diff --git a/.idea/Robot2024.iml b/.idea/Robot2024.iml
deleted file mode 100644
index d6ebd48..0000000
--- a/.idea/Robot2024.iml
+++ /dev/null
@@ -1,9 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<module type="JAVA_MODULE" version="4">
-  <component name="NewModuleRootManager" inherit-compiler-output="true">
-    <exclude-output />
-    <content url="file://$MODULE_DIR$" />
-    <orderEntry type="inheritedJdk" />
-    <orderEntry type="sourceFolder" forTests="false" />
-  </component>
-</module>
\ No newline at end of file
diff --git a/.idea/misc.xml b/.idea/misc.xml
deleted file mode 100644
index a818314..0000000
--- a/.idea/misc.xml
+++ /dev/null
@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ProjectRootManager" version="2" project-jdk-name="17" project-jdk-type="JavaSDK">
-    <output url="file://$PROJECT_DIR$/out" />
-  </component>
-</project>
\ No newline at end of file
diff --git a/.idea/modules.xml b/.idea/modules.xml
deleted file mode 100644
index 4ddb4fb..0000000
--- a/.idea/modules.xml
+++ /dev/null
@@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ProjectModuleManager">
-    <modules>
-      <module fileurl="file://$PROJECT_DIR$/.idea/Robot2024.iml" filepath="$PROJECT_DIR$/.idea/Robot2024.iml" />
-    </modules>
-  </component>
-</project>
\ No newline at end of file
diff --git a/.idea/.gitignore b/Robot2024/.idea/.gitignore
similarity index 100%
rename from .idea/.gitignore
rename to Robot2024/.idea/.gitignore
diff --git a/Robot2024/.idea/compiler.xml b/Robot2024/.idea/compiler.xml
new file mode 100644
index 0000000..b589d56
--- /dev/null
+++ b/Robot2024/.idea/compiler.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="CompilerConfiguration">
+    <bytecodeTargetLevel target="17" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/Robot2024/.idea/gradle.xml b/Robot2024/.idea/gradle.xml
new file mode 100644
index 0000000..2c48b5c
--- /dev/null
+++ b/Robot2024/.idea/gradle.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="GradleMigrationSettings" migrationVersion="1" />
+  <component name="GradleSettings">
+    <option name="linkedExternalProjectsSettings">
+      <GradleProjectSettings>
+        <option name="externalProjectPath" value="$PROJECT_DIR$" />
+        <option name="modules">
+          <set>
+            <option value="$PROJECT_DIR$" />
+            <option value="$PROJECT_DIR$/lib" />
+          </set>
+        </option>
+      </GradleProjectSettings>
+    </option>
+  </component>
+</project>
\ No newline at end of file
diff --git a/Robot2024/.idea/jarRepositories.xml b/Robot2024/.idea/jarRepositories.xml
new file mode 100644
index 0000000..36c3055
--- /dev/null
+++ b/Robot2024/.idea/jarRepositories.xml
@@ -0,0 +1,60 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="RemoteRepositoriesConfiguration">
+    <remote-repository>
+      <option name="id" value="central" />
+      <option name="name" value="Maven Central repository" />
+      <option name="url" value="https://repo1.maven.org/maven2" />
+    </remote-repository>
+    <remote-repository>
+      <option name="id" value="jboss.community" />
+      <option name="name" value="JBoss Community repository" />
+      <option name="url" value="https://repository.jboss.org/nexus/content/repositories/public/" />
+    </remote-repository>
+    <remote-repository>
+      <option name="id" value="WPIFRCMavenVendorCacheRelease" />
+      <option name="name" value="WPIFRCMavenVendorCacheRelease" />
+      <option name="url" value="https://frcmaven.wpi.edu/artifactory/vendor-mvn-release" />
+    </remote-repository>
+    <remote-repository>
+      <option name="id" value="WPI1b42324f-17c6-4875-8e77-1c312bc8c786_0Release" />
+      <option name="name" value="WPI1b42324f-17c6-4875-8e77-1c312bc8c786_0Release" />
+      <option name="url" value="https://3015rangerrobotics.github.io/pathplannerlib/repo" />
+    </remote-repository>
+    <remote-repository>
+      <option name="id" value="WPIe995de00-2c64-4df5-8831-c1441420ff19_0Release" />
+      <option name="name" value="WPIe995de00-2c64-4df5-8831-c1441420ff19_0Release" />
+      <option name="url" value="https://maven.ctr-electronics.com/release/" />
+    </remote-repository>
+    <remote-repository>
+      <option name="id" value="MavenRepo" />
+      <option name="name" value="MavenRepo" />
+      <option name="url" value="https://repo.maven.apache.org/maven2/" />
+    </remote-repository>
+    <remote-repository>
+      <option name="id" value="WPIOfficialRelease" />
+      <option name="name" value="WPIOfficialRelease" />
+      <option name="url" value="https://frcmaven.wpi.edu/artifactory/release" />
+    </remote-repository>
+    <remote-repository>
+      <option name="id" value="WPILocal" />
+      <option name="name" value="WPILocal" />
+      <option name="url" value="file:$USER_HOME$/wpilib/2024/maven" />
+    </remote-repository>
+    <remote-repository>
+      <option name="id" value="WPI3f48eb8c-50fe-43a6-9cb7-44c86353c4cb_0Release" />
+      <option name="name" value="WPI3f48eb8c-50fe-43a6-9cb7-44c86353c4cb_0Release" />
+      <option name="url" value="https://maven.revrobotics.com/" />
+    </remote-repository>
+    <remote-repository>
+      <option name="id" value="WPI9619F7EA-7F96-4236-9D94-02338DFED592_0Release" />
+      <option name="name" value="WPI9619F7EA-7F96-4236-9D94-02338DFED592_0Release" />
+      <option name="url" value="https://jitpack.io" />
+    </remote-repository>
+    <remote-repository>
+      <option name="id" value="maven" />
+      <option name="name" value="maven" />
+      <option name="url" value="https://frcmaven.wpi.edu/artifactory/release/" />
+    </remote-repository>
+  </component>
+</project>
\ No newline at end of file
diff --git a/Robot2024/.idea/misc.xml b/Robot2024/.idea/misc.xml
new file mode 100644
index 0000000..4add044
--- /dev/null
+++ b/Robot2024/.idea/misc.xml
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ExternalStorageConfigurationManager" enabled="true" />
+  <component name="ProjectRootManager" version="2" languageLevel="JDK_17" project-jdk-name="19" project-jdk-type="JavaSDK" />
+</project>
\ No newline at end of file
diff --git a/Robot2024/.idea/uiDesigner.xml b/Robot2024/.idea/uiDesigner.xml
new file mode 100644
index 0000000..2b63946
--- /dev/null
+++ b/Robot2024/.idea/uiDesigner.xml
@@ -0,0 +1,124 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="Palette2">
+    <group name="Swing">
+      <item class="com.intellij.uiDesigner.HSpacer" tooltip-text="Horizontal Spacer" icon="/com/intellij/uiDesigner/icons/hspacer.svg" removable="false" auto-create-binding="false" can-attach-label="false">
+        <default-constraints vsize-policy="1" hsize-policy="6" anchor="0" fill="1" />
+      </item>
+      <item class="com.intellij.uiDesigner.VSpacer" tooltip-text="Vertical Spacer" icon="/com/intellij/uiDesigner/icons/vspacer.svg" removable="false" auto-create-binding="false" can-attach-label="false">
+        <default-constraints vsize-policy="6" hsize-policy="1" anchor="0" fill="2" />
+      </item>
+      <item class="javax.swing.JPanel" icon="/com/intellij/uiDesigner/icons/panel.svg" removable="false" auto-create-binding="false" can-attach-label="false">
+        <default-constraints vsize-policy="3" hsize-policy="3" anchor="0" fill="3" />
+      </item>
+      <item class="javax.swing.JScrollPane" icon="/com/intellij/uiDesigner/icons/scrollPane.svg" removable="false" auto-create-binding="false" can-attach-label="true">
+        <default-constraints vsize-policy="7" hsize-policy="7" anchor="0" fill="3" />
+      </item>
+      <item class="javax.swing.JButton" icon="/com/intellij/uiDesigner/icons/button.svg" removable="false" auto-create-binding="true" can-attach-label="false">
+        <default-constraints vsize-policy="0" hsize-policy="3" anchor="0" fill="1" />
+        <initial-values>
+          <property name="text" value="Button" />
+        </initial-values>
+      </item>
+      <item class="javax.swing.JRadioButton" icon="/com/intellij/uiDesigner/icons/radioButton.svg" removable="false" auto-create-binding="true" can-attach-label="false">
+        <default-constraints vsize-policy="0" hsize-policy="3" anchor="8" fill="0" />
+        <initial-values>
+          <property name="text" value="RadioButton" />
+        </initial-values>
+      </item>
+      <item class="javax.swing.JCheckBox" icon="/com/intellij/uiDesigner/icons/checkBox.svg" removable="false" auto-create-binding="true" can-attach-label="false">
+        <default-constraints vsize-policy="0" hsize-policy="3" anchor="8" fill="0" />
+        <initial-values>
+          <property name="text" value="CheckBox" />
+        </initial-values>
+      </item>
+      <item class="javax.swing.JLabel" icon="/com/intellij/uiDesigner/icons/label.svg" removable="false" auto-create-binding="false" can-attach-label="false">
+        <default-constraints vsize-policy="0" hsize-policy="0" anchor="8" fill="0" />
+        <initial-values>
+          <property name="text" value="Label" />
+        </initial-values>
+      </item>
+      <item class="javax.swing.JTextField" icon="/com/intellij/uiDesigner/icons/textField.svg" removable="false" auto-create-binding="true" can-attach-label="true">
+        <default-constraints vsize-policy="0" hsize-policy="6" anchor="8" fill="1">
+          <preferred-size width="150" height="-1" />
+        </default-constraints>
+      </item>
+      <item class="javax.swing.JPasswordField" icon="/com/intellij/uiDesigner/icons/passwordField.svg" removable="false" auto-create-binding="true" can-attach-label="true">
+        <default-constraints vsize-policy="0" hsize-policy="6" anchor="8" fill="1">
+          <preferred-size width="150" height="-1" />
+        </default-constraints>
+      </item>
+      <item class="javax.swing.JFormattedTextField" icon="/com/intellij/uiDesigner/icons/formattedTextField.svg" removable="false" auto-create-binding="true" can-attach-label="true">
+        <default-constraints vsize-policy="0" hsize-policy="6" anchor="8" fill="1">
+          <preferred-size width="150" height="-1" />
+        </default-constraints>
+      </item>
+      <item class="javax.swing.JTextArea" icon="/com/intellij/uiDesigner/icons/textArea.svg" removable="false" auto-create-binding="true" can-attach-label="true">
+        <default-constraints vsize-policy="6" hsize-policy="6" anchor="0" fill="3">
+          <preferred-size width="150" height="50" />
+        </default-constraints>
+      </item>
+      <item class="javax.swing.JTextPane" icon="/com/intellij/uiDesigner/icons/textPane.svg" removable="false" auto-create-binding="true" can-attach-label="true">
+        <default-constraints vsize-policy="6" hsize-policy="6" anchor="0" fill="3">
+          <preferred-size width="150" height="50" />
+        </default-constraints>
+      </item>
+      <item class="javax.swing.JEditorPane" icon="/com/intellij/uiDesigner/icons/editorPane.svg" removable="false" auto-create-binding="true" can-attach-label="true">
+        <default-constraints vsize-policy="6" hsize-policy="6" anchor="0" fill="3">
+          <preferred-size width="150" height="50" />
+        </default-constraints>
+      </item>
+      <item class="javax.swing.JComboBox" icon="/com/intellij/uiDesigner/icons/comboBox.svg" removable="false" auto-create-binding="true" can-attach-label="true">
+        <default-constraints vsize-policy="0" hsize-policy="2" anchor="8" fill="1" />
+      </item>
+      <item class="javax.swing.JTable" icon="/com/intellij/uiDesigner/icons/table.svg" removable="false" auto-create-binding="true" can-attach-label="false">
+        <default-constraints vsize-policy="6" hsize-policy="6" anchor="0" fill="3">
+          <preferred-size width="150" height="50" />
+        </default-constraints>
+      </item>
+      <item class="javax.swing.JList" icon="/com/intellij/uiDesigner/icons/list.svg" removable="false" auto-create-binding="true" can-attach-label="false">
+        <default-constraints vsize-policy="6" hsize-policy="2" anchor="0" fill="3">
+          <preferred-size width="150" height="50" />
+        </default-constraints>
+      </item>
+      <item class="javax.swing.JTree" icon="/com/intellij/uiDesigner/icons/tree.svg" removable="false" auto-create-binding="true" can-attach-label="false">
+        <default-constraints vsize-policy="6" hsize-policy="6" anchor="0" fill="3">
+          <preferred-size width="150" height="50" />
+        </default-constraints>
+      </item>
+      <item class="javax.swing.JTabbedPane" icon="/com/intellij/uiDesigner/icons/tabbedPane.svg" removable="false" auto-create-binding="true" can-attach-label="false">
+        <default-constraints vsize-policy="3" hsize-policy="3" anchor="0" fill="3">
+          <preferred-size width="200" height="200" />
+        </default-constraints>
+      </item>
+      <item class="javax.swing.JSplitPane" icon="/com/intellij/uiDesigner/icons/splitPane.svg" removable="false" auto-create-binding="false" can-attach-label="false">
+        <default-constraints vsize-policy="3" hsize-policy="3" anchor="0" fill="3">
+          <preferred-size width="200" height="200" />
+        </default-constraints>
+      </item>
+      <item class="javax.swing.JSpinner" icon="/com/intellij/uiDesigner/icons/spinner.svg" removable="false" auto-create-binding="true" can-attach-label="true">
+        <default-constraints vsize-policy="0" hsize-policy="6" anchor="8" fill="1" />
+      </item>
+      <item class="javax.swing.JSlider" icon="/com/intellij/uiDesigner/icons/slider.svg" removable="false" auto-create-binding="true" can-attach-label="false">
+        <default-constraints vsize-policy="0" hsize-policy="6" anchor="8" fill="1" />
+      </item>
+      <item class="javax.swing.JSeparator" icon="/com/intellij/uiDesigner/icons/separator.svg" removable="false" auto-create-binding="false" can-attach-label="false">
+        <default-constraints vsize-policy="6" hsize-policy="6" anchor="0" fill="3" />
+      </item>
+      <item class="javax.swing.JProgressBar" icon="/com/intellij/uiDesigner/icons/progressbar.svg" removable="false" auto-create-binding="true" can-attach-label="false">
+        <default-constraints vsize-policy="0" hsize-policy="6" anchor="0" fill="1" />
+      </item>
+      <item class="javax.swing.JToolBar" icon="/com/intellij/uiDesigner/icons/toolbar.svg" removable="false" auto-create-binding="false" can-attach-label="false">
+        <default-constraints vsize-policy="0" hsize-policy="6" anchor="0" fill="1">
+          <preferred-size width="-1" height="20" />
+        </default-constraints>
+      </item>
+      <item class="javax.swing.JToolBar$Separator" icon="/com/intellij/uiDesigner/icons/toolbarSeparator.svg" removable="false" auto-create-binding="false" can-attach-label="false">
+        <default-constraints vsize-policy="0" hsize-policy="0" anchor="0" fill="1" />
+      </item>
+      <item class="javax.swing.JScrollBar" icon="/com/intellij/uiDesigner/icons/scrollbar.svg" removable="false" auto-create-binding="true" can-attach-label="false">
+        <default-constraints vsize-policy="6" hsize-policy="0" anchor="0" fill="2" />
+      </item>
+    </group>
+  </component>
+</project>
\ No newline at end of file
diff --git a/.idea/vcs.xml b/Robot2024/.idea/vcs.xml
similarity index 69%
rename from .idea/vcs.xml
rename to Robot2024/.idea/vcs.xml
index 35eb1dd..6c0b863 100644
--- a/.idea/vcs.xml
+++ b/Robot2024/.idea/vcs.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
   <component name="VcsDirectoryMappings">
-    <mapping directory="" vcs="Git" />
+    <mapping directory="$PROJECT_DIR$/.." vcs="Git" />
   </component>
 </project>
\ No newline at end of file
diff --git a/Robot2024/lib/.idea/.gitignore b/Robot2024/lib/.idea/.gitignore
new file mode 100644
index 0000000..26d3352
--- /dev/null
+++ b/Robot2024/lib/.idea/.gitignore
@@ -0,0 +1,3 @@
+# Default ignored files
+/shelf/
+/workspace.xml
diff --git a/Robot2024/lib/.idea/gradle.xml b/Robot2024/lib/.idea/gradle.xml
new file mode 100644
index 0000000..f76e72b
--- /dev/null
+++ b/Robot2024/lib/.idea/gradle.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="GradleSettings">
+    <option name="linkedExternalProjectsSettings">
+      <GradleProjectSettings>
+        <option name="externalProjectPath" value="$PROJECT_DIR$" />
+        <option name="gradleJvm" value="19" />
+        <option name="modules">
+          <set>
+            <option value="$PROJECT_DIR$" />
+          </set>
+        </option>
+      </GradleProjectSettings>
+    </option>
+  </component>
+</project>
diff --git a/Robot2024/lib/.idea/misc.xml b/Robot2024/lib/.idea/misc.xml
new file mode 100644
index 0000000..5d0f830
--- /dev/null
+++ b/Robot2024/lib/.idea/misc.xml
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ExternalStorageConfigurationManager" enabled="true" />
+</project>
diff --git a/Robot2024/lib/.idea/vcs.xml b/Robot2024/lib/.idea/vcs.xml
new file mode 100644
index 0000000..2926018
--- /dev/null
+++ b/Robot2024/lib/.idea/vcs.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$/../.." vcs="Git" />
+  </component>
+</project>