diff --git a/swervelib/bin/main/frc/team1711/swerve/subsystems/AutoSwerveDrive.class b/swervelib/bin/main/frc/team1711/swerve/subsystems/AutoSwerveDrive.class
index ac76970..9d6ee51 100644
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diff --git a/swervelib/bin/main/frc/team1711/swerve/subsystems/GyroSwerveDrive.class b/swervelib/bin/main/frc/team1711/swerve/subsystems/GyroSwerveDrive.class
index 37c9b61..01843e0 100644
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diff --git a/swervelib/bin/main/frc/team1711/swerve/subsystems/SwerveDrive$ControlsConfig.class b/swervelib/bin/main/frc/team1711/swerve/subsystems/SwerveDrive$ControlsConfig.class
new file mode 100644
index 0000000..ecb25b8
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diff --git a/swervelib/bin/main/frc/team1711/swerve/subsystems/SwerveDrive$SwerveDrivingSpeeds.class b/swervelib/bin/main/frc/team1711/swerve/subsystems/SwerveDrive$SwerveDrivingSpeeds.class
deleted file mode 100644
index e832a52..0000000
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diff --git a/swervelib/bin/main/frc/team1711/swerve/subsystems/SwerveDrive.class b/swervelib/bin/main/frc/team1711/swerve/subsystems/SwerveDrive.class
index 678393f..4f16ed9 100644
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diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/AutoSwerveDrive.class b/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/AutoSwerveDrive.class
index 9ba0c59..9c028ef 100644
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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 f72298c..e34d63b 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/classes/java/main/frc/team1711/swerve/subsystems/SwerveDrive$ControlsConfig.class b/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/SwerveDrive$ControlsConfig.class
new file mode 100644
index 0000000..dcf9d30
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diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/SwerveDrive$SwerveDrivingSpeeds.class b/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/SwerveDrive$SwerveDrivingSpeeds.class
deleted file mode 100644
index c9ec3d3..0000000
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diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/SwerveDrive.class b/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/SwerveDrive.class
index b115923..b0eaa6f 100644
Binary files a/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/SwerveDrive.class and b/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/SwerveDrive.class differ
diff --git a/swervelib/build/docs/javadoc/allclasses-index.html b/swervelib/build/docs/javadoc/allclasses-index.html
index b6dbe93..1f2c6f5 100644
--- a/swervelib/build/docs/javadoc/allclasses-index.html
+++ b/swervelib/build/docs/javadoc/allclasses-index.html
@@ -177,10 +177,11 @@ <h1 title="All&amp;nbsp;Classes" class="title">All&nbsp;Classes</h1>
 </th>
 </tr>
 <tr id="i10" class="altColor">
-<td class="colFirst"><a href="frc/team1711/swerve/subsystems/SwerveDrive.SwerveDrivingSpeeds.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.SwerveDrivingSpeeds</a></td>
+<td class="colFirst"><a href="frc/team1711/swerve/subsystems/SwerveDrive.ControlsConfig.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.ControlsConfig</a></td>
 <th class="colLast" scope="row">
 <div class="block">A class representing the configuration of relative speeds for <a href="frc/team1711/swerve/subsystems/SwerveDrive.html" title="class in frc.team1711.swerve.subsystems"><code>SwerveDrive</code></a> in
- <a href="frc/team1711/swerve/subsystems/SwerveDrive.html#userInputDrive(double,double,double,frc.team1711.swerve.util.InputHandler)"><code>SwerveDrive.userInputDrive(double, double, double, InputHandler)</code></a>.</div>
+ <a href="frc/team1711/swerve/subsystems/SwerveDrive.html#userInputDrive(double,double,double,frc.team1711.swerve.subsystems.SwerveDrive.ControlsConfig)"><code>SwerveDrive.userInputDrive(double, double, double, ControlsConfig)</code></a>, along with
+ an <a href="frc/team1711/swerve/util/InputHandler.html" title="class in frc.team1711.swerve.util"><code>InputHandler</code></a> which handles user-generated input.</div>
 </th>
 </tr>
 <tr id="i11" class="rowColor">
diff --git a/swervelib/build/docs/javadoc/allclasses.html b/swervelib/build/docs/javadoc/allclasses.html
index bc252bc..34e6da8 100644
--- a/swervelib/build/docs/javadoc/allclasses.html
+++ b/swervelib/build/docs/javadoc/allclasses.html
@@ -30,7 +30,7 @@ <h1 class="bar">All&nbsp;Classes</h1>
 <li><a href="frc/team1711/swerve/util/InputHandler.html" title="class in frc.team1711.swerve.util">InputHandler</a></li>
 <li><a href="frc/team1711/swerve/util/InputHandler.Curve.html" title="interface in frc.team1711.swerve.util"><span class="interfaceName">InputHandler.Curve</span></a></li>
 <li><a href="frc/team1711/swerve/subsystems/SwerveDrive.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive</a></li>
-<li><a href="frc/team1711/swerve/subsystems/SwerveDrive.SwerveDrivingSpeeds.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.SwerveDrivingSpeeds</a></li>
+<li><a href="frc/team1711/swerve/subsystems/SwerveDrive.ControlsConfig.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.ControlsConfig</a></li>
 <li><a href="frc/team1711/swerve/subsystems/SwerveWheel.html" title="class in frc.team1711.swerve.subsystems">SwerveWheel</a></li>
 <li><a href="frc/team1711/swerve/util/Vector.html" title="class in frc.team1711.swerve.util">Vector</a></li>
 </ul>
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 e9c9f17..2239fdf 100644
--- a/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/AutoSwerveDrive.html
+++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/AutoSwerveDrive.html
@@ -88,7 +88,7 @@
 <ul class="subNavList">
 <li>Summary:&nbsp;</li>
 <li><a href="#nested.class.summary">Nested</a>&nbsp;|&nbsp;</li>
-<li><a href="#field.summary">Field</a>&nbsp;|&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
 <li><a href="#constructor.summary">Constr</a>&nbsp;|&nbsp;</li>
 <li><a href="#method.summary">Method</a></li>
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@@ -171,24 +171,7 @@ <h3>Nested Class Summary</h3>
 <!--   -->
 </a>
 <h3>Nested classes/interfaces inherited from class&nbsp;frc.team1711.swerve.subsystems.<a href="SwerveDrive.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive</a></h3>
-<code><a href="SwerveDrive.SwerveDrivingSpeeds.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.SwerveDrivingSpeeds</a></code></li>
-</ul>
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-</a>
-<h3>Fields inherited from class&nbsp;frc.team1711.swerve.subsystems.<a href="SwerveDrive.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive</a></h3>
-<code><a href="SwerveDrive.html#swerveDrivingSpeeds">swerveDrivingSpeeds</a></code></li>
+<code><a href="SwerveDrive.ControlsConfig.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.ControlsConfig</a></code></li>
 </ul>
 </li>
 </ul>
@@ -207,13 +190,12 @@ <h3>Constructor Summary</h3>
 <th class="colLast" scope="col">Description</th>
 </tr>
 <tr class="altColor">
-<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.wpilibj.interfaces.Gyro,frc.team1711.swerve.subsystems.AutoSwerveWheel,frc.team1711.swerve.subsystems.AutoSwerveWheel,frc.team1711.swerve.subsystems.AutoSwerveWheel,frc.team1711.swerve.subsystems.AutoSwerveWheel,double,frc.team1711.swerve.subsystems.SwerveDrive.SwerveDrivingSpeeds)">AutoSwerveDrive</a></span>&#8203;(edu.wpi.first.wpilibj.interfaces.Gyro&nbsp;gyro,
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.wpilibj.interfaces.Gyro,frc.team1711.swerve.subsystems.AutoSwerveWheel,frc.team1711.swerve.subsystems.AutoSwerveWheel,frc.team1711.swerve.subsystems.AutoSwerveWheel,frc.team1711.swerve.subsystems.AutoSwerveWheel,double)">AutoSwerveDrive</a></span>&#8203;(edu.wpi.first.wpilibj.interfaces.Gyro&nbsp;gyro,
                <a href="AutoSwerveWheel.html" title="class in frc.team1711.swerve.subsystems">AutoSwerveWheel</a>&nbsp;flWheel,
                <a href="AutoSwerveWheel.html" title="class in frc.team1711.swerve.subsystems">AutoSwerveWheel</a>&nbsp;frWheel,
                <a href="AutoSwerveWheel.html" title="class in frc.team1711.swerve.subsystems">AutoSwerveWheel</a>&nbsp;rlWheel,
                <a href="AutoSwerveWheel.html" title="class in frc.team1711.swerve.subsystems">AutoSwerveWheel</a>&nbsp;rrWheel,
-               double&nbsp;wheelbaseToTrackRatio,
-               <a href="SwerveDrive.SwerveDrivingSpeeds.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.SwerveDrivingSpeeds</a>&nbsp;swerveDrivingSpeeds)</code></th>
+               double&nbsp;wheelbaseToTrackRatio)</code></th>
 <td class="colLast">
 <div class="block">Creates a new <code>AutoSwerveDrive</code> given <a href="AutoSwerveWheel.html" title="class in frc.team1711.swerve.subsystems"><code>AutoSwerveWheel</code></a> wheels.</div>
 </td>
@@ -257,14 +239,14 @@ <h3>Method Summary</h3>
 <!--   -->
 </a>
 <h3>Methods inherited from class&nbsp;frc.team1711.swerve.subsystems.<a href="GyroSwerveDrive.html" title="class in frc.team1711.swerve.subsystems">GyroSwerveDrive</a></h3>
-<code><a href="GyroSwerveDrive.html#calibrateGyro()">calibrateGyro</a>, <a href="GyroSwerveDrive.html#fieldRelativeUserInputDrive(double,double,double,frc.team1711.swerve.util.InputHandler)">fieldRelativeUserInputDrive</a>, <a href="GyroSwerveDrive.html#getGyroAngle()">getGyroAngle</a>, <a href="GyroSwerveDrive.html#resetGyro()">resetGyro</a></code></li>
+<code><a href="GyroSwerveDrive.html#calibrateGyro()">calibrateGyro</a>, <a href="GyroSwerveDrive.html#fieldRelativeUserInputDrive(double,double,double,frc.team1711.swerve.subsystems.SwerveDrive.ControlsConfig)">fieldRelativeUserInputDrive</a>, <a href="GyroSwerveDrive.html#getGyroAngle()">getGyroAngle</a>, <a href="GyroSwerveDrive.html#resetGyro()">resetGyro</a></code></li>
 </ul>
 <ul class="blockList">
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 </a>
 <h3>Methods inherited from class&nbsp;frc.team1711.swerve.subsystems.<a href="SwerveDrive.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive</a></h3>
-<code><a href="SwerveDrive.html#autoDrive(double,double,double)">autoDrive</a>, <a href="SwerveDrive.html#initSendable(edu.wpi.first.util.sendable.SendableBuilder)">initSendable</a>, <a href="SwerveDrive.html#setSwerveDrivingSpeeds(frc.team1711.swerve.subsystems.SwerveDrive.SwerveDrivingSpeeds)">setSwerveDrivingSpeeds</a>, <a href="SwerveDrive.html#steerAllWithinRange(double,double)">steerAllWithinRange</a>, <a href="SwerveDrive.html#steerAndDriveAll(double,double)">steerAndDriveAll</a>, <a href="SwerveDrive.html#stop()">stop</a>, <a href="SwerveDrive.html#userInputDrive(double,double,double,frc.team1711.swerve.util.InputHandler)">userInputDrive</a></code></li>
+<code><a href="SwerveDrive.html#autoDrive(double,double,double)">autoDrive</a>, <a href="SwerveDrive.html#initSendable(edu.wpi.first.util.sendable.SendableBuilder)">initSendable</a>, <a href="SwerveDrive.html#steerAllWithinRange(double,double)">steerAllWithinRange</a>, <a href="SwerveDrive.html#steerAndDriveAll(double,double)">steerAndDriveAll</a>, <a href="SwerveDrive.html#stop()">stop</a>, <a href="SwerveDrive.html#userInputDrive(double,double,double,frc.team1711.swerve.subsystems.SwerveDrive.ControlsConfig)">userInputDrive</a></code></li>
 </ul>
 <ul class="blockList">
 <li class="blockList"><a id="methods.inherited.from.class.edu.wpi.first.wpilibj2.command.SubsystemBase">
@@ -303,7 +285,7 @@ <h3>Methods inherited from interface&nbsp;edu.wpi.first.wpilibj2.command.Subsyst
 <!--   -->
 </a>
 <h3>Constructor Detail</h3>
-<a id="&lt;init&gt;(edu.wpi.first.wpilibj.interfaces.Gyro,frc.team1711.swerve.subsystems.AutoSwerveWheel,frc.team1711.swerve.subsystems.AutoSwerveWheel,frc.team1711.swerve.subsystems.AutoSwerveWheel,frc.team1711.swerve.subsystems.AutoSwerveWheel,double,frc.team1711.swerve.subsystems.SwerveDrive.SwerveDrivingSpeeds)">
+<a id="&lt;init&gt;(edu.wpi.first.wpilibj.interfaces.Gyro,frc.team1711.swerve.subsystems.AutoSwerveWheel,frc.team1711.swerve.subsystems.AutoSwerveWheel,frc.team1711.swerve.subsystems.AutoSwerveWheel,frc.team1711.swerve.subsystems.AutoSwerveWheel,double)">
 <!--   -->
 </a>
 <ul class="blockListLast">
@@ -314,8 +296,7 @@ <h4>AutoSwerveDrive</h4>
                        <a href="AutoSwerveWheel.html" title="class in frc.team1711.swerve.subsystems">AutoSwerveWheel</a>&nbsp;frWheel,
                        <a href="AutoSwerveWheel.html" title="class in frc.team1711.swerve.subsystems">AutoSwerveWheel</a>&nbsp;rlWheel,
                        <a href="AutoSwerveWheel.html" title="class in frc.team1711.swerve.subsystems">AutoSwerveWheel</a>&nbsp;rrWheel,
-                       double&nbsp;wheelbaseToTrackRatio,
-                       <a href="SwerveDrive.SwerveDrivingSpeeds.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.SwerveDrivingSpeeds</a>&nbsp;swerveDrivingSpeeds)</pre>
+                       double&nbsp;wheelbaseToTrackRatio)</pre>
 <div class="block">Creates a new <code>AutoSwerveDrive</code> given <a href="AutoSwerveWheel.html" title="class in frc.team1711.swerve.subsystems"><code>AutoSwerveWheel</code></a> wheels.</div>
 <dl>
 <dt><span class="paramLabel">Parameters:</span></dt>
@@ -326,7 +307,6 @@ <h4>AutoSwerveDrive</h4>
 <dd><code>rrWheel</code> - The rear right <code>AutoSwerveWheel</code></dd>
 <dd><code>wheelbaseToTrackRatio</code> - The distance between the centers of the left and right wheels divided
  by the distance between the centers of the front and back wheels</dd>
-<dd><code>swerveDrivingSpeeds</code> - The <a href="SwerveDrive.SwerveDrivingSpeeds.html" title="class in frc.team1711.swerve.subsystems"><code>SwerveDrive.SwerveDrivingSpeeds</code></a> configuration</dd>
 </dl>
 </li>
 </ul>
@@ -422,7 +402,7 @@ <h4>getDistanceTraveled</h4>
 <ul class="subNavList">
 <li>Summary:&nbsp;</li>
 <li><a href="#nested.class.summary">Nested</a>&nbsp;|&nbsp;</li>
-<li><a href="#field.summary">Field</a>&nbsp;|&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
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 <li><a href="#method.summary">Method</a></li>
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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 666af1d..330204a 100644
--- a/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/GyroSwerveDrive.html
+++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/GyroSwerveDrive.html
@@ -88,7 +88,7 @@
 <ul class="subNavList">
 <li>Summary:&nbsp;</li>
 <li><a href="#nested.class.summary">Nested</a>&nbsp;|&nbsp;</li>
-<li><a href="#field.summary">Field</a>&nbsp;|&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
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 <li><a href="#method.summary">Method</a></li>
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@@ -169,24 +169,7 @@ <h3>Nested Class Summary</h3>
 <!--   -->
 </a>
 <h3>Nested classes/interfaces inherited from class&nbsp;frc.team1711.swerve.subsystems.<a href="SwerveDrive.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive</a></h3>
-<code><a href="SwerveDrive.SwerveDrivingSpeeds.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.SwerveDrivingSpeeds</a></code></li>
-</ul>
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-</ul>
-</section>
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-<!--   -->
-</a>
-<h3>Fields inherited from class&nbsp;frc.team1711.swerve.subsystems.<a href="SwerveDrive.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive</a></h3>
-<code><a href="SwerveDrive.html#swerveDrivingSpeeds">swerveDrivingSpeeds</a></code></li>
+<code><a href="SwerveDrive.ControlsConfig.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.ControlsConfig</a></code></li>
 </ul>
 </li>
 </ul>
@@ -205,13 +188,12 @@ <h3>Constructor Summary</h3>
 <th class="colLast" scope="col">Description</th>
 </tr>
 <tr class="altColor">
-<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.wpilibj.interfaces.Gyro,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,double,frc.team1711.swerve.subsystems.SwerveDrive.SwerveDrivingSpeeds)">GyroSwerveDrive</a></span>&#8203;(edu.wpi.first.wpilibj.interfaces.Gyro&nbsp;gyro,
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.wpilibj.interfaces.Gyro,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,double)">GyroSwerveDrive</a></span>&#8203;(edu.wpi.first.wpilibj.interfaces.Gyro&nbsp;gyro,
                <a href="SwerveWheel.html" title="class in frc.team1711.swerve.subsystems">SwerveWheel</a>&nbsp;flWheel,
                <a href="SwerveWheel.html" title="class in frc.team1711.swerve.subsystems">SwerveWheel</a>&nbsp;frWheel,
                <a href="SwerveWheel.html" title="class in frc.team1711.swerve.subsystems">SwerveWheel</a>&nbsp;rlWheel,
                <a href="SwerveWheel.html" title="class in frc.team1711.swerve.subsystems">SwerveWheel</a>&nbsp;rrWheel,
-               double&nbsp;wheelbaseToTrackRatio,
-               <a href="SwerveDrive.SwerveDrivingSpeeds.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.SwerveDrivingSpeeds</a>&nbsp;swerveDrivingSpeeds)</code></th>
+               double&nbsp;wheelbaseToTrackRatio)</code></th>
 <td class="colLast">
 <div class="block">Creates a new <code>GyroSwerveDrive</code> given <a href="SwerveWheel.html" title="class in frc.team1711.swerve.subsystems"><code>SwerveWheel</code></a> wheels.</div>
 </td>
@@ -243,10 +225,10 @@ <h3>Method Summary</h3>
 </tr>
 <tr id="i1" class="rowColor">
 <td class="colFirst"><code>void</code></td>
-<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#fieldRelativeUserInputDrive(double,double,double,frc.team1711.swerve.util.InputHandler)">fieldRelativeUserInputDrive</a></span>&#8203;(double&nbsp;strafeX,
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#fieldRelativeUserInputDrive(double,double,double,frc.team1711.swerve.subsystems.SwerveDrive.ControlsConfig)">fieldRelativeUserInputDrive</a></span>&#8203;(double&nbsp;strafeX,
                            double&nbsp;strafeY,
                            double&nbsp;steering,
-                           <a href="../util/InputHandler.html" title="class in frc.team1711.swerve.util">InputHandler</a>&nbsp;inputHandler)</code></th>
+                           <a href="SwerveDrive.ControlsConfig.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.ControlsConfig</a>&nbsp;controlsConfig)</code></th>
 <td class="colLast">
 <div class="block">Drives the <code>SwerveDrive</code> given strafing and steering inputs, all on the interval [-1, 1],
  where +<code>strafeY</code> is forwards and +<code>strafeX</code> is to the right.</div>
@@ -272,7 +254,7 @@ <h3>Method Summary</h3>
 <!--   -->
 </a>
 <h3>Methods inherited from class&nbsp;frc.team1711.swerve.subsystems.<a href="SwerveDrive.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive</a></h3>
-<code><a href="SwerveDrive.html#autoDrive(double,double,double)">autoDrive</a>, <a href="SwerveDrive.html#initSendable(edu.wpi.first.util.sendable.SendableBuilder)">initSendable</a>, <a href="SwerveDrive.html#setSwerveDrivingSpeeds(frc.team1711.swerve.subsystems.SwerveDrive.SwerveDrivingSpeeds)">setSwerveDrivingSpeeds</a>, <a href="SwerveDrive.html#steerAllWithinRange(double,double)">steerAllWithinRange</a>, <a href="SwerveDrive.html#steerAndDriveAll(double,double)">steerAndDriveAll</a>, <a href="SwerveDrive.html#stop()">stop</a>, <a href="SwerveDrive.html#userInputDrive(double,double,double,frc.team1711.swerve.util.InputHandler)">userInputDrive</a></code></li>
+<code><a href="SwerveDrive.html#autoDrive(double,double,double)">autoDrive</a>, <a href="SwerveDrive.html#initSendable(edu.wpi.first.util.sendable.SendableBuilder)">initSendable</a>, <a href="SwerveDrive.html#steerAllWithinRange(double,double)">steerAllWithinRange</a>, <a href="SwerveDrive.html#steerAndDriveAll(double,double)">steerAndDriveAll</a>, <a href="SwerveDrive.html#stop()">stop</a>, <a href="SwerveDrive.html#userInputDrive(double,double,double,frc.team1711.swerve.subsystems.SwerveDrive.ControlsConfig)">userInputDrive</a></code></li>
 </ul>
 <ul class="blockList">
 <li class="blockList"><a id="methods.inherited.from.class.edu.wpi.first.wpilibj2.command.SubsystemBase">
@@ -311,7 +293,7 @@ <h3>Methods inherited from interface&nbsp;edu.wpi.first.wpilibj2.command.Subsyst
 <!--   -->
 </a>
 <h3>Constructor Detail</h3>
-<a id="&lt;init&gt;(edu.wpi.first.wpilibj.interfaces.Gyro,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,double,frc.team1711.swerve.subsystems.SwerveDrive.SwerveDrivingSpeeds)">
+<a id="&lt;init&gt;(edu.wpi.first.wpilibj.interfaces.Gyro,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,double)">
 <!--   -->
 </a>
 <ul class="blockListLast">
@@ -322,8 +304,7 @@ <h4>GyroSwerveDrive</h4>
                        <a href="SwerveWheel.html" title="class in frc.team1711.swerve.subsystems">SwerveWheel</a>&nbsp;frWheel,
                        <a href="SwerveWheel.html" title="class in frc.team1711.swerve.subsystems">SwerveWheel</a>&nbsp;rlWheel,
                        <a href="SwerveWheel.html" title="class in frc.team1711.swerve.subsystems">SwerveWheel</a>&nbsp;rrWheel,
-                       double&nbsp;wheelbaseToTrackRatio,
-                       <a href="SwerveDrive.SwerveDrivingSpeeds.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.SwerveDrivingSpeeds</a>&nbsp;swerveDrivingSpeeds)</pre>
+                       double&nbsp;wheelbaseToTrackRatio)</pre>
 <div class="block">Creates a new <code>GyroSwerveDrive</code> given <a href="SwerveWheel.html" title="class in frc.team1711.swerve.subsystems"><code>SwerveWheel</code></a> wheels.</div>
 <dl>
 <dt><span class="paramLabel">Parameters:</span></dt>
@@ -334,7 +315,6 @@ <h4>GyroSwerveDrive</h4>
 <dd><code>rrWheel</code> - The rear right <code>SwerveWheel</code></dd>
 <dd><code>wheelbaseToTrackRatio</code> - The distance between the centers of the left and right wheels divided
  by the distance between the centers of the front and back wheels</dd>
-<dd><code>swerveDrivingSpeeds</code> - The <a href="SwerveDrive.SwerveDrivingSpeeds.html" title="class in frc.team1711.swerve.subsystems"><code>SwerveDrive.SwerveDrivingSpeeds</code></a> configuration</dd>
 </dl>
 </li>
 </ul>
@@ -348,7 +328,7 @@ <h4>GyroSwerveDrive</h4>
 <!--   -->
 </a>
 <h3>Method Detail</h3>
-<a id="fieldRelativeUserInputDrive(double,double,double,frc.team1711.swerve.util.InputHandler)">
+<a id="fieldRelativeUserInputDrive(double,double,double,frc.team1711.swerve.subsystems.SwerveDrive.ControlsConfig)">
 <!--   -->
 </a>
 <ul class="blockList">
@@ -357,19 +337,18 @@ <h4>fieldRelativeUserInputDrive</h4>
 <pre class="methodSignature">public&nbsp;void&nbsp;fieldRelativeUserInputDrive&#8203;(double&nbsp;strafeX,
                                         double&nbsp;strafeY,
                                         double&nbsp;steering,
-                                        <a href="../util/InputHandler.html" title="class in frc.team1711.swerve.util">InputHandler</a>&nbsp;inputHandler)</pre>
+                                        <a href="SwerveDrive.ControlsConfig.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.ControlsConfig</a>&nbsp;controlsConfig)</pre>
 <div class="block">Drives the <code>SwerveDrive</code> given strafing and steering inputs, all on the interval [-1, 1],
  where +<code>strafeY</code> is forwards and +<code>strafeX</code> is to the right. Inputs are assumed to be from a user-controlled
- device, so <a href="SwerveDrive.SwerveDrivingSpeeds.html" title="class in frc.team1711.swerve.subsystems"><code>SwerveDrive.SwerveDrivingSpeeds</code></a> are applied, along with an <a href="../util/InputHandler.html" title="class in frc.team1711.swerve.util"><code>InputHandler</code></a>. Strafing is
- field relative, not robot relative.</div>
+ device, so <a href="SwerveDrive.ControlsConfig.html" title="class in frc.team1711.swerve.subsystems"><code>SwerveDrive.ControlsConfig</code></a> is applied. Strafing is field relative, not robot relative.</div>
 <dl>
 <dt><span class="paramLabel">Parameters:</span></dt>
 <dd><code>strafeX</code> - The strafing speed in the x direction</dd>
 <dd><code>strafeY</code> - The strafing speed in the y direction</dd>
 <dd><code>steering</code> - The steering speed, where a positive value steers clockwise from a top-down point of view</dd>
-<dd><code>inputHandler</code> - The <code>InputHandler</code> to be used for converting user inputs into usable outputs.</dd>
+<dd><code>controlsConfig</code> - The <code>ControlsConfig</code> to be used for relative driving speeds and processing of user inputs</dd>
 <dt><span class="seeLabel">See Also:</span></dt>
-<dd><a href="SwerveDrive.html#userInputDrive(double,double,double,frc.team1711.swerve.util.InputHandler)"><code>SwerveDrive.userInputDrive(double, double, double, InputHandler)</code></a>, 
+<dd><a href="SwerveDrive.html#userInputDrive(double,double,double,frc.team1711.swerve.subsystems.SwerveDrive.ControlsConfig)"><code>SwerveDrive.userInputDrive(double, double, double, ControlsConfig)</code></a>, 
 <a href="SwerveDrive.html#steerAndDriveAll(double,double)"><code>SwerveDrive.steerAndDriveAll(double, double)</code></a></dd>
 </dl>
 </li>
@@ -460,7 +439,7 @@ <h4>calibrateGyro</h4>
 <ul class="subNavList">
 <li>Summary:&nbsp;</li>
 <li><a href="#nested.class.summary">Nested</a>&nbsp;|&nbsp;</li>
-<li><a href="#field.summary">Field</a>&nbsp;|&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
 <li><a href="#constructor.summary">Constr</a>&nbsp;|&nbsp;</li>
 <li><a href="#method.summary">Method</a></li>
 </ul>
diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/SwerveDrive.SwerveDrivingSpeeds.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/SwerveDrive.ControlsConfig.html
similarity index 80%
rename from swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/SwerveDrive.SwerveDrivingSpeeds.html
rename to swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/SwerveDrive.ControlsConfig.html
index aa5eefd..6890779 100644
--- a/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/SwerveDrive.SwerveDrivingSpeeds.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.SwerveDrivingSpeeds (swervelib v3.2022.3.1 API)</title>
+<title>SwerveDrive.ControlsConfig (swervelib v3.2022.3.1 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.SwerveDrivingSpeeds (swervelib v3.2022.3.1 API)";
+            parent.document.title="SwerveDrive.ControlsConfig (swervelib v3.2022.3.1 API)";
         }
     }
     catch(err) {
@@ -109,14 +109,14 @@
 <main role="main">
 <div class="header">
 <div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">frc.team1711.swerve.subsystems</a></div>
-<h2 title="Class SwerveDrive.SwerveDrivingSpeeds" class="title">Class SwerveDrive.SwerveDrivingSpeeds</h2>
+<h2 title="Class SwerveDrive.ControlsConfig" class="title">Class SwerveDrive.ControlsConfig</h2>
 </div>
 <div class="contentContainer">
 <ul class="inheritance">
 <li>java.lang.Object</li>
 <li>
 <ul class="inheritance">
-<li>frc.team1711.swerve.subsystems.SwerveDrive.SwerveDrivingSpeeds</li>
+<li>frc.team1711.swerve.subsystems.SwerveDrive.ControlsConfig</li>
 </ul>
 </li>
 </ul>
@@ -128,14 +128,11 @@ <h2 title="Class SwerveDrive.SwerveDrivingSpeeds" class="title">Class SwerveDriv
 <dd><a href="SwerveDrive.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive</a></dd>
 </dl>
 <hr>
-<pre>public static class <span class="typeNameLabel">SwerveDrive.SwerveDrivingSpeeds</span>
+<pre>public static class <span class="typeNameLabel">SwerveDrive.ControlsConfig</span>
 extends java.lang.Object</pre>
 <div class="block">A class representing the configuration of relative speeds for <a href="SwerveDrive.html" title="class in frc.team1711.swerve.subsystems"><code>SwerveDrive</code></a> in
- <a href="SwerveDrive.html#userInputDrive(double,double,double,frc.team1711.swerve.util.InputHandler)"><code>SwerveDrive.userInputDrive(double, double, double, InputHandler)</code></a>.</div>
-<dl>
-<dt><span class="seeLabel">See Also:</span></dt>
-<dd><a href="SwerveDrive.html#setSwerveDrivingSpeeds(frc.team1711.swerve.subsystems.SwerveDrive.SwerveDrivingSpeeds)"><code>SwerveDrive.setSwerveDrivingSpeeds(SwerveDrivingSpeeds)</code></a></dd>
-</dl>
+ <a href="SwerveDrive.html#userInputDrive(double,double,double,frc.team1711.swerve.subsystems.SwerveDrive.ControlsConfig)"><code>SwerveDrive.userInputDrive(double, double, double, ControlsConfig)</code></a>, along with
+ an <a href="../util/InputHandler.html" title="class in frc.team1711.swerve.util"><code>InputHandler</code></a> which handles user-generated input.</div>
 </li>
 </ul>
 </div>
@@ -157,11 +154,16 @@ <h3>Field Summary</h3>
 <th class="colLast" scope="col">Description</th>
 </tr>
 <tr class="altColor">
+<td class="colFirst"><code><a href="../util/InputHandler.html" title="class in frc.team1711.swerve.util">InputHandler</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#inputHandler">inputHandler</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
 <td class="colFirst"><code>double</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#steerSpeed">steerSpeed</a></span></code></th>
 <td class="colLast">&nbsp;</td>
 </tr>
-<tr class="rowColor">
+<tr class="altColor">
 <td class="colFirst"><code>double</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#strafeSpeed">strafeSpeed</a></span></code></th>
 <td class="colLast">&nbsp;</td>
@@ -184,10 +186,11 @@ <h3>Constructor Summary</h3>
 <th class="colLast" scope="col">Description</th>
 </tr>
 <tr class="altColor">
-<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,double)">SwerveDrivingSpeeds</a></span>&#8203;(double&nbsp;strafeSpeed,
-                   double&nbsp;steerSpeed)</code></th>
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,double,frc.team1711.swerve.util.InputHandler)">ControlsConfig</a></span>&#8203;(double&nbsp;strafeSpeed,
+              double&nbsp;steerSpeed,
+              <a href="../util/InputHandler.html" title="class in frc.team1711.swerve.util">InputHandler</a>&nbsp;inputHandler)</code></th>
 <td class="colLast">
-<div class="block">Creates a new <code>SwerveDrivingSpeeds</code> configuration.</div>
+<div class="block">Creates a new <code>ControlsConfig</code>.</div>
 </td>
 </tr>
 </table>
@@ -236,12 +239,21 @@ <h4>strafeSpeed</h4>
 <a id="steerSpeed">
 <!--   -->
 </a>
-<ul class="blockListLast">
+<ul class="blockList">
 <li class="blockList">
 <h4>steerSpeed</h4>
 <pre>public final&nbsp;double steerSpeed</pre>
 </li>
 </ul>
+<a id="inputHandler">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>inputHandler</h4>
+<pre>public final&nbsp;<a href="../util/InputHandler.html" title="class in frc.team1711.swerve.util">InputHandler</a> inputHandler</pre>
+</li>
+</ul>
 </li>
 </ul>
 </section>
@@ -252,16 +264,17 @@ <h4>steerSpeed</h4>
 <!--   -->
 </a>
 <h3>Constructor Detail</h3>
-<a id="&lt;init&gt;(double,double)">
+<a id="&lt;init&gt;(double,double,frc.team1711.swerve.util.InputHandler)">
 <!--   -->
 </a>
 <ul class="blockListLast">
 <li class="blockList">
-<h4>SwerveDrivingSpeeds</h4>
-<pre>public&nbsp;SwerveDrivingSpeeds&#8203;(double&nbsp;strafeSpeed,
-                           double&nbsp;steerSpeed)</pre>
-<div class="block">Creates a new <code>SwerveDrivingSpeeds</code> configuration. Note: If <code>strafeSpeed</code> and <code>steerSpeed</code> sum to greater
- than 1, <a href="SwerveDrive.html#userInputDrive(double,double,double,frc.team1711.swerve.util.InputHandler)"><code>SwerveDrive.userInputDrive(double, double, double, InputHandler)</code></a> will ensure the relative speeds of the modules
+<h4>ControlsConfig</h4>
+<pre>public&nbsp;ControlsConfig&#8203;(double&nbsp;strafeSpeed,
+                      double&nbsp;steerSpeed,
+                      <a href="../util/InputHandler.html" title="class in frc.team1711.swerve.util">InputHandler</a>&nbsp;inputHandler)</pre>
+<div class="block">Creates a new <code>ControlsConfig</code>. Note: If <code>strafeSpeed</code> and <code>steerSpeed</code> sum to greater
+ than 1, <a href="SwerveDrive.html#userInputDrive(double,double,double,frc.team1711.swerve.subsystems.SwerveDrive.ControlsConfig)"><code>SwerveDrive.userInputDrive(double, double, double, ControlsConfig)</code></a> will ensure the relative speeds of the modules
  are still in proportion to each other, so the kinematics of swerve will not be affected (though in some situations where the
  inputs are very high, the robot may move slower than desired).</div>
 <dl>
@@ -272,6 +285,7 @@ <h4>SwerveDrivingSpeeds</h4>
  using <code>SwerveWheel.setDriveSpeed()</code>, assuming there is zero steering input passed into <code>SwerveDrive.userInputDrive()</code>.</dd>
 <dd><code>steerSpeed</code> - The scalar on the steering inputs for <code>SwerveDrive.userInputDrive()</code>,
  working in the same way as <code>strafeSpeed</code>.</dd>
+<dd><code>inputHandler</code> - The <a href="../util/InputHandler.html" title="class in frc.team1711.swerve.util"><code>InputHandler</code></a> associated with this <code>ControlsConfig</code></dd>
 </dl>
 </li>
 </ul>
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 a3076a1..119b664 100644
--- a/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/SwerveDrive.html
+++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/SwerveDrive.html
@@ -26,7 +26,7 @@
     catch(err) {
     }
 //-->
-var data = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10,"i6":10};
+var data = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10};
 var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]};
 var altColor = "altColor";
 var rowColor = "rowColor";
@@ -88,13 +88,13 @@
 <ul class="subNavList">
 <li>Summary:&nbsp;</li>
 <li><a href="#nested.class.summary">Nested</a>&nbsp;|&nbsp;</li>
-<li><a href="#field.summary">Field</a>&nbsp;|&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
 <li><a href="#constructor.summary">Constr</a>&nbsp;|&nbsp;</li>
 <li><a href="#method.summary">Method</a></li>
 </ul>
 <ul class="subNavList">
 <li>Detail:&nbsp;</li>
-<li><a href="#field.detail">Field</a>&nbsp;|&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
 <li><a href="#constructor.detail">Constr</a>&nbsp;|&nbsp;</li>
 <li><a href="#method.detail">Method</a></li>
 </ul>
@@ -168,39 +168,17 @@ <h3>Nested Class Summary</h3>
 </tr>
 <tr class="altColor">
 <td class="colFirst"><code>static class&nbsp;</code></td>
-<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="SwerveDrive.SwerveDrivingSpeeds.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.SwerveDrivingSpeeds</a></span></code></th>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="SwerveDrive.ControlsConfig.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.ControlsConfig</a></span></code></th>
 <td class="colLast">
 <div class="block">A class representing the configuration of relative speeds for <a href="SwerveDrive.html" title="class in frc.team1711.swerve.subsystems"><code>SwerveDrive</code></a> in
- <a href="#userInputDrive(double,double,double,frc.team1711.swerve.util.InputHandler)"><code>userInputDrive(double, double, double, InputHandler)</code></a>.</div>
+ <a href="#userInputDrive(double,double,double,frc.team1711.swerve.subsystems.SwerveDrive.ControlsConfig)"><code>userInputDrive(double, double, double, ControlsConfig)</code></a>, along with
+ an <a href="../util/InputHandler.html" title="class in frc.team1711.swerve.util"><code>InputHandler</code></a> which handles user-generated input.</div>
 </td>
 </tr>
 </table>
 </li>
 </ul>
 </section>
-<!-- =========== FIELD SUMMARY =========== -->
-<section role="region">
-<ul class="blockList">
-<li class="blockList"><a id="field.summary">
-<!--   -->
-</a>
-<h3>Field Summary</h3>
-<table class="memberSummary">
-<caption><span>Fields</span><span class="tabEnd">&nbsp;</span></caption>
-<tr>
-<th class="colFirst" scope="col">Modifier and Type</th>
-<th class="colSecond" scope="col">Field</th>
-<th class="colLast" scope="col">Description</th>
-</tr>
-<tr class="altColor">
-<td class="colFirst"><code>protected <a href="SwerveDrive.SwerveDrivingSpeeds.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.SwerveDrivingSpeeds</a></code></td>
-<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#swerveDrivingSpeeds">swerveDrivingSpeeds</a></span></code></th>
-<td class="colLast">&nbsp;</td>
-</tr>
-</table>
-</li>
-</ul>
-</section>
 <!-- ======== CONSTRUCTOR SUMMARY ======== -->
 <section role="region">
 <ul class="blockList">
@@ -215,12 +193,11 @@ <h3>Constructor Summary</h3>
 <th class="colLast" scope="col">Description</th>
 </tr>
 <tr class="altColor">
-<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,double,frc.team1711.swerve.subsystems.SwerveDrive.SwerveDrivingSpeeds)">SwerveDrive</a></span>&#8203;(<a href="SwerveWheel.html" title="class in frc.team1711.swerve.subsystems">SwerveWheel</a>&nbsp;flWheel,
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,double)">SwerveDrive</a></span>&#8203;(<a href="SwerveWheel.html" title="class in frc.team1711.swerve.subsystems">SwerveWheel</a>&nbsp;flWheel,
            <a href="SwerveWheel.html" title="class in frc.team1711.swerve.subsystems">SwerveWheel</a>&nbsp;frWheel,
            <a href="SwerveWheel.html" title="class in frc.team1711.swerve.subsystems">SwerveWheel</a>&nbsp;rlWheel,
            <a href="SwerveWheel.html" title="class in frc.team1711.swerve.subsystems">SwerveWheel</a>&nbsp;rrWheel,
-           double&nbsp;wheelbaseToTrackRatio,
-           <a href="SwerveDrive.SwerveDrivingSpeeds.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.SwerveDrivingSpeeds</a>&nbsp;swerveDrivingSpeeds)</code></th>
+           double&nbsp;wheelbaseToTrackRatio)</code></th>
 <td class="colLast">
 <div class="block">Creates a new <code>SwerveDrive</code>.</div>
 </td>
@@ -259,13 +236,6 @@ <h3>Method Summary</h3>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr id="i2" class="altColor">
-<td class="colFirst"><code>void</code></td>
-<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setSwerveDrivingSpeeds(frc.team1711.swerve.subsystems.SwerveDrive.SwerveDrivingSpeeds)">setSwerveDrivingSpeeds</a></span>&#8203;(<a href="SwerveDrive.SwerveDrivingSpeeds.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.SwerveDrivingSpeeds</a>&nbsp;swerveDrivingSpeeds)</code></th>
-<td class="colLast">
-<div class="block">Used to set a new <a href="SwerveDrive.SwerveDrivingSpeeds.html" title="class in frc.team1711.swerve.subsystems"><code>SwerveDrive.SwerveDrivingSpeeds</code></a> configuration.</div>
-</td>
-</tr>
-<tr id="i3" class="rowColor">
 <td class="colFirst"><code>boolean</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#steerAllWithinRange(double,double)">steerAllWithinRange</a></span>&#8203;(double&nbsp;direction,
                    double&nbsp;marginOfError)</code></th>
@@ -273,7 +243,7 @@ <h3>Method Summary</h3>
 <div class="block">Steers all wheels to a direction within a certain range.</div>
 </td>
 </tr>
-<tr id="i4" class="altColor">
+<tr id="i3" class="rowColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#steerAndDriveAll(double,double)">steerAndDriveAll</a></span>&#8203;(double&nbsp;direction,
                 double&nbsp;speed)</code></th>
@@ -281,19 +251,19 @@ <h3>Method Summary</h3>
 <div class="block">Steers and drives all wheels in the same direction and with the same speed.</div>
 </td>
 </tr>
-<tr id="i5" class="rowColor">
+<tr id="i4" class="altColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#stop()">stop</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Stops all modules immediately.</div>
 </td>
 </tr>
-<tr id="i6" class="altColor">
+<tr id="i5" class="rowColor">
 <td class="colFirst"><code>void</code></td>
-<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#userInputDrive(double,double,double,frc.team1711.swerve.util.InputHandler)">userInputDrive</a></span>&#8203;(double&nbsp;strafeX,
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#userInputDrive(double,double,double,frc.team1711.swerve.subsystems.SwerveDrive.ControlsConfig)">userInputDrive</a></span>&#8203;(double&nbsp;strafeX,
               double&nbsp;strafeY,
               double&nbsp;steering,
-              <a href="../util/InputHandler.html" title="class in frc.team1711.swerve.util">InputHandler</a>&nbsp;inputHandler)</code></th>
+              <a href="SwerveDrive.ControlsConfig.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.ControlsConfig</a>&nbsp;controlsConfig)</code></th>
 <td class="colLast">
 <div class="block">Drives the <code>SwerveDrive</code> given strafing and steering inputs, all on the interval [-1, 1],
  where +<code>strafeY</code> is forwards and +<code>strafeX</code> is to the right.</div>
@@ -330,25 +300,6 @@ <h3>Methods inherited from interface&nbsp;edu.wpi.first.wpilibj2.command.Subsyst
 <div class="details">
 <ul class="blockList">
 <li class="blockList">
-<!-- ============ FIELD DETAIL =========== -->
-<section role="region">
-<ul class="blockList">
-<li class="blockList"><a id="field.detail">
-<!--   -->
-</a>
-<h3>Field Detail</h3>
-<a id="swerveDrivingSpeeds">
-<!--   -->
-</a>
-<ul class="blockListLast">
-<li class="blockList">
-<h4>swerveDrivingSpeeds</h4>
-<pre>protected&nbsp;<a href="SwerveDrive.SwerveDrivingSpeeds.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.SwerveDrivingSpeeds</a> swerveDrivingSpeeds</pre>
-</li>
-</ul>
-</li>
-</ul>
-</section>
 <!-- ========= CONSTRUCTOR DETAIL ======== -->
 <section role="region">
 <ul class="blockList">
@@ -356,7 +307,7 @@ <h4>swerveDrivingSpeeds</h4>
 <!--   -->
 </a>
 <h3>Constructor Detail</h3>
-<a id="&lt;init&gt;(frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,double,frc.team1711.swerve.subsystems.SwerveDrive.SwerveDrivingSpeeds)">
+<a id="&lt;init&gt;(frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,double)">
 <!--   -->
 </a>
 <ul class="blockListLast">
@@ -366,8 +317,7 @@ <h4>SwerveDrive</h4>
                    <a href="SwerveWheel.html" title="class in frc.team1711.swerve.subsystems">SwerveWheel</a>&nbsp;frWheel,
                    <a href="SwerveWheel.html" title="class in frc.team1711.swerve.subsystems">SwerveWheel</a>&nbsp;rlWheel,
                    <a href="SwerveWheel.html" title="class in frc.team1711.swerve.subsystems">SwerveWheel</a>&nbsp;rrWheel,
-                   double&nbsp;wheelbaseToTrackRatio,
-                   <a href="SwerveDrive.SwerveDrivingSpeeds.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.SwerveDrivingSpeeds</a>&nbsp;swerveDrivingSpeeds)</pre>
+                   double&nbsp;wheelbaseToTrackRatio)</pre>
 <div class="block">Creates a new <code>SwerveDrive</code>.</div>
 <dl>
 <dt><span class="paramLabel">Parameters:</span></dt>
@@ -377,7 +327,6 @@ <h4>SwerveDrive</h4>
 <dd><code>rrWheel</code> - The rear right <code>SwerveWheel</code></dd>
 <dd><code>wheelbaseToTrackRatio</code> - The distance between the centers of the left and right wheels divided
  by the distance between the centers of the front and back wheels</dd>
-<dd><code>swerveDrivingSpeeds</code> - The <a href="SwerveDrive.SwerveDrivingSpeeds.html" title="class in frc.team1711.swerve.subsystems"><code>SwerveDrive.SwerveDrivingSpeeds</code></a> configuration</dd>
 </dl>
 </li>
 </ul>
@@ -406,21 +355,7 @@ <h4>initSendable</h4>
 </dl>
 </li>
 </ul>
-<a id="setSwerveDrivingSpeeds(frc.team1711.swerve.subsystems.SwerveDrive.SwerveDrivingSpeeds)">
-<!--   -->
-</a>
-<ul class="blockList">
-<li class="blockList">
-<h4>setSwerveDrivingSpeeds</h4>
-<pre class="methodSignature">public&nbsp;void&nbsp;setSwerveDrivingSpeeds&#8203;(<a href="SwerveDrive.SwerveDrivingSpeeds.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.SwerveDrivingSpeeds</a>&nbsp;swerveDrivingSpeeds)</pre>
-<div class="block">Used to set a new <a href="SwerveDrive.SwerveDrivingSpeeds.html" title="class in frc.team1711.swerve.subsystems"><code>SwerveDrive.SwerveDrivingSpeeds</code></a> configuration.</div>
-<dl>
-<dt><span class="paramLabel">Parameters:</span></dt>
-<dd><code>swerveDrivingSpeeds</code> - The new <code>SwerveDrivingSpeeds</code> configuration</dd>
-</dl>
-</li>
-</ul>
-<a id="userInputDrive(double,double,double,frc.team1711.swerve.util.InputHandler)">
+<a id="userInputDrive(double,double,double,frc.team1711.swerve.subsystems.SwerveDrive.ControlsConfig)">
 <!--   -->
 </a>
 <ul class="blockList">
@@ -429,16 +364,16 @@ <h4>userInputDrive</h4>
 <pre class="methodSignature">public final&nbsp;void&nbsp;userInputDrive&#8203;(double&nbsp;strafeX,
                                  double&nbsp;strafeY,
                                  double&nbsp;steering,
-                                 <a href="../util/InputHandler.html" title="class in frc.team1711.swerve.util">InputHandler</a>&nbsp;inputHandler)</pre>
+                                 <a href="SwerveDrive.ControlsConfig.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.ControlsConfig</a>&nbsp;controlsConfig)</pre>
 <div class="block">Drives the <code>SwerveDrive</code> given strafing and steering inputs, all on the interval [-1, 1],
  where +<code>strafeY</code> is forwards and +<code>strafeX</code> is to the right. Inputs are assumed to be from a user-controlled
- device, so <a href="SwerveDrive.SwerveDrivingSpeeds.html" title="class in frc.team1711.swerve.subsystems"><code>SwerveDrive.SwerveDrivingSpeeds</code></a> are applied, along with an <a href="../util/InputHandler.html" title="class in frc.team1711.swerve.util"><code>InputHandler</code></a>.</div>
+ device, so <a href="SwerveDrive.ControlsConfig.html" title="class in frc.team1711.swerve.subsystems"><code>SwerveDrive.ControlsConfig</code></a> is applied.</div>
 <dl>
 <dt><span class="paramLabel">Parameters:</span></dt>
 <dd><code>strafeX</code> - The strafing speed in the x direction</dd>
 <dd><code>strafeY</code> - The strafing speed in the y direction</dd>
 <dd><code>steering</code> - The steering speed, where a positive value steers clockwise from a top-down point of view</dd>
-<dd><code>inputHandler</code> - The <code>InputHandler</code> to be used for converting user inputs into usable outputs.</dd>
+<dd><code>controlsConfig</code> - The <code>ControlsConfig</code> to be used for relative driving speeds and processing of user inputs</dd>
 <dt><span class="seeLabel">See Also:</span></dt>
 <dd><a href="#steerAndDriveAll(double,double)"><code>steerAndDriveAll(double, double)</code></a></dd>
 </dl>
@@ -455,7 +390,7 @@ <h4>autoDrive</h4>
                             double&nbsp;steering)</pre>
 <div class="block">Drives the <code>SwerveDrive</code> given strafing and steering inputs, all on the interval [-1, 1],
  where +<code>strafeY</code> is forwards and +<code>strafeX</code> is to the right. Inputs are assumed to be generated from
- a command, so no <a href="../util/InputHandler.html" title="class in frc.team1711.swerve.util"><code>InputHandler</code></a>s or <a href="SwerveDrive.SwerveDrivingSpeeds.html" title="class in frc.team1711.swerve.subsystems"><code>SwerveDrive.SwerveDrivingSpeeds</code></a> are applied to the inputs.</div>
+ a command, so no <a href="SwerveDrive.ControlsConfig.html" title="class in frc.team1711.swerve.subsystems"><code>SwerveDrive.ControlsConfig</code></a> is applied to the inputs.</div>
 <dl>
 <dt><span class="paramLabel">Parameters:</span></dt>
 <dd><code>strafeX</code> - The strafing speed in the x direction</dd>
@@ -484,7 +419,7 @@ <h4>steerAndDriveAll</h4>
 <dd><code>direction</code> - The target steering direction</dd>
 <dd><code>speed</code> - The speed to drive at</dd>
 <dt><span class="seeLabel">See Also:</span></dt>
-<dd><a href="#userInputDrive(double,double,double,frc.team1711.swerve.util.InputHandler)"><code>userInputDrive(double, double, double, InputHandler)</code></a></dd>
+<dd><a href="#userInputDrive(double,double,double,frc.team1711.swerve.subsystems.SwerveDrive.ControlsConfig)"><code>userInputDrive(double, double, double, ControlsConfig)</code></a></dd>
 </dl>
 </li>
 </ul>
@@ -572,13 +507,13 @@ <h4>stop</h4>
 <ul class="subNavList">
 <li>Summary:&nbsp;</li>
 <li><a href="#nested.class.summary">Nested</a>&nbsp;|&nbsp;</li>
-<li><a href="#field.summary">Field</a>&nbsp;|&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
 <li><a href="#constructor.summary">Constr</a>&nbsp;|&nbsp;</li>
 <li><a href="#method.summary">Method</a></li>
 </ul>
 <ul class="subNavList">
 <li>Detail:&nbsp;</li>
-<li><a href="#field.detail">Field</a>&nbsp;|&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
 <li><a href="#constructor.detail">Constr</a>&nbsp;|&nbsp;</li>
 <li><a href="#method.detail">Method</a></li>
 </ul>
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 7092c08..60a5aff 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
@@ -132,10 +132,11 @@ <h1 title="Package" class="title">Package&nbsp;frc.team1711.swerve.subsystems</h
 </td>
 </tr>
 <tr class="altColor">
-<th class="colFirst" scope="row"><a href="SwerveDrive.SwerveDrivingSpeeds.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.SwerveDrivingSpeeds</a></th>
+<th class="colFirst" scope="row"><a href="SwerveDrive.ControlsConfig.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.ControlsConfig</a></th>
 <td class="colLast">
 <div class="block">A class representing the configuration of relative speeds for <a href="SwerveDrive.html" title="class in frc.team1711.swerve.subsystems"><code>SwerveDrive</code></a> in
- <a href="SwerveDrive.html#userInputDrive(double,double,double,frc.team1711.swerve.util.InputHandler)"><code>SwerveDrive.userInputDrive(double, double, double, InputHandler)</code></a>.</div>
+ <a href="SwerveDrive.html#userInputDrive(double,double,double,frc.team1711.swerve.subsystems.SwerveDrive.ControlsConfig)"><code>SwerveDrive.userInputDrive(double, double, double, ControlsConfig)</code></a>, along with
+ an <a href="../util/InputHandler.html" title="class in frc.team1711.swerve.util"><code>InputHandler</code></a> which handles user-generated input.</div>
 </td>
 </tr>
 <tr class="rowColor">
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 9cd2efb..1111c17 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
@@ -117,7 +117,7 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 </li>
 </ul>
 </li>
-<li class="circle">frc.team1711.swerve.subsystems.<a href="SwerveDrive.SwerveDrivingSpeeds.html" title="class in frc.team1711.swerve.subsystems"><span class="typeNameLink">SwerveDrive.SwerveDrivingSpeeds</span></a></li>
+<li class="circle">frc.team1711.swerve.subsystems.<a href="SwerveDrive.ControlsConfig.html" title="class in frc.team1711.swerve.subsystems"><span class="typeNameLink">SwerveDrive.ControlsConfig</span></a></li>
 <li class="circle">frc.team1711.swerve.subsystems.<a href="SwerveWheel.html" title="class in frc.team1711.swerve.subsystems"><span class="typeNameLink">SwerveWheel</span></a>
 <ul>
 <li class="circle">frc.team1711.swerve.subsystems.<a href="AutoSwerveWheel.html" title="class in frc.team1711.swerve.subsystems"><span class="typeNameLink">AutoSwerveWheel</span></a></li>
diff --git a/swervelib/build/docs/javadoc/index-all.html b/swervelib/build/docs/javadoc/index-all.html
index c4afff1..fe728e3 100644
--- a/swervelib/build/docs/javadoc/index-all.html
+++ b/swervelib/build/docs/javadoc/index-all.html
@@ -144,7 +144,7 @@ <h2 class="title">A</h2>
 <div class="block">Expands on the <a href="frc/team1711/swerve/subsystems/GyroSwerveDrive.html" title="class in frc.team1711.swerve.subsystems"><code>GyroSwerveDrive</code></a> for autonomous control, requiring
  the use of <a href="frc/team1711/swerve/subsystems/AutoSwerveWheel.html" title="class in frc.team1711.swerve.subsystems"><code>AutoSwerveWheel</code></a> rather than <a href="frc/team1711/swerve/subsystems/SwerveWheel.html" title="class in frc.team1711.swerve.subsystems"><code>SwerveWheel</code></a>.</div>
 </dd>
-<dt><span class="memberNameLink"><a href="frc/team1711/swerve/subsystems/AutoSwerveDrive.html#%3Cinit%3E(edu.wpi.first.wpilibj.interfaces.Gyro,frc.team1711.swerve.subsystems.AutoSwerveWheel,frc.team1711.swerve.subsystems.AutoSwerveWheel,frc.team1711.swerve.subsystems.AutoSwerveWheel,frc.team1711.swerve.subsystems.AutoSwerveWheel,double,frc.team1711.swerve.subsystems.SwerveDrive.SwerveDrivingSpeeds)">AutoSwerveDrive(Gyro, AutoSwerveWheel, AutoSwerveWheel, AutoSwerveWheel, AutoSwerveWheel, double, SwerveDrive.SwerveDrivingSpeeds)</a></span> - Constructor for class frc.team1711.swerve.subsystems.<a href="frc/team1711/swerve/subsystems/AutoSwerveDrive.html" title="class in frc.team1711.swerve.subsystems">AutoSwerveDrive</a></dt>
+<dt><span class="memberNameLink"><a href="frc/team1711/swerve/subsystems/AutoSwerveDrive.html#%3Cinit%3E(edu.wpi.first.wpilibj.interfaces.Gyro,frc.team1711.swerve.subsystems.AutoSwerveWheel,frc.team1711.swerve.subsystems.AutoSwerveWheel,frc.team1711.swerve.subsystems.AutoSwerveWheel,frc.team1711.swerve.subsystems.AutoSwerveWheel,double)">AutoSwerveDrive(Gyro, AutoSwerveWheel, AutoSwerveWheel, AutoSwerveWheel, AutoSwerveWheel, double)</a></span> - Constructor for class frc.team1711.swerve.subsystems.<a href="frc/team1711/swerve/subsystems/AutoSwerveDrive.html" title="class in frc.team1711.swerve.subsystems">AutoSwerveDrive</a></dt>
 <dd>
 <div class="block">Creates a new <code>AutoSwerveDrive</code> given <a href="frc/team1711/swerve/subsystems/AutoSwerveWheel.html" title="class in frc.team1711.swerve.subsystems"><code>AutoSwerveWheel</code></a> wheels.</div>
 </dd>
@@ -177,6 +177,10 @@ <h2 class="title">C</h2>
 <div class="block">Checks whether or not the wheel's current steering direction is near a certain direction,
  with a specified margin of error.</div>
 </dd>
+<dt><span class="memberNameLink"><a href="frc/team1711/swerve/subsystems/SwerveDrive.ControlsConfig.html#%3Cinit%3E(double,double,frc.team1711.swerve.util.InputHandler)">ControlsConfig(double, double, InputHandler)</a></span> - Constructor for class frc.team1711.swerve.subsystems.<a href="frc/team1711/swerve/subsystems/SwerveDrive.ControlsConfig.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.ControlsConfig</a></dt>
+<dd>
+<div class="block">Creates a new <code>ControlsConfig</code>.</div>
+</dd>
 </dl>
 <a id="I:D">
 <!--   -->
@@ -211,7 +215,7 @@ <h2 class="title">F</h2>
 <div class="block">Denoting a frame of reference for an autonomous command that is relative
  to the field (or more precisely, relative to the gyro's initial orientation).</div>
 </dd>
-<dt><span class="memberNameLink"><a href="frc/team1711/swerve/subsystems/GyroSwerveDrive.html#fieldRelativeUserInputDrive(double,double,double,frc.team1711.swerve.util.InputHandler)">fieldRelativeUserInputDrive(double, double, double, InputHandler)</a></span> - Method in class frc.team1711.swerve.subsystems.<a href="frc/team1711/swerve/subsystems/GyroSwerveDrive.html" title="class in frc.team1711.swerve.subsystems">GyroSwerveDrive</a></dt>
+<dt><span class="memberNameLink"><a href="frc/team1711/swerve/subsystems/GyroSwerveDrive.html#fieldRelativeUserInputDrive(double,double,double,frc.team1711.swerve.subsystems.SwerveDrive.ControlsConfig)">fieldRelativeUserInputDrive(double, double, double, SwerveDrive.ControlsConfig)</a></span> - Method in class frc.team1711.swerve.subsystems.<a href="frc/team1711/swerve/subsystems/GyroSwerveDrive.html" title="class in frc.team1711.swerve.subsystems">GyroSwerveDrive</a></dt>
 <dd>
 <div class="block">Drives the <code>SwerveDrive</code> given strafing and steering inputs, all on the interval [-1, 1],
  where +<code>strafeY</code> is forwards and +<code>strafeX</code> is to the right.</div>
@@ -279,7 +283,7 @@ <h2 class="title">G</h2>
 <dd>
 <div class="block">Expands on the <a href="frc/team1711/swerve/subsystems/SwerveDrive.html" title="class in frc.team1711.swerve.subsystems"><code>SwerveDrive</code></a> for field relative control, using a gyro.</div>
 </dd>
-<dt><span class="memberNameLink"><a href="frc/team1711/swerve/subsystems/GyroSwerveDrive.html#%3Cinit%3E(edu.wpi.first.wpilibj.interfaces.Gyro,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,double,frc.team1711.swerve.subsystems.SwerveDrive.SwerveDrivingSpeeds)">GyroSwerveDrive(Gyro, SwerveWheel, SwerveWheel, SwerveWheel, SwerveWheel, double, SwerveDrive.SwerveDrivingSpeeds)</a></span> - Constructor for class frc.team1711.swerve.subsystems.<a href="frc/team1711/swerve/subsystems/GyroSwerveDrive.html" title="class in frc.team1711.swerve.subsystems">GyroSwerveDrive</a></dt>
+<dt><span class="memberNameLink"><a href="frc/team1711/swerve/subsystems/GyroSwerveDrive.html#%3Cinit%3E(edu.wpi.first.wpilibj.interfaces.Gyro,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,double)">GyroSwerveDrive(Gyro, SwerveWheel, SwerveWheel, SwerveWheel, SwerveWheel, double)</a></span> - Constructor for class frc.team1711.swerve.subsystems.<a href="frc/team1711/swerve/subsystems/GyroSwerveDrive.html" title="class in frc.team1711.swerve.subsystems">GyroSwerveDrive</a></dt>
 <dd>
 <div class="block">Creates a new <code>GyroSwerveDrive</code> given <a href="frc/team1711/swerve/subsystems/SwerveWheel.html" title="class in frc.team1711.swerve.subsystems"><code>SwerveWheel</code></a> wheels.</div>
 </dd>
@@ -295,6 +299,8 @@ <h2 class="title">I</h2>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="frc/team1711/swerve/subsystems/SwerveDrive.html#initSendable(edu.wpi.first.util.sendable.SendableBuilder)">initSendable(SendableBuilder)</a></span> - Method in class frc.team1711.swerve.subsystems.<a href="frc/team1711/swerve/subsystems/SwerveDrive.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive</a></dt>
 <dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="frc/team1711/swerve/subsystems/SwerveDrive.ControlsConfig.html#inputHandler">inputHandler</a></span> - Variable in class frc.team1711.swerve.subsystems.<a href="frc/team1711/swerve/subsystems/SwerveDrive.ControlsConfig.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.ControlsConfig</a></dt>
+<dd>&nbsp;</dd>
 <dt><a href="frc/team1711/swerve/util/InputHandler.html" title="class in frc.team1711.swerve.util"><span class="typeNameLink">InputHandler</span></a> - Class in <a href="frc/team1711/swerve/util/package-summary.html">frc.team1711.swerve.util</a></dt>
 <dd>
 <div class="block">Represents a system for converting continuous user input into a usable input into robot-control functions.</div>
@@ -398,10 +404,6 @@ <h2 class="title">S</h2>
 <div class="block">Adds an ease-out phase during which there will be a change in speed a certain
  distance before the destination.</div>
 </dd>
-<dt><span class="memberNameLink"><a href="frc/team1711/swerve/subsystems/SwerveDrive.html#setSwerveDrivingSpeeds(frc.team1711.swerve.subsystems.SwerveDrive.SwerveDrivingSpeeds)">setSwerveDrivingSpeeds(SwerveDrive.SwerveDrivingSpeeds)</a></span> - Method in class frc.team1711.swerve.subsystems.<a href="frc/team1711/swerve/subsystems/SwerveDrive.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive</a></dt>
-<dd>
-<div class="block">Used to set a new <a href="frc/team1711/swerve/subsystems/SwerveDrive.SwerveDrivingSpeeds.html" title="class in frc.team1711.swerve.subsystems"><code>SwerveDrive.SwerveDrivingSpeeds</code></a> configuration.</div>
-</dd>
 <dt><span class="memberNameLink"><a href="frc/team1711/swerve/util/InputHandler.Curve.html#squareCurve">squareCurve</a></span> - Static variable in interface frc.team1711.swerve.util.<a href="frc/team1711/swerve/util/InputHandler.Curve.html" title="interface in frc.team1711.swerve.util">InputHandler.Curve</a></dt>
 <dd>
 <div class="block">A square curve, that maps any input value x to x^2.</div>
@@ -419,7 +421,7 @@ <h2 class="title">S</h2>
 <dd>
 <div class="block">Steers and drives all wheels in the same direction and with the same speed.</div>
 </dd>
-<dt><span class="memberNameLink"><a href="frc/team1711/swerve/subsystems/SwerveDrive.SwerveDrivingSpeeds.html#steerSpeed">steerSpeed</a></span> - Variable in class frc.team1711.swerve.subsystems.<a href="frc/team1711/swerve/subsystems/SwerveDrive.SwerveDrivingSpeeds.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.SwerveDrivingSpeeds</a></dt>
+<dt><span class="memberNameLink"><a href="frc/team1711/swerve/subsystems/SwerveDrive.ControlsConfig.html#steerSpeed">steerSpeed</a></span> - Variable in class frc.team1711.swerve.subsystems.<a href="frc/team1711/swerve/subsystems/SwerveDrive.ControlsConfig.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.ControlsConfig</a></dt>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="frc/team1711/swerve/subsystems/SwerveDrive.html#stop()">stop()</a></span> - Method in class frc.team1711.swerve.subsystems.<a href="frc/team1711/swerve/subsystems/SwerveDrive.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive</a></dt>
 <dd>
@@ -433,26 +435,21 @@ <h2 class="title">S</h2>
 <dd>
 <div class="block">Immediately stops all steering movement.</div>
 </dd>
-<dt><span class="memberNameLink"><a href="frc/team1711/swerve/subsystems/SwerveDrive.SwerveDrivingSpeeds.html#strafeSpeed">strafeSpeed</a></span> - Variable in class frc.team1711.swerve.subsystems.<a href="frc/team1711/swerve/subsystems/SwerveDrive.SwerveDrivingSpeeds.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.SwerveDrivingSpeeds</a></dt>
+<dt><span class="memberNameLink"><a href="frc/team1711/swerve/subsystems/SwerveDrive.ControlsConfig.html#strafeSpeed">strafeSpeed</a></span> - Variable in class frc.team1711.swerve.subsystems.<a href="frc/team1711/swerve/subsystems/SwerveDrive.ControlsConfig.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.ControlsConfig</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="frc/team1711/swerve/subsystems/SwerveDrive.html" title="class in frc.team1711.swerve.subsystems"><span class="typeNameLink">SwerveDrive</span></a> - Class in <a href="frc/team1711/swerve/subsystems/package-summary.html">frc.team1711.swerve.subsystems</a></dt>
 <dd>
 <div class="block">Utilizes <a href="frc/team1711/swerve/subsystems/SwerveWheel.html" title="class in frc.team1711.swerve.subsystems"><code>SwerveWheel</code></a> subsystems to create a singular, easy-to-use swerve drive.</div>
 </dd>
-<dt><span class="memberNameLink"><a href="frc/team1711/swerve/subsystems/SwerveDrive.html#%3Cinit%3E(frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,double,frc.team1711.swerve.subsystems.SwerveDrive.SwerveDrivingSpeeds)">SwerveDrive(SwerveWheel, SwerveWheel, SwerveWheel, SwerveWheel, double, SwerveDrive.SwerveDrivingSpeeds)</a></span> - Constructor for class frc.team1711.swerve.subsystems.<a href="frc/team1711/swerve/subsystems/SwerveDrive.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive</a></dt>
+<dt><span class="memberNameLink"><a href="frc/team1711/swerve/subsystems/SwerveDrive.html#%3Cinit%3E(frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,double)">SwerveDrive(SwerveWheel, SwerveWheel, SwerveWheel, SwerveWheel, double)</a></span> - Constructor for class frc.team1711.swerve.subsystems.<a href="frc/team1711/swerve/subsystems/SwerveDrive.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive</a></dt>
 <dd>
 <div class="block">Creates a new <code>SwerveDrive</code>.</div>
 </dd>
-<dt><a href="frc/team1711/swerve/subsystems/SwerveDrive.SwerveDrivingSpeeds.html" title="class in frc.team1711.swerve.subsystems"><span class="typeNameLink">SwerveDrive.SwerveDrivingSpeeds</span></a> - Class in <a href="frc/team1711/swerve/subsystems/package-summary.html">frc.team1711.swerve.subsystems</a></dt>
+<dt><a href="frc/team1711/swerve/subsystems/SwerveDrive.ControlsConfig.html" title="class in frc.team1711.swerve.subsystems"><span class="typeNameLink">SwerveDrive.ControlsConfig</span></a> - Class in <a href="frc/team1711/swerve/subsystems/package-summary.html">frc.team1711.swerve.subsystems</a></dt>
 <dd>
 <div class="block">A class representing the configuration of relative speeds for <a href="frc/team1711/swerve/subsystems/SwerveDrive.html" title="class in frc.team1711.swerve.subsystems"><code>SwerveDrive</code></a> in
- <a href="frc/team1711/swerve/subsystems/SwerveDrive.html#userInputDrive(double,double,double,frc.team1711.swerve.util.InputHandler)"><code>SwerveDrive.userInputDrive(double, double, double, InputHandler)</code></a>.</div>
-</dd>
-<dt><span class="memberNameLink"><a href="frc/team1711/swerve/subsystems/SwerveDrive.html#swerveDrivingSpeeds">swerveDrivingSpeeds</a></span> - Variable in class frc.team1711.swerve.subsystems.<a href="frc/team1711/swerve/subsystems/SwerveDrive.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive</a></dt>
-<dd>&nbsp;</dd>
-<dt><span class="memberNameLink"><a href="frc/team1711/swerve/subsystems/SwerveDrive.SwerveDrivingSpeeds.html#%3Cinit%3E(double,double)">SwerveDrivingSpeeds(double, double)</a></span> - Constructor for class frc.team1711.swerve.subsystems.<a href="frc/team1711/swerve/subsystems/SwerveDrive.SwerveDrivingSpeeds.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.SwerveDrivingSpeeds</a></dt>
-<dd>
-<div class="block">Creates a new <code>SwerveDrivingSpeeds</code> configuration.</div>
+ <a href="frc/team1711/swerve/subsystems/SwerveDrive.html#userInputDrive(double,double,double,frc.team1711.swerve.subsystems.SwerveDrive.ControlsConfig)"><code>SwerveDrive.userInputDrive(double, double, double, ControlsConfig)</code></a>, along with
+ an <a href="frc/team1711/swerve/util/InputHandler.html" title="class in frc.team1711.swerve.util"><code>InputHandler</code></a> which handles user-generated input.</div>
 </dd>
 <dt><a href="frc/team1711/swerve/subsystems/SwerveWheel.html" title="class in frc.team1711.swerve.subsystems"><span class="typeNameLink">SwerveWheel</span></a> - Class in <a href="frc/team1711/swerve/subsystems/package-summary.html">frc.team1711.swerve.subsystems</a></dt>
 <dd>
@@ -492,7 +489,7 @@ <h2 class="title">T</h2>
 </a>
 <h2 class="title">U</h2>
 <dl>
-<dt><span class="memberNameLink"><a href="frc/team1711/swerve/subsystems/SwerveDrive.html#userInputDrive(double,double,double,frc.team1711.swerve.util.InputHandler)">userInputDrive(double, double, double, InputHandler)</a></span> - Method in class frc.team1711.swerve.subsystems.<a href="frc/team1711/swerve/subsystems/SwerveDrive.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive</a></dt>
+<dt><span class="memberNameLink"><a href="frc/team1711/swerve/subsystems/SwerveDrive.html#userInputDrive(double,double,double,frc.team1711.swerve.subsystems.SwerveDrive.ControlsConfig)">userInputDrive(double, double, double, SwerveDrive.ControlsConfig)</a></span> - Method in class frc.team1711.swerve.subsystems.<a href="frc/team1711/swerve/subsystems/SwerveDrive.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive</a></dt>
 <dd>
 <div class="block">Drives the <code>SwerveDrive</code> given strafing and steering inputs, all on the interval [-1, 1],
  where +<code>strafeY</code> is forwards and +<code>strafeX</code> is to the right.</div>
diff --git a/swervelib/build/docs/javadoc/member-search-index.js b/swervelib/build/docs/javadoc/member-search-index.js
index de3a304..6bbd285 100644
--- a/swervelib/build/docs/javadoc/member-search-index.js
+++ b/swervelib/build/docs/javadoc/member-search-index.js
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InputHandler.Curve)","url":"%3Cinit%3E(double,frc.team1711.swerve.util.InputHandler.Curve)"},{"p":"frc.team1711.swerve.util","c":"InputHandler","l":"InputHandler(double)","url":"%3Cinit%3E(double)"},{"p":"frc.team1711.swerve.commands","c":"AutonTurn","l":"isFinished()"},{"p":"frc.team1711.swerve.util","c":"InputHandler.Curve","l":"linearCurve"},{"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":"GyroSwerveDrive","l":"resetGyro()"},{"p":"frc.team1711.swerve.commands","c":"FrameOfReference","l":"ROBOT"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"scale(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":"SwerveWheel","l":"setDriveSpeed(double)"},{"p":"frc.team1711.swerve.commands","c":"AutonDrive","l":"setEaseOut(double, double)","url":"setEaseOut(double,double)"},{"p":"frc.team1711.swerve.util","c":"InputHandler.Curve","l":"squareCurve"},{"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.ControlsConfig","l":"steerSpeed"},{"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.ControlsConfig","l":"strafeSpeed"},{"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":"SwerveWheel","l":"SwerveWheel()","url":"%3Cinit%3E()"},{"p":"frc.team1711.swerve.util","c":"Angles","l":"TAU"},{"p":"frc.team1711.swerve.util","c":"InputHandler.Curve","l":"threeHalvesPowerCurve"},{"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.subsystems","c":"SwerveDrive","l":"userInputDrive(double, double, double, SwerveDrive.ControlsConfig)","url":"userInputDrive(double,double,double,frc.team1711.swerve.subsystems.SwerveDrive.ControlsConfig)"},{"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 e94e02b..7e4bd1d 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-tree.html b/swervelib/build/docs/javadoc/overview-tree.html
index bd9db94..683d888 100644
--- a/swervelib/build/docs/javadoc/overview-tree.html
+++ b/swervelib/build/docs/javadoc/overview-tree.html
@@ -135,7 +135,7 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 </li>
 </ul>
 </li>
-<li class="circle">frc.team1711.swerve.subsystems.<a href="frc/team1711/swerve/subsystems/SwerveDrive.SwerveDrivingSpeeds.html" title="class in frc.team1711.swerve.subsystems"><span class="typeNameLink">SwerveDrive.SwerveDrivingSpeeds</span></a></li>
+<li class="circle">frc.team1711.swerve.subsystems.<a href="frc/team1711/swerve/subsystems/SwerveDrive.ControlsConfig.html" title="class in frc.team1711.swerve.subsystems"><span class="typeNameLink">SwerveDrive.ControlsConfig</span></a></li>
 <li class="circle">frc.team1711.swerve.subsystems.<a href="frc/team1711/swerve/subsystems/SwerveWheel.html" title="class in frc.team1711.swerve.subsystems"><span class="typeNameLink">SwerveWheel</span></a>
 <ul>
 <li class="circle">frc.team1711.swerve.subsystems.<a href="frc/team1711/swerve/subsystems/AutoSwerveWheel.html" title="class in frc.team1711.swerve.subsystems"><span class="typeNameLink">AutoSwerveWheel</span></a></li>
diff --git a/swervelib/build/docs/javadoc/package-search-index.zip b/swervelib/build/docs/javadoc/package-search-index.zip
index af9dd3e..3ae6964 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.js b/swervelib/build/docs/javadoc/type-search-index.js
index 0ff11e7..7812369 100644
--- a/swervelib/build/docs/javadoc/type-search-index.js
+++ b/swervelib/build/docs/javadoc/type-search-index.js
@@ -1 +1 @@
-typeSearchIndex = [{"l":"All Classes","url":"allclasses-index.html"},{"p":"frc.team1711.swerve.util","l":"Angles"},{"p":"frc.team1711.swerve.commands","l":"AutonDrive"},{"p":"frc.team1711.swerve.commands","l":"AutonTurn"},{"p":"frc.team1711.swerve.subsystems","l":"AutoSwerveDrive"},{"p":"frc.team1711.swerve.subsystems","l":"AutoSwerveWheel"},{"p":"frc.team1711.swerve.util","l":"InputHandler.Curve"},{"p":"frc.team1711.swerve.commands","l":"FrameOfReference"},{"p":"frc.team1711.swerve.subsystems","l":"GyroSwerveDrive"},{"p":"frc.team1711.swerve.util","l":"InputHandler"},{"p":"frc.team1711.swerve.subsystems","l":"SwerveDrive"},{"p":"frc.team1711.swerve.subsystems","l":"SwerveDrive.SwerveDrivingSpeeds"},{"p":"frc.team1711.swerve.subsystems","l":"SwerveWheel"},{"p":"frc.team1711.swerve.util","l":"Vector"}]
\ No newline at end of file
+typeSearchIndex = [{"l":"All Classes","url":"allclasses-index.html"},{"p":"frc.team1711.swerve.util","l":"Angles"},{"p":"frc.team1711.swerve.commands","l":"AutonDrive"},{"p":"frc.team1711.swerve.commands","l":"AutonTurn"},{"p":"frc.team1711.swerve.subsystems","l":"AutoSwerveDrive"},{"p":"frc.team1711.swerve.subsystems","l":"AutoSwerveWheel"},{"p":"frc.team1711.swerve.subsystems","l":"SwerveDrive.ControlsConfig"},{"p":"frc.team1711.swerve.util","l":"InputHandler.Curve"},{"p":"frc.team1711.swerve.commands","l":"FrameOfReference"},{"p":"frc.team1711.swerve.subsystems","l":"GyroSwerveDrive"},{"p":"frc.team1711.swerve.util","l":"InputHandler"},{"p":"frc.team1711.swerve.subsystems","l":"SwerveDrive"},{"p":"frc.team1711.swerve.subsystems","l":"SwerveWheel"},{"p":"frc.team1711.swerve.util","l":"Vector"}]
\ No newline at end of file
diff --git a/swervelib/build/docs/javadoc/type-search-index.zip b/swervelib/build/docs/javadoc/type-search-index.zip
index fe8f364..d40cfd3 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-v3.2022.3.1-javadoc.jar
index bf54d7e..9908878 100644
Binary files a/swervelib/build/libs/swervelib-v3.2022.3.1-javadoc.jar and b/swervelib/build/libs/swervelib-v3.2022.3.1-javadoc.jar differ
diff --git a/swervelib/build/libs/swervelib-v3.2022.3.1.jar b/swervelib/build/libs/swervelib-v3.2022.3.1.jar
index e141b33..3dce0db 100644
Binary files a/swervelib/build/libs/swervelib-v3.2022.3.1.jar and b/swervelib/build/libs/swervelib-v3.2022.3.1.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 f647657..d8c4411 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, 1:27:21 PM</p>
+<a href="http://www.gradle.org">Gradle 7.3.3</a> at Feb 19, 2022, 5:24:39 PM</p>
 </div>
 </div>
 </body>
diff --git a/swervelib/build/reports/tests/test/index.html b/swervelib/build/reports/tests/test/index.html
index c2b6d48..cd4a5fc 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, 1:27:21 PM</p>
+<a href="http://www.gradle.org">Gradle 7.3.3</a> at Feb 19, 2022, 5:24:39 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 b272234..3e437b2 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, 1:27:21 PM</p>
+<a href="http://www.gradle.org">Gradle 7.3.3</a> at Feb 19, 2022, 5:24:39 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 55766ae..4259d70 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="2022-02-19T18:27:20" hostname="GABRIEL-LAPTOP" time="0.0">
+<testsuite name="swerve.LibraryTest" tests="1" skipped="1" failures="0" errors="0" timestamp="2022-02-19T22:24:39" 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 4fb7d00..20e1ede 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 b931dc3..1fe3838 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/src/main/java/frc/team1711/swerve/subsystems/AutoSwerveDrive.java b/swervelib/src/main/java/frc/team1711/swerve/subsystems/AutoSwerveDrive.java
index 6125b52..69fb671 100644
--- a/swervelib/src/main/java/frc/team1711/swerve/subsystems/AutoSwerveDrive.java
+++ b/swervelib/src/main/java/frc/team1711/swerve/subsystems/AutoSwerveDrive.java
@@ -27,7 +27,6 @@ public abstract class AutoSwerveDrive extends GyroSwerveDrive {
      * @param rrWheel				The rear right {@code AutoSwerveWheel}
      * @param wheelbaseToTrackRatio	The distance between the centers of the left and right wheels divided
 	 * by the distance between the centers of the front and back wheels
-	 * @param swerveDrivingSpeeds	The {@link SwerveDrivingSpeeds} configuration
      */
     public AutoSwerveDrive (
 			Gyro gyro,
@@ -35,10 +34,9 @@ public AutoSwerveDrive (
 			AutoSwerveWheel frWheel,
 			AutoSwerveWheel rlWheel,
 			AutoSwerveWheel rrWheel,
-			double wheelbaseToTrackRatio,
-			SwerveDrivingSpeeds swerveDrivingSpeeds) {
+			double wheelbaseToTrackRatio) {
         
-		super(gyro, flWheel, frWheel, rlWheel, rrWheel, wheelbaseToTrackRatio, swerveDrivingSpeeds);
+		super(gyro, flWheel, frWheel, rlWheel, rrWheel, wheelbaseToTrackRatio);
 		
 		this.flWheel = flWheel;
 		this.frWheel = frWheel;
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 81b9ded..c15940b 100644
--- a/swervelib/src/main/java/frc/team1711/swerve/subsystems/GyroSwerveDrive.java
+++ b/swervelib/src/main/java/frc/team1711/swerve/subsystems/GyroSwerveDrive.java
@@ -26,7 +26,6 @@ public abstract class GyroSwerveDrive extends SwerveDrive {
      * @param rrWheel				The rear right {@code SwerveWheel}
      * @param wheelbaseToTrackRatio	The distance between the centers of the left and right wheels divided
 	 * by the distance between the centers of the front and back wheels
-	 * @param swerveDrivingSpeeds	The {@link SwerveDrivingSpeeds} configuration
      */
     public GyroSwerveDrive (
 		Gyro gyro,
@@ -34,39 +33,37 @@ public GyroSwerveDrive (
         SwerveWheel frWheel,
         SwerveWheel rlWheel,
         SwerveWheel rrWheel,
-        double wheelbaseToTrackRatio,
-		SwerveDrivingSpeeds swerveDrivingSpeeds) {
+        double wheelbaseToTrackRatio) {
         
-        super(flWheel, frWheel, rlWheel, rrWheel, wheelbaseToTrackRatio, swerveDrivingSpeeds);
+        super(flWheel, frWheel, rlWheel, rrWheel, wheelbaseToTrackRatio);
 		this.gyro = gyro;
     }
     
 	/**
      * Drives the {@code SwerveDrive} given strafing and steering inputs, all on the interval [-1, 1],
 	 * where +{@code strafeY} is forwards and +{@code strafeX} is to the right. Inputs are assumed to be from a user-controlled
-	 * device, so {@link SwerveDrivingSpeeds} are applied, along with an {@link InputHandler}. Strafing is
-	 * field relative, not robot relative.
+	 * device, so {@link ControlsConfig} is applied. Strafing is field relative, not robot relative.
      * @param strafeX           The strafing speed in the x direction
      * @param strafeY           The strafing speed in the y direction
      * @param steering          The steering speed, where a positive value steers clockwise from a top-down point of view
-     * @param inputHandler		The {@code InputHandler} to be used for converting user inputs into usable outputs.
-	 * @see #userInputDrive(double, double, double, InputHandler)
+     * @param controlsConfig	The {@code ControlsConfig} to be used for relative driving speeds and processing of user inputs
+	 * @see #userInputDrive(double, double, double, ControlsConfig)
      * @see #steerAndDriveAll(double, double)
      */
-    public void fieldRelativeUserInputDrive (double strafeX, double strafeY, double steering, InputHandler inputHandler) {
+    public void fieldRelativeUserInputDrive (double strafeX, double strafeY, double steering, ControlsConfig controlsConfig) {
         Vector strafeInput = new Vector(strafeX, strafeY);
 		
 		// strafe and steering inputs processing
-		strafeInput = inputHandler.apply(strafeInput);
-		steering = inputHandler.apply(steering);
+		strafeInput = controlsConfig.inputHandler.apply(strafeInput);
+		steering = controlsConfig.inputHandler.apply(steering);
         
         // Turns the strafeInput vector into a new vector with same magnitude but rotation adjusted for field relative
         final Vector fieldStrafeInput = strafeInput.toRotationDegrees(fieldRelToRobotRel(strafeInput.getRotationDegrees()));
         
         super.autoDrive(
-			fieldStrafeInput.getX() * swerveDrivingSpeeds.strafeSpeed,
-			fieldStrafeInput.getY() * swerveDrivingSpeeds.strafeSpeed,
-			steering * swerveDrivingSpeeds.steerSpeed);
+			fieldStrafeInput.getX() * controlsConfig.strafeSpeed,
+			fieldStrafeInput.getY() * controlsConfig.strafeSpeed,
+			steering * controlsConfig.steerSpeed);
     }
     
     /**
diff --git a/swervelib/src/main/java/frc/team1711/swerve/subsystems/SwerveDrive.java b/swervelib/src/main/java/frc/team1711/swerve/subsystems/SwerveDrive.java
index 72af2f3..26d0592 100644
--- a/swervelib/src/main/java/frc/team1711/swerve/subsystems/SwerveDrive.java
+++ b/swervelib/src/main/java/frc/team1711/swerve/subsystems/SwerveDrive.java
@@ -21,8 +21,6 @@ public class SwerveDrive extends SubsystemBase {
 		rlWheel,
 		rrWheel;
     
-    protected SwerveDrivingSpeeds swerveDrivingSpeeds;
-    
     private final double wheelbaseToTrackRatio;
     
     /**
@@ -33,36 +31,34 @@ public class SwerveDrive extends SubsystemBase {
      * @param rrWheel					The rear right {@code SwerveWheel}
      * @param wheelbaseToTrackRatio		The distance between the centers of the left and right wheels divided
 	 * by the distance between the centers of the front and back wheels
-	 * @param swerveDrivingSpeeds		The {@link SwerveDrivingSpeeds} configuration
      */
     public SwerveDrive (
         SwerveWheel flWheel,
         SwerveWheel frWheel,
         SwerveWheel rlWheel,
         SwerveWheel rrWheel,
-        double wheelbaseToTrackRatio,
-		SwerveDrivingSpeeds swerveDrivingSpeeds) {
+        double wheelbaseToTrackRatio) {
         
         this.flWheel = flWheel;
         this.frWheel = frWheel;
         this.rlWheel = rlWheel;
         this.rrWheel = rrWheel;
         this.wheelbaseToTrackRatio = wheelbaseToTrackRatio;
-        this.swerveDrivingSpeeds = swerveDrivingSpeeds;
     }
 	
 	/**
 	 * A class representing the configuration of relative speeds for {@link SwerveDrive} in
-	 * {@link SwerveDrive#userInputDrive(double, double, double, InputHandler)}.
-	 * @see SwerveDrive#setSwerveDrivingSpeeds(SwerveDrivingSpeeds)
+	 * {@link SwerveDrive#userInputDrive(double, double, double, ControlsConfig)}, along with
+	 * an {@link InputHandler} which handles user-generated input.
 	 */
-	public static class SwerveDrivingSpeeds {
+	public static class ControlsConfig {
 		
 		public final double strafeSpeed, steerSpeed;
+		public final InputHandler inputHandler;
 		
 		/**
-		 * Creates a new {@code SwerveDrivingSpeeds} configuration. Note: If {@code strafeSpeed} and {@code steerSpeed} sum to greater
-		 * than 1, {@link SwerveDrive#userInputDrive(double, double, double, InputHandler)} will ensure the relative speeds of the modules
+		 * Creates a new {@code ControlsConfig}. Note: If {@code strafeSpeed} and {@code steerSpeed} sum to greater
+		 * than 1, {@link SwerveDrive#userInputDrive(double, double, double, ControlsConfig)} will ensure the relative speeds of the modules
 		 * are still in proportion to each other, so the kinematics of swerve will not be affected (though in some situations where the
 		 * inputs are very high, the robot may move slower than desired).
 		 * @param strafeSpeed	The scalar on the strafe inputs for
@@ -71,10 +67,12 @@ public static class SwerveDrivingSpeeds {
 		 * using {@code SwerveWheel.setDriveSpeed()}, assuming there is zero steering input passed into {@code SwerveDrive.userInputDrive()}.
 		 * @param steerSpeed	The scalar on the steering inputs for {@code SwerveDrive.userInputDrive()},
 		 * working in the same way as {@code strafeSpeed}.
+		 * @param inputHandler	The {@link InputHandler} associated with this {@code ControlsConfig}
 		 */
-		public SwerveDrivingSpeeds (double strafeSpeed, double steerSpeed) {
+		public ControlsConfig (double strafeSpeed, double steerSpeed, InputHandler inputHandler) {
 			this.strafeSpeed = strafeSpeed;
 			this.steerSpeed = steerSpeed;
+			this.inputHandler = inputHandler;
 		}
 		
 	}
@@ -93,42 +91,34 @@ private double getSendableDir (SwerveWheel wheel) {
 		return (wheel.getDirection() + 90) % 180 - 90;
 	}
 	
-	/**
-	 * Used to set a new {@link SwerveDrivingSpeeds} configuration.
-	 * @param swerveDrivingSpeeds The new {@code SwerveDrivingSpeeds} configuration
-	 */
-	public void setSwerveDrivingSpeeds (SwerveDrivingSpeeds swerveDrivingSpeeds) {
-		this.swerveDrivingSpeeds = swerveDrivingSpeeds;
-	}
-	
     /**
      * Drives the {@code SwerveDrive} given strafing and steering inputs, all on the interval [-1, 1],
 	 * where +{@code strafeY} is forwards and +{@code strafeX} is to the right. Inputs are assumed to be from a user-controlled
-	 * device, so {@link SwerveDrivingSpeeds} are applied, along with an {@link InputHandler}.
+	 * device, so {@link ControlsConfig} is applied.
      * @param strafeX           The strafing speed in the x direction
      * @param strafeY           The strafing speed in the y direction
      * @param steering          The steering speed, where a positive value steers clockwise from a top-down point of view
-     * @param inputHandler		The {@code InputHandler} to be used for converting user inputs into usable outputs.
+     * @param controlsConfig	The {@code ControlsConfig} to be used for relative driving speeds and processing of user inputs
      * @see #steerAndDriveAll(double, double)
      */
-    public final void userInputDrive (double strafeX, double strafeY, double steering, InputHandler inputHandler) {
+    public final void userInputDrive (double strafeX, double strafeY, double steering, ControlsConfig controlsConfig) {
 		
 		// Applies inputHandler to all inputs
         Vector strafeVector = new Vector(strafeX, strafeY);
-        strafeVector = inputHandler.apply(strafeVector);
-        steering = inputHandler.apply(steering);
+        strafeVector = controlsConfig.inputHandler.apply(strafeVector);
+        steering = controlsConfig.inputHandler.apply(steering);
 		
 		// Passes new inputs to autoDrive
 		autoDrive(
-			strafeVector.getX() * swerveDrivingSpeeds.strafeSpeed,
-			strafeVector.getY() * swerveDrivingSpeeds.strafeSpeed,
-			steering * swerveDrivingSpeeds.steerSpeed);
+			strafeVector.getX() * controlsConfig.strafeSpeed,
+			strafeVector.getY() * controlsConfig.strafeSpeed,
+			steering * controlsConfig.steerSpeed);
     }
 	
 	/**
 	 * Drives the {@code SwerveDrive} given strafing and steering inputs, all on the interval [-1, 1],
 	 * where +{@code strafeY} is forwards and +{@code strafeX} is to the right. Inputs are assumed to be generated from
-	 * a command, so no {@link InputHandler}s or {@link SwerveDrivingSpeeds} are applied to the inputs.
+	 * a command, so no {@link ControlsConfig} is applied to the inputs.
      * @param strafeX           The strafing speed in the x direction
      * @param strafeY           The strafing speed in the y direction
      * @param steering          The steering speed, where a positive value steers clockwise from a top-down point of view
@@ -210,7 +200,7 @@ public final void autoDrive (double strafeX, double strafeY, double steering) {
      * forwards.
      * @param direction         The target steering direction
      * @param speed             The speed to drive at
-     * @see #userInputDrive(double, double, double, InputHandler)
+     * @see #userInputDrive(double, double, double, ControlsConfig)
      */
     public final void steerAndDriveAll (double direction, double speed) {
         flWheel.steerAndDrive(direction, speed);