From e21546c9990f30405429b43376110404c2dcb90d Mon Sep 17 00:00:00 2001
From: BrownGenius <49494444+BrownGenius@users.noreply.github.com>
Date: Mon, 25 Mar 2024 14:23:14 +0000
Subject: [PATCH] =?UTF-8?q?Deploying=20to=20javadoc=20from=20@=20DevilBotz?=
 =?UTF-8?q?2876/Crescendo2024@327846c1453ab099d9086a81a05984c665e679ca=20?=
 =?UTF-8?q?=F0=9F=9A=80?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 javadoc/allclasses-index.html                 |   4 +
 javadoc/constant-values.html                  |  10 +-
 .../frc/robot/commands/arm/ArmToPosition.html |  21 +-
 javadoc/frc/robot/subsystems/arm/Arm.html     |  13 +-
 .../subsystems/arm/ArmIO.ArmIOInputs.html     |  33 ++--
 .../robot/subsystems/arm/ArmSubsystem.html    |  12 +-
 .../drive/DriveIO.DriveIOInputs.html          | 186 ++++++++++++++++++
 .../frc/robot/subsystems/drive/DriveIO.html   | 177 +++++++++++++++++
 .../subsystems/drive/DriveSwerveYAGSL.html    |  37 ++--
 .../subsystems/drive/package-summary.html     |   4 +
 .../robot/subsystems/drive/package-tree.html  |   2 +
 javadoc/index-all.html                        |  38 +++-
 javadoc/member-search-index.js                |   2 +-
 javadoc/overview-tree.html                    |   2 +
 javadoc/type-search-index.js                  |   2 +-
 15 files changed, 484 insertions(+), 59 deletions(-)
 create mode 100644 javadoc/frc/robot/subsystems/drive/DriveIO.DriveIOInputs.html
 create mode 100644 javadoc/frc/robot/subsystems/drive/DriveIO.html

diff --git a/javadoc/allclasses-index.html b/javadoc/allclasses-index.html
index 05ceacc8..62cfe47d 100644
--- a/javadoc/allclasses-index.html
+++ b/javadoc/allclasses-index.html
@@ -133,6 +133,10 @@ <h1 title="All Classes and Interfaces" class="title">All Classes and Interfaces<
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
 <div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/drive/DriveCommand.html" title="class in frc.robot.commands.drive">DriveCommand</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/drive/DriveIO.html" title="class in frc.robot.subsystems.drive">DriveIO</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/drive/DriveIO.DriveIOInputs.html" title="class in frc.robot.subsystems.drive">DriveIO.DriveIOInputs</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
 <div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/controls/DriverControls.html" title="class in frc.robot.controls">DriverControls</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
 <div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/drive/DriveSwerveYAGSL.html" title="class in frc.robot.subsystems.drive">DriveSwerveYAGSL</a></div>
diff --git a/javadoc/constant-values.html b/javadoc/constant-values.html
index 0eac2559..7e6c97e1 100644
--- a/javadoc/constant-values.html
+++ b/javadoc/constant-values.html
@@ -66,10 +66,10 @@ <h2 title="frc.robot">frc.robot.*</h2>
 <div class="table-header col-last">Value</div>
 <div class="col-first even-row-color"><code id="frc.robot.BuildConstants.BUILD_DATE">public&nbsp;static&nbsp;final&nbsp;<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></code></div>
 <div class="col-second even-row-color"><code><a href="frc/robot/BuildConstants.html#BUILD_DATE">BUILD_DATE</a></code></div>
-<div class="col-last even-row-color"><code>"2024-03-22 13:14:27 EDT"</code></div>
+<div class="col-last even-row-color"><code>"2024-03-25 10:23:08 EDT"</code></div>
 <div class="col-first odd-row-color"><code id="frc.robot.BuildConstants.BUILD_UNIX_TIME">public&nbsp;static&nbsp;final&nbsp;long</code></div>
 <div class="col-second odd-row-color"><code><a href="frc/robot/BuildConstants.html#BUILD_UNIX_TIME">BUILD_UNIX_TIME</a></code></div>
-<div class="col-last odd-row-color"><code>1711127667356L</code></div>
+<div class="col-last odd-row-color"><code>1711376588213L</code></div>
 <div class="col-first even-row-color"><code id="frc.robot.BuildConstants.DIRTY">public&nbsp;static&nbsp;final&nbsp;int</code></div>
 <div class="col-second even-row-color"><code><a href="frc/robot/BuildConstants.html#DIRTY">DIRTY</a></code></div>
 <div class="col-last even-row-color"><code>0</code></div>
@@ -78,13 +78,13 @@ <h2 title="frc.robot">frc.robot.*</h2>
 <div class="col-last odd-row-color"><code>"main"</code></div>
 <div class="col-first even-row-color"><code id="frc.robot.BuildConstants.GIT_DATE">public&nbsp;static&nbsp;final&nbsp;<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></code></div>
 <div class="col-second even-row-color"><code><a href="frc/robot/BuildConstants.html#GIT_DATE">GIT_DATE</a></code></div>
-<div class="col-last even-row-color"><code>"2024-03-22 13:13:50 EDT"</code></div>
+<div class="col-last even-row-color"><code>"2024-03-25 10:22:24 EDT"</code></div>
 <div class="col-first odd-row-color"><code id="frc.robot.BuildConstants.GIT_REVISION">public&nbsp;static&nbsp;final&nbsp;int</code></div>
 <div class="col-second odd-row-color"><code><a href="frc/robot/BuildConstants.html#GIT_REVISION">GIT_REVISION</a></code></div>
-<div class="col-last odd-row-color"><code>86</code></div>
+<div class="col-last odd-row-color"><code>87</code></div>
 <div class="col-first even-row-color"><code id="frc.robot.BuildConstants.GIT_SHA">public&nbsp;static&nbsp;final&nbsp;<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></code></div>
 <div class="col-second even-row-color"><code><a href="frc/robot/BuildConstants.html#GIT_SHA">GIT_SHA</a></code></div>
-<div class="col-last even-row-color"><code>"9574bdd9cd59c38f1a63b802029dca5281fd0ac3"</code></div>
+<div class="col-last even-row-color"><code>"327846c1453ab099d9086a81a05984c665e679ca"</code></div>
 <div class="col-first odd-row-color"><code id="frc.robot.BuildConstants.MAVEN_GROUP">public&nbsp;static&nbsp;final&nbsp;<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></code></div>
 <div class="col-second odd-row-color"><code><a href="frc/robot/BuildConstants.html#MAVEN_GROUP">MAVEN_GROUP</a></code></div>
 <div class="col-last odd-row-color"><code>""</code></div>
diff --git a/javadoc/frc/robot/commands/arm/ArmToPosition.html b/javadoc/frc/robot/commands/arm/ArmToPosition.html
index 2f5fe455..3ceb9983 100644
--- a/javadoc/frc/robot/commands/arm/ArmToPosition.html
+++ b/javadoc/frc/robot/commands/arm/ArmToPosition.html
@@ -133,17 +133,20 @@ <h2>Method Summary</h2>
 <div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#end(boolean)" class="member-name-link">end</a><wbr>(boolean&nbsp;interrupted)</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
 <div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#initialize()" class="member-name-link">initialize</a>()</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#execute()" class="member-name-link">execute</a>()</code></div>
 <div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>boolean</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#isFinished()" class="member-name-link">isFinished</a>()</code></div>
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#initialize()" class="member-name-link">initialize</a>()</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>boolean</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#isFinished()" class="member-name-link">isFinished</a>()</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
 </div>
 </div>
 </div>
 <div class="inherited-list">
 <h3 id="methods-inherited-from-class-edu.wpi.first.wpilibj2.command.Command">Methods inherited from class&nbsp;edu.wpi.first.wpilibj2.command.Command</h3>
-<code>addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineWith, execute, finallyDo, finallyDo, getInterruptionBehavior, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, initSendable, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, runsWhenDisabled, schedule, setName, setSubsystem, unless, until, withInterruptBehavior, withName, withTimeout</code></div>
+<code>addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineWith, finallyDo, finallyDo, getInterruptionBehavior, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, initSendable, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, runsWhenDisabled, schedule, setName, setSubsystem, unless, until, withInterruptBehavior, withName, withTimeout</code></div>
 <div class="inherited-list">
 <h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
 <code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
@@ -184,6 +187,16 @@ <h3>initialize</h3>
 </section>
 </li>
 <li>
+<section class="detail" id="execute()">
+<h3>execute</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">execute</span>()</div>
+<dl class="notes">
+<dt>Overrides:</dt>
+<dd><code>execute</code>&nbsp;in class&nbsp;<code>edu.wpi.first.wpilibj2.command.Command</code></dd>
+</dl>
+</section>
+</li>
+<li>
 <section class="detail" id="isFinished()">
 <h3>isFinished</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">isFinished</span>()</div>
diff --git a/javadoc/frc/robot/subsystems/arm/Arm.html b/javadoc/frc/robot/subsystems/arm/Arm.html
index 2bce3dc6..fdff6a38 100644
--- a/javadoc/frc/robot/subsystems/arm/Arm.html
+++ b/javadoc/frc/robot/subsystems/arm/Arm.html
@@ -127,8 +127,12 @@ <h2>Method Summary</h2>
 <div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab5"><code><a href="#setAngle(double)" class="member-name-link">setAngle</a><wbr>(double&nbsp;degrees)</code></div>
 <div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab5">&nbsp;</div>
 <div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab5"><code>default void</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab5"><code><a href="#stow()" class="member-name-link">stow</a>()</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab5"><code><a href="#setAngle(double,double)" class="member-name-link">setAngle</a><wbr>(double&nbsp;degrees,
+ double&nbsp;velocityDegreesPerSecond)</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab5">&nbsp;</div>
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab5"><code>default void</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab5"><code><a href="#stow()" class="member-name-link">stow</a>()</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab5">&nbsp;</div>
 </div>
 </div>
 </div>
@@ -177,6 +181,13 @@ <h3>setAngle</h3>
 </section>
 </li>
 <li>
+<section class="detail" id="setAngle(double,double)">
+<h3>setAngle</h3>
+<div class="member-signature"><span class="modifiers">default</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setAngle</span><wbr><span class="parameters">(double&nbsp;degrees,
+ double&nbsp;velocityDegreesPerSecond)</span></div>
+</section>
+</li>
+<li>
 <section class="detail" id="isAbsoluteEncoderConnected()">
 <h3>isAbsoluteEncoderConnected</h3>
 <div class="member-signature"><span class="modifiers">default</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">isAbsoluteEncoderConnected</span>()</div>
diff --git a/javadoc/frc/robot/subsystems/arm/ArmIO.ArmIOInputs.html b/javadoc/frc/robot/subsystems/arm/ArmIO.ArmIOInputs.html
index b8d5b0bd..a486ab4c 100644
--- a/javadoc/frc/robot/subsystems/arm/ArmIO.ArmIOInputs.html
+++ b/javadoc/frc/robot/subsystems/arm/ArmIO.ArmIOInputs.html
@@ -108,20 +108,17 @@ <h2>Field Summary</h2>
 <div class="col-second odd-row-color"><code><a href="#limitLow" class="member-name-link">limitLow</a></code></div>
 <div class="col-last odd-row-color">&nbsp;</div>
 <div class="col-first even-row-color"><code>double</code></div>
-<div class="col-second even-row-color"><code><a href="#positionDegrees" class="member-name-link">positionDegrees</a></code></div>
+<div class="col-second even-row-color"><code><a href="#positionDegree" class="member-name-link">positionDegree</a></code></div>
 <div class="col-last even-row-color">&nbsp;</div>
 <div class="col-first odd-row-color"><code>double</code></div>
-<div class="col-second odd-row-color"><code><a href="#positionRads" class="member-name-link">positionRads</a></code></div>
+<div class="col-second odd-row-color"><code><a href="#positionRad" class="member-name-link">positionRad</a></code></div>
 <div class="col-last odd-row-color">&nbsp;</div>
 <div class="col-first even-row-color"><code>double</code></div>
 <div class="col-second even-row-color"><code><a href="#relativePositionDegrees" class="member-name-link">relativePositionDegrees</a></code></div>
 <div class="col-last even-row-color">&nbsp;</div>
 <div class="col-first odd-row-color"><code>double</code></div>
-<div class="col-second odd-row-color"><code><a href="#velocityDegreesPerSecond" class="member-name-link">velocityDegreesPerSecond</a></code></div>
+<div class="col-second odd-row-color"><code><a href="#velocityInDegrees" class="member-name-link">velocityInDegrees</a></code></div>
 <div class="col-last odd-row-color">&nbsp;</div>
-<div class="col-first even-row-color"><code>double</code></div>
-<div class="col-second even-row-color"><code><a href="#velocityRadsPerSecond" class="member-name-link">velocityRadsPerSecond</a></code></div>
-<div class="col-last even-row-color">&nbsp;</div>
 </div>
 </section>
 </li>
@@ -157,27 +154,21 @@ <h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from cl
 <h2>Field Details</h2>
 <ul class="member-list">
 <li>
-<section class="detail" id="positionRads">
-<h3>positionRads</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">positionRads</span></div>
-</section>
-</li>
-<li>
-<section class="detail" id="positionDegrees">
-<h3>positionDegrees</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">positionDegrees</span></div>
+<section class="detail" id="positionRad">
+<h3>positionRad</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">positionRad</span></div>
 </section>
 </li>
 <li>
-<section class="detail" id="velocityRadsPerSecond">
-<h3>velocityRadsPerSecond</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">velocityRadsPerSecond</span></div>
+<section class="detail" id="positionDegree">
+<h3>positionDegree</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">positionDegree</span></div>
 </section>
 </li>
 <li>
-<section class="detail" id="velocityDegreesPerSecond">
-<h3>velocityDegreesPerSecond</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">velocityDegreesPerSecond</span></div>
+<section class="detail" id="velocityInDegrees">
+<h3>velocityInDegrees</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">velocityInDegrees</span></div>
 </section>
 </li>
 <li>
diff --git a/javadoc/frc/robot/subsystems/arm/ArmSubsystem.html b/javadoc/frc/robot/subsystems/arm/ArmSubsystem.html
index e789668c..20be5de7 100644
--- a/javadoc/frc/robot/subsystems/arm/ArmSubsystem.html
+++ b/javadoc/frc/robot/subsystems/arm/ArmSubsystem.html
@@ -148,7 +148,8 @@ <h2>Method Summary</h2>
 <div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#runVoltage(double)" class="member-name-link">runVoltage</a><wbr>(double&nbsp;volts)</code></div>
 <div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
 <div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setAngle(double)" class="member-name-link">setAngle</a><wbr>(double&nbsp;degrees)</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setAngle(double,double)" class="member-name-link">setAngle</a><wbr>(double&nbsp;degrees,
+ double&nbsp;velocityDegreesPerSecond)</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
 <div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.wpilibj2.command.Command</code></div>
 <div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#sysIdDynamic(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction)" class="member-name-link">sysIdDynamic</a><wbr>(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction&nbsp;direction)</code></div>
@@ -174,7 +175,7 @@ <h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from cl
 <code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
 <div class="inherited-list">
 <h3 id="methods-inherited-from-class-frc.robot.subsystems.arm.Arm">Methods inherited from interface&nbsp;frc.robot.subsystems.arm.<a href="Arm.html" title="interface in frc.robot.subsystems.arm">Arm</a></h3>
-<code><a href="Arm.html#stow()">stow</a></code></div>
+<code><a href="Arm.html#setAngle(double)">setAngle</a>, <a href="Arm.html#stow()">stow</a></code></div>
 <div class="inherited-list">
 <h3 id="methods-inherited-from-class-edu.wpi.first.wpilibj2.command.Subsystem">Methods inherited from interface&nbsp;edu.wpi.first.wpilibj2.command.Subsystem</h3>
 <code>defer, getCurrentCommand, getDefaultCommand, getName, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd</code></div>
@@ -244,12 +245,13 @@ <h3>getTargetAngle</h3>
 </section>
 </li>
 <li>
-<section class="detail" id="setAngle(double)">
+<section class="detail" id="setAngle(double,double)">
 <h3>setAngle</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setAngle</span><wbr><span class="parameters">(double&nbsp;degrees)</span></div>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setAngle</span><wbr><span class="parameters">(double&nbsp;degrees,
+ double&nbsp;velocityDegreesPerSecond)</span></div>
 <dl class="notes">
 <dt>Specified by:</dt>
-<dd><code><a href="Arm.html#setAngle(double)">setAngle</a></code>&nbsp;in interface&nbsp;<code><a href="Arm.html" title="interface in frc.robot.subsystems.arm">Arm</a></code></dd>
+<dd><code><a href="Arm.html#setAngle(double,double)">setAngle</a></code>&nbsp;in interface&nbsp;<code><a href="Arm.html" title="interface in frc.robot.subsystems.arm">Arm</a></code></dd>
 </dl>
 </section>
 </li>
diff --git a/javadoc/frc/robot/subsystems/drive/DriveIO.DriveIOInputs.html b/javadoc/frc/robot/subsystems/drive/DriveIO.DriveIOInputs.html
new file mode 100644
index 00000000..acd43f2a
--- /dev/null
+++ b/javadoc/frc/robot/subsystems/drive/DriveIO.DriveIOInputs.html
@@ -0,0 +1,186 @@
+<!DOCTYPE HTML>
+<html lang="en">
+<head>
+<!-- Generated by javadoc (17) -->
+<title>DriveIO.DriveIOInputs (Crescendo2024 API)</title>
+<meta name="viewport" content="width=device-width, initial-scale=1">
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<meta name="description" content="declaration: package: frc.robot.subsystems.drive, class: DriveIO, class: DriveIOInputs">
+<meta name="generator" content="javadoc/ClassWriterImpl">
+<link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../script-dir/jquery-ui.min.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../jquery-ui.overrides.css" title="Style">
+<script type="text/javascript" src="../../../../script.js"></script>
+<script type="text/javascript" src="../../../../script-dir/jquery-3.6.1.min.js"></script>
+<script type="text/javascript" src="../../../../script-dir/jquery-ui.min.js"></script>
+</head>
+<body class="class-declaration-page">
+<script type="text/javascript">var pathtoroot = "../../../../";
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<div class="flex-box">
+<header role="banner" class="flex-header">
+<nav role="navigation">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="top-nav" id="navbar-top">
+<div class="skip-nav"><a href="#skip-navbar-top" title="Skip navigation links">Skip navigation links</a></div>
+<ul id="navbar-top-firstrow" class="nav-list" title="Navigation">
+<li><a href="../../../../index.html">Overview</a></li>
+<li><a href="package-summary.html">Package</a></li>
+<li class="nav-bar-cell1-rev">Class</li>
+<li><a href="package-tree.html">Tree</a></li>
+<li><a href="../../../../index-all.html">Index</a></li>
+<li><a href="../../../../help-doc.html#class">Help</a></li>
+</ul>
+</div>
+<div class="sub-nav">
+<div>
+<ul class="sub-nav-list">
+<li>Summary:&nbsp;</li>
+<li>Nested&nbsp;|&nbsp;</li>
+<li><a href="#field-summary">Field</a>&nbsp;|&nbsp;</li>
+<li><a href="#constructor-summary">Constr</a>&nbsp;|&nbsp;</li>
+<li><a href="#method-summary">Method</a></li>
+</ul>
+<ul class="sub-nav-list">
+<li>Detail:&nbsp;</li>
+<li><a href="#field-detail">Field</a>&nbsp;|&nbsp;</li>
+<li><a href="#constructor-detail">Constr</a>&nbsp;|&nbsp;</li>
+<li>Method</li>
+</ul>
+</div>
+<div class="nav-list-search"><label for="search-input">SEARCH:</label>
+<input type="text" id="search-input" value="search" disabled="disabled">
+<input type="reset" id="reset-button" value="reset" disabled="disabled">
+</div>
+</div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+<span class="skip-nav" id="skip-navbar-top"></span></nav>
+</header>
+<div class="flex-content">
+<main role="main">
+<!-- ======== START OF CLASS DATA ======== -->
+<div class="header">
+<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">frc.robot.subsystems.drive</a></div>
+<h1 title="Class DriveIO.DriveIOInputs" class="title">Class DriveIO.DriveIOInputs</h1>
+</div>
+<div class="inheritance" title="Inheritance Tree"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">java.lang.Object</a>
+<div class="inheritance">frc.robot.subsystems.drive.DriveIO.DriveIOInputs</div>
+</div>
+<section class="class-description" id="class-description">
+<dl class="notes">
+<dt>Enclosing class:</dt>
+<dd><a href="DriveIO.html" title="class in frc.robot.subsystems.drive">DriveIO</a></dd>
+</dl>
+<hr>
+<div class="type-signature"><span class="modifiers">public static class </span><span class="element-name type-name-label">DriveIO.DriveIOInputs</span>
+<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
+</section>
+<section class="summary">
+<ul class="summary-list">
+<!-- =========== FIELD SUMMARY =========== -->
+<li>
+<section class="field-summary" id="field-summary">
+<h2>Field Summary</h2>
+<div class="caption"><span>Fields</span></div>
+<div class="summary-table three-column-summary">
+<div class="table-header col-first">Modifier and Type</div>
+<div class="table-header col-second">Field</div>
+<div class="table-header col-last">Description</div>
+<div class="col-first even-row-color"><code>edu.wpi.first.math.geometry.Pose2d</code></div>
+<div class="col-second even-row-color"><code><a href="#pose" class="member-name-link">pose</a></code></div>
+<div class="col-last even-row-color">&nbsp;</div>
+<div class="col-first odd-row-color"><code>double</code></div>
+<div class="col-second odd-row-color"><code><a href="#poseRotInDegrees" class="member-name-link">poseRotInDegrees</a></code></div>
+<div class="col-last odd-row-color">&nbsp;</div>
+<div class="col-first even-row-color"><code>double</code></div>
+<div class="col-second even-row-color"><code><a href="#poseX" class="member-name-link">poseX</a></code></div>
+<div class="col-last even-row-color">&nbsp;</div>
+<div class="col-first odd-row-color"><code>double</code></div>
+<div class="col-second odd-row-color"><code><a href="#poseY" class="member-name-link">poseY</a></code></div>
+<div class="col-last odd-row-color">&nbsp;</div>
+</div>
+</section>
+</li>
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<li>
+<section class="constructor-summary" id="constructor-summary">
+<h2>Constructor Summary</h2>
+<div class="caption"><span>Constructors</span></div>
+<div class="summary-table two-column-summary">
+<div class="table-header col-first">Constructor</div>
+<div class="table-header col-last">Description</div>
+<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E()" class="member-name-link">DriveIOInputs</a>()</code></div>
+<div class="col-last even-row-color">&nbsp;</div>
+</div>
+</section>
+</li>
+<!-- ========== METHOD SUMMARY =========== -->
+<li>
+<section class="method-summary" id="method-summary">
+<h2>Method Summary</h2>
+<div class="inherited-list">
+<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
+<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
+</section>
+</li>
+</ul>
+</section>
+<section class="details">
+<ul class="details-list">
+<!-- ============ FIELD DETAIL =========== -->
+<li>
+<section class="field-details" id="field-detail">
+<h2>Field Details</h2>
+<ul class="member-list">
+<li>
+<section class="detail" id="pose">
+<h3>pose</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Pose2d</span>&nbsp;<span class="element-name">pose</span></div>
+</section>
+</li>
+<li>
+<section class="detail" id="poseX">
+<h3>poseX</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">poseX</span></div>
+</section>
+</li>
+<li>
+<section class="detail" id="poseY">
+<h3>poseY</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">poseY</span></div>
+</section>
+</li>
+<li>
+<section class="detail" id="poseRotInDegrees">
+<h3>poseRotInDegrees</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">poseRotInDegrees</span></div>
+</section>
+</li>
+</ul>
+</section>
+</li>
+<!-- ========= CONSTRUCTOR DETAIL ======== -->
+<li>
+<section class="constructor-details" id="constructor-detail">
+<h2>Constructor Details</h2>
+<ul class="member-list">
+<li>
+<section class="detail" id="&lt;init&gt;()">
+<h3>DriveIOInputs</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">DriveIOInputs</span>()</div>
+</section>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</section>
+<!-- ========= END OF CLASS DATA ========= -->
+</main>
+</div>
+</div>
+</body>
+</html>
diff --git a/javadoc/frc/robot/subsystems/drive/DriveIO.html b/javadoc/frc/robot/subsystems/drive/DriveIO.html
new file mode 100644
index 00000000..fd6d52e5
--- /dev/null
+++ b/javadoc/frc/robot/subsystems/drive/DriveIO.html
@@ -0,0 +1,177 @@
+<!DOCTYPE HTML>
+<html lang="en">
+<head>
+<!-- Generated by javadoc (17) -->
+<title>DriveIO (Crescendo2024 API)</title>
+<meta name="viewport" content="width=device-width, initial-scale=1">
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<meta name="description" content="declaration: package: frc.robot.subsystems.drive, class: DriveIO">
+<meta name="generator" content="javadoc/ClassWriterImpl">
+<link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../script-dir/jquery-ui.min.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../jquery-ui.overrides.css" title="Style">
+<script type="text/javascript" src="../../../../script.js"></script>
+<script type="text/javascript" src="../../../../script-dir/jquery-3.6.1.min.js"></script>
+<script type="text/javascript" src="../../../../script-dir/jquery-ui.min.js"></script>
+</head>
+<body class="class-declaration-page">
+<script type="text/javascript">var evenRowColor = "even-row-color";
+var oddRowColor = "odd-row-color";
+var tableTab = "table-tab";
+var activeTableTab = "active-table-tab";
+var pathtoroot = "../../../../";
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<div class="flex-box">
+<header role="banner" class="flex-header">
+<nav role="navigation">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="top-nav" id="navbar-top">
+<div class="skip-nav"><a href="#skip-navbar-top" title="Skip navigation links">Skip navigation links</a></div>
+<ul id="navbar-top-firstrow" class="nav-list" title="Navigation">
+<li><a href="../../../../index.html">Overview</a></li>
+<li><a href="package-summary.html">Package</a></li>
+<li class="nav-bar-cell1-rev">Class</li>
+<li><a href="package-tree.html">Tree</a></li>
+<li><a href="../../../../index-all.html">Index</a></li>
+<li><a href="../../../../help-doc.html#class">Help</a></li>
+</ul>
+</div>
+<div class="sub-nav">
+<div>
+<ul class="sub-nav-list">
+<li>Summary:&nbsp;</li>
+<li><a href="#nested-class-summary">Nested</a>&nbsp;|&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
+<li><a href="#constructor-summary">Constr</a>&nbsp;|&nbsp;</li>
+<li><a href="#method-summary">Method</a></li>
+</ul>
+<ul class="sub-nav-list">
+<li>Detail:&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
+<li><a href="#constructor-detail">Constr</a>&nbsp;|&nbsp;</li>
+<li><a href="#method-detail">Method</a></li>
+</ul>
+</div>
+<div class="nav-list-search"><label for="search-input">SEARCH:</label>
+<input type="text" id="search-input" value="search" disabled="disabled">
+<input type="reset" id="reset-button" value="reset" disabled="disabled">
+</div>
+</div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+<span class="skip-nav" id="skip-navbar-top"></span></nav>
+</header>
+<div class="flex-content">
+<main role="main">
+<!-- ======== START OF CLASS DATA ======== -->
+<div class="header">
+<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">frc.robot.subsystems.drive</a></div>
+<h1 title="Class DriveIO" class="title">Class DriveIO</h1>
+</div>
+<div class="inheritance" title="Inheritance Tree"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">java.lang.Object</a>
+<div class="inheritance">frc.robot.subsystems.drive.DriveIO</div>
+</div>
+<section class="class-description" id="class-description">
+<hr>
+<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">DriveIO</span>
+<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
+</section>
+<section class="summary">
+<ul class="summary-list">
+<!-- ======== NESTED CLASS SUMMARY ======== -->
+<li>
+<section class="nested-class-summary" id="nested-class-summary">
+<h2>Nested Class Summary</h2>
+<div class="caption"><span>Nested Classes</span></div>
+<div class="summary-table three-column-summary">
+<div class="table-header col-first">Modifier and Type</div>
+<div class="table-header col-second">Class</div>
+<div class="table-header col-last">Description</div>
+<div class="col-first even-row-color"><code>static class&nbsp;</code></div>
+<div class="col-second even-row-color"><code><a href="DriveIO.DriveIOInputs.html" class="type-name-link" title="class in frc.robot.subsystems.drive">DriveIO.DriveIOInputs</a></code></div>
+<div class="col-last even-row-color">&nbsp;</div>
+</div>
+</section>
+</li>
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<li>
+<section class="constructor-summary" id="constructor-summary">
+<h2>Constructor Summary</h2>
+<div class="caption"><span>Constructors</span></div>
+<div class="summary-table two-column-summary">
+<div class="table-header col-first">Constructor</div>
+<div class="table-header col-last">Description</div>
+<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E()" class="member-name-link">DriveIO</a>()</code></div>
+<div class="col-last even-row-color">&nbsp;</div>
+</div>
+</section>
+</li>
+<!-- ========== METHOD SUMMARY =========== -->
+<li>
+<section class="method-summary" id="method-summary">
+<h2>Method Summary</h2>
+<div id="method-summary-table">
+<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab4" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab4', 3)" class="table-tab">Concrete Methods</button></div>
+<div id="method-summary-table.tabpanel" role="tabpanel">
+<div class="summary-table three-column-summary" aria-labelledby="method-summary-table-tab0">
+<div class="table-header col-first">Modifier and Type</div>
+<div class="table-header col-second">Method</div>
+<div class="table-header col-last">Description</div>
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#updateInputs(frc.robot.subsystems.drive.DriveIO.DriveIOInputs,swervelib.SwerveDrive)" class="member-name-link">updateInputs</a><wbr>(<a href="DriveIO.DriveIOInputs.html" title="class in frc.robot.subsystems.drive">DriveIO.DriveIOInputs</a>&nbsp;inputs,
+ swervelib.SwerveDrive&nbsp;swerveDrive)</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="block">Updates the set of loggable inputs.</div>
+</div>
+</div>
+</div>
+</div>
+<div class="inherited-list">
+<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
+<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
+</section>
+</li>
+</ul>
+</section>
+<section class="details">
+<ul class="details-list">
+<!-- ========= CONSTRUCTOR DETAIL ======== -->
+<li>
+<section class="constructor-details" id="constructor-detail">
+<h2>Constructor Details</h2>
+<ul class="member-list">
+<li>
+<section class="detail" id="&lt;init&gt;()">
+<h3>DriveIO</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">DriveIO</span>()</div>
+</section>
+</li>
+</ul>
+</section>
+</li>
+<!-- ============ METHOD DETAIL ========== -->
+<li>
+<section class="method-details" id="method-detail">
+<h2>Method Details</h2>
+<ul class="member-list">
+<li>
+<section class="detail" id="updateInputs(frc.robot.subsystems.drive.DriveIO.DriveIOInputs,swervelib.SwerveDrive)">
+<h3>updateInputs</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">updateInputs</span><wbr><span class="parameters">(<a href="DriveIO.DriveIOInputs.html" title="class in frc.robot.subsystems.drive">DriveIO.DriveIOInputs</a>&nbsp;inputs,
+ swervelib.SwerveDrive&nbsp;swerveDrive)</span></div>
+<div class="block">Updates the set of loggable inputs.</div>
+</section>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</section>
+<!-- ========= END OF CLASS DATA ========= -->
+</main>
+</div>
+</div>
+</body>
+</html>
diff --git a/javadoc/frc/robot/subsystems/drive/DriveSwerveYAGSL.html b/javadoc/frc/robot/subsystems/drive/DriveSwerveYAGSL.html
index b9339ca8..6b727ec8 100644
--- a/javadoc/frc/robot/subsystems/drive/DriveSwerveYAGSL.html
+++ b/javadoc/frc/robot/subsystems/drive/DriveSwerveYAGSL.html
@@ -135,27 +135,30 @@ <h2>Method Summary</h2>
 <div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#lockPose()" class="member-name-link">lockPose</a>()</code></div>
 <div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
 <div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#resetOdometry()" class="member-name-link">resetOdometry</a>()</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#periodic()" class="member-name-link">periodic</a>()</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
 <div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#runVelocity(edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">runVelocity</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;velocity)</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#resetOdometry()" class="member-name-link">resetOdometry</a>()</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#runVelocity(edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">runVelocity</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;velocity)</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Sets the desired chassis speed</div>
 </div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setFieldOrientedDrive(boolean)" class="member-name-link">setFieldOrientedDrive</a><wbr>(boolean&nbsp;enable)</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
 <div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setPoseToMatchField()" class="member-name-link">setPoseToMatchField</a>()</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setFieldOrientedDrive(boolean)" class="member-name-link">setFieldOrientedDrive</a><wbr>(boolean&nbsp;enable)</code></div>
 <div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.wpilibj2.command.Command</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#sysIdAngleMotorCommand()" class="member-name-link">sysIdAngleMotorCommand</a>()</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
-<div class="block">Command to characterize the robot angle motors using SysId</div>
-</div>
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setPoseToMatchField()" class="member-name-link">setPoseToMatchField</a>()</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
 <div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.wpilibj2.command.Command</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#sysIdDriveMotorCommand()" class="member-name-link">sysIdDriveMotorCommand</a>()</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#sysIdAngleMotorCommand()" class="member-name-link">sysIdAngleMotorCommand</a>()</code></div>
 <div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="block">Command to characterize the robot angle motors using SysId</div>
+</div>
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.wpilibj2.command.Command</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#sysIdDriveMotorCommand()" class="member-name-link">sysIdDriveMotorCommand</a>()</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Command to characterize the robot drive motors using SysId</div>
 </div>
 </div>
@@ -169,7 +172,7 @@ <h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from cl
 <code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
 <div class="inherited-list">
 <h3 id="methods-inherited-from-class-edu.wpi.first.wpilibj2.command.Subsystem">Methods inherited from interface&nbsp;edu.wpi.first.wpilibj2.command.Subsystem</h3>
-<code>defer, getCurrentCommand, getDefaultCommand, periodic, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd</code></div>
+<code>defer, getCurrentCommand, getDefaultCommand, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd</code></div>
 </section>
 </li>
 </ul>
@@ -307,6 +310,12 @@ <h3>lockPose</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">lockPose</span>()</div>
 </section>
 </li>
+<li>
+<section class="detail" id="periodic()">
+<h3>periodic</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">periodic</span>()</div>
+</section>
+</li>
 </ul>
 </section>
 </li>
diff --git a/javadoc/frc/robot/subsystems/drive/package-summary.html b/javadoc/frc/robot/subsystems/drive/package-summary.html
index 26e41496..c9e7e265 100644
--- a/javadoc/frc/robot/subsystems/drive/package-summary.html
+++ b/javadoc/frc/robot/subsystems/drive/package-summary.html
@@ -76,6 +76,10 @@ <h1 title="Package frc.robot.subsystems.drive" class="title">Package frc.robot.s
 <div class="col-last even-row-color class-summary class-summary-tab1">&nbsp;</div>
 <div class="col-first odd-row-color class-summary class-summary-tab2"><a href="DriveBase.html" title="class in frc.robot.subsystems.drive">DriveBase</a></div>
 <div class="col-last odd-row-color class-summary class-summary-tab2">&nbsp;</div>
+<div class="col-first even-row-color class-summary class-summary-tab2"><a href="DriveIO.html" title="class in frc.robot.subsystems.drive">DriveIO</a></div>
+<div class="col-last even-row-color class-summary class-summary-tab2">&nbsp;</div>
+<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="DriveIO.DriveIOInputs.html" title="class in frc.robot.subsystems.drive">DriveIO.DriveIOInputs</a></div>
+<div class="col-last odd-row-color class-summary class-summary-tab2">&nbsp;</div>
 <div class="col-first even-row-color class-summary class-summary-tab2"><a href="DriveSwerveYAGSL.html" title="class in frc.robot.subsystems.drive">DriveSwerveYAGSL</a></div>
 <div class="col-last even-row-color class-summary class-summary-tab2">&nbsp;</div>
 <div class="col-first odd-row-color class-summary class-summary-tab2"><a href="DriveTrain.html" title="class in frc.robot.subsystems.drive">DriveTrain</a></div>
diff --git a/javadoc/frc/robot/subsystems/drive/package-tree.html b/javadoc/frc/robot/subsystems/drive/package-tree.html
index 0c0cd83a..efcb94de 100644
--- a/javadoc/frc/robot/subsystems/drive/package-tree.html
+++ b/javadoc/frc/robot/subsystems/drive/package-tree.html
@@ -58,6 +58,8 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 <ul>
 <li class="circle">java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" class="type-name-link external-link" title="class or interface in java.lang">Object</a>
 <ul>
+<li class="circle">frc.robot.subsystems.drive.<a href="DriveIO.html" class="type-name-link" title="class in frc.robot.subsystems.drive">DriveIO</a></li>
+<li class="circle">frc.robot.subsystems.drive.<a href="DriveIO.DriveIOInputs.html" class="type-name-link" title="class in frc.robot.subsystems.drive">DriveIO.DriveIOInputs</a></li>
 <li class="circle">edu.wpi.first.wpilibj2.command.SubsystemBase (implements edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem)
 <ul>
 <li class="circle">frc.robot.subsystems.drive.<a href="DriveBase.html" class="type-name-link" title="class in frc.robot.subsystems.drive">DriveBase</a> (implements frc.robot.subsystems.drive.<a href="Drive.html" title="interface in frc.robot.subsystems.drive">Drive</a>)
diff --git a/javadoc/index-all.html b/javadoc/index-all.html
index 856f283f..a2b3240b 100644
--- a/javadoc/index-all.html
+++ b/javadoc/index-all.html
@@ -323,6 +323,14 @@ <h2 class="title" id="I:D">D</h2>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/config/RobotConfig.DriveConstants.html#%3Cinit%3E()" class="member-name-link">DriveConstants()</a> - Constructor for class frc.robot.config.<a href="frc/robot/config/RobotConfig.DriveConstants.html" title="class in frc.robot.config">RobotConfig.DriveConstants</a></dt>
 <dd>&nbsp;</dd>
+<dt><a href="frc/robot/subsystems/drive/DriveIO.html" class="type-name-link" title="class in frc.robot.subsystems.drive">DriveIO</a> - Class in <a href="frc/robot/subsystems/drive/package-summary.html">frc.robot.subsystems.drive</a></dt>
+<dd>&nbsp;</dd>
+<dt><a href="frc/robot/subsystems/drive/DriveIO.html#%3Cinit%3E()" class="member-name-link">DriveIO()</a> - Constructor for class frc.robot.subsystems.drive.<a href="frc/robot/subsystems/drive/DriveIO.html" title="class in frc.robot.subsystems.drive">DriveIO</a></dt>
+<dd>&nbsp;</dd>
+<dt><a href="frc/robot/subsystems/drive/DriveIO.DriveIOInputs.html" class="type-name-link" title="class in frc.robot.subsystems.drive">DriveIO.DriveIOInputs</a> - Class in <a href="frc/robot/subsystems/drive/package-summary.html">frc.robot.subsystems.drive</a></dt>
+<dd>&nbsp;</dd>
+<dt><a href="frc/robot/subsystems/drive/DriveIO.DriveIOInputs.html#%3Cinit%3E()" class="member-name-link">DriveIOInputs()</a> - Constructor for class frc.robot.subsystems.drive.<a href="frc/robot/subsystems/drive/DriveIO.DriveIOInputs.html" title="class in frc.robot.subsystems.drive">DriveIO.DriveIOInputs</a></dt>
+<dd>&nbsp;</dd>
 <dt><a href="frc/robot/controls/DriverControls.html" class="type-name-link" title="class in frc.robot.controls">DriverControls</a> - Class in <a href="frc/robot/controls/package-summary.html">frc.robot.controls</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/controls/DriverControls.html#%3Cinit%3E()" class="member-name-link">DriverControls()</a> - Constructor for class frc.robot.controls.<a href="frc/robot/controls/DriverControls.html" title="class in frc.robot.controls">DriverControls</a></dt>
@@ -376,6 +384,8 @@ <h2 class="title" id="I:E">E</h2>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/commands/arm/ArmCommand.html#execute()" class="member-name-link">execute()</a> - Method in class frc.robot.commands.arm.<a href="frc/robot/commands/arm/ArmCommand.html" title="class in frc.robot.commands.arm">ArmCommand</a></dt>
 <dd>&nbsp;</dd>
+<dt><a href="frc/robot/commands/arm/ArmToPosition.html#execute()" class="member-name-link">execute()</a> - Method in class frc.robot.commands.arm.<a href="frc/robot/commands/arm/ArmToPosition.html" title="class in frc.robot.commands.arm">ArmToPosition</a></dt>
+<dd>&nbsp;</dd>
 <dt><a href="frc/robot/commands/auto/AutoIndexPiece.html#execute()" class="member-name-link">execute()</a> - Method in class frc.robot.commands.auto.<a href="frc/robot/commands/auto/AutoIndexPiece.html" title="class in frc.robot.commands.auto">AutoIndexPiece</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/commands/debug/TestShooterAngle.html#execute()" class="member-name-link">execute()</a> - Method in class frc.robot.commands.debug.<a href="frc/robot/commands/debug/TestShooterAngle.html" title="class in frc.robot.commands.debug">TestShooterAngle</a></dt>
@@ -923,6 +933,8 @@ <h2 class="title" id="I:P">P</h2>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/subsystems/climber/ClimberSubsystem.html#periodic()" class="member-name-link">periodic()</a> - Method in class frc.robot.subsystems.climber.<a href="frc/robot/subsystems/climber/ClimberSubsystem.html" title="class in frc.robot.subsystems.climber">ClimberSubsystem</a></dt>
 <dd>&nbsp;</dd>
+<dt><a href="frc/robot/subsystems/drive/DriveSwerveYAGSL.html#periodic()" class="member-name-link">periodic()</a> - Method in class frc.robot.subsystems.drive.<a href="frc/robot/subsystems/drive/DriveSwerveYAGSL.html" title="class in frc.robot.subsystems.drive">DriveSwerveYAGSL</a></dt>
+<dd>&nbsp;</dd>
 <dt><a href="frc/robot/subsystems/drive/DriveTrain.html#periodic()" class="member-name-link">periodic()</a> - Method in class frc.robot.subsystems.drive.<a href="frc/robot/subsystems/drive/DriveTrain.html" title="class in frc.robot.subsystems.drive">DriveTrain</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/subsystems/intake/IntakeSubsystem.html#periodic()" class="member-name-link">periodic()</a> - Method in class frc.robot.subsystems.intake.<a href="frc/robot/subsystems/intake/IntakeSubsystem.html" title="class in frc.robot.subsystems.intake">IntakeSubsystem</a></dt>
@@ -975,14 +987,22 @@ <h2 class="title" id="I:P">P</h2>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/controls/PitControls.html#%3Cinit%3E()" class="member-name-link">PitControls()</a> - Constructor for class frc.robot.controls.<a href="frc/robot/controls/PitControls.html" title="class in frc.robot.controls">PitControls</a></dt>
 <dd>&nbsp;</dd>
-<dt><a href="frc/robot/subsystems/arm/ArmIO.ArmIOInputs.html#positionDegrees" class="member-name-link">positionDegrees</a> - Variable in class frc.robot.subsystems.arm.<a href="frc/robot/subsystems/arm/ArmIO.ArmIOInputs.html" title="class in frc.robot.subsystems.arm">ArmIO.ArmIOInputs</a></dt>
+<dt><a href="frc/robot/subsystems/drive/DriveIO.DriveIOInputs.html#pose" class="member-name-link">pose</a> - Variable in class frc.robot.subsystems.drive.<a href="frc/robot/subsystems/drive/DriveIO.DriveIOInputs.html" title="class in frc.robot.subsystems.drive">DriveIO.DriveIOInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><a href="frc/robot/subsystems/drive/DriveIO.DriveIOInputs.html#poseRotInDegrees" class="member-name-link">poseRotInDegrees</a> - Variable in class frc.robot.subsystems.drive.<a href="frc/robot/subsystems/drive/DriveIO.DriveIOInputs.html" title="class in frc.robot.subsystems.drive">DriveIO.DriveIOInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><a href="frc/robot/subsystems/drive/DriveIO.DriveIOInputs.html#poseX" class="member-name-link">poseX</a> - Variable in class frc.robot.subsystems.drive.<a href="frc/robot/subsystems/drive/DriveIO.DriveIOInputs.html" title="class in frc.robot.subsystems.drive">DriveIO.DriveIOInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><a href="frc/robot/subsystems/drive/DriveIO.DriveIOInputs.html#poseY" class="member-name-link">poseY</a> - Variable in class frc.robot.subsystems.drive.<a href="frc/robot/subsystems/drive/DriveIO.DriveIOInputs.html" title="class in frc.robot.subsystems.drive">DriveIO.DriveIOInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><a href="frc/robot/subsystems/arm/ArmIO.ArmIOInputs.html#positionDegree" class="member-name-link">positionDegree</a> - Variable in class frc.robot.subsystems.arm.<a href="frc/robot/subsystems/arm/ArmIO.ArmIOInputs.html" title="class in frc.robot.subsystems.arm">ArmIO.ArmIOInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><a href="frc/robot/subsystems/arm/ArmIO.ArmIOInputs.html#positionRad" class="member-name-link">positionRad</a> - Variable in class frc.robot.subsystems.arm.<a href="frc/robot/subsystems/arm/ArmIO.ArmIOInputs.html" title="class in frc.robot.subsystems.arm">ArmIO.ArmIOInputs</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/subsystems/shooter/ShooterIO.ShooterIOInputs.html#positionRad" class="member-name-link">positionRad</a> - Variable in class frc.robot.subsystems.shooter.<a href="frc/robot/subsystems/shooter/ShooterIO.ShooterIOInputs.html" title="class in frc.robot.subsystems.shooter">ShooterIO.ShooterIOInputs</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/subsystems/climber/ClimberIO.ClimberIOInputs.html#positionRadians" class="member-name-link">positionRadians</a> - Variable in class frc.robot.subsystems.climber.<a href="frc/robot/subsystems/climber/ClimberIO.ClimberIOInputs.html" title="class in frc.robot.subsystems.climber">ClimberIO.ClimberIOInputs</a></dt>
 <dd>&nbsp;</dd>
-<dt><a href="frc/robot/subsystems/arm/ArmIO.ArmIOInputs.html#positionRads" class="member-name-link">positionRads</a> - Variable in class frc.robot.subsystems.arm.<a href="frc/robot/subsystems/arm/ArmIO.ArmIOInputs.html" title="class in frc.robot.subsystems.arm">ArmIO.ArmIOInputs</a></dt>
-<dd>&nbsp;</dd>
 <dt><a href="frc/robot/commands/debug/PrepareForScore.html" class="type-name-link" title="class in frc.robot.commands.debug">PrepareForScore</a> - Class in <a href="frc/robot/commands/debug/package-summary.html">frc.robot.commands.debug</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/commands/debug/PrepareForScore.html#%3Cinit%3E(frc.robot.subsystems.arm.Arm,frc.robot.subsystems.shooter.Shooter,java.util.function.DoubleSupplier,java.util.function.DoubleSupplier)" class="member-name-link">PrepareForScore(Arm, Shooter, DoubleSupplier, DoubleSupplier)</a> - Constructor for class frc.robot.commands.debug.<a href="frc/robot/commands/debug/PrepareForScore.html" title="class in frc.robot.commands.debug">PrepareForScore</a></dt>
@@ -1145,7 +1165,9 @@ <h2 class="title" id="I:S">S</h2>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/subsystems/arm/Arm.html#setAngle(double)" class="member-name-link">setAngle(double)</a> - Method in interface frc.robot.subsystems.arm.<a href="frc/robot/subsystems/arm/Arm.html" title="interface in frc.robot.subsystems.arm">Arm</a></dt>
 <dd>&nbsp;</dd>
-<dt><a href="frc/robot/subsystems/arm/ArmSubsystem.html#setAngle(double)" class="member-name-link">setAngle(double)</a> - Method in class frc.robot.subsystems.arm.<a href="frc/robot/subsystems/arm/ArmSubsystem.html" title="class in frc.robot.subsystems.arm">ArmSubsystem</a></dt>
+<dt><a href="frc/robot/subsystems/arm/Arm.html#setAngle(double,double)" class="member-name-link">setAngle(double, double)</a> - Method in interface frc.robot.subsystems.arm.<a href="frc/robot/subsystems/arm/Arm.html" title="interface in frc.robot.subsystems.arm">Arm</a></dt>
+<dd>&nbsp;</dd>
+<dt><a href="frc/robot/subsystems/arm/ArmSubsystem.html#setAngle(double,double)" class="member-name-link">setAngle(double, double)</a> - Method in class frc.robot.subsystems.arm.<a href="frc/robot/subsystems/arm/ArmSubsystem.html" title="class in frc.robot.subsystems.arm">ArmSubsystem</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/subsystems/arm/ArmIO.html#setBrakeMode(boolean)" class="member-name-link">setBrakeMode(boolean)</a> - Method in interface frc.robot.subsystems.arm.<a href="frc/robot/subsystems/arm/ArmIO.html" title="interface in frc.robot.subsystems.arm">ArmIO</a></dt>
 <dd>
@@ -1419,6 +1441,10 @@ <h2 class="title" id="I:U">U</h2>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/subsystems/climber/ClimberIOStub.html#updateInputs(frc.robot.subsystems.climber.ClimberIO.ClimberIOInputs)" class="member-name-link">updateInputs(ClimberIO.ClimberIOInputs)</a> - Method in class frc.robot.subsystems.climber.<a href="frc/robot/subsystems/climber/ClimberIOStub.html" title="class in frc.robot.subsystems.climber">ClimberIOStub</a></dt>
 <dd>&nbsp;</dd>
+<dt><a href="frc/robot/subsystems/drive/DriveIO.html#updateInputs(frc.robot.subsystems.drive.DriveIO.DriveIOInputs,swervelib.SwerveDrive)" class="member-name-link">updateInputs(DriveIO.DriveIOInputs, SwerveDrive)</a> - Method in class frc.robot.subsystems.drive.<a href="frc/robot/subsystems/drive/DriveIO.html" title="class in frc.robot.subsystems.drive">DriveIO</a></dt>
+<dd>
+<div class="block">Updates the set of loggable inputs.</div>
+</dd>
 <dt><a href="frc/robot/subsystems/intake/IntakeIO.html#updateInputs(frc.robot.subsystems.intake.IntakeIO.IntakeIOInputs)" class="member-name-link">updateInputs(IntakeIO.IntakeIOInputs)</a> - Method in interface frc.robot.subsystems.intake.<a href="frc/robot/subsystems/intake/IntakeIO.html" title="interface in frc.robot.subsystems.intake">IntakeIO</a></dt>
 <dd>
 <div class="block">Updates the set of loggable inputs.</div>
@@ -1504,7 +1530,7 @@ <h2 class="title" id="I:V">V</h2>
 <div class="block">Returns an array containing the constants of this enum class, in
 the order they are declared.</div>
 </dd>
-<dt><a href="frc/robot/subsystems/arm/ArmIO.ArmIOInputs.html#velocityDegreesPerSecond" class="member-name-link">velocityDegreesPerSecond</a> - Variable in class frc.robot.subsystems.arm.<a href="frc/robot/subsystems/arm/ArmIO.ArmIOInputs.html" title="class in frc.robot.subsystems.arm">ArmIO.ArmIOInputs</a></dt>
+<dt><a href="frc/robot/subsystems/arm/ArmIO.ArmIOInputs.html#velocityInDegrees" class="member-name-link">velocityInDegrees</a> - Variable in class frc.robot.subsystems.arm.<a href="frc/robot/subsystems/arm/ArmIO.ArmIOInputs.html" title="class in frc.robot.subsystems.arm">ArmIO.ArmIOInputs</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/config/RobotConfig.ShooterConstants.html#velocityInRPMs" class="member-name-link">velocityInRPMs</a> - Static variable in class frc.robot.config.<a href="frc/robot/config/RobotConfig.ShooterConstants.html" title="class in frc.robot.config">RobotConfig.ShooterConstants</a></dt>
 <dd>&nbsp;</dd>
@@ -1514,8 +1540,6 @@ <h2 class="title" id="I:V">V</h2>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/subsystems/shooter/ShooterIO.ShooterIOInputs.html#velocityRadPerSec" class="member-name-link">velocityRadPerSec</a> - Variable in class frc.robot.subsystems.shooter.<a href="frc/robot/subsystems/shooter/ShooterIO.ShooterIOInputs.html" title="class in frc.robot.subsystems.shooter">ShooterIO.ShooterIOInputs</a></dt>
 <dd>&nbsp;</dd>
-<dt><a href="frc/robot/subsystems/arm/ArmIO.ArmIOInputs.html#velocityRadsPerSecond" class="member-name-link">velocityRadsPerSecond</a> - Variable in class frc.robot.subsystems.arm.<a href="frc/robot/subsystems/arm/ArmIO.ArmIOInputs.html" title="class in frc.robot.subsystems.arm">ArmIO.ArmIOInputs</a></dt>
-<dd>&nbsp;</dd>
 <dt><a href="frc/robot/BuildConstants.html#VERSION" class="member-name-link">VERSION</a> - Static variable in class frc.robot.<a href="frc/robot/BuildConstants.html" title="class in frc.robot">BuildConstants</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/config/RobotConfig.html#vision" class="member-name-link">vision</a> - Static variable in class frc.robot.config.<a href="frc/robot/config/RobotConfig.html" title="class in frc.robot.config">RobotConfig</a></dt>
diff --git a/javadoc/member-search-index.js b/javadoc/member-search-index.js
index 445de61a..6be61e8b 100644
--- a/javadoc/member-search-index.js
+++ b/javadoc/member-search-index.js
@@ -1 +1 @@
-memberSearchIndex = [{"p":"frc.robot.subsystems.arm","c":"ArmIO.ArmIOInputs","l":"absoluteEncoderConnected"},{"p":"frc.robot.config","c":"RobotConfig.ArmConstants","l":"absoluteEncoderInversion"},{"p":"frc.robot.config","c":"RobotConfig.ArmConstants","l":"absolutePositionOffset"},{"p":"frc.robot.subsystems.arm","c":"ArmIO.ArmIOInputs","l":"absolutePositionRaw"},{"p":"frc.robot.subsystems.arm","c":"Arm","l":"add2dSim(Mechanism2d)","u":"add2dSim(edu.wpi.first.wpilibj.smartdashboard.Mechanism2d)"},{"p":"frc.robot.subsystems.arm","c":"ArmSubsystem","l":"add2dSim(Mechanism2d)","u":"add2dSim(edu.wpi.first.wpilibj.smartdashboard.Mechanism2d)"},{"p":"frc.robot.subsystems.climber","c":"Climber","l":"add2dSim(Mechanism2d)","u":"add2dSim(edu.wpi.first.wpilibj.smartdashboard.Mechanism2d)"},{"p":"frc.robot.subsystems.climber","c":"ClimberSubsystem","l":"add2dSim(Mechanism2d)","u":"add2dSim(edu.wpi.first.wpilibj.smartdashboard.Mechanism2d)"},{"p":"frc.robot.subsystems.intake","c":"Intake","l":"add2dSim(Mechanism2d)","u":"add2dSim(edu.wpi.first.wpilibj.smartdashboard.Mechanism2d)"},{"p":"frc.robot.subsystems.intake","c":"IntakeSubsystem","l":"add2dSim(Mechanism2d)","u":"add2dSim(edu.wpi.first.wpilibj.smartdashboard.Mechanism2d)"},{"p":"frc.robot.subsystems.led","c":"Led","l":"add2dSim(Mechanism2d)","u":"add2dSim(edu.wpi.first.wpilibj.smartdashboard.Mechanism2d)"},{"p":"frc.robot.subsystems.led","c":"LedSystem","l":"add2dSim(Mechanism2d)","u":"add2dSim(edu.wpi.first.wpilibj.smartdashboard.Mechanism2d)"},{"p":"frc.robot.subsystems.shooter","c":"Shooter","l":"add2dSim(Mechanism2d)","u":"add2dSim(edu.wpi.first.wpilibj.smartdashboard.Mechanism2d)"},{"p":"frc.robot.subsystems.shooter","c":"ShooterSubsystem","l":"add2dSim(Mechanism2d)","u":"add2dSim(edu.wpi.first.wpilibj.smartdashboard.Mechanism2d)"},{"p":"frc.robot.util","c":"DevilBotState.TargetMode","l":"AMP"},{"p":"frc.robot.config","c":"RobotConfig.ArmConstants","l":"ampScoreAngleInDegrees"},{"p":"frc.robot.config","c":"RobotConfig.ShooterConstants","l":"ampScoreVelocityInRPMs"},{"p":"frc.robot.subsystems.arm","c":"ArmIO.ArmIOInputs","l":"appliedVolts"},{"p":"frc.robot.subsystems.climber","c":"ClimberIO.ClimberIOInputs","l":"appliedVolts"},{"p":"frc.robot.subsystems.intake","c":"IntakeIO.IntakeIOInputs","l":"appliedVolts"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIO.ShooterIOInputs","l":"appliedVolts"},{"p":"frc.robot.subsystems.drive","c":"DriveTrain","l":"arcadeDrive(double, 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diff --git a/javadoc/overview-tree.html b/javadoc/overview-tree.html
index e510f2fe..f9d8b65b 100644
--- a/javadoc/overview-tree.html
+++ b/javadoc/overview-tree.html
@@ -115,6 +115,8 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 <li class="circle">frc.robot.<a href="frc/robot/Constants.html" class="type-name-link" title="class in frc.robot">Constants</a></li>
 <li class="circle">frc.robot.controls.<a href="frc/robot/controls/DebugControls.html" class="type-name-link" title="class in frc.robot.controls">DebugControls</a></li>
 <li class="circle">frc.robot.util.<a href="frc/robot/util/DevilBotState.html" class="type-name-link" title="class in frc.robot.util">DevilBotState</a></li>
+<li class="circle">frc.robot.subsystems.drive.<a href="frc/robot/subsystems/drive/DriveIO.html" class="type-name-link" title="class in frc.robot.subsystems.drive">DriveIO</a></li>
+<li class="circle">frc.robot.subsystems.drive.<a href="frc/robot/subsystems/drive/DriveIO.DriveIOInputs.html" class="type-name-link" title="class in frc.robot.subsystems.drive">DriveIO.DriveIOInputs</a></li>
 <li class="circle">frc.robot.controls.<a href="frc/robot/controls/DriverControls.html" class="type-name-link" title="class in frc.robot.controls">DriverControls</a></li>
 <li class="circle">frc.robot.subsystems.intake.<a href="frc/robot/subsystems/intake/IntakeIO.IntakeIOInputs.html" class="type-name-link" title="class in frc.robot.subsystems.intake">IntakeIO.IntakeIOInputs</a></li>
 <li class="circle">frc.robot.subsystems.intake.<a href="frc/robot/subsystems/intake/IntakeIOSparkMax.html" class="type-name-link" title="class in frc.robot.subsystems.intake">IntakeIOSparkMax</a> (implements frc.robot.subsystems.intake.<a href="frc/robot/subsystems/intake/IntakeIO.html" title="interface in frc.robot.subsystems.intake">IntakeIO</a>)</li>
diff --git a/javadoc/type-search-index.js b/javadoc/type-search-index.js
index b01d7089..b115f101 100644
--- a/javadoc/type-search-index.js
+++ b/javadoc/type-search-index.js
@@ -1 +1 @@
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