From 5c67257b9fdb0f3466cb93b280855072e5c0c9a1 Mon Sep 17 00:00:00 2001
From: Team488 <stephenjust@gmail.com>
Date: Tue, 20 Feb 2024 01:51:18 +0000
Subject: [PATCH] Automated Release 58 **NO_CI**

---
 allclasses-index.html                    | 866 ++++++++++++-----------
 index-all.html                           |  14 +
 member-search-index.js                   |   2 +-
 overview-tree.html                       |   1 +
 type-search-index.js                     |   2 +-
 xbot/common/math/DoubleInterpolator.html | 200 ++++++
 xbot/common/math/package-summary.html    |  82 +--
 xbot/common/math/package-tree.html       |   1 +
 8 files changed, 694 insertions(+), 474 deletions(-)
 create mode 100644 xbot/common/math/DoubleInterpolator.html

diff --git a/allclasses-index.html b/allclasses-index.html
index 6d9267b7..b1ceab4a 100644
--- a/allclasses-index.html
+++ b/allclasses-index.html
@@ -227,709 +227,711 @@ <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-tab1">&nbsp;</div>
 <div class="col-first even-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/controls/sensors/DistanceSensorPair.html" title="interface in xbot.common.controls.sensors">DistanceSensorPair</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/properties/DoubleProperty.html" title="class in xbot.common.properties">DoubleProperty</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/math/DoubleInterpolator.html" title="class in xbot.common.math">DoubleInterpolator</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="xbot/common/properties/DoubleProperty.html" title="class in xbot.common.properties">DoubleProperty</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">This manages a double in the property system.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/wpi_adapters/DutyCycleEncoderWpiAdapter.html" title="class in xbot.common.controls.sensors.wpi_adapters">DutyCycleEncoderWpiAdapter</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="xbot/common/controls/sensors/wpi_adapters/DutyCycleEncoderWpiAdapter.DutyCycleEncoderWpiAdapterFactory.html" title="class in xbot.common.controls.sensors.wpi_adapters">DutyCycleEncoderWpiAdapter.DutyCycleEncoderWpiAdapterFactory</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/wpi_adapters/DutyCycleEncoderWpiAdapter.html" title="class in xbot.common.controls.sensors.wpi_adapters">DutyCycleEncoderWpiAdapter</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="xbot/common/controls/sensors/wpi_adapters/EncoderWPIAdapter.html" title="class in xbot.common.controls.sensors.wpi_adapters">EncoderWPIAdapter</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/wpi_adapters/DutyCycleEncoderWpiAdapter.DutyCycleEncoderWpiAdapterFactory.html" title="class in xbot.common.controls.sensors.wpi_adapters">DutyCycleEncoderWpiAdapter.DutyCycleEncoderWpiAdapterFactory</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="xbot/common/controls/sensors/wpi_adapters/EncoderWPIAdapter.EncoderWPIAdapterFactory.html" title="class in xbot.common.controls.sensors.wpi_adapters">EncoderWPIAdapter.EncoderWPIAdapterFactory</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/wpi_adapters/EncoderWPIAdapter.html" title="class in xbot.common.controls.sensors.wpi_adapters">EncoderWPIAdapter</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="xbot/common/math/FieldPose.html" title="class in xbot.common.math">FieldPose</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/wpi_adapters/EncoderWPIAdapter.EncoderWPIAdapterFactory.html" title="class in xbot.common.controls.sensors.wpi_adapters">EncoderWPIAdapter.EncoderWPIAdapterFactory</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="xbot/common/math/FieldPose.html" title="class in xbot.common.math">FieldPose</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
 <div class="block">The FieldPose class represents a point on the field as well as a heading.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/math/FieldPosePropertyManager.html" title="class in xbot.common.math">FieldPosePropertyManager</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="xbot/common/math/FieldPosePropertyManager.FieldPosePropertyManagerFactory.html" title="class in xbot.common.math">FieldPosePropertyManager.FieldPosePropertyManagerFactory</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/math/FieldPosePropertyManager.html" title="class in xbot.common.math">FieldPosePropertyManager</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-tab7"><a href="xbot/common/injection/swerve/FrontLeftDrive.html" title="annotation interface in xbot.common.injection.swerve">FrontLeftDrive</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab7">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/math/FieldPosePropertyManager.FieldPosePropertyManagerFactory.html" title="class in xbot.common.math">FieldPosePropertyManager.FieldPosePropertyManagerFactory</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-tab7"><a href="xbot/common/injection/swerve/FrontLeftDrive.html" title="annotation interface in xbot.common.injection.swerve">FrontLeftDrive</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab7">
 <div class="block">This annotation denotes the front left swerve module.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab7"><a href="xbot/common/injection/swerve/FrontRightDrive.html" title="annotation interface in xbot.common.injection.swerve">FrontRightDrive</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab7">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab7"><a href="xbot/common/injection/swerve/FrontRightDrive.html" title="annotation interface in xbot.common.injection.swerve">FrontRightDrive</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab7">
 <div class="block">This annotation denotes the front right swerve module.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/wpi_adapters/FTCGamepadWpiAdapter.html" title="class in xbot.common.controls.sensors.wpi_adapters">FTCGamepadWpiAdapter</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="xbot/common/controls/sensors/wpi_adapters/FTCGamepadWpiAdapter.FTCGamepadWpiAdapterFactory.html" title="class in xbot.common.controls.sensors.wpi_adapters">FTCGamepadWpiAdapter.FTCGamepadWpiAdapterFactory</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/wpi_adapters/FTCGamepadWpiAdapter.html" title="class in xbot.common.controls.sensors.wpi_adapters">FTCGamepadWpiAdapter</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="xbot/common/subsystems/drive/control_logic/HeadingAssistModule.html" title="class in xbot.common.subsystems.drive.control_logic">HeadingAssistModule</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/wpi_adapters/FTCGamepadWpiAdapter.FTCGamepadWpiAdapterFactory.html" title="class in xbot.common.controls.sensors.wpi_adapters">FTCGamepadWpiAdapter.FTCGamepadWpiAdapterFactory</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="xbot/common/subsystems/drive/control_logic/HeadingAssistModule.html" title="class in xbot.common.subsystems.drive.control_logic">HeadingAssistModule</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Encaspulates a useful bit of driving logic: - The robot should attempt to
  hold its current heading, even if it's temporarily rotated by outside forces.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab3"><a href="xbot/common/subsystems/drive/control_logic/HeadingAssistModule.HeadingAssistMode.html" title="enum class in xbot.common.subsystems.drive.control_logic">HeadingAssistModule.HeadingAssistMode</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/subsystems/drive/control_logic/HeadingAssistModule.HeadingAssistModuleFactory.html" title="class in xbot.common.subsystems.drive.control_logic">HeadingAssistModule.HeadingAssistModuleFactory</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="xbot/common/subsystems/drive/control_logic/HeadingModule.html" title="class in xbot.common.subsystems.drive.control_logic">HeadingModule</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab3"><a href="xbot/common/subsystems/drive/control_logic/HeadingAssistModule.HeadingAssistMode.html" title="enum class in xbot.common.subsystems.drive.control_logic">HeadingAssistModule.HeadingAssistMode</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/subsystems/drive/control_logic/HeadingAssistModule.HeadingAssistModuleFactory.html" title="class in xbot.common.subsystems.drive.control_logic">HeadingAssistModule.HeadingAssistModuleFactory</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="xbot/common/subsystems/drive/control_logic/HeadingModule.html" title="class in xbot.common.subsystems.drive.control_logic">HeadingModule</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Encapsulates the logic needed to rotate the robot to a specific angle.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/subsystems/drive/control_logic/HeadingModule.HeadingModuleFactory.html" title="class in xbot.common.subsystems.drive.control_logic">HeadingModule.HeadingModuleFactory</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="xbot/common/logic/HumanVsMachineDecider.html" title="class in xbot.common.logic">HumanVsMachineDecider</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/subsystems/drive/control_logic/HeadingModule.HeadingModuleFactory.html" title="class in xbot.common.subsystems.drive.control_logic">HeadingModule.HeadingModuleFactory</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="xbot/common/logic/HumanVsMachineDecider.html" title="class in xbot.common.logic">HumanVsMachineDecider</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Decides whether to use human or machine control of a subsystem.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/logic/HumanVsMachineDecider.HumanVsMachineDeciderFactory.html" title="class in xbot.common.logic">HumanVsMachineDecider.HumanVsMachineDeciderFactory</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/logic/HumanVsMachineDecider.HumanVsMachineDeciderFactory.html" title="class in xbot.common.logic">HumanVsMachineDecider.HumanVsMachineDeciderFactory</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Factory for creating a new decider.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab3"><a href="xbot/common/logic/HumanVsMachineDecider.HumanVsMachineMode.html" title="enum class in xbot.common.logic">HumanVsMachineDecider.HumanVsMachineMode</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/controls/sensors/IGamepad.html" title="interface in xbot.common.controls.sensors">IGamepad</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/wpi_adapters/InertialMeasurementUnitAdapter.html" title="class in xbot.common.controls.sensors.wpi_adapters">InertialMeasurementUnitAdapter</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="xbot/common/controls/sensors/wpi_adapters/InertialMeasurementUnitAdapter.InertialMeasurementUnitAdapterFactory.html" title="class in xbot.common.controls.sensors.wpi_adapters">InertialMeasurementUnitAdapter.InertialMeasurementUnitAdapterFactory</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab3"><a href="xbot/common/logic/HumanVsMachineDecider.HumanVsMachineMode.html" title="enum class in xbot.common.logic">HumanVsMachineDecider.HumanVsMachineMode</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/controls/sensors/IGamepad.html" title="interface in xbot.common.controls.sensors">IGamepad</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/wpi_adapters/InertialMeasurementUnitAdapter.html" title="class in xbot.common.controls.sensors.wpi_adapters">InertialMeasurementUnitAdapter</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="xbot/common/logging/IntermittentConsoleLogger.html" title="class in xbot.common.logging">IntermittentConsoleLogger</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/wpi_adapters/InertialMeasurementUnitAdapter.InertialMeasurementUnitAdapterFactory.html" title="class in xbot.common.controls.sensors.wpi_adapters">InertialMeasurementUnitAdapter.InertialMeasurementUnitAdapterFactory</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="xbot/common/math/InterpolatingFieldPoseBuffer.html" title="class in xbot.common.math">InterpolatingFieldPoseBuffer</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/logging/IntermittentConsoleLogger.html" title="class in xbot.common.logging">IntermittentConsoleLogger</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="xbot/common/math/InterpolatingHistoryBuffer.html" title="class in xbot.common.math">InterpolatingHistoryBuffer</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/math/InterpolatingFieldPoseBuffer.html" title="class in xbot.common.math">InterpolatingFieldPoseBuffer</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="xbot/common/controls/sensors/buttons/InvertingBooleanSupplier.html" title="class in xbot.common.controls.sensors.buttons">InvertingBooleanSupplier</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/math/InterpolatingHistoryBuffer.html" title="class in xbot.common.math">InterpolatingHistoryBuffer</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-tab1"><a href="xbot/common/properties/IPropertySupport.html" title="interface in xbot.common.properties">IPropertySupport</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/subsystems/feedback/IRumbler.html" title="interface in xbot.common.subsystems.feedback">IRumbler</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/buttons/InvertingBooleanSupplier.html" title="class in xbot.common.controls.sensors.buttons">InvertingBooleanSupplier</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-tab1"><a href="xbot/common/properties/IPropertySupport.html" title="interface in xbot.common.properties">IPropertySupport</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/simulation/ISimulatableMotor.html" title="interface in xbot.common.simulation">ISimulatableMotor</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/subsystems/feedback/IRumbler.html" title="interface in xbot.common.subsystems.feedback">IRumbler</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/simulation/ISimulatableSensor.html" title="interface in xbot.common.simulation">ISimulatableSensor</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/simulation/ISimulatableMotor.html" title="interface in xbot.common.simulation">ISimulatableMotor</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/simulation/ISimulatableSolenoid.html" title="interface in xbot.common.simulation">ISimulatableSolenoid</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/simulation/ISimulatableSensor.html" title="interface in xbot.common.simulation">ISimulatableSensor</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/properties/ITableProxy.html" title="interface in xbot.common.properties">ITableProxy</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab1">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/simulation/ISimulatableSolenoid.html" title="interface in xbot.common.simulation">ISimulatableSolenoid</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/properties/ITableProxy.html" title="interface in xbot.common.properties">ITableProxy</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab1">
 <div class="block">This interface defines a simple table interface, where you can set and retrieve
  values.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/wpi_adapters/JoystickWPIAdapter.html" title="class in xbot.common.controls.sensors.wpi_adapters">JoystickWPIAdapter</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="xbot/common/controls/sensors/wpi_adapters/JoystickWPIAdapter.JoystickWPIAdapterFactory.html" title="class in xbot.common.controls.sensors.wpi_adapters">JoystickWPIAdapter.JoystickWPIAdapterFactory</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/wpi_adapters/JoystickWPIAdapter.html" title="class in xbot.common.controls.sensors.wpi_adapters">JoystickWPIAdapter</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
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+<div class="col-last even-row-color all-classes-table all-classes-table-tab4">
 <div class="block">This class is used to define the default values for a PID controller.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/math/PIDManager.html" title="class in xbot.common.math">PIDManager</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/math/PIDManager.html" title="class in xbot.common.math">PIDManager</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Wrapper for PID class which automatically puts the P, I and D values on
  the SmartDashboard.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/math/PIDManager.PIDManagerFactory.html" title="class in xbot.common.math">PIDManager.PIDManagerFactory</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="xbot/common/math/PIDPropertyManager.html" title="class in xbot.common.math">PIDPropertyManager</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/math/PIDManager.PIDManagerFactory.html" title="class in xbot.common.math">PIDManager.PIDManagerFactory</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="xbot/common/math/PIDPropertyManager.PIDPropertyManagerFactory.html" title="class in xbot.common.math">PIDPropertyManager.PIDPropertyManagerFactory</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/math/PIDPropertyManager.html" title="class in xbot.common.math">PIDPropertyManager</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="xbot/common/math/PlanarEngine.html" title="class in xbot.common.math">PlanarEngine</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/math/PIDPropertyManager.PIDPropertyManagerFactory.html" title="class in xbot.common.math">PIDPropertyManager.PIDPropertyManagerFactory</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="xbot/common/math/PlanarTestVisualizer.html" title="class in xbot.common.math">PlanarTestVisualizer</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/math/PlanarEngine.html" title="class in xbot.common.math">PlanarEngine</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="xbot/common/math/PlanarVisualizationPanel.html" title="class in xbot.common.math">PlanarVisualizationPanel</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/math/PlanarTestVisualizer.html" title="class in xbot.common.math">PlanarTestVisualizer</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="xbot/common/controls/sensors/wpi_adapters/PowerDistributionPanelWPIAdapter.html" title="class in xbot.common.controls.sensors.wpi_adapters">PowerDistributionPanelWPIAdapter</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/math/PlanarVisualizationPanel.html" title="class in xbot.common.math">PlanarVisualizationPanel</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="xbot/common/controls/sensors/wpi_adapters/PowerDistributionPanelWPIAdapter.PowerDistributionPanelWPIAdapaterFactory.html" title="class in xbot.common.controls.sensors.wpi_adapters">PowerDistributionPanelWPIAdapter.PowerDistributionPanelWPIAdapaterFactory</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/wpi_adapters/PowerDistributionPanelWPIAdapter.html" title="class in xbot.common.controls.sensors.wpi_adapters">PowerDistributionPanelWPIAdapter</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="xbot/common/properties/PreferenceStorage.html" title="class in xbot.common.properties">PreferenceStorage</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/wpi_adapters/PowerDistributionPanelWPIAdapter.PowerDistributionPanelWPIAdapaterFactory.html" title="class in xbot.common.controls.sensors.wpi_adapters">PowerDistributionPanelWPIAdapter.PowerDistributionPanelWPIAdapaterFactory</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="xbot/common/properties/PreferenceStorage.html" title="class in xbot.common.properties">PreferenceStorage</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">This saves properties to the robot using WPI's built-in
  <a href="https://docs.wpilib.org/en/stable/docs/software/basic-programming/robot-preferences.html">Preferences library</a>.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/properties/Property.html" title="class in xbot.common.properties">Property</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/properties/Property.html" title="class in xbot.common.properties">Property</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
 <div class="block">There are many values on the robot that we want to configure on the fly as
  well as persist once we're happy with the result.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab3"><a href="xbot/common/properties/Property.PropertyLevel.html" title="enum class in xbot.common.properties">Property.PropertyLevel</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab3"><a href="xbot/common/properties/Property.PropertyPersistenceType.html" title="enum class in xbot.common.properties">Property.PropertyPersistenceType</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab3">
+<div class="col-first even-row-color all-classes-table all-classes-table-tab3"><a href="xbot/common/properties/Property.PropertyLevel.html" title="enum class in xbot.common.properties">Property.PropertyLevel</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab3"><a href="xbot/common/properties/Property.PropertyPersistenceType.html" title="enum class in xbot.common.properties">Property.PropertyPersistenceType</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab3">
 <div class="block">Enum to determine property persistence
  Ephemeral properties will not be saved or loaded from a persistent storage.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/properties/PropertyFactory.html" title="class in xbot.common.properties">PropertyFactory</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/properties/PropertyFactory.html" title="class in xbot.common.properties">PropertyFactory</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">A factory for creating properties.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/trajectory/ProvidesInterpolationData.html" title="interface in xbot.common.trajectory">ProvidesInterpolationData</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/subsystems/drive/PurePursuitCommand.html" title="class in xbot.common.subsystems.drive">PurePursuitCommand</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-tab3"><a href="xbot/common/subsystems/drive/PurePursuitCommand.PointLoadingMode.html" title="enum class in xbot.common.subsystems.drive">PurePursuitCommand.PointLoadingMode</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/math/PurePursuitTest.html" title="class in xbot.common.math">PurePursuitTest</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-tab1"><a href="xbot/common/math/PurePursuitTest.AsyncLinearIntervalJob.html" title="interface in xbot.common.math">PurePursuitTest.AsyncLinearIntervalJob</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/math/PurePursuitTest.PursuitEnvironmentState.html" title="class in xbot.common.math">PurePursuitTest.PursuitEnvironmentState</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="xbot/common/injection/components/PurePursuitTestComponent.html" title="class in xbot.common.injection.components">PurePursuitTestComponent</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/trajectory/ProvidesInterpolationData.html" title="interface in xbot.common.trajectory">ProvidesInterpolationData</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/subsystems/drive/PurePursuitCommand.html" title="class in xbot.common.subsystems.drive">PurePursuitCommand</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-tab3"><a href="xbot/common/subsystems/drive/PurePursuitCommand.PointLoadingMode.html" title="enum class in xbot.common.subsystems.drive">PurePursuitCommand.PointLoadingMode</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/math/PurePursuitTest.html" title="class in xbot.common.math">PurePursuitTest</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-tab1"><a href="xbot/common/math/PurePursuitTest.AsyncLinearIntervalJob.html" title="interface in xbot.common.math">PurePursuitTest.AsyncLinearIntervalJob</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/math/PurePursuitTest.PursuitEnvironmentState.html" title="class in xbot.common.math">PurePursuitTest.PursuitEnvironmentState</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="xbot/common/injection/components/PurePursuitTestComponent.html" title="class in xbot.common.injection.components">PurePursuitTestComponent</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Do not use this directly.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/actuators/wpi_adapters/PWMWPIAdapter.html" title="class in xbot.common.controls.actuators.wpi_adapters">PWMWPIAdapter</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="xbot/common/controls/actuators/wpi_adapters/PWMWPIAdapter.PWMWPIAdapterFactory.html" title="class in xbot.common.controls.actuators.wpi_adapters">PWMWPIAdapter.PWMWPIAdapterFactory</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/actuators/wpi_adapters/PWMWPIAdapter.html" title="class in xbot.common.controls.actuators.wpi_adapters">PWMWPIAdapter</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="xbot/common/subsystems/drive/RabbitPoint.html" title="class in xbot.common.subsystems.drive">RabbitPoint</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/actuators/wpi_adapters/PWMWPIAdapter.PWMWPIAdapterFactory.html" title="class in xbot.common.controls.actuators.wpi_adapters">PWMWPIAdapter.PWMWPIAdapterFactory</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-tab3"><a href="xbot/common/subsystems/drive/RabbitPoint.PointDriveStyle.html" title="enum class in xbot.common.subsystems.drive">RabbitPoint.PointDriveStyle</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab3"><a href="xbot/common/subsystems/drive/RabbitPoint.PointTerminatingType.html" title="enum class in xbot.common.subsystems.drive">RabbitPoint.PointTerminatingType</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/subsystems/drive/RabbitPoint.html" title="class in xbot.common.subsystems.drive">RabbitPoint</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-tab3"><a href="xbot/common/subsystems/drive/RabbitPoint.PointDriveStyle.html" title="enum class in xbot.common.subsystems.drive">RabbitPoint.PointDriveStyle</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab3"><a href="xbot/common/subsystems/drive/RabbitPoint.PointType.html" title="enum class in xbot.common.subsystems.drive">RabbitPoint.PointType</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab3"><a href="xbot/common/subsystems/drive/RabbitPoint.PointTerminatingType.html" title="enum class in xbot.common.subsystems.drive">RabbitPoint.PointTerminatingType</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/subsystems/drive/RabbitPointBuilder.html" title="class in xbot.common.subsystems.drive">RabbitPointBuilder</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="xbot/common/injection/modules/RealControlsModule.html" title="class in xbot.common.injection.modules">RealControlsModule</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab3"><a href="xbot/common/subsystems/drive/RabbitPoint.PointType.html" title="enum class in xbot.common.subsystems.drive">RabbitPoint.PointType</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/subsystems/drive/RabbitPointBuilder.html" title="class in xbot.common.subsystems.drive">RabbitPointBuilder</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="xbot/common/injection/modules/RealControlsModule.html" title="class in xbot.common.injection.modules">RealControlsModule</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Module for mapping control device interfaces to real hardware.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/injection/modules/RealDevicesModule.html" title="class in xbot.common.injection.modules">RealDevicesModule</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/injection/modules/RealDevicesModule.html" title="class in xbot.common.injection.modules">RealDevicesModule</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Module for mapping device interfaces to real hardware.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/command/RealSmartDashboardCommandPutter.html" title="class in xbot.common.command">RealSmartDashboardCommandPutter</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-tab7"><a href="xbot/common/injection/swerve/RearLeftDrive.html" title="annotation interface in xbot.common.injection.swerve">RearLeftDrive</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab7">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/command/RealSmartDashboardCommandPutter.html" title="class in xbot.common.command">RealSmartDashboardCommandPutter</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-tab7"><a href="xbot/common/injection/swerve/RearLeftDrive.html" title="annotation interface in xbot.common.injection.swerve">RearLeftDrive</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab7">
 <div class="block">This annotation denotes the rear left swerve module.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab7"><a href="xbot/common/injection/swerve/RearRightDrive.html" title="annotation interface in xbot.common.injection.swerve">RearRightDrive</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab7">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab7"><a href="xbot/common/injection/swerve/RearRightDrive.html" title="annotation interface in xbot.common.injection.swerve">RearRightDrive</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab7">
 <div class="block">This annotation denotes the rear right swerve module.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/actuators/wpi_adapters/RelayWPIAdapter.html" title="class in xbot.common.controls.actuators.wpi_adapters">RelayWPIAdapter</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="xbot/common/controls/actuators/wpi_adapters/RelayWPIAdapter.RelayWPIAdapterFactory.html" title="class in xbot.common.controls.actuators.wpi_adapters">RelayWPIAdapter.RelayWPIAdapterFactory</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/actuators/wpi_adapters/RelayWPIAdapter.html" title="class in xbot.common.controls.actuators.wpi_adapters">RelayWPIAdapter</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="xbot/common/subsystems/pose/commands/ResetDistanceCommand.html" title="class in xbot.common.subsystems.pose.commands">ResetDistanceCommand</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/actuators/wpi_adapters/RelayWPIAdapter.RelayWPIAdapterFactory.html" title="class in xbot.common.controls.actuators.wpi_adapters">RelayWPIAdapter.RelayWPIAdapterFactory</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="xbot/common/simulation/ResetSimulatorPositionCommand.html" title="class in xbot.common.simulation">ResetSimulatorPositionCommand</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/subsystems/pose/commands/ResetDistanceCommand.html" title="class in xbot.common.subsystems.pose.commands">ResetDistanceCommand</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-tab5"><a href="xbot/common/logging/RobotAssertionException.html" title="class in xbot.common.logging">RobotAssertionException</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab5">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/logging/RobotAssertionManager.html" title="class in xbot.common.logging">RobotAssertionManager</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/simulation/ResetSimulatorPositionCommand.html" title="class in xbot.common.simulation">ResetSimulatorPositionCommand</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-tab5"><a href="xbot/common/logging/RobotAssertionException.html" title="class in xbot.common.logging">RobotAssertionException</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab5">&nbsp;</div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/logging/RobotAssertionManager.html" title="class in xbot.common.logging">RobotAssertionManager</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Base class for safe assertion manager.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/injection/modules/RobotModule.html" title="class in xbot.common.injection.modules">RobotModule</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/injection/modules/RobotModule.html" title="class in xbot.common.injection.modules">RobotModule</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Module mapping interfaces to implementations for a real robot.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/subsystems/feedback/RumbleManager.html" title="class in xbot.common.subsystems.feedback">RumbleManager</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/subsystems/feedback/RumbleManager.html" title="class in xbot.common.subsystems.feedback">RumbleManager</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Wrappers around gamepad rumble behavior to control intensity and duration.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/subsystems/feedback/RumbleManager.RumbleManagerFactory.html" title="class in xbot.common.subsystems.feedback">RumbleManager.RumbleManagerFactory</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="xbot/common/controls/actuators/wpi_adapters/ServoWPIAdapter.html" title="class in xbot.common.controls.actuators.wpi_adapters">ServoWPIAdapter</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/subsystems/feedback/RumbleManager.RumbleManagerFactory.html" title="class in xbot.common.subsystems.feedback">RumbleManager.RumbleManagerFactory</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="xbot/common/controls/actuators/wpi_adapters/ServoWPIAdapter.ServoWPIAdapterFactory.html" title="class in xbot.common.controls.actuators.wpi_adapters">ServoWPIAdapter.ServoWPIAdapterFactory</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/actuators/wpi_adapters/ServoWPIAdapter.html" title="class in xbot.common.controls.actuators.wpi_adapters">ServoWPIAdapter</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="xbot/common/subsystems/autonomous/SetAutonomousCommand.html" title="class in xbot.common.subsystems.autonomous">SetAutonomousCommand</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/actuators/wpi_adapters/ServoWPIAdapter.ServoWPIAdapterFactory.html" title="class in xbot.common.controls.actuators.wpi_adapters">ServoWPIAdapter.ServoWPIAdapterFactory</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="xbot/common/subsystems/pose/commands/SetRobotHeadingCommand.html" title="class in xbot.common.subsystems.pose.commands">SetRobotHeadingCommand</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/subsystems/autonomous/SetAutonomousCommand.html" title="class in xbot.common.subsystems.autonomous">SetAutonomousCommand</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="xbot/common/controls/sensors/buttons/SettableBooleanSuppler.html" title="class in xbot.common.controls.sensors.buttons">SettableBooleanSuppler</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/subsystems/pose/commands/SetRobotHeadingCommand.html" title="class in xbot.common.subsystems.pose.commands">SetRobotHeadingCommand</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="xbot/common/logging/SilentRobotAssertionManager.html" title="class in xbot.common.logging">SilentRobotAssertionManager</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/buttons/SettableBooleanSuppler.html" title="class in xbot.common.controls.sensors.buttons">SettableBooleanSuppler</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="xbot/common/logging/SilentRobotAssertionManager.html" title="class in xbot.common.logging">SilentRobotAssertionManager</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Version of RobotAssertionManager that prevents throwing of exceptions.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/subsystems/simple/SimpleMotorSubsystem.html" title="class in xbot.common.subsystems.simple">SimpleMotorSubsystem</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/subsystems/simple/SimpleMotorSubsystem.html" title="class in xbot.common.subsystems.simple">SimpleMotorSubsystem</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Generic subsystem that handles a single motor which can be driven in forward and reverse.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/trajectory/SimpleTimeInterpolator.html" title="class in xbot.common.trajectory">SimpleTimeInterpolator</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="xbot/common/command/SimpleWaitForMaintainerCommand.html" title="class in xbot.common.command">SimpleWaitForMaintainerCommand</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/trajectory/SimpleTimeInterpolator.html" title="class in xbot.common.trajectory">SimpleTimeInterpolator</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="xbot/common/command/SimpleWaitForMaintainerCommand.html" title="class in xbot.common.command">SimpleWaitForMaintainerCommand</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Command that waits for a maintainer to be at its goal or until a timeout.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/SimulatedAnalogDistanceSensor.html" title="class in xbot.common.controls.sensors">SimulatedAnalogDistanceSensor</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="xbot/common/controls/sensors/SimulatedAnalogDistanceSensor.SimulatedAnalogDistanceSensorFactory.html" title="class in xbot.common.controls.sensors">SimulatedAnalogDistanceSensor.SimulatedAnalogDistanceSensorFactory</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/SimulatedAnalogDistanceSensor.html" title="class in xbot.common.controls.sensors">SimulatedAnalogDistanceSensor</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="xbot/common/subsystems/drive/SimulatedPurePursuitCommand.html" title="class in xbot.common.subsystems.drive">SimulatedPurePursuitCommand</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/SimulatedAnalogDistanceSensor.SimulatedAnalogDistanceSensorFactory.html" title="class in xbot.common.controls.sensors">SimulatedAnalogDistanceSensor.SimulatedAnalogDistanceSensorFactory</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="xbot/common/injection/components/SimulationComponent.html" title="class in xbot.common.injection.components">SimulationComponent</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/subsystems/drive/SimulatedPurePursuitCommand.html" title="class in xbot.common.subsystems.drive">SimulatedPurePursuitCommand</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="xbot/common/injection/components/SimulationComponent.html" title="class in xbot.common.injection.components">SimulationComponent</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Do not use this directly.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/injection/modules/SimulationModule.html" title="class in xbot.common.injection.modules">SimulationModule</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/injection/modules/SimulationModule.html" title="class in xbot.common.injection.modules">SimulationModule</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Module mapping interfaces to implementations for a simulated robot.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/simulation/SimulationPayloadDistributor.html" title="class in xbot.common.simulation">SimulationPayloadDistributor</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-tab1"><a href="xbot/common/command/SmartDashboardCommandPutter.html" title="interface in xbot.common.command">SmartDashboardCommandPutter</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/properties/SmartDashboardTableWrapper.html" title="class in xbot.common.properties">SmartDashboardTableWrapper</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="xbot/common/controls/actuators/wpi_adapters/SolenoidWPIAdapter.html" title="class in xbot.common.controls.actuators.wpi_adapters">SolenoidWPIAdapter</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/simulation/SimulationPayloadDistributor.html" title="class in xbot.common.simulation">SimulationPayloadDistributor</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="xbot/common/controls/actuators/wpi_adapters/SolenoidWPIAdapter.SolenoidWPIAdapterFactory.html" title="class in xbot.common.controls.actuators.wpi_adapters">SolenoidWPIAdapter.SolenoidWPIAdapterFactory</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/command/SmartDashboardCommandPutter.html" title="interface in xbot.common.command">SmartDashboardCommandPutter</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/properties/SmartDashboardTableWrapper.html" title="class in xbot.common.properties">SmartDashboardTableWrapper</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="xbot/common/controls/actuators/wpi_adapters/SolenoidWPIAdapter.html" title="class in xbot.common.controls.actuators.wpi_adapters">SolenoidWPIAdapter</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="xbot/common/controls/sensors/wpi_adapters/SparkAbsoluteEncoderAdapter.html" title="class in xbot.common.controls.sensors.wpi_adapters">SparkAbsoluteEncoderAdapter</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/actuators/wpi_adapters/SolenoidWPIAdapter.SolenoidWPIAdapterFactory.html" title="class in xbot.common.controls.actuators.wpi_adapters">SolenoidWPIAdapter.SolenoidWPIAdapterFactory</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="xbot/common/controls/actuators/wpi_adapters/SpeedControllerWPIAdapter.html" title="class in xbot.common.controls.actuators.wpi_adapters">SpeedControllerWPIAdapter</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/wpi_adapters/SparkAbsoluteEncoderAdapter.html" title="class in xbot.common.controls.sensors.wpi_adapters">SparkAbsoluteEncoderAdapter</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="xbot/common/controls/actuators/wpi_adapters/SpeedControllerWPIAdapter.SpeedControllerWPIAdapterFactory.html" title="class in xbot.common.controls.actuators.wpi_adapters">SpeedControllerWPIAdapter.SpeedControllerWPIAdapterFactory</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/actuators/wpi_adapters/SpeedControllerWPIAdapter.html" title="class in xbot.common.controls.actuators.wpi_adapters">SpeedControllerWPIAdapter</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="xbot/common/logic/StallDetector.html" title="class in xbot.common.logic">StallDetector</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/actuators/wpi_adapters/SpeedControllerWPIAdapter.SpeedControllerWPIAdapterFactory.html" title="class in xbot.common.controls.actuators.wpi_adapters">SpeedControllerWPIAdapter.SpeedControllerWPIAdapterFactory</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="xbot/common/logic/StallDetector.StallDetectorFactory.html" title="class in xbot.common.logic">StallDetector.StallDetectorFactory</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/logic/StallDetector.html" title="class in xbot.common.logic">StallDetector</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-tab3"><a href="xbot/common/logic/StallDetector.StallState.html" title="enum class in xbot.common.logic">StallDetector.StallState</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/properties/StringProperty.html" title="class in xbot.common.properties">StringProperty</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/logic/StallDetector.StallDetectorFactory.html" title="class in xbot.common.logic">StallDetector.StallDetectorFactory</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-tab3"><a href="xbot/common/logic/StallDetector.StallState.html" title="enum class in xbot.common.logic">StallDetector.StallState</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/properties/StringProperty.html" title="class in xbot.common.properties">StringProperty</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">A type of Property that manages a String value.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/command/SupportsSetpointLock.html" title="interface in xbot.common.command">SupportsSetpointLock</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/injection/swerve/SwerveComponent.html" title="class in xbot.common.injection.swerve">SwerveComponent</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/command/SupportsSetpointLock.html" title="interface in xbot.common.command">SupportsSetpointLock</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/injection/swerve/SwerveComponent.html" title="class in xbot.common.injection.swerve">SwerveComponent</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Subcomponent for a handling dependency injection related to a single swerve drive module.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/injection/swerve/SwerveComponent.Builder.html" title="interface in xbot.common.injection.swerve">SwerveComponent.Builder</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/injection/swerve/SwerveComponentHolder.html" title="class in xbot.common.injection.swerve">SwerveComponentHolder</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/injection/swerve/SwerveComponent.Builder.html" title="interface in xbot.common.injection.swerve">SwerveComponent.Builder</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/injection/swerve/SwerveComponentHolder.html" title="class in xbot.common.injection.swerve">SwerveComponentHolder</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Contains components representing each swerve module.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/subsystems/drive/swerve/SwerveDefaultCommandMap.html" title="class in xbot.common.subsystems.drive.swerve">SwerveDefaultCommandMap</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/subsystems/drive/swerve/SwerveDefaultCommandMap.html" title="class in xbot.common.subsystems.drive.swerve">SwerveDefaultCommandMap</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Sets up the default commands for the swerve subsystems</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/subsystems/drive/swerve/commands/SwerveDriveMaintainerCommand.html" title="class in xbot.common.subsystems.drive.swerve.commands">SwerveDriveMaintainerCommand</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="xbot/common/subsystems/drive/swerve/SwerveDriveSubsystem.html" title="class in xbot.common.subsystems.drive.swerve">SwerveDriveSubsystem</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/subsystems/drive/swerve/commands/SwerveDriveMaintainerCommand.html" title="class in xbot.common.subsystems.drive.swerve.commands">SwerveDriveMaintainerCommand</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-tab4"><a href="xbot/common/injection/swerve/SwerveInstance.html" title="class in xbot.common.injection.swerve">SwerveInstance</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab4">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/subsystems/drive/swerve/SwerveDriveSubsystem.html" title="class in xbot.common.subsystems.drive.swerve">SwerveDriveSubsystem</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-tab4"><a href="xbot/common/injection/swerve/SwerveInstance.html" title="class in xbot.common.injection.swerve">SwerveInstance</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab4">
 <div class="block">Labels a swerve module instance.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/injection/swerve/SwerveModule.html" title="class in xbot.common.injection.swerve">SwerveModule</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="xbot/common/subsystems/drive/swerve/SwerveModuleSubsystem.html" title="class in xbot.common.subsystems.drive.swerve">SwerveModuleSubsystem</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/injection/swerve/SwerveModule.html" title="class in xbot.common.injection.swerve">SwerveModule</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="xbot/common/subsystems/drive/SwerveSimpleTrajectoryCommand.html" title="class in xbot.common.subsystems.drive">SwerveSimpleTrajectoryCommand</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/subsystems/drive/swerve/SwerveModuleSubsystem.html" title="class in xbot.common.subsystems.drive.swerve">SwerveModuleSubsystem</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="xbot/common/trajectory/SwerveSimpleTrajectoryLogic.html" title="class in xbot.common.trajectory">SwerveSimpleTrajectoryLogic</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/subsystems/drive/SwerveSimpleTrajectoryCommand.html" title="class in xbot.common.subsystems.drive">SwerveSimpleTrajectoryCommand</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-tab7"><a href="xbot/common/injection/swerve/SwerveSingleton.html" title="annotation interface in xbot.common.injection.swerve">SwerveSingleton</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab7">
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/trajectory/SwerveSimpleTrajectoryLogic.html" title="class in xbot.common.trajectory">SwerveSimpleTrajectoryLogic</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-tab7"><a href="xbot/common/injection/swerve/SwerveSingleton.html" title="annotation interface in xbot.common.injection.swerve">SwerveSingleton</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab7">
 <div class="block">This annotation denotes a singleton scoped to a single swerve module.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/subsystems/drive/swerve/commands/SwerveSteeringMaintainerCommand.html" title="class in xbot.common.subsystems.drive.swerve.commands">SwerveSteeringMaintainerCommand</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="xbot/common/subsystems/drive/swerve/SwerveSteeringSubsystem.html" title="class in xbot.common.subsystems.drive.swerve">SwerveSteeringSubsystem</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/subsystems/drive/swerve/commands/SwerveSteeringMaintainerCommand.html" title="class in xbot.common.subsystems.drive.swerve.commands">SwerveSteeringMaintainerCommand</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="xbot/common/properties/TableProxy.html" title="class in xbot.common.properties">TableProxy</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/subsystems/drive/swerve/SwerveSteeringSubsystem.html" title="class in xbot.common.subsystems.drive.swerve">SwerveSteeringSubsystem</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="xbot/common/properties/TableProxy.html" title="class in xbot.common.properties">TableProxy</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">A simple implementation of ITableProxy.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/TalonCurrentMonitor.html" title="class in xbot.common.controls.sensors">TalonCurrentMonitor</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="xbot/common/logging/TimeLogger.html" title="class in xbot.common.logging">TimeLogger</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/TalonCurrentMonitor.html" title="class in xbot.common.controls.sensors">TalonCurrentMonitor</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="xbot/common/controls/sensors/wpi_adapters/TimerWpiAdapter.html" title="class in xbot.common.controls.sensors.wpi_adapters">TimerWpiAdapter</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/logging/TimeLogger.html" title="class in xbot.common.logging">TimeLogger</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="xbot/common/logic/TimeStableValidator.html" title="class in xbot.common.logic">TimeStableValidator</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/wpi_adapters/TimerWpiAdapter.html" title="class in xbot.common.controls.sensors.wpi_adapters">TimerWpiAdapter</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="xbot/common/logic/TimeStableValidator.html" title="class in xbot.common.logic">TimeStableValidator</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Checks that a value is stable for a given amount of time.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/injection/modules/UnitTestModule.html" title="class in xbot.common.injection.modules">UnitTestModule</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/injection/modules/UnitTestModule.html" title="class in xbot.common.injection.modules">UnitTestModule</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Module mapping interfaces to implementations for unit tests.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/injection/modules/UnitTestRobotModule.html" title="class in xbot.common.injection.modules">UnitTestRobotModule</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/injection/modules/UnitTestRobotModule.html" title="class in xbot.common.injection.modules">UnitTestRobotModule</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Module mapping interfaces to implementations for a unit-test robot.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/logic/VelocityThrottleModule.html" title="class in xbot.common.logic">VelocityThrottleModule</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="xbot/common/logic/VelocityThrottleModule.VelocityThrottleModuleFactory.html" title="class in xbot.common.logic">VelocityThrottleModule.VelocityThrottleModuleFactory</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/logic/VelocityThrottleModule.html" title="class in xbot.common.logic">VelocityThrottleModule</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="xbot/common/controls/actuators/wpi_adapters/VictorAppearingAsTalonWPIAdapter.html" title="class in xbot.common.controls.actuators.wpi_adapters">VictorAppearingAsTalonWPIAdapter</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/logic/VelocityThrottleModule.VelocityThrottleModuleFactory.html" title="class in xbot.common.logic">VelocityThrottleModule.VelocityThrottleModuleFactory</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="xbot/common/controls/sensors/buttons/VirtualTrigger.html" title="class in xbot.common.controls.sensors.buttons">VirtualTrigger</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/actuators/wpi_adapters/VictorAppearingAsTalonWPIAdapter.html" title="class in xbot.common.controls.actuators.wpi_adapters">VictorAppearingAsTalonWPIAdapter</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="xbot/common/controls/sensors/buttons/VirtualTrigger.html" title="class in xbot.common.controls.sensors.buttons">VirtualTrigger</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">A virtual button under program control that can be used for creating chords.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/buttons/VirtualTrigger.VirtualTriggerFactory.html" title="class in xbot.common.controls.sensors.buttons">VirtualTrigger.VirtualTriggerFactory</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="xbot/common/logic/WatchdogTimer.html" title="class in xbot.common.logic">WatchdogTimer</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/buttons/VirtualTrigger.VirtualTriggerFactory.html" title="class in xbot.common.controls.sensors.buttons">VirtualTrigger.VirtualTriggerFactory</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="xbot/common/simulation/WebotsClient.html" title="class in xbot.common.simulation">WebotsClient</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/logic/WatchdogTimer.html" title="class in xbot.common.logic">WatchdogTimer</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="xbot/common/math/WrappedRotation2d.html" title="class in xbot.common.math">WrappedRotation2d</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/simulation/WebotsClient.html" title="class in xbot.common.simulation">WebotsClient</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="xbot/common/math/WrappedRotation2d.html" title="class in xbot.common.math">WrappedRotation2d</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">A rotation in a 2d coordinate frame, with its rotation wrapped from -pi to pi radians (-180 to 180 degrees).</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/XAbsoluteEncoder.html" title="class in xbot.common.controls.sensors">XAbsoluteEncoder</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-tab1"><a href="xbot/common/controls/sensors/XAbsoluteEncoder.XAbsoluteEncoderFactory.html" title="interface in xbot.common.controls.sensors">XAbsoluteEncoder.XAbsoluteEncoderFactory</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/io_inputs/XAbsoluteEncoderInputs.html" title="class in xbot.common.controls.io_inputs">XAbsoluteEncoderInputs</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="xbot/common/controls/sensors/XAnalogDistanceSensor.html" title="class in xbot.common.controls.sensors">XAnalogDistanceSensor</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/XAbsoluteEncoder.html" title="class in xbot.common.controls.sensors">XAbsoluteEncoder</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="xbot/common/controls/sensors/XAnalogDistanceSensor.VoltageMaps.html" title="class in xbot.common.controls.sensors">XAnalogDistanceSensor.VoltageMaps</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-tab1"><a href="xbot/common/controls/sensors/XAnalogDistanceSensor.XAnalogDistanceSensorFactory.html" title="interface in xbot.common.controls.sensors">XAnalogDistanceSensor.XAnalogDistanceSensorFactory</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/XAnalogInput.html" title="class in xbot.common.controls.sensors">XAnalogInput</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-tab1"><a href="xbot/common/controls/sensors/XAnalogInput.XAnalogInputFactory.html" title="interface in xbot.common.controls.sensors">XAnalogInput.XAnalogInputFactory</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/XAS5600.html" title="class in xbot.common.controls.sensors">XAS5600</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/controls/sensors/XAbsoluteEncoder.XAbsoluteEncoderFactory.html" title="interface in xbot.common.controls.sensors">XAbsoluteEncoder.XAbsoluteEncoderFactory</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/io_inputs/XAbsoluteEncoderInputs.html" title="class in xbot.common.controls.io_inputs">XAbsoluteEncoderInputs</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="xbot/common/controls/sensors/XAnalogDistanceSensor.html" title="class in xbot.common.controls.sensors">XAnalogDistanceSensor</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="xbot/common/controls/sensors/XAS5600.XAS5600Factory.html" title="class in xbot.common.controls.sensors">XAS5600.XAS5600Factory</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/XAnalogDistanceSensor.VoltageMaps.html" title="class in xbot.common.controls.sensors">XAnalogDistanceSensor.VoltageMaps</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-tab1"><a href="xbot/common/controls/XBaseIO.html" title="interface in xbot.common.controls">XBaseIO</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/controls/sensors/XAnalogDistanceSensor.XAnalogDistanceSensorFactory.html" title="interface in xbot.common.controls.sensors">XAnalogDistanceSensor.XAnalogDistanceSensorFactory</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/trajectory/XbotSwervePoint.html" title="class in xbot.common.trajectory">XbotSwervePoint</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/XAnalogInput.html" title="class in xbot.common.controls.sensors">XAnalogInput</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="xbot/common/controls/sensors/wpi_adapters/XboxControllerWpiAdapter.html" title="class in xbot.common.controls.sensors.wpi_adapters">XboxControllerWpiAdapter</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="xbot/common/controls/sensors/wpi_adapters/XboxControllerWpiAdapter.XboxControllerWpiAdapterFactory.html" title="class in xbot.common.controls.sensors.wpi_adapters">XboxControllerWpiAdapter.XboxControllerWpiAdapterFactory</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/controls/sensors/XAnalogInput.XAnalogInputFactory.html" title="interface in xbot.common.controls.sensors">XAnalogInput.XAnalogInputFactory</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/XAS5600.html" title="class in xbot.common.controls.sensors">XAS5600</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="xbot/common/controls/sensors/XCANCoder.html" title="class in xbot.common.controls.sensors">XCANCoder</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/XAS5600.XAS5600Factory.html" title="class in xbot.common.controls.sensors">XAS5600.XAS5600Factory</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-tab1"><a href="xbot/common/controls/sensors/XCANCoder.XCANCoderFactory.html" title="interface in xbot.common.controls.sensors">XCANCoder.XCANCoderFactory</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/controls/XBaseIO.html" title="interface in xbot.common.controls">XBaseIO</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/io_inputs/XCANCoderInputs.html" title="class in xbot.common.controls.io_inputs">XCANCoderInputs</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/trajectory/XbotSwervePoint.html" title="class in xbot.common.trajectory">XbotSwervePoint</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="xbot/common/controls/actuators/XCANSparkMax.html" title="class in xbot.common.controls.actuators">XCANSparkMax</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/wpi_adapters/XboxControllerWpiAdapter.html" title="class in xbot.common.controls.sensors.wpi_adapters">XboxControllerWpiAdapter</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="xbot/common/controls/actuators/XCANSparkMax.XCANSparkMaxFactory.html" title="class in xbot.common.controls.actuators">XCANSparkMax.XCANSparkMaxFactory</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/wpi_adapters/XboxControllerWpiAdapter.XboxControllerWpiAdapterFactory.html" title="class in xbot.common.controls.sensors.wpi_adapters">XboxControllerWpiAdapter.XboxControllerWpiAdapterFactory</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="xbot/common/controls/io_inputs/XCANSparkMaxInputs.html" title="class in xbot.common.controls.io_inputs">XCANSparkMaxInputs</a></div>
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+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/properties/XPropertyManager.html" title="class in xbot.common.properties">XPropertyManager</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">
-<div class="block">Wrapper for base Scheduler which intelligently manages exceptions.</div>
+<div class="block">The PropertyManager keeps track of all properties in CoreCode.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/actuators/XServo.html" title="class in xbot.common.controls.actuators">XServo</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/actuators/XPWM.html" title="class in xbot.common.controls.actuators">XPWM</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-tab1"><a href="xbot/common/controls/actuators/XServo.XServoFactory.html" title="interface in xbot.common.controls.actuators">XServo.XServoFactory</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/controls/actuators/XPWM.XPWMFactory.html" title="interface in xbot.common.controls.actuators">XPWM.XPWMFactory</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/controls/sensors/XSettableTimerImpl.html" title="interface in xbot.common.controls.sensors">XSettableTimerImpl</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/actuators/XRelay.html" title="class in xbot.common.controls.actuators">XRelay</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-tab1"><a href="xbot/common/controls/actuators/XRelay.XRelayFactory.html" title="interface in xbot.common.controls.actuators">XRelay.XRelayFactory</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/subsystems/feedback/XRumbleManager.html" title="interface in xbot.common.subsystems.feedback">XRumbleManager</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/actuators/XSolenoid.html" title="class in xbot.common.controls.actuators">XSolenoid</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/subsystems/feedback/XRumbleManager.XRumbleManagerFactory.html" title="interface in xbot.common.subsystems.feedback">XRumbleManager.XRumbleManagerFactory</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/command/XScheduler.html" title="class in xbot.common.command">XScheduler</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
+<div class="block">Wrapper for base Scheduler which intelligently manages exceptions.</div>
+</div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/actuators/XServo.html" title="class in xbot.common.controls.actuators">XServo</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-tab1"><a href="xbot/common/controls/actuators/XSolenoid.XSolenoidFactory.html" title="interface in xbot.common.controls.actuators">XSolenoid.XSolenoidFactory</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/controls/actuators/XServo.XServoFactory.html" title="interface in xbot.common.controls.actuators">XServo.XServoFactory</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/XSparkAbsoluteEncoder.html" title="class in xbot.common.controls.sensors">XSparkAbsoluteEncoder</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="xbot/common/controls/actuators/XSpeedController.html" title="class in xbot.common.controls.actuators">XSpeedController</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/controls/sensors/XSettableTimerImpl.html" title="interface in xbot.common.controls.sensors">XSettableTimerImpl</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/actuators/XSolenoid.html" title="class in xbot.common.controls.actuators">XSolenoid</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-tab1"><a href="xbot/common/controls/actuators/XSpeedController.XSpeedControllerFactory.html" title="interface in xbot.common.controls.actuators">XSpeedController.XSpeedControllerFactory</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/controls/actuators/XSolenoid.XSolenoidFactory.html" title="interface in xbot.common.controls.actuators">XSolenoid.XSolenoidFactory</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/injection/electrical_contract/XSwerveDriveElectricalContract.html" title="interface in xbot.common.injection.electrical_contract">XSwerveDriveElectricalContract</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab1">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/XSparkAbsoluteEncoder.html" title="class in xbot.common.controls.sensors">XSparkAbsoluteEncoder</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="xbot/common/controls/actuators/XSpeedController.html" title="class in xbot.common.controls.actuators">XSpeedController</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-tab1"><a href="xbot/common/controls/actuators/XSpeedController.XSpeedControllerFactory.html" title="interface in xbot.common.controls.actuators">XSpeedController.XSpeedControllerFactory</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/injection/electrical_contract/XSwerveDriveElectricalContract.html" title="interface in xbot.common.injection.electrical_contract">XSwerveDriveElectricalContract</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab1">
 <div class="block">This interface defines the base electrical contract
  for robots implementing swerve drive.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/XTimer.html" title="class in xbot.common.controls.sensors">XTimer</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-tab1"><a href="xbot/common/controls/sensors/XTimerImpl.html" title="interface in xbot.common.controls.sensors">XTimerImpl</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/XXboxController.html" title="class in xbot.common.controls.sensors">XXboxController</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-tab3"><a href="xbot/common/controls/sensors/XXboxController.XboxButton.html" title="enum class in xbot.common.controls.sensors">XXboxController.XboxButton</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/controls/sensors/XXboxController.XXboxControllerFactory.html" title="interface in xbot.common.controls.sensors">XXboxController.XXboxControllerFactory</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/XTimer.html" title="class in xbot.common.controls.sensors">XTimer</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-tab1"><a href="xbot/common/controls/sensors/XTimerImpl.html" title="interface in xbot.common.controls.sensors">XTimerImpl</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/math/XYPair.html" title="class in xbot.common.math">XYPair</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/sensors/XXboxController.html" title="class in xbot.common.controls.sensors">XXboxController</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-tab3"><a href="xbot/common/controls/sensors/XXboxController.XboxButton.html" title="enum class in xbot.common.controls.sensors">XXboxController.XboxButton</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/controls/sensors/XXboxController.XXboxControllerFactory.html" title="interface in xbot.common.controls.sensors">XXboxController.XXboxControllerFactory</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/math/XYPair.html" title="class in xbot.common.math">XYPair</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Pair of X and Y coordinates.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/math/XYPairStruct.html" title="class in xbot.common.math">XYPairStruct</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-tab1"><a href="xbot/common/networking/XZeromqListener.html" title="interface in xbot.common.networking">XZeromqListener</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/networking/XZeromqListener.XZeromqListenerFactory.html" title="interface in xbot.common.networking">XZeromqListener.XZeromqListenerFactory</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/networking/ZeromqListener.html" title="class in xbot.common.networking">ZeromqListener</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/math/XYPairStruct.html" title="class in xbot.common.math">XYPairStruct</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="xbot/common/networking/ZeromqListener.ZeromqListenerFactory.html" title="class in xbot.common.networking">ZeromqListener.ZeromqListenerFactory</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/networking/XZeromqListener.html" title="interface in xbot.common.networking">XZeromqListener</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/networking/XZeromqListener.XZeromqListenerFactory.html" title="interface in xbot.common.networking">XZeromqListener.XZeromqListenerFactory</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/networking/ZeromqListener.html" title="class in xbot.common.networking">ZeromqListener</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="xbot/common/networking/ZeromqListener.ZeromqListenerFactory.html" title="class in xbot.common.networking">ZeromqListener.ZeromqListenerFactory</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
 </div>
 </div>
 </div>
diff --git a/index-all.html b/index-all.html
index fd2959c4..b4ae3727 100644
--- a/index-all.html
+++ b/index-all.html
@@ -2057,6 +2057,12 @@ <h2 class="title" id="I:D">D</h2>
 <dd>
 <div class="block">Calculate the dot-product between this and another point.</div>
 </dd>
+<dt><a href="xbot/common/math/DoubleInterpolator.html" class="type-name-link" title="class in xbot.common.math">DoubleInterpolator</a> - Class in <a href="xbot/common/math/package-summary.html">xbot.common.math</a></dt>
+<dd>&nbsp;</dd>
+<dt><a href="xbot/common/math/DoubleInterpolator.html#%3Cinit%3E()" class="member-name-link">DoubleInterpolator()</a> - Constructor for class xbot.common.math.<a href="xbot/common/math/DoubleInterpolator.html" title="class in xbot.common.math">DoubleInterpolator</a></dt>
+<dd>&nbsp;</dd>
+<dt><a href="xbot/common/math/DoubleInterpolator.html#%3Cinit%3E(double%5B%5D,double%5B%5D)" class="member-name-link">DoubleInterpolator(double[], double[])</a> - Constructor for class xbot.common.math.<a href="xbot/common/math/DoubleInterpolator.html" title="class in xbot.common.math">DoubleInterpolator</a></dt>
+<dd>&nbsp;</dd>
 <dt><a href="xbot/common/properties/DoubleProperty.html" class="type-name-link" title="class in xbot.common.properties">DoubleProperty</a> - Class in <a href="xbot/common/properties/package-summary.html">xbot.common.properties</a></dt>
 <dd>
 <div class="block">This manages a double in the property system.</div>
@@ -3260,6 +3266,8 @@ <h2 class="title" id="I:G">G</h2>
 <dd>&nbsp;</dd>
 <dt><a href="xbot/common/math/PurePursuitTest.html#getInjectorComponent()" class="member-name-link">getInjectorComponent()</a> - Method in class xbot.common.math.<a href="xbot/common/math/PurePursuitTest.html" title="class in xbot.common.math">PurePursuitTest</a></dt>
 <dd>&nbsp;</dd>
+<dt><a href="xbot/common/math/DoubleInterpolator.html#getInputVariables()" class="member-name-link">getInputVariables()</a> - Method in class xbot.common.math.<a href="xbot/common/math/DoubleInterpolator.html" title="class in xbot.common.math">DoubleInterpolator</a></dt>
+<dd>&nbsp;</dd>
 <dt><a href="xbot/common/controls/actuators/wpi_adapters/CANVictorSPXWpiAdapter.html#getIntegralAccumulator()" class="member-name-link">getIntegralAccumulator()</a> - Method in class xbot.common.controls.actuators.wpi_adapters.<a href="xbot/common/controls/actuators/wpi_adapters/CANVictorSPXWpiAdapter.html" title="class in xbot.common.controls.actuators.wpi_adapters">CANVictorSPXWpiAdapter</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="xbot/common/controls/actuators/mock_adapters/MockCANTalon.html#getIntegralAccumulator(int)" class="member-name-link">getIntegralAccumulator(int)</a> - Method in class xbot.common.controls.actuators.mock_adapters.<a href="xbot/common/controls/actuators/mock_adapters/MockCANTalon.html" title="class in xbot.common.controls.actuators.mock_adapters">MockCANTalon</a></dt>
@@ -3282,6 +3290,8 @@ <h2 class="title" id="I:G">G</h2>
 <dd>&nbsp;</dd>
 <dt><a href="xbot/common/controls/actuators/XCANSparkMax.html#getInternalSparkMax()" class="member-name-link">getInternalSparkMax()</a> - Method in class xbot.common.controls.actuators.<a href="xbot/common/controls/actuators/XCANSparkMax.html" title="class in xbot.common.controls.actuators">XCANSparkMax</a></dt>
 <dd>&nbsp;</dd>
+<dt><a href="xbot/common/math/DoubleInterpolator.html#getInterpolatedOutputVariable(double)" class="member-name-link">getInterpolatedOutputVariable(double)</a> - Method in class xbot.common.math.<a href="xbot/common/math/DoubleInterpolator.html" title="class in xbot.common.math">DoubleInterpolator</a></dt>
+<dd>&nbsp;</dd>
 <dt><a href="xbot/common/trajectory/Obstacle.html#getIntersectionAveragePoint(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d)" class="member-name-link">getIntersectionAveragePoint(Translation2d, Translation2d)</a> - Method in class xbot.common.trajectory.<a href="xbot/common/trajectory/Obstacle.html" title="class in xbot.common.trajectory">Obstacle</a></dt>
 <dd>
 <div class="block">Finds the two intersection points of a line that passes through this
@@ -3628,6 +3638,8 @@ <h2 class="title" id="I:G">G</h2>
 <dd>&nbsp;</dd>
 <dt><a href="xbot/common/controls/actuators/XCANSparkMax.html#getOutputMin(int)" class="member-name-link">getOutputMin(int)</a> - Method in class xbot.common.controls.actuators.<a href="xbot/common/controls/actuators/XCANSparkMax.html" title="class in xbot.common.controls.actuators">XCANSparkMax</a></dt>
 <dd>&nbsp;</dd>
+<dt><a href="xbot/common/math/DoubleInterpolator.html#getOutputVariables()" class="member-name-link">getOutputVariables()</a> - Method in class xbot.common.math.<a href="xbot/common/math/DoubleInterpolator.html" title="class in xbot.common.math">DoubleInterpolator</a></dt>
+<dd>&nbsp;</dd>
 <dt><a href="xbot/common/controls/actuators/mock_adapters/MockCANSparkMax.html#getP()" class="member-name-link">getP()</a> - Method in class xbot.common.controls.actuators.mock_adapters.<a href="xbot/common/controls/actuators/mock_adapters/MockCANSparkMax.html" title="class in xbot.common.controls.actuators.mock_adapters">MockCANSparkMax</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="xbot/common/controls/actuators/wpi_adapters/CANSparkMaxWpiAdapter.html#getP()" class="member-name-link">getP()</a> - Method in class xbot.common.controls.actuators.wpi_adapters.<a href="xbot/common/controls/actuators/wpi_adapters/CANSparkMaxWpiAdapter.html" title="class in xbot.common.controls.actuators.wpi_adapters">CANSparkMaxWpiAdapter</a></dt>
@@ -4319,6 +4331,8 @@ <h2 class="title" id="I:G">G</h2>
 <dd>&nbsp;</dd>
 <dt><a href="xbot/common/subsystems/pose/BasePoseSubsystem.html#getYawAngularVelocity()" class="member-name-link">getYawAngularVelocity()</a> - Method in class xbot.common.subsystems.pose.<a href="xbot/common/subsystems/pose/BasePoseSubsystem.html" title="class in xbot.common.subsystems.pose">BasePoseSubsystem</a></dt>
 <dd>&nbsp;</dd>
+<dt><a href="xbot/common/math/DoubleInterpolator.html#getYIntercept(double,double,double)" class="member-name-link">getYIntercept(double, double, double)</a> - Method in class xbot.common.math.<a href="xbot/common/math/DoubleInterpolator.html" title="class in xbot.common.math">DoubleInterpolator</a></dt>
+<dd>&nbsp;</dd>
 <dt><a href="xbot/common/injection/modules/MockDevicesModule.html#getZeromqListenerFactory(xbot.common.networking.MockZeromqListener.MockZeromqListenerFactory)" class="member-name-link">getZeromqListenerFactory(MockZeromqListener.MockZeromqListenerFactory)</a> - Method in class xbot.common.injection.modules.<a href="xbot/common/injection/modules/MockDevicesModule.html" title="class in xbot.common.injection.modules">MockDevicesModule</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="xbot/common/injection/modules/RealDevicesModule.html#getZeromqListenerFactory(xbot.common.networking.ZeromqListener.ZeromqListenerFactory)" class="member-name-link">getZeromqListenerFactory(ZeromqListener.ZeromqListenerFactory)</a> - Method in class xbot.common.injection.modules.<a href="xbot/common/injection/modules/RealDevicesModule.html" title="class in xbot.common.injection.modules">RealDevicesModule</a></dt>
diff --git a/member-search-index.js b/member-search-index.js
index 1e700efe..344f72ce 100644
--- a/member-search-index.js
+++ b/member-search-index.js
@@ -1 +1 @@
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pRampRate()"},{"p":"xbot.common.controls.actuators","c":"XCANSparkMax","l":"getClosedLoopRampRate()"},{"p":"xbot.common.controls.actuators.wpi_adapters","c":"CANVictorSPXWpiAdapter","l":"getClosedLoopTarget()"},{"p":"xbot.common.controls.actuators.mock_adapters","c":"MockCANTalon","l":"getClosedLoopTarget(int)"},{"p":"xbot.common.controls.actuators.mock_adapters","c":"MockCANVictorSPX","l":"getClosedLoopTarget(int)"},{"p":"xbot.common.controls.actuators.wpi_adapters","c":"CANTalonWPIAdapter","l":"getClosedLoopTarget(int)"},{"p":"xbot.common.controls.actuators.wpi_adapters","c":"CANVictorSPXWpiAdapter","l":"getClosedLoopTarget(int)"},{"p":"xbot.common.controls.actuators.wpi_adapters","c":"VictorAppearingAsTalonWPIAdapter","l":"getClosedLoopTarget(int)"},{"p":"xbot.common.trajectory","c":"Obstacle","l":"getClosestCornerToPoint(Translation2d)","u":"getClosestCornerToPoint(edu.wpi.first.math.geometry.Translation2d)"},{"p":"xbot.common.subsystems.pose","c":"BasePoseSubsystem","l":"getCompassHeading(Rotation2d)","u":"getCompassHeading(edu.wpi.first.math.geometry.Rotation2d)"},{"p":"xbot.common.subsystems.compressor","c":"CompressorSubsystem","l":"getCompressorCurrent()"},{"p":"xbot.common.injection.modules","c":"RealDevicesModule","l":"getCompressorFactory(CompressorWPIAdapter.CompressorWPIAdapterFactory)","u":"getCompressorFactory(xbot.common.controls.actuators.wpi_adapters.CompressorWPIAdapter.CompressorWPIAdapterFactory)"},{"p":"xbot.common.injection.modules","c":"MockDevicesModule","l":"getCompressorFactory(MockCompressor.MockCompressorFactory)","u":"getCompressorFactory(xbot.common.controls.actuators.mock_adapters.MockCompressor.MockCompressorFactory)"},{"p":"xbot.common.controls.actuators.mock_adapters","c":"MockCANTalon","l":"getContinuousCurrentLimit()"},{"p":"xbot.common.controls.actuators.mock_adapters","c":"MockCANTalon","l":"getControlMode()"},{"p":"xbot.common.controls.actuators.mock_adapters","c":"MockCANVictorSPX","l":"getControlMode()"},{"p":"xbot.common.controls.actuators.wpi_adapters","c":"CANTalonWPIAdapter","l":"getControlMode()"},{"p":"xbot.common.controls.actuators.wpi_adapters","c":"CANVictorSPXWpiAdapter","l":"getControlMode()"},{"p":"xbot.common.controls.actuators.wpi_adapters","c":"VictorAppearingAsTalonWPIAdapter","l":"getControlMode()"},{"p":"xbot.common.controls.actuators.mock_adapters","c":"MockCANSparkMax","l":"getControlType()"},{"p":"xbot.common.controls.actuators.mock_adapters","c":"MockCANSparkMax","l":"getCountsPerRevolution()"},{"p":"xbot.common.controls.actuators.wpi_adapters","c":"CANSparkMaxWpiAdapter","l":"getCountsPerRevolution()"},{"p":"xbot.common.controls.actuators","c":"XCANSparkMax","l":"getCountsPerRevolution()"},{"p":"xbot.common.controls.actuators.mock_adapters","c":"MockCompressor","l":"getCurrent()"},{"p":"xbot.common.controls.actuators.wpi_adapters","c":"CompressorWPIAdapter","l":"getCurrent()"},{"p":"xbot.common.controls.actuators","c":"XCompressor","l":"getCurrent()"},{"p":"edu.wpi.first.wpilibj","c":"MockPowerDistributionPanel","l":"getCurrent(int)"},{"p":"xbot.common.controls.sensors.wpi_adapters","c":"PowerDistributionPanelWPIAdapter","l":"getCurrent(int)"},{"p":"xbot.common.controls.sensors","c":"XPowerDistributionPanel","l":"getCurrent(int)"},{"p":"xbot.common.subsystems.autonomous","c":"AutonomousCommandSelector","l":"getCurrentAutonomousCommand()"},{"p":"xbot.common.subsystems.pose","c":"BasePoseSubsystem","l":"getCurrentFieldPose()"},{"p":"xbot.common.subsystems.pose","c":"BasePoseSubsystem","l":"getCurrentHeading()"},{"p":"xbot.common.subsystems.pose","c":"BasePoseSubsystem","l":"getCurrentHeadingAngularVelocity()"},{"p":"xbot.common.subsystems.pose","c":"BasePoseSubsystem","l":"getCurrentPose2d()"},{"p":"xbot.common.subsystems.drive.swerve","c":"SwerveModuleSubsystem","l":"getCurrentPosition()"},{"p":"xbot.common.subsystems.drive.swerve","c":"SwerveDriveSubsystem","l":"getCurrentPositionValue()"},{"p":"xbot.common.subsystems.drive.swerve","c":"SwerveSteeringSubsystem","l":"getCurrentRotation()"},{"p":"xbot.common.subsystems.drive.swerve","c":"SwerveModuleSubsystem","l":"getCurrentState()"},{"p":"xbot.common.command","c":"BaseSetpointSubsystem","l":"getCurrentValue()"},{"p":"xbot.common.subsystems.drive.swerve","c":"SwerveDriveSubsystem","l":"getCurrentValue()"},{"p":"xbot.common.subsystems.drive.swerve","c":"SwerveSteeringSubsystem","l":"getCurrentValue()"},{"p":"xbot.common.subsystems.pose","c":"BasePoseSubsystem","l":"getCurrentVelocity()"},{"p":"xbot.common.controls.actuators.mock_adapters","c":"MockCANSparkMax","l":"getD()"},{"p":"xbot.common.controls.actuators.wpi_adapters","c":"CANSparkMaxWpiAdapter","l":"getD()"},{"p":"xbot.common.controls.actuators","c":"XCANSparkMax","l":"getD()"},{"p":"xbot.common.math","c":"PIDPropertyManager","l":"getD()"},{"p":"xbot.common.controls.actuators.mock_adapters","c":"MockCANSparkMax","l":"getD(int)"},{"p":"xbot.common.controls.actuators.wpi_adapters","c":"CANSparkMaxWpiAdapter","l":"getD(int)"},{"p":"xbot.com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pRampRate()"},{"p":"xbot.common.controls.actuators","c":"XCANSparkMax","l":"getClosedLoopRampRate()"},{"p":"xbot.common.controls.actuators.wpi_adapters","c":"CANVictorSPXWpiAdapter","l":"getClosedLoopTarget()"},{"p":"xbot.common.controls.actuators.mock_adapters","c":"MockCANTalon","l":"getClosedLoopTarget(int)"},{"p":"xbot.common.controls.actuators.mock_adapters","c":"MockCANVictorSPX","l":"getClosedLoopTarget(int)"},{"p":"xbot.common.controls.actuators.wpi_adapters","c":"CANTalonWPIAdapter","l":"getClosedLoopTarget(int)"},{"p":"xbot.common.controls.actuators.wpi_adapters","c":"CANVictorSPXWpiAdapter","l":"getClosedLoopTarget(int)"},{"p":"xbot.common.controls.actuators.wpi_adapters","c":"VictorAppearingAsTalonWPIAdapter","l":"getClosedLoopTarget(int)"},{"p":"xbot.common.trajectory","c":"Obstacle","l":"getClosestCornerToPoint(Translation2d)","u":"getClosestCornerToPoint(edu.wpi.first.math.geometry.Translation2d)"},{"p":"xbot.common.subsystems.pose","c":"BasePoseSubsystem","l":"getCompassHeading(Rotation2d)","u":"getCompassHeading(edu.wpi.first.math.geometry.Rotation2d)"},{"p":"xbot.common.subsystems.compressor","c":"CompressorSubsystem","l":"getCompressorCurrent()"},{"p":"xbot.common.injection.modules","c":"RealDevicesModule","l":"getCompressorFactory(CompressorWPIAdapter.CompressorWPIAdapterFactory)","u":"getCompressorFactory(xbot.common.controls.actuators.wpi_adapters.CompressorWPIAdapter.CompressorWPIAdapterFactory)"},{"p":"xbot.common.injection.modules","c":"MockDevicesModule","l":"getCompressorFactory(MockCompressor.MockCompressorFactory)","u":"getCompressorFactory(xbot.common.controls.actuators.mock_adapters.MockCompressor.MockCompressorFactory)"},{"p":"xbot.common.controls.actuators.mock_adapters","c":"MockCANTalon","l":"getContinuousCurrentLimit()"},{"p":"xbot.common.controls.actuators.mock_adapters","c":"MockCANTalon","l":"getControlMode()"},{"p":"xbot.common.controls.actuators.mock_adapters","c":"MockCANVictorSPX","l":"getControlMode()"},{"p":"xbot.common.controls.actuators.wpi_adapters","c":"CANTalonWPIAdapter","l":"getControlMode()"},{"p":"xbot.common.controls.actuators.wpi_adapters","c":"CANVictorSPXWpiAdapter","l":"getControlMode()"},{"p":"xbot.common.controls.actuators.wpi_adapters","c":"VictorAppearingAsTalonWPIAdapter","l":"getControlMode()"},{"p":"xbot.common.controls.actuators.mock_adapters","c":"MockCANSparkMax","l":"getControlType()"},{"p":"xbot.common.controls.actuators.mock_adapters","c":"MockCANSparkMax","l":"getCountsPerRevolution()"},{"p":"xbot.common.controls.actuators.wpi_adapters","c":"CANSparkMaxWpiAdapter","l":"getCountsPerRevolution()"},{"p":"xbot.common.controls.actuators","c":"XCANSparkMax","l":"getCountsPerRevolution()"},{"p":"xbot.common.controls.actuators.mock_adapters","c":"MockCompressor","l":"getCurrent()"},{"p":"xbot.common.controls.actuators.wpi_adapters","c":"CompressorWPIAdapter","l":"getCurrent()"},{"p":"xbot.common.controls.actuators","c":"XCompressor","l":"getCurrent()"},{"p":"edu.wpi.first.wpilibj","c":"MockPowerDistributionPanel","l":"getCurrent(int)"},{"p":"xbot.common.controls.sensors.wpi_adapters","c":"PowerDistributionPanelWPIAdapter","l":"getCurrent(int)"},{"p":"xbot.common.controls.sensors","c":"XPowerDistributionPanel","l":"getCurrent(int)"},{"p":"xbot.common.subsystems.autonomous","c":"AutonomousCommandSelector","l":"getCurrentAutonomousCommand()"},{"p":"xbot.common.subsystems.pose","c":"BasePoseSubsystem","l":"getCurrentFieldPose()"},{"p":"xbot.common.subsystems.pose","c":"BasePoseSubsystem","l":"getCurrentHeading()"},{"p":"xbot.common.subsystems.pose","c":"BasePoseSubsystem","l":"getCurrentHeadingAngularVelocity()"},{"p":"xbot.common.subsystems.pose","c":"BasePoseSubsystem","l":"getCurrentPose2d()"},{"p":"xbot.common.subsystems.drive.swerve","c":"SwerveModuleSubsystem","l":"getCurrentPosition()"},{"p":"xbot.common.subsystems.drive.swerve","c":"SwerveDriveSubsystem","l":"getCurrentPositionValue()"},{"p":"xbot.common.subsystems.drive.swerve","c":"SwerveSteeringSubsystem","l":"getCurrentRotation()"},{"p":"xbot.common.subsystems.drive.swerve","c":"SwerveModuleSubsystem","l":"getCurrentState()"},{"p":"xbot.common.command","c":"BaseSetpointSubsystem","l":"getCurrentValue()"},{"p":"xbot.common.subsystems.drive.swerve","c":"SwerveDriveSubsystem","l":"getCurrentValue()"},{"p":"xbot.common.subsystems.drive.swerve","c":"SwerveSteeringSubsystem","l":"getCurrentValue()"},{"p":"xbot.common.subsystems.pose","c":"BasePoseSubsystem","l":"getCurrentVelocity()"},{"p":"xbot.common.controls.actuators.mock_adapters","c":"MockCANSparkMax","l":"getD()"},{"p":"xbot.common.controls.actuators.wpi_adapters","c":"CANSparkMaxWpiAdapter","l":"getD()"},{"p":"xbot.common.controls.actuators","c":"XCANSparkMax","l":"getD()"},{"p":"xbot.common.math","c":"PIDPropertyManager","l":"getD()"},{"p":"xbot.common.controls.actuators.mock_adapters","c":"MockCANSparkMax","l":"getD(int)"},{"p":"xbot.common.controls.actuators.wpi_adapters","c":"CANSparkMaxWpiAdapter","l":"getD(int)"},{"p":"xbot.com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\ No newline at end of file
diff --git a/overview-tree.html b/overview-tree.html
index ba2b1141..efcf93eb 100644
--- a/overview-tree.html
+++ b/overview-tree.html
@@ -195,6 +195,7 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 <li class="circle">xbot.common.injection.<a href="xbot/common/injection/DevicePolice.html" class="type-name-link" title="class in xbot.common.injection">DevicePolice</a></li>
 <li class="circle">xbot.common.controls.sensors.wpi_adapters.<a href="xbot/common/controls/sensors/wpi_adapters/DigitalInputWPIAdapter.DigitalInputWPIAdapterFactory.html" class="type-name-link" title="class in xbot.common.controls.sensors.wpi_adapters">DigitalInputWPIAdapter.DigitalInputWPIAdapterFactory</a> (implements xbot.common.controls.sensors.<a href="xbot/common/controls/sensors/XDigitalInput.XDigitalInputFactory.html" title="interface in xbot.common.controls.sensors">XDigitalInput.XDigitalInputFactory</a>)</li>
 <li class="circle">xbot.common.controls.actuators.wpi_adapters.<a href="xbot/common/controls/actuators/wpi_adapters/DigitalOutputWPIAdapter.DigitalOutputWPIAdapterFactory.html" class="type-name-link" title="class in xbot.common.controls.actuators.wpi_adapters">DigitalOutputWPIAdapter.DigitalOutputWPIAdapterFactory</a> (implements xbot.common.controls.actuators.<a href="xbot/common/controls/actuators/XDigitalOutput.XDigitalOutputFactory.html" title="interface in xbot.common.controls.actuators">XDigitalOutput.XDigitalOutputFactory</a>)</li>
+<li class="circle">xbot.common.math.<a href="xbot/common/math/DoubleInterpolator.html" class="type-name-link" title="class in xbot.common.math">DoubleInterpolator</a></li>
 <li class="circle">xbot.common.controls.sensors.wpi_adapters.<a href="xbot/common/controls/sensors/wpi_adapters/DutyCycleEncoderWpiAdapter.DutyCycleEncoderWpiAdapterFactory.html" class="type-name-link" title="class in xbot.common.controls.sensors.wpi_adapters">DutyCycleEncoderWpiAdapter.DutyCycleEncoderWpiAdapterFactory</a> (implements xbot.common.controls.sensors.<a href="xbot/common/controls/sensors/XDutyCycleEncoder.XDutyCycleEncoderFactory.html" title="interface in xbot.common.controls.sensors">XDutyCycleEncoder.XDutyCycleEncoderFactory</a>)</li>
 <li class="circle">xbot.common.controls.sensors.wpi_adapters.<a href="xbot/common/controls/sensors/wpi_adapters/EncoderWPIAdapter.EncoderWPIAdapterFactory.html" class="type-name-link" title="class in xbot.common.controls.sensors.wpi_adapters">EncoderWPIAdapter.EncoderWPIAdapterFactory</a> (implements xbot.common.controls.sensors.<a href="xbot/common/controls/sensors/XEncoder.XEncoderFactory.html" title="interface in xbot.common.controls.sensors">XEncoder.XEncoderFactory</a>)</li>
 <li class="circle">xbot.common.math.<a href="xbot/common/math/FieldPose.html" class="type-name-link" title="class in xbot.common.math">FieldPose</a></li>
diff --git a/type-search-index.js b/type-search-index.js
index 83b300af..6c83e197 100644
--- a/type-search-index.js
+++ b/type-search-index.js
@@ -1 +1 @@
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@@ -0,0 +1,200 @@
+<!DOCTYPE HTML>
+<html lang="en">
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+<!-- Generated by javadoc (17) -->
+<title>DoubleInterpolator (SeriouslyCommonLib API)</title>
+<meta name="viewport" content="width=device-width, initial-scale=1">
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+<meta name="description" content="declaration: package: xbot.common.math, class: DoubleInterpolator">
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+<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">xbot.common.math</a></div>
+<h1 title="Class DoubleInterpolator" class="title">Class DoubleInterpolator</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">xbot.common.math.DoubleInterpolator</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">DoubleInterpolator</span>
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+</section>
+<section class="summary">
+<ul class="summary-list">
+<!-- ======== 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">DoubleInterpolator</a>()</code></div>
+<div class="col-last even-row-color">&nbsp;</div>
+<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(double%5B%5D,double%5B%5D)" class="member-name-link">DoubleInterpolator</a><wbr>(double[]&nbsp;inputVariables,
+ double[]&nbsp;outputVariables)</code></div>
+<div class="col-last odd-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>double[]</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getInputVariables()" class="member-name-link">getInputVariables</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>double</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getInterpolatedOutputVariable(double)" class="member-name-link">getInterpolatedOutputVariable</a><wbr>(double&nbsp;inputVariable)</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>double[]</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getOutputVariables()" class="member-name-link">getOutputVariables</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>double</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getYIntercept(double,double,double)" class="member-name-link">getYIntercept</a><wbr>(double&nbsp;slope,
+ double&nbsp;x1,
+ double&nbsp;y1)</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-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;(double[],double[])">
+<h3>DoubleInterpolator</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">DoubleInterpolator</span><wbr><span class="parameters">(double[]&nbsp;inputVariables,
+ double[]&nbsp;outputVariables)</span></div>
+</section>
+</li>
+<li>
+<section class="detail" id="&lt;init&gt;()">
+<h3>DoubleInterpolator</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">DoubleInterpolator</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="getYIntercept(double,double,double)">
+<h3>getYIntercept</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">getYIntercept</span><wbr><span class="parameters">(double&nbsp;slope,
+ double&nbsp;x1,
+ double&nbsp;y1)</span></div>
+</section>
+</li>
+<li>
+<section class="detail" id="getInterpolatedOutputVariable(double)">
+<h3>getInterpolatedOutputVariable</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">getInterpolatedOutputVariable</span><wbr><span class="parameters">(double&nbsp;inputVariable)</span></div>
+</section>
+</li>
+<li>
+<section class="detail" id="getOutputVariables()">
+<h3>getOutputVariables</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double[]</span>&nbsp;<span class="element-name">getOutputVariables</span>()</div>
+</section>
+</li>
+<li>
+<section class="detail" id="getInputVariables()">
+<h3>getInputVariables</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double[]</span>&nbsp;<span class="element-name">getInputVariables</span>()</div>
+</section>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</section>
+<!-- ========= END OF CLASS DATA ========= -->
+</main>
+</div>
+</div>
+</body>
+</html>
diff --git a/xbot/common/math/package-summary.html b/xbot/common/math/package-summary.html
index 519a21d2..fabf56cc 100644
--- a/xbot/common/math/package-summary.html
+++ b/xbot/common/math/package-summary.html
@@ -82,71 +82,73 @@ <h1 title="Package xbot.common.math" class="title">Package xbot.common.math</h1>
 <div class="block">Wraps a double to allow easy comparison and manipulation of sensor readings
  that wrap (e.g.</div>
 </div>
-<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="FieldPose.html" title="class in xbot.common.math">FieldPose</a></div>
-<div class="col-last odd-row-color class-summary class-summary-tab2">
+<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="DoubleInterpolator.html" title="class in xbot.common.math">DoubleInterpolator</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="FieldPose.html" title="class in xbot.common.math">FieldPose</a></div>
+<div class="col-last even-row-color class-summary class-summary-tab2">
 <div class="block">The FieldPose class represents a point on the field as well as a heading.</div>
 </div>
-<div class="col-first even-row-color class-summary class-summary-tab2"><a href="FieldPosePropertyManager.html" title="class in xbot.common.math">FieldPosePropertyManager</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="FieldPosePropertyManager.FieldPosePropertyManagerFactory.html" title="class in xbot.common.math">FieldPosePropertyManager.FieldPosePropertyManagerFactory</a></div>
+<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="FieldPosePropertyManager.html" title="class in xbot.common.math">FieldPosePropertyManager</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="InterpolatingFieldPoseBuffer.html" title="class in xbot.common.math">InterpolatingFieldPoseBuffer</a></div>
+<div class="col-first even-row-color class-summary class-summary-tab2"><a href="FieldPosePropertyManager.FieldPosePropertyManagerFactory.html" title="class in xbot.common.math">FieldPosePropertyManager.FieldPosePropertyManagerFactory</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="InterpolatingHistoryBuffer.html" title="class in xbot.common.math">InterpolatingHistoryBuffer</a></div>
+<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="InterpolatingFieldPoseBuffer.html" title="class in xbot.common.math">InterpolatingFieldPoseBuffer</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="MathUtils.html" title="class in xbot.common.math">MathUtils</a></div>
+<div class="col-first even-row-color class-summary class-summary-tab2"><a href="InterpolatingHistoryBuffer.html" title="class in xbot.common.math">InterpolatingHistoryBuffer</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="MovingAverage.html" title="class in xbot.common.math">MovingAverage</a>&lt;T&gt;</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-tab1"><a href="MovingAverage.SumFunction.html" title="interface in xbot.common.math">MovingAverage.SumFunction</a>&lt;T&gt;</div>
-<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="MovingAverageForDouble.html" title="class in xbot.common.math">MovingAverageForDouble</a></div>
+<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="MathUtils.html" title="class in xbot.common.math">MathUtils</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="MovingAverageForTranslation2d.html" title="class in xbot.common.math">MovingAverageForTranslation2d</a></div>
+<div class="col-first even-row-color class-summary class-summary-tab2"><a href="MovingAverage.html" title="class in xbot.common.math">MovingAverage</a>&lt;T&gt;</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="PID.html" title="class in xbot.common.math">PID</a></div>
-<div class="col-last odd-row-color class-summary class-summary-tab2">
+<div class="col-first odd-row-color class-summary class-summary-tab1"><a href="MovingAverage.SumFunction.html" title="interface in xbot.common.math">MovingAverage.SumFunction</a>&lt;T&gt;</div>
+<div class="col-last odd-row-color class-summary class-summary-tab1">&nbsp;</div>
+<div class="col-first even-row-color class-summary class-summary-tab2"><a href="MovingAverageForDouble.html" title="class in xbot.common.math">MovingAverageForDouble</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="MovingAverageForTranslation2d.html" title="class in xbot.common.math">MovingAverageForTranslation2d</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="PID.html" title="class in xbot.common.math">PID</a></div>
+<div class="col-last even-row-color class-summary class-summary-tab2">
 <div class="block">This PID was extracted from WPILib.</div>
 </div>
-<div class="col-first even-row-color class-summary class-summary-tab3"><a href="PID.OffTargetReason.html" title="enum class in xbot.common.math">PID.OffTargetReason</a></div>
-<div class="col-last even-row-color class-summary class-summary-tab3">&nbsp;</div>
-<div class="col-first odd-row-color class-summary class-summary-tab4"><a href="PIDDefaults.html" title="class in xbot.common.math">PIDDefaults</a></div>
-<div class="col-last odd-row-color class-summary class-summary-tab4">
+<div class="col-first odd-row-color class-summary class-summary-tab3"><a href="PID.OffTargetReason.html" title="enum class in xbot.common.math">PID.OffTargetReason</a></div>
+<div class="col-last odd-row-color class-summary class-summary-tab3">&nbsp;</div>
+<div class="col-first even-row-color class-summary class-summary-tab4"><a href="PIDDefaults.html" title="class in xbot.common.math">PIDDefaults</a></div>
+<div class="col-last even-row-color class-summary class-summary-tab4">
 <div class="block">This class is used to define the default values for a PID controller.</div>
 </div>
-<div class="col-first even-row-color class-summary class-summary-tab2"><a href="PIDManager.html" title="class in xbot.common.math">PIDManager</a></div>
-<div class="col-last even-row-color class-summary class-summary-tab2">
+<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="PIDManager.html" title="class in xbot.common.math">PIDManager</a></div>
+<div class="col-last odd-row-color class-summary class-summary-tab2">
 <div class="block">Wrapper for PID class which automatically puts the P, I and D values on
  the SmartDashboard.</div>
 </div>
-<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="PIDManager.PIDManagerFactory.html" title="class in xbot.common.math">PIDManager.PIDManagerFactory</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="PIDPropertyManager.html" title="class in xbot.common.math">PIDPropertyManager</a></div>
+<div class="col-first even-row-color class-summary class-summary-tab2"><a href="PIDManager.PIDManagerFactory.html" title="class in xbot.common.math">PIDManager.PIDManagerFactory</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="PIDPropertyManager.PIDPropertyManagerFactory.html" title="class in xbot.common.math">PIDPropertyManager.PIDPropertyManagerFactory</a></div>
+<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="PIDPropertyManager.html" title="class in xbot.common.math">PIDPropertyManager</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="PlanarEngine.html" title="class in xbot.common.math">PlanarEngine</a></div>
+<div class="col-first even-row-color class-summary class-summary-tab2"><a href="PIDPropertyManager.PIDPropertyManagerFactory.html" title="class in xbot.common.math">PIDPropertyManager.PIDPropertyManagerFactory</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="PlanarTestVisualizer.html" title="class in xbot.common.math">PlanarTestVisualizer</a></div>
+<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="PlanarEngine.html" title="class in xbot.common.math">PlanarEngine</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="PlanarVisualizationPanel.html" title="class in xbot.common.math">PlanarVisualizationPanel</a></div>
+<div class="col-first even-row-color class-summary class-summary-tab2"><a href="PlanarTestVisualizer.html" title="class in xbot.common.math">PlanarTestVisualizer</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="PurePursuitTest.html" title="class in xbot.common.math">PurePursuitTest</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-tab1"><a href="PurePursuitTest.AsyncLinearIntervalJob.html" title="interface in xbot.common.math">PurePursuitTest.AsyncLinearIntervalJob</a></div>
-<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="PurePursuitTest.PursuitEnvironmentState.html" title="class in xbot.common.math">PurePursuitTest.PursuitEnvironmentState</a></div>
+<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="PlanarVisualizationPanel.html" title="class in xbot.common.math">PlanarVisualizationPanel</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="WrappedRotation2d.html" title="class in xbot.common.math">WrappedRotation2d</a></div>
-<div class="col-last even-row-color class-summary class-summary-tab2">
+<div class="col-first even-row-color class-summary class-summary-tab2"><a href="PurePursuitTest.html" title="class in xbot.common.math">PurePursuitTest</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-tab1"><a href="PurePursuitTest.AsyncLinearIntervalJob.html" title="interface in xbot.common.math">PurePursuitTest.AsyncLinearIntervalJob</a></div>
+<div class="col-last odd-row-color class-summary class-summary-tab1">&nbsp;</div>
+<div class="col-first even-row-color class-summary class-summary-tab2"><a href="PurePursuitTest.PursuitEnvironmentState.html" title="class in xbot.common.math">PurePursuitTest.PursuitEnvironmentState</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="WrappedRotation2d.html" title="class in xbot.common.math">WrappedRotation2d</a></div>
+<div class="col-last odd-row-color class-summary class-summary-tab2">
 <div class="block">A rotation in a 2d coordinate frame, with its rotation wrapped from -pi to pi radians (-180 to 180 degrees).</div>
 </div>
-<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="XYPair.html" title="class in xbot.common.math">XYPair</a></div>
-<div class="col-last odd-row-color class-summary class-summary-tab2">
+<div class="col-first even-row-color class-summary class-summary-tab2"><a href="XYPair.html" title="class in xbot.common.math">XYPair</a></div>
+<div class="col-last even-row-color class-summary class-summary-tab2">
 <div class="block">Pair of X and Y coordinates.</div>
 </div>
-<div class="col-first even-row-color class-summary class-summary-tab2"><a href="XYPairStruct.html" title="class in xbot.common.math">XYPairStruct</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="XYPairStruct.html" title="class in xbot.common.math">XYPairStruct</a></div>
+<div class="col-last odd-row-color class-summary class-summary-tab2">&nbsp;</div>
 </div>
 </div>
 </div>
diff --git a/xbot/common/math/package-tree.html b/xbot/common/math/package-tree.html
index d7880787..56bd054f 100644
--- a/xbot/common/math/package-tree.html
+++ b/xbot/common/math/package-tree.html
@@ -83,6 +83,7 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 </ul>
 </li>
 <li class="circle">xbot.common.math.<a href="ContiguousDouble.html" class="type-name-link" title="class in xbot.common.math">ContiguousDouble</a></li>
+<li class="circle">xbot.common.math.<a href="DoubleInterpolator.html" class="type-name-link" title="class in xbot.common.math">DoubleInterpolator</a></li>
 <li class="circle">xbot.common.math.<a href="FieldPose.html" class="type-name-link" title="class in xbot.common.math">FieldPose</a></li>
 <li class="circle">xbot.common.math.<a href="FieldPosePropertyManager.html" class="type-name-link" title="class in xbot.common.math">FieldPosePropertyManager</a></li>
 <li class="circle">xbot.common.math.<a href="FieldPosePropertyManager.FieldPosePropertyManagerFactory.html" class="type-name-link" title="class in xbot.common.math">FieldPosePropertyManager.FieldPosePropertyManagerFactory</a></li>