diff --git a/swervelib/bin/main/frc/team1711/swerve/subsystems/GyroSwerveDrive.class b/swervelib/bin/main/frc/team1711/swerve/subsystems/GyroSwerveDrive.class
index 01843e0..dd7da51 100644
Binary files a/swervelib/bin/main/frc/team1711/swerve/subsystems/GyroSwerveDrive.class and b/swervelib/bin/main/frc/team1711/swerve/subsystems/GyroSwerveDrive.class differ
diff --git a/swervelib/build.gradle b/swervelib/build.gradle
index 114890a..8955625 100644
--- a/swervelib/build.gradle
+++ b/swervelib/build.gradle
@@ -47,7 +47,7 @@ dependencies {
     
 }
 
-version = 'v3.2022.3.1'
+version = 'v4.2022.3.1'
 group = 'io.github.frc1711'
 
 java {
diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/GyroSwerveDrive.class b/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/GyroSwerveDrive.class
index e34d63b..1498e0a 100644
Binary files a/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/GyroSwerveDrive.class and b/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/GyroSwerveDrive.class differ
diff --git a/swervelib/build/docs/javadoc/allclasses-index.html b/swervelib/build/docs/javadoc/allclasses-index.html
index 1f2c6f5..1dbf929 100644
--- a/swervelib/build/docs/javadoc/allclasses-index.html
+++ b/swervelib/build/docs/javadoc/allclasses-index.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>All Classes (swervelib v3.2022.3.1 API)</title>
+<title>All Classes (swervelib v4.2022.3.1 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="jquery/jquery-ui.css" title="Style">
@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="All Classes (swervelib v3.2022.3.1 API)";
+            parent.document.title="All Classes (swervelib v4.2022.3.1 API)";
         }
     }
     catch(err) {
diff --git a/swervelib/build/docs/javadoc/allclasses.html b/swervelib/build/docs/javadoc/allclasses.html
index 34e6da8..c129913 100644
--- a/swervelib/build/docs/javadoc/allclasses.html
+++ b/swervelib/build/docs/javadoc/allclasses.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>All Classes (swervelib v3.2022.3.1 API)</title>
+<title>All Classes (swervelib v4.2022.3.1 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="jquery/jquery-ui.css" title="Style">
diff --git a/swervelib/build/docs/javadoc/allpackages-index.html b/swervelib/build/docs/javadoc/allpackages-index.html
index bd6b5de..0e914e5 100644
--- a/swervelib/build/docs/javadoc/allpackages-index.html
+++ b/swervelib/build/docs/javadoc/allpackages-index.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>All Packages (swervelib v3.2022.3.1 API)</title>
+<title>All Packages (swervelib v4.2022.3.1 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="jquery/jquery-ui.css" title="Style">
@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="All Packages (swervelib v3.2022.3.1 API)";
+            parent.document.title="All Packages (swervelib v4.2022.3.1 API)";
         }
     }
     catch(err) {
diff --git a/swervelib/build/docs/javadoc/constant-values.html b/swervelib/build/docs/javadoc/constant-values.html
index 6617774..e9c6af8 100644
--- a/swervelib/build/docs/javadoc/constant-values.html
+++ b/swervelib/build/docs/javadoc/constant-values.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>Constant Field Values (swervelib v3.2022.3.1 API)</title>
+<title>Constant Field Values (swervelib v4.2022.3.1 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="jquery/jquery-ui.css" title="Style">
@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="Constant Field Values (swervelib v3.2022.3.1 API)";
+            parent.document.title="Constant Field Values (swervelib v4.2022.3.1 API)";
         }
     }
     catch(err) {
diff --git a/swervelib/build/docs/javadoc/deprecated-list.html b/swervelib/build/docs/javadoc/deprecated-list.html
index 6de89c8..74e0d77 100644
--- a/swervelib/build/docs/javadoc/deprecated-list.html
+++ b/swervelib/build/docs/javadoc/deprecated-list.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>Deprecated List (swervelib v3.2022.3.1 API)</title>
+<title>Deprecated List (swervelib v4.2022.3.1 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="jquery/jquery-ui.css" title="Style">
@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="Deprecated List (swervelib v3.2022.3.1 API)";
+            parent.document.title="Deprecated List (swervelib v4.2022.3.1 API)";
         }
     }
     catch(err) {
diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/AutonDrive.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/AutonDrive.html
index dd5a5d9..d4b1d76 100644
--- a/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/AutonDrive.html
+++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/AutonDrive.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>AutonDrive (swervelib v3.2022.3.1 API)</title>
+<title>AutonDrive (swervelib v4.2022.3.1 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.css" title="Style">
@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="AutonDrive (swervelib v3.2022.3.1 API)";
+            parent.document.title="AutonDrive (swervelib v4.2022.3.1 API)";
         }
     }
     catch(err) {
diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/AutonTurn.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/AutonTurn.html
index e57632d..2f2a452 100644
--- a/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/AutonTurn.html
+++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/AutonTurn.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>AutonTurn (swervelib v3.2022.3.1 API)</title>
+<title>AutonTurn (swervelib v4.2022.3.1 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.css" title="Style">
@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="AutonTurn (swervelib v3.2022.3.1 API)";
+            parent.document.title="AutonTurn (swervelib v4.2022.3.1 API)";
         }
     }
     catch(err) {
diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/FrameOfReference.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/FrameOfReference.html
index a371f2f..33666fe 100644
--- a/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/FrameOfReference.html
+++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/FrameOfReference.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>FrameOfReference (swervelib v3.2022.3.1 API)</title>
+<title>FrameOfReference (swervelib v4.2022.3.1 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.css" title="Style">
@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="FrameOfReference (swervelib v3.2022.3.1 API)";
+            parent.document.title="FrameOfReference (swervelib v4.2022.3.1 API)";
         }
     }
     catch(err) {
diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/package-summary.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/package-summary.html
index fbb5bf7..4e0925e 100644
--- a/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/package-summary.html
+++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/package-summary.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>frc.team1711.swerve.commands (swervelib v3.2022.3.1 API)</title>
+<title>frc.team1711.swerve.commands (swervelib v4.2022.3.1 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.css" title="Style">
@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="frc.team1711.swerve.commands (swervelib v3.2022.3.1 API)";
+            parent.document.title="frc.team1711.swerve.commands (swervelib v4.2022.3.1 API)";
         }
     }
     catch(err) {
diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/package-tree.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/package-tree.html
index 8e4a9db..61726f4 100644
--- a/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/package-tree.html
+++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/package-tree.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>frc.team1711.swerve.commands Class Hierarchy (swervelib v3.2022.3.1 API)</title>
+<title>frc.team1711.swerve.commands Class Hierarchy (swervelib v4.2022.3.1 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.css" title="Style">
@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="frc.team1711.swerve.commands Class Hierarchy (swervelib v3.2022.3.1 API)";
+            parent.document.title="frc.team1711.swerve.commands Class Hierarchy (swervelib v4.2022.3.1 API)";
         }
     }
     catch(err) {
diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/AutoSwerveDrive.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/AutoSwerveDrive.html
index 2239fdf..29e1ca2 100644
--- a/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/AutoSwerveDrive.html
+++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/AutoSwerveDrive.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>AutoSwerveDrive (swervelib v3.2022.3.1 API)</title>
+<title>AutoSwerveDrive (swervelib v4.2022.3.1 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.css" title="Style">
@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="AutoSwerveDrive (swervelib v3.2022.3.1 API)";
+            parent.document.title="AutoSwerveDrive (swervelib v4.2022.3.1 API)";
         }
     }
     catch(err) {
diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/AutoSwerveWheel.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/AutoSwerveWheel.html
index e3a05c5..1973c22 100644
--- a/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/AutoSwerveWheel.html
+++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/AutoSwerveWheel.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>AutoSwerveWheel (swervelib v3.2022.3.1 API)</title>
+<title>AutoSwerveWheel (swervelib v4.2022.3.1 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.css" title="Style">
@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="AutoSwerveWheel (swervelib v3.2022.3.1 API)";
+            parent.document.title="AutoSwerveWheel (swervelib v4.2022.3.1 API)";
         }
     }
     catch(err) {
diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/GyroSwerveDrive.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/GyroSwerveDrive.html
index 330204a..cae832f 100644
--- a/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/GyroSwerveDrive.html
+++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/GyroSwerveDrive.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>GyroSwerveDrive (swervelib v3.2022.3.1 API)</title>
+<title>GyroSwerveDrive (swervelib v4.2022.3.1 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.css" title="Style">
@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="GyroSwerveDrive (swervelib v3.2022.3.1 API)";
+            parent.document.title="GyroSwerveDrive (swervelib v4.2022.3.1 API)";
         }
     }
     catch(err) {
diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/SwerveDrive.ControlsConfig.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/SwerveDrive.ControlsConfig.html
index 6890779..5217795 100644
--- a/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/SwerveDrive.ControlsConfig.html
+++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/SwerveDrive.ControlsConfig.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>SwerveDrive.ControlsConfig (swervelib v3.2022.3.1 API)</title>
+<title>SwerveDrive.ControlsConfig (swervelib v4.2022.3.1 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.css" title="Style">
@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="SwerveDrive.ControlsConfig (swervelib v3.2022.3.1 API)";
+            parent.document.title="SwerveDrive.ControlsConfig (swervelib v4.2022.3.1 API)";
         }
     }
     catch(err) {
diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/SwerveDrive.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/SwerveDrive.html
index 119b664..c502922 100644
--- a/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/SwerveDrive.html
+++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/SwerveDrive.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>SwerveDrive (swervelib v3.2022.3.1 API)</title>
+<title>SwerveDrive (swervelib v4.2022.3.1 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.css" title="Style">
@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="SwerveDrive (swervelib v3.2022.3.1 API)";
+            parent.document.title="SwerveDrive (swervelib v4.2022.3.1 API)";
         }
     }
     catch(err) {
diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/SwerveWheel.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/SwerveWheel.html
index 60c5623..db0d8e1 100644
--- a/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/SwerveWheel.html
+++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/SwerveWheel.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>SwerveWheel (swervelib v3.2022.3.1 API)</title>
+<title>SwerveWheel (swervelib v4.2022.3.1 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.css" title="Style">
@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="SwerveWheel (swervelib v3.2022.3.1 API)";
+            parent.document.title="SwerveWheel (swervelib v4.2022.3.1 API)";
         }
     }
     catch(err) {
diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/package-summary.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/package-summary.html
index 60a5aff..23fa153 100644
--- a/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/package-summary.html
+++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/package-summary.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>frc.team1711.swerve.subsystems (swervelib v3.2022.3.1 API)</title>
+<title>frc.team1711.swerve.subsystems (swervelib v4.2022.3.1 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
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@@ -20,7 +20,7 @@
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         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="frc.team1711.swerve.subsystems (swervelib v3.2022.3.1 API)";
+            parent.document.title="frc.team1711.swerve.subsystems (swervelib v4.2022.3.1 API)";
         }
     }
     catch(err) {
diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/package-tree.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/package-tree.html
index 1111c17..d9b2e8f 100644
--- a/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/package-tree.html
+++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/package-tree.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>frc.team1711.swerve.subsystems Class Hierarchy (swervelib v3.2022.3.1 API)</title>
+<title>frc.team1711.swerve.subsystems Class Hierarchy (swervelib v4.2022.3.1 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.css" title="Style">
@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="frc.team1711.swerve.subsystems Class Hierarchy (swervelib v3.2022.3.1 API)";
+            parent.document.title="frc.team1711.swerve.subsystems Class Hierarchy (swervelib v4.2022.3.1 API)";
         }
     }
     catch(err) {
diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/util/Angles.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/util/Angles.html
index c80e81a..565449a 100644
--- a/swervelib/build/docs/javadoc/frc/team1711/swerve/util/Angles.html
+++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/util/Angles.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>Angles (swervelib v3.2022.3.1 API)</title>
+<title>Angles (swervelib v4.2022.3.1 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.css" title="Style">
@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="Angles (swervelib v3.2022.3.1 API)";
+            parent.document.title="Angles (swervelib v4.2022.3.1 API)";
         }
     }
     catch(err) {
diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/util/InputHandler.Curve.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/util/InputHandler.Curve.html
index b9eb1fd..9ba7d6f 100644
--- a/swervelib/build/docs/javadoc/frc/team1711/swerve/util/InputHandler.Curve.html
+++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/util/InputHandler.Curve.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>InputHandler.Curve (swervelib v3.2022.3.1 API)</title>
+<title>InputHandler.Curve (swervelib v4.2022.3.1 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.css" title="Style">
@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="InputHandler.Curve (swervelib v3.2022.3.1 API)";
+            parent.document.title="InputHandler.Curve (swervelib v4.2022.3.1 API)";
         }
     }
     catch(err) {
diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/util/InputHandler.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/util/InputHandler.html
index 8a61a1b..b4c9fde 100644
--- a/swervelib/build/docs/javadoc/frc/team1711/swerve/util/InputHandler.html
+++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/util/InputHandler.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>InputHandler (swervelib v3.2022.3.1 API)</title>
+<title>InputHandler (swervelib v4.2022.3.1 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.css" title="Style">
@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="InputHandler (swervelib v3.2022.3.1 API)";
+            parent.document.title="InputHandler (swervelib v4.2022.3.1 API)";
         }
     }
     catch(err) {
diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/util/Vector.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/util/Vector.html
index 6e1da7e..fd01eaf 100644
--- a/swervelib/build/docs/javadoc/frc/team1711/swerve/util/Vector.html
+++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/util/Vector.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>Vector (swervelib v3.2022.3.1 API)</title>
+<title>Vector (swervelib v4.2022.3.1 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.css" title="Style">
@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="Vector (swervelib v3.2022.3.1 API)";
+            parent.document.title="Vector (swervelib v4.2022.3.1 API)";
         }
     }
     catch(err) {
diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/util/package-summary.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/util/package-summary.html
index 49ba7b7..283b3a4 100644
--- a/swervelib/build/docs/javadoc/frc/team1711/swerve/util/package-summary.html
+++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/util/package-summary.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>frc.team1711.swerve.util (swervelib v3.2022.3.1 API)</title>
+<title>frc.team1711.swerve.util (swervelib v4.2022.3.1 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.css" title="Style">
@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="frc.team1711.swerve.util (swervelib v3.2022.3.1 API)";
+            parent.document.title="frc.team1711.swerve.util (swervelib v4.2022.3.1 API)";
         }
     }
     catch(err) {
diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/util/package-tree.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/util/package-tree.html
index 27b2950..51f334e 100644
--- a/swervelib/build/docs/javadoc/frc/team1711/swerve/util/package-tree.html
+++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/util/package-tree.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>frc.team1711.swerve.util Class Hierarchy (swervelib v3.2022.3.1 API)</title>
+<title>frc.team1711.swerve.util Class Hierarchy (swervelib v4.2022.3.1 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.css" title="Style">
@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="frc.team1711.swerve.util Class Hierarchy (swervelib v3.2022.3.1 API)";
+            parent.document.title="frc.team1711.swerve.util Class Hierarchy (swervelib v4.2022.3.1 API)";
         }
     }
     catch(err) {
diff --git a/swervelib/build/docs/javadoc/help-doc.html b/swervelib/build/docs/javadoc/help-doc.html
index f937841..731998a 100644
--- a/swervelib/build/docs/javadoc/help-doc.html
+++ b/swervelib/build/docs/javadoc/help-doc.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>API Help (swervelib v3.2022.3.1 API)</title>
+<title>API Help (swervelib v4.2022.3.1 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="jquery/jquery-ui.css" title="Style">
@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="API Help (swervelib v3.2022.3.1 API)";
+            parent.document.title="API Help (swervelib v4.2022.3.1 API)";
         }
     }
     catch(err) {
diff --git a/swervelib/build/docs/javadoc/index-all.html b/swervelib/build/docs/javadoc/index-all.html
index fe728e3..2a4052c 100644
--- a/swervelib/build/docs/javadoc/index-all.html
+++ b/swervelib/build/docs/javadoc/index-all.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>Index (swervelib v3.2022.3.1 API)</title>
+<title>Index (swervelib v4.2022.3.1 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="jquery/jquery-ui.css" title="Style">
@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="Index (swervelib v3.2022.3.1 API)";
+            parent.document.title="Index (swervelib v4.2022.3.1 API)";
         }
     }
     catch(err) {
diff --git a/swervelib/build/docs/javadoc/index.html b/swervelib/build/docs/javadoc/index.html
index e1fadb7..17e2fba 100644
--- a/swervelib/build/docs/javadoc/index.html
+++ b/swervelib/build/docs/javadoc/index.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>Overview (swervelib v3.2022.3.1 API)</title>
+<title>Overview (swervelib v4.2022.3.1 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="jquery/jquery-ui.css" title="Style">
@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="Overview (swervelib v3.2022.3.1 API)";
+            parent.document.title="Overview (swervelib v4.2022.3.1 API)";
         }
     }
     catch(err) {
@@ -91,7 +91,7 @@
 </nav>
 </header>
 <div class="header">
-<h1 class="title">swervelib v3.2022.3.1 API</h1>
+<h1 class="title">swervelib v4.2022.3.1 API</h1>
 </div>
 <main role="main">
 <div class="contentContainer">
diff --git a/swervelib/build/docs/javadoc/member-search-index.zip b/swervelib/build/docs/javadoc/member-search-index.zip
index 7e4bd1d..4dba751 100644
Binary files a/swervelib/build/docs/javadoc/member-search-index.zip and b/swervelib/build/docs/javadoc/member-search-index.zip differ
diff --git a/swervelib/build/docs/javadoc/overview-summary.html b/swervelib/build/docs/javadoc/overview-summary.html
index 31ccb36..65d91b5 100644
--- a/swervelib/build/docs/javadoc/overview-summary.html
+++ b/swervelib/build/docs/javadoc/overview-summary.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>swervelib v3.2022.3.1 API</title>
+<title>swervelib v4.2022.3.1 API</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <script type="text/javascript">window.location.replace('index.html')</script>
 <noscript>
diff --git a/swervelib/build/docs/javadoc/overview-tree.html b/swervelib/build/docs/javadoc/overview-tree.html
index 683d888..54b0792 100644
--- a/swervelib/build/docs/javadoc/overview-tree.html
+++ b/swervelib/build/docs/javadoc/overview-tree.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>Class Hierarchy (swervelib v3.2022.3.1 API)</title>
+<title>Class Hierarchy (swervelib v4.2022.3.1 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="jquery/jquery-ui.css" title="Style">
@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="Class Hierarchy (swervelib v3.2022.3.1 API)";
+            parent.document.title="Class Hierarchy (swervelib v4.2022.3.1 API)";
         }
     }
     catch(err) {
diff --git a/swervelib/build/docs/javadoc/package-search-index.zip b/swervelib/build/docs/javadoc/package-search-index.zip
index 3ae6964..f6a05a4 100644
Binary files a/swervelib/build/docs/javadoc/package-search-index.zip and b/swervelib/build/docs/javadoc/package-search-index.zip differ
diff --git a/swervelib/build/docs/javadoc/type-search-index.zip b/swervelib/build/docs/javadoc/type-search-index.zip
index d40cfd3..4a0fc12 100644
Binary files a/swervelib/build/docs/javadoc/type-search-index.zip and b/swervelib/build/docs/javadoc/type-search-index.zip differ
diff --git a/swervelib/build/libs/swervelib-v3.2022.3.1-javadoc.jar b/swervelib/build/libs/swervelib-v4.2022.3.1-javadoc.jar
similarity index 82%
rename from swervelib/build/libs/swervelib-v3.2022.3.1-javadoc.jar
rename to swervelib/build/libs/swervelib-v4.2022.3.1-javadoc.jar
index 9908878..a428841 100644
Binary files a/swervelib/build/libs/swervelib-v3.2022.3.1-javadoc.jar and b/swervelib/build/libs/swervelib-v4.2022.3.1-javadoc.jar differ
diff --git a/swervelib/build/libs/swervelib-v3.2022.3.1.jar b/swervelib/build/libs/swervelib-v4.2022.3.1.jar
similarity index 85%
rename from swervelib/build/libs/swervelib-v3.2022.3.1.jar
rename to swervelib/build/libs/swervelib-v4.2022.3.1.jar
index 3dce0db..31bf76a 100644
Binary files a/swervelib/build/libs/swervelib-v3.2022.3.1.jar and b/swervelib/build/libs/swervelib-v4.2022.3.1.jar differ
diff --git a/swervelib/build/reports/tests/test/classes/swerve.LibraryTest.html b/swervelib/build/reports/tests/test/classes/swerve.LibraryTest.html
index d8c4411..cceb623 100644
--- a/swervelib/build/reports/tests/test/classes/swerve.LibraryTest.html
+++ b/swervelib/build/reports/tests/test/classes/swerve.LibraryTest.html
@@ -89,7 +89,7 @@ <h2>Tests</h2>
 <input id="line-wrapping-toggle" type="checkbox" autocomplete="off"/>
 </label>
 </div>Generated by 
-<a href="http://www.gradle.org">Gradle 7.3.3</a> at Feb 19, 2022, 5:24:39 PM</p>
+<a href="http://www.gradle.org">Gradle 7.3.3</a> at Feb 19, 2022, 9:30:53 PM</p>
 </div>
 </div>
 </body>
diff --git a/swervelib/build/reports/tests/test/index.html b/swervelib/build/reports/tests/test/index.html
index cd4a5fc..801f89f 100644
--- a/swervelib/build/reports/tests/test/index.html
+++ b/swervelib/build/reports/tests/test/index.html
@@ -138,7 +138,7 @@ <h2>Classes</h2>
 <input id="line-wrapping-toggle" type="checkbox" autocomplete="off"/>
 </label>
 </div>Generated by 
-<a href="http://www.gradle.org">Gradle 7.3.3</a> at Feb 19, 2022, 5:24:39 PM</p>
+<a href="http://www.gradle.org">Gradle 7.3.3</a> at Feb 19, 2022, 9:30:53 PM</p>
 </div>
 </div>
 </body>
diff --git a/swervelib/build/reports/tests/test/packages/swerve.html b/swervelib/build/reports/tests/test/packages/swerve.html
index 3e437b2..f53421d 100644
--- a/swervelib/build/reports/tests/test/packages/swerve.html
+++ b/swervelib/build/reports/tests/test/packages/swerve.html
@@ -108,7 +108,7 @@ <h2>Classes</h2>
 <input id="line-wrapping-toggle" type="checkbox" autocomplete="off"/>
 </label>
 </div>Generated by 
-<a href="http://www.gradle.org">Gradle 7.3.3</a> at Feb 19, 2022, 5:24:39 PM</p>
+<a href="http://www.gradle.org">Gradle 7.3.3</a> at Feb 19, 2022, 9:30:53 PM</p>
 </div>
 </div>
 </body>
diff --git a/swervelib/build/test-results/test/TEST-swerve.LibraryTest.xml b/swervelib/build/test-results/test/TEST-swerve.LibraryTest.xml
index 4259d70..c293a3e 100644
--- a/swervelib/build/test-results/test/TEST-swerve.LibraryTest.xml
+++ b/swervelib/build/test-results/test/TEST-swerve.LibraryTest.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<testsuite name="swerve.LibraryTest" tests="1" skipped="1" failures="0" errors="0" timestamp="2022-02-19T22:24:39" hostname="GABRIEL-LAPTOP" time="0.0">
+<testsuite name="swerve.LibraryTest" tests="1" skipped="1" failures="0" errors="0" timestamp="2022-02-20T02:30:53" hostname="GABRIEL-LAPTOP" time="0.0">
   <properties/>
   <testcase name="testSomeLibraryMethod" classname="swerve.LibraryTest" time="0.0">
     <skipped/>
diff --git a/swervelib/build/test-results/test/binary/results.bin b/swervelib/build/test-results/test/binary/results.bin
index 20e1ede..09e281b 100644
Binary files a/swervelib/build/test-results/test/binary/results.bin and b/swervelib/build/test-results/test/binary/results.bin differ
diff --git a/swervelib/build/tmp/compileJava/previous-compilation-data.bin b/swervelib/build/tmp/compileJava/previous-compilation-data.bin
index 1fe3838..d99602c 100644
Binary files a/swervelib/build/tmp/compileJava/previous-compilation-data.bin and b/swervelib/build/tmp/compileJava/previous-compilation-data.bin differ
diff --git a/swervelib/build/tmp/javadoc/javadoc.options b/swervelib/build/tmp/javadoc/javadoc.options
index c9cf4cd..bf5c3b9 100644
--- a/swervelib/build/tmp/javadoc/javadoc.options
+++ b/swervelib/build/tmp/javadoc/javadoc.options
@@ -1,9 +1,9 @@
 -classpath 'C:\\all\\programming\\Robotics\\Swerve Library\\swervelib\\build\\classes\\java\\main;C:\\all\\programming\\Robotics\\Swerve Library\\swervelib\\build\\resources\\main;C:\\Users\\gabri\\.gradle\\caches\\modules-2\\files-2.1\\org.apache.commons\\commons-math3\\3.6.1\\e4ba98f1d4b3c80ec46392f25e094a6a2e58fcbf\\commons-math3-3.6.1.jar;C:\\Users\\gabri\\.gradle\\caches\\modules-2\\files-2.1\\edu.wpi.first.wpilibj\\wpilibj-java\\2022.3.1\\74d41f7adb27d5520e8a1275ba0525d28b967ca9\\wpilibj-java-2022.3.1.jar;C:\\Users\\gabri\\.gradle\\caches\\modules-2\\files-2.1\\edu.wpi.first.wpilibNewCommands\\wpilibNewCommands-java\\2022.3.1\\dc894348fdc639848045f84c8200ce3b83911e1\\wpilibNewCommands-java-2022.3.1.jar;C:\\Users\\gabri\\.gradle\\caches\\modules-2\\files-2.1\\edu.wpi.first.wpiutil\\wpiutil-java\\2022.3.1\\b5b1dd5335f12f0f5669374c68494674cbfce1c6\\wpiutil-java-2022.3.1.jar;C:\\Users\\gabri\\.gradle\\caches\\modules-2\\files-2.1\\com.google.guava\\guava\\29.0-jre\\801142b4c3d0f0770dd29abea50906cacfddd447\\guava-29.0-jre.jar;C:\\Users\\gabri\\.gradle\\caches\\modules-2\\files-2.1\\com.google.guava\\failureaccess\\1.0.1\\1dcf1de382a0bf95a3d8b0849546c88bac1292c9\\failureaccess-1.0.1.jar;C:\\Users\\gabri\\.gradle\\caches\\modules-2\\files-2.1\\com.google.guava\\listenablefuture\\9999.0-empty-to-avoid-conflict-with-guava\\b421526c5f297295adef1c886e5246c39d4ac629\\listenablefuture-9999.0-empty-to-avoid-conflict-with-guava.jar;C:\\Users\\gabri\\.gradle\\caches\\modules-2\\files-2.1\\com.google.code.findbugs\\jsr305\\3.0.2\\25ea2e8b0c338a877313bd4672d3fe056ea78f0d\\jsr305-3.0.2.jar;C:\\Users\\gabri\\.gradle\\caches\\modules-2\\files-2.1\\org.checkerframework\\checker-qual\\2.11.1\\8c43bf8f99b841d23aadda6044329dad9b63c185\\checker-qual-2.11.1.jar;C:\\Users\\gabri\\.gradle\\caches\\modules-2\\files-2.1\\com.google.errorprone\\error_prone_annotations\\2.3.4\\dac170e4594de319655ffb62f41cbd6dbb5e601e\\error_prone_annotations-2.3.4.jar;C:\\Users\\gabri\\.gradle\\caches\\modules-2\\files-2.1\\com.google.j2objc\\j2objc-annotations\\1.3\\ba035118bc8bac37d7eff77700720999acd9986d\\j2objc-annotations-1.3.jar'
 -d 'C:\\all\\programming\\Robotics\\Swerve Library\\swervelib\\build\\docs\\javadoc'
--doctitle 'swervelib v3.2022.3.1 API'
+-doctitle 'swervelib v4.2022.3.1 API'
 -notimestamp 
 -quiet 
--windowtitle 'swervelib v3.2022.3.1 API'
+-windowtitle 'swervelib v4.2022.3.1 API'
 'C:\\all\\programming\\Robotics\\Swerve Library\\swervelib\\src\\main\\java\\frc\\team1711\\swerve\\commands\\AutonDrive.java'
 'C:\\all\\programming\\Robotics\\Swerve Library\\swervelib\\src\\main\\java\\frc\\team1711\\swerve\\commands\\AutonDriveSimple.java'
 'C:\\all\\programming\\Robotics\\Swerve Library\\swervelib\\src\\main\\java\\frc\\team1711\\swerve\\commands\\AutonTurn.java'
diff --git a/swervelib/src/main/java/frc/team1711/swerve/subsystems/GyroSwerveDrive.java b/swervelib/src/main/java/frc/team1711/swerve/subsystems/GyroSwerveDrive.java
index c15940b..c74157a 100644
--- a/swervelib/src/main/java/frc/team1711/swerve/subsystems/GyroSwerveDrive.java
+++ b/swervelib/src/main/java/frc/team1711/swerve/subsystems/GyroSwerveDrive.java
@@ -6,7 +6,6 @@
 import edu.wpi.first.wpilibj.interfaces.Gyro;
 
 import frc.team1711.swerve.util.Angles;
-import frc.team1711.swerve.util.InputHandler;
 import frc.team1711.swerve.util.Vector;
 
 /**
