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href="../../../../../../org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToLowGear.html" title="class in org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands">SwitchToLowGear</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/ToggleIntaking.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands">ToggleIntaking</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/ToggleMotor.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands">ToggleMotor</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/drive/shifting/commands/ToggleOverrideAutoShift.html" title="class in org.usfirst.frc.team449.robot.drive.shifting.commands">ToggleOverrideAutoShift</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html" title="class 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href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOn.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands">TurnAllOn</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOff.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands">TurnMotorOff</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOffWithRequires.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands">TurnMotorOffWithRequires</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOn.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands">TurnMotorOn</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">UnidirectionalNavXDefaultDrive</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">UnidirectionalNavXShiftingDefaultDrive</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/commands/VoltageRamp.html" title="class in org.usfirst.frc.team449.robot.drive.unidirectional.commands">VoltageRamp</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/commands/general/WaitForMillis.html" title="class in org.usfirst.frc.team449.robot.commands.general">WaitForMillis</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommandGroupWrapper.html" title="class in 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+<dd><a href="../../../../../../org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Boiler.html" title="class in org.usfirst.frc.team449.robot.commands.autonomous">Auto2017Boiler</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Center.html" title="class in org.usfirst.frc.team449.robot.commands.autonomous">Auto2017Center</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Feeder.html" title="class in org.usfirst.frc.team449.robot.commands.autonomous">Auto2017Feeder</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/ChangeCam.html" title="class in org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.commands">ChangeCam</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/commands/general/CommandSequence.html" title="class in org.usfirst.frc.team449.robot.commands.general">CommandSequence</a>, <a 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org.usfirst.frc.team449.robot.drive.commands">ResetPosition</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/commands/multiSubsystem/ResetShooter.html" title="class in org.usfirst.frc.team449.robot.commands.multiSubsystem">ResetShooter</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunLoadedProfile.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands">RunLoadedProfile</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/RunMotorWhileConditonMet.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface">RunMotorWhileConditonMet</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunProfile.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands">RunProfile</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/RunProfileTwoSides.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands">RunProfileTwoSides</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/commands/general/RunRunnables.html" title="class in org.usfirst.frc.team449.robot.commands.general">RunRunnables</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/SetIntakeMode.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands">SetIntakeMode</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/ShiftGears.html" title="class in org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands">ShiftGears</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/commands/SimpleUnidirectionalDrive.html" title="class in org.usfirst.frc.team449.robot.drive.unidirectional.commands">SimpleUnidirectionalDrive</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidForward.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands">SolenoidForward</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidOff.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands">SolenoidOff</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidReverse.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands">SolenoidReverse</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpShooter.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands">SpinUpShooter</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpThenShoot.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands">SpinUpThenShoot</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/StartCompressor.html" title="class in org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands">StartCompressor</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToGear.html" title="class in org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands">SwitchToGear</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToHighGear.html" title="class in org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands">SwitchToHighGear</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToLowGear.html" title="class in org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands">SwitchToLowGear</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/ToggleIntaking.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands">ToggleIntaking</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/ToggleMotor.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands">ToggleMotor</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/drive/shifting/commands/ToggleOverrideAutoShift.html" title="class in org.usfirst.frc.team449.robot.drive.shifting.commands">ToggleOverrideAutoShift</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">ToggleOverrideNavX</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/ToggleShooting.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands">ToggleShooting</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/ToggleSolenoid.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands">ToggleSolenoid</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOff.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands">TurnAllOff</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOffWithRequires.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands">TurnAllOffWithRequires</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOn.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands">TurnAllOn</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOff.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands">TurnMotorOff</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOffWithRequires.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands">TurnMotorOffWithRequires</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOn.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands">TurnMotorOn</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">UnidirectionalNavXDefaultDrive</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive">UnidirectionalNavXShiftingDefaultDrive</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/commands/VoltageRamp.html" title="class in org.usfirst.frc.team449.robot.drive.unidirectional.commands">VoltageRamp</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/commands/general/WaitForMillis.html" title="class in org.usfirst.frc.team449.robot.commands.general">WaitForMillis</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommandGroupWrapper.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlCommandGroupWrapper</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommandWrapper.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">YamlCommandWrapper</a></dd>
 </dl>
 <hr>
 <br>
diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommandWrapper.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommandWrapper.html
index 4a226918..b47ef633 100644
--- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommandWrapper.html
+++ b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommandWrapper.html
@@ -117,7 +117,7 @@ <h2 title="Class YamlCommandWrapper" class="title">Class YamlCommandWrapper</h2>
 </dl>
 <dl>
 <dt>Direct Known Subclasses:</dt>
-<dd><a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/ChangeCam.html" title="class in org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.commands">ChangeCam</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/commands/DetermineNominalVoltage.html" title="class in org.usfirst.frc.team449.robot.drive.unidirectional.commands">DetermineNominalVoltage</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/commands/DetermineVelVsVoltage.html" title="class in org.usfirst.frc.team449.robot.drive.unidirectional.commands">DetermineVelVsVoltage</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/commands/DriveAtSpeed.html" title="class in org.usfirst.frc.team449.robot.drive.unidirectional.commands">DriveAtSpeed</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/commands/DriveStraight.html" title="class in org.usfirst.frc.team449.robot.drive.unidirectional.commands">DriveStraight</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/drive/commands/EnableMotors.html" title="class in org.usfirst.frc.team449.robot.drive.commands">EnableMotors</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/LoadProfile.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands">LoadProfile</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/LoadProfileTwoSides.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands">LoadProfileTwoSides</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/drive/shifting/commands/OverrideAutoShift.html" title="class in org.usfirst.frc.team449.robot.drive.shifting.commands">OverrideAutoShift</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">OverrideNavX</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/drive/commands/ResetPosition.html" title="class in org.usfirst.frc.team449.robot.drive.commands">ResetPosition</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunLoadedProfile.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands">RunLoadedProfile</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/RunMotorWhileConditonMet.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface">RunMotorWhileConditonMet</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/commands/general/RunRunnables.html" title="class in org.usfirst.frc.team449.robot.commands.general">RunRunnables</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/SetIntakeMode.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands">SetIntakeMode</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/ShiftGears.html" title="class in org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands">ShiftGears</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/commands/SimpleUnidirectionalDrive.html" title="class in org.usfirst.frc.team449.robot.drive.unidirectional.commands">SimpleUnidirectionalDrive</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidForward.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands">SolenoidForward</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidOff.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands">SolenoidOff</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidReverse.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands">SolenoidReverse</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpShooter.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands">SpinUpShooter</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/StartCompressor.html" title="class in org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands">StartCompressor</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToGear.html" title="class in org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands">SwitchToGear</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToHighGear.html" title="class in org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands">SwitchToHighGear</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToLowGear.html" title="class in org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands">SwitchToLowGear</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/ToggleIntaking.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands">ToggleIntaking</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/ToggleMotor.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands">ToggleMotor</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/drive/shifting/commands/ToggleOverrideAutoShift.html" title="class in org.usfirst.frc.team449.robot.drive.shifting.commands">ToggleOverrideAutoShift</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands">ToggleOverrideNavX</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/ToggleSolenoid.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands">ToggleSolenoid</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOff.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands">TurnAllOff</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOn.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands">TurnAllOn</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOff.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands">TurnMotorOff</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOn.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands">TurnMotorOn</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/commands/VoltageRamp.html" title="class in org.usfirst.frc.team449.robot.drive.unidirectional.commands">VoltageRamp</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/commands/general/WaitForMillis.html" title="class in org.usfirst.frc.team449.robot.commands.general">WaitForMillis</a></dd>
+<dd><a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/ChangeCam.html" title="class in org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.commands">ChangeCam</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/commands/DetermineNominalVoltage.html" title="class in org.usfirst.frc.team449.robot.drive.unidirectional.commands">DetermineNominalVoltage</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/commands/DetermineVelVsVoltage.html" title="class in org.usfirst.frc.team449.robot.drive.unidirectional.commands">DetermineVelVsVoltage</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/commands/DriveAtSpeed.html" title="class in org.usfirst.frc.team449.robot.drive.unidirectional.commands">DriveAtSpeed</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/commands/DriveStraight.html" title="class in org.usfirst.frc.team449.robot.drive.unidirectional.commands">DriveStraight</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/drive/commands/EnableMotors.html" title="class in org.usfirst.frc.team449.robot.drive.commands">EnableMotors</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/LoadProfile.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands">LoadProfile</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/LoadProfileTwoSides.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands">LoadProfileTwoSides</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/drive/shifting/commands/OverrideAutoShift.html" title="class in org.usfirst.frc.team449.robot.drive.shifting.commands">OverrideAutoShift</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">OverrideNavX</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/drive/commands/ResetPosition.html" title="class in org.usfirst.frc.team449.robot.drive.commands">ResetPosition</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunLoadedProfile.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands">RunLoadedProfile</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/commands/multiInterface/RunMotorWhileConditonMet.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface">RunMotorWhileConditonMet</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/commands/general/RunRunnables.html" title="class in org.usfirst.frc.team449.robot.commands.general">RunRunnables</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/SetIntakeMode.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands">SetIntakeMode</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/ShiftGears.html" title="class in org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands">ShiftGears</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/commands/SimpleUnidirectionalDrive.html" title="class in org.usfirst.frc.team449.robot.drive.unidirectional.commands">SimpleUnidirectionalDrive</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidForward.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands">SolenoidForward</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidOff.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands">SolenoidOff</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidReverse.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands">SolenoidReverse</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpShooter.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands">SpinUpShooter</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/StartCompressor.html" title="class in org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands">StartCompressor</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToGear.html" title="class in org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands">SwitchToGear</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToHighGear.html" title="class in org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands">SwitchToHighGear</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToLowGear.html" title="class in org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands">SwitchToLowGear</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/ToggleIntaking.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands">ToggleIntaking</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/ToggleMotor.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands">ToggleMotor</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/drive/shifting/commands/ToggleOverrideAutoShift.html" title="class in org.usfirst.frc.team449.robot.drive.shifting.commands">ToggleOverrideAutoShift</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">ToggleOverrideNavX</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/ToggleSolenoid.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands">ToggleSolenoid</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOff.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands">TurnAllOff</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOn.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands">TurnAllOn</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOff.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands">TurnMotorOff</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOn.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands">TurnMotorOn</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/commands/VoltageRamp.html" title="class in org.usfirst.frc.team449.robot.drive.unidirectional.commands">VoltageRamp</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/commands/general/WaitForMillis.html" title="class in org.usfirst.frc.team449.robot.commands.general">WaitForMillis</a></dd>
 </dl>
 <hr>
 <br>
diff --git a/docs/org/usfirst/frc/team449/robot/other/UnidirectionalPoseEstimator.html b/docs/org/usfirst/frc/team449/robot/other/UnidirectionalPoseEstimator.html
index 809afbc4..76c58934 100644
--- a/docs/org/usfirst/frc/team449/robot/other/UnidirectionalPoseEstimator.html
+++ b/docs/org/usfirst/frc/team449/robot/other/UnidirectionalPoseEstimator.html
@@ -92,7 +92,7 @@
 <!-- ======== START OF CLASS DATA ======== -->
 <div class="header">
 <div class="subTitle">org.usfirst.frc.team449.robot.other</div>
-<h2 title="Class UnidirectionalPoseEstimator" class="title">Class UnidirectionalPoseEstimator&lt;T extends <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a> &amp; <a href="../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a>&gt;</h2>
+<h2 title="Class UnidirectionalPoseEstimator" class="title">Class UnidirectionalPoseEstimator&lt;T extends <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a> &amp; <a href="../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a>&gt;</h2>
 </div>
 <div class="contentContainer">
 <ul class="inheritance">
@@ -112,7 +112,7 @@ <h2 title="Class UnidirectionalPoseEstimator" class="title">Class Unidirectional
 </dl>
 <hr>
 <br>
-<pre>public class <span class="typeNameLabel">UnidirectionalPoseEstimator&lt;T extends <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a> &amp; <a href="../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a>&gt;</span>
+<pre>public class <span class="typeNameLabel">UnidirectionalPoseEstimator&lt;T extends <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a> &amp; <a href="../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a>&gt;</span>
 extends java.lang.Object
 implements <a href="../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/MappedRunnable.html" title="interface in org.usfirst.frc.team449.robot.jacksonWrappers">MappedRunnable</a>, <a href="../../../../../../org/usfirst/frc/team449/robot/generalInterfaces/loggable/Loggable.html" title="interface in org.usfirst.frc.team449.robot.generalInterfaces.loggable">Loggable</a></pre>
 <div class="block">A Runnable for pose estimation that can take absolute positions.</div>
diff --git a/docs/org/usfirst/frc/team449/robot/other/package-summary.html b/docs/org/usfirst/frc/team449/robot/other/package-summary.html
index b5200664..255802fb 100644
--- a/docs/org/usfirst/frc/team449/robot/other/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/other/package-summary.html
@@ -118,7 +118,7 @@ <h1 title="Package" class="title">Package&nbsp;org.usfirst.frc.team449.robot.oth
 </td>
 </tr>
 <tr class="altColor">
-<td class="colFirst"><a href="../../../../../../org/usfirst/frc/team449/robot/other/UnidirectionalPoseEstimator.html" title="class in org.usfirst.frc.team449.robot.other">UnidirectionalPoseEstimator</a>&lt;T extends <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a> &amp; <a href="../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a>&gt;</td>
+<td class="colFirst"><a href="../../../../../../org/usfirst/frc/team449/robot/other/UnidirectionalPoseEstimator.html" title="class in org.usfirst.frc.team449.robot.other">UnidirectionalPoseEstimator</a>&lt;T extends <a href="../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a> &amp; <a href="../../../../../../org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a>&gt;</td>
 <td class="colLast">
 <div class="block">A Runnable for pose estimation that can take absolute positions.</div>
 </td>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html
index 9f8c8c9e..d8143520 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html
@@ -49,7 +49,7 @@
 <div class="subNav">
 <ul class="navList">
 <li>Prev&nbsp;Class</li>
-<li><a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands"><span class="typeNameLink">Next&nbsp;Class</span></a></li>
+<li><a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands"><span class="typeNameLink">Next&nbsp;Class</span></a></li>
 </ul>
 <ul class="navList">
 <li><a href="../../../../../../../../../index.html?org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html" target="_top">Frames</a></li>
@@ -91,7 +91,7 @@
 <!-- ========= END OF TOP NAVBAR ========= -->
 <!-- ======== START OF CLASS DATA ======== -->
 <div class="header">
-<div class="subTitle">org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands</div>
+<div class="subTitle">org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands</div>
 <h2 title="Class OverrideNavX" class="title">Class OverrideNavX</h2>
 </div>
 <div class="contentContainer">
@@ -105,7 +105,7 @@ <h2 title="Class OverrideNavX" class="title">Class OverrideNavX</h2>
 <li><a href="../../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommandWrapper.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper</a></li>
 <li>
 <ul class="inheritance">
-<li>org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.OverrideNavX</li>
+<li>org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.OverrideNavX</li>
 </ul>
 </li>
 </ul>
@@ -143,7 +143,7 @@ <h3>Constructor Summary</h3>
 <th class="colOne" scope="col">Constructor and Description</th>
 </tr>
 <tr class="altColor">
-<td class="colOne"><code><span class="memberNameLink"><a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html#OverrideNavX-org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS-boolean-">OverrideNavX</a></span>(<a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a>&nbsp;subsystem,
+<td class="colOne"><code><span class="memberNameLink"><a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html#OverrideNavX-org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS-boolean-">OverrideNavX</a></span>(<a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a>&nbsp;subsystem,
             boolean&nbsp;override)</code>
 <div class="block">Default constructor.</div>
 </td>
@@ -236,7 +236,7 @@ <h3>Constructor Detail</h3>
 <li class="blockList">
 <h4>OverrideNavX</h4>
 <pre>public&nbsp;OverrideNavX(@NotNull
-                    <a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a>&nbsp;subsystem,
+                    <a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a>&nbsp;subsystem,
                     boolean&nbsp;override)</pre>
 <div class="block">Default constructor.</div>
 <dl>
@@ -354,7 +354,7 @@ <h4>interrupted</h4>
 <div class="subNav">
 <ul class="navList">
 <li>Prev&nbsp;Class</li>
-<li><a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands"><span class="typeNameLink">Next&nbsp;Class</span></a></li>
+<li><a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands"><span class="typeNameLink">Next&nbsp;Class</span></a></li>
 </ul>
 <ul class="navList">
 <li><a href="../../../../../../../../../index.html?org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html" target="_top">Frames</a></li>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html
index 84e6e3cc..e8af55de 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html
@@ -48,8 +48,8 @@
 </div>
 <div class="subNav">
 <ul class="navList">
-<li><a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands"><span class="typeNameLink">Prev&nbsp;Class</span></a></li>
-<li><a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands"><span class="typeNameLink">Next&nbsp;Class</span></a></li>
+<li><a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands"><span class="typeNameLink">Prev&nbsp;Class</span></a></li>
+<li><a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands"><span class="typeNameLink">Next&nbsp;Class</span></a></li>
 </ul>
 <ul class="navList">
 <li><a href="../../../../../../../../../index.html?org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" target="_top">Frames</a></li>
@@ -91,7 +91,7 @@
 <!-- ========= END OF TOP NAVBAR ========= -->
 <!-- ======== START OF CLASS DATA ======== -->
 <div class="header">
-<div class="subTitle">org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands</div>
+<div class="subTitle">org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands</div>
 <h2 title="Class PIDAngleCommand" class="title">Class PIDAngleCommand</h2>
 </div>
 <div class="contentContainer">
@@ -105,7 +105,7 @@ <h2 title="Class PIDAngleCommand" class="title">Class PIDAngleCommand</h2>
 <li>edu.wpi.first.wpilibj.command.PIDCommand</li>
 <li>
 <ul class="inheritance">
-<li>org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.PIDAngleCommand</li>
+<li>org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.PIDAngleCommand</li>
 </ul>
 </li>
 </ul>
@@ -149,7 +149,7 @@ <h3>Field Summary</h3>
 <th class="colLast" scope="col">Field and Description</th>
 </tr>
 <tr class="altColor">
-<td class="colFirst"><code>protected <a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a></code></td>
+<td class="colFirst"><code>protected <a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a></code></td>
 <td class="colLast"><code><span class="memberNameLink"><a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html#subsystem">subsystem</a></span></code>
 <div class="block">The subsystem to execute this command on.</div>
 </td>
@@ -175,7 +175,7 @@ <h3>Constructor Summary</h3>
                java.lang.Double&nbsp;maximumOutput,
                double&nbsp;deadband,
                boolean&nbsp;inverted,
-               <a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a>&nbsp;subsystem,
+               <a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a>&nbsp;subsystem,
                double&nbsp;kP,
                double&nbsp;kI,
                double&nbsp;kD)</code>
@@ -271,7 +271,7 @@ <h3>Field Detail</h3>
 <li class="blockList">
 <h4>subsystem</h4>
 <pre>@NotNull
-protected final&nbsp;<a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a> subsystem</pre>
+protected final&nbsp;<a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a> subsystem</pre>
 <div class="block">The subsystem to execute this command on.</div>
 </li>
 </ul>
@@ -297,7 +297,7 @@ <h4>PIDAngleCommand</h4>
                        double&nbsp;deadband,
                        boolean&nbsp;inverted,
                        @NotNull
-                       <a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a>&nbsp;subsystem,
+                       <a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a>&nbsp;subsystem,
                        double&nbsp;kP,
                        double&nbsp;kI,
                        double&nbsp;kD)</pre>
@@ -424,8 +424,8 @@ <h4>getCommand</h4>
 </div>
 <div class="subNav">
 <ul class="navList">
-<li><a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands"><span class="typeNameLink">Prev&nbsp;Class</span></a></li>
-<li><a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands"><span class="typeNameLink">Next&nbsp;Class</span></a></li>
+<li><a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands"><span class="typeNameLink">Prev&nbsp;Class</span></a></li>
+<li><a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands"><span class="typeNameLink">Next&nbsp;Class</span></a></li>
 </ul>
 <ul class="navList">
 <li><a href="../../../../../../../../../index.html?org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" target="_top">Frames</a></li>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html
index 132758c2..8c7b9080 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html
@@ -48,7 +48,7 @@
 </div>
 <div class="subNav">
 <ul class="navList">
-<li><a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands"><span class="typeNameLink">Prev&nbsp;Class</span></a></li>
+<li><a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands"><span class="typeNameLink">Prev&nbsp;Class</span></a></li>
 <li>Next&nbsp;Class</li>
 </ul>
 <ul class="navList">
@@ -91,7 +91,7 @@
 <!-- ========= END OF TOP NAVBAR ========= -->
 <!-- ======== START OF CLASS DATA ======== -->
 <div class="header">
-<div class="subTitle">org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands</div>
+<div class="subTitle">org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands</div>
 <h2 title="Class ToggleOverrideNavX" class="title">Class ToggleOverrideNavX</h2>
 </div>
 <div class="contentContainer">
@@ -105,7 +105,7 @@ <h2 title="Class ToggleOverrideNavX" class="title">Class ToggleOverrideNavX</h2>
 <li><a href="../../../../../../../../../org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommandWrapper.html" title="class in org.usfirst.frc.team449.robot.jacksonWrappers">org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper</a></li>
 <li>
 <ul class="inheritance">
-<li>org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.ToggleOverrideNavX</li>
+<li>org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.ToggleOverrideNavX</li>
 </ul>
 </li>
 </ul>
@@ -143,7 +143,7 @@ <h3>Constructor Summary</h3>
 <th class="colOne" scope="col">Constructor and Description</th>
 </tr>
 <tr class="altColor">
-<td class="colOne"><code><span class="memberNameLink"><a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html#ToggleOverrideNavX-org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS-">ToggleOverrideNavX</a></span>(<a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a>&nbsp;subsystem)</code>
+<td class="colOne"><code><span class="memberNameLink"><a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html#ToggleOverrideNavX-org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS-">ToggleOverrideNavX</a></span>(<a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a>&nbsp;subsystem)</code>
 <div class="block">Default constructor.</div>
 </td>
 </tr>
@@ -235,7 +235,7 @@ <h3>Constructor Detail</h3>
 <li class="blockList">
 <h4>ToggleOverrideNavX</h4>
 <pre>public&nbsp;ToggleOverrideNavX(@NotNull
-                          <a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a>&nbsp;subsystem)</pre>
+                          <a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a>&nbsp;subsystem)</pre>
 <div class="block">Default constructor.</div>
 <dl>
 <dt><span class="paramLabel">Parameters:</span></dt>
@@ -350,7 +350,7 @@ <h4>interrupted</h4>
 </div>
 <div class="subNav">
 <ul class="navList">
-<li><a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands"><span class="typeNameLink">Prev&nbsp;Class</span></a></li>
+<li><a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands"><span class="typeNameLink">Prev&nbsp;Class</span></a></li>
 <li>Next&nbsp;Class</li>
 </ul>
 <ul class="navList">
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-frame.html
index 89d77897..e707e971 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-frame.html
@@ -3,19 +3,19 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc (1.8.0_121) on Sat Nov 04 14:26:16 EDT 2017 -->
-<title>org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands (RoboRIO 1.0 API)</title>
+<title>org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands (RoboRIO 1.0 API)</title>
 <meta name="date" content="2017-11-04">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../../script.js"></script>
 </head>
 <body>
-<h1 class="bar"><a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-summary.html" target="classFrame">org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands</a></h1>
+<h1 class="bar"><a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-summary.html" target="classFrame">org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands</a></h1>
 <div class="indexContainer">
 <h2 title="Classes">Classes</h2>
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-<li><a href="ToggleOverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands" target="classFrame">ToggleOverrideNavX</a></li>
+<li><a href="OverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands" target="classFrame">OverrideNavX</a></li>
+<li><a href="PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands" target="classFrame">PIDAngleCommand</a></li>
+<li><a href="ToggleOverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands" target="classFrame">ToggleOverrideNavX</a></li>
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index 49befa8a..23524052 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-summary.html
@@ -3,7 +3,7 @@
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-<title>org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands (RoboRIO 1.0 API)</title>
+<title>org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands (RoboRIO 1.0 API)</title>
 <meta name="date" content="2017-11-04">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../../stylesheet.css" title="Style">
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@@ -69,7 +69,7 @@
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 <!-- ========= END OF TOP NAVBAR ========= -->
 <div class="header">
-<h1 title="Package" class="title">Package&nbsp;org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands</h1>
+<h1 title="Package" class="title">Package&nbsp;org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands</h1>
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 </tr>
 <tbody>
 <tr class="altColor">
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+<td class="colFirst"><a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">OverrideNavX</a></td>
 <td class="colLast">
 <div class="block">Set whether or not to override the navX.</div>
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 </tr>
 <tr class="rowColor">
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+<td class="colFirst"><a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">PIDAngleCommand</a></td>
 <td class="colLast">
 <div class="block">A command that uses a navX to turn to a certain angle.</div>
 </td>
 </tr>
 <tr class="altColor">
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+<td class="colFirst"><a href="../../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands">ToggleOverrideNavX</a></td>
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+<h1 class="title">Hierarchy For Package org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands</h1>
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 <ul>
 <li type="circle">edu.wpi.first.wpilibj.command.PIDCommand (implements edu.wpi.first.wpilibj.Sendable)
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index 6bba9e36..852e5f7e 100644
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 <html lang="en">
 <head>
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-<title>org.usfirst.frc.team449.robot.subsystem.interfaces.navX (RoboRIO 1.0 API)</title>
+<title>org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS (RoboRIO 1.0 API)</title>
 <meta name="date" content="2017-11-04">
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+<h1 class="bar"><a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-summary.html" target="classFrame">org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS</a></h1>
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 <h2 title="Interfaces">Interfaces</h2>
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+<li><a href="SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS" target="classFrame"><span class="interfaceName">SubsystemAHRS</span></a></li>
 </ul>
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diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-summary.html
index a1e784df..6724863a 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-summary.html
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@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc (1.8.0_121) on Sat Nov 04 14:26:15 EDT 2017 -->
-<title>org.usfirst.frc.team449.robot.subsystem.interfaces.navX (RoboRIO 1.0 API)</title>
+<title>org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS (RoboRIO 1.0 API)</title>
 <meta name="date" content="2017-11-04">
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 <script type="text/javascript" src="../../../../../../../../script.js"></script>
@@ -69,7 +69,7 @@
 </a></div>
 <!-- ========= END OF TOP NAVBAR ========= -->
 <div class="header">
-<h1 title="Package" class="title">Package&nbsp;org.usfirst.frc.team449.robot.subsystem.interfaces.navX</h1>
+<h1 title="Package" class="title">Package&nbsp;org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS</h1>
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@@ -82,7 +82,7 @@ <h1 title="Package" class="title">Package&nbsp;org.usfirst.frc.team449.robot.sub
 </tr>
 <tbody>
 <tr class="altColor">
-<td class="colFirst"><a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a></td>
+<td class="colFirst"><a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a></td>
 <td class="colLast">
 <div class="block">A subsystem that has a navX on it.</div>
 </td>
diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-tree.html
index 05636453..a56c2a43 100644
--- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-tree.html
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@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
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-<title>org.usfirst.frc.team449.robot.subsystem.interfaces.navX Class Hierarchy (RoboRIO 1.0 API)</title>
+<title>org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS Class Hierarchy (RoboRIO 1.0 API)</title>
 <meta name="date" content="2017-11-04">
 <link rel="stylesheet" type="text/css" href="../../../../../../../../stylesheet.css" title="Style">
 <script type="text/javascript" src="../../../../../../../../script.js"></script>
@@ -69,7 +69,7 @@
 </a></div>
 <!-- ========= END OF TOP NAVBAR ========= -->
 <div class="header">
-<h1 class="title">Hierarchy For Package org.usfirst.frc.team449.robot.subsystem.interfaces.navX</h1>
+<h1 class="title">Hierarchy For Package org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS</h1>
 <span class="packageHierarchyLabel">Package Hierarchies:</span>
 <ul class="horizontal">
 <li><a href="../../../../../../../../overview-tree.html">All Packages</a></li>
@@ -78,7 +78,7 @@ <h1 class="title">Hierarchy For Package org.usfirst.frc.team449.robot.subsystem.
 <div class="contentContainer">
 <h2 title="Interface Hierarchy">Interface Hierarchy</h2>
 <ul>
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+<li type="circle">org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.<a href="../../../../../../../../org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS"><span class="typeNameLink">SubsystemAHRS</span></a></li>
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 <!-- ======= START OF BOTTOM NAVBAR ====== -->
diff --git a/docs/overview-frame.html b/docs/overview-frame.html
index d680bdb9..46fa1e1f 100644
--- a/docs/overview-frame.html
+++ b/docs/overview-frame.html
@@ -53,8 +53,8 @@ <h2 title="Packages">Packages</h2>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-frame.html" target="packageFrame">org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands</a></li>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-frame.html" target="packageFrame">org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem</a></li>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-frame.html" target="packageFrame">org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands</a></li>
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+<li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-frame.html" target="packageFrame">org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS</a></li>
+<li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-frame.html" target="packageFrame">org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands</a></li>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-frame.html" target="packageFrame">org.usfirst.frc.team449.robot.subsystem.interfaces.shooter</a></li>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-frame.html" target="packageFrame">org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands</a></li>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-frame.html" target="packageFrame">org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid</a></li>
diff --git a/docs/overview-summary.html b/docs/overview-summary.html
index 8a35709d..1ab7e3f6 100644
--- a/docs/overview-summary.html
+++ b/docs/overview-summary.html
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 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="altColor">
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+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS</a></td>
 <td class="colLast">&nbsp;</td>
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 <tr class="rowColor">
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+<td class="colFirst"><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-summary.html">org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands</a></td>
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 <tr class="altColor">
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index 1a1ac479..4b1436df 100644
--- a/docs/overview-tree.html
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 <li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-tree.html">org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands</a>, </li>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-tree.html">org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem</a>, </li>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-tree.html">org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands</a>, </li>
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+<li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-tree.html">org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS</a>, </li>
+<li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-tree.html">org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands</a>, </li>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-tree.html">org.usfirst.frc.team449.robot.subsystem.interfaces.shooter</a>, </li>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-tree.html">org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands</a>, </li>
 <li><a href="org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-tree.html">org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid</a>, </li>
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 </li>
 <li type="circle">edu.wpi.first.wpilibj.command.PIDCommand (implements edu.wpi.first.wpilibj.Sendable)
 <ul>
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+<li type="circle">org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands"><span class="typeNameLink">PIDAngleCommand</span></a> (implements org.usfirst.frc.team449.robot.jacksonWrappers.<a href="org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommand.html" title="interface in org.usfirst.frc.team449.robot.jacksonWrappers">YamlCommand</a>)
 <ul>
 <li type="circle">org.usfirst.frc.team449.robot.commands.multiInterface.drive.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface.drive"><span class="typeNameLink">FieldOrientedUnidirectionalDriveCommand</span></a>&lt;T&gt;
 <ul>
@@ -193,7 +193,7 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 <li type="circle">org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/LoadProfile.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands"><span class="typeNameLink">LoadProfile</span></a></li>
 <li type="circle">org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/LoadProfileTwoSides.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands"><span class="typeNameLink">LoadProfileTwoSides</span></a></li>
 <li type="circle">org.usfirst.frc.team449.robot.drive.shifting.commands.<a href="org/usfirst/frc/team449/robot/drive/shifting/commands/OverrideAutoShift.html" title="class in org.usfirst.frc.team449.robot.drive.shifting.commands"><span class="typeNameLink">OverrideAutoShift</span></a></li>
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+<li type="circle">org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands"><span class="typeNameLink">OverrideNavX</span></a></li>
 <li type="circle">org.usfirst.frc.team449.robot.drive.commands.<a href="org/usfirst/frc/team449/robot/drive/commands/ResetPosition.html" title="class in org.usfirst.frc.team449.robot.drive.commands"><span class="typeNameLink">ResetPosition</span></a></li>
 <li type="circle">org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunLoadedProfile.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands"><span class="typeNameLink">RunLoadedProfile</span></a>&lt;T&gt;</li>
 <li type="circle">org.usfirst.frc.team449.robot.commands.multiInterface.<a href="org/usfirst/frc/team449/robot/commands/multiInterface/RunMotorWhileConditonMet.html" title="class in org.usfirst.frc.team449.robot.commands.multiInterface"><span class="typeNameLink">RunMotorWhileConditonMet</span></a>&lt;T&gt;</li>
@@ -212,7 +212,7 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 <li type="circle">org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/ToggleIntaking.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands"><span class="typeNameLink">ToggleIntaking</span></a></li>
 <li type="circle">org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/ToggleMotor.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands"><span class="typeNameLink">ToggleMotor</span></a></li>
 <li type="circle">org.usfirst.frc.team449.robot.drive.shifting.commands.<a href="org/usfirst/frc/team449/robot/drive/shifting/commands/ToggleOverrideAutoShift.html" title="class in org.usfirst.frc.team449.robot.drive.shifting.commands"><span class="typeNameLink">ToggleOverrideAutoShift</span></a></li>
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+<li type="circle">org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands"><span class="typeNameLink">ToggleOverrideNavX</span></a></li>
 <li type="circle">org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/ToggleSolenoid.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands"><span class="typeNameLink">ToggleSolenoid</span></a></li>
 <li type="circle">org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOff.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands"><span class="typeNameLink">TurnAllOff</span></a>
 <ul>
@@ -328,7 +328,7 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 <li type="circle">org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/BinaryMotorSimple.html" title="class in org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor"><span class="typeNameLink">BinaryMotorSimple</span></a> (implements org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/SubsystemBinaryMotor.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor">SubsystemBinaryMotor</a>)</li>
 <li type="circle">org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.<a href="org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/CameraNetwork.html" title="class in org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera"><span class="typeNameLink">CameraNetwork</span></a></li>
 <li type="circle">org.usfirst.frc.team449.robot.subsystem.complex.climber.<a href="org/usfirst/frc/team449/robot/subsystem/complex/climber/ClimberCurrentLimited.html" title="class in org.usfirst.frc.team449.robot.subsystem.complex.climber"><span class="typeNameLink">ClimberCurrentLimited</span></a> (implements org.usfirst.frc.team449.robot.generalInterfaces.loggable.<a href="org/usfirst/frc/team449/robot/generalInterfaces/loggable/Loggable.html" title="interface in org.usfirst.frc.team449.robot.generalInterfaces.loggable">Loggable</a>, org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/SubsystemBinaryMotor.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor">SubsystemBinaryMotor</a>, org.usfirst.frc.team449.robot.subsystem.interfaces.conditional.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/SubsystemConditional.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.conditional">SubsystemConditional</a>)</li>
-<li type="circle">org.usfirst.frc.team449.robot.drive.unidirectional.<a href="org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.html" title="class in org.usfirst.frc.team449.robot.drive.unidirectional"><span class="typeNameLink">DriveTalonCluster</span></a> (implements org.usfirst.frc.team449.robot.drive.unidirectional.<a href="org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a>, org.usfirst.frc.team449.robot.generalInterfaces.loggable.<a href="org/usfirst/frc/team449/robot/generalInterfaces/loggable/Loggable.html" title="interface in org.usfirst.frc.team449.robot.generalInterfaces.loggable">Loggable</a>, org.usfirst.frc.team449.robot.subsystem.interfaces.navX.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX">SubsystemAHRS</a>, org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/SubsystemMPTwoSides.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem">SubsystemMPTwoSides</a>)
+<li type="circle">org.usfirst.frc.team449.robot.drive.unidirectional.<a href="org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.html" title="class in org.usfirst.frc.team449.robot.drive.unidirectional"><span class="typeNameLink">DriveTalonCluster</span></a> (implements org.usfirst.frc.team449.robot.drive.unidirectional.<a href="org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.html" title="interface in org.usfirst.frc.team449.robot.drive.unidirectional">DriveUnidirectional</a>, org.usfirst.frc.team449.robot.generalInterfaces.loggable.<a href="org/usfirst/frc/team449/robot/generalInterfaces/loggable/Loggable.html" title="interface in org.usfirst.frc.team449.robot.generalInterfaces.loggable">Loggable</a>, org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS">SubsystemAHRS</a>, org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/SubsystemMPTwoSides.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem">SubsystemMPTwoSides</a>)
 <ul>
 <li type="circle">org.usfirst.frc.team449.robot.drive.unidirectional.<a href="org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonClusterShiftable.html" title="class in org.usfirst.frc.team449.robot.drive.unidirectional"><span class="typeNameLink">DriveTalonClusterShiftable</span></a> (implements org.usfirst.frc.team449.robot.drive.shifting.<a href="org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html" title="interface in org.usfirst.frc.team449.robot.drive.shifting">DriveShiftable</a>)</li>
 </ul>
@@ -414,7 +414,7 @@ <h2 title="Interface Hierarchy">Interface Hierarchy</h2>
 </ul>
 </li>
 <li type="circle">org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor.<a href="org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/SimpleMotor.html" title="interface in org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor"><span class="typeNameLink">SimpleMotor</span></a></li>
-<li type="circle">org.usfirst.frc.team449.robot.subsystem.interfaces.navX.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX"><span class="typeNameLink">SubsystemAHRS</span></a></li>
+<li type="circle">org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS"><span class="typeNameLink">SubsystemAHRS</span></a></li>
 <li type="circle">org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/SubsystemBinaryMotor.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor"><span class="typeNameLink">SubsystemBinaryMotor</span></a></li>
 <li type="circle">org.usfirst.frc.team449.robot.subsystem.interfaces.intake.<a href="org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.html" title="interface in org.usfirst.frc.team449.robot.subsystem.interfaces.intake"><span class="typeNameLink">SubsystemIntake</span></a></li>
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diff --git a/docs/package-list b/docs/package-list
index c47bd6e8..c1ae77ed 100644
--- a/docs/package-list
+++ b/docs/package-list
@@ -38,8 +38,8 @@ org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile
 org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem
 org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands
 org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands
-org.usfirst.frc.team449.robot.subsystem.interfaces.navX
-org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands
+org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS
+org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands
 org.usfirst.frc.team449.robot.subsystem.interfaces.shooter
 org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands
 org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid