Updated javadocs to reflect changes

2026-06-19 06:21:40 +00:00 · 2023-01-31 10:52:13 -06:00
parent c3d6df94d0
commit 2ebc3aa409
86 changed files with 5761 additions and 173 deletions
--- a/docs/allclasses-index.html
+++ b/docs/allclasses-index.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
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-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>All Classes</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
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@@ -54,6 +54,7 @@ loadScripts(document, 'script');</script>
 <li><a href="index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
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 <li><a href="deprecated-list.html">Deprecated</a></li>
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@@ -238,6 +239,7 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 <li><a href="index.html">Overview</a></li>
 <li>Package</li>
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+<li>Use</li>
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--- a/docs/allclasses.html
+++ b/docs/allclasses.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
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-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
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 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
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--- a/docs/allpackages-index.html
+++ b/docs/allpackages-index.html
@@ -2,10 +2,10 @@
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-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
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-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
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@@ -48,6 +48,7 @@ loadScripts(document, 'script');</script>
 <li><a href="index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
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 <li><a href="deprecated-list.html">Deprecated</a></li>
 <li><a href="index-files/index-1.html">Index</a></li>
@@ -141,6 +142,7 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 <li><a href="index.html">Overview</a></li>
 <li>Package</li>
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+<li>Use</li>
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--- a/docs/constant-values.html
+++ b/docs/constant-values.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
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-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>Constant Field Values</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
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@@ -48,6 +48,7 @@ loadScripts(document, 'script');</script>
 <li><a href="index.html">Overview</a></li>
 <li>Package</li>
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+<li>Use</li>
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@@ -113,6 +114,7 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
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+<li>Use</li>
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--- a/docs/deprecated-list.html
+++ b/docs/deprecated-list.html
@@ -2,10 +2,10 @@
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-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>Deprecated List</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
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@@ -48,6 +48,7 @@ loadScripts(document, 'script');</script>
 <li><a href="index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="overview-tree.html">Tree</a></li>
 <li class="navBarCell1Rev">Deprecated</li>
 <li><a href="index-files/index-1.html">Index</a></li>
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 <li><a href="index.html">Overview</a></li>
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+<li>Use</li>
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--- a/docs/frc/robot/subsystems/swervedrive/swerve/SwerveDrive.SwerveModuleConfig.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/SwerveDrive.SwerveModuleConfig.html
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-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
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+<li><a href="class-use/SwerveDrive.SwerveModuleConfig.html">Use</a></li>
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 <li><a href="../../../../../index.html">Overview</a></li>
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 <li class="navBarCell1Rev">Class</li>
+<li><a href="class-use/SwerveDrive.SwerveModuleConfig.html">Use</a></li>
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--- a/docs/frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html
@@ -2,10 +2,10 @@
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-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
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+<li><a href="class-use/SwerveDrive.html">Use</a></li>
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@@ -213,7 +214,9 @@ implements edu.wpi.first.util.sendable.Sendable, java.lang.AutoCloseable</pre>
 <tr class="rowColor">
 <td class="colFirst"><code>private double</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_angle">m_angle</a></span></code></th>
-<td class="colLast">&nbsp;</td>
+<td class="colLast">
+<div class="block">Robot desired angle in degrees.</div>
+</td>
 </tr>
 <tr class="altColor">
 <td class="colFirst"><code><a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a>&lt;?,&#8203;?,&#8203;?&gt;</code></td>
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 </td>
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-<td class="colFirst"><code>private com.ctre.phoenix.sensors.WPI_Pigeon2</code></td>
+<td class="colFirst"><code>com.ctre.phoenix.sensors.WPI_Pigeon2</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_pigeonIMU">m_pigeonIMU</a></span></code></th>
 <td class="colLast">
 <div class="block">Pigeon 2.0 centered on the robot.</div>
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 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_prevChassisSpeed">m_prevChassisSpeed</a></span></code></th>
-<td class="colLast">&nbsp;</td>
+<td class="colLast">
+<div class="block">Previous chassis speeds for state-space modeling.</div>
+</td>
 </tr>
 <tr class="altColor">
 <td class="colFirst"><code>private <a href="kinematics/SwerveDriveKinematics2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveDriveKinematics2</a></code></td>
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-<td class="colFirst"><code>private edu.wpi.first.math.estimator.SwerveDrivePoseEstimator</code></td>
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-<td class="colLast">&nbsp;</td>
+<td class="colLast">
+<div class="block">Previous timer value for state-space modeling.</div>
+</td>
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 </tr>
 <tr id="i14" class="altColor">
 <td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#set(edu.wpi.first.math.kinematics.ChassisSpeeds)">set</a></span>&#8203;(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;node)</code></th>
+<td class="colLast">
+<div class="block">Set the swerve drive module states.</div>
+</td>
+</tr>
+<tr id="i15" class="rowColor">
+<td class="colFirst"><code>void</code></td>
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 <td class="colLast">
 <div class="block">Invert the gyroscope reading.</div>
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-<tr id="i15" class="rowColor">
+<tr id="i16" class="altColor">
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 <td class="colLast">
 <div class="block">Set the swerve module states given an array of states.</div>
 </td>
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-<tr id="i16" class="altColor">
+<tr id="i17" class="rowColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setPIDF(double,double,double,double,double,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType)">setPIDF</a></span>&#8203;(double&nbsp;p,
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@@ -534,56 +548,56 @@ implements edu.wpi.first.util.sendable.Sendable, java.lang.AutoCloseable</pre>
 <div class="block">Set the PIDF coefficients for the closed loop PID onboard the motor controller.</div>
 </td>
 </tr>
-<tr id="i17" class="rowColor">
+<tr id="i18" class="altColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setVoltageCompensation()">setVoltageCompensation</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Enable voltage compensation to the current battery voltage on all modules.</div>
 </td>
 </tr>
-<tr id="i18" class="altColor">
+<tr id="i19" class="rowColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setX()">setX</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Sets the wheels into an X formation to prevent movement.</div>
 </td>
 </tr>
-<tr id="i19" class="rowColor">
+<tr id="i20" class="altColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#stopMotor()">stopMotor</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Stop all running and turning motors.</div>
 </td>
 </tr>
-<tr id="i20" class="altColor">
+<tr id="i21" class="rowColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#subscribe()">subscribe</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Update swerve module parameters based on data in the dashboard.</div>
 </td>
 </tr>
-<tr id="i21" class="rowColor">
+<tr id="i22" class="altColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#synchronizeEncoders()">synchronizeEncoders</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Synchronize internal steering encoders with the absolute encoder.</div>
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-<tr id="i22" class="altColor">
+<tr id="i23" class="rowColor">
 <td class="colFirst"><code>edu.wpi.first.math.estimator.SwerveDrivePoseEstimator</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#update()">update</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Update the swerve drive odometry.</div>
 </td>
 </tr>
-<tr id="i23" class="rowColor">
+<tr id="i24" class="altColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#zeroGyro()">zeroGyro</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Set the current rotation of the gyroscope (pigeonIMU 2) to 0.</div>
 </td>
 </tr>
-<tr id="i24" class="altColor">
+<tr id="i25" class="rowColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#zeroModules()">zeroModules</a></span>()</code></th>
 <td class="colLast">
@@ -708,23 +722,13 @@ implements edu.wpi.first.util.sendable.Sendable, java.lang.AutoCloseable</pre>
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 <div class="block">Swerve drive pose estimator for attempting to figure out our current position.</div>
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+<div class="block">Swerve drive kinematics.</div>
+</li>
+</ul>
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+<div class="block">Robot desired angle in degrees.</div>
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 <pre>private&nbsp;edu.wpi.first.math.kinematics.ChassisSpeeds m_prevChassisSpeed</pre>
+<div class="block">Previous chassis speeds for state-space modeling.</div>
 </li>
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+<div class="block">Previous timer value for state-space modeling.</div>
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@@ -884,16 +901,6 @@ implements edu.wpi.first.util.sendable.Sendable, java.lang.AutoCloseable</pre>
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@@ -932,6 +939,16 @@ implements edu.wpi.first.util.sendable.Sendable, java.lang.AutoCloseable</pre>
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+<!--   -->
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+<h4>setVoltageCompensation</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;setVoltageCompensation()</pre>
+<div class="block">Enable voltage compensation to the current battery voltage on all modules.</div>
+</li>
+</ul>
 <a id="zeroModules()">
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+<pre class="methodSignature">public&nbsp;void&nbsp;set&#8203;(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;node)</pre>
+<div class="block">Set the swerve drive module states.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>node</code> - Chassis speeds to set the swerve module too.</dd>
+</dl>
+</li>
+</ul>
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+<td class="colLast">
+<div class="block">Set the voltage of the motor.</div>
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+</tr>
+<tr id="i17" class="rowColor">
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+<caption><span>Methods in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a> with parameters of type <a href="../SwerveDrive.SwerveModuleConfig.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive.SwerveModuleConfig</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><code>static <a href="../SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a>&lt;?,&#8203;?,&#8203;?&gt;[]</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveDrive.</span><code><span class="memberNameLink"><a href="../SwerveDrive.html#createModules(double,double,double,double,double,double,double,double,boolean,boolean,frc.robot.subsystems.swervedrive.swerve.SwerveDrive.SwerveModuleConfig%5B%5D)">createModules</a></span>&#8203;(double&nbsp;driveGearRatio,
+             double&nbsp;steerGearRatio,
+             double&nbsp;wheelDiameterMeters,
+             double&nbsp;wheelBaseMeters,
+             double&nbsp;driveTrainWidthMeters,
+             double&nbsp;steeringMotorFreeSpeedRPM,
+             double&nbsp;maxSpeedMPS,
+             double&nbsp;maxDriveAcceleration,
+             boolean&nbsp;steeringMotorInverted,
+             boolean&nbsp;drivingMotorInverted,
+             <a href="../SwerveDrive.SwerveModuleConfig.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive.SwerveModuleConfig</a>&lt;?,&#8203;?,&#8203;?&gt;[]&nbsp;configs)</code></th>
+<td class="colLast">
+<div class="block">Create swerve drive modules</div>
+</td>
+</tr>
+</tbody>
+</table>
+</section>
+</li>
+</ul>
+</li>
+</ul>
+</div>
+</main>
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../SwerveDrive.SwerveModuleConfig.html" title="class in frc.robot.subsystems.swervedrive.swerve">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../help-doc.html">Help</a></li>
+</ul>
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+<li><a href="../../../../../../allclasses.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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.bottom">
+<!--   -->
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+<!-- ======== END OF BOTTOM NAVBAR ======= -->
+</nav>
+</footer>
+</body>
+</html>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/class-use/SwerveDrive.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/class-use/SwerveDrive.html
@@ -0,0 +1,194 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
+<title>Uses of Class frc.robot.subsystems.swervedrive.swerve.SwerveDrive</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<meta name="dc.created" content="2023-01-31">
+<link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../../../jquery/jquery-ui.css" title="Style">
+<script type="text/javascript" src="../../../../../../script.js"></script>
+<script type="text/javascript" src="../../../../../../jquery/jszip/dist/jszip.min.js"></script>
+<script type="text/javascript" src="../../../../../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
+<!--[if IE]>
+<script type="text/javascript" src="../../../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
+<![endif]-->
+<script type="text/javascript" src="../../../../../../jquery/jquery-3.5.1.js"></script>
+<script type="text/javascript" src="../../../../../../jquery/jquery-ui.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="Uses of Class frc.robot.subsystems.swervedrive.swerve.SwerveDrive";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var pathtoroot = "../../../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
+<nav role="navigation">
+<div class="fixedNav">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a id="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_top">
+<li><a href="../../../../../../allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<ul class="navListSearch">
+<li><label for="search">SEARCH:</label>
+<input type="text" id="search" value="search" disabled="disabled">
+<input type="reset" id="reset" value="reset" disabled="disabled">
+</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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+</div>
+<div class="navPadding">&nbsp;</div>
+<script type="text/javascript"><!--
+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<main role="main">
+<div class="header">
+<h2 title="Uses of Class frc.robot.subsystems.swervedrive.swerve.SwerveDrive" class="title">Uses of Class<br>frc.robot.subsystems.swervedrive.swerve.SwerveDrive</h2>
+</div>
+<div class="classUseContainer">
+<ul class="blockList">
+<li class="blockList">
+<table class="useSummary">
+<caption><span>Packages that use <a href="../SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Package</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="#frc.robot.subsystems.swervedrive.swerve">frc.robot.subsystems.swervedrive.swerve</a></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</tbody>
+</table>
+</li>
+<li class="blockList">
+<ul class="blockList">
+<li class="blockList">
+<section role="region"><a id="frc.robot.subsystems.swervedrive.swerve">
+<!--   -->
+</a>
+<h3>Uses of <a href="../SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a> in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></h3>
+<table class="useSummary">
+<caption><span>Methods in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a> that return <a href="../SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><code>static <a href="../SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveParser.</span><code><span class="memberNameLink"><a href="../SwerveParser.html#fromJSONDirectory(java.io.File)">fromJSONDirectory</a></span>&#8203;(java.io.File&nbsp;directory)</code></th>
+<td class="colLast">
+<div class="block">Create SwerveDrive from JSON configuration directory.</div>
+</td>
+</tr>
+</tbody>
+</table>
+</section>
+</li>
+</ul>
+</li>
+</ul>
+</div>
+</main>
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_bottom">
+<li><a href="../../../../../../allclasses.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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.bottom">
+<!--   -->
+</a></div>
+<!-- ======== END OF BOTTOM NAVBAR ======= -->
+</nav>
+</footer>
+</body>
+</html>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/class-use/SwerveEncoder.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/class-use/SwerveEncoder.html
@@ -0,0 +1,332 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
+<title>Uses of Class frc.robot.subsystems.swervedrive.swerve.SwerveEncoder</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<meta name="dc.created" content="2023-01-31">
+<link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../../../jquery/jquery-ui.css" title="Style">
+<script type="text/javascript" src="../../../../../../script.js"></script>
+<script type="text/javascript" src="../../../../../../jquery/jszip/dist/jszip.min.js"></script>
+<script type="text/javascript" src="../../../../../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
+<!--[if IE]>
+<script type="text/javascript" src="../../../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
+<![endif]-->
+<script type="text/javascript" src="../../../../../../jquery/jquery-3.5.1.js"></script>
+<script type="text/javascript" src="../../../../../../jquery/jquery-ui.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="Uses of Class frc.robot.subsystems.swervedrive.swerve.SwerveEncoder";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var pathtoroot = "../../../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
+<nav role="navigation">
+<div class="fixedNav">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a id="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_top">
+<li><a href="../../../../../../allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<ul class="navListSearch">
+<li><label for="search">SEARCH:</label>
+<input type="text" id="search" value="search" disabled="disabled">
+<input type="reset" id="reset" value="reset" disabled="disabled">
+</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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+</div>
+<div class="navPadding">&nbsp;</div>
+<script type="text/javascript"><!--
+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<main role="main">
+<div class="header">
+<h2 title="Uses of Class frc.robot.subsystems.swervedrive.swerve.SwerveEncoder" class="title">Uses of Class<br>frc.robot.subsystems.swervedrive.swerve.SwerveEncoder</h2>
+</div>
+<div class="classUseContainer">
+<ul class="blockList">
+<li class="blockList">
+<table class="useSummary">
+<caption><span>Packages that use <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Package</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="#frc.robot.subsystems.swervedrive.swerve">frc.robot.subsystems.swervedrive.swerve</a></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><a href="#frc.robot.subsystems.swervedrive.swerve.encoders">frc.robot.subsystems.swervedrive.swerve.encoders</a></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="#frc.robot.subsystems.swervedrive.swerve.motors">frc.robot.subsystems.swervedrive.swerve.motors</a></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</tbody>
+</table>
+</li>
+<li class="blockList">
+<ul class="blockList">
+<li class="blockList">
+<section role="region"><a id="frc.robot.subsystems.swervedrive.swerve">
+<!--   -->
+</a>
+<h3>Uses of <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a> in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></h3>
+<table class="useSummary">
+<caption><span>Fields in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a> declared as <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Field</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><code>private <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;?&gt;</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveModule.</span><code><span class="memberNameLink"><a href="../SwerveModule.html#absoluteEncoder">absoluteEncoder</a></span></code></th>
+<td class="colLast">
+<div class="block">Absolute encoder for the swerve module.</div>
+</td>
+</tr>
+</tbody>
+</table>
+<table class="useSummary">
+<caption><span>Methods in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a> that return <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><code>static &lt;AbsoluteEncoderType&gt;<br><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;?&gt;</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveEncoder.</span><code><span class="memberNameLink"><a href="../SwerveEncoder.html#fromEncoder(AbsoluteEncoderType)">fromEncoder</a></span>&#8203;(AbsoluteEncoderType&nbsp;encoder)</code></th>
+<td class="colLast">
+<div class="block">Get the SwerveEncoder class from the given encoder types</div>
+</td>
+</tr>
+</tbody>
+</table>
+<table class="useSummary">
+<caption><span>Methods in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a> with parameters of type <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><code>static &lt;MotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController&gt;<br><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveMotor.</span><code><span class="memberNameLink"><a href="../SwerveMotor.html#fromMotor(MotorType,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">fromMotor</a></span>&#8203;(MotorType&nbsp;motor,
+         <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;?&gt;&nbsp;absoluteEncoder,
+         <a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a>&nbsp;type,
+         double&nbsp;gearRatio,
+         double&nbsp;wheelDiameter,
+         double&nbsp;freeSpeedRPM,
+         double&nbsp;powerLimit)</code></th>
+<td class="colLast">
+<div class="block">Constructor for Swerve Motor, expecting CANSparkMax or TalonFX.</div>
+</td>
+</tr>
+</tbody>
+</table>
+</section>
+</li>
+<li class="blockList">
+<section role="region"><a id="frc.robot.subsystems.swervedrive.swerve.encoders">
+<!--   -->
+</a>
+<h3>Uses of <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a> in <a href="../encoders/package-summary.html">frc.robot.subsystems.swervedrive.swerve.encoders</a></h3>
+<table class="useSummary">
+<caption><span>Subclasses of <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a> in <a href="../encoders/package-summary.html">frc.robot.subsystems.swervedrive.swerve.encoders</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Class</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><code>class&nbsp;</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="../encoders/CTRECANCoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">CTRECANCoder</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>class&nbsp;</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="../encoders/PWMAnalogEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMAnalogEncoder</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code>class&nbsp;</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="../encoders/PWMDutyCycleEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMDutyCycleEncoder</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>class&nbsp;</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="../encoders/REVAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">REVAbsoluteEncoder</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</tbody>
+</table>
+</section>
+</li>
+<li class="blockList">
+<section role="region"><a id="frc.robot.subsystems.swervedrive.swerve.motors">
+<!--   -->
+</a>
+<h3>Uses of <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a> in <a href="../motors/package-summary.html">frc.robot.subsystems.swervedrive.swerve.motors</a></h3>
+<table class="useSummary">
+<caption><span>Fields in <a href="../motors/package-summary.html">frc.robot.subsystems.swervedrive.swerve.motors</a> declared as <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Field</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><code>private <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">CTRESwerveMotor.</span><code><span class="memberNameLink"><a href="../motors/CTRESwerveMotor.html#m_angleEncoder">m_angleEncoder</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</tbody>
+</table>
+<table class="useSummary">
+<caption><span>Constructors in <a href="../motors/package-summary.html">frc.robot.subsystems.swervedrive.swerve.motors</a> with parameters of type <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="../motors/CTRESwerveMotor.html#%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.WPI_TalonFX,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">CTRESwerveMotor</a></span>&#8203;(com.ctre.phoenix.motorcontrol.can.WPI_TalonFX&nbsp;motor,
+               <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;?&gt;&nbsp;encoder,
+               <a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a>&nbsp;type,
+               double&nbsp;gearRatio,
+               double&nbsp;wheelDiameter,
+               double&nbsp;freeSpeedRPM,
+               double&nbsp;powerLimit)</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="../motors/REVSwerveMotor.html#%3Cinit%3E(com.revrobotics.CANSparkMax,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">REVSwerveMotor</a></span>&#8203;(com.revrobotics.CANSparkMax&nbsp;motor,
+              <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;?&gt;&nbsp;absoluteEncoder,
+              <a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a>&nbsp;type,
+              double&nbsp;gearRatio,
+              double&nbsp;wheelDiameter,
+              double&nbsp;freeSpeedRPM,
+              double&nbsp;powerLimit)</code></th>
+<td class="colLast">
+<div class="block">Constructor for REV Swerve Motor, expecting CANSparkMax.</div>
+</td>
+</tr>
+</tbody>
+</table>
+</section>
+</li>
+</ul>
+</li>
+</ul>
+</div>
+</main>
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
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+<li><a href="../../../../../../allclasses.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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.bottom">
+<!--   -->
+</a></div>
+<!-- ======== END OF BOTTOM NAVBAR ======= -->
+</nav>
+</footer>
+</body>
+</html>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/class-use/SwerveModule.SwerveModuleLocation.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/class-use/SwerveModule.SwerveModuleLocation.html
@@ -0,0 +1,298 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
+<title>Uses of Class frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<meta name="dc.created" content="2023-01-31">
+<link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../../../jquery/jquery-ui.css" title="Style">
+<script type="text/javascript" src="../../../../../../script.js"></script>
+<script type="text/javascript" src="../../../../../../jquery/jszip/dist/jszip.min.js"></script>
+<script type="text/javascript" src="../../../../../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
+<!--[if IE]>
+<script type="text/javascript" src="../../../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
+<![endif]-->
+<script type="text/javascript" src="../../../../../../jquery/jquery-3.5.1.js"></script>
+<script type="text/javascript" src="../../../../../../jquery/jquery-ui.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="Uses of Class frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var pathtoroot = "../../../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
+<nav role="navigation">
+<div class="fixedNav">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a id="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_top">
+<li><a href="../../../../../../allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<ul class="navListSearch">
+<li><label for="search">SEARCH:</label>
+<input type="text" id="search" value="search" disabled="disabled">
+<input type="reset" id="reset" value="reset" disabled="disabled">
+</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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+</div>
+<div class="navPadding">&nbsp;</div>
+<script type="text/javascript"><!--
+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<main role="main">
+<div class="header">
+<h2 title="Uses of Class frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation" class="title">Uses of Class<br>frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation</h2>
+</div>
+<div class="classUseContainer">
+<ul class="blockList">
+<li class="blockList">
+<table class="useSummary">
+<caption><span>Packages that use <a href="../SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Package</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="#frc.robot.subsystems.swervedrive.swerve">frc.robot.subsystems.swervedrive.swerve</a></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</tbody>
+</table>
+</li>
+<li class="blockList">
+<ul class="blockList">
+<li class="blockList">
+<section role="region"><a id="frc.robot.subsystems.swervedrive.swerve">
+<!--   -->
+</a>
+<h3>Uses of <a href="../SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a> in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></h3>
+<table class="useSummary">
+<caption><span>Fields in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a> declared as <a href="../SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Field</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><code><a href="../SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a></code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveDrive.SwerveModuleConfig.</span><code><span class="memberNameLink"><a href="../SwerveDrive.SwerveModuleConfig.html#loc">loc</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>private <a href="../SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a></code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveModule.</span><code><span class="memberNameLink"><a href="../SwerveModule.html#swerveLocation">swerveLocation</a></span></code></th>
+<td class="colLast">
+<div class="block">Enum representing the swerve module's location on the robot, assuming square.</div>
+</td>
+</tr>
+</tbody>
+</table>
+<table class="useSummary">
+<caption><span>Methods in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a> that return <a href="../SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><code>static <a href="../SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a></code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveModule.SwerveModuleLocation.</span><code><span class="memberNameLink"><a href="../SwerveModule.SwerveModuleLocation.html#valueOf(java.lang.String)">valueOf</a></span>&#8203;(java.lang.String&nbsp;name)</code></th>
+<td class="colLast">
+<div class="block">Returns the enum constant of this type with the specified name.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>static <a href="../SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a>[]</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveModule.SwerveModuleLocation.</span><code><span class="memberNameLink"><a href="../SwerveModule.SwerveModuleLocation.html#values()">values</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Returns an array containing the constants of this enum type, in
+the order they are declared.</div>
+</td>
+</tr>
+</tbody>
+</table>
+<table class="useSummary">
+<caption><span>Methods in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a> with parameters of type <a href="../SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><code>private static <a href="../SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a>&lt;?,&#8203;?,&#8203;?&gt;</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveParser.</span><code><span class="memberNameLink"><a href="../SwerveParser.html#createModule(com.fasterxml.jackson.databind.JsonNode,java.io.File,frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation)">createModule</a></span>&#8203;(com.fasterxml.jackson.databind.JsonNode&nbsp;mainJson,
+            java.io.File&nbsp;moduleFile,
+            <a href="../SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a>&nbsp;moduleLocation)</code></th>
+<td class="colLast">
+<div class="block">Create SwerveModule from JSON configuration file.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>private edu.wpi.first.math.geometry.Translation2d</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveModule.</span><code><span class="memberNameLink"><a href="../SwerveModule.html#getSwerveModulePosition(frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation)">getSwerveModulePosition</a></span>&#8203;(<a href="../SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a>&nbsp;swerveLocation)</code></th>
+<td class="colLast">
+<div class="block">Get the swerve module position in <code>Translation2d</code> from the enum passed.</div>
+</td>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code>static java.lang.String</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveModule.</span><code><span class="memberNameLink"><a href="../SwerveModule.html#SwerveModuleLocationToString(frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation)">SwerveModuleLocationToString</a></span>&#8203;(<a href="../SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a>&nbsp;swerveLocation)</code></th>
+<td class="colLast">
+<div class="block">Convert <a href="../SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve"><code>SwerveModule.SwerveModuleLocation</code></a> to <code>String</code> representation.</div>
+</td>
+</tr>
+</tbody>
+</table>
+<table class="useSummary">
+<caption><span>Constructors in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a> with parameters of type <a href="../SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="../SwerveModule.html#%3Cinit%3E(DriveMotorType,AngleMotorType,AbsoluteEncoderType,frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation,double,double,double,double,double,double,double,double,double,double,double,boolean,boolean)">SwerveModule</a></span>&#8203;(<a href="../SwerveModule.html" title="type parameter in SwerveModule">DriveMotorType</a>&nbsp;mainMotor,
+            <a href="../SwerveModule.html" title="type parameter in SwerveModule">AngleMotorType</a>&nbsp;angleMotor,
+            <a href="../SwerveModule.html" title="type parameter in SwerveModule">AbsoluteEncoderType</a>&nbsp;encoder,
+            <a href="../SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a>&nbsp;swervePosition,
+            double&nbsp;driveGearRatio,
+            double&nbsp;steerGearRatio,
+            double&nbsp;steeringOffsetDegrees,
+            double&nbsp;wheelDiameterMeters,
+            double&nbsp;wheelBaseMeters,
+            double&nbsp;driveTrainWidthMeters,
+            double&nbsp;steeringMotorFreeSpeedRPM,
+            double&nbsp;maxSpeedMPS,
+            double&nbsp;maxDriveAcceleration,
+            double&nbsp;drivingPowerLimit,
+            double&nbsp;steeringPowerLimit,
+            boolean&nbsp;steeringInverted,
+            boolean&nbsp;drivingInverted)</code></th>
+<td class="colLast">
+<div class="block">Swerve module constructor.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="../SwerveDrive.SwerveModuleConfig.html#%3Cinit%3E(DriveMotorType,SteeringMotorType,AbsoluteEncoder,double,frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation)">SwerveModuleConfig</a></span>&#8203;(<a href="../SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">DriveMotorType</a>&nbsp;driveMotor,
+                  <a href="../SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">SteeringMotorType</a>&nbsp;steerMotor,
+                  <a href="../SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">AbsoluteEncoder</a>&nbsp;encoderSteering,
+                  double&nbsp;offset,
+                  <a href="../SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a>&nbsp;location)</code></th>
+<td class="colLast">
+<div class="block">Swerve Module configuration class to define the motor CAN IDs and absolute encoder offset of a swerve module.</div>
+</td>
+</tr>
+</tbody>
+</table>
+</section>
+</li>
+</ul>
+</li>
+</ul>
+</div>
+</main>
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_bottom">
+<li><a href="../../../../../../allclasses.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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.bottom">
+<!--   -->
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+<!-- ======== END OF BOTTOM NAVBAR ======= -->
+</nav>
+</footer>
+</body>
+</html>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/class-use/SwerveModule.Verbosity.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/class-use/SwerveModule.Verbosity.html
@@ -0,0 +1,226 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
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+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
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+<h2 title="Uses of Class frc.robot.subsystems.swervedrive.swerve.SwerveModule.Verbosity" class="title">Uses of Class<br>frc.robot.subsystems.swervedrive.swerve.SwerveModule.Verbosity</h2>
+</div>
+<div class="classUseContainer">
+<ul class="blockList">
+<li class="blockList">
+<table class="useSummary">
+<caption><span>Packages that use <a href="../SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Package</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="#frc.robot.subsystems.swervedrive.swerve">frc.robot.subsystems.swervedrive.swerve</a></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</tbody>
+</table>
+</li>
+<li class="blockList">
+<ul class="blockList">
+<li class="blockList">
+<section role="region"><a id="frc.robot.subsystems.swervedrive.swerve">
+<!--   -->
+</a>
+<h3>Uses of <a href="../SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a> in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></h3>
+<table class="useSummary">
+<caption><span>Methods in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a> that return <a href="../SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><code>static <a href="../SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a></code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveModule.Verbosity.</span><code><span class="memberNameLink"><a href="../SwerveModule.Verbosity.html#valueOf(java.lang.String)">valueOf</a></span>&#8203;(java.lang.String&nbsp;name)</code></th>
+<td class="colLast">
+<div class="block">Returns the enum constant of this type with the specified name.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>static <a href="../SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a>[]</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveModule.Verbosity.</span><code><span class="memberNameLink"><a href="../SwerveModule.Verbosity.html#values()">values</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Returns an array containing the constants of this enum type, in
+the order they are declared.</div>
+</td>
+</tr>
+</tbody>
+</table>
+<table class="useSummary">
+<caption><span>Methods in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a> with parameters of type <a href="../SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveDrive.</span><code><span class="memberNameLink"><a href="../SwerveDrive.html#publish(frc.robot.subsystems.swervedrive.swerve.SwerveModule.Verbosity)">publish</a></span>&#8203;(<a href="../SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a>&nbsp;level)</code></th>
+<td class="colLast">
+<div class="block">Publish data from the Swerve Modules to the dashboard.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveModule.</span><code><span class="memberNameLink"><a href="../SwerveModule.html#publish(frc.robot.subsystems.swervedrive.swerve.SwerveModule.Verbosity)">publish</a></span>&#8203;(<a href="../SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a>&nbsp;level)</code></th>
+<td class="colLast">
+<div class="block">Publish data to the smart dashboard relating to this swerve module.</div>
+</td>
+</tr>
+</tbody>
+</table>
+</section>
+</li>
+</ul>
+</li>
+</ul>
+</div>
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+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
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+</html>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/class-use/SwerveModule.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/class-use/SwerveModule.html
@@ -0,0 +1,293 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
+<title>Uses of Class frc.robot.subsystems.swervedrive.swerve.SwerveModule</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<meta name="dc.created" content="2023-01-31">
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+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="Uses of Class frc.robot.subsystems.swervedrive.swerve.SwerveModule";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var pathtoroot = "../../../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
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+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../index-files/index-1.html">Index</a></li>
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+<main role="main">
+<div class="header">
+<h2 title="Uses of Class frc.robot.subsystems.swervedrive.swerve.SwerveModule" class="title">Uses of Class<br>frc.robot.subsystems.swervedrive.swerve.SwerveModule</h2>
+</div>
+<div class="classUseContainer">
+<ul class="blockList">
+<li class="blockList">
+<table class="useSummary">
+<caption><span>Packages that use <a href="../SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Package</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="#frc.robot.subsystems.swervedrive.swerve">frc.robot.subsystems.swervedrive.swerve</a></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</tbody>
+</table>
+</li>
+<li class="blockList">
+<ul class="blockList">
+<li class="blockList">
+<section role="region"><a id="frc.robot.subsystems.swervedrive.swerve">
+<!--   -->
+</a>
+<h3>Uses of <a href="../SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a> in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></h3>
+<table class="useSummary">
+<caption><span>Fields in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a> declared as <a href="../SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Field</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><code><a href="../SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a>&lt;?,&#8203;?,&#8203;?&gt;</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveDrive.</span><code><span class="memberNameLink"><a href="../SwerveDrive.html#m_backLeft">m_backLeft</a></span></code></th>
+<td class="colLast">
+<div class="block">Back left swerve drive</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code><a href="../SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a>&lt;?,&#8203;?,&#8203;?&gt;</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveDrive.</span><code><span class="memberNameLink"><a href="../SwerveDrive.html#m_backRight">m_backRight</a></span></code></th>
+<td class="colLast">
+<div class="block">Back right swerve drive</div>
+</td>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code><a href="../SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a>&lt;?,&#8203;?,&#8203;?&gt;</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveDrive.</span><code><span class="memberNameLink"><a href="../SwerveDrive.html#m_frontLeft">m_frontLeft</a></span></code></th>
+<td class="colLast">
+<div class="block">Front left swerve drive</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code><a href="../SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a>&lt;?,&#8203;?,&#8203;?&gt;</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveDrive.</span><code><span class="memberNameLink"><a href="../SwerveDrive.html#m_frontRight">m_frontRight</a></span></code></th>
+<td class="colLast">
+<div class="block">Front right swerve drive</div>
+</td>
+</tr>
+</tbody>
+</table>
+<table class="useSummary">
+<caption><span>Methods in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a> that return <a href="../SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><code><a href="../SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a>&lt;<a href="../SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">DriveMotorType</a>,&#8203;<a href="../SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">SteeringMotorType</a>,&#8203;<a href="../SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">AbsoluteEncoder</a>&gt;</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveDrive.SwerveModuleConfig.</span><code><span class="memberNameLink"><a href="../SwerveDrive.SwerveModuleConfig.html#createModule(double,double,double,double,double,double,double,double,boolean,boolean)">createModule</a></span>&#8203;(double&nbsp;driveGearRatio,
+            double&nbsp;steerGearRatio,
+            double&nbsp;wheelDiameterMeters,
+            double&nbsp;wheelBaseMeters,
+            double&nbsp;driveTrainWidthMeters,
+            double&nbsp;steeringMotorFreeSpeedRPM,
+            double&nbsp;maxSpeedMPS,
+            double&nbsp;maxDriveAcceleration,
+            boolean&nbsp;steeringInverted,
+            boolean&nbsp;drivingInverted)</code></th>
+<td class="colLast">
+<div class="block">Create the swerve module from the configuration.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>private static <a href="../SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a>&lt;?,&#8203;?,&#8203;?&gt;</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveParser.</span><code><span class="memberNameLink"><a href="../SwerveParser.html#createModule(com.fasterxml.jackson.databind.JsonNode,java.io.File,frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation)">createModule</a></span>&#8203;(com.fasterxml.jackson.databind.JsonNode&nbsp;mainJson,
+            java.io.File&nbsp;moduleFile,
+            <a href="../SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a>&nbsp;moduleLocation)</code></th>
+<td class="colLast">
+<div class="block">Create SwerveModule from JSON configuration file.</div>
+</td>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code>static <a href="../SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a>&lt;?,&#8203;?,&#8203;?&gt;[]</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveDrive.</span><code><span class="memberNameLink"><a href="../SwerveDrive.html#createModules(double,double,double,double,double,double,double,double,boolean,boolean,frc.robot.subsystems.swervedrive.swerve.SwerveDrive.SwerveModuleConfig%5B%5D)">createModules</a></span>&#8203;(double&nbsp;driveGearRatio,
+             double&nbsp;steerGearRatio,
+             double&nbsp;wheelDiameterMeters,
+             double&nbsp;wheelBaseMeters,
+             double&nbsp;driveTrainWidthMeters,
+             double&nbsp;steeringMotorFreeSpeedRPM,
+             double&nbsp;maxSpeedMPS,
+             double&nbsp;maxDriveAcceleration,
+             boolean&nbsp;steeringMotorInverted,
+             boolean&nbsp;drivingMotorInverted,
+             <a href="../SwerveDrive.SwerveModuleConfig.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive.SwerveModuleConfig</a>&lt;?,&#8203;?,&#8203;?&gt;[]&nbsp;configs)</code></th>
+<td class="colLast">
+<div class="block">Create swerve drive modules</div>
+</td>
+</tr>
+</tbody>
+</table>
+<table class="useSummary">
+<caption><span>Constructors in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a> with parameters of type <a href="../SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="../SwerveDrive.html#%3Cinit%3E(frc.robot.subsystems.swervedrive.swerve.SwerveModule,frc.robot.subsystems.swervedrive.swerve.SwerveModule,frc.robot.subsystems.swervedrive.swerve.SwerveModule,frc.robot.subsystems.swervedrive.swerve.SwerveModule,com.ctre.phoenix.sensors.WPI_Pigeon2,double,double,double,double,double,boolean,edu.wpi.first.math.geometry.Pose2d)">SwerveDrive</a></span>&#8203;(<a href="../SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a>&lt;?,&#8203;?,&#8203;?&gt;&nbsp;frontLeft,
+           <a href="../SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a>&lt;?,&#8203;?,&#8203;?&gt;&nbsp;frontRight,
+           <a href="../SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a>&lt;?,&#8203;?,&#8203;?&gt;&nbsp;backLeft,
+           <a href="../SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a>&lt;?,&#8203;?,&#8203;?&gt;&nbsp;backRight,
+           com.ctre.phoenix.sensors.WPI_Pigeon2&nbsp;pigeon,
+           double&nbsp;driverMaxSpeedMetersPerSecond,
+           double&nbsp;driverMaxAngularVelocityRadiansPerSecond,
+           double&nbsp;driverMaxDriveAccelerationMetersPerSecond,
+           double&nbsp;driverMaxAngularAccelerationRadiansPerSecond,
+           double&nbsp;physicalMaxSpeedMPS,
+           boolean&nbsp;gyroInverted,
+           edu.wpi.first.math.geometry.Pose2d&nbsp;start)</code></th>
+<td class="colLast">
+<div class="block">Constructor for Swerve Drive assuming modules have been created and configured with PIDF and conversions.</div>
+</td>
+</tr>
+</tbody>
+</table>
+</section>
+</li>
+</ul>
+</li>
+</ul>
+</div>
+</main>
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_bottom">
+<li><a href="../../../../../../allclasses.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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.bottom">
+<!--   -->
+</a></div>
+<!-- ======== END OF BOTTOM NAVBAR ======= -->
+</nav>
+</footer>
+</body>
+</html>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/class-use/SwerveMotor.ModuleMotorType.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/class-use/SwerveMotor.ModuleMotorType.html
@@ -0,0 +1,317 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
+<title>Uses of Class frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<meta name="dc.created" content="2023-01-31">
+<link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../../../jquery/jquery-ui.css" title="Style">
+<script type="text/javascript" src="../../../../../../script.js"></script>
+<script type="text/javascript" src="../../../../../../jquery/jszip/dist/jszip.min.js"></script>
+<script type="text/javascript" src="../../../../../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
+<!--[if IE]>
+<script type="text/javascript" src="../../../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
+<![endif]-->
+<script type="text/javascript" src="../../../../../../jquery/jquery-3.5.1.js"></script>
+<script type="text/javascript" src="../../../../../../jquery/jquery-ui.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="Uses of Class frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var pathtoroot = "../../../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
+<nav role="navigation">
+<div class="fixedNav">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a id="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_top">
+<li><a href="../../../../../../allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<ul class="navListSearch">
+<li><label for="search">SEARCH:</label>
+<input type="text" id="search" value="search" disabled="disabled">
+<input type="reset" id="reset" value="reset" disabled="disabled">
+</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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+</div>
+<div class="navPadding">&nbsp;</div>
+<script type="text/javascript"><!--
+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<main role="main">
+<div class="header">
+<h2 title="Uses of Class frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType" class="title">Uses of Class<br>frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType</h2>
+</div>
+<div class="classUseContainer">
+<ul class="blockList">
+<li class="blockList">
+<table class="useSummary">
+<caption><span>Packages that use <a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Package</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="#frc.robot.subsystems.swervedrive.swerve">frc.robot.subsystems.swervedrive.swerve</a></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><a href="#frc.robot.subsystems.swervedrive.swerve.motors">frc.robot.subsystems.swervedrive.swerve.motors</a></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</tbody>
+</table>
+</li>
+<li class="blockList">
+<ul class="blockList">
+<li class="blockList">
+<section role="region"><a id="frc.robot.subsystems.swervedrive.swerve">
+<!--   -->
+</a>
+<h3>Uses of <a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a> in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></h3>
+<table class="useSummary">
+<caption><span>Fields in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a> declared as <a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Field</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><code><a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a></code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveMotor.</span><code><span class="memberNameLink"><a href="../SwerveMotor.html#m_motorType">m_motorType</a></span></code></th>
+<td class="colLast">
+<div class="block">Module motor type.</div>
+</td>
+</tr>
+</tbody>
+</table>
+<table class="useSummary">
+<caption><span>Methods in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a> that return <a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><code>static <a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a></code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveMotor.ModuleMotorType.</span><code><span class="memberNameLink"><a href="../SwerveMotor.ModuleMotorType.html#valueOf(java.lang.String)">valueOf</a></span>&#8203;(java.lang.String&nbsp;name)</code></th>
+<td class="colLast">
+<div class="block">Returns the enum constant of this type with the specified name.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>static <a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a>[]</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveMotor.ModuleMotorType.</span><code><span class="memberNameLink"><a href="../SwerveMotor.ModuleMotorType.html#values()">values</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Returns an array containing the constants of this enum type, in
+the order they are declared.</div>
+</td>
+</tr>
+</tbody>
+</table>
+<table class="useSummary">
+<caption><span>Methods in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a> with parameters of type <a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><code>static &lt;MotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController&gt;<br><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveMotor.</span><code><span class="memberNameLink"><a href="../SwerveMotor.html#fromMotor(MotorType,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">fromMotor</a></span>&#8203;(MotorType&nbsp;motor,
+         <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;?&gt;&nbsp;absoluteEncoder,
+         <a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a>&nbsp;type,
+         double&nbsp;gearRatio,
+         double&nbsp;wheelDiameter,
+         double&nbsp;freeSpeedRPM,
+         double&nbsp;powerLimit)</code></th>
+<td class="colLast">
+<div class="block">Constructor for Swerve Motor, expecting CANSparkMax or TalonFX.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveModule.</span><code><span class="memberNameLink"><a href="../SwerveModule.html#setCurrentLimit(int,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType)">setCurrentLimit</a></span>&#8203;(int&nbsp;currentLimit,
+               <a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a>&nbsp;type)</code></th>
+<td class="colLast">
+<div class="block">Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
+ voltage compensation.</div>
+</td>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveDrive.</span><code><span class="memberNameLink"><a href="../SwerveDrive.html#setPIDF(double,double,double,double,double,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType)">setPIDF</a></span>&#8203;(double&nbsp;p,
+       double&nbsp;i,
+       double&nbsp;d,
+       double&nbsp;f,
+       double&nbsp;integralZone,
+       <a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a>&nbsp;moduleMotorType)</code></th>
+<td class="colLast">
+<div class="block">Set the PIDF coefficients for the closed loop PID onboard the motor controller.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveModule.</span><code><span class="memberNameLink"><a href="../SwerveModule.html#setPIDF(double,double,double,double,double,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType)">setPIDF</a></span>&#8203;(double&nbsp;p,
+       double&nbsp;i,
+       double&nbsp;d,
+       double&nbsp;f,
+       double&nbsp;integralZone,
+       <a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a>&nbsp;moduleMotorType)</code></th>
+<td class="colLast">
+<div class="block">Set the PIDF coefficients for the closed loop PID onboard the motor controller.</div>
+</td>
+</tr>
+</tbody>
+</table>
+</section>
+</li>
+<li class="blockList">
+<section role="region"><a id="frc.robot.subsystems.swervedrive.swerve.motors">
+<!--   -->
+</a>
+<h3>Uses of <a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a> in <a href="../motors/package-summary.html">frc.robot.subsystems.swervedrive.swerve.motors</a></h3>
+<table class="useSummary">
+<caption><span>Constructors in <a href="../motors/package-summary.html">frc.robot.subsystems.swervedrive.swerve.motors</a> with parameters of type <a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="../motors/CTRESwerveMotor.html#%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.WPI_TalonFX,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">CTRESwerveMotor</a></span>&#8203;(com.ctre.phoenix.motorcontrol.can.WPI_TalonFX&nbsp;motor,
+               <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;?&gt;&nbsp;encoder,
+               <a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a>&nbsp;type,
+               double&nbsp;gearRatio,
+               double&nbsp;wheelDiameter,
+               double&nbsp;freeSpeedRPM,
+               double&nbsp;powerLimit)</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="../motors/REVSwerveMotor.html#%3Cinit%3E(com.revrobotics.CANSparkMax,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">REVSwerveMotor</a></span>&#8203;(com.revrobotics.CANSparkMax&nbsp;motor,
+              <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;?&gt;&nbsp;absoluteEncoder,
+              <a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a>&nbsp;type,
+              double&nbsp;gearRatio,
+              double&nbsp;wheelDiameter,
+              double&nbsp;freeSpeedRPM,
+              double&nbsp;powerLimit)</code></th>
+<td class="colLast">
+<div class="block">Constructor for REV Swerve Motor, expecting CANSparkMax.</div>
+</td>
+</tr>
+</tbody>
+</table>
+</section>
+</li>
+</ul>
+</li>
+</ul>
+</div>
+</main>
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_bottom">
+<li><a href="../../../../../../allclasses.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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.bottom">
+<!--   -->
+</a></div>
+<!-- ======== END OF BOTTOM NAVBAR ======= -->
+</nav>
+</footer>
+</body>
+</html>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/class-use/SwerveMotor.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/class-use/SwerveMotor.html
@@ -0,0 +1,273 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
+<title>Uses of Class frc.robot.subsystems.swervedrive.swerve.SwerveMotor</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<meta name="dc.created" content="2023-01-31">
+<link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../../../jquery/jquery-ui.css" title="Style">
+<script type="text/javascript" src="../../../../../../script.js"></script>
+<script type="text/javascript" src="../../../../../../jquery/jszip/dist/jszip.min.js"></script>
+<script type="text/javascript" src="../../../../../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
+<!--[if IE]>
+<script type="text/javascript" src="../../../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
+<![endif]-->
+<script type="text/javascript" src="../../../../../../jquery/jquery-3.5.1.js"></script>
+<script type="text/javascript" src="../../../../../../jquery/jquery-ui.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="Uses of Class frc.robot.subsystems.swervedrive.swerve.SwerveMotor";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var pathtoroot = "../../../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
+<nav role="navigation">
+<div class="fixedNav">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a id="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_top">
+<li><a href="../../../../../../allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<ul class="navListSearch">
+<li><label for="search">SEARCH:</label>
+<input type="text" id="search" value="search" disabled="disabled">
+<input type="reset" id="reset" value="reset" disabled="disabled">
+</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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+</div>
+<div class="navPadding">&nbsp;</div>
+<script type="text/javascript"><!--
+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<main role="main">
+<div class="header">
+<h2 title="Uses of Class frc.robot.subsystems.swervedrive.swerve.SwerveMotor" class="title">Uses of Class<br>frc.robot.subsystems.swervedrive.swerve.SwerveMotor</h2>
+</div>
+<div class="classUseContainer">
+<ul class="blockList">
+<li class="blockList">
+<table class="useSummary">
+<caption><span>Packages that use <a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Package</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="#frc.robot.subsystems.swervedrive.swerve">frc.robot.subsystems.swervedrive.swerve</a></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><a href="#frc.robot.subsystems.swervedrive.swerve.motors">frc.robot.subsystems.swervedrive.swerve.motors</a></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</tbody>
+</table>
+</li>
+<li class="blockList">
+<ul class="blockList">
+<li class="blockList">
+<section role="region"><a id="frc.robot.subsystems.swervedrive.swerve">
+<!--   -->
+</a>
+<h3>Uses of <a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a> in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></h3>
+<table class="useSummary">
+<caption><span>Fields in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a> declared as <a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Field</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveModule.</span><code><span class="memberNameLink"><a href="../SwerveModule.html#driveMotor">driveMotor</a></span></code></th>
+<td class="colLast">
+<div class="block">Motor Controllers for drive motor of the swerve module.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveModule.</span><code><span class="memberNameLink"><a href="../SwerveModule.html#turningMotor">turningMotor</a></span></code></th>
+<td class="colLast">
+<div class="block">Motor Controller for the turning motor of the swerve drive module.</div>
+</td>
+</tr>
+</tbody>
+</table>
+<table class="useSummary">
+<caption><span>Methods in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a> that return <a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><code>static &lt;MotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController&gt;<br><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveMotor.</span><code><span class="memberNameLink"><a href="../SwerveMotor.html#fromMotor(MotorType,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">fromMotor</a></span>&#8203;(MotorType&nbsp;motor,
+         <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;?&gt;&nbsp;absoluteEncoder,
+         <a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a>&nbsp;type,
+         double&nbsp;gearRatio,
+         double&nbsp;wheelDiameter,
+         double&nbsp;freeSpeedRPM,
+         double&nbsp;powerLimit)</code></th>
+<td class="colLast">
+<div class="block">Constructor for Swerve Motor, expecting CANSparkMax or TalonFX.</div>
+</td>
+</tr>
+</tbody>
+</table>
+<table class="useSummary">
+<caption><span>Methods in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a> with parameters of type <a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><code>private static void</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveParser.</span><code><span class="memberNameLink"><a href="../SwerveParser.html#setModulePIDF(frc.robot.subsystems.swervedrive.swerve.SwerveMotor,com.fasterxml.jackson.databind.JsonNode)">setModulePIDF</a></span>&#8203;(<a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a>&nbsp;motor,
+             com.fasterxml.jackson.databind.JsonNode&nbsp;jsonPIDF)</code></th>
+<td class="colLast">
+<div class="block">Set the PIDF for the module if the given JSON has the paramters.</div>
+</td>
+</tr>
+</tbody>
+</table>
+</section>
+</li>
+<li class="blockList">
+<section role="region"><a id="frc.robot.subsystems.swervedrive.swerve.motors">
+<!--   -->
+</a>
+<h3>Uses of <a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a> in <a href="../motors/package-summary.html">frc.robot.subsystems.swervedrive.swerve.motors</a></h3>
+<table class="useSummary">
+<caption><span>Subclasses of <a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a> in <a href="../motors/package-summary.html">frc.robot.subsystems.swervedrive.swerve.motors</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Class</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><code>class&nbsp;</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="../motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>class&nbsp;</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="../motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</tbody>
+</table>
+</section>
+</li>
+</ul>
+</li>
+</ul>
+</div>
+</main>
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_bottom">
+<li><a href="../../../../../../allclasses.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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.bottom">
+<!--   -->
+</a></div>
+<!-- ======== END OF BOTTOM NAVBAR ======= -->
+</nav>
+</footer>
+</body>
+</html>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/class-use/SwerveParser.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/class-use/SwerveParser.html
@@ -0,0 +1,148 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
+<title>Uses of Class frc.robot.subsystems.swervedrive.swerve.SwerveParser</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<meta name="dc.created" content="2023-01-31">
+<link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../../../jquery/jquery-ui.css" title="Style">
+<script type="text/javascript" src="../../../../../../script.js"></script>
+<script type="text/javascript" src="../../../../../../jquery/jszip/dist/jszip.min.js"></script>
+<script type="text/javascript" src="../../../../../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
+<!--[if IE]>
+<script type="text/javascript" src="../../../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
+<![endif]-->
+<script type="text/javascript" src="../../../../../../jquery/jquery-3.5.1.js"></script>
+<script type="text/javascript" src="../../../../../../jquery/jquery-ui.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="Uses of Class frc.robot.subsystems.swervedrive.swerve.SwerveParser";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var pathtoroot = "../../../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
+<nav role="navigation">
+<div class="fixedNav">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a id="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../SwerveParser.html" title="class in frc.robot.subsystems.swervedrive.swerve">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_top">
+<li><a href="../../../../../../allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<ul class="navListSearch">
+<li><label for="search">SEARCH:</label>
+<input type="text" id="search" value="search" disabled="disabled">
+<input type="reset" id="reset" value="reset" disabled="disabled">
+</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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+</div>
+<div class="navPadding">&nbsp;</div>
+<script type="text/javascript"><!--
+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<main role="main">
+<div class="header">
+<h2 title="Uses of Class frc.robot.subsystems.swervedrive.swerve.SwerveParser" class="title">Uses of Class<br>frc.robot.subsystems.swervedrive.swerve.SwerveParser</h2>
+</div>
+<div class="classUseContainer">No usage of frc.robot.subsystems.swervedrive.swerve.SwerveParser</div>
+</main>
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../SwerveParser.html" title="class in frc.robot.subsystems.swervedrive.swerve">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_bottom">
+<li><a href="../../../../../../allclasses.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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.bottom">
+<!--   -->
+</a></div>
+<!-- ======== END OF BOTTOM NAVBAR ======= -->
+</nav>
+</footer>
+</body>
+</html>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/encoders/CTRECANCoder.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/encoders/CTRECANCoder.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>CTRECANCoder</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../../../jquery/jquery-ui.css" title="Style">
 <script type="text/javascript" src="../../../../../../script.js"></script>
@@ -54,6 +54,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../../../../../../index.html">Overview</a></li>
 <li><a href="package-summary.html">Package</a></li>
 <li class="navBarCell1Rev">Class</li>
+<li><a href="class-use/CTRECANCoder.html">Use</a></li>
 <li><a href="package-tree.html">Tree</a></li>
 <li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
 <li><a href="../../../../../../index-files/index-1.html">Index</a></li>
@@ -456,6 +457,7 @@ extends <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swe
 <li><a href="../../../../../../index.html">Overview</a></li>
 <li><a href="package-summary.html">Package</a></li>
 <li class="navBarCell1Rev">Class</li>
+<li><a href="class-use/CTRECANCoder.html">Use</a></li>
 <li><a href="package-tree.html">Tree</a></li>
 <li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
 <li><a href="../../../../../../index-files/index-1.html">Index</a></li>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>PWMAnalogEncoder</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../../../jquery/jquery-ui.css" title="Style">
 <script type="text/javascript" src="../../../../../../script.js"></script>
@@ -54,6 +54,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../../../../../../index.html">Overview</a></li>
 <li><a href="package-summary.html">Package</a></li>
 <li class="navBarCell1Rev">Class</li>
+<li><a href="class-use/PWMAnalogEncoder.html">Use</a></li>
 <li><a href="package-tree.html">Tree</a></li>
 <li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
 <li><a href="../../../../../../index-files/index-1.html">Index</a></li>
@@ -561,6 +562,7 @@ extends <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swe
 <li><a href="../../../../../../index.html">Overview</a></li>
 <li><a href="package-summary.html">Package</a></li>
 <li class="navBarCell1Rev">Class</li>
+<li><a href="class-use/PWMAnalogEncoder.html">Use</a></li>
 <li><a href="package-tree.html">Tree</a></li>
 <li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
 <li><a href="../../../../../../index-files/index-1.html">Index</a></li>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>PWMDutyCycleEncoder</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../../../jquery/jquery-ui.css" title="Style">
 <script type="text/javascript" src="../../../../../../script.js"></script>
@@ -54,6 +54,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../../../../../../index.html">Overview</a></li>
 <li><a href="package-summary.html">Package</a></li>
 <li class="navBarCell1Rev">Class</li>
+<li><a href="class-use/PWMDutyCycleEncoder.html">Use</a></li>
 <li><a href="package-tree.html">Tree</a></li>
 <li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
 <li><a href="../../../../../../index-files/index-1.html">Index</a></li>
@@ -561,6 +562,7 @@ extends <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swe
 <li><a href="../../../../../../index.html">Overview</a></li>
 <li><a href="package-summary.html">Package</a></li>
 <li class="navBarCell1Rev">Class</li>
+<li><a href="class-use/PWMDutyCycleEncoder.html">Use</a></li>
 <li><a href="package-tree.html">Tree</a></li>
 <li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
 <li><a href="../../../../../../index-files/index-1.html">Index</a></li>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/encoders/REVAbsoluteEncoder.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/encoders/REVAbsoluteEncoder.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>REVAbsoluteEncoder</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../../../jquery/jquery-ui.css" title="Style">
 <script type="text/javascript" src="../../../../../../script.js"></script>
@@ -54,6 +54,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../../../../../../index.html">Overview</a></li>
 <li><a href="package-summary.html">Package</a></li>
 <li class="navBarCell1Rev">Class</li>
+<li><a href="class-use/REVAbsoluteEncoder.html">Use</a></li>
 <li><a href="package-tree.html">Tree</a></li>
 <li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
 <li><a href="../../../../../../index-files/index-1.html">Index</a></li>
@@ -456,6 +457,7 @@ extends <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swe
 <li><a href="../../../../../../index.html">Overview</a></li>
 <li><a href="package-summary.html">Package</a></li>
 <li class="navBarCell1Rev">Class</li>
+<li><a href="class-use/REVAbsoluteEncoder.html">Use</a></li>
 <li><a href="package-tree.html">Tree</a></li>
 <li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
 <li><a href="../../../../../../index-files/index-1.html">Index</a></li>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/encoders/class-use/CTRECANCoder.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/encoders/class-use/CTRECANCoder.html
@@ -0,0 +1,148 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
+<title>Uses of Class frc.robot.subsystems.swervedrive.swerve.encoders.CTRECANCoder</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<meta name="dc.created" content="2023-01-31">
+<link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../../../../jquery/jquery-ui.css" title="Style">
+<script type="text/javascript" src="../../../../../../../script.js"></script>
+<script type="text/javascript" src="../../../../../../../jquery/jszip/dist/jszip.min.js"></script>
+<script type="text/javascript" src="../../../../../../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
+<!--[if IE]>
+<script type="text/javascript" src="../../../../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
+<![endif]-->
+<script type="text/javascript" src="../../../../../../../jquery/jquery-3.5.1.js"></script>
+<script type="text/javascript" src="../../../../../../../jquery/jquery-ui.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="Uses of Class frc.robot.subsystems.swervedrive.swerve.encoders.CTRECANCoder";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var pathtoroot = "../../../../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
+<nav role="navigation">
+<div class="fixedNav">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a id="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../CTRECANCoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_top">
+<li><a href="../../../../../../../allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<ul class="navListSearch">
+<li><label for="search">SEARCH:</label>
+<input type="text" id="search" value="search" disabled="disabled">
+<input type="reset" id="reset" value="reset" disabled="disabled">
+</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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+</div>
+<div class="navPadding">&nbsp;</div>
+<script type="text/javascript"><!--
+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<main role="main">
+<div class="header">
+<h2 title="Uses of Class frc.robot.subsystems.swervedrive.swerve.encoders.CTRECANCoder" class="title">Uses of Class<br>frc.robot.subsystems.swervedrive.swerve.encoders.CTRECANCoder</h2>
+</div>
+<div class="classUseContainer">No usage of frc.robot.subsystems.swervedrive.swerve.encoders.CTRECANCoder</div>
+</main>
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../CTRECANCoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_bottom">
+<li><a href="../../../../../../../allclasses.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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.bottom">
+<!--   -->
+</a></div>
+<!-- ======== END OF BOTTOM NAVBAR ======= -->
+</nav>
+</footer>
+</body>
+</html>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/encoders/class-use/PWMAnalogEncoder.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/encoders/class-use/PWMAnalogEncoder.html
@@ -0,0 +1,148 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
+<title>Uses of Class frc.robot.subsystems.swervedrive.swerve.encoders.PWMAnalogEncoder</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<meta name="dc.created" content="2023-01-31">
+<link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../../../../jquery/jquery-ui.css" title="Style">
+<script type="text/javascript" src="../../../../../../../script.js"></script>
+<script type="text/javascript" src="../../../../../../../jquery/jszip/dist/jszip.min.js"></script>
+<script type="text/javascript" src="../../../../../../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
+<!--[if IE]>
+<script type="text/javascript" src="../../../../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
+<![endif]-->
+<script type="text/javascript" src="../../../../../../../jquery/jquery-3.5.1.js"></script>
+<script type="text/javascript" src="../../../../../../../jquery/jquery-ui.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="Uses of Class frc.robot.subsystems.swervedrive.swerve.encoders.PWMAnalogEncoder";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var pathtoroot = "../../../../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
+<nav role="navigation">
+<div class="fixedNav">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a id="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../PWMAnalogEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_top">
+<li><a href="../../../../../../../allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<ul class="navListSearch">
+<li><label for="search">SEARCH:</label>
+<input type="text" id="search" value="search" disabled="disabled">
+<input type="reset" id="reset" value="reset" disabled="disabled">
+</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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+</div>
+<div class="navPadding">&nbsp;</div>
+<script type="text/javascript"><!--
+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<main role="main">
+<div class="header">
+<h2 title="Uses of Class frc.robot.subsystems.swervedrive.swerve.encoders.PWMAnalogEncoder" class="title">Uses of Class<br>frc.robot.subsystems.swervedrive.swerve.encoders.PWMAnalogEncoder</h2>
+</div>
+<div class="classUseContainer">No usage of frc.robot.subsystems.swervedrive.swerve.encoders.PWMAnalogEncoder</div>
+</main>
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../PWMAnalogEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_bottom">
+<li><a href="../../../../../../../allclasses.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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.bottom">
+<!--   -->
+</a></div>
+<!-- ======== END OF BOTTOM NAVBAR ======= -->
+</nav>
+</footer>
+</body>
+</html>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/encoders/class-use/PWMDutyCycleEncoder.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/encoders/class-use/PWMDutyCycleEncoder.html
@@ -0,0 +1,148 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
+<title>Uses of Class frc.robot.subsystems.swervedrive.swerve.encoders.PWMDutyCycleEncoder</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<meta name="dc.created" content="2023-01-31">
+<link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../../../../jquery/jquery-ui.css" title="Style">
+<script type="text/javascript" src="../../../../../../../script.js"></script>
+<script type="text/javascript" src="../../../../../../../jquery/jszip/dist/jszip.min.js"></script>
+<script type="text/javascript" src="../../../../../../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
+<!--[if IE]>
+<script type="text/javascript" src="../../../../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
+<![endif]-->
+<script type="text/javascript" src="../../../../../../../jquery/jquery-3.5.1.js"></script>
+<script type="text/javascript" src="../../../../../../../jquery/jquery-ui.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="Uses of Class frc.robot.subsystems.swervedrive.swerve.encoders.PWMDutyCycleEncoder";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var pathtoroot = "../../../../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
+<nav role="navigation">
+<div class="fixedNav">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a id="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../PWMDutyCycleEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_top">
+<li><a href="../../../../../../../allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<ul class="navListSearch">
+<li><label for="search">SEARCH:</label>
+<input type="text" id="search" value="search" disabled="disabled">
+<input type="reset" id="reset" value="reset" disabled="disabled">
+</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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+</div>
+<div class="navPadding">&nbsp;</div>
+<script type="text/javascript"><!--
+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<main role="main">
+<div class="header">
+<h2 title="Uses of Class frc.robot.subsystems.swervedrive.swerve.encoders.PWMDutyCycleEncoder" class="title">Uses of Class<br>frc.robot.subsystems.swervedrive.swerve.encoders.PWMDutyCycleEncoder</h2>
+</div>
+<div class="classUseContainer">No usage of frc.robot.subsystems.swervedrive.swerve.encoders.PWMDutyCycleEncoder</div>
+</main>
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../PWMDutyCycleEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_bottom">
+<li><a href="../../../../../../../allclasses.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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.bottom">
+<!--   -->
+</a></div>
+<!-- ======== END OF BOTTOM NAVBAR ======= -->
+</nav>
+</footer>
+</body>
+</html>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/encoders/class-use/REVAbsoluteEncoder.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/encoders/class-use/REVAbsoluteEncoder.html
@@ -0,0 +1,148 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
+<title>Uses of Class frc.robot.subsystems.swervedrive.swerve.encoders.REVAbsoluteEncoder</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<meta name="dc.created" content="2023-01-31">
+<link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../../../../jquery/jquery-ui.css" title="Style">
+<script type="text/javascript" src="../../../../../../../script.js"></script>
+<script type="text/javascript" src="../../../../../../../jquery/jszip/dist/jszip.min.js"></script>
+<script type="text/javascript" src="../../../../../../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
+<!--[if IE]>
+<script type="text/javascript" src="../../../../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
+<![endif]-->
+<script type="text/javascript" src="../../../../../../../jquery/jquery-3.5.1.js"></script>
+<script type="text/javascript" src="../../../../../../../jquery/jquery-ui.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="Uses of Class frc.robot.subsystems.swervedrive.swerve.encoders.REVAbsoluteEncoder";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var pathtoroot = "../../../../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
+<nav role="navigation">
+<div class="fixedNav">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a id="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../REVAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_top">
+<li><a href="../../../../../../../allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<ul class="navListSearch">
+<li><label for="search">SEARCH:</label>
+<input type="text" id="search" value="search" disabled="disabled">
+<input type="reset" id="reset" value="reset" disabled="disabled">
+</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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+</div>
+<div class="navPadding">&nbsp;</div>
+<script type="text/javascript"><!--
+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<main role="main">
+<div class="header">
+<h2 title="Uses of Class frc.robot.subsystems.swervedrive.swerve.encoders.REVAbsoluteEncoder" class="title">Uses of Class<br>frc.robot.subsystems.swervedrive.swerve.encoders.REVAbsoluteEncoder</h2>
+</div>
+<div class="classUseContainer">No usage of frc.robot.subsystems.swervedrive.swerve.encoders.REVAbsoluteEncoder</div>
+</main>
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../REVAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_bottom">
+<li><a href="../../../../../../../allclasses.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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.bottom">
+<!--   -->
+</a></div>
+<!-- ======== END OF BOTTOM NAVBAR ======= -->
+</nav>
+</footer>
+</body>
+</html>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/encoders/package-summary.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/encoders/package-summary.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
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 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
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 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
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@@ -48,6 +48,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../../../../../../index.html">Overview</a></li>
 <li class="navBarCell1Rev">Package</li>
 <li>Class</li>
+<li><a href="package-use.html">Use</a></li>
 <li><a href="package-tree.html">Tree</a></li>
 <li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
 <li><a href="../../../../../../index-files/index-1.html">Index</a></li>
@@ -141,6 +142,7 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 <li><a href="../../../../../../index.html">Overview</a></li>
 <li class="navBarCell1Rev">Package</li>
 <li>Class</li>
+<li><a href="package-use.html">Use</a></li>
 <li><a href="package-tree.html">Tree</a></li>
 <li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
 <li><a href="../../../../../../index-files/index-1.html">Index</a></li>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/encoders/package-tree.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/encoders/package-tree.html
@@ -2,10 +2,10 @@
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 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
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 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
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 <script type="text/javascript" src="../../../../../../script.js"></script>
@@ -48,6 +48,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../../../../../../index.html">Overview</a></li>
 <li><a href="package-summary.html">Package</a></li>
 <li>Class</li>
+<li>Use</li>
 <li class="navBarCell1Rev">Tree</li>
 <li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
 <li><a href="../../../../../../index-files/index-1.html">Index</a></li>
@@ -133,6 +134,7 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 <li><a href="../../../../../../index.html">Overview</a></li>
 <li><a href="package-summary.html">Package</a></li>
 <li>Class</li>
+<li>Use</li>
 <li class="navBarCell1Rev">Tree</li>
 <li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
 <li><a href="../../../../../../index-files/index-1.html">Index</a></li>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/encoders/package-use.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/encoders/package-use.html
@@ -0,0 +1,148 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
+<title>Uses of Package frc.robot.subsystems.swervedrive.swerve.encoders</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<meta name="dc.created" content="2023-01-31">
+<link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../../../jquery/jquery-ui.css" title="Style">
+<script type="text/javascript" src="../../../../../../script.js"></script>
+<script type="text/javascript" src="../../../../../../jquery/jszip/dist/jszip.min.js"></script>
+<script type="text/javascript" src="../../../../../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
+<!--[if IE]>
+<script type="text/javascript" src="../../../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
+<![endif]-->
+<script type="text/javascript" src="../../../../../../jquery/jquery-3.5.1.js"></script>
+<script type="text/javascript" src="../../../../../../jquery/jquery-ui.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="Uses of Package frc.robot.subsystems.swervedrive.swerve.encoders";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var pathtoroot = "../../../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
+<nav role="navigation">
+<div class="fixedNav">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a id="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../index.html">Overview</a></li>
+<li><a href="package-summary.html">Package</a></li>
+<li>Class</li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="package-tree.html">Tree</a></li>
+<li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_top">
+<li><a href="../../../../../../allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<ul class="navListSearch">
+<li><label for="search">SEARCH:</label>
+<input type="text" id="search" value="search" disabled="disabled">
+<input type="reset" id="reset" value="reset" disabled="disabled">
+</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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+</div>
+<div class="navPadding">&nbsp;</div>
+<script type="text/javascript"><!--
+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<main role="main">
+<div class="header">
+<h1 title="Uses of Package frc.robot.subsystems.swervedrive.swerve.encoders" class="title">Uses of Package<br>frc.robot.subsystems.swervedrive.swerve.encoders</h1>
+</div>
+<div class="contentContainer">No usage of frc.robot.subsystems.swervedrive.swerve.encoders</div>
+</main>
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../index.html">Overview</a></li>
+<li><a href="package-summary.html">Package</a></li>
+<li>Class</li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="package-tree.html">Tree</a></li>
+<li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_bottom">
+<li><a href="../../../../../../allclasses.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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.bottom">
+<!--   -->
+</a></div>
+<!-- ======== END OF BOTTOM NAVBAR ======= -->
+</nav>
+</footer>
+</body>
+</html>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>SwerveDriveKinematics2</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
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 <script type="text/javascript" src="../../../../../../script.js"></script>
@@ -54,6 +54,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../../../../../../index.html">Overview</a></li>
 <li><a href="package-summary.html">Package</a></li>
 <li class="navBarCell1Rev">Class</li>
+<li><a href="class-use/SwerveDriveKinematics2.html">Use</a></li>
 <li><a href="package-tree.html">Tree</a></li>
 <li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
 <li><a href="../../../../../../index-files/index-1.html">Index</a></li>
@@ -588,6 +589,7 @@ extends edu.wpi.first.math.kinematics.SwerveDriveKinematics</pre>
 <li><a href="../../../../../../index.html">Overview</a></li>
 <li><a href="package-summary.html">Package</a></li>
 <li class="navBarCell1Rev">Class</li>
+<li><a href="class-use/SwerveDriveKinematics2.html">Use</a></li>
 <li><a href="package-tree.html">Tree</a></li>
 <li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
 <li><a href="../../../../../../index-files/index-1.html">Index</a></li>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveModuleState2.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveModuleState2.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>SwerveModuleState2</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
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 <script type="text/javascript" src="../../../../../../script.js"></script>
@@ -54,6 +54,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../../../../../../index.html">Overview</a></li>
 <li><a href="package-summary.html">Package</a></li>
 <li class="navBarCell1Rev">Class</li>
+<li><a href="class-use/SwerveModuleState2.html">Use</a></li>
 <li><a href="package-tree.html">Tree</a></li>
 <li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
 <li><a href="../../../../../../index-files/index-1.html">Index</a></li>
@@ -426,6 +427,7 @@ extends edu.wpi.first.math.kinematics.SwerveModuleState</pre>
 <li><a href="../../../../../../index.html">Overview</a></li>
 <li><a href="package-summary.html">Package</a></li>
 <li class="navBarCell1Rev">Class</li>
+<li><a href="class-use/SwerveModuleState2.html">Use</a></li>
 <li><a href="package-tree.html">Tree</a></li>
 <li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
 <li><a href="../../../../../../index-files/index-1.html">Index</a></li>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/kinematics/class-use/SwerveDriveKinematics2.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/kinematics/class-use/SwerveDriveKinematics2.html
@@ -0,0 +1,194 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
+<title>Uses of Class frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveDriveKinematics2</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<meta name="dc.created" content="2023-01-31">
+<link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../../../../jquery/jquery-ui.css" title="Style">
+<script type="text/javascript" src="../../../../../../../script.js"></script>
+<script type="text/javascript" src="../../../../../../../jquery/jszip/dist/jszip.min.js"></script>
+<script type="text/javascript" src="../../../../../../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
+<!--[if IE]>
+<script type="text/javascript" src="../../../../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
+<![endif]-->
+<script type="text/javascript" src="../../../../../../../jquery/jquery-3.5.1.js"></script>
+<script type="text/javascript" src="../../../../../../../jquery/jquery-ui.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="Uses of Class frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveDriveKinematics2";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var pathtoroot = "../../../../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
+<nav role="navigation">
+<div class="fixedNav">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a id="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../SwerveDriveKinematics2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_top">
+<li><a href="../../../../../../../allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<ul class="navListSearch">
+<li><label for="search">SEARCH:</label>
+<input type="text" id="search" value="search" disabled="disabled">
+<input type="reset" id="reset" value="reset" disabled="disabled">
+</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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+</div>
+<div class="navPadding">&nbsp;</div>
+<script type="text/javascript"><!--
+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<main role="main">
+<div class="header">
+<h2 title="Uses of Class frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveDriveKinematics2" class="title">Uses of Class<br>frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveDriveKinematics2</h2>
+</div>
+<div class="classUseContainer">
+<ul class="blockList">
+<li class="blockList">
+<table class="useSummary">
+<caption><span>Packages that use <a href="../SwerveDriveKinematics2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveDriveKinematics2</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Package</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="#frc.robot.subsystems.swervedrive.swerve">frc.robot.subsystems.swervedrive.swerve</a></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</tbody>
+</table>
+</li>
+<li class="blockList">
+<ul class="blockList">
+<li class="blockList">
+<section role="region"><a id="frc.robot.subsystems.swervedrive.swerve">
+<!--   -->
+</a>
+<h3>Uses of <a href="../SwerveDriveKinematics2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveDriveKinematics2</a> in <a href="../../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></h3>
+<table class="useSummary">
+<caption><span>Fields in <a href="../../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a> declared as <a href="../SwerveDriveKinematics2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveDriveKinematics2</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Field</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><code>private <a href="../SwerveDriveKinematics2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveDriveKinematics2</a></code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveDrive.</span><code><span class="memberNameLink"><a href="../../SwerveDrive.html#m_swerveKinematics">m_swerveKinematics</a></span></code></th>
+<td class="colLast">
+<div class="block">Swerve drive kinematics.</div>
+</td>
+</tr>
+</tbody>
+</table>
+</section>
+</li>
+</ul>
+</li>
+</ul>
+</div>
+</main>
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--- a/docs/frc/robot/subsystems/swervedrive/swerve/kinematics/class-use/SwerveModuleState2.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/kinematics/class-use/SwerveModuleState2.html
@@ -0,0 +1,331 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
+<title>Uses of Class frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<meta name="dc.created" content="2023-01-31">
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+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="Uses of Class frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var pathtoroot = "../../../../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
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+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../../deprecated-list.html">Deprecated</a></li>
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+<div class="header">
+<h2 title="Uses of Class frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2" class="title">Uses of Class<br>frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2</h2>
+</div>
+<div class="classUseContainer">
+<ul class="blockList">
+<li class="blockList">
+<table class="useSummary">
+<caption><span>Packages that use <a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Package</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="#frc.robot.subsystems.swervedrive.swerve">frc.robot.subsystems.swervedrive.swerve</a></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><a href="#frc.robot.subsystems.swervedrive.swerve.kinematics">frc.robot.subsystems.swervedrive.swerve.kinematics</a></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</tbody>
+</table>
+</li>
+<li class="blockList">
+<ul class="blockList">
+<li class="blockList">
+<section role="region"><a id="frc.robot.subsystems.swervedrive.swerve">
+<!--   -->
+</a>
+<h3>Uses of <a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a> in <a href="../../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></h3>
+<table class="useSummary">
+<caption><span>Methods in <a href="../../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a> that return <a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><code><a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a></code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveModule.</span><code><span class="memberNameLink"><a href="../../SwerveModule.html#getState()">getState</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get the module state.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code><a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[]</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveDrive.</span><code><span class="memberNameLink"><a href="../../SwerveDrive.html#getStates()">getStates</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get current swerve module states in order.</div>
+</td>
+</tr>
+</tbody>
+</table>
+<table class="useSummary">
+<caption><span>Methods in <a href="../../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a> with parameters of type <a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveDrive.</span><code><span class="memberNameLink"><a href="../../SwerveDrive.html#setModuleStates(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2%5B%5D)">setModuleStates</a></span>&#8203;(<a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[]&nbsp;states)</code></th>
+<td class="colLast">
+<div class="block">Set the swerve module states given an array of states.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveModule.</span><code><span class="memberNameLink"><a href="../../SwerveModule.html#setState(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2)">setState</a></span>&#8203;(<a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>&nbsp;state)</code></th>
+<td class="colLast">
+<div class="block">Set the module speed and angle based off the module state.</div>
+</td>
+</tr>
+</tbody>
+</table>
+</section>
+</li>
+<li class="blockList">
+<section role="region"><a id="frc.robot.subsystems.swervedrive.swerve.kinematics">
+<!--   -->
+</a>
+<h3>Uses of <a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a> in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve.kinematics</a></h3>
+<table class="useSummary">
+<caption><span>Fields in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve.kinematics</a> declared as <a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Field</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><code>private <a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[]</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveDriveKinematics2.</span><code><span class="memberNameLink"><a href="../SwerveDriveKinematics2.html#m_moduleStates">m_moduleStates</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</tbody>
+</table>
+<table class="useSummary">
+<caption><span>Methods in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve.kinematics</a> that return <a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><code>static <a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a></code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveModuleState2.</span><code><span class="memberNameLink"><a href="../SwerveModuleState2.html#optimize(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2,edu.wpi.first.math.geometry.Rotation2d)">optimize</a></span>&#8203;(<a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>&nbsp;desiredState,
+        edu.wpi.first.math.geometry.Rotation2d&nbsp;currentAngle)</code></th>
+<td class="colLast">
+<div class="block">Minimize the change in heading the desired swerve module state would require by potentially reversing the direction
+ the wheel spins.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code><a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[]</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveDriveKinematics2.</span><code><span class="memberNameLink"><a href="../SwerveDriveKinematics2.html#toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds)">toSwerveModuleStates</a></span>&#8203;(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds)</code></th>
+<td class="colLast">
+<div class="block">Performs inverse kinematics.</div>
+</td>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code><a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[]</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveDriveKinematics2.</span><code><span class="memberNameLink"><a href="../SwerveDriveKinematics2.html#toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)">toSwerveModuleStates</a></span>&#8203;(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds,
+                    edu.wpi.first.math.geometry.Translation2d&nbsp;centerOfRotationMeters)</code></th>
+<td class="colLast">
+<div class="block">Performs inverse kinematics to return the module states from a desired chassis velocity.</div>
+</td>
+</tr>
+</tbody>
+</table>
+<table class="useSummary">
+<caption><span>Methods in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve.kinematics</a> with parameters of type <a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><code>static void</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveDriveKinematics2.</span><code><span class="memberNameLink"><a href="../SwerveDriveKinematics2.html#desaturateWheelSpeeds(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2%5B%5D,double)">desaturateWheelSpeeds</a></span>&#8203;(<a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[]&nbsp;moduleStates,
+                     double&nbsp;attainableMaxSpeedMetersPerSecond)</code></th>
+<td class="colLast">
+<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>static void</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveDriveKinematics2.</span><code><span class="memberNameLink"><a href="../SwerveDriveKinematics2.html#desaturateWheelSpeeds(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2%5B%5D,edu.wpi.first.math.kinematics.ChassisSpeeds,double,double,double)">desaturateWheelSpeeds</a></span>&#8203;(<a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[]&nbsp;moduleStates,
+                     edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;currentChassisSpeed,
+                     double&nbsp;attainableMaxModuleSpeedMetersPerSecond,
+                     double&nbsp;attainableMaxTranslationalSpeedMetersPerSecond,
+                     double&nbsp;attainableMaxRotationalVelocityRadiansPerSecond)</code></th>
+<td class="colLast">
+<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum, as well as getting rid of
+ joystick saturation at edges of joystick.</div>
+</td>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code>static <a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a></code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveModuleState2.</span><code><span class="memberNameLink"><a href="../SwerveModuleState2.html#optimize(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2,edu.wpi.first.math.geometry.Rotation2d)">optimize</a></span>&#8203;(<a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>&nbsp;desiredState,
+        edu.wpi.first.math.geometry.Rotation2d&nbsp;currentAngle)</code></th>
+<td class="colLast">
+<div class="block">Minimize the change in heading the desired swerve module state would require by potentially reversing the direction
+ the wheel spins.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveDriveKinematics2.</span><code><span class="memberNameLink"><a href="../SwerveDriveKinematics2.html#toChassisSpeeds(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2...)">toChassisSpeeds</a></span>&#8203;(<a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>...&nbsp;wheelStates)</code></th>
+<td class="colLast">
+<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states.</div>
+</td>
+</tr>
+</tbody>
+</table>
+</section>
+</li>
+</ul>
+</li>
+</ul>
+</div>
+</main>
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
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+<ul class="navList" id="allclasses_navbar_bottom">
+<li><a href="../../../../../../../allclasses.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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
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+<!--   -->
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+</body>
+</html>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/kinematics/package-summary.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/kinematics/package-summary.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
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-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
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-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
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@@ -48,6 +48,7 @@ loadScripts(document, 'script');</script>
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+<li><a href="package-use.html">Use</a></li>
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@@ -136,6 +137,7 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 <li><a href="../../../../../../index.html">Overview</a></li>
 <li class="navBarCell1Rev">Package</li>
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+<li><a href="package-use.html">Use</a></li>
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 <li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
 <li><a href="../../../../../../index-files/index-1.html">Index</a></li>
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-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
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 <li><a href="package-summary.html">Package</a></li>
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+<li>Use</li>
 <li class="navBarCell1Rev">Tree</li>
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 <li><a href="../../../../../../index-files/index-1.html">Index</a></li>
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 <li><a href="../../../../../../index.html">Overview</a></li>
 <li><a href="package-summary.html">Package</a></li>
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+<li>Use</li>
 <li class="navBarCell1Rev">Tree</li>
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 <li><a href="../../../../../../index-files/index-1.html">Index</a></li>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/kinematics/package-use.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/kinematics/package-use.html
@@ -0,0 +1,211 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
+<title>Uses of Package frc.robot.subsystems.swervedrive.swerve.kinematics</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<meta name="dc.created" content="2023-01-31">
+<link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../../../jquery/jquery-ui.css" title="Style">
+<script type="text/javascript" src="../../../../../../script.js"></script>
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+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="Uses of Package frc.robot.subsystems.swervedrive.swerve.kinematics";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var pathtoroot = "../../../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
+<nav role="navigation">
+<div class="fixedNav">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a id="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../index.html">Overview</a></li>
+<li><a href="package-summary.html">Package</a></li>
+<li>Class</li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="package-tree.html">Tree</a></li>
+<li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../help-doc.html">Help</a></li>
+</ul>
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+<li><a href="../../../../../../allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<ul class="navListSearch">
+<li><label for="search">SEARCH:</label>
+<input type="text" id="search" value="search" disabled="disabled">
+<input type="reset" id="reset" value="reset" disabled="disabled">
+</li>
+</ul>
+<div>
+<script type="text/javascript"><!--
+  allClassesLink = document.getElementById("allclasses_navbar_top");
+  if(window==top) {
+    allClassesLink.style.display = "block";
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+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.top">
+<!--   -->
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+<!-- ========= END OF TOP NAVBAR ========= -->
+</div>
+<div class="navPadding">&nbsp;</div>
+<script type="text/javascript"><!--
+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<main role="main">
+<div class="header">
+<h1 title="Uses of Package frc.robot.subsystems.swervedrive.swerve.kinematics" class="title">Uses of Package<br>frc.robot.subsystems.swervedrive.swerve.kinematics</h1>
+</div>
+<div class="contentContainer">
+<ul class="blockList">
+<li class="blockList">
+<table class="useSummary">
+<caption><span>Packages that use <a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve.kinematics</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Package</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="#frc.robot.subsystems.swervedrive.swerve">frc.robot.subsystems.swervedrive.swerve</a></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><a href="#frc.robot.subsystems.swervedrive.swerve.kinematics">frc.robot.subsystems.swervedrive.swerve.kinematics</a></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</tbody>
+</table>
+</li>
+<li class="blockList"><a id="frc.robot.subsystems.swervedrive.swerve">
+<!--   -->
+</a>
+<table class="useSummary">
+<caption><span>Classes in <a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve.kinematics</a> used by <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></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">
+<th class="colFirst" scope="row"><a href="class-use/SwerveDriveKinematics2.html#frc.robot.subsystems.swervedrive.swerve">SwerveDriveKinematics2</a></th>
+<td class="colLast">
+<div class="block">Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules states from chassis
+ speed.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><a href="class-use/SwerveModuleState2.html#frc.robot.subsystems.swervedrive.swerve">SwerveModuleState2</a></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</tbody>
+</table>
+</li>
+<li class="blockList"><a id="frc.robot.subsystems.swervedrive.swerve.kinematics">
+<!--   -->
+</a>
+<table class="useSummary">
+<caption><span>Classes in <a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve.kinematics</a> used by <a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve.kinematics</a></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">
+<th class="colFirst" scope="row"><a href="class-use/SwerveModuleState2.html#frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</tbody>
+</table>
+</li>
+</ul>
+</div>
+</main>
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../index.html">Overview</a></li>
+<li><a href="package-summary.html">Package</a></li>
+<li>Class</li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="package-tree.html">Tree</a></li>
+<li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_bottom">
+<li><a href="../../../../../../allclasses.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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.bottom">
+<!--   -->
+</a></div>
+<!-- ======== END OF BOTTOM NAVBAR ======= -->
+</nav>
+</footer>
+</body>
+</html>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_pidIdx.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_pidIdx.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>CTRESwerveMotor.CTRE_pidIdx</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
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 <script type="text/javascript" src="../../../../../../script.js"></script>
@@ -54,6 +54,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../../../../../../index.html">Overview</a></li>
 <li><a href="package-summary.html">Package</a></li>
 <li class="navBarCell1Rev">Class</li>
+<li><a href="class-use/CTRESwerveMotor.CTRE_pidIdx.html">Use</a></li>
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 <li><a href="../../../../../../index.html">Overview</a></li>
 <li><a href="package-summary.html">Package</a></li>
 <li class="navBarCell1Rev">Class</li>
+<li><a href="class-use/CTRESwerveMotor.CTRE_pidIdx.html">Use</a></li>
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--- a/docs/frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_remoteSensor.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_remoteSensor.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>CTRESwerveMotor.CTRE_remoteSensor</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
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@@ -54,6 +54,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../../../../../../index.html">Overview</a></li>
 <li><a href="package-summary.html">Package</a></li>
 <li class="navBarCell1Rev">Class</li>
+<li><a href="class-use/CTRESwerveMotor.CTRE_remoteSensor.html">Use</a></li>
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 <li><a href="../../../../../../index.html">Overview</a></li>
 <li><a href="package-summary.html">Package</a></li>
 <li class="navBarCell1Rev">Class</li>
+<li><a href="class-use/CTRESwerveMotor.CTRE_remoteSensor.html">Use</a></li>
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--- a/docs/frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_slotIdx.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_slotIdx.html
@@ -2,10 +2,10 @@
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-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
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 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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+<meta name="dc.created" content="2023-01-31">
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 <li><a href="../../../../../../index.html">Overview</a></li>
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+<li><a href="class-use/CTRESwerveMotor.CTRE_slotIdx.html">Use</a></li>
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 <li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
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@@ -399,6 +400,7 @@ not permitted.)</div>
 <li><a href="../../../../../../index.html">Overview</a></li>
 <li><a href="package-summary.html">Package</a></li>
 <li class="navBarCell1Rev">Class</li>
+<li><a href="class-use/CTRESwerveMotor.CTRE_slotIdx.html">Use</a></li>
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 <li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
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--- a/docs/frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html
@@ -2,10 +2,10 @@
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-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>CTRESwerveMotor</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
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@@ -27,7 +27,7 @@
    catch(err) {
    }
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-var data = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10,"i6":10,"i7":10,"i8":10,"i9":10,"i10":10,"i11":10,"i12":10,"i13":10,"i14":10,"i15":10,"i16":10};
+var data = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10,"i6":10,"i7":10,"i8":10,"i9":10,"i10":10,"i11":10,"i12":10,"i13":10,"i14":10,"i15":10,"i16":10,"i17":10};
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@@ -54,6 +54,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../../../../../../index.html">Overview</a></li>
 <li><a href="package-summary.html">Package</a></li>
 <li class="navBarCell1Rev">Class</li>
+<li><a href="class-use/CTRESwerveMotor.html">Use</a></li>
 <li><a href="package-tree.html">Tree</a></li>
 <li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
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@@ -245,7 +246,7 @@ extends <a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swerv
 </td>
 </tr>
 <tr class="altColor">
-<td class="colFirst"><code>private com.ctre.phoenix.motorcontrol.can.TalonFX</code></td>
+<td class="colFirst"><code>private com.ctre.phoenix.motorcontrol.can.WPI_TalonFX</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_motor">m_motor</a></span></code></th>
 <td class="colLast">&nbsp;</td>
 </tr>
@@ -274,7 +275,7 @@ extends <a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swerv
 <th class="colLast" scope="col">Description</th>
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 <tr class="altColor">
-<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.TalonFX,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">CTRESwerveMotor</a></span>&#8203;(com.ctre.phoenix.motorcontrol.can.TalonFX&nbsp;motor,
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.WPI_TalonFX,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">CTRESwerveMotor</a></span>&#8203;(com.ctre.phoenix.motorcontrol.can.WPI_TalonFX&nbsp;motor,
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               <a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a>&nbsp;type,
               double&nbsp;gearRatio,
@@ -415,12 +416,19 @@ extends <a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swerv
 </tr>
 <tr id="i15" class="rowColor">
 <td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setVoltage(double)">setVoltage</a></span>&#8203;(double&nbsp;voltage)</code></th>
+<td class="colLast">
+<div class="block">Set the voltage of the motor.</div>
+</td>
+</tr>
+<tr id="i16" class="altColor">
+<td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setVoltageCompensation(double)">setVoltageCompensation</a></span>&#8203;(double&nbsp;nominalVoltage)</code></th>
 <td class="colLast">
 <div class="block">Set the voltage compensation for the swerve module motor.</div>
 </td>
 </tr>
-<tr id="i16" class="altColor">
+<tr id="i17" class="rowColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#stop()">stop</a></span>()</code></th>
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-<pre>private final&nbsp;com.ctre.phoenix.motorcontrol.can.TalonFX m_motor</pre>
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 </li>
 </ul>
 <a id="m_moduleRadkV">
@@ -550,13 +558,13 @@ extends <a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swerv
 <!--   -->
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 <h3>Constructor Detail</h3>
-<a id="&lt;init&gt;(com.ctre.phoenix.motorcontrol.can.TalonFX,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">
+<a id="&lt;init&gt;(com.ctre.phoenix.motorcontrol.can.WPI_TalonFX,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">
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-<pre>public&nbsp;CTRESwerveMotor&#8203;(com.ctre.phoenix.motorcontrol.can.TalonFX&nbsp;motor,
+<pre>public&nbsp;CTRESwerveMotor&#8203;(com.ctre.phoenix.motorcontrol.can.WPI_TalonFX&nbsp;motor,
                       <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;?&gt;&nbsp;encoder,
                       <a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a>&nbsp;type,
                       double&nbsp;gearRatio,
@@ -687,6 +695,22 @@ extends <a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swerv
 </dl>
 </li>
 </ul>
+<a id="setVoltage(double)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>setVoltage</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;setVoltage&#8203;(double&nbsp;voltage)</pre>
+<div class="block">Set the voltage of the motor.</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
+<dd><code><a href="../SwerveMotor.html#setVoltage(double)">setVoltage</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>voltage</code> - Voltage to output.</dd>
+</dl>
+</li>
+</ul>
 <a id="get()">
 <!--   -->
 </a>
@@ -884,6 +908,7 @@ extends <a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swerv
 <li><a href="../../../../../../index.html">Overview</a></li>
 <li><a href="package-summary.html">Package</a></li>
 <li class="navBarCell1Rev">Class</li>
+<li><a href="class-use/CTRESwerveMotor.html">Use</a></li>
 <li><a href="package-tree.html">Tree</a></li>
 <li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
 <li><a href="../../../../../../index-files/index-1.html">Index</a></li>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.REV_slotIdx.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.REV_slotIdx.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
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 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
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 <script type="text/javascript" src="../../../../../../script.js"></script>
@@ -54,6 +54,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../../../../../../index.html">Overview</a></li>
 <li><a href="package-summary.html">Package</a></li>
 <li class="navBarCell1Rev">Class</li>
+<li><a href="class-use/REVSwerveMotor.REV_slotIdx.html">Use</a></li>
 <li><a href="package-tree.html">Tree</a></li>
 <li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
 <li><a href="../../../../../../index-files/index-1.html">Index</a></li>
@@ -386,6 +387,7 @@ not permitted.)</div>
 <li><a href="../../../../../../index.html">Overview</a></li>
 <li><a href="package-summary.html">Package</a></li>
 <li class="navBarCell1Rev">Class</li>
+<li><a href="class-use/REVSwerveMotor.REV_slotIdx.html">Use</a></li>
 <li><a href="package-tree.html">Tree</a></li>
 <li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
 <li><a href="../../../../../../index-files/index-1.html">Index</a></li>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>REVSwerveMotor</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../../../jquery/jquery-ui.css" title="Style">
 <script type="text/javascript" src="../../../../../../script.js"></script>
@@ -27,7 +27,7 @@
    catch(err) {
    }
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+var data = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10,"i6":10,"i7":10,"i8":10,"i9":10,"i10":10,"i11":10,"i12":10,"i13":10,"i14":10,"i15":10,"i16":10,"i17":10,"i18":10};
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@@ -54,6 +54,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../../../../../../index.html">Overview</a></li>
 <li><a href="package-summary.html">Package</a></li>
 <li class="navBarCell1Rev">Class</li>
+<li><a href="class-use/REVSwerveMotor.html">Use</a></li>
 <li><a href="package-tree.html">Tree</a></li>
 <li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
 <li><a href="../../../../../../index-files/index-1.html">Index</a></li>
@@ -426,12 +427,19 @@ extends <a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swerv
 </tr>
 <tr id="i16" class="altColor">
 <td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setVoltage(double)">setVoltage</a></span>&#8203;(double&nbsp;voltage)</code></th>
+<td class="colLast">
+<div class="block">Set the voltage of the motor.</div>
+</td>
+</tr>
+<tr id="i17" class="rowColor">
+<td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setVoltageCompensation(double)">setVoltageCompensation</a></span>&#8203;(double&nbsp;nominalVoltage)</code></th>
 <td class="colLast">
 <div class="block">Set the voltage compensation for the swerve module motor.</div>
 </td>
 </tr>
-<tr id="i17" class="rowColor">
+<tr id="i18" class="altColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#stop()">stop</a></span>()</code></th>
 <td class="colLast">
@@ -729,6 +737,22 @@ extends <a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swerv
 </dl>
 </li>
 </ul>
+<a id="setVoltage(double)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>setVoltage</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;setVoltage&#8203;(double&nbsp;voltage)</pre>
+<div class="block">Set the voltage of the motor.</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
+<dd><code><a href="../SwerveMotor.html#setVoltage(double)">setVoltage</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>voltage</code> - Voltage to output.</dd>
+</dl>
+</li>
+</ul>
 <a id="get()">
 <!--   -->
 </a>
@@ -947,6 +971,7 @@ extends <a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swerv
 <li><a href="../../../../../../index.html">Overview</a></li>
 <li><a href="package-summary.html">Package</a></li>
 <li class="navBarCell1Rev">Class</li>
+<li><a href="class-use/REVSwerveMotor.html">Use</a></li>
 <li><a href="package-tree.html">Tree</a></li>
 <li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
 <li><a href="../../../../../../index-files/index-1.html">Index</a></li>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/motors/class-use/CTRESwerveMotor.CTRE_pidIdx.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/motors/class-use/CTRESwerveMotor.CTRE_pidIdx.html
@@ -0,0 +1,202 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
+<title>Uses of Class frc.robot.subsystems.swervedrive.swerve.motors.CTRESwerveMotor.CTRE_pidIdx</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<meta name="dc.created" content="2023-01-31">
+<link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../../../../jquery/jquery-ui.css" title="Style">
+<script type="text/javascript" src="../../../../../../../script.js"></script>
+<script type="text/javascript" src="../../../../../../../jquery/jszip/dist/jszip.min.js"></script>
+<script type="text/javascript" src="../../../../../../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
+<!--[if IE]>
+<script type="text/javascript" src="../../../../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
+<![endif]-->
+<script type="text/javascript" src="../../../../../../../jquery/jquery-3.5.1.js"></script>
+<script type="text/javascript" src="../../../../../../../jquery/jquery-ui.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="Uses of Class frc.robot.subsystems.swervedrive.swerve.motors.CTRESwerveMotor.CTRE_pidIdx";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var pathtoroot = "../../../../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
+<nav role="navigation">
+<div class="fixedNav">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a id="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_top">
+<li><a href="../../../../../../../allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<ul class="navListSearch">
+<li><label for="search">SEARCH:</label>
+<input type="text" id="search" value="search" disabled="disabled">
+<input type="reset" id="reset" value="reset" disabled="disabled">
+</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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+</div>
+<div class="navPadding">&nbsp;</div>
+<script type="text/javascript"><!--
+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<main role="main">
+<div class="header">
+<h2 title="Uses of Class frc.robot.subsystems.swervedrive.swerve.motors.CTRESwerveMotor.CTRE_pidIdx" class="title">Uses of Class<br>frc.robot.subsystems.swervedrive.swerve.motors.CTRESwerveMotor.CTRE_pidIdx</h2>
+</div>
+<div class="classUseContainer">
+<ul class="blockList">
+<li class="blockList">
+<table class="useSummary">
+<caption><span>Packages that use <a href="../CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Package</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="#frc.robot.subsystems.swervedrive.swerve.motors">frc.robot.subsystems.swervedrive.swerve.motors</a></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</tbody>
+</table>
+</li>
+<li class="blockList">
+<ul class="blockList">
+<li class="blockList">
+<section role="region"><a id="frc.robot.subsystems.swervedrive.swerve.motors">
+<!--   -->
+</a>
+<h3>Uses of <a href="../CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a> in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve.motors</a></h3>
+<table class="useSummary">
+<caption><span>Methods in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve.motors</a> that return <a href="../CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><code>static <a href="../CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a></code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">CTRESwerveMotor.CTRE_pidIdx.</span><code><span class="memberNameLink"><a href="../CTRESwerveMotor.CTRE_pidIdx.html#valueOf(java.lang.String)">valueOf</a></span>&#8203;(java.lang.String&nbsp;name)</code></th>
+<td class="colLast">
+<div class="block">Returns the enum constant of this type with the specified name.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>static <a href="../CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a>[]</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">CTRESwerveMotor.CTRE_pidIdx.</span><code><span class="memberNameLink"><a href="../CTRESwerveMotor.CTRE_pidIdx.html#values()">values</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Returns an array containing the constants of this enum type, in
+the order they are declared.</div>
+</td>
+</tr>
+</tbody>
+</table>
+</section>
+</li>
+</ul>
+</li>
+</ul>
+</div>
+</main>
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_bottom">
+<li><a href="../../../../../../../allclasses.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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.bottom">
+<!--   -->
+</a></div>
+<!-- ======== END OF BOTTOM NAVBAR ======= -->
+</nav>
+</footer>
+</body>
+</html>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/motors/class-use/CTRESwerveMotor.CTRE_remoteSensor.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/motors/class-use/CTRESwerveMotor.CTRE_remoteSensor.html
@@ -0,0 +1,202 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
+<title>Uses of Class frc.robot.subsystems.swervedrive.swerve.motors.CTRESwerveMotor.CTRE_remoteSensor</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<meta name="dc.created" content="2023-01-31">
+<link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../../../../jquery/jquery-ui.css" title="Style">
+<script type="text/javascript" src="../../../../../../../script.js"></script>
+<script type="text/javascript" src="../../../../../../../jquery/jszip/dist/jszip.min.js"></script>
+<script type="text/javascript" src="../../../../../../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
+<!--[if IE]>
+<script type="text/javascript" src="../../../../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
+<![endif]-->
+<script type="text/javascript" src="../../../../../../../jquery/jquery-3.5.1.js"></script>
+<script type="text/javascript" src="../../../../../../../jquery/jquery-ui.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="Uses of Class frc.robot.subsystems.swervedrive.swerve.motors.CTRESwerveMotor.CTRE_remoteSensor";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var pathtoroot = "../../../../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
+<nav role="navigation">
+<div class="fixedNav">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a id="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_top">
+<li><a href="../../../../../../../allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<ul class="navListSearch">
+<li><label for="search">SEARCH:</label>
+<input type="text" id="search" value="search" disabled="disabled">
+<input type="reset" id="reset" value="reset" disabled="disabled">
+</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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+</div>
+<div class="navPadding">&nbsp;</div>
+<script type="text/javascript"><!--
+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<main role="main">
+<div class="header">
+<h2 title="Uses of Class frc.robot.subsystems.swervedrive.swerve.motors.CTRESwerveMotor.CTRE_remoteSensor" class="title">Uses of Class<br>frc.robot.subsystems.swervedrive.swerve.motors.CTRESwerveMotor.CTRE_remoteSensor</h2>
+</div>
+<div class="classUseContainer">
+<ul class="blockList">
+<li class="blockList">
+<table class="useSummary">
+<caption><span>Packages that use <a href="../CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_remoteSensor</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Package</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="#frc.robot.subsystems.swervedrive.swerve.motors">frc.robot.subsystems.swervedrive.swerve.motors</a></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</tbody>
+</table>
+</li>
+<li class="blockList">
+<ul class="blockList">
+<li class="blockList">
+<section role="region"><a id="frc.robot.subsystems.swervedrive.swerve.motors">
+<!--   -->
+</a>
+<h3>Uses of <a href="../CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_remoteSensor</a> in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve.motors</a></h3>
+<table class="useSummary">
+<caption><span>Methods in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve.motors</a> that return <a href="../CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_remoteSensor</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><code>static <a href="../CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_remoteSensor</a></code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">CTRESwerveMotor.CTRE_remoteSensor.</span><code><span class="memberNameLink"><a href="../CTRESwerveMotor.CTRE_remoteSensor.html#valueOf(java.lang.String)">valueOf</a></span>&#8203;(java.lang.String&nbsp;name)</code></th>
+<td class="colLast">
+<div class="block">Returns the enum constant of this type with the specified name.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>static <a href="../CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_remoteSensor</a>[]</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">CTRESwerveMotor.CTRE_remoteSensor.</span><code><span class="memberNameLink"><a href="../CTRESwerveMotor.CTRE_remoteSensor.html#values()">values</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Returns an array containing the constants of this enum type, in
+the order they are declared.</div>
+</td>
+</tr>
+</tbody>
+</table>
+</section>
+</li>
+</ul>
+</li>
+</ul>
+</div>
+</main>
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_bottom">
+<li><a href="../../../../../../../allclasses.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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.bottom">
+<!--   -->
+</a></div>
+<!-- ======== END OF BOTTOM NAVBAR ======= -->
+</nav>
+</footer>
+</body>
+</html>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/motors/class-use/CTRESwerveMotor.CTRE_slotIdx.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/motors/class-use/CTRESwerveMotor.CTRE_slotIdx.html
@@ -0,0 +1,202 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
+<title>Uses of Class frc.robot.subsystems.swervedrive.swerve.motors.CTRESwerveMotor.CTRE_slotIdx</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<meta name="dc.created" content="2023-01-31">
+<link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../../../../jquery/jquery-ui.css" title="Style">
+<script type="text/javascript" src="../../../../../../../script.js"></script>
+<script type="text/javascript" src="../../../../../../../jquery/jszip/dist/jszip.min.js"></script>
+<script type="text/javascript" src="../../../../../../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
+<!--[if IE]>
+<script type="text/javascript" src="../../../../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
+<![endif]-->
+<script type="text/javascript" src="../../../../../../../jquery/jquery-3.5.1.js"></script>
+<script type="text/javascript" src="../../../../../../../jquery/jquery-ui.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="Uses of Class frc.robot.subsystems.swervedrive.swerve.motors.CTRESwerveMotor.CTRE_slotIdx";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var pathtoroot = "../../../../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
+<nav role="navigation">
+<div class="fixedNav">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a id="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_top">
+<li><a href="../../../../../../../allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<ul class="navListSearch">
+<li><label for="search">SEARCH:</label>
+<input type="text" id="search" value="search" disabled="disabled">
+<input type="reset" id="reset" value="reset" disabled="disabled">
+</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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+</div>
+<div class="navPadding">&nbsp;</div>
+<script type="text/javascript"><!--
+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<main role="main">
+<div class="header">
+<h2 title="Uses of Class frc.robot.subsystems.swervedrive.swerve.motors.CTRESwerveMotor.CTRE_slotIdx" class="title">Uses of Class<br>frc.robot.subsystems.swervedrive.swerve.motors.CTRESwerveMotor.CTRE_slotIdx</h2>
+</div>
+<div class="classUseContainer">
+<ul class="blockList">
+<li class="blockList">
+<table class="useSummary">
+<caption><span>Packages that use <a href="../CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Package</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="#frc.robot.subsystems.swervedrive.swerve.motors">frc.robot.subsystems.swervedrive.swerve.motors</a></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</tbody>
+</table>
+</li>
+<li class="blockList">
+<ul class="blockList">
+<li class="blockList">
+<section role="region"><a id="frc.robot.subsystems.swervedrive.swerve.motors">
+<!--   -->
+</a>
+<h3>Uses of <a href="../CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a> in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve.motors</a></h3>
+<table class="useSummary">
+<caption><span>Methods in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve.motors</a> that return <a href="../CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><code>static <a href="../CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a></code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">CTRESwerveMotor.CTRE_slotIdx.</span><code><span class="memberNameLink"><a href="../CTRESwerveMotor.CTRE_slotIdx.html#valueOf(java.lang.String)">valueOf</a></span>&#8203;(java.lang.String&nbsp;name)</code></th>
+<td class="colLast">
+<div class="block">Returns the enum constant of this type with the specified name.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>static <a href="../CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a>[]</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">CTRESwerveMotor.CTRE_slotIdx.</span><code><span class="memberNameLink"><a href="../CTRESwerveMotor.CTRE_slotIdx.html#values()">values</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Returns an array containing the constants of this enum type, in
+the order they are declared.</div>
+</td>
+</tr>
+</tbody>
+</table>
+</section>
+</li>
+</ul>
+</li>
+</ul>
+</div>
+</main>
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_bottom">
+<li><a href="../../../../../../../allclasses.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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.bottom">
+<!--   -->
+</a></div>
+<!-- ======== END OF BOTTOM NAVBAR ======= -->
+</nav>
+</footer>
+</body>
+</html>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/motors/class-use/CTRESwerveMotor.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/motors/class-use/CTRESwerveMotor.html
@@ -0,0 +1,148 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
+<title>Uses of Class frc.robot.subsystems.swervedrive.swerve.motors.CTRESwerveMotor</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<meta name="dc.created" content="2023-01-31">
+<link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../../../../jquery/jquery-ui.css" title="Style">
+<script type="text/javascript" src="../../../../../../../script.js"></script>
+<script type="text/javascript" src="../../../../../../../jquery/jszip/dist/jszip.min.js"></script>
+<script type="text/javascript" src="../../../../../../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
+<!--[if IE]>
+<script type="text/javascript" src="../../../../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
+<![endif]-->
+<script type="text/javascript" src="../../../../../../../jquery/jquery-3.5.1.js"></script>
+<script type="text/javascript" src="../../../../../../../jquery/jquery-ui.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="Uses of Class frc.robot.subsystems.swervedrive.swerve.motors.CTRESwerveMotor";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var pathtoroot = "../../../../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
+<nav role="navigation">
+<div class="fixedNav">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a id="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_top">
+<li><a href="../../../../../../../allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<ul class="navListSearch">
+<li><label for="search">SEARCH:</label>
+<input type="text" id="search" value="search" disabled="disabled">
+<input type="reset" id="reset" value="reset" disabled="disabled">
+</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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+</div>
+<div class="navPadding">&nbsp;</div>
+<script type="text/javascript"><!--
+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<main role="main">
+<div class="header">
+<h2 title="Uses of Class frc.robot.subsystems.swervedrive.swerve.motors.CTRESwerveMotor" class="title">Uses of Class<br>frc.robot.subsystems.swervedrive.swerve.motors.CTRESwerveMotor</h2>
+</div>
+<div class="classUseContainer">No usage of frc.robot.subsystems.swervedrive.swerve.motors.CTRESwerveMotor</div>
+</main>
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_bottom">
+<li><a href="../../../../../../../allclasses.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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.bottom">
+<!--   -->
+</a></div>
+<!-- ======== END OF BOTTOM NAVBAR ======= -->
+</nav>
+</footer>
+</body>
+</html>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/motors/class-use/REVSwerveMotor.REV_slotIdx.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/motors/class-use/REVSwerveMotor.REV_slotIdx.html
@@ -0,0 +1,202 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
+<title>Uses of Class frc.robot.subsystems.swervedrive.swerve.motors.REVSwerveMotor.REV_slotIdx</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<meta name="dc.created" content="2023-01-31">
+<link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../../../../jquery/jquery-ui.css" title="Style">
+<script type="text/javascript" src="../../../../../../../script.js"></script>
+<script type="text/javascript" src="../../../../../../../jquery/jszip/dist/jszip.min.js"></script>
+<script type="text/javascript" src="../../../../../../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
+<!--[if IE]>
+<script type="text/javascript" src="../../../../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
+<![endif]-->
+<script type="text/javascript" src="../../../../../../../jquery/jquery-3.5.1.js"></script>
+<script type="text/javascript" src="../../../../../../../jquery/jquery-ui.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="Uses of Class frc.robot.subsystems.swervedrive.swerve.motors.REVSwerveMotor.REV_slotIdx";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var pathtoroot = "../../../../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
+<nav role="navigation">
+<div class="fixedNav">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a id="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_top">
+<li><a href="../../../../../../../allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<ul class="navListSearch">
+<li><label for="search">SEARCH:</label>
+<input type="text" id="search" value="search" disabled="disabled">
+<input type="reset" id="reset" value="reset" disabled="disabled">
+</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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+</div>
+<div class="navPadding">&nbsp;</div>
+<script type="text/javascript"><!--
+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<main role="main">
+<div class="header">
+<h2 title="Uses of Class frc.robot.subsystems.swervedrive.swerve.motors.REVSwerveMotor.REV_slotIdx" class="title">Uses of Class<br>frc.robot.subsystems.swervedrive.swerve.motors.REVSwerveMotor.REV_slotIdx</h2>
+</div>
+<div class="classUseContainer">
+<ul class="blockList">
+<li class="blockList">
+<table class="useSummary">
+<caption><span>Packages that use <a href="../REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Package</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="#frc.robot.subsystems.swervedrive.swerve.motors">frc.robot.subsystems.swervedrive.swerve.motors</a></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</tbody>
+</table>
+</li>
+<li class="blockList">
+<ul class="blockList">
+<li class="blockList">
+<section role="region"><a id="frc.robot.subsystems.swervedrive.swerve.motors">
+<!--   -->
+</a>
+<h3>Uses of <a href="../REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a> in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve.motors</a></h3>
+<table class="useSummary">
+<caption><span>Methods in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve.motors</a> that return <a href="../REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><code>static <a href="../REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a></code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">REVSwerveMotor.REV_slotIdx.</span><code><span class="memberNameLink"><a href="../REVSwerveMotor.REV_slotIdx.html#valueOf(java.lang.String)">valueOf</a></span>&#8203;(java.lang.String&nbsp;name)</code></th>
+<td class="colLast">
+<div class="block">Returns the enum constant of this type with the specified name.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>static <a href="../REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a>[]</code></td>
+<th class="colSecond" scope="row"><span class="typeNameLabel">REVSwerveMotor.REV_slotIdx.</span><code><span class="memberNameLink"><a href="../REVSwerveMotor.REV_slotIdx.html#values()">values</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Returns an array containing the constants of this enum type, in
+the order they are declared.</div>
+</td>
+</tr>
+</tbody>
+</table>
+</section>
+</li>
+</ul>
+</li>
+</ul>
+</div>
+</main>
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_bottom">
+<li><a href="../../../../../../../allclasses.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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.bottom">
+<!--   -->
+</a></div>
+<!-- ======== END OF BOTTOM NAVBAR ======= -->
+</nav>
+</footer>
+</body>
+</html>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/motors/class-use/REVSwerveMotor.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/motors/class-use/REVSwerveMotor.html
@@ -0,0 +1,148 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
+<title>Uses of Class frc.robot.subsystems.swervedrive.swerve.motors.REVSwerveMotor</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<meta name="dc.created" content="2023-01-31">
+<link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../../../../jquery/jquery-ui.css" title="Style">
+<script type="text/javascript" src="../../../../../../../script.js"></script>
+<script type="text/javascript" src="../../../../../../../jquery/jszip/dist/jszip.min.js"></script>
+<script type="text/javascript" src="../../../../../../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
+<!--[if IE]>
+<script type="text/javascript" src="../../../../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
+<![endif]-->
+<script type="text/javascript" src="../../../../../../../jquery/jquery-3.5.1.js"></script>
+<script type="text/javascript" src="../../../../../../../jquery/jquery-ui.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="Uses of Class frc.robot.subsystems.swervedrive.swerve.motors.REVSwerveMotor";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var pathtoroot = "../../../../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
+<nav role="navigation">
+<div class="fixedNav">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a id="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_top">
+<li><a href="../../../../../../../allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<ul class="navListSearch">
+<li><label for="search">SEARCH:</label>
+<input type="text" id="search" value="search" disabled="disabled">
+<input type="reset" id="reset" value="reset" disabled="disabled">
+</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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+</div>
+<div class="navPadding">&nbsp;</div>
+<script type="text/javascript"><!--
+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<main role="main">
+<div class="header">
+<h2 title="Uses of Class frc.robot.subsystems.swervedrive.swerve.motors.REVSwerveMotor" class="title">Uses of Class<br>frc.robot.subsystems.swervedrive.swerve.motors.REVSwerveMotor</h2>
+</div>
+<div class="classUseContainer">No usage of frc.robot.subsystems.swervedrive.swerve.motors.REVSwerveMotor</div>
+</main>
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../../index.html">Overview</a></li>
+<li><a href="../package-summary.html">Package</a></li>
+<li><a href="../REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">Class</a></li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="../package-tree.html">Tree</a></li>
+<li><a href="../../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_bottom">
+<li><a href="../../../../../../../allclasses.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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.bottom">
+<!--   -->
+</a></div>
+<!-- ======== END OF BOTTOM NAVBAR ======= -->
+</nav>
+</footer>
+</body>
+</html>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/motors/package-summary.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/motors/package-summary.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>frc.robot.subsystems.swervedrive.swerve.motors</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
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 <link rel="stylesheet" type="text/css" href="../../../../../../jquery/jquery-ui.css" title="Style">
 <script type="text/javascript" src="../../../../../../script.js"></script>
@@ -48,6 +48,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../../../../../../index.html">Overview</a></li>
 <li class="navBarCell1Rev">Package</li>
 <li>Class</li>
+<li><a href="package-use.html">Use</a></li>
 <li><a href="package-tree.html">Tree</a></li>
 <li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
 <li><a href="../../../../../../index-files/index-1.html">Index</a></li>
@@ -166,6 +167,7 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 <li><a href="../../../../../../index.html">Overview</a></li>
 <li class="navBarCell1Rev">Package</li>
 <li>Class</li>
+<li><a href="package-use.html">Use</a></li>
 <li><a href="package-tree.html">Tree</a></li>
 <li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
 <li><a href="../../../../../../index-files/index-1.html">Index</a></li>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/motors/package-tree.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/motors/package-tree.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>frc.robot.subsystems.swervedrive.swerve.motors Class Hierarchy</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../../../jquery/jquery-ui.css" title="Style">
 <script type="text/javascript" src="../../../../../../script.js"></script>
@@ -48,6 +48,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../../../../../../index.html">Overview</a></li>
 <li><a href="package-summary.html">Package</a></li>
 <li>Class</li>
+<li>Use</li>
 <li class="navBarCell1Rev">Tree</li>
 <li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
 <li><a href="../../../../../../index-files/index-1.html">Index</a></li>
@@ -148,6 +149,7 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 <li><a href="../../../../../../index.html">Overview</a></li>
 <li><a href="package-summary.html">Package</a></li>
 <li>Class</li>
+<li>Use</li>
 <li class="navBarCell1Rev">Tree</li>
 <li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
 <li><a href="../../../../../../index-files/index-1.html">Index</a></li>
--- a/docs/frc/robot/subsystems/swervedrive/swerve/motors/package-use.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/motors/package-use.html
@@ -0,0 +1,201 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
+<title>Uses of Package frc.robot.subsystems.swervedrive.swerve.motors</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<meta name="dc.created" content="2023-01-31">
+<link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../../../jquery/jquery-ui.css" title="Style">
+<script type="text/javascript" src="../../../../../../script.js"></script>
+<script type="text/javascript" src="../../../../../../jquery/jszip/dist/jszip.min.js"></script>
+<script type="text/javascript" src="../../../../../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
+<!--[if IE]>
+<script type="text/javascript" src="../../../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
+<![endif]-->
+<script type="text/javascript" src="../../../../../../jquery/jquery-3.5.1.js"></script>
+<script type="text/javascript" src="../../../../../../jquery/jquery-ui.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="Uses of Package frc.robot.subsystems.swervedrive.swerve.motors";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var pathtoroot = "../../../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
+<nav role="navigation">
+<div class="fixedNav">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a id="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../../../index.html">Overview</a></li>
+<li><a href="package-summary.html">Package</a></li>
+<li>Class</li>
+<li class="navBarCell1Rev">Use</li>
+<li><a href="package-tree.html">Tree</a></li>
+<li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../../../index-files/index-1.html">Index</a></li>
+<li><a href="../../../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_top">
+<li><a href="../../../../../../allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<ul class="navListSearch">
+<li><label for="search">SEARCH:</label>
+<input type="text" id="search" value="search" disabled="disabled">
+<input type="reset" id="reset" value="reset" disabled="disabled">
+</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>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+</div>
+<div class="navPadding">&nbsp;</div>
+<script type="text/javascript"><!--
+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<main role="main">
+<div class="header">
+<h1 title="Uses of Package frc.robot.subsystems.swervedrive.swerve.motors" class="title">Uses of Package<br>frc.robot.subsystems.swervedrive.swerve.motors</h1>
+</div>
+<div class="contentContainer">
+<ul class="blockList">
+<li class="blockList">
+<table class="useSummary">
+<caption><span>Packages that use <a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve.motors</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Package</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="#frc.robot.subsystems.swervedrive.swerve.motors">frc.robot.subsystems.swervedrive.swerve.motors</a></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</tbody>
+</table>
+</li>
+<li class="blockList"><a id="frc.robot.subsystems.swervedrive.swerve.motors">
+<!--   -->
+</a>
+<table class="useSummary">
+<caption><span>Classes in <a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve.motors</a> used by <a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve.motors</a></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">
+<th class="colFirst" scope="row"><a href="class-use/CTRESwerveMotor.CTRE_pidIdx.html#frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a></th>
+<td class="colLast">
+<div class="block">The TalonSRX PID to use onboard.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><a href="class-use/CTRESwerveMotor.CTRE_remoteSensor.html#frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_remoteSensor</a></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="class-use/CTRESwerveMotor.CTRE_slotIdx.html#frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a></th>
+<td class="colLast">
+<div class="block">The Talon SRX Slot profile used to configure the motor to use for the PID.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><a href="class-use/REVSwerveMotor.REV_slotIdx.html#frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a></th>
+<td class="colLast">
+<div class="block">REV Slots for PID configuration.</div>
+</td>
+</tr>
+</tbody>
+</table>
+</li>
+</ul>
+</div>
+</main>
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
+</a>
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-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../jquery/jquery-ui.css" title="Style">
 <script type="text/javascript" src="../script.js"></script>
@@ -48,6 +48,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
@@ -120,6 +121,7 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
--- a/docs/index-files/index-12.html
+++ b/docs/index-files/index-12.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>M-Index</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../jquery/jquery-ui.css" title="Style">
 <script type="text/javascript" src="../script.js"></script>
@@ -48,6 +48,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
@@ -100,7 +101,9 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 <dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html#m_allowableClosedLoopError">m_allowableClosedLoopError</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dt>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#m_angle">m_angle</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
-<dd>&nbsp;</dd>
+<dd>
+<div class="block">Robot desired angle in degrees.</div>
+</dd>
 <dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html#m_angleEncoder">m_angleEncoder</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dt>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#m_backLeft">m_backLeft</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
@@ -214,7 +217,9 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 <div class="block">Pigeon 2.0 centered on the robot.</div>
 </dd>
 <dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#m_prevChassisSpeed">m_prevChassisSpeed</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
-<dd>&nbsp;</dd>
+<dd>
+<div class="block">Previous chassis speeds for state-space modeling.</div>
+</dd>
 <dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html#m_prevCoR">m_prevCoR</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.kinematics.<a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveDriveKinematics2</a></dt>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html#m_secondaryPidSlot">m_secondaryPidSlot</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></dt>
@@ -232,7 +237,9 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 <dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html#m_timer">m_timer</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMDutyCycleEncoder</a></dt>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#m_timerPrev">m_timerPrev</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
-<dd>&nbsp;</dd>
+<dd>
+<div class="block">Previous timer value for state-space modeling.</div>
+</dd>
 <dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#m_turningLimiter">m_turningLimiter</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
 <dd>
 <div class="block">The slew rate limiters to make control smooth.</div>
@@ -276,6 +283,7 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
--- a/docs/index-files/index-13.html
+++ b/docs/index-files/index-13.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>N-Index</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../jquery/jquery-ui.css" title="Style">
 <script type="text/javascript" src="../script.js"></script>
@@ -48,6 +48,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
@@ -120,6 +121,7 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
--- a/docs/index-files/index-14.html
+++ b/docs/index-files/index-14.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>O-Index</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../jquery/jquery-ui.css" title="Style">
 <script type="text/javascript" src="../script.js"></script>
@@ -48,6 +48,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
@@ -135,6 +136,7 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
--- a/docs/index-files/index-15.html
+++ b/docs/index-files/index-15.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>P-Index</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../jquery/jquery-ui.css" title="Style">
 <script type="text/javascript" src="../script.js"></script>
@@ -48,6 +48,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
@@ -140,6 +141,7 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
--- a/docs/index-files/index-16.html
+++ b/docs/index-files/index-16.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>R-Index</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../jquery/jquery-ui.css" title="Style">
 <script type="text/javascript" src="../script.js"></script>
@@ -48,6 +48,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
@@ -198,6 +199,7 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
--- a/docs/index-files/index-17.html
+++ b/docs/index-files/index-17.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>S-Index</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../jquery/jquery-ui.css" title="Style">
 <script type="text/javascript" src="../script.js"></script>
@@ -48,6 +48,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
@@ -129,6 +130,10 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 <dd>
 <div class="block">Swerve drive function</div>
 </dd>
+<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#set(edu.wpi.first.math.kinematics.ChassisSpeeds)">set(ChassisSpeeds)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
+<dd>
+<div class="block">Set the swerve drive module states.</div>
+</dd>
 <dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#setAngle(double)">setAngle(double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
 <dd>
 <div class="block">Set the angle of the swerve module without feedforward.</div>
@@ -321,6 +326,18 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 <dd>
 <div class="block">Set the drive motor velocity in MPS.</div>
 </dd>
+<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html#setVoltage(double)">setVoltage(double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dt>
+<dd>
+<div class="block">Set the voltage of the motor.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html#setVoltage(double)">setVoltage(double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></dt>
+<dd>
+<div class="block">Set the voltage of the motor.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html#setVoltage(double)">setVoltage(double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></dt>
+<dd>
+<div class="block">Set the voltage of the motor.</div>
+</dd>
 <dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#setVoltageCompensation()">setVoltageCompensation()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
 <dd>
 <div class="block">Enable voltage compensation to the current battery voltage on all modules.</div>
@@ -499,6 +516,7 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
--- a/docs/index-files/index-18.html
+++ b/docs/index-files/index-18.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>T-Index</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../jquery/jquery-ui.css" title="Style">
 <script type="text/javascript" src="../script.js"></script>
@@ -48,6 +48,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
@@ -156,6 +157,7 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
--- a/docs/index-files/index-19.html
+++ b/docs/index-files/index-19.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>U-Index</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../jquery/jquery-ui.css" title="Style">
 <script type="text/javascript" src="../script.js"></script>
@@ -48,6 +48,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
@@ -126,6 +127,7 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
--- a/docs/index-files/index-2.html
+++ b/docs/index-files/index-2.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>B-Index</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../jquery/jquery-ui.css" title="Style">
 <script type="text/javascript" src="../script.js"></script>
@@ -48,6 +48,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
@@ -120,6 +121,7 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
--- a/docs/index-files/index-20.html
+++ b/docs/index-files/index-20.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>V-Index</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../jquery/jquery-ui.css" title="Style">
 <script type="text/javascript" src="../script.js"></script>
@@ -48,6 +48,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
@@ -183,6 +184,7 @@ the order they are declared.</div>
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
--- a/docs/index-files/index-21.html
+++ b/docs/index-files/index-21.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>W-Index</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../jquery/jquery-ui.css" title="Style">
 <script type="text/javascript" src="../script.js"></script>
@@ -48,6 +48,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
@@ -118,6 +119,7 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
--- a/docs/index-files/index-22.html
+++ b/docs/index-files/index-22.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>Z-Index</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../jquery/jquery-ui.css" title="Style">
 <script type="text/javascript" src="../script.js"></script>
@@ -48,6 +48,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
@@ -122,6 +123,7 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
--- a/docs/index-files/index-3.html
+++ b/docs/index-files/index-3.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>C-Index</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../jquery/jquery-ui.css" title="Style">
 <script type="text/javascript" src="../script.js"></script>
@@ -48,6 +48,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
@@ -179,7 +180,7 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 </dd>
 <dt><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors"><span class="typeNameLink">CTRESwerveMotor</span></a> - Class in <a href="../frc/robot/subsystems/swervedrive/swerve/motors/package-summary.html">frc.robot.subsystems.swervedrive.swerve.motors</a></dt>
 <dd>&nbsp;</dd>
-<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html#%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.TalonFX,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">CTRESwerveMotor(TalonFX, SwerveEncoder&lt;?&gt;, SwerveMotor.ModuleMotorType, double, double, double, double)</a></span> - Constructor for class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dt>
+<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html#%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.WPI_TalonFX,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">CTRESwerveMotor(WPI_TalonFX, SwerveEncoder&lt;?&gt;, SwerveMotor.ModuleMotorType, double, double, double, double)</a></span> - Constructor for class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors"><span class="typeNameLink">CTRESwerveMotor.CTRE_pidIdx</span></a> - Enum in <a href="../frc/robot/subsystems/swervedrive/swerve/motors/package-summary.html">frc.robot.subsystems.swervedrive.swerve.motors</a></dt>
 <dd>
@@ -208,6 +209,7 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
--- a/docs/index-files/index-4.html
+++ b/docs/index-files/index-4.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>D-Index</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../jquery/jquery-ui.css" title="Style">
 <script type="text/javascript" src="../script.js"></script>
@@ -48,6 +48,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
@@ -153,6 +154,7 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
--- a/docs/index-files/index-5.html
+++ b/docs/index-files/index-5.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>E-Index</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../jquery/jquery-ui.css" title="Style">
 <script type="text/javascript" src="../script.js"></script>
@@ -48,6 +48,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
@@ -116,6 +117,7 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
--- a/docs/index-files/index-6.html
+++ b/docs/index-files/index-6.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>F-Index</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../jquery/jquery-ui.css" title="Style">
 <script type="text/javascript" src="../script.js"></script>
@@ -48,6 +48,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
@@ -160,6 +161,7 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
--- a/docs/index-files/index-7.html
+++ b/docs/index-files/index-7.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>G-Index</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../jquery/jquery-ui.css" title="Style">
 <script type="text/javascript" src="../script.js"></script>
@@ -48,6 +48,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
@@ -248,6 +249,7 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
--- a/docs/index-files/index-8.html
+++ b/docs/index-files/index-8.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>H-Index</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../jquery/jquery-ui.css" title="Style">
 <script type="text/javascript" src="../script.js"></script>
@@ -48,6 +48,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
@@ -118,6 +119,7 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
--- a/docs/index-files/index-9.html
+++ b/docs/index-files/index-9.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>I-Index</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../jquery/jquery-ui.css" title="Style">
 <script type="text/javascript" src="../script.js"></script>
@@ -48,6 +48,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
@@ -134,6 +135,7 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 <li><a href="../index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="../overview-tree.html">Tree</a></li>
 <li><a href="../deprecated-list.html">Deprecated</a></li>
 <li class="navBarCell1Rev">Index</li>
--- a/docs/index.html
+++ b/docs/index.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>Overview</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="jquery/jquery-ui.css" title="Style">
 <script type="text/javascript" src="script.js"></script>
@@ -48,6 +48,7 @@ loadScripts(document, 'script');</script>
 <li class="navBarCell1Rev">Overview</li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="overview-tree.html">Tree</a></li>
 <li><a href="deprecated-list.html">Deprecated</a></li>
 <li><a href="index-files/index-1.html">Index</a></li>
@@ -134,6 +135,7 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 <li class="navBarCell1Rev">Overview</li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li><a href="overview-tree.html">Tree</a></li>
 <li><a href="deprecated-list.html">Deprecated</a></li>
 <li><a href="index-files/index-1.html">Index</a></li>
--- a/docs/member-search-index.js
+++ b/docs/member-search-index.js
--- a/docs/overview-summary.html
+++ b/docs/overview-summary.html
@@ -2,7 +2,7 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>Generated Documentation (Untitled)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <script type="text/javascript">window.location.replace('index.html')</script>
--- a/docs/overview-tree.html
+++ b/docs/overview-tree.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>Class Hierarchy</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="jquery/jquery-ui.css" title="Style">
 <script type="text/javascript" src="script.js"></script>
@@ -48,6 +48,7 @@ loadScripts(document, 'script');</script>
 <li><a href="index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li class="navBarCell1Rev">Tree</li>
 <li><a href="deprecated-list.html">Deprecated</a></li>
 <li><a href="index-files/index-1.html">Index</a></li>
@@ -184,6 +185,7 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 <li><a href="index.html">Overview</a></li>
 <li>Package</li>
 <li>Class</li>
+<li>Use</li>
 <li class="navBarCell1Rev">Tree</li>
 <li><a href="deprecated-list.html">Deprecated</a></li>
 <li><a href="index-files/index-1.html">Index</a></li>