diff --git a/swervelib/bin/main/frc/team1711/swerve/commands/AutonDrive.class b/swervelib/bin/main/frc/team1711/swerve/commands/AutonDrive.class
index 3428ec3..5692e60 100644
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index 6ca0abf..69cdd6b 100644
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diff --git a/swervelib/bin/main/frc/team1711/swerve/commands/AutonTurn.class b/swervelib/bin/main/frc/team1711/swerve/commands/AutonTurn.class
index 96a26fc..d3855ed 100644
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diff --git a/swervelib/bin/main/frc/team1711/swerve/subsystems/SwerveWheel.class b/swervelib/bin/main/frc/team1711/swerve/subsystems/SwerveWheel.class
index aea4f48..93e72e7 100644
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diff --git a/swervelib/build.gradle b/swervelib/build.gradle
index 45ccbde..ea7769d 100644
--- a/swervelib/build.gradle
+++ b/swervelib/build.gradle
@@ -39,5 +39,5 @@ java {
     withJavadocJar()
 }
 
-version = '1.7'
+version = '2.0'
 group = 'io.github.frc1711'
\ No newline at end of file
diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/commands/AutonDrive.class b/swervelib/build/classes/java/main/frc/team1711/swerve/commands/AutonDrive.class
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diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/commands/AutonTurn.class b/swervelib/build/classes/java/main/frc/team1711/swerve/commands/AutonTurn.class
index 47f4af6..04509ce 100644
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diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/commands/AutonWheelTurn.class b/swervelib/build/classes/java/main/frc/team1711/swerve/commands/AutonWheelTurn.class
index a14e4d4..d3754de 100644
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index 55daafd..8ba2677 100644
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@@ -3,7 +3,7 @@
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+<title>All Classes (swervelib 2.0 API)</title>
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@@ -20,7 +20,7 @@
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index 220c22a..dd00708 100644
--- a/swervelib/build/docs/javadoc/allclasses.html
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@@ -3,7 +3,7 @@
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+<title>All Classes (swervelib 2.0 API)</title>
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diff --git a/swervelib/build/docs/javadoc/allpackages-index.html b/swervelib/build/docs/javadoc/allpackages-index.html
index 7e36628..a2142e3 100644
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@@ -3,7 +3,7 @@
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+<title>All Packages (swervelib 2.0 API)</title>
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@@ -20,7 +20,7 @@
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index 8defba7..3a07056 100644
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+++ b/swervelib/build/docs/javadoc/constant-values.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>Constant Field Values (swervelib 1.7 API)</title>
+<title>Constant Field Values (swervelib 2.0 API)</title>
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 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
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@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
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         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="Constant Field Values (swervelib 1.7 API)";
+            parent.document.title="Constant Field Values (swervelib 2.0 API)";
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index 47df014..e3783ed 100644
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+++ b/swervelib/build/docs/javadoc/deprecated-list.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>Deprecated List (swervelib 1.7 API)</title>
+<title>Deprecated List (swervelib 2.0 API)</title>
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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 8b15ea3..30d39a3 100644
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+++ 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 1.7 API)</title>
+<title>AutonDrive (swervelib 2.0 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">
@@ -20,14 +20,14 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="AutonDrive (swervelib 1.7 API)";
+            parent.document.title="AutonDrive (swervelib 2.0 API)";
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-var data = {"i0":9};
-var tabs = {65535:["t0","All Methods"],1:["t1","Static Methods"],8:["t4","Concrete Methods"]};
+var data = {"i0":9,"i1":10};
+var tabs = {65535:["t0","All Methods"],1:["t1","Static Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]};
 var altColor = "altColor";
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@@ -215,7 +215,7 @@ <h3>Constructor Summary</h3>
 </a>
 <h3>Method Summary</h3>
 <table class="memberSummary">
-<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
 <tr>
 <th class="colFirst" scope="col">Modifier and Type</th>
 <th class="colSecond" scope="col">Method</th>
@@ -232,13 +232,18 @@ <h3>Method Summary</h3>
 <div class="block">Constructs an <code>AutonDrive</code> command from a desired distance to the right and forwards.</div>
 </td>
 </tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#initialize()">initialize</a></span>()</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
 </table>
 <ul class="blockList">
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 </a>
 <h3>Methods inherited from class&nbsp;edu.wpi.first.wpilibj2.command.SequentialCommandGroup</h3>
-<code>addCommands, end, execute, initialize, isFinished, runsWhenDisabled</code></li>
+<code>addCommands, end, execute, isFinished, runsWhenDisabled</code></li>
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@@ -326,6 +331,21 @@ <h4>AutonDrive</h4>
 <!--   -->
 </a>
 <h3>Method Detail</h3>
+<a id="initialize()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>initialize</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;initialize()</pre>
+<dl>
+<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
+<dd><code>initialize</code>&nbsp;in interface&nbsp;<code>edu.wpi.first.wpilibj2.command.Command</code></dd>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code>initialize</code>&nbsp;in class&nbsp;<code>edu.wpi.first.wpilibj2.command.SequentialCommandGroup</code></dd>
+</dl>
+</li>
+</ul>
 <a id="fromMovement(frc.team1711.swerve.subsystems.AutoSwerveDrive,double,double,double,frc.team1711.swerve.commands.FrameOfReference)">
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 </a>
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 6461589..60256ee 100644
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+++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/AutonTurn.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
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+<title>AutonTurn (swervelib 2.0 API)</title>
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 <link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
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@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
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index f4b1e56..12fbb7f 100644
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@@ -3,7 +3,7 @@
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index 188f204..0c3e87f 100644
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 <html lang="en">
 <head>
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+            parent.document.title="frc.team1711.swerve.commands Class Hierarchy (swervelib 2.0 API)";
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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 ab3d8db..2e8a510 100644
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@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>AutoSwerveDrive (swervelib 1.7 API)</title>
+<title>AutoSwerveDrive (swervelib 2.0 API)</title>
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 <link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
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@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
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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 3b84979..3cd6861 100644
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@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
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 <script type="text/javascript"><!--
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index a051d8f..b9242cc 100644
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@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
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@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
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index e490164..018c07a 100644
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 <head>
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 <script type="text/javascript"><!--
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double)","url":"checkWithinRange(double,double)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"deadband"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"deadbandDefault"},{"p":"frc.team1711.swerve.util","c":"Angles","l":"degreesToRadians(double)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"driveRelativeSpeed"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"driveRelativeSpeedDefault"},{"p":"frc.team1711.swerve.commands","c":"AutonTurn","l":"end(boolean)"},{"p":"frc.team1711.swerve.commands","c":"AutonTurn","l":"execute()"},{"p":"frc.team1711.swerve.commands","c":"FrameOfReference","l":"FIELD"},{"p":"frc.team1711.swerve.subsystems","c":"AutoSwerveDrive","l":"fieldRelativeInputDrive(double, double, double, boolean)","url":"fieldRelativeInputDrive(double,double,double,boolean)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"flWheel"},{"p":"frc.team1711.swerve.commands","c":"AutonDrive","l":"fromMovement(AutoSwerveDrive, double, double, double, FrameOfReference)","url":"fromMovement(frc.team1711.swerve.subsystems.AutoSwerveDrive,double,double,double,frc.team1711.swerve.commands.FrameOfReference)"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"fromPolarDegrees(double, double)","url":"fromPolarDegrees(double,double)"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"fromPolarRadians(double, double)","url":"fromPolarRadians(double,double)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"frWheel"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveWheel","l":"getDirection()"},{"p":"frc.team1711.swerve.subsystems","c":"AutoSwerveDrive","l":"getDistanceTraveled()"},{"p":"frc.team1711.swerve.subsystems","c":"AutoSwerveDrive","l":"getGyroAngle()"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"getMagnitude()"},{"p":"frc.team1711.swerve.subsystems","c":"AutoSwerveWheel","l":"getPositionDifference()"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"getRotationDegrees()"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"getRotationRadians()"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"getX()"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"getY()"},{"p":"frc.team1711.swerve.commands","c":"AutonDrive","l":"initialize()"},{"p":"frc.team1711.swerve.commands","c":"AutonTurn","l":"initialize()"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"inputDrive(double, double, double, boolean)","url":"inputDrive(double,double,double,boolean)"},{"p":"frc.team1711.swerve.commands","c":"AutonTurn","l":"isFinished()"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"maxOutput"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"maxOutputDefault"},{"p":"frc.team1711.swerve.util","c":"Angles","l":"PI"},{"p":"frc.team1711.swerve.util","c":"Angles","l":"radiansToDegrees(double)"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"reflectAcrossX()"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"reflectAcrossY()"},{"p":"frc.team1711.swerve.subsystems","c":"AutoSwerveWheel","l":"resetDriveEncoder()"},{"p":"frc.team1711.swerve.subsystems","c":"AutoSwerveDrive","l":"resetGyro()"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"rlWheel"},{"p":"frc.team1711.swerve.commands","c":"FrameOfReference","l":"ROBOT"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"rrWheel"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"scale(double)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"setDeadband(double)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveWheel","l":"setDirection(double)"},{"p":"frc.team1711.swerve.subsystems","c":"AutoSwerveDrive","l":"setDistanceReference()"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"setDriveRelativeSpeed(double)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveWheel","l":"setDriveSpeed(double)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"setMaxOutput(double)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"setSteerRelativeSpeed(double)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"steerAllWithinRange(double, double)","url":"steerAllWithinRange(double,double)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveWheel","l":"steerAndDrive(double, double)","url":"steerAndDrive(double,double)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"steerAndDriveAll(double, double)","url":"steerAndDriveAll(double,double)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"steerRelativeSpeed"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"steerRelativeSpeedDefault"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"stop()"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveWheel","l":"stop()"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveWheel","l":"stopSteering()"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"SwerveDrive(SwerveWheel, SwerveWheel, SwerveWheel, SwerveWheel, double)","url":"%3Cinit%3E(frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,double)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"SwerveDrive(SwerveWheel, SwerveWheel, SwerveWheel, SwerveWheel)","url":"%3Cinit%3E(frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveWheel","l":"SwerveWheel()","url":"%3Cinit%3E()"},{"p":"frc.team1711.swerve.util","c":"Angles","l":"TAU"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"toRotationDegrees(double)"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"toRotationRadians(double)"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"toString()"},{"p":"frc.team1711.swerve.commands","c":"FrameOfReference","l":"valueOf(String)","url":"valueOf(java.lang.String)"},{"p":"frc.team1711.swerve.commands","c":"FrameOfReference","l":"values()"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"Vector(double, double)","url":"%3Cinit%3E(double,double)"},{"p":"frc.team1711.swerve.util","c":"Angles","l":"wrapDegrees(double)"},{"p":"frc.team1711.swerve.util","c":"Angles","l":"wrapDegreesZeroCenter(double)"},{"p":"frc.team1711.swerve.util","c":"Angles","l":"wrapRadians(double)"},{"p":"frc.team1711.swerve.util","c":"Angles","l":"wrapRadiansZeroCenter(double)"}]
\ No newline at end of file
diff --git a/swervelib/build/docs/javadoc/member-search-index.zip b/swervelib/build/docs/javadoc/member-search-index.zip
index 39ea600..bbd396d 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 7ddb67f..dc5d0f1 100644
--- a/swervelib/build/docs/javadoc/overview-summary.html
+++ b/swervelib/build/docs/javadoc/overview-summary.html
@@ -2,8 +2,8 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.8) on Wed Mar 24 12:46:43 EDT 2021 -->
-<title>swervelib 1.7 API</title>
+<!-- Generated by javadoc (11.0.8) on Wed Mar 24 20:33:44 EDT 2021 -->
+<title>swervelib 2.0 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 9a098ec..663e757 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 1.7 API)</title>
+<title>Class Hierarchy (swervelib 2.0 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 1.7 API)";
+            parent.document.title="Class Hierarchy (swervelib 2.0 API)";
         }
     }
     catch(err) {
diff --git a/swervelib/build/docs/javadoc/package-search-index.zip b/swervelib/build/docs/javadoc/package-search-index.zip
index c810230..22e2d79 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 51a1da1..05eba5b 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-1.7-javadoc.jar b/swervelib/build/libs/swervelib-2.0-javadoc.jar
similarity index 83%
rename from swervelib/build/libs/swervelib-1.7-javadoc.jar
rename to swervelib/build/libs/swervelib-2.0-javadoc.jar
index 04fb69b..6c0fa51 100644
Binary files a/swervelib/build/libs/swervelib-1.7-javadoc.jar and b/swervelib/build/libs/swervelib-2.0-javadoc.jar differ
diff --git a/swervelib/build/libs/swervelib-1.7.jar b/swervelib/build/libs/swervelib-2.0.jar
similarity index 51%
rename from swervelib/build/libs/swervelib-1.7.jar
rename to swervelib/build/libs/swervelib-2.0.jar
index 3680c6e..b8afa2e 100644
Binary files a/swervelib/build/libs/swervelib-1.7.jar and b/swervelib/build/libs/swervelib-2.0.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 537fb99..6f99685 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 6.7.1</a> at Mar 24, 2021, 12:46:45 PM</p>
+<a href="http://www.gradle.org">Gradle 6.7.1</a> at Mar 24, 2021, 8:33:46 PM</p>
 </div>
 </div>
 </body>
diff --git a/swervelib/build/reports/tests/test/index.html b/swervelib/build/reports/tests/test/index.html
index 23ba4b1..7fd7dad 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 6.7.1</a> at Mar 24, 2021, 12:46:45 PM</p>
+<a href="http://www.gradle.org">Gradle 6.7.1</a> at Mar 24, 2021, 8:33:46 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 be21536..2d68329 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 6.7.1</a> at Mar 24, 2021, 12:46:45 PM</p>
+<a href="http://www.gradle.org">Gradle 6.7.1</a> at Mar 24, 2021, 8:33:46 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 2a43a2a..434f196 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="2021-03-24T16:46:45" hostname="GABRIEL-LAPTOP" time="0.0">
+<testsuite name="swerve.LibraryTest" tests="1" skipped="1" failures="0" errors="0" timestamp="2021-03-25T00:33:46" 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 d58ce1b..5f68d42 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/source-classes-mapping.txt b/swervelib/build/tmp/compileJava/source-classes-mapping.txt
index fe2b3cd..3e6bfbb 100644
--- a/swervelib/build/tmp/compileJava/source-classes-mapping.txt
+++ b/swervelib/build/tmp/compileJava/source-classes-mapping.txt
@@ -1,22 +1,22 @@
 frc/team1711/swerve/commands/FrameOfReference.java
  frc.team1711.swerve.commands.FrameOfReference
+frc/team1711/swerve/util/Angles.java
+ frc.team1711.swerve.util.Angles
+frc/team1711/swerve/util/Vector.java
+ frc.team1711.swerve.util.Vector
 frc/team1711/swerve/subsystems/AutoSwerveDrive.java
  frc.team1711.swerve.subsystems.AutoSwerveDrive
 frc/team1711/swerve/subsystems/SwerveDrive.java
  frc.team1711.swerve.subsystems.SwerveDrive
-frc/team1711/swerve/commands/AutonDriveSimple.java
- frc.team1711.swerve.commands.AutonDriveSimple
+frc/team1711/swerve/subsystems/AutoSwerveWheel.java
+ frc.team1711.swerve.subsystems.AutoSwerveWheel
 frc/team1711/swerve/commands/AutonTurn.java
  frc.team1711.swerve.commands.AutonTurn
-frc/team1711/swerve/commands/AutonWheelTurn.java
- frc.team1711.swerve.commands.AutonWheelTurn
 frc/team1711/swerve/subsystems/SwerveWheel.java
  frc.team1711.swerve.subsystems.SwerveWheel
-frc/team1711/swerve/util/Angles.java
- frc.team1711.swerve.util.Angles
-frc/team1711/swerve/subsystems/AutoSwerveWheel.java
- frc.team1711.swerve.subsystems.AutoSwerveWheel
+frc/team1711/swerve/commands/AutonDriveSimple.java
+ frc.team1711.swerve.commands.AutonDriveSimple
+frc/team1711/swerve/commands/AutonWheelTurn.java
+ frc.team1711.swerve.commands.AutonWheelTurn
 frc/team1711/swerve/commands/AutonDrive.java
  frc.team1711.swerve.commands.AutonDrive
-frc/team1711/swerve/util/Vector.java
- frc.team1711.swerve.util.Vector
diff --git a/swervelib/build/tmp/javadoc/javadoc.options b/swervelib/build/tmp/javadoc/javadoc.options
index a9d2e86..87e43a7 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\\2021.2.2\\1a8283edbaa8a7c0cad67a3461475577cd9b1e7a\\wpilibj-java-2021.2.2.jar;C:\\Users\\gabri\\.gradle\\caches\\modules-2\\files-2.1\\edu.wpi.first.wpilibNewCommands\\wpilibNewCommands-java\\2021.2.2\\4ffa94167cf6c07336c9c8bcaff44dabe3ee492c\\wpilibNewCommands-java-2021.2.2.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 1.7 API'
+-doctitle 'swervelib 2.0 API'
 -notimestamp 
 -quiet 
--windowtitle 'swervelib 1.7 API'
+-windowtitle 'swervelib 2.0 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/commands/AutonDrive.java b/swervelib/src/main/java/frc/team1711/swerve/commands/AutonDrive.java
index d1a5ef9..b2919ad 100644
--- a/swervelib/src/main/java/frc/team1711/swerve/commands/AutonDrive.java
+++ b/swervelib/src/main/java/frc/team1711/swerve/commands/AutonDrive.java
@@ -16,7 +16,20 @@
  * @author Gabriel Seaver
  */
 public class AutonDrive extends SequentialCommandGroup {
-    
+
+    private final AutoSwerveDrive swerveDrive;
+
+    private final FrameOfReference frameOfReference;
+
+    // Because directionInput is not based on the gyro, but the robot relative direction
+    // may be depending on the frame of reference, they must be stored separately b/c
+    // the gyro should not be accessed in the constructor in case the object is initialized
+    // before the command is actually used
+    private final double
+            directionInput,
+            distance,
+            speed;
+
     /**
      * Constructs an {@code AutonDrive} command.
      * @param swerveDrive       The {@link AutoSwerveDrive} drive train.
@@ -29,10 +42,23 @@ public class AutonDrive extends SequentialCommandGroup {
      * @param frameOfReference  The {@link FrameOfReference} for this autonomous command.
      */
     public AutonDrive (AutoSwerveDrive swerveDrive, double direction, double distance, double speed, FrameOfReference frameOfReference) {
+        this.swerveDrive = swerveDrive;
+        this.distance = distance;
+        this.speed = speed;
+        this.frameOfReference = frameOfReference;
+        directionInput = direction;
+    }
+
+    // This code cannot be called in constructor because gyro angle may change
+    // between object initialization and when the command is first called
+    @Override
+    public void initialize () {
+        double direction = directionInput;
         if (frameOfReference == FrameOfReference.FIELD) direction -= swerveDrive.getGyroAngle();
         addCommands(
                 new AutonWheelTurn(swerveDrive, direction),
                 new AutonDriveSimple(swerveDrive, direction, distance, speed));
+        super.initialize();
     }
     
     /**
diff --git a/swervelib/src/main/java/frc/team1711/swerve/commands/AutonDriveSimple.java b/swervelib/src/main/java/frc/team1711/swerve/commands/AutonDriveSimple.java
index 20dfe5c..a52d362 100644
--- a/swervelib/src/main/java/frc/team1711/swerve/commands/AutonDriveSimple.java
+++ b/swervelib/src/main/java/frc/team1711/swerve/commands/AutonDriveSimple.java
@@ -18,17 +18,18 @@
  */
 class AutonDriveSimple extends CommandBase {
     
-    private static final double TURN_SPEED = 0.1;
+    private static final double CORRECTION_SCALAR = .007;
     
     private final AutoSwerveDrive swerveDrive;
     
     private boolean finished;
     
     private final double
-            initalGyroAngle,
             direction,
             distance,
             speed;
+
+    private double initialGyroAngle;
     
     /**
      * Constructs an {@code AutonDriveSimple} command.
@@ -46,7 +47,6 @@ class AutonDriveSimple extends CommandBase {
         this.distance = distance;
         this.speed = speed;
         
-        initalGyroAngle = swerveDrive.getGyroAngle();
         finished = false;
         
         addRequirements(swerveDrive);
@@ -56,6 +56,9 @@ class AutonDriveSimple extends CommandBase {
     public void initialize () {
         swerveDrive.stop();
         swerveDrive.setDistanceReference();
+        initialGyroAngle = swerveDrive.getGyroAngle();
+        System.out.println(initialGyroAngle);
+        System.out.println(direction);
     }
     
     @Override
@@ -69,8 +72,8 @@ public void execute () {
     }
     
     private double getCorrectionTurn () {
-        double correctionTurn = Angles.wrapDegreesZeroCenter(initalGyroAngle - swerveDrive.getGyroAngle());
-        return correctionTurn > 0 ? TURN_SPEED : -TURN_SPEED;
+        double correctionTurn = Angles.wrapDegreesZeroCenter(initialGyroAngle - swerveDrive.getGyroAngle());
+        return correctionTurn * CORRECTION_SCALAR;
     }
     
     @Override
diff --git a/swervelib/src/main/java/frc/team1711/swerve/commands/AutonTurn.java b/swervelib/src/main/java/frc/team1711/swerve/commands/AutonTurn.java
index 050d678..7761b29 100644
--- a/swervelib/src/main/java/frc/team1711/swerve/commands/AutonTurn.java
+++ b/swervelib/src/main/java/frc/team1711/swerve/commands/AutonTurn.java
@@ -22,10 +22,18 @@ public class AutonTurn extends CommandBase {
     
     private boolean finished;
     
+    private final FrameOfReference frameOfReference;
+
+    // Because directionInput is not based on the gyro, but the absolute relative direction
+    // may be depending on the frame of reference, they must be stored separately b/c
+    // the gyro should not be accessed in the constructor in case the object is initialized
+    // before the command is actually used
     private final double
-            direction,
+            directionInput,
             turnSpeed;
     
+    private double direction; // Robot relative direction
+    
     /**
      * Constructs a new {@code AutonTurn}.
      * @param swerveDrive   The {@link AutoSwerveDrive} drive train
@@ -40,10 +48,10 @@ public AutonTurn (AutoSwerveDrive swerveDrive, double direction, double turnSpee
         
         this.swerveDrive = swerveDrive;
         
-        if (frameOfReference == FrameOfReference.ROBOT) direction += swerveDrive.getGyroAngle();
-        this.direction = direction;
+        this.frameOfReference = frameOfReference;
+        this.directionInput = direction;
         this.turnSpeed = turnSpeed;
-        
+
         finished = false;
         
         addRequirements(swerveDrive);
@@ -53,6 +61,7 @@ public AutonTurn (AutoSwerveDrive swerveDrive, double direction, double turnSpee
     public void initialize () {
         swerveDrive.stop();
         swerveDrive.setDistanceReference();
+        if (frameOfReference == FrameOfReference.ROBOT) direction = directionInput + swerveDrive.getGyroAngle();
     }
     
     @Override
diff --git a/swervelib/src/main/java/frc/team1711/swerve/subsystems/SwerveWheel.java b/swervelib/src/main/java/frc/team1711/swerve/subsystems/SwerveWheel.java
index d2f0d20..e868d15 100644
--- a/swervelib/src/main/java/frc/team1711/swerve/subsystems/SwerveWheel.java
+++ b/swervelib/src/main/java/frc/team1711/swerve/subsystems/SwerveWheel.java
@@ -39,7 +39,7 @@ abstract public class SwerveWheel {
      */
     protected final void steerAndDrive (double targetDirection, double speed) {
         if (speed < 0 || speed > 1) throw new IllegalArgumentException("speed should be within range [0, 1]");
-        
+
         // Finds the number of degrees we need to turn and places on interval [-180, 180)
         double moveDirection = Angles.wrapDegreesZeroCenter(targetDirection - getDirection());
         
@@ -48,12 +48,12 @@ protected final void steerAndDrive (double targetDirection, double speed) {
         int reverse = 1;
         if (Math.abs(moveDirection) > 90) {
             reverse = -1;
-            if (moveDirection > 0) moveDirection -= 180;
-            else moveDirection += 180;
+            moveDirection += 180;
         }
-        
+        final double setDir = Angles.wrapDegrees(moveDirection + getDirection());
+
         // Sets drive speed and direction
-        setDirection(Angles.wrapDegrees(moveDirection + getDirection()));
+        setDirection(setDir);
         setDriveSpeed(speed * reverse);
     }
     
