diff --git a/Robot2024/.idea/gradle.xml b/Robot2024/.idea/gradle.xml
index 2c48b5c..4537d2e 100644
--- a/Robot2024/.idea/gradle.xml
+++ b/Robot2024/.idea/gradle.xml
@@ -4,11 +4,24 @@
   <component name="GradleSettings">
     <option name="linkedExternalProjectsSettings">
       <GradleProjectSettings>
+        <compositeConfiguration>
+          <compositeBuild compositeDefinitionSource="SCRIPT">
+            <builds>
+              <build path="$PROJECT_DIR$/lib2813" name="lib2813">
+                <projects>
+                  <project path="$PROJECT_DIR$/lib2813" />
+                  <project path="$PROJECT_DIR$/lib2813/lib" />
+                </projects>
+              </build>
+            </builds>
+          </compositeBuild>
+        </compositeConfiguration>
         <option name="externalProjectPath" value="$PROJECT_DIR$" />
         <option name="modules">
           <set>
             <option value="$PROJECT_DIR$" />
-            <option value="$PROJECT_DIR$/lib" />
+            <option value="$PROJECT_DIR$/lib2813" />
+            <option value="$PROJECT_DIR$/lib2813/lib" />
           </set>
         </option>
       </GradleProjectSettings>
diff --git a/Robot2024/.idea/vcs.xml b/Robot2024/.idea/vcs.xml
index 6c0b863..a6c9db8 100644
--- a/Robot2024/.idea/vcs.xml
+++ b/Robot2024/.idea/vcs.xml
@@ -2,5 +2,6 @@
 <project version="4">
   <component name="VcsDirectoryMappings">
     <mapping directory="$PROJECT_DIR$/.." vcs="Git" />
+    <mapping directory="$PROJECT_DIR$/lib2813" vcs="Git" />
   </component>
 </project>
\ No newline at end of file
diff --git a/Robot2024/lib2813 b/Robot2024/lib2813
index b283d5d..49da620 160000
--- a/Robot2024/lib2813
+++ b/Robot2024/lib2813
@@ -1 +1 @@
-Subproject commit b283d5d1d54559608881251d63a504756789698f
+Subproject commit 49da6203a10c42026e1ce3e42b501ee6cc14ec1f
diff --git a/Robot2024/src/main/java/com/team2813/Feature.java b/Robot2024/src/main/java/com/team2813/Feature.java
new file mode 100644
index 0000000..866109d
--- /dev/null
+++ b/Robot2024/src/main/java/com/team2813/Feature.java
@@ -0,0 +1,19 @@
+package com.team2813;
+
+import com.team2813.lib2813.feature.FeatureIdentifier;
+
+/** Enumeration of all features for this robot. */
+public enum Feature implements FeatureIdentifier {
+    EXAMPLE(FeatureBehavior.INITIALLY_DISABLED);
+
+    private final FeatureBehavior behavior;
+
+    Feature(FeatureBehavior behavior) {
+        this.behavior = behavior;
+    }
+
+    @Override
+    public FeatureBehavior behavior() {
+        return behavior;
+    }
+}
diff --git a/Robot2024/src/main/java/com/team2813/Robot.java b/Robot2024/src/main/java/com/team2813/Robot.java
index 0d0ebaf..d9ab4cf 100644
--- a/Robot2024/src/main/java/com/team2813/Robot.java
+++ b/Robot2024/src/main/java/com/team2813/Robot.java
@@ -4,17 +4,26 @@
 
 package com.team2813;
 
+import com.team2813.lib2813.feature.Features;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 
 public class Robot extends TimedRobot {
   private Command m_autonomousCommand;
-
   private RobotContainer m_robotContainer;
+  private Object m_featureState;
+
+  private RobotContainer getContainer() {
+    if (m_robotContainer == null) {
+      m_robotContainer = new RobotContainer();
+    }
+    return m_robotContainer;
+  }
 
   @Override
   public void robotInit() {
+    m_featureState = Features.getState();
     m_robotContainer = new RobotContainer();
   }
 
@@ -26,12 +35,26 @@ public void robotPeriodic() {
   @Override
   public void disabledInit() {}
 
+  @Override
+  public void disabledExit() {
+    Object featureState = Features.getState();
+    if (!featureState.equals(m_featureState)) {
+      /* Features changed; reset the robot. This may have adverse
+       * side effects; it's generally not recommend to enable features
+       * via the UI on a competition day.
+       */
+      m_robotContainer = null;
+      CommandScheduler.getInstance().getDefaultButtonLoop().clear();
+      m_featureState = featureState;
+    }
+  }
+
   @Override
   public void disabledPeriodic() {}
 
   @Override
   public void autonomousInit() {
-    m_autonomousCommand = m_robotContainer.getAutonomousCommand();
+    m_autonomousCommand = getContainer().getAutonomousCommand();
 
     if (m_autonomousCommand != null) {
       m_autonomousCommand.schedule();
@@ -42,12 +65,16 @@ public void autonomousInit() {
   public void autonomousPeriodic() {}
 
   @Override
-  public void teleopInit() {
+  public void autonomousExit() {
     if (m_autonomousCommand != null) {
       m_autonomousCommand.cancel();
+      m_autonomousCommand = null;
     }
   }
 
+  @Override
+  public void teleopInit() {}
+
   @Override
   public void teleopPeriodic() {}
 
diff --git a/Robot2024/src/main/java/com/team2813/RobotContainer.java b/Robot2024/src/main/java/com/team2813/RobotContainer.java
index 68f49ca..fb94583 100644
--- a/Robot2024/src/main/java/com/team2813/RobotContainer.java
+++ b/Robot2024/src/main/java/com/team2813/RobotContainer.java
@@ -6,11 +6,13 @@
 
 import com.pathplanner.lib.auto.AutoBuilder;
 
+import com.team2813.lib2813.feature.Features;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 // import frc.robot.Constants.OperatorConstants;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 
 import com.team2813.commands.DefaultDriveCommand;
@@ -42,6 +44,8 @@ public RobotContainer() {
 		shooter.setDefaultCommand(new DefaultShooterCommand(shooter, operatorController::getRightY));
 		configureBindings();
 		autoChooser = AutoBuilder.buildAutoChooser();
+		autoChooser.addOption("Test Feature",
+				Features.whenAllEnabled(Commands.print("autonomousInit"), Feature.EXAMPLE));
 		SmartDashboard.putData("Auto", autoChooser);
 	}