diff --git a/TeamCode/build.gradle b/TeamCode/build.gradle
index 0373eae..e710941 100644
--- a/TeamCode/build.gradle
+++ b/TeamCode/build.gradle
@@ -33,8 +33,9 @@ dependencies {
     implementation project(':FtcRobotController')
     annotationProcessor files('lib/OpModeAnnotationProcessor.jar')
 
-    implementation "com.acmerobotics.roadrunner:ftc:0.1.12"
-    implementation "com.acmerobotics.dashboard:dashboard:0.4.14"
-    implementation 'com.acmerobotics.roadrunner:core:1.0.0-beta3'
-    implementation 'com.acmerobotics.roadrunner:actions:1.0.0-beta3'
+    implementation 'org.apache.commons:commons-math3:3.6.1'
+    implementation 'com.fasterxml.jackson.core:jackson-databind:2.12.7'
+    implementation 'com.acmerobotics.roadrunner:core:0.5.6'
+
+
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AprilTagAlignment.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AprilTagAlignment.java
deleted file mode 100644
index 024bbbd..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AprilTagAlignment.java
+++ /dev/null
@@ -1,4 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-public class AprilTagAlignment {
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Drawing.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Drawing.java
deleted file mode 100644
index 38114d8..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Drawing.java
+++ /dev/null
@@ -1,22 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import com.acmerobotics.dashboard.canvas.Canvas;
-import com.acmerobotics.roadrunner.Pose2d;
-import com.acmerobotics.roadrunner.Vector2d;
-
-public final class Drawing {
-    private Drawing() {}
-
-
-    public static void drawRobot(Canvas c, Pose2d t) {
-        final double ROBOT_RADIUS = 9;
-
-        c.setStrokeWidth(1);
-        c.strokeCircle(t.position.x, t.position.y, ROBOT_RADIUS);
-
-        Vector2d halfv = t.heading.vec().times(0.5 * ROBOT_RADIUS);
-        Vector2d p1 = t.position.plus(halfv);
-        Vector2d p2 = p1.plus(halfv);
-        c.strokeLine(p1.x, p1.y, p2.x, p2.y);
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Localizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Localizer.java
deleted file mode 100644
index 974ab79..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Localizer.java
+++ /dev/null
@@ -1,8 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import com.acmerobotics.roadrunner.Time;
-import com.acmerobotics.roadrunner.Twist2dDual;
-
-public interface Localizer {
-    Twist2dDual<Time> update();
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java
deleted file mode 100644
index e286cde..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java
+++ /dev/null
@@ -1,469 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import androidx.annotation.NonNull;
-
-import com.acmerobotics.dashboard.canvas.Canvas;
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.AccelConstraint;
-import com.acmerobotics.roadrunner.Action;
-import com.acmerobotics.roadrunner.Actions;
-import com.acmerobotics.roadrunner.AngularVelConstraint;
-import com.acmerobotics.roadrunner.DualNum;
-import com.acmerobotics.roadrunner.HolonomicController;
-import com.acmerobotics.roadrunner.MecanumKinematics;
-import com.acmerobotics.roadrunner.MinVelConstraint;
-import com.acmerobotics.roadrunner.MotorFeedforward;
-import com.acmerobotics.roadrunner.Pose2d;
-import com.acmerobotics.roadrunner.Pose2dDual;
-import com.acmerobotics.roadrunner.PoseVelocity2d;
-import com.acmerobotics.roadrunner.PoseVelocity2dDual;
-import com.acmerobotics.roadrunner.ProfileAccelConstraint;
-import com.acmerobotics.roadrunner.Rotation2d;
-import com.acmerobotics.roadrunner.Time;
-import com.acmerobotics.roadrunner.TimeTrajectory;
-import com.acmerobotics.roadrunner.TimeTurn;
-import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
-import com.acmerobotics.roadrunner.TurnConstraints;
-import com.acmerobotics.roadrunner.Twist2dDual;
-import com.acmerobotics.roadrunner.VelConstraint;
-import com.acmerobotics.roadrunner.ftc.DownsampledWriter;
-import com.acmerobotics.roadrunner.ftc.Encoder;
-import com.acmerobotics.roadrunner.ftc.FlightRecorder;
-import com.acmerobotics.roadrunner.ftc.LazyImu;
-import com.acmerobotics.roadrunner.ftc.LynxFirmware;
-import com.acmerobotics.roadrunner.ftc.OverflowEncoder;
-import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
-import com.acmerobotics.roadrunner.ftc.RawEncoder;
-import com.qualcomm.hardware.lynx.LynxModule;
-import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
-import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.hardware.DcMotorEx;
-import com.qualcomm.robotcore.hardware.DcMotorSimple;
-import com.qualcomm.robotcore.hardware.HardwareMap;
-import com.qualcomm.robotcore.hardware.VoltageSensor;
-
-import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
-import org.firstinspires.ftc.teamcode.messages.DriveCommandMessage;
-import org.firstinspires.ftc.teamcode.messages.MecanumCommandMessage;
-import org.firstinspires.ftc.teamcode.messages.MecanumEncodersMessage;
-import org.firstinspires.ftc.teamcode.messages.PoseMessage;
-
-import java.util.Arrays;
-import java.util.LinkedList;
-import java.util.List;
-
-@Config
-public final class MecanumDrive {
-    public static class Params {
-        // IMU orientation
-
-        public RevHubOrientationOnRobot.LogoFacingDirection logoFacingDirection =
-                RevHubOrientationOnRobot.LogoFacingDirection.UP;
-        public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection =
-                RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;
-
-        // drive model parameters
-        public double inPerTick = 1;
-        public double lateralInPerTick = inPerTick;
-        public double trackWidthTicks = 0;
-
-        // feedforward parameters (in tick units)
-        public double kS = 0;
-        public double kV = 0;
-        public double kA = 0;
-
-        // path profile parameters (in inches)
-        public double maxWheelVel = 50;
-        public double minProfileAccel = -30;
-        public double maxProfileAccel = 50;
-
-        // turn profile parameters (in radians)
-        public double maxAngVel = Math.PI; // shared with path
-        public double maxAngAccel = Math.PI;
-
-        // path controller gains
-        public double axialGain = 0.0;
-        public double lateralGain = 0.0;
-        public double headingGain = 0.0; // shared with turn
-
-        public double axialVelGain = 0.0;
-        public double lateralVelGain = 0.0;
-        public double headingVelGain = 0.0; // shared with turn
-    }
-
-    public static Params PARAMS = new Params();
-
-    public final MecanumKinematics kinematics = new MecanumKinematics(
-            PARAMS.inPerTick * PARAMS.trackWidthTicks, PARAMS.inPerTick / PARAMS.lateralInPerTick);
-
-    public final TurnConstraints defaultTurnConstraints = new TurnConstraints(
-            PARAMS.maxAngVel, -PARAMS.maxAngAccel, PARAMS.maxAngAccel);
-    public final VelConstraint defaultVelConstraint =
-            new MinVelConstraint(Arrays.asList(
-                    kinematics.new WheelVelConstraint(PARAMS.maxWheelVel),
-                    new AngularVelConstraint(PARAMS.maxAngVel)
-            ));
-    public final AccelConstraint defaultAccelConstraint =
-            new ProfileAccelConstraint(PARAMS.minProfileAccel, PARAMS.maxProfileAccel);
-
-    public final DcMotorEx leftFront, leftBack, rightBack, rightFront;
-
-    public final VoltageSensor voltageSensor;
-
-    public final LazyImu imu;
-
-    public final Localizer localizer;
-    public Pose2d pose;
-
-    private final LinkedList<Pose2d> poseHistory = new LinkedList<>();
-
-    private final DownsampledWriter estimatedPoseWriter = new DownsampledWriter("ESTIMATED_POSE", 50_000_000);
-    private final DownsampledWriter targetPoseWriter = new DownsampledWriter("TARGET_POSE", 50_000_000);
-    private final DownsampledWriter driveCommandWriter = new DownsampledWriter("DRIVE_COMMAND", 50_000_000);
-    private final DownsampledWriter mecanumCommandWriter = new DownsampledWriter("MECANUM_COMMAND", 50_000_000);
-
-    public class DriveLocalizer implements Localizer {
-        public final Encoder leftFront, leftBack, rightBack, rightFront;
-
-        private int lastLeftFrontPos, lastLeftBackPos, lastRightBackPos, lastRightFrontPos;
-        private Rotation2d lastHeading;
-
-        public DriveLocalizer() {
-            leftFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftFront));
-            leftBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftBack));
-            rightBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightBack));
-            rightFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightFront));
-
-            leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
-            leftBack.setDirection(DcMotorSimple.Direction.REVERSE);
-
-            lastLeftFrontPos = leftFront.getPositionAndVelocity().position;
-            lastLeftBackPos = leftBack.getPositionAndVelocity().position;
-            lastRightBackPos = rightBack.getPositionAndVelocity().position;
-            lastRightFrontPos = rightFront.getPositionAndVelocity().position;
-
-            lastHeading = Rotation2d.exp(imu.get().getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS));
-        }
-
-        @Override
-        public Twist2dDual<Time> update() {
-            PositionVelocityPair leftFrontPosVel = leftFront.getPositionAndVelocity();
-            PositionVelocityPair leftBackPosVel = leftBack.getPositionAndVelocity();
-            PositionVelocityPair rightBackPosVel = rightBack.getPositionAndVelocity();
-            PositionVelocityPair rightFrontPosVel = rightFront.getPositionAndVelocity();
-
-            FlightRecorder.write("MECANUM_ENCODERS", new MecanumEncodersMessage(
-                    leftFrontPosVel, leftBackPosVel, rightBackPosVel, rightFrontPosVel));
-
-            Rotation2d heading = Rotation2d.exp(imu.get().getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS));
-            double headingDelta = heading.minus(lastHeading);
-
-            Twist2dDual<Time> twist = kinematics.forward(new MecanumKinematics.WheelIncrements<>(
-                    new DualNum<Time>(new double[]{
-                            (leftFrontPosVel.position - lastLeftFrontPos),
-                            leftFrontPosVel.velocity,
-                    }).times(PARAMS.inPerTick),
-                    new DualNum<Time>(new double[]{
-                            (leftBackPosVel.position - lastLeftBackPos),
-                            leftBackPosVel.velocity,
-                    }).times(PARAMS.inPerTick),
-                    new DualNum<Time>(new double[]{
-                            (rightBackPosVel.position - lastRightBackPos),
-                            rightBackPosVel.velocity,
-                    }).times(PARAMS.inPerTick),
-                    new DualNum<Time>(new double[]{
-                            (rightFrontPosVel.position - lastRightFrontPos),
-                            rightFrontPosVel.velocity,
-                    }).times(PARAMS.inPerTick)
-            ));
-
-            lastLeftFrontPos = leftFrontPosVel.position;
-            lastLeftBackPos = leftBackPosVel.position;
-            lastRightBackPos = rightBackPosVel.position;
-            lastRightFrontPos = rightFrontPosVel.position;
-
-            lastHeading = heading;
-
-            return new Twist2dDual<>(
-                    twist.line,
-                    DualNum.cons(headingDelta, twist.angle.drop(1))
-            );
-        }
-    }
-
-    public MecanumDrive(HardwareMap hardwareMap, Pose2d pose) {
-        this.pose = pose;
-
-        LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
-
-        for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
-            module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
-        }
-
-        leftFront = hardwareMap.get(DcMotorEx.class, "LFMotor");
-        leftBack = hardwareMap.get(DcMotorEx.class, "LBMotor");
-        rightBack = hardwareMap.get(DcMotorEx.class, "RBMotor");
-        rightFront = hardwareMap.get(DcMotorEx.class, "RFMotor");
-
-
-        leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-
-        leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
-        leftBack.setDirection(DcMotorSimple.Direction.REVERSE);
-
-        // TODO: make sure your config has an IMU with this name (can be BNO or BHI)
-        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
-        imu = new LazyImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
-                PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
-
-        voltageSensor = hardwareMap.voltageSensor.iterator().next();
-
-        localizer = new DriveLocalizer();
-
-        FlightRecorder.write("MECANUM_PARAMS", PARAMS);
-    }
-
-    public void setDrivePowers(PoseVelocity2d powers) {
-        MecanumKinematics.WheelVelocities<Time> wheelVels = new MecanumKinematics(1).inverse(
-                PoseVelocity2dDual.constant(powers, 1));
-
-        double maxPowerMag = 1;
-        for (DualNum<Time> power : wheelVels.all()) {
-            maxPowerMag = Math.max(maxPowerMag, power.value());
-        }
-
-        leftFront.setPower(wheelVels.leftFront.get(0) / maxPowerMag);
-        leftBack.setPower(wheelVels.leftBack.get(0) / maxPowerMag);
-        rightBack.setPower(wheelVels.rightBack.get(0) / maxPowerMag);
-        rightFront.setPower(wheelVels.rightFront.get(0) / maxPowerMag);
-    }
-
-    public final class FollowTrajectoryAction implements Action {
-        public final TimeTrajectory timeTrajectory;
-        private double beginTs = -1;
-
-        private final double[] xPoints, yPoints;
-
-        public FollowTrajectoryAction(TimeTrajectory t) {
-            timeTrajectory = t;
-
-            List<Double> disps = com.acmerobotics.roadrunner.Math.range(
-                    0, t.path.length(),
-                    Math.max(2, (int) Math.ceil(t.path.length() / 2)));
-            xPoints = new double[disps.size()];
-            yPoints = new double[disps.size()];
-            for (int i = 0; i < disps.size(); i++) {
-                Pose2d p = t.path.get(disps.get(i), 1).value();
-                xPoints[i] = p.position.x;
-                yPoints[i] = p.position.y;
-            }
-        }
-
-        @Override
-        public boolean run(@NonNull TelemetryPacket p) {
-            double t;
-            if (beginTs < 0) {
-                beginTs = Actions.now();
-                t = 0;
-            } else {
-                t = Actions.now() - beginTs;
-            }
-
-            if (t >= timeTrajectory.duration) {
-                leftFront.setPower(0);
-                leftBack.setPower(0);
-                rightBack.setPower(0);
-                rightFront.setPower(0);
-
-                return false;
-            }
-
-            Pose2dDual<Time> txWorldTarget = timeTrajectory.get(t);
-            targetPoseWriter.write(new PoseMessage(txWorldTarget.value()));
-
-            PoseVelocity2d robotVelRobot = updatePoseEstimate();
-
-            PoseVelocity2dDual<Time> command = new HolonomicController(
-                    PARAMS.axialGain, PARAMS.lateralGain, PARAMS.headingGain,
-                    PARAMS.axialVelGain, PARAMS.lateralVelGain, PARAMS.headingVelGain
-            )
-                    .compute(txWorldTarget, pose, robotVelRobot);
-            driveCommandWriter.write(new DriveCommandMessage(command));
-
-            MecanumKinematics.WheelVelocities<Time> wheelVels = kinematics.inverse(command);
-            double voltage = voltageSensor.getVoltage();
-
-            final MotorFeedforward feedforward = new MotorFeedforward(PARAMS.kS,
-                    PARAMS.kV / PARAMS.inPerTick, PARAMS.kA / PARAMS.inPerTick);
-            double leftFrontPower = feedforward.compute(wheelVels.leftFront) / voltage;
-            double leftBackPower = feedforward.compute(wheelVels.leftBack) / voltage;
-            double rightBackPower = feedforward.compute(wheelVels.rightBack) / voltage;
-            double rightFrontPower = feedforward.compute(wheelVels.rightFront) / voltage;
-            mecanumCommandWriter.write(new MecanumCommandMessage(
-                    voltage, leftFrontPower, leftBackPower, rightBackPower, rightFrontPower
-            ));
-
-            leftFront.setPower(leftFrontPower);
-            leftBack.setPower(leftBackPower);
-            rightBack.setPower(rightBackPower);
-            rightFront.setPower(rightFrontPower);
-
-            p.put("x", pose.position.x);
-            p.put("y", pose.position.y);
-            p.put("heading (deg)", Math.toDegrees(pose.heading.toDouble()));
-
-            Pose2d error = txWorldTarget.value().minusExp(pose);
-            p.put("xError", error.position.x);
-            p.put("yError", error.position.y);
-            p.put("headingError (deg)", Math.toDegrees(error.heading.toDouble()));
-
-            // only draw when active; only one drive action should be active at a time
-            Canvas c = p.fieldOverlay();
-            drawPoseHistory(c);
-
-            c.setStroke("#4CAF50");
-            Drawing.drawRobot(c, txWorldTarget.value());
-
-            c.setStroke("#3F51B5");
-            Drawing.drawRobot(c, pose);
-
-            c.setStroke("#4CAF50FF");
-            c.setStrokeWidth(1);
-            c.strokePolyline(xPoints, yPoints);
-
-            return true;
-        }
-
-        @Override
-        public void preview(Canvas c) {
-            c.setStroke("#4CAF507A");
-            c.setStrokeWidth(1);
-            c.strokePolyline(xPoints, yPoints);
-        }
-    }
-
-    public final class TurnAction implements Action {
-        private final TimeTurn turn;
-
-        private double beginTs = -1;
-
-        public TurnAction(TimeTurn turn) {
-            this.turn = turn;
-        }
-
-        @Override
-        public boolean run(@NonNull TelemetryPacket p) {
-            double t;
-            if (beginTs < 0) {
-                beginTs = Actions.now();
-                t = 0;
-            } else {
-                t = Actions.now() - beginTs;
-            }
-
-            if (t >= turn.duration) {
-                leftFront.setPower(0);
-                leftBack.setPower(0);
-                rightBack.setPower(0);
-                rightFront.setPower(0);
-
-                return false;
-            }
-
-            Pose2dDual<Time> txWorldTarget = turn.get(t);
-            targetPoseWriter.write(new PoseMessage(txWorldTarget.value()));
-
-            PoseVelocity2d robotVelRobot = updatePoseEstimate();
-
-            PoseVelocity2dDual<Time> command = new HolonomicController(
-                    PARAMS.axialGain, PARAMS.lateralGain, PARAMS.headingGain,
-                    PARAMS.axialVelGain, PARAMS.lateralVelGain, PARAMS.headingVelGain
-            )
-                    .compute(txWorldTarget, pose, robotVelRobot);
-            driveCommandWriter.write(new DriveCommandMessage(command));
-
-            MecanumKinematics.WheelVelocities<Time> wheelVels = kinematics.inverse(command);
-            double voltage = voltageSensor.getVoltage();
-            final MotorFeedforward feedforward = new MotorFeedforward(PARAMS.kS,
-                    PARAMS.kV / PARAMS.inPerTick, PARAMS.kA / PARAMS.inPerTick);
-            double leftFrontPower = feedforward.compute(wheelVels.leftFront) / voltage;
-            double leftBackPower = feedforward.compute(wheelVels.leftBack) / voltage;
-            double rightBackPower = feedforward.compute(wheelVels.rightBack) / voltage;
-            double rightFrontPower = feedforward.compute(wheelVels.rightFront) / voltage;
-            mecanumCommandWriter.write(new MecanumCommandMessage(
-                    voltage, leftFrontPower, leftBackPower, rightBackPower, rightFrontPower
-            ));
-
-            leftFront.setPower(feedforward.compute(wheelVels.leftFront) / voltage);
-            leftBack.setPower(feedforward.compute(wheelVels.leftBack) / voltage);
-            rightBack.setPower(feedforward.compute(wheelVels.rightBack) / voltage);
-            rightFront.setPower(feedforward.compute(wheelVels.rightFront) / voltage);
-
-            Canvas c = p.fieldOverlay();
-            drawPoseHistory(c);
-
-            c.setStroke("#4CAF50");
-            Drawing.drawRobot(c, txWorldTarget.value());
-
-            c.setStroke("#3F51B5");
-            Drawing.drawRobot(c, pose);
-
-            c.setStroke("#7C4DFFFF");
-            c.fillCircle(turn.beginPose.position.x, turn.beginPose.position.y, 2);
-
-            return true;
-        }
-
-        @Override
-        public void preview(Canvas c) {
-            c.setStroke("#7C4DFF7A");
-            c.fillCircle(turn.beginPose.position.x, turn.beginPose.position.y, 2);
-        }
-    }
-
-    public PoseVelocity2d updatePoseEstimate() {
-        Twist2dDual<Time> twist = localizer.update();
-        pose = pose.plus(twist.value());
-
-        poseHistory.add(pose);
-        while (poseHistory.size() > 100) {
-            poseHistory.removeFirst();
-        }
-
-        estimatedPoseWriter.write(new PoseMessage(pose));
-
-        return twist.velocity().value();
-    }
-
-    private void drawPoseHistory(Canvas c) {
-        double[] xPoints = new double[poseHistory.size()];
-        double[] yPoints = new double[poseHistory.size()];
-
-        int i = 0;
-        for (Pose2d t : poseHistory) {
-            xPoints[i] = t.position.x;
-            yPoints[i] = t.position.y;
-
-            i++;
-        }
-
-        c.setStrokeWidth(1);
-        c.setStroke("#3F51B5");
-        c.strokePolyline(xPoints, yPoints);
-    }
-
-    public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
-        return new TrajectoryActionBuilder(
-                TurnAction::new,
-                FollowTrajectoryAction::new,
-                beginPose, 1e-6, 0.0,
-                defaultTurnConstraints,
-                defaultVelConstraint, defaultAccelConstraint,
-                0.25, 0.1
-        );
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankDrive.java
deleted file mode 100644
index 569e145..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankDrive.java
+++ /dev/null
@@ -1,487 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import androidx.annotation.NonNull;
-
-import com.acmerobotics.dashboard.canvas.Canvas;
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.AccelConstraint;
-import com.acmerobotics.roadrunner.Action;
-import com.acmerobotics.roadrunner.Actions;
-import com.acmerobotics.roadrunner.AngularVelConstraint;
-import com.acmerobotics.roadrunner.Arclength;
-import com.acmerobotics.roadrunner.DualNum;
-import com.acmerobotics.roadrunner.MinVelConstraint;
-import com.acmerobotics.roadrunner.MotorFeedforward;
-import com.acmerobotics.roadrunner.Pose2d;
-import com.acmerobotics.roadrunner.Pose2dDual;
-import com.acmerobotics.roadrunner.PoseVelocity2d;
-import com.acmerobotics.roadrunner.PoseVelocity2dDual;
-import com.acmerobotics.roadrunner.ProfileAccelConstraint;
-import com.acmerobotics.roadrunner.RamseteController;
-import com.acmerobotics.roadrunner.TankKinematics;
-import com.acmerobotics.roadrunner.Time;
-import com.acmerobotics.roadrunner.TimeTrajectory;
-import com.acmerobotics.roadrunner.TimeTurn;
-import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
-import com.acmerobotics.roadrunner.TurnConstraints;
-import com.acmerobotics.roadrunner.Twist2dDual;
-import com.acmerobotics.roadrunner.Vector2d;
-import com.acmerobotics.roadrunner.Vector2dDual;
-import com.acmerobotics.roadrunner.VelConstraint;
-import com.acmerobotics.roadrunner.ftc.DownsampledWriter;
-import com.acmerobotics.roadrunner.ftc.Encoder;
-import com.acmerobotics.roadrunner.ftc.FlightRecorder;
-import com.acmerobotics.roadrunner.ftc.LazyImu;
-import com.acmerobotics.roadrunner.ftc.LynxFirmware;
-import com.acmerobotics.roadrunner.ftc.OverflowEncoder;
-import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
-import com.acmerobotics.roadrunner.ftc.RawEncoder;
-import com.qualcomm.hardware.lynx.LynxModule;
-import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
-import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.hardware.DcMotorEx;
-import com.qualcomm.robotcore.hardware.HardwareMap;
-import com.qualcomm.robotcore.hardware.VoltageSensor;
-
-import org.firstinspires.ftc.teamcode.messages.DriveCommandMessage;
-import org.firstinspires.ftc.teamcode.messages.PoseMessage;
-import org.firstinspires.ftc.teamcode.messages.TankCommandMessage;
-import org.firstinspires.ftc.teamcode.messages.TankEncodersMessage;
-
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.Collections;
-import java.util.LinkedList;
-import java.util.List;
-
-@Config
-public final class TankDrive {
-    public static class Params {
-        // IMU orientation
-        // TODO: fill in these values based on
-        //   see https://ftc-docs.firstinspires.org/en/latest/programming_resources/imu/imu.html?highlight=imu#physical-hub-mounting
-        public RevHubOrientationOnRobot.LogoFacingDirection logoFacingDirection =
-                RevHubOrientationOnRobot.LogoFacingDirection.UP;
-        public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection =
-                RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;
-
-        // drive model parameters
-        public double inPerTick = 0;
-        public double trackWidthTicks = 0;
-
-        // feedforward parameters (in tick units)
-        public double kS = 0;
-        public double kV = 0;
-        public double kA = 0;
-
-        // path profile parameters (in inches)
-        public double maxWheelVel = 50;
-        public double minProfileAccel = -30;
-        public double maxProfileAccel = 50;
-
-        // turn profile parameters (in radians)
-        public double maxAngVel = Math.PI; // shared with path
-        public double maxAngAccel = Math.PI;
-
-        // path controller gains
-        public double ramseteZeta = 0.7; // in the range (0, 1)
-        public double ramseteBBar = 2.0; // positive
-
-        // turn controller gains
-        public double turnGain = 0.0;
-        public double turnVelGain = 0.0;
-    }
-
-    public static Params PARAMS = new Params();
-
-    public final TankKinematics kinematics = new TankKinematics(PARAMS.inPerTick * PARAMS.trackWidthTicks);
-
-    public final TurnConstraints defaultTurnConstraints = new TurnConstraints(
-            PARAMS.maxAngVel, -PARAMS.maxAngVel, PARAMS.maxAngAccel);
-    public final VelConstraint defaultVelConstraint =
-            new MinVelConstraint(Arrays.asList(
-                    kinematics.new WheelVelConstraint(PARAMS.maxWheelVel),
-                    new AngularVelConstraint(PARAMS.maxAngVel)
-            ));
-    public final AccelConstraint defaultAccelConstraint =
-            new ProfileAccelConstraint(PARAMS.minProfileAccel, PARAMS.maxProfileAccel);
-
-    public final List<DcMotorEx> leftMotors, rightMotors;
-
-    public final LazyImu imu;
-
-    public final VoltageSensor voltageSensor;
-
-    public final Localizer localizer;
-    public Pose2d pose;
-
-    private final LinkedList<Pose2d> poseHistory = new LinkedList<>();
-
-    private final DownsampledWriter estimatedPoseWriter = new DownsampledWriter("ESTIMATED_POSE", 50_000_000);
-    private final DownsampledWriter targetPoseWriter = new DownsampledWriter("TARGET_POSE", 50_000_000);
-    private final DownsampledWriter driveCommandWriter = new DownsampledWriter("DRIVE_COMMAND", 50_000_000);
-
-    private final DownsampledWriter tankCommandWriter = new DownsampledWriter("TANK_COMMAND", 50_000_000);
-
-    public class DriveLocalizer implements Localizer {
-        public final List<Encoder> leftEncs, rightEncs;
-
-        private double lastLeftPos, lastRightPos;
-
-        public DriveLocalizer() {
-            {
-                List<Encoder> leftEncs = new ArrayList<>();
-                for (DcMotorEx m : leftMotors) {
-                    Encoder e = new OverflowEncoder(new RawEncoder(m));
-                    leftEncs.add(e);
-                }
-                this.leftEncs = Collections.unmodifiableList(leftEncs);
-            }
-
-            {
-                List<Encoder> rightEncs = new ArrayList<>();
-                for (DcMotorEx m : rightMotors) {
-                    Encoder e = new OverflowEncoder(new RawEncoder(m));
-                    rightEncs.add(e);
-                }
-                this.rightEncs = Collections.unmodifiableList(rightEncs);
-            }
-
-            // TODO: reverse encoder directions if needed
-            //   leftEncs.get(0).setDirection(DcMotorSimple.Direction.REVERSE);
-
-            for (Encoder e : leftEncs) {
-                lastLeftPos += e.getPositionAndVelocity().position;
-            }
-            lastLeftPos /= leftEncs.size();
-
-            for (Encoder e : rightEncs) {
-                lastRightPos += e.getPositionAndVelocity().position;
-            }
-            lastRightPos /= rightEncs.size();
-        }
-
-        @Override
-        public Twist2dDual<Time> update() {
-            List<PositionVelocityPair> leftReadings = new ArrayList<>(), rightReadings = new ArrayList<>();
-            double meanLeftPos = 0.0, meanLeftVel = 0.0;
-            for (Encoder e : leftEncs) {
-                PositionVelocityPair p = e.getPositionAndVelocity();
-                meanLeftPos += p.position;
-                meanLeftVel += p.velocity;
-                leftReadings.add(p);
-            }
-            meanLeftPos /= leftEncs.size();
-            meanLeftVel /= leftEncs.size();
-
-            double meanRightPos = 0.0, meanRightVel = 0.0;
-            for (Encoder e : rightEncs) {
-                PositionVelocityPair p = e.getPositionAndVelocity();
-                meanRightPos += p.position;
-                meanRightVel += p.velocity;
-                rightReadings.add(p);
-            }
-            meanRightPos /= rightEncs.size();
-            meanRightVel /= rightEncs.size();
-
-            FlightRecorder.write("TANK_ENCODERS",
-                    new TankEncodersMessage(leftReadings, rightReadings));
-
-            TankKinematics.WheelIncrements<Time> twist = new TankKinematics.WheelIncrements<>(
-                    new DualNum<Time>(new double[] {
-                            meanLeftPos - lastLeftPos,
-                            meanLeftVel
-                    }).times(PARAMS.inPerTick),
-                    new DualNum<Time>(new double[] {
-                            meanRightPos - lastRightPos,
-                            meanRightVel,
-                    }).times(PARAMS.inPerTick)
-            );
-
-            lastLeftPos = meanLeftPos;
-            lastRightPos = meanRightPos;
-
-            return kinematics.forward(twist);
-        }
-    }
-
-    public TankDrive(HardwareMap hardwareMap, Pose2d pose) {
-        this.pose = pose;
-
-        LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
-
-        for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
-            module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
-        }
-
-        // TODO: make sure your config has motors with these names (or change them)
-        //   add additional motors on each side if you have them
-        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
-        leftMotors = Arrays.asList(hardwareMap.get(DcMotorEx.class, "left"));
-        rightMotors = Arrays.asList(hardwareMap.get(DcMotorEx.class, "right"));
-
-        for (DcMotorEx m : leftMotors) {
-            m.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        }
-        for (DcMotorEx m : rightMotors) {
-            m.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        }
-
-        // TODO: reverse motor directions if needed
-        //   leftMotors.get(0).setDirection(DcMotorSimple.Direction.REVERSE);
-
-        // TODO: make sure your config has an IMU with this name (can be BNO or BHI)
-        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
-        imu = new LazyImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
-                PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
-
-        voltageSensor = hardwareMap.voltageSensor.iterator().next();
-
-        localizer = new DriveLocalizer();
-
-        FlightRecorder.write("TANK_PARAMS", PARAMS);
-    }
-
-    public void setDrivePowers(PoseVelocity2d powers) {
-        TankKinematics.WheelVelocities<Time> wheelVels = new TankKinematics(2).inverse(
-                PoseVelocity2dDual.constant(powers, 1));
-
-        double maxPowerMag = 1;
-        for (DualNum<Time> power : wheelVels.all()) {
-            maxPowerMag = Math.max(maxPowerMag, power.value());
-        }
-
-        for (DcMotorEx m : leftMotors) {
-            m.setPower(wheelVels.left.get(0) / maxPowerMag);
-        }
-        for (DcMotorEx m : rightMotors) {
-            m.setPower(wheelVels.right.get(0) / maxPowerMag);
-        }
-    }
-
-    public final class FollowTrajectoryAction implements Action {
-        public final TimeTrajectory timeTrajectory;
-        private double beginTs = -1;
-
-        private final double[] xPoints, yPoints;
-
-        public FollowTrajectoryAction(TimeTrajectory t) {
-            timeTrajectory = t;
-
-            List<Double> disps = com.acmerobotics.roadrunner.Math.range(
-                    0, t.path.length(),
-                    Math.max(2, (int) Math.ceil(t.path.length() / 2)));
-            xPoints = new double[disps.size()];
-            yPoints = new double[disps.size()];
-            for (int i = 0; i < disps.size(); i++) {
-                Pose2d p = t.path.get(disps.get(i), 1).value();
-                xPoints[i] = p.position.x;
-                yPoints[i] = p.position.y;
-            }
-        }
-
-        @Override
-        public boolean run(@NonNull TelemetryPacket p) {
-            double t;
-            if (beginTs < 0) {
-                beginTs = Actions.now();
-                t = 0;
-            } else {
-                t = Actions.now() - beginTs;
-            }
-
-            if (t >= timeTrajectory.duration) {
-                for (DcMotorEx m : leftMotors) {
-                    m.setPower(0);
-                }
-                for (DcMotorEx m : rightMotors) {
-                    m.setPower(0);
-                }
-
-                return false;
-            }
-
-            DualNum<Time> x = timeTrajectory.profile.get(t);
-
-            Pose2dDual<Arclength> txWorldTarget = timeTrajectory.path.get(x.value(), 3);
-            targetPoseWriter.write(new PoseMessage(txWorldTarget.value()));
-
-            updatePoseEstimate();
-
-            PoseVelocity2dDual<Time> command = new RamseteController(kinematics.trackWidth, PARAMS.ramseteZeta, PARAMS.ramseteBBar)
-                    .compute(x, txWorldTarget, pose);
-            driveCommandWriter.write(new DriveCommandMessage(command));
-
-            TankKinematics.WheelVelocities<Time> wheelVels = kinematics.inverse(command);
-            double voltage = voltageSensor.getVoltage();
-            final MotorFeedforward feedforward = new MotorFeedforward(PARAMS.kS,
-                    PARAMS.kV / PARAMS.inPerTick, PARAMS.kA / PARAMS.inPerTick);
-            double leftPower = feedforward.compute(wheelVels.left) / voltage;
-            double rightPower = feedforward.compute(wheelVels.right) / voltage;
-            tankCommandWriter.write(new TankCommandMessage(voltage, leftPower, rightPower));
-
-            for (DcMotorEx m : leftMotors) {
-                m.setPower(leftPower);
-            }
-            for (DcMotorEx m : rightMotors) {
-                m.setPower(rightPower);
-            }
-
-            p.put("x", pose.position.x);
-            p.put("y", pose.position.y);
-            p.put("heading (deg)", Math.toDegrees(pose.heading.toDouble()));
-
-            Pose2d error = txWorldTarget.value().minusExp(pose);
-            p.put("xError", error.position.x);
-            p.put("yError", error.position.y);
-            p.put("headingError (deg)", Math.toDegrees(error.heading.toDouble()));
-
-            // only draw when active; only one drive action should be active at a time
-            Canvas c = p.fieldOverlay();
-            drawPoseHistory(c);
-
-            c.setStroke("#4CAF50");
-            Drawing.drawRobot(c, txWorldTarget.value());
-
-            c.setStroke("#3F51B5");
-            Drawing.drawRobot(c, pose);
-
-            c.setStroke("#4CAF50FF");
-            c.setStrokeWidth(1);
-            c.strokePolyline(xPoints, yPoints);
-
-            return true;
-        }
-
-        @Override
-        public void preview(Canvas c) {
-            c.setStroke("#4CAF507A");
-            c.setStrokeWidth(1);
-            c.strokePolyline(xPoints, yPoints);
-        }
-    }
-
-    public final class TurnAction implements Action {
-        private final TimeTurn turn;
-
-        private double beginTs = -1;
-
-        public TurnAction(TimeTurn turn) {
-            this.turn = turn;
-        }
-
-        @Override
-        public boolean run(@NonNull TelemetryPacket p) {
-            double t;
-            if (beginTs < 0) {
-                beginTs = Actions.now();
-                t = 0;
-            } else {
-                t = Actions.now() - beginTs;
-            }
-
-            if (t >= turn.duration) {
-                for (DcMotorEx m : leftMotors) {
-                    m.setPower(0);
-                }
-                for (DcMotorEx m : rightMotors) {
-                    m.setPower(0);
-                }
-
-                return false;
-            }
-
-            Pose2dDual<Time> txWorldTarget = turn.get(t);
-            targetPoseWriter.write(new PoseMessage(txWorldTarget.value()));
-
-            PoseVelocity2d robotVelRobot = updatePoseEstimate();
-
-            PoseVelocity2dDual<Time> command = new PoseVelocity2dDual<>(
-                    Vector2dDual.constant(new Vector2d(0, 0), 3),
-                    txWorldTarget.heading.velocity().plus(
-                            PARAMS.turnGain * pose.heading.minus(txWorldTarget.heading.value()) +
-                            PARAMS.turnVelGain * (robotVelRobot.angVel - txWorldTarget.heading.velocity().value())
-                    )
-            );
-            driveCommandWriter.write(new DriveCommandMessage(command));
-
-            TankKinematics.WheelVelocities<Time> wheelVels = kinematics.inverse(command);
-            double voltage = voltageSensor.getVoltage();
-            final MotorFeedforward feedforward = new MotorFeedforward(PARAMS.kS,
-                    PARAMS.kV / PARAMS.inPerTick, PARAMS.kA / PARAMS.inPerTick);
-            double leftPower = feedforward.compute(wheelVels.left) / voltage;
-            double rightPower = feedforward.compute(wheelVels.right) / voltage;
-            tankCommandWriter.write(new TankCommandMessage(voltage, leftPower, rightPower));
-
-            for (DcMotorEx m : leftMotors) {
-                m.setPower(leftPower);
-            }
-            for (DcMotorEx m : rightMotors) {
-                m.setPower(rightPower);
-            }
-
-            Canvas c = p.fieldOverlay();
-            drawPoseHistory(c);
-
-            c.setStroke("#4CAF50");
-            Drawing.drawRobot(c, txWorldTarget.value());
-
-            c.setStroke("#3F51B5");
-            Drawing.drawRobot(c, pose);
-
-            c.setStroke("#7C4DFFFF");
-            c.fillCircle(turn.beginPose.position.x, turn.beginPose.position.y, 2);
-
-            return true;
-        }
-
-        @Override
-        public void preview(Canvas c) {
-            c.setStroke("#7C4DFF7A");
-            c.fillCircle(turn.beginPose.position.x, turn.beginPose.position.y, 2);
-        }
-    }
-
-    public PoseVelocity2d updatePoseEstimate() {
-        Twist2dDual<Time> twist = localizer.update();
-        pose = pose.plus(twist.value());
-
-        poseHistory.add(pose);
-        while (poseHistory.size() > 100) {
-            poseHistory.removeFirst();
-        }
-
-        estimatedPoseWriter.write(new PoseMessage(pose));
-
-        return twist.velocity().value();
-    }
-
-    private void drawPoseHistory(Canvas c) {
-        double[] xPoints = new double[poseHistory.size()];
-        double[] yPoints = new double[poseHistory.size()];
-
-        int i = 0;
-        for (Pose2d t : poseHistory) {
-            xPoints[i] = t.position.x;
-            yPoints[i] = t.position.y;
-
-            i++;
-        }
-
-        c.setStrokeWidth(1);
-        c.setStroke("#3F51B5");
-        c.strokePolyline(xPoints, yPoints);
-    }
-
-    public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
-        return new TrajectoryActionBuilder(
-                TurnAction::new,
-                FollowTrajectoryAction::new,
-                beginPose, 1e-6, 0.0,
-                defaultTurnConstraints,
-                defaultVelConstraint, defaultAccelConstraint,
-                0.25, 0.1
-        );
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ThreeDeadWheelLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ThreeDeadWheelLocalizer.java
deleted file mode 100644
index 30407a2..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ThreeDeadWheelLocalizer.java
+++ /dev/null
@@ -1,83 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.roadrunner.DualNum;
-import com.acmerobotics.roadrunner.Time;
-import com.acmerobotics.roadrunner.Twist2dDual;
-import com.acmerobotics.roadrunner.Vector2dDual;
-import com.acmerobotics.roadrunner.ftc.Encoder;
-import com.acmerobotics.roadrunner.ftc.FlightRecorder;
-import com.acmerobotics.roadrunner.ftc.OverflowEncoder;
-import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
-import com.acmerobotics.roadrunner.ftc.RawEncoder;
-import com.qualcomm.robotcore.hardware.DcMotorEx;
-import com.qualcomm.robotcore.hardware.HardwareMap;
-
-@Config
-public final class ThreeDeadWheelLocalizer implements Localizer {
-
-
-    public static class Params {
-        public double par0YTicks = 0.0; // y position of the first parallel encoder (in tick units)
-        public double par1YTicks = 1.0; // y position of the second parallel encoder (in tick units)
-        public double perpXTicks = 0.0; // x position of the perpendicular encoder (in tick units)
-    }
-
-    public static Params PARAMS = new Params();
-
-    public final Encoder par0, par1, perp;
-
-    public final double inPerTick;
-
-    private int lastPar0Pos, lastPar1Pos, lastPerpPos;
-
-    public ThreeDeadWheelLocalizer(HardwareMap hardwareMap, double inPerTick) {
-          par0 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "LFMotor")));
-        par1 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "RFMotor")));
-        perp = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "LBMotor")));
-
-        // TODO: reverse encoder directions if needed
-        //   par0.setDirection(DcMotorSimple.Direction.REVERSE);
-
-        lastPar0Pos = par0.getPositionAndVelocity().position;
-        lastPar1Pos = par1.getPositionAndVelocity().position;
-        lastPerpPos = perp.getPositionAndVelocity().position;
-
-        this.inPerTick = inPerTick;
-
-        FlightRecorder.write("THREE_DEAD_WHEEL_PARAMS", PARAMS);
-    }
-
-    public Twist2dDual<Time> update() {
-        PositionVelocityPair par0PosVel = par0.getPositionAndVelocity();
-        PositionVelocityPair par1PosVel = par1.getPositionAndVelocity();
-        PositionVelocityPair perpPosVel = perp.getPositionAndVelocity();
-
-        int par0PosDelta = par0PosVel.position - lastPar0Pos;
-        int par1PosDelta = par1PosVel.position - lastPar1Pos;
-        int perpPosDelta = perpPosVel.position - lastPerpPos;
-
-        Twist2dDual<Time> twist = new Twist2dDual<>(
-                new Vector2dDual<>(
-                        new DualNum<Time>(new double[] {
-                                (PARAMS.par0YTicks * par1PosDelta - PARAMS.par1YTicks * par0PosDelta) / (PARAMS.par0YTicks - PARAMS.par1YTicks),
-                                (PARAMS.par0YTicks * par1PosVel.velocity - PARAMS.par1YTicks * par0PosVel.velocity) / (PARAMS.par0YTicks - PARAMS.par1YTicks),
-                        }).times(inPerTick),
-                        new DualNum<Time>(new double[] {
-                                (PARAMS.perpXTicks / (PARAMS.par0YTicks - PARAMS.par1YTicks) * (par1PosDelta - par0PosDelta) + perpPosDelta),
-                                (PARAMS.perpXTicks / (PARAMS.par0YTicks - PARAMS.par1YTicks) * (par1PosVel.velocity - par0PosVel.velocity) + perpPosVel.velocity),
-                        }).times(inPerTick)
-                ),
-                new DualNum<>(new double[] {
-                        (par0PosDelta - par1PosDelta) / (PARAMS.par0YTicks - PARAMS.par1YTicks),
-                        (par0PosVel.velocity - par1PosVel.velocity) / (PARAMS.par0YTicks - PARAMS.par1YTicks),
-                })
-        );
-
-        lastPar0Pos = par0PosVel.position;
-        lastPar1Pos = par1PosVel.position;
-        lastPerpPos = perpPosVel.position;
-
-        return twist;
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TwoDeadWheelLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TwoDeadWheelLocalizer.java
deleted file mode 100644
index ce57f13..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TwoDeadWheelLocalizer.java
+++ /dev/null
@@ -1,104 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.roadrunner.DualNum;
-import com.acmerobotics.roadrunner.Rotation2d;
-import com.acmerobotics.roadrunner.Time;
-import com.acmerobotics.roadrunner.Twist2dDual;
-import com.acmerobotics.roadrunner.Vector2dDual;
-import com.acmerobotics.roadrunner.ftc.Encoder;
-import com.acmerobotics.roadrunner.ftc.FlightRecorder;
-import com.acmerobotics.roadrunner.ftc.OverflowEncoder;
-import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
-import com.acmerobotics.roadrunner.ftc.RawEncoder;
-import com.qualcomm.robotcore.hardware.DcMotorEx;
-import com.qualcomm.robotcore.hardware.HardwareMap;
-import com.qualcomm.robotcore.hardware.IMU;
-
-import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
-
-@Config
-public final class TwoDeadWheelLocalizer implements Localizer {
-    public static class Params {
-        public double parYTicks = 0.0; // y position of the parallel encoder (in tick units)
-        public double perpXTicks = 0.0; // x position of the perpendicular encoder (in tick units)
-    }
-
-    public static Params PARAMS = new Params();
-
-    public final Encoder par, perp;
-    public final IMU imu;
-
-    private int lastParPos, lastPerpPos;
-    private Rotation2d lastHeading;
-
-    private final double inPerTick;
-
-    private double lastRawHeadingVel, headingVelOffset;
-
-    public TwoDeadWheelLocalizer(HardwareMap hardwareMap, IMU imu, double inPerTick) {
-        // TODO: make sure your config has **motors** with these names (or change them)
-        //   the encoders should be plugged into the slot matching the named motor
-        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
-        par = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par")));
-        perp = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "perp")));
-
-        // TODO: reverse encoder directions if needed
-        //   par.setDirection(DcMotorSimple.Direction.REVERSE);
-
-        this.imu = imu;
-
-        lastParPos = par.getPositionAndVelocity().position;
-        lastPerpPos = perp.getPositionAndVelocity().position;
-        lastHeading = Rotation2d.exp(imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS));
-
-        this.inPerTick = inPerTick;
-
-        FlightRecorder.write("TWO_DEAD_WHEEL_PARAMS", PARAMS);
-    }
-
-    // see https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/617
-    private double getHeadingVelocity() {
-        double rawHeadingVel = imu.getRobotAngularVelocity(AngleUnit.RADIANS).zRotationRate;
-        if (Math.abs(rawHeadingVel - lastRawHeadingVel) > Math.PI) {
-            headingVelOffset -= Math.signum(rawHeadingVel) * 2 * Math.PI;
-        }
-        lastRawHeadingVel = rawHeadingVel;
-        return headingVelOffset + rawHeadingVel;
-    }
-
-    public Twist2dDual<Time> update() {
-        PositionVelocityPair parPosVel = par.getPositionAndVelocity();
-        PositionVelocityPair perpPosVel = perp.getPositionAndVelocity();
-        Rotation2d heading = Rotation2d.exp(imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS));
-
-        int parPosDelta = parPosVel.position - lastParPos;
-        int perpPosDelta = perpPosVel.position - lastPerpPos;
-        double headingDelta = heading.minus(lastHeading);
-
-        double headingVel = getHeadingVelocity();
-
-        Twist2dDual<Time> twist = new Twist2dDual<>(
-                new Vector2dDual<>(
-                        new DualNum<Time>(new double[] {
-                                parPosDelta - PARAMS.parYTicks * headingDelta,
-                                parPosVel.velocity - PARAMS.parYTicks * headingVel,
-                        }).times(inPerTick),
-                        new DualNum<Time>(new double[] {
-                                perpPosDelta - PARAMS.perpXTicks * headingDelta,
-                                perpPosVel.velocity - PARAMS.perpXTicks * headingVel,
-                        }).times(inPerTick)
-                ),
-                new DualNum<>(new double[] {
-                        headingDelta,
-                        headingVel,
-                })
-        );
-
-        lastParPos = parPosVel.position;
-        lastPerpPos = perpPosVel.position;
-        lastHeading = heading;
-
-        return twist;
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/DriveConstants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/DriveConstants.java
new file mode 100644
index 0000000..4681679
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/DriveConstants.java
@@ -0,0 +1,94 @@
+package org.firstinspires.ftc.teamcode.drive;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
+import com.qualcomm.robotcore.hardware.PIDFCoefficients;
+
+/*
+ * Constants shared between multiple drive types.
+ *
+ * TODO: Tune or adjust the following constants to fit your robot. Note that the non-final
+ * fields may also be edited through the dashboard (connect to the robot's WiFi network and
+ * navigate to https://192.168.49.1:8080/dash). Make sure to save the values here after you
+ * adjust them in the dashboard; **config variable changes don't persist between app restarts**.
+ *
+ * These are not the only parameters; some are located in the localizer classes, drive base classes,
+ * and op modes themselves.
+ */
+@Config
+public class DriveConstants {
+
+    /*
+     * These are motor constants that should be listed online for your motors.
+     */
+    public static final double TICKS_PER_REV = 1;
+    public static final double MAX_RPM = 1;
+
+    /*
+     * Set RUN_USING_ENCODER to true to enable built-in hub velocity control using drive encoders.
+     * Set this flag to false if drive encoders are not present and an alternative localization
+     * method is in use (e.g., tracking wheels).
+     *
+     * If using the built-in motor velocity PID, update MOTOR_VELO_PID with the tuned coefficients
+     * from DriveVelocityPIDTuner.
+     */
+    public static final boolean RUN_USING_ENCODER = false;
+    public static PIDFCoefficients MOTOR_VELO_PID = new PIDFCoefficients(0, 0, 0,
+            getMotorVelocityF(MAX_RPM / 60 * TICKS_PER_REV));
+
+    /*
+     * These are physical constants that can be determined from your robot (including the track
+     * width; it will be tune empirically later although a rough estimate is important). Users are
+     * free to chose whichever linear distance unit they would like so long as it is consistently
+     * used. The default values were selected with inches in mind. Road runner uses radians for
+     * angular distances although most angular parameters are wrapped in Math.toRadians() for
+     * convenience. Make sure to exclude any gear ratio included in MOTOR_CONFIG from GEAR_RATIO.
+     */
+    public static double WHEEL_RADIUS = 2; // in
+    public static double GEAR_RATIO = 1; // output (wheel) speed / input (motor) speed
+    public static double TRACK_WIDTH = 1; // in
+
+    /*
+     * These are the feedforward parameters used to model the drive motor behavior. If you are using
+     * the built-in velocity PID, *these values are fine as is*. However, if you do not have drive
+     * motor encoders or have elected not to use them for velocity control, these values should be
+     * empirically tuned.
+     */
+    public static double kV = 1.0 / rpmToVelocity(MAX_RPM);
+    public static double kA = 0;
+    public static double kStatic = 0;
+
+    /*
+     * These values are used to generate the trajectories for you robot. To ensure proper operation,
+     * the constraints should never exceed ~80% of the robot's actual capabilities. While Road
+     * Runner is designed to enable faster autonomous motion, it is a good idea for testing to start
+     * small and gradually increase them later after everything is working. All distance units are
+     * inches.
+     */
+    public static double MAX_VEL = 30;
+    public static double MAX_ACCEL = 30;
+    public static double MAX_ANG_VEL = Math.toRadians(60);
+    public static double MAX_ANG_ACCEL = Math.toRadians(60);
+
+    /*
+     * Adjust the orientations here to match your robot. See the FTC SDK documentation for details.
+     */
+    public static RevHubOrientationOnRobot.LogoFacingDirection LOGO_FACING_DIR =
+            RevHubOrientationOnRobot.LogoFacingDirection.UP;
+    public static RevHubOrientationOnRobot.UsbFacingDirection USB_FACING_DIR =
+            RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;
+
+
+    public static double encoderTicksToInches(double ticks) {
+        return WHEEL_RADIUS * 2 * Math.PI * GEAR_RATIO * ticks / TICKS_PER_REV;
+    }
+
+    public static double rpmToVelocity(double rpm) {
+        return rpm * GEAR_RATIO * 2 * Math.PI * WHEEL_RADIUS / 60.0;
+    }
+
+    public static double getMotorVelocityF(double ticksPerSecond) {
+        // see https://docs.google.com/document/d/1tyWrXDfMidwYyP_5H4mZyVgaEswhOC35gvdmP-V-5hA/edit#heading=h.61g9ixenznbx
+        return 32767 / ticksPerSecond;
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/SampleMecanumDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/SampleMecanumDrive.java
new file mode 100644
index 0000000..222bddb
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/SampleMecanumDrive.java
@@ -0,0 +1,315 @@
+package org.firstinspires.ftc.teamcode.drive;
+
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.MAX_ACCEL;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.MAX_ANG_ACCEL;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.MAX_ANG_VEL;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.MAX_VEL;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.MOTOR_VELO_PID;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.RUN_USING_ENCODER;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.TRACK_WIDTH;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.encoderTicksToInches;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.kA;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.kStatic;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.kV;
+
+import androidx.annotation.NonNull;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.roadrunner.control.PIDCoefficients;
+import com.acmerobotics.roadrunner.drive.DriveSignal;
+import com.acmerobotics.roadrunner.drive.MecanumDrive;
+import com.acmerobotics.roadrunner.followers.HolonomicPIDVAFollower;
+import com.acmerobotics.roadrunner.followers.TrajectoryFollower;
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.acmerobotics.roadrunner.trajectory.Trajectory;
+import com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder;
+import com.acmerobotics.roadrunner.trajectory.constraints.AngularVelocityConstraint;
+import com.acmerobotics.roadrunner.trajectory.constraints.MecanumVelocityConstraint;
+import com.acmerobotics.roadrunner.trajectory.constraints.MinVelocityConstraint;
+import com.acmerobotics.roadrunner.trajectory.constraints.ProfileAccelerationConstraint;
+import com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryAccelerationConstraint;
+import com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryVelocityConstraint;
+import com.qualcomm.hardware.lynx.LynxModule;
+import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+import com.qualcomm.robotcore.hardware.IMU;
+import com.qualcomm.robotcore.hardware.PIDFCoefficients;
+import com.qualcomm.robotcore.hardware.VoltageSensor;
+import com.qualcomm.robotcore.hardware.configuration.typecontainers.MotorConfigurationType;
+
+import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+import org.firstinspires.ftc.teamcode.trajectorysequence.TrajectorySequence;
+import org.firstinspires.ftc.teamcode.trajectorysequence.TrajectorySequenceBuilder;
+import org.firstinspires.ftc.teamcode.trajectorysequence.TrajectorySequenceRunner;
+import org.firstinspires.ftc.teamcode.util.LynxModuleUtil;
+
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.List;
+
+/*
+ * Simple mecanum drive hardware implementation for REV hardware.
+ */
+@Config
+public class SampleMecanumDrive extends MecanumDrive {
+    public static PIDCoefficients TRANSLATIONAL_PID = new PIDCoefficients(0, 0, 0);
+    public static PIDCoefficients HEADING_PID = new PIDCoefficients(0, 0, 0);
+
+    public static double LATERAL_MULTIPLIER = 1;
+
+    public static double VX_WEIGHT = 1;
+    public static double VY_WEIGHT = 1;
+    public static double OMEGA_WEIGHT = 1;
+
+    private TrajectorySequenceRunner trajectorySequenceRunner;
+
+    private static final TrajectoryVelocityConstraint VEL_CONSTRAINT = getVelocityConstraint(MAX_VEL, MAX_ANG_VEL, TRACK_WIDTH);
+    private static final TrajectoryAccelerationConstraint ACCEL_CONSTRAINT = getAccelerationConstraint(MAX_ACCEL);
+
+    private TrajectoryFollower follower;
+
+    private DcMotorEx leftFront, leftRear, rightRear, rightFront;
+    private List<DcMotorEx> motors;
+
+    private IMU imu;
+    private VoltageSensor batteryVoltageSensor;
+
+    private List<Integer> lastEncPositions = new ArrayList<>();
+    private List<Integer> lastEncVels = new ArrayList<>();
+
+    public SampleMecanumDrive(HardwareMap hardwareMap) {
+        super(kV, kA, kStatic, TRACK_WIDTH, TRACK_WIDTH, LATERAL_MULTIPLIER);
+
+        follower = new HolonomicPIDVAFollower(TRANSLATIONAL_PID, TRANSLATIONAL_PID, HEADING_PID,
+                new Pose2d(0.5, 0.5, Math.toRadians(5.0)), 0.5);
+
+        LynxModuleUtil.ensureMinimumFirmwareVersion(hardwareMap);
+
+        batteryVoltageSensor = hardwareMap.voltageSensor.iterator().next();
+
+        for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
+            module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
+        }
+
+        // TODO: adjust the names of the following hardware devices to match your configuration
+        //Done
+        imu = hardwareMap.get(IMU.class, "imu");
+        IMU.Parameters parameters = new IMU.Parameters(new RevHubOrientationOnRobot(
+                DriveConstants.LOGO_FACING_DIR, DriveConstants.USB_FACING_DIR));
+        imu.initialize(parameters);
+
+        leftFront = hardwareMap.get(DcMotorEx.class, "LFMotor");
+        leftRear = hardwareMap.get(DcMotorEx.class, "LBMotor");
+        rightRear = hardwareMap.get(DcMotorEx.class, "RBMotor");
+        rightFront = hardwareMap.get(DcMotorEx.class, "RFMotor");
+
+        motors = Arrays.asList(leftFront, leftRear, rightRear, rightFront);
+
+        for (DcMotorEx motor : motors) {
+            MotorConfigurationType motorConfigurationType = motor.getMotorType().clone();
+            motorConfigurationType.setAchieveableMaxRPMFraction(1.0);
+            motor.setMotorType(motorConfigurationType);
+        }
+
+        if (RUN_USING_ENCODER) {
+            setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        }
+
+        setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+
+        if (RUN_USING_ENCODER && MOTOR_VELO_PID != null) {
+            setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, MOTOR_VELO_PID);
+        }
+
+        // TODO: reverse any motors using DcMotor.setDirection()
+
+        leftRear.setDirection(DcMotorSimple.Direction.REVERSE);
+        leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
+        List<Integer> lastTrackingEncPositions = new ArrayList<>();
+        List<Integer> lastTrackingEncVels = new ArrayList<>();
+
+        // TODO: if desired, use setLocalizer() to change the localization method
+        // setLocalizer(new StandardTrackingWheelLocalizer(hardwareMap, lastTrackingEncPositions, lastTrackingEncVels));
+
+        trajectorySequenceRunner = new TrajectorySequenceRunner(
+                follower, HEADING_PID, batteryVoltageSensor,
+                lastEncPositions, lastEncVels, lastTrackingEncPositions, lastTrackingEncVels
+        );
+    }
+
+    public TrajectoryBuilder trajectoryBuilder(Pose2d startPose) {
+        return new TrajectoryBuilder(startPose, VEL_CONSTRAINT, ACCEL_CONSTRAINT);
+    }
+
+    public TrajectoryBuilder trajectoryBuilder(Pose2d startPose, boolean reversed) {
+        return new TrajectoryBuilder(startPose, reversed, VEL_CONSTRAINT, ACCEL_CONSTRAINT);
+    }
+
+    public TrajectoryBuilder trajectoryBuilder(Pose2d startPose, double startHeading) {
+        return new TrajectoryBuilder(startPose, startHeading, VEL_CONSTRAINT, ACCEL_CONSTRAINT);
+    }
+
+    public TrajectorySequenceBuilder trajectorySequenceBuilder(Pose2d startPose) {
+        return new TrajectorySequenceBuilder(
+                startPose,
+                VEL_CONSTRAINT, ACCEL_CONSTRAINT,
+                MAX_ANG_VEL, MAX_ANG_ACCEL
+        );
+    }
+
+    public void turnAsync(double angle) {
+        trajectorySequenceRunner.followTrajectorySequenceAsync(
+                trajectorySequenceBuilder(getPoseEstimate())
+                        .turn(angle)
+                        .build()
+        );
+    }
+
+    public void turn(double angle) {
+        turnAsync(angle);
+        waitForIdle();
+    }
+
+    public void followTrajectoryAsync(Trajectory trajectory) {
+        trajectorySequenceRunner.followTrajectorySequenceAsync(
+                trajectorySequenceBuilder(trajectory.start())
+                        .addTrajectory(trajectory)
+                        .build()
+        );
+    }
+
+    public void followTrajectory(Trajectory trajectory) {
+        followTrajectoryAsync(trajectory);
+        waitForIdle();
+    }
+
+    public void followTrajectorySequenceAsync(TrajectorySequence trajectorySequence) {
+        trajectorySequenceRunner.followTrajectorySequenceAsync(trajectorySequence);
+    }
+
+    public void followTrajectorySequence(TrajectorySequence trajectorySequence) {
+        followTrajectorySequenceAsync(trajectorySequence);
+        waitForIdle();
+    }
+
+    public Pose2d getLastError() {
+        return trajectorySequenceRunner.getLastPoseError();
+    }
+
+    public void update() {
+        updatePoseEstimate();
+        DriveSignal signal = trajectorySequenceRunner.update(getPoseEstimate(), getPoseVelocity());
+        if (signal != null) setDriveSignal(signal);
+    }
+
+    public void waitForIdle() {
+        while (!Thread.currentThread().isInterrupted() && isBusy())
+            update();
+    }
+
+    public boolean isBusy() {
+        return trajectorySequenceRunner.isBusy();
+    }
+
+    public void setMode(DcMotor.RunMode runMode) {
+        for (DcMotorEx motor : motors) {
+            motor.setMode(runMode);
+        }
+    }
+
+    public void setZeroPowerBehavior(DcMotor.ZeroPowerBehavior zeroPowerBehavior) {
+        for (DcMotorEx motor : motors) {
+            motor.setZeroPowerBehavior(zeroPowerBehavior);
+        }
+    }
+
+    public void setPIDFCoefficients(DcMotor.RunMode runMode, PIDFCoefficients coefficients) {
+        PIDFCoefficients compensatedCoefficients = new PIDFCoefficients(
+                coefficients.p, coefficients.i, coefficients.d,
+                coefficients.f * 12 / batteryVoltageSensor.getVoltage()
+        );
+
+        for (DcMotorEx motor : motors) {
+            motor.setPIDFCoefficients(runMode, compensatedCoefficients);
+        }
+    }
+
+    public void setWeightedDrivePower(Pose2d drivePower) {
+        Pose2d vel = drivePower;
+
+        if (Math.abs(drivePower.getX()) + Math.abs(drivePower.getY())
+                + Math.abs(drivePower.getHeading()) > 1) {
+            // re-normalize the powers according to the weights
+            double denom = VX_WEIGHT * Math.abs(drivePower.getX())
+                    + VY_WEIGHT * Math.abs(drivePower.getY())
+                    + OMEGA_WEIGHT * Math.abs(drivePower.getHeading());
+
+            vel = new Pose2d(
+                    VX_WEIGHT * drivePower.getX(),
+                    VY_WEIGHT * drivePower.getY(),
+                    OMEGA_WEIGHT * drivePower.getHeading()
+            ).div(denom);
+        }
+
+        setDrivePower(vel);
+    }
+
+    @NonNull
+    @Override
+    public List<Double> getWheelPositions() {
+        lastEncPositions.clear();
+
+        List<Double> wheelPositions = new ArrayList<>();
+        for (DcMotorEx motor : motors) {
+            int position = motor.getCurrentPosition();
+            lastEncPositions.add(position);
+            wheelPositions.add(encoderTicksToInches(position));
+        }
+        return wheelPositions;
+    }
+
+    @Override
+    public List<Double> getWheelVelocities() {
+        lastEncVels.clear();
+
+        List<Double> wheelVelocities = new ArrayList<>();
+        for (DcMotorEx motor : motors) {
+            int vel = (int) motor.getVelocity();
+            lastEncVels.add(vel);
+            wheelVelocities.add(encoderTicksToInches(vel));
+        }
+        return wheelVelocities;
+    }
+
+    @Override
+    public void setMotorPowers(double v, double v1, double v2, double v3) {
+        leftFront.setPower(v);
+        leftRear.setPower(v1);
+        rightRear.setPower(v2);
+        rightFront.setPower(v3);
+    }
+
+    @Override
+    public double getRawExternalHeading() {
+        return imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS);
+    }
+
+    @Override
+    public Double getExternalHeadingVelocity() {
+        return (double) imu.getRobotAngularVelocity(AngleUnit.RADIANS).zRotationRate;
+    }
+
+    public static TrajectoryVelocityConstraint getVelocityConstraint(double maxVel, double maxAngularVel, double trackWidth) {
+        return new MinVelocityConstraint(Arrays.asList(
+                new AngularVelocityConstraint(maxAngularVel),
+                new MecanumVelocityConstraint(maxVel, trackWidth)
+        ));
+    }
+
+    public static TrajectoryAccelerationConstraint getAccelerationConstraint(double maxAccel) {
+        return new ProfileAccelerationConstraint(maxAccel);
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/SampleTankDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/SampleTankDrive.java
new file mode 100644
index 0000000..9fa57b2
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/SampleTankDrive.java
@@ -0,0 +1,305 @@
+package org.firstinspires.ftc.teamcode.drive;
+
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.MAX_ACCEL;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.MAX_ANG_ACCEL;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.MAX_ANG_VEL;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.MAX_VEL;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.MOTOR_VELO_PID;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.RUN_USING_ENCODER;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.TRACK_WIDTH;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.encoderTicksToInches;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.kA;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.kStatic;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.kV;
+
+import androidx.annotation.NonNull;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.roadrunner.control.PIDCoefficients;
+import com.acmerobotics.roadrunner.drive.DriveSignal;
+import com.acmerobotics.roadrunner.drive.TankDrive;
+import com.acmerobotics.roadrunner.followers.TankPIDVAFollower;
+import com.acmerobotics.roadrunner.followers.TrajectoryFollower;
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.acmerobotics.roadrunner.trajectory.Trajectory;
+import com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder;
+import com.acmerobotics.roadrunner.trajectory.constraints.AngularVelocityConstraint;
+import com.acmerobotics.roadrunner.trajectory.constraints.MinVelocityConstraint;
+import com.acmerobotics.roadrunner.trajectory.constraints.ProfileAccelerationConstraint;
+import com.acmerobotics.roadrunner.trajectory.constraints.TankVelocityConstraint;
+import com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryAccelerationConstraint;
+import com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryVelocityConstraint;
+import com.qualcomm.hardware.lynx.LynxModule;
+import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+import com.qualcomm.robotcore.hardware.IMU;
+import com.qualcomm.robotcore.hardware.PIDFCoefficients;
+import com.qualcomm.robotcore.hardware.VoltageSensor;
+import com.qualcomm.robotcore.hardware.configuration.typecontainers.MotorConfigurationType;
+
+import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+import org.firstinspires.ftc.teamcode.trajectorysequence.TrajectorySequence;
+import org.firstinspires.ftc.teamcode.trajectorysequence.TrajectorySequenceBuilder;
+import org.firstinspires.ftc.teamcode.trajectorysequence.TrajectorySequenceRunner;
+import org.firstinspires.ftc.teamcode.util.LynxModuleUtil;
+
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.List;
+
+/*
+ * Simple tank drive hardware implementation for REV hardware.
+ */
+@Config
+public class SampleTankDrive extends TankDrive {
+    public static PIDCoefficients AXIAL_PID = new PIDCoefficients(0, 0, 0);
+    public static PIDCoefficients CROSS_TRACK_PID = new PIDCoefficients(0, 0, 0);
+    public static PIDCoefficients HEADING_PID = new PIDCoefficients(0, 0, 0);
+
+    public static double VX_WEIGHT = 1;
+    public static double OMEGA_WEIGHT = 1;
+
+    private TrajectorySequenceRunner trajectorySequenceRunner;
+
+    private static final TrajectoryVelocityConstraint VEL_CONSTRAINT = getVelocityConstraint(MAX_VEL, MAX_ANG_VEL, TRACK_WIDTH);
+    private static final TrajectoryAccelerationConstraint accelConstraint = getAccelerationConstraint(MAX_ACCEL);
+
+    private TrajectoryFollower follower;
+
+    private List<DcMotorEx> motors, leftMotors, rightMotors;
+    private IMU imu;
+
+    private VoltageSensor batteryVoltageSensor;
+
+    public SampleTankDrive(HardwareMap hardwareMap) {
+        super(kV, kA, kStatic, TRACK_WIDTH);
+
+        follower = new TankPIDVAFollower(AXIAL_PID, CROSS_TRACK_PID,
+                new Pose2d(0.5, 0.5, Math.toRadians(5.0)), 0.5);
+
+        LynxModuleUtil.ensureMinimumFirmwareVersion(hardwareMap);
+
+        batteryVoltageSensor = hardwareMap.voltageSensor.iterator().next();
+
+        for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
+            module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
+        }
+
+        // TODO: adjust the names of the following hardware devices to match your configuration
+        imu = hardwareMap.get(IMU.class, "imu");
+        IMU.Parameters parameters = new IMU.Parameters(new RevHubOrientationOnRobot(
+                DriveConstants.LOGO_FACING_DIR, DriveConstants.USB_FACING_DIR));
+        imu.initialize(parameters);
+
+        // add/remove motors depending on your robot (e.g., 6WD)
+        DcMotorEx leftFront = hardwareMap.get(DcMotorEx.class, "leftFront");
+        DcMotorEx leftRear = hardwareMap.get(DcMotorEx.class, "leftRear");
+        DcMotorEx rightRear = hardwareMap.get(DcMotorEx.class, "rightRear");
+        DcMotorEx rightFront = hardwareMap.get(DcMotorEx.class, "rightFront");
+
+        motors = Arrays.asList(leftFront, leftRear, rightRear, rightFront);
+        leftMotors = Arrays.asList(leftFront, leftRear);
+        rightMotors = Arrays.asList(rightFront, rightRear);
+
+        for (DcMotorEx motor : motors) {
+            MotorConfigurationType motorConfigurationType = motor.getMotorType().clone();
+            motorConfigurationType.setAchieveableMaxRPMFraction(1.0);
+            motor.setMotorType(motorConfigurationType);
+        }
+
+        if (RUN_USING_ENCODER) {
+            setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        }
+
+        setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+
+        if (RUN_USING_ENCODER && MOTOR_VELO_PID != null) {
+            setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, MOTOR_VELO_PID);
+        }
+
+        // TODO: reverse any motors using DcMotor.setDirection()
+
+        // TODO: if desired, use setLocalizer() to change the localization method
+        // for instance, setLocalizer(new ThreeTrackingWheelLocalizer(...));
+
+        trajectorySequenceRunner = new TrajectorySequenceRunner(
+                follower, HEADING_PID, batteryVoltageSensor,
+                new ArrayList<>(), new ArrayList<>(), new ArrayList<>(), new ArrayList<>()
+        );
+    }
+
+    public TrajectoryBuilder trajectoryBuilder(Pose2d startPose) {
+        return new TrajectoryBuilder(startPose, VEL_CONSTRAINT, accelConstraint);
+    }
+
+    public TrajectoryBuilder trajectoryBuilder(Pose2d startPose, boolean reversed) {
+        return new TrajectoryBuilder(startPose, reversed, VEL_CONSTRAINT, accelConstraint);
+    }
+
+    public TrajectoryBuilder trajectoryBuilder(Pose2d startPose, double startHeading) {
+        return new TrajectoryBuilder(startPose, startHeading, VEL_CONSTRAINT, accelConstraint);
+    }
+
+    public TrajectorySequenceBuilder trajectorySequenceBuilder(Pose2d startPose) {
+        return new TrajectorySequenceBuilder(
+                startPose,
+                VEL_CONSTRAINT, accelConstraint,
+                MAX_ANG_VEL, MAX_ANG_ACCEL
+        );
+    }
+
+    public void turnAsync(double angle) {
+        trajectorySequenceRunner.followTrajectorySequenceAsync(
+                trajectorySequenceBuilder(getPoseEstimate())
+                        .turn(angle)
+                        .build()
+        );
+    }
+
+    public void turn(double angle) {
+        turnAsync(angle);
+        waitForIdle();
+    }
+
+    public void followTrajectoryAsync(Trajectory trajectory) {
+        trajectorySequenceRunner.followTrajectorySequenceAsync(
+                trajectorySequenceBuilder(trajectory.start())
+                        .addTrajectory(trajectory)
+                        .build()
+        );
+    }
+
+    public void followTrajectory(Trajectory trajectory) {
+        followTrajectoryAsync(trajectory);
+        waitForIdle();
+    }
+
+    public void followTrajectorySequenceAsync(TrajectorySequence trajectorySequence) {
+        trajectorySequenceRunner.followTrajectorySequenceAsync(trajectorySequence);
+    }
+
+    public void followTrajectorySequence(TrajectorySequence trajectorySequence) {
+        followTrajectorySequenceAsync(trajectorySequence);
+        waitForIdle();
+    }
+
+    public Pose2d getLastError() {
+        return trajectorySequenceRunner.getLastPoseError();
+    }
+
+
+    public void update() {
+        updatePoseEstimate();
+        DriveSignal signal = trajectorySequenceRunner.update(getPoseEstimate(), getPoseVelocity());
+        if (signal != null) setDriveSignal(signal);
+    }
+
+    public void waitForIdle() {
+        while (!Thread.currentThread().isInterrupted() && isBusy())
+            update();
+    }
+
+    public boolean isBusy() {
+        return trajectorySequenceRunner.isBusy();
+    }
+
+    public void setMode(DcMotor.RunMode runMode) {
+        for (DcMotorEx motor : motors) {
+            motor.setMode(runMode);
+        }
+    }
+
+    public void setZeroPowerBehavior(DcMotor.ZeroPowerBehavior zeroPowerBehavior) {
+        for (DcMotorEx motor : motors) {
+            motor.setZeroPowerBehavior(zeroPowerBehavior);
+        }
+    }
+
+    public void setPIDFCoefficients(DcMotor.RunMode runMode, PIDFCoefficients coefficients) {
+        PIDFCoefficients compensatedCoefficients = new PIDFCoefficients(
+                coefficients.p, coefficients.i, coefficients.d,
+                coefficients.f * 12 / batteryVoltageSensor.getVoltage()
+        );
+        for (DcMotorEx motor : motors) {
+            motor.setPIDFCoefficients(runMode, compensatedCoefficients);
+        }
+    }
+
+    public void setWeightedDrivePower(Pose2d drivePower) {
+        Pose2d vel = drivePower;
+
+        if (Math.abs(drivePower.getX()) + Math.abs(drivePower.getHeading()) > 1) {
+            // re-normalize the powers according to the weights
+            double denom = VX_WEIGHT * Math.abs(drivePower.getX())
+                    + OMEGA_WEIGHT * Math.abs(drivePower.getHeading());
+
+            vel = new Pose2d(
+                    VX_WEIGHT * drivePower.getX(),
+                    0,
+                    OMEGA_WEIGHT * drivePower.getHeading()
+            ).div(denom);
+        } else {
+            // Ensure the y axis is zeroed out.
+            vel = new Pose2d(drivePower.getX(), 0, drivePower.getHeading());
+        }
+
+        setDrivePower(vel);
+    }
+
+    @NonNull
+    @Override
+    public List<Double> getWheelPositions() {
+        double leftSum = 0, rightSum = 0;
+        for (DcMotorEx leftMotor : leftMotors) {
+            leftSum += encoderTicksToInches(leftMotor.getCurrentPosition());
+        }
+        for (DcMotorEx rightMotor : rightMotors) {
+            rightSum += encoderTicksToInches(rightMotor.getCurrentPosition());
+        }
+        return Arrays.asList(leftSum / leftMotors.size(), rightSum / rightMotors.size());
+    }
+
+    public List<Double> getWheelVelocities() {
+        double leftSum = 0, rightSum = 0;
+        for (DcMotorEx leftMotor : leftMotors) {
+            leftSum += encoderTicksToInches(leftMotor.getVelocity());
+        }
+        for (DcMotorEx rightMotor : rightMotors) {
+            rightSum += encoderTicksToInches(rightMotor.getVelocity());
+        }
+        return Arrays.asList(leftSum / leftMotors.size(), rightSum / rightMotors.size());
+    }
+
+    @Override
+    public void setMotorPowers(double v, double v1) {
+        for (DcMotorEx leftMotor : leftMotors) {
+            leftMotor.setPower(v);
+        }
+        for (DcMotorEx rightMotor : rightMotors) {
+            rightMotor.setPower(v1);
+        }
+    }
+
+    @Override
+    public double getRawExternalHeading() {
+        return imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS);
+    }
+
+    @Override
+    public Double getExternalHeadingVelocity() {
+        return (double) imu.getRobotAngularVelocity(AngleUnit.RADIANS).zRotationRate;
+    }
+
+    public static TrajectoryVelocityConstraint getVelocityConstraint(double maxVel, double maxAngularVel, double trackWidth) {
+        return new MinVelocityConstraint(Arrays.asList(
+                new AngularVelocityConstraint(maxAngularVel),
+                new TankVelocityConstraint(maxVel, trackWidth)
+        ));
+    }
+
+    public static TrajectoryAccelerationConstraint getAccelerationConstraint(double maxAccel) {
+        return new ProfileAccelerationConstraint(maxAccel);
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/StandardTrackingWheelLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/StandardTrackingWheelLocalizer.java
new file mode 100644
index 0000000..7abb2ee
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/StandardTrackingWheelLocalizer.java
@@ -0,0 +1,100 @@
+package org.firstinspires.ftc.teamcode.drive;
+
+import androidx.annotation.NonNull;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.acmerobotics.roadrunner.localization.ThreeTrackingWheelLocalizer;
+import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+import org.firstinspires.ftc.teamcode.util.Encoder;
+
+import java.util.Arrays;
+import java.util.List;
+
+/*
+ * Sample tracking wheel localizer implementation assuming the standard configuration:
+ *
+ *    /--------------\
+ *    |     ____     |
+ *    |     ----     |
+ *    | ||        || |
+ *    | ||        || |
+ *    |              |
+ *    |              |
+ *    \--------------/
+ *
+ */
+@Config
+public class StandardTrackingWheelLocalizer extends ThreeTrackingWheelLocalizer {
+    public static double TICKS_PER_REV = 0;
+    public static double WHEEL_RADIUS = 2; // in
+    public static double GEAR_RATIO = 1; // output (wheel) speed / input (encoder) speed
+
+    public static double LATERAL_DISTANCE = 10; // in; distance between the left and right wheels
+    public static double FORWARD_OFFSET = 4; // in; offset of the lateral wheel
+
+    private Encoder leftEncoder, rightEncoder, frontEncoder;
+
+    private List<Integer> lastEncPositions, lastEncVels;
+
+    public StandardTrackingWheelLocalizer(HardwareMap hardwareMap, List<Integer> lastTrackingEncPositions, List<Integer> lastTrackingEncVels) {
+        super(Arrays.asList(
+                new Pose2d(0, LATERAL_DISTANCE / 2, 0), // left
+                new Pose2d(0, -LATERAL_DISTANCE / 2, 0), // right
+                new Pose2d(FORWARD_OFFSET, 0, Math.toRadians(90)) // front
+        ));
+
+        lastEncPositions = lastTrackingEncPositions;
+        lastEncVels = lastTrackingEncVels;
+
+        leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, "leftEncoder"));
+        rightEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, "rightEncoder"));
+        frontEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, "frontEncoder"));
+
+        // TODO: reverse any encoders using Encoder.setDirection(Encoder.Direction.REVERSE)
+    }
+
+    public static double encoderTicksToInches(double ticks) {
+        return WHEEL_RADIUS * 2 * Math.PI * GEAR_RATIO * ticks / TICKS_PER_REV;
+    }
+
+    @NonNull
+    @Override
+    public List<Double> getWheelPositions() {
+        int leftPos = leftEncoder.getCurrentPosition();
+        int rightPos = rightEncoder.getCurrentPosition();
+        int frontPos = frontEncoder.getCurrentPosition();
+
+        lastEncPositions.clear();
+        lastEncPositions.add(leftPos);
+        lastEncPositions.add(rightPos);
+        lastEncPositions.add(frontPos);
+
+        return Arrays.asList(
+                encoderTicksToInches(leftPos),
+                encoderTicksToInches(rightPos),
+                encoderTicksToInches(frontPos)
+        );
+    }
+
+    @NonNull
+    @Override
+    public List<Double> getWheelVelocities() {
+        int leftVel = (int) leftEncoder.getCorrectedVelocity();
+        int rightVel = (int) rightEncoder.getCorrectedVelocity();
+        int frontVel = (int) frontEncoder.getCorrectedVelocity();
+
+        lastEncVels.clear();
+        lastEncVels.add(leftVel);
+        lastEncVels.add(rightVel);
+        lastEncVels.add(frontVel);
+
+        return Arrays.asList(
+                encoderTicksToInches(leftVel),
+                encoderTicksToInches(rightVel),
+                encoderTicksToInches(frontVel)
+        );
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/AutomaticFeedforwardTuner.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/AutomaticFeedforwardTuner.java
new file mode 100644
index 0000000..8e0c621
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/AutomaticFeedforwardTuner.java
@@ -0,0 +1,221 @@
+package org.firstinspires.ftc.teamcode.drive.opmode;
+
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.MAX_RPM;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.RUN_USING_ENCODER;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.rpmToVelocity;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.acmerobotics.roadrunner.util.NanoClock;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.util.RobotLog;
+
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+import org.firstinspires.ftc.robotcore.internal.system.Misc;
+import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
+import org.firstinspires.ftc.teamcode.util.LoggingUtil;
+import org.firstinspires.ftc.teamcode.util.RegressionUtil;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/*
+ * Op mode for computing kV, kStatic, and kA from various drive routines. For the curious, here's an
+ * outline of the procedure:
+ *   1. Slowly ramp the motor power and record encoder values along the way.
+ *   2. Run a linear regression on the encoder velocity vs. motor power plot to obtain a slope (kV)
+ *      and an optional intercept (kStatic).
+ *   3. Accelerate the robot (apply constant power) and record the encoder counts.
+ *   4. Adjust the encoder data based on the velocity tuning data and find kA with another linear
+ *      regression.
+ */
+@Config
+@Autonomous(group = "drive")
+public class AutomaticFeedforwardTuner extends LinearOpMode {
+    public static double MAX_POWER = 0.7;
+    public static double DISTANCE = 100; // in
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        if (RUN_USING_ENCODER) {
+            RobotLog.setGlobalErrorMsg("Feedforward constants usually don't need to be tuned " +
+                    "when using the built-in drive motor velocity PID.");
+        }
+
+        Telemetry telemetry = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
+
+        SampleMecanumDrive drive = new SampleMecanumDrive(hardwareMap);
+
+        NanoClock clock = NanoClock.system();
+
+        telemetry.addLine("Press play to begin the feedforward tuning routine");
+        telemetry.update();
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        telemetry.clearAll();
+        telemetry.addLine("Would you like to fit kStatic?");
+        telemetry.addLine("Press (Y/Δ) for yes, (B/O) for no");
+        telemetry.update();
+
+        boolean fitIntercept = false;
+        while (!isStopRequested()) {
+            if (gamepad1.y) {
+                fitIntercept = true;
+                while (!isStopRequested() && gamepad1.y) {
+                    idle();
+                }
+                break;
+            } else if (gamepad1.b) {
+                while (!isStopRequested() && gamepad1.b) {
+                    idle();
+                }
+                break;
+            }
+            idle();
+        }
+
+        telemetry.clearAll();
+        telemetry.addLine(Misc.formatInvariant(
+                "Place your robot on the field with at least %.2f in of room in front", DISTANCE));
+        telemetry.addLine("Press (Y/Δ) to begin");
+        telemetry.update();
+
+        while (!isStopRequested() && !gamepad1.y) {
+            idle();
+        }
+        while (!isStopRequested() && gamepad1.y) {
+            idle();
+        }
+
+        telemetry.clearAll();
+        telemetry.addLine("Running...");
+        telemetry.update();
+
+        double maxVel = rpmToVelocity(MAX_RPM);
+        double finalVel = MAX_POWER * maxVel;
+        double accel = (finalVel * finalVel) / (2.0 * DISTANCE);
+        double rampTime = Math.sqrt(2.0 * DISTANCE / accel);
+
+        List<Double> timeSamples = new ArrayList<>();
+        List<Double> positionSamples = new ArrayList<>();
+        List<Double> powerSamples = new ArrayList<>();
+
+        drive.setPoseEstimate(new Pose2d());
+
+        double startTime = clock.seconds();
+        while (!isStopRequested()) {
+            double elapsedTime = clock.seconds() - startTime;
+            if (elapsedTime > rampTime) {
+                break;
+            }
+            double vel = accel * elapsedTime;
+            double power = vel / maxVel;
+
+            timeSamples.add(elapsedTime);
+            positionSamples.add(drive.getPoseEstimate().getX());
+            powerSamples.add(power);
+
+            drive.setDrivePower(new Pose2d(power, 0.0, 0.0));
+            drive.updatePoseEstimate();
+        }
+        drive.setDrivePower(new Pose2d(0.0, 0.0, 0.0));
+
+        RegressionUtil.RampResult rampResult = RegressionUtil.fitRampData(
+                timeSamples, positionSamples, powerSamples, fitIntercept,
+                LoggingUtil.getLogFile(Misc.formatInvariant(
+                        "DriveRampRegression-%d.csv", System.currentTimeMillis())));
+
+        telemetry.clearAll();
+        telemetry.addLine("Quasi-static ramp up test complete");
+        if (fitIntercept) {
+            telemetry.addLine(Misc.formatInvariant("kV = %.5f, kStatic = %.5f (R^2 = %.2f)",
+                    rampResult.kV, rampResult.kStatic, rampResult.rSquare));
+        } else {
+            telemetry.addLine(Misc.formatInvariant("kV = %.5f (R^2 = %.2f)",
+                    rampResult.kStatic, rampResult.rSquare));
+        }
+        telemetry.addLine("Would you like to fit kA?");
+        telemetry.addLine("Press (Y/Δ) for yes, (B/O) for no");
+        telemetry.update();
+
+        boolean fitAccelFF = false;
+        while (!isStopRequested()) {
+            if (gamepad1.y) {
+                fitAccelFF = true;
+                while (!isStopRequested() && gamepad1.y) {
+                    idle();
+                }
+                break;
+            } else if (gamepad1.b) {
+                while (!isStopRequested() && gamepad1.b) {
+                    idle();
+                }
+                break;
+            }
+            idle();
+        }
+
+        if (fitAccelFF) {
+            telemetry.clearAll();
+            telemetry.addLine("Place the robot back in its starting position");
+            telemetry.addLine("Press (Y/Δ) to continue");
+            telemetry.update();
+
+            while (!isStopRequested() && !gamepad1.y) {
+                idle();
+            }
+            while (!isStopRequested() && gamepad1.y) {
+                idle();
+            }
+
+            telemetry.clearAll();
+            telemetry.addLine("Running...");
+            telemetry.update();
+
+            double maxPowerTime = DISTANCE / maxVel;
+
+            timeSamples.clear();
+            positionSamples.clear();
+            powerSamples.clear();
+
+            drive.setPoseEstimate(new Pose2d());
+            drive.setDrivePower(new Pose2d(MAX_POWER, 0.0, 0.0));
+
+            startTime = clock.seconds();
+            while (!isStopRequested()) {
+                double elapsedTime = clock.seconds() - startTime;
+                if (elapsedTime > maxPowerTime) {
+                    break;
+                }
+
+                timeSamples.add(elapsedTime);
+                positionSamples.add(drive.getPoseEstimate().getX());
+                powerSamples.add(MAX_POWER);
+
+                drive.updatePoseEstimate();
+            }
+            drive.setDrivePower(new Pose2d(0.0, 0.0, 0.0));
+
+            RegressionUtil.AccelResult accelResult = RegressionUtil.fitAccelData(
+                    timeSamples, positionSamples, powerSamples, rampResult,
+                    LoggingUtil.getLogFile(Misc.formatInvariant(
+                            "DriveAccelRegression-%d.csv", System.currentTimeMillis())));
+
+            telemetry.clearAll();
+            telemetry.addLine("Constant power test complete");
+            telemetry.addLine(Misc.formatInvariant("kA = %.5f (R^2 = %.2f)",
+                    accelResult.kA, accelResult.rSquare));
+            telemetry.update();
+        }
+
+        while (!isStopRequested()) {
+            idle();
+        }
+    }
+}
\ No newline at end of file
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/BackAndForth.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/BackAndForth.java
new file mode 100644
index 0000000..a78ad37
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/BackAndForth.java
@@ -0,0 +1,52 @@
+package org.firstinspires.ftc.teamcode.drive.opmode;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.acmerobotics.roadrunner.trajectory.Trajectory;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
+
+/*
+ * Op mode for preliminary tuning of the follower PID coefficients (located in the drive base
+ * classes). The robot drives back and forth in a straight line indefinitely. Utilization of the
+ * dashboard is recommended for this tuning routine. To access the dashboard, connect your computer
+ * to the RC's WiFi network. In your browser, navigate to https://192.168.49.1:8080/dash if you're
+ * using the RC phone or https://192.168.43.1:8080/dash if you are using the Control Hub. Once
+ * you've successfully connected, start the program, and your robot will begin moving forward and
+ * backward. You should observe the target position (green) and your pose estimate (blue) and adjust
+ * your follower PID coefficients such that you follow the target position as accurately as possible.
+ * If you are using SampleMecanumDrive, you should be tuning TRANSLATIONAL_PID and HEADING_PID.
+ * If you are using SampleTankDrive, you should be tuning AXIAL_PID, CROSS_TRACK_PID, and HEADING_PID.
+ * These coefficients can be tuned live in dashboard.
+ *
+ * This opmode is designed as a convenient, coarse tuning for the follower PID coefficients. It
+ * is recommended that you use the FollowerPIDTuner opmode for further fine tuning.
+ */
+@Config
+@Autonomous(group = "drive")
+public class BackAndForth extends LinearOpMode {
+
+    public static double DISTANCE = 50;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        SampleMecanumDrive drive = new SampleMecanumDrive(hardwareMap);
+
+        Trajectory trajectoryForward = drive.trajectoryBuilder(new Pose2d())
+                .forward(DISTANCE)
+                .build();
+
+        Trajectory trajectoryBackward = drive.trajectoryBuilder(trajectoryForward.end())
+                .back(DISTANCE)
+                .build();
+
+        waitForStart();
+
+        while (opModeIsActive() && !isStopRequested()) {
+            drive.followTrajectory(trajectoryForward);
+            drive.followTrajectory(trajectoryBackward);
+        }
+    }
+}
\ No newline at end of file
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/DriveVelocityPIDTuner.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/DriveVelocityPIDTuner.java
new file mode 100644
index 0000000..931b742
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/DriveVelocityPIDTuner.java
@@ -0,0 +1,171 @@
+package org.firstinspires.ftc.teamcode.drive.opmode;
+
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.MAX_ACCEL;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.MAX_VEL;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.MOTOR_VELO_PID;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.RUN_USING_ENCODER;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.kV;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.acmerobotics.roadrunner.profile.MotionProfile;
+import com.acmerobotics.roadrunner.profile.MotionProfileGenerator;
+import com.acmerobotics.roadrunner.profile.MotionState;
+import com.acmerobotics.roadrunner.util.NanoClock;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.util.RobotLog;
+
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
+
+import java.util.List;
+
+/*
+ * This routine is designed to tune the PID coefficients used by the REV Expansion Hubs for closed-
+ * loop velocity control. Although it may seem unnecessary, tuning these coefficients is just as
+ * important as the positional parameters. Like the other manual tuning routines, this op mode
+ * relies heavily upon the dashboard. To access the dashboard, connect your computer to the RC's
+ * WiFi network. In your browser, navigate to https://192.168.49.1:8080/dash if you're using the RC
+ * phone or https://192.168.43.1:8080/dash if you are using the Control Hub. Once you've successfully
+ * connected, start the program, and your robot will begin moving forward and backward according to
+ * a motion profile. Your job is to graph the velocity errors over time and adjust the PID
+ * coefficients (note: the tuning variable will not appear until the op mode finishes initializing).
+ * Once you've found a satisfactory set of gains, add them to the DriveConstants.java file under the
+ * MOTOR_VELO_PID field.
+ *
+ * Recommended tuning process:
+ *
+ * 1. Increase kP until any phase lag is eliminated. Concurrently increase kD as necessary to
+ *    mitigate oscillations.
+ * 2. Add kI (or adjust kF) until the steady state/constant velocity plateaus are reached.
+ * 3. Back off kP and kD a little until the response is less oscillatory (but without lag).
+ *
+ * Pressing Y/Δ (Xbox/PS4) will pause the tuning process and enter driver override, allowing the
+ * user to reset the position of the bot in the event that it drifts off the path.
+ * Pressing B/O (Xbox/PS4) will cede control back to the tuning process.
+ */
+@Config
+@Autonomous(group = "drive")
+public class DriveVelocityPIDTuner extends LinearOpMode {
+    public static double DISTANCE = 72; // in
+
+    enum Mode {
+        DRIVER_MODE,
+        TUNING_MODE
+    }
+
+    private static MotionProfile generateProfile(boolean movingForward) {
+        MotionState start = new MotionState(movingForward ? 0 : DISTANCE, 0, 0, 0);
+        MotionState goal = new MotionState(movingForward ? DISTANCE : 0, 0, 0, 0);
+        return MotionProfileGenerator.generateSimpleMotionProfile(start, goal, MAX_VEL, MAX_ACCEL);
+    }
+
+    @Override
+    public void runOpMode() {
+        if (!RUN_USING_ENCODER) {
+            RobotLog.setGlobalErrorMsg("%s does not need to be run if the built-in motor velocity" +
+                    "PID is not in use", getClass().getSimpleName());
+        }
+
+        Telemetry telemetry = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
+
+        SampleMecanumDrive drive = new SampleMecanumDrive(hardwareMap);
+
+        Mode mode = Mode.TUNING_MODE;
+
+        double lastKp = MOTOR_VELO_PID.p;
+        double lastKi = MOTOR_VELO_PID.i;
+        double lastKd = MOTOR_VELO_PID.d;
+        double lastKf = MOTOR_VELO_PID.f;
+
+        drive.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, MOTOR_VELO_PID);
+
+        NanoClock clock = NanoClock.system();
+
+        telemetry.addLine("Ready!");
+        telemetry.update();
+        telemetry.clearAll();
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        boolean movingForwards = true;
+        MotionProfile activeProfile = generateProfile(true);
+        double profileStart = clock.seconds();
+
+
+        while (!isStopRequested()) {
+            telemetry.addData("mode", mode);
+
+            switch (mode) {
+                case TUNING_MODE:
+                    if (gamepad1.y) {
+                        mode = Mode.DRIVER_MODE;
+                        drive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+                    }
+
+                    // calculate and set the motor power
+                    double profileTime = clock.seconds() - profileStart;
+
+                    if (profileTime > activeProfile.duration()) {
+                        // generate a new profile
+                        movingForwards = !movingForwards;
+                        activeProfile = generateProfile(movingForwards);
+                        profileStart = clock.seconds();
+                    }
+
+                    MotionState motionState = activeProfile.get(profileTime);
+                    double targetPower = kV * motionState.getV();
+                    drive.setDrivePower(new Pose2d(targetPower, 0, 0));
+
+                    List<Double> velocities = drive.getWheelVelocities();
+
+                    // update telemetry
+                    telemetry.addData("targetVelocity", motionState.getV());
+                    for (int i = 0; i < velocities.size(); i++) {
+                        telemetry.addData("measuredVelocity" + i, velocities.get(i));
+                        telemetry.addData(
+                                "error" + i,
+                                motionState.getV() - velocities.get(i)
+                        );
+                    }
+                    break;
+                case DRIVER_MODE:
+                    if (gamepad1.b) {
+                        drive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+
+                        mode = Mode.TUNING_MODE;
+                        movingForwards = true;
+                        activeProfile = generateProfile(movingForwards);
+                        profileStart = clock.seconds();
+                    }
+
+                    drive.setWeightedDrivePower(
+                            new Pose2d(
+                                    -gamepad1.left_stick_y,
+                                    -gamepad1.left_stick_x,
+                                    -gamepad1.right_stick_x
+                            )
+                    );
+                    break;
+            }
+
+            if (lastKp != MOTOR_VELO_PID.p || lastKd != MOTOR_VELO_PID.d
+                    || lastKi != MOTOR_VELO_PID.i || lastKf != MOTOR_VELO_PID.f) {
+                drive.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, MOTOR_VELO_PID);
+
+                lastKp = MOTOR_VELO_PID.p;
+                lastKi = MOTOR_VELO_PID.i;
+                lastKd = MOTOR_VELO_PID.d;
+                lastKf = MOTOR_VELO_PID.f;
+            }
+
+            telemetry.update();
+        }
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/FollowerPIDTuner.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/FollowerPIDTuner.java
new file mode 100644
index 0000000..63f577e
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/FollowerPIDTuner.java
@@ -0,0 +1,55 @@
+package org.firstinspires.ftc.teamcode.drive.opmode;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
+import org.firstinspires.ftc.teamcode.trajectorysequence.TrajectorySequence;
+
+/*
+ * Op mode for preliminary tuning of the follower PID coefficients (located in the drive base
+ * classes). The robot drives in a DISTANCE-by-DISTANCE square indefinitely. Utilization of the
+ * dashboard is recommended for this tuning routine. To access the dashboard, connect your computer
+ * to the RC's WiFi network. In your browser, navigate to https://192.168.49.1:8080/dash if you're
+ * using the RC phone or https://192.168.43.1:8080/dash if you are using the Control Hub. Once
+ * you've successfully connected, start the program, and your robot will begin driving in a square.
+ * You should observe the target position (green) and your pose estimate (blue) and adjust your
+ * follower PID coefficients such that you follow the target position as accurately as possible.
+ * If you are using SampleMecanumDrive, you should be tuning TRANSLATIONAL_PID and HEADING_PID.
+ * If you are using SampleTankDrive, you should be tuning AXIAL_PID, CROSS_TRACK_PID, and HEADING_PID.
+ * These coefficients can be tuned live in dashboard.
+ */
+@Config
+@Autonomous(group = "drive")
+public class FollowerPIDTuner extends LinearOpMode {
+    public static double DISTANCE = 48; // in
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        SampleMecanumDrive drive = new SampleMecanumDrive(hardwareMap);
+
+        Pose2d startPose = new Pose2d(-DISTANCE / 2, -DISTANCE / 2, 0);
+
+        drive.setPoseEstimate(startPose);
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        while (!isStopRequested()) {
+            TrajectorySequence trajSeq = drive.trajectorySequenceBuilder(startPose)
+                    .forward(DISTANCE)
+                    .turn(Math.toRadians(90))
+                    .forward(DISTANCE)
+                    .turn(Math.toRadians(90))
+                    .forward(DISTANCE)
+                    .turn(Math.toRadians(90))
+                    .forward(DISTANCE)
+                    .turn(Math.toRadians(90))
+                    .build();
+            drive.followTrajectorySequence(trajSeq);
+        }
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/LocalizationTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/LocalizationTest.java
new file mode 100644
index 0000000..8411792
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/LocalizationTest.java
@@ -0,0 +1,45 @@
+package org.firstinspires.ftc.teamcode.drive.opmode;
+
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.DcMotor;
+
+import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
+
+/**
+ * This is a simple teleop routine for testing localization. Drive the robot around like a normal
+ * teleop routine and make sure the robot's estimated pose matches the robot's actual pose (slight
+ * errors are not out of the ordinary, especially with sudden drive motions). The goal of this
+ * exercise is to ascertain whether the localizer has been configured properly (note: the pure
+ * encoder localizer heading may be significantly off if the track width has not been tuned).
+ */
+@TeleOp(group = "drive")
+public class LocalizationTest extends LinearOpMode {
+    @Override
+    public void runOpMode() throws InterruptedException {
+        SampleMecanumDrive drive = new SampleMecanumDrive(hardwareMap);
+
+        drive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+
+        waitForStart();
+
+        while (!isStopRequested()) {
+            drive.setWeightedDrivePower(
+                    new Pose2d(
+                            -gamepad1.left_stick_y,
+                            -gamepad1.left_stick_x,
+                            -gamepad1.right_stick_x
+                    )
+            );
+
+            drive.update();
+
+            Pose2d poseEstimate = drive.getPoseEstimate();
+            telemetry.addData("x", poseEstimate.getX());
+            telemetry.addData("y", poseEstimate.getY());
+            telemetry.addData("heading", poseEstimate.getHeading());
+            telemetry.update();
+        }
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/ManualFeedforwardTuner.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/ManualFeedforwardTuner.java
new file mode 100644
index 0000000..27880f9
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/ManualFeedforwardTuner.java
@@ -0,0 +1,152 @@
+package org.firstinspires.ftc.teamcode.drive.opmode;
+
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.MAX_ACCEL;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.MAX_VEL;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.RUN_USING_ENCODER;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.kA;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.kStatic;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.kV;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.acmerobotics.roadrunner.kinematics.Kinematics;
+import com.acmerobotics.roadrunner.profile.MotionProfile;
+import com.acmerobotics.roadrunner.profile.MotionProfileGenerator;
+import com.acmerobotics.roadrunner.profile.MotionState;
+import com.acmerobotics.roadrunner.util.NanoClock;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.VoltageSensor;
+import com.qualcomm.robotcore.util.RobotLog;
+
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
+
+import java.util.Objects;
+
+/*
+ * This routine is designed to tune the open-loop feedforward coefficients. Although it may seem unnecessary,
+ * tuning these coefficients is just as important as the positional parameters. Like the other
+ * manual tuning routines, this op mode relies heavily upon the dashboard. To access the dashboard,
+ * connect your computer to the RC's WiFi network. In your browser, navigate to
+ * https://192.168.49.1:8080/dash if you're using the RC phone or https://192.168.43.1:8080/dash if
+ * you are using the Control Hub. Once you've successfully connected, start the program, and your
+ * robot will begin moving forward and backward according to a motion profile. Your job is to graph
+ * the velocity errors over time and adjust the feedforward coefficients. Once you've found a
+ * satisfactory set of gains, add them to the appropriate fields in the DriveConstants.java file.
+ *
+ * Pressing Y/Δ (Xbox/PS4) will pause the tuning process and enter driver override, allowing the
+ * user to reset the position of the bot in the event that it drifts off the path.
+ * Pressing B/O (Xbox/PS4) will cede control back to the tuning process.
+ */
+@Config
+@Autonomous(group = "drive")
+public class ManualFeedforwardTuner extends LinearOpMode {
+    public static double DISTANCE = 72; // in
+
+    private FtcDashboard dashboard = FtcDashboard.getInstance();
+
+    private SampleMecanumDrive drive;
+
+    enum Mode {
+        DRIVER_MODE,
+        TUNING_MODE
+    }
+
+    private Mode mode;
+
+    private static MotionProfile generateProfile(boolean movingForward) {
+        MotionState start = new MotionState(movingForward ? 0 : DISTANCE, 0, 0, 0);
+        MotionState goal = new MotionState(movingForward ? DISTANCE : 0, 0, 0, 0);
+        return MotionProfileGenerator.generateSimpleMotionProfile(start, goal, MAX_VEL, MAX_ACCEL);
+    }
+
+    @Override
+    public void runOpMode() {
+        if (RUN_USING_ENCODER) {
+            RobotLog.setGlobalErrorMsg("Feedforward constants usually don't need to be tuned " +
+                    "when using the built-in drive motor velocity PID.");
+        }
+
+        Telemetry telemetry = new MultipleTelemetry(this.telemetry, dashboard.getTelemetry());
+
+        drive = new SampleMecanumDrive(hardwareMap);
+
+        final VoltageSensor voltageSensor = hardwareMap.voltageSensor.iterator().next();
+
+        mode = Mode.TUNING_MODE;
+
+        NanoClock clock = NanoClock.system();
+
+        telemetry.addLine("Ready!");
+        telemetry.update();
+        //telemetry.clearAll();
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        boolean movingForwards = true;
+        MotionProfile activeProfile = generateProfile(true);
+        double profileStart = clock.seconds();
+
+
+        while (!isStopRequested()) {
+            telemetry.addData("mode", mode);
+
+            switch (mode) {
+                case TUNING_MODE:
+                    if (gamepad1.y) {
+                        mode = Mode.DRIVER_MODE;
+                    }
+
+                    // calculate and set the motor power
+                    double profileTime = clock.seconds() - profileStart;
+
+                    if (profileTime > activeProfile.duration()) {
+                        // generate a new profile
+                        movingForwards = !movingForwards;
+                        activeProfile = generateProfile(movingForwards);
+                        profileStart = clock.seconds();
+                    }
+
+                    MotionState motionState = activeProfile.get(profileTime);
+                    double targetPower = Kinematics.calculateMotorFeedforward(motionState.getV(), motionState.getA(), kV, kA, kStatic);
+
+                    final double NOMINAL_VOLTAGE = 12.0;
+                    final double voltage = voltageSensor.getVoltage();
+                    drive.setDrivePower(new Pose2d(NOMINAL_VOLTAGE / voltage * targetPower, 0, 0));
+                    drive.updatePoseEstimate();
+
+                    Pose2d poseVelo = Objects.requireNonNull(drive.getPoseVelocity(), "poseVelocity() must not be null. Ensure that the getWheelVelocities() method has been overridden in your localizer.");
+                    double currentVelo = poseVelo.getX();
+
+                    // update telemetry
+                    telemetry.addData("targetVelocity", motionState.getV());
+                    telemetry.addData("measuredVelocity", currentVelo);
+                    telemetry.addData("error", motionState.getV() - currentVelo);
+                    break;
+                case DRIVER_MODE:
+                    if (gamepad1.b) {
+                        mode = Mode.TUNING_MODE;
+                        movingForwards = true;
+                        activeProfile = generateProfile(movingForwards);
+                        profileStart = clock.seconds();
+                    }
+
+                    drive.setWeightedDrivePower(
+                            new Pose2d(
+                                    -gamepad1.left_stick_y,
+                                    -gamepad1.left_stick_x,
+                                    -gamepad1.right_stick_x
+                            )
+                    );
+                    break;
+            }
+
+            telemetry.update();
+        }
+    }
+}
\ No newline at end of file
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/MaxAngularVeloTuner.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/MaxAngularVeloTuner.java
new file mode 100644
index 0000000..05d8265
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/MaxAngularVeloTuner.java
@@ -0,0 +1,73 @@
+package org.firstinspires.ftc.teamcode.drive.opmode;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
+
+import java.util.Objects;
+
+/**
+ * This routine is designed to calculate the maximum angular velocity your bot can achieve under load.
+ * <p>
+ * Upon pressing start, your bot will turn at max power for RUNTIME seconds.
+ * <p>
+ * Further fine tuning of MAX_ANG_VEL may be desired.
+ */
+
+@Config
+@Autonomous(group = "drive")
+public class MaxAngularVeloTuner extends LinearOpMode {
+    public static double RUNTIME = 4.0;
+
+    private ElapsedTime timer;
+    private double maxAngVelocity = 0.0;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        SampleMecanumDrive drive = new SampleMecanumDrive(hardwareMap);
+
+        drive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+
+        Telemetry telemetry = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
+
+        telemetry.addLine("Your bot will turn at full speed for " + RUNTIME + " seconds.");
+        telemetry.addLine("Please ensure you have enough space cleared.");
+        telemetry.addLine("");
+        telemetry.addLine("Press start when ready.");
+        telemetry.update();
+
+        waitForStart();
+
+        telemetry.clearAll();
+        telemetry.update();
+
+        drive.setDrivePower(new Pose2d(0, 0, 1));
+        timer = new ElapsedTime();
+
+        while (!isStopRequested() && timer.seconds() < RUNTIME) {
+            drive.updatePoseEstimate();
+
+            Pose2d poseVelo = Objects.requireNonNull(drive.getPoseVelocity(), "poseVelocity() must not be null. Ensure that the getWheelVelocities() method has been overridden in your localizer.");
+
+            maxAngVelocity = Math.max(poseVelo.getHeading(), maxAngVelocity);
+        }
+
+        drive.setDrivePower(new Pose2d());
+
+        telemetry.addData("Max Angular Velocity (rad)", maxAngVelocity);
+        telemetry.addData("Max Angular Velocity (deg)", Math.toDegrees(maxAngVelocity));
+        telemetry.addData("Max Recommended Angular Velocity (rad)", maxAngVelocity * 0.8);
+        telemetry.addData("Max Recommended Angular Velocity (deg)", Math.toDegrees(maxAngVelocity * 0.8));
+        telemetry.update();
+
+        while (!isStopRequested()) idle();
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/MaxVelocityTuner.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/MaxVelocityTuner.java
new file mode 100644
index 0000000..ddca6cd
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/MaxVelocityTuner.java
@@ -0,0 +1,84 @@
+package org.firstinspires.ftc.teamcode.drive.opmode;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.VoltageSensor;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+import org.firstinspires.ftc.teamcode.drive.DriveConstants;
+import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
+
+import java.util.Objects;
+
+/**
+ * This routine is designed to calculate the maximum velocity your bot can achieve under load. It
+ * will also calculate the effective kF value for your velocity PID.
+ * <p>
+ * Upon pressing start, your bot will run at max power for RUNTIME seconds.
+ * <p>
+ * Further fine tuning of kF may be desired.
+ */
+@Config
+@Autonomous(group = "drive")
+public class MaxVelocityTuner extends LinearOpMode {
+    public static double RUNTIME = 2.0;
+
+    private ElapsedTime timer;
+    private double maxVelocity = 0.0;
+
+    private VoltageSensor batteryVoltageSensor;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        SampleMecanumDrive drive = new SampleMecanumDrive(hardwareMap);
+
+        drive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+
+        batteryVoltageSensor = hardwareMap.voltageSensor.iterator().next();
+
+        Telemetry telemetry = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
+
+        telemetry.addLine("Your bot will go at full speed for " + RUNTIME + " seconds.");
+        telemetry.addLine("Please ensure you have enough space cleared.");
+        telemetry.addLine("");
+        telemetry.addLine("Press start when ready.");
+        telemetry.update();
+
+        waitForStart();
+
+        telemetry.clearAll();
+        telemetry.update();
+
+        drive.setDrivePower(new Pose2d(1, 0, 0));
+        timer = new ElapsedTime();
+
+        while (!isStopRequested() && timer.seconds() < RUNTIME) {
+            drive.updatePoseEstimate();
+
+            Pose2d poseVelo = Objects.requireNonNull(drive.getPoseVelocity(), "poseVelocity() must not be null. Ensure that the getWheelVelocities() method has been overridden in your localizer.");
+
+            maxVelocity = Math.max(poseVelo.vec().norm(), maxVelocity);
+        }
+
+        drive.setDrivePower(new Pose2d());
+
+        double effectiveKf = DriveConstants.getMotorVelocityF(veloInchesToTicks(maxVelocity));
+
+        telemetry.addData("Max Velocity", maxVelocity);
+        telemetry.addData("Max Recommended Velocity", maxVelocity * 0.8);
+        telemetry.addData("Voltage Compensated kF", effectiveKf * batteryVoltageSensor.getVoltage() / 12);
+        telemetry.update();
+
+        while (!isStopRequested() && opModeIsActive()) idle();
+    }
+
+    private double veloInchesToTicks(double inchesPerSec) {
+        return inchesPerSec / (2 * Math.PI * DriveConstants.WHEEL_RADIUS) / DriveConstants.GEAR_RATIO * DriveConstants.TICKS_PER_REV;
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/MotorDirectionDebugger.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/MotorDirectionDebugger.java
new file mode 100644
index 0000000..023cfcc
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/MotorDirectionDebugger.java
@@ -0,0 +1,93 @@
+package org.firstinspires.ftc.teamcode.drive.opmode;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
+
+/**
+ * This is a simple teleop routine for debugging your motor configuration.
+ * Pressing each of the buttons will power its respective motor.
+ *
+ * Button Mappings:
+ *
+ * Xbox/PS4 Button - Motor
+ *   X / ▢         - Front Left
+ *   Y / Δ         - Front Right
+ *   B / O         - Rear  Right
+ *   A / X         - Rear  Left
+ *                                    The buttons are mapped to match the wheels spatially if you
+ *                                    were to rotate the gamepad 45deg°. x/square is the front left
+ *                    ________        and each button corresponds to the wheel as you go clockwise
+ *                   / ______ \
+ *     ------------.-'   _  '-..+              Front of Bot
+ *              /   _  ( Y )  _  \                  ^
+ *             |  ( X )  _  ( B ) |     Front Left   \    Front Right
+ *        ___  '.      ( A )     /|       Wheel       \      Wheel
+ *      .'    '.    '-._____.-'  .'       (x/▢)        \     (Y/Δ)
+ *     |       |                 |                      \
+ *      '.___.' '.               |          Rear Left    \   Rear Right
+ *               '.             /             Wheel       \    Wheel
+ *                \.          .'              (A/X)        \   (B/O)
+ *                  \________/
+ *
+ * Uncomment the @Disabled tag below to use this opmode.
+ */
+@Disabled
+@Config
+@TeleOp(group = "drive")
+public class MotorDirectionDebugger extends LinearOpMode {
+    public static double MOTOR_POWER = 0.7;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        Telemetry telemetry = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
+
+        SampleMecanumDrive drive = new SampleMecanumDrive(hardwareMap);
+
+        telemetry.addLine("Press play to begin the debugging opmode");
+        telemetry.update();
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        telemetry.clearAll();
+        telemetry.setDisplayFormat(Telemetry.DisplayFormat.HTML);
+
+        while (!isStopRequested()) {
+            telemetry.addLine("Press each button to turn on its respective motor");
+            telemetry.addLine();
+            telemetry.addLine("<font face=\"monospace\">Xbox/PS4 Button - Motor</font>");
+            telemetry.addLine("<font face=\"monospace\">&nbsp;&nbsp;X / ▢&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;- Front Left</font>");
+            telemetry.addLine("<font face=\"monospace\">&nbsp;&nbsp;Y / Δ&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;- Front Right</font>");
+            telemetry.addLine("<font face=\"monospace\">&nbsp;&nbsp;B / O&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;- Rear&nbsp;&nbsp;Right</font>");
+            telemetry.addLine("<font face=\"monospace\">&nbsp;&nbsp;A / X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;- Rear&nbsp;&nbsp;Left</font>");
+            telemetry.addLine();
+
+            if(gamepad1.x) {
+                drive.setMotorPowers(MOTOR_POWER, 0, 0, 0);
+                telemetry.addLine("Running Motor: Front Left");
+            } else if(gamepad1.y) {
+                drive.setMotorPowers(0, 0, 0, MOTOR_POWER);
+                telemetry.addLine("Running Motor: Front Right");
+            } else if(gamepad1.b) {
+                drive.setMotorPowers(0, 0, MOTOR_POWER, 0);
+                telemetry.addLine("Running Motor: Rear Right");
+            } else if(gamepad1.a) {
+                drive.setMotorPowers(0, MOTOR_POWER, 0, 0);
+                telemetry.addLine("Running Motor: Rear Left");
+            } else {
+                drive.setMotorPowers(0, 0, 0, 0);
+                telemetry.addLine("Running Motor: None");
+            }
+
+            telemetry.update();
+        }
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/SplineTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/SplineTest.java
new file mode 100644
index 0000000..d731676
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/SplineTest.java
@@ -0,0 +1,38 @@
+package org.firstinspires.ftc.teamcode.drive.opmode;
+
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.acmerobotics.roadrunner.geometry.Vector2d;
+import com.acmerobotics.roadrunner.trajectory.Trajectory;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
+
+/*
+ * This is an example of a more complex path to really test the tuning.
+ */
+@Autonomous(group = "drive")
+public class SplineTest extends LinearOpMode {
+    @Override
+    public void runOpMode() throws InterruptedException {
+        SampleMecanumDrive drive = new SampleMecanumDrive(hardwareMap);
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        Trajectory traj = drive.trajectoryBuilder(new Pose2d())
+                .splineTo(new Vector2d(30, 30), 0)
+                .build();
+
+        drive.followTrajectory(traj);
+
+        sleep(2000);
+
+        drive.followTrajectory(
+                drive.trajectoryBuilder(traj.end(), true)
+                        .splineTo(new Vector2d(0, 0), Math.toRadians(180))
+                        .build()
+        );
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/StrafeTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/StrafeTest.java
new file mode 100644
index 0000000..992d03a
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/StrafeTest.java
@@ -0,0 +1,46 @@
+package org.firstinspires.ftc.teamcode.drive.opmode;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.acmerobotics.roadrunner.trajectory.Trajectory;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
+
+/*
+ * This is a simple routine to test translational drive capabilities.
+ */
+@Config
+@Autonomous(group = "drive")
+public class StrafeTest extends LinearOpMode {
+    public static double DISTANCE = 60; // in
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        Telemetry telemetry = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
+
+        SampleMecanumDrive drive = new SampleMecanumDrive(hardwareMap);
+
+        Trajectory trajectory = drive.trajectoryBuilder(new Pose2d())
+                .strafeRight(DISTANCE)
+                .build();
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        drive.followTrajectory(trajectory);
+
+        Pose2d poseEstimate = drive.getPoseEstimate();
+        telemetry.addData("finalX", poseEstimate.getX());
+        telemetry.addData("finalY", poseEstimate.getY());
+        telemetry.addData("finalHeading", poseEstimate.getHeading());
+        telemetry.update();
+
+        while (!isStopRequested() && opModeIsActive()) ;
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/StraightTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/StraightTest.java
new file mode 100644
index 0000000..e1b27e1
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/StraightTest.java
@@ -0,0 +1,46 @@
+package org.firstinspires.ftc.teamcode.drive.opmode;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.acmerobotics.roadrunner.trajectory.Trajectory;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
+
+/*
+ * This is a simple routine to test translational drive capabilities.
+ */
+@Config
+@Autonomous(group = "drive")
+public class StraightTest extends LinearOpMode {
+    public static double DISTANCE = 60; // in
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        Telemetry telemetry = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
+
+        SampleMecanumDrive drive = new SampleMecanumDrive(hardwareMap);
+
+        Trajectory trajectory = drive.trajectoryBuilder(new Pose2d())
+                .forward(DISTANCE)
+                .build();
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        drive.followTrajectory(trajectory);
+
+        Pose2d poseEstimate = drive.getPoseEstimate();
+        telemetry.addData("finalX", poseEstimate.getX());
+        telemetry.addData("finalY", poseEstimate.getY());
+        telemetry.addData("finalHeading", poseEstimate.getHeading());
+        telemetry.update();
+
+        while (!isStopRequested() && opModeIsActive()) ;
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/TrackWidthTuner.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/TrackWidthTuner.java
new file mode 100644
index 0000000..ffce023
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/TrackWidthTuner.java
@@ -0,0 +1,88 @@
+package org.firstinspires.ftc.teamcode.drive.opmode;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.acmerobotics.roadrunner.util.Angle;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.util.MovingStatistics;
+
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+import org.firstinspires.ftc.robotcore.internal.system.Misc;
+import org.firstinspires.ftc.teamcode.drive.DriveConstants;
+import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
+
+/*
+ * This routine determines the effective track width. The procedure works by executing a point turn
+ * with a given angle and measuring the difference between that angle and the actual angle (as
+ * indicated by an external IMU/gyro, track wheels, or some other localizer). The quotient
+ * given angle / actual angle gives a multiplicative adjustment to the estimated track width
+ * (effective track width = estimated track width * given angle / actual angle). The routine repeats
+ * this procedure a few times and averages the values for additional accuracy. Note: a relatively
+ * accurate track width estimate is important or else the angular constraints will be thrown off.
+ */
+@Config
+@Autonomous(group = "drive")
+public class TrackWidthTuner extends LinearOpMode {
+    public static double ANGLE = 180; // deg
+    public static int NUM_TRIALS = 5;
+    public static int DELAY = 1000; // ms
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        Telemetry telemetry = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
+
+        SampleMecanumDrive drive = new SampleMecanumDrive(hardwareMap);
+        // TODO: if you haven't already, set the localizer to something that doesn't depend on
+        // drive encoders for computing the heading
+
+        telemetry.addLine("Press play to begin the track width tuner routine");
+        telemetry.addLine("Make sure your robot has enough clearance to turn smoothly");
+        telemetry.update();
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        telemetry.clearAll();
+        telemetry.addLine("Running...");
+        telemetry.update();
+
+        MovingStatistics trackWidthStats = new MovingStatistics(NUM_TRIALS);
+        for (int i = 0; i < NUM_TRIALS; i++) {
+            drive.setPoseEstimate(new Pose2d());
+
+            // it is important to handle heading wraparounds
+            double headingAccumulator = 0;
+            double lastHeading = 0;
+
+            drive.turnAsync(Math.toRadians(ANGLE));
+
+            while (!isStopRequested() && drive.isBusy()) {
+                double heading = drive.getPoseEstimate().getHeading();
+                headingAccumulator += Angle.normDelta(heading - lastHeading);
+                lastHeading = heading;
+
+                drive.update();
+            }
+
+            double trackWidth = DriveConstants.TRACK_WIDTH * Math.toRadians(ANGLE) / headingAccumulator;
+            trackWidthStats.add(trackWidth);
+
+            sleep(DELAY);
+        }
+
+        telemetry.clearAll();
+        telemetry.addLine("Tuning complete");
+        telemetry.addLine(Misc.formatInvariant("Effective track width = %.2f (SE = %.3f)",
+                trackWidthStats.getMean(),
+                trackWidthStats.getStandardDeviation() / Math.sqrt(NUM_TRIALS)));
+        telemetry.update();
+
+        while (!isStopRequested()) {
+            idle();
+        }
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/TrackingWheelForwardOffsetTuner.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/TrackingWheelForwardOffsetTuner.java
new file mode 100644
index 0000000..ebe97f2
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/TrackingWheelForwardOffsetTuner.java
@@ -0,0 +1,104 @@
+package org.firstinspires.ftc.teamcode.drive.opmode;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.acmerobotics.roadrunner.util.Angle;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.util.MovingStatistics;
+import com.qualcomm.robotcore.util.RobotLog;
+
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+import org.firstinspires.ftc.robotcore.internal.system.Misc;
+import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
+import org.firstinspires.ftc.teamcode.drive.StandardTrackingWheelLocalizer;
+
+/**
+ * This routine determines the effective forward offset for the lateral tracking wheel.
+ * The procedure executes a point turn at a given angle for a certain number of trials,
+ * along with a specified delay in milliseconds. The purpose of this is to track the
+ * change in the y position during the turn. The offset, or distance, of the lateral tracking
+ * wheel from the center or rotation allows the wheel to spin during a point turn, leading
+ * to an incorrect measurement for the y position. This creates an arc around around
+ * the center of rotation with an arc length of change in y and a radius equal to the forward
+ * offset. We can compute this offset by calculating (change in y position) / (change in heading)
+ * which returns the radius if the angle (change in heading) is in radians. This is based
+ * on the arc length formula of length = theta * radius.
+ *
+ * To run this routine, simply adjust the desired angle and specify the number of trials
+ * and the desired delay. Then, run the procedure. Once it finishes, it will print the
+ * average of all the calculated forward offsets derived from the calculation. This calculated
+ * forward offset is then added onto the current forward offset to produce an overall estimate
+ * for the forward offset. You can run this procedure as many times as necessary until a
+ * satisfactory result is produced.
+ */
+@Config
+@Autonomous(group="drive")
+public class TrackingWheelForwardOffsetTuner extends LinearOpMode {
+    public static double ANGLE = 180; // deg
+    public static int NUM_TRIALS = 5;
+    public static int DELAY = 1000; // ms
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        Telemetry telemetry = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
+
+        SampleMecanumDrive drive = new SampleMecanumDrive(hardwareMap);
+
+        if (!(drive.getLocalizer() instanceof StandardTrackingWheelLocalizer)) {
+            RobotLog.setGlobalErrorMsg("StandardTrackingWheelLocalizer is not being set in the "
+                    + "drive class. Ensure that \"setLocalizer(new StandardTrackingWheelLocalizer"
+                    + "(hardwareMap));\" is called in SampleMecanumDrive.java");
+        }
+
+        telemetry.addLine("Press play to begin the forward offset tuner");
+        telemetry.addLine("Make sure your robot has enough clearance to turn smoothly");
+        telemetry.update();
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        telemetry.clearAll();
+        telemetry.addLine("Running...");
+        telemetry.update();
+
+        MovingStatistics forwardOffsetStats = new MovingStatistics(NUM_TRIALS);
+        for (int i = 0; i < NUM_TRIALS; i++) {
+            drive.setPoseEstimate(new Pose2d());
+
+            // it is important to handle heading wraparounds
+            double headingAccumulator = 0;
+            double lastHeading = 0;
+
+            drive.turnAsync(Math.toRadians(ANGLE));
+
+            while (!isStopRequested() && drive.isBusy()) {
+                double heading = drive.getPoseEstimate().getHeading();
+                headingAccumulator += Angle.norm(heading - lastHeading);
+                lastHeading = heading;
+
+                drive.update();
+            }
+
+            double forwardOffset = StandardTrackingWheelLocalizer.FORWARD_OFFSET +
+                    drive.getPoseEstimate().getY() / headingAccumulator;
+            forwardOffsetStats.add(forwardOffset);
+
+            sleep(DELAY);
+        }
+
+        telemetry.clearAll();
+        telemetry.addLine("Tuning complete");
+        telemetry.addLine(Misc.formatInvariant("Effective forward offset = %.2f (SE = %.3f)",
+                forwardOffsetStats.getMean(),
+                forwardOffsetStats.getStandardDeviation() / Math.sqrt(NUM_TRIALS)));
+        telemetry.update();
+
+        while (!isStopRequested()) {
+            idle();
+        }
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/TrackingWheelLateralDistanceTuner.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/TrackingWheelLateralDistanceTuner.java
new file mode 100644
index 0000000..a11059c
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/TrackingWheelLateralDistanceTuner.java
@@ -0,0 +1,130 @@
+package org.firstinspires.ftc.teamcode.drive.opmode;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.acmerobotics.roadrunner.util.Angle;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.util.RobotLog;
+
+import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
+import org.firstinspires.ftc.teamcode.drive.StandardTrackingWheelLocalizer;
+
+/**
+ * Opmode designed to assist the user in tuning the `StandardTrackingWheelLocalizer`'s
+ * LATERAL_DISTANCE value. The LATERAL_DISTANCE is the center-to-center distance of the parallel
+ * wheels.
+ *
+ * Tuning Routine:
+ *
+ * 1. Set the LATERAL_DISTANCE value in StandardTrackingWheelLocalizer.java to the physical
+ * measured value. This need only be an estimated value as you will be tuning it anyways.
+ *
+ * 2. Make a mark on the bot (with a piece of tape or sharpie or however you wish) and make an
+ * similar mark right below the indicator on your bot. This will be your reference point to
+ * ensure you've turned exactly 360°.
+ *
+ * 3. Although not entirely necessary, having the bot's pose being drawn in dashbooard does help
+ * identify discrepancies in the LATERAL_DISTANCE value. To access the dashboard,
+ * connect your computer to the RC's WiFi network. In your browser, navigate to
+ * https://192.168.49.1:8080/dash if you're using the RC phone or https://192.168.43.1:8080/dash
+ * if you are using the Control Hub.
+ * Ensure the field is showing (select the field view in top right of the page).
+ *
+ * 4. Press play to begin the tuning routine.
+ *
+ * 5. Use the right joystick on gamepad 1 to turn the bot counterclockwise.
+ *
+ * 6. Spin the bot 10 times, counterclockwise. Make sure to keep track of these turns.
+ *
+ * 7. Once the bot has finished spinning 10 times, press A to finishing the routine. The indicators
+ * on the bot and on the ground you created earlier should be lined up.
+ *
+ * 8. Your effective LATERAL_DISTANCE will be given. Stick this value into your
+ * StandardTrackingWheelLocalizer.java class.
+ *
+ * 9. If this value is incorrect, run the routine again while adjusting the LATERAL_DISTANCE value
+ * yourself. Read the heading output and follow the advice stated in the note below to manually
+ * nudge the values yourself.
+ *
+ * Note:
+ * It helps to pay attention to how the pose on the field is drawn in dashboard. A blue circle with
+ * a line from the circumference to the center should be present, representing the bot. The line
+ * indicates forward. If your LATERAL_DISTANCE value is tuned currently, the pose drawn in
+ * dashboard should keep track with the pose of your actual bot. If the drawn bot turns slower than
+ * the actual bot, the LATERAL_DISTANCE should be decreased. If the drawn bot turns faster than the
+ * actual bot, the LATERAL_DISTANCE should be increased.
+ *
+ * If your drawn bot oscillates around a point in dashboard, don't worry. This is because the
+ * position of the perpendicular wheel isn't perfectly set and causes a discrepancy in the
+ * effective center of rotation. You can ignore this effect. The center of rotation will be offset
+ * slightly but your heading will still be fine. This does not affect your overall tracking
+ * precision. The heading should still line up.
+ */
+@Config
+@TeleOp(group = "drive")
+public class TrackingWheelLateralDistanceTuner extends LinearOpMode {
+    public static int NUM_TURNS = 10;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        SampleMecanumDrive drive = new SampleMecanumDrive(hardwareMap);
+
+        if (!(drive.getLocalizer() instanceof StandardTrackingWheelLocalizer)) {
+            RobotLog.setGlobalErrorMsg("StandardTrackingWheelLocalizer is not being set in the "
+                    + "drive class. Ensure that \"setLocalizer(new StandardTrackingWheelLocalizer"
+                    + "(hardwareMap));\" is called in SampleMecanumDrive.java");
+        }
+
+        telemetry.addLine("Prior to beginning the routine, please read the directions "
+                + "located in the comments of the opmode file.");
+        telemetry.addLine("Press play to begin the tuning routine.");
+        telemetry.addLine("");
+        telemetry.addLine("Press Y/△ to stop the routine.");
+        telemetry.update();
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        telemetry.clearAll();
+        telemetry.update();
+
+        double headingAccumulator = 0;
+        double lastHeading = 0;
+
+        boolean tuningFinished = false;
+
+        while (!isStopRequested() && !tuningFinished) {
+            Pose2d vel = new Pose2d(0, 0, -gamepad1.right_stick_x);
+            drive.setDrivePower(vel);
+
+            drive.update();
+
+            double heading = drive.getPoseEstimate().getHeading();
+            double deltaHeading = heading - lastHeading;
+
+            headingAccumulator += Angle.normDelta(deltaHeading);
+            lastHeading = heading;
+
+            telemetry.clearAll();
+            telemetry.addLine("Total Heading (deg): " + Math.toDegrees(headingAccumulator));
+            telemetry.addLine("Raw Heading (deg): " + Math.toDegrees(heading));
+            telemetry.addLine();
+            telemetry.addLine("Press Y/△ to conclude routine");
+            telemetry.update();
+
+            if (gamepad1.y)
+                tuningFinished = true;
+        }
+
+        telemetry.clearAll();
+        telemetry.addLine("Localizer's total heading: " + Math.toDegrees(headingAccumulator) + "°");
+        telemetry.addLine("Effective LATERAL_DISTANCE: " +
+                (headingAccumulator / (NUM_TURNS * Math.PI * 2)) * StandardTrackingWheelLocalizer.LATERAL_DISTANCE);
+
+        telemetry.update();
+
+        while (!isStopRequested()) idle();
+    }
+}
\ No newline at end of file
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/TurnTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/TurnTest.java
new file mode 100644
index 0000000..0637d19
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/TurnTest.java
@@ -0,0 +1,27 @@
+package org.firstinspires.ftc.teamcode.drive.opmode;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
+
+/*
+ * This is a simple routine to test turning capabilities.
+ */
+@Config
+@Autonomous(group = "drive")
+public class TurnTest extends LinearOpMode {
+    public static double ANGLE = 90; // deg
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        SampleMecanumDrive drive = new SampleMecanumDrive(hardwareMap);
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        drive.turn(Math.toRadians(ANGLE));
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/DriveCommandMessage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/DriveCommandMessage.java
deleted file mode 100644
index 01565c3..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/DriveCommandMessage.java
+++ /dev/null
@@ -1,24 +0,0 @@
-package org.firstinspires.ftc.teamcode.messages;
-
-import com.acmerobotics.roadrunner.PoseVelocity2dDual;
-import com.acmerobotics.roadrunner.Time;
-
-public final class DriveCommandMessage {
-    public long timestamp;
-    public double forwardVelocity;
-    public double forwardAcceleration;
-    public double lateralVelocity;
-    public double lateralAcceleration;
-    public double angularVelocity;
-    public double angularAcceleration;
-
-    public DriveCommandMessage(PoseVelocity2dDual<Time> poseVelocity) {
-        this.timestamp = System.nanoTime();
-        this.forwardVelocity = poseVelocity.linearVel.x.get(0);
-        this.forwardAcceleration = poseVelocity.linearVel.x.get(1);
-        this.lateralVelocity = poseVelocity.linearVel.y.get(0);
-        this.lateralAcceleration = poseVelocity.linearVel.y.get(1);
-        this.angularVelocity = poseVelocity.angVel.get(0);
-        this.angularAcceleration = poseVelocity.angVel.get(1);
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/MecanumCommandMessage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/MecanumCommandMessage.java
deleted file mode 100644
index bfc3c58..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/MecanumCommandMessage.java
+++ /dev/null
@@ -1,19 +0,0 @@
-package org.firstinspires.ftc.teamcode.messages;
-
-public final class MecanumCommandMessage {
-    public long timestamp;
-    public double voltage;
-    public double leftFrontPower;
-    public double leftBackPower;
-    public double rightBackPower;
-    public double rightFrontPower;
-
-    public MecanumCommandMessage(double voltage, double leftFrontPower, double leftBackPower, double rightBackPower, double rightFrontPower) {
-        this.timestamp = System.nanoTime();
-        this.voltage = voltage;
-        this.leftFrontPower = leftFrontPower;
-        this.leftBackPower = leftBackPower;
-        this.rightBackPower = rightBackPower;
-        this.rightFrontPower = rightFrontPower;
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/MecanumEncodersMessage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/MecanumEncodersMessage.java
deleted file mode 100644
index 8fa961e..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/MecanumEncodersMessage.java
+++ /dev/null
@@ -1,19 +0,0 @@
-package org.firstinspires.ftc.teamcode.messages;
-
-import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
-
-public final class MecanumEncodersMessage {
-    public long timestamp;
-    public PositionVelocityPair leftFront;
-    public PositionVelocityPair leftBack;
-    public PositionVelocityPair rightBack;
-    public PositionVelocityPair rightFront;
-
-    public MecanumEncodersMessage(PositionVelocityPair leftFront, PositionVelocityPair leftBack, PositionVelocityPair rightBack, PositionVelocityPair rightFront) {
-        this.timestamp = System.nanoTime();
-        this.leftFront = leftFront;
-        this.leftBack = leftBack;
-        this.rightBack = rightBack;
-        this.rightFront = rightFront;
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/PoseMessage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/PoseMessage.java
deleted file mode 100644
index c87bfa0..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/PoseMessage.java
+++ /dev/null
@@ -1,18 +0,0 @@
-package org.firstinspires.ftc.teamcode.messages;
-
-import com.acmerobotics.roadrunner.Pose2d;
-
-public final class PoseMessage {
-    public long timestamp;
-    public double x;
-    public double y;
-    public double heading;
-
-    public PoseMessage(Pose2d pose) {
-        this.timestamp = System.nanoTime();
-        this.x = pose.position.x;
-        this.y = pose.position.y;
-        this.heading = pose.heading.toDouble();
-    }
-}
-
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/TankCommandMessage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/TankCommandMessage.java
deleted file mode 100644
index c9ea1df..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/TankCommandMessage.java
+++ /dev/null
@@ -1,15 +0,0 @@
-package org.firstinspires.ftc.teamcode.messages;
-
-public final class TankCommandMessage {
-    public long timestamp;
-    public double voltage;
-    public double leftPower;
-    public double rightPower;
-
-    public TankCommandMessage(double voltage, double leftPower, double rightPower) {
-        this.timestamp = System.nanoTime();
-        this.voltage = voltage;
-        this.leftPower = leftPower;
-        this.rightPower = rightPower;
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/TankEncodersMessage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/TankEncodersMessage.java
deleted file mode 100644
index cc6c545..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/TankEncodersMessage.java
+++ /dev/null
@@ -1,17 +0,0 @@
-package org.firstinspires.ftc.teamcode.messages;
-
-import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
-
-import java.util.List;
-
-public final class TankEncodersMessage {
-    public long timestamp;
-    public PositionVelocityPair[] left;
-    public PositionVelocityPair[] right;
-
-    public TankEncodersMessage(List<PositionVelocityPair> left, List<PositionVelocityPair> right) {
-        this.timestamp = System.nanoTime();
-        this.left = left.toArray(new PositionVelocityPair[0]);
-        this.right = right.toArray(new PositionVelocityPair[0]);
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/ThreeDeadWheelEncodersMessage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/ThreeDeadWheelEncodersMessage.java
deleted file mode 100644
index b870a6f..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/ThreeDeadWheelEncodersMessage.java
+++ /dev/null
@@ -1,16 +0,0 @@
-package org.firstinspires.ftc.teamcode.messages;
-import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
-
-public final class ThreeDeadWheelEncodersMessage {
-    public long timestamp;
-    public PositionVelocityPair par0;
-    public PositionVelocityPair par1;
-    public PositionVelocityPair perp;
-
-    public ThreeDeadWheelEncodersMessage(PositionVelocityPair par0, PositionVelocityPair par1, PositionVelocityPair perp) {
-        this.timestamp = System.nanoTime();
-        this.par0 = par0;
-        this.par1 = par1;
-        this.perp = perp;
-    }
-}
\ No newline at end of file
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/TwoDeadWheelEncodersMessage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/TwoDeadWheelEncodersMessage.java
deleted file mode 100644
index dde7f44..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/TwoDeadWheelEncodersMessage.java
+++ /dev/null
@@ -1,15 +0,0 @@
-package org.firstinspires.ftc.teamcode.messages;
-
-import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
-
-public final class TwoDeadWheelEncodersMessage {
-    public long timestamp;
-    public PositionVelocityPair par;
-    public PositionVelocityPair perp;
-
-    public TwoDeadWheelEncodersMessage(PositionVelocityPair par, PositionVelocityPair perp) {
-        this.timestamp = System.nanoTime();
-        this.par = par;
-        this.perp = perp;
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/trajectorysequence/EmptySequenceException.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/trajectorysequence/EmptySequenceException.java
new file mode 100644
index 0000000..081d695
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/trajectorysequence/EmptySequenceException.java
@@ -0,0 +1,4 @@
+package org.firstinspires.ftc.teamcode.trajectorysequence;
+
+
+public class EmptySequenceException extends RuntimeException { }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/trajectorysequence/TrajectorySequence.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/trajectorysequence/TrajectorySequence.java
new file mode 100644
index 0000000..29032e6
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/trajectorysequence/TrajectorySequence.java
@@ -0,0 +1,44 @@
+package org.firstinspires.ftc.teamcode.trajectorysequence;
+
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+
+import org.firstinspires.ftc.teamcode.trajectorysequence.sequencesegment.SequenceSegment;
+
+import java.util.Collections;
+import java.util.List;
+
+public class TrajectorySequence {
+    private final List<SequenceSegment> sequenceList;
+
+    public TrajectorySequence(List<SequenceSegment> sequenceList) {
+        if (sequenceList.size() == 0) throw new EmptySequenceException();
+
+        this.sequenceList = Collections.unmodifiableList(sequenceList);
+    }
+
+    public Pose2d start() {
+        return sequenceList.get(0).getStartPose();
+    }
+
+    public Pose2d end() {
+        return sequenceList.get(sequenceList.size() - 1).getEndPose();
+    }
+
+    public double duration() {
+        double total = 0.0;
+
+        for (SequenceSegment segment : sequenceList) {
+            total += segment.getDuration();
+        }
+
+        return total;
+    }
+
+    public SequenceSegment get(int i) {
+        return sequenceList.get(i);
+    }
+
+    public int size() {
+        return sequenceList.size();
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/trajectorysequence/TrajectorySequenceBuilder.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/trajectorysequence/TrajectorySequenceBuilder.java
new file mode 100644
index 0000000..8166db3
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/trajectorysequence/TrajectorySequenceBuilder.java
@@ -0,0 +1,679 @@
+package org.firstinspires.ftc.teamcode.trajectorysequence;
+
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.acmerobotics.roadrunner.geometry.Vector2d;
+import com.acmerobotics.roadrunner.path.PathContinuityViolationException;
+import com.acmerobotics.roadrunner.profile.MotionProfile;
+import com.acmerobotics.roadrunner.profile.MotionProfileGenerator;
+import com.acmerobotics.roadrunner.profile.MotionState;
+import com.acmerobotics.roadrunner.trajectory.DisplacementMarker;
+import com.acmerobotics.roadrunner.trajectory.DisplacementProducer;
+import com.acmerobotics.roadrunner.trajectory.MarkerCallback;
+import com.acmerobotics.roadrunner.trajectory.SpatialMarker;
+import com.acmerobotics.roadrunner.trajectory.TemporalMarker;
+import com.acmerobotics.roadrunner.trajectory.TimeProducer;
+import com.acmerobotics.roadrunner.trajectory.Trajectory;
+import com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder;
+import com.acmerobotics.roadrunner.trajectory.TrajectoryMarker;
+import com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryAccelerationConstraint;
+import com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryVelocityConstraint;
+import com.acmerobotics.roadrunner.util.Angle;
+
+import org.firstinspires.ftc.teamcode.trajectorysequence.sequencesegment.SequenceSegment;
+import org.firstinspires.ftc.teamcode.trajectorysequence.sequencesegment.TrajectorySegment;
+import org.firstinspires.ftc.teamcode.trajectorysequence.sequencesegment.TurnSegment;
+import org.firstinspires.ftc.teamcode.trajectorysequence.sequencesegment.WaitSegment;
+
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.Comparator;
+import java.util.List;
+
+public class TrajectorySequenceBuilder {
+    private final double resolution = 0.25;
+
+    private final TrajectoryVelocityConstraint baseVelConstraint;
+    private final TrajectoryAccelerationConstraint baseAccelConstraint;
+
+    private TrajectoryVelocityConstraint currentVelConstraint;
+    private TrajectoryAccelerationConstraint currentAccelConstraint;
+
+    private final double baseTurnConstraintMaxAngVel;
+    private final double baseTurnConstraintMaxAngAccel;
+
+    private double currentTurnConstraintMaxAngVel;
+    private double currentTurnConstraintMaxAngAccel;
+
+    private final List<SequenceSegment> sequenceSegments;
+
+    private final List<TemporalMarker> temporalMarkers;
+    private final List<DisplacementMarker> displacementMarkers;
+    private final List<SpatialMarker> spatialMarkers;
+
+    private Pose2d lastPose;
+
+    private double tangentOffset;
+
+    private boolean setAbsoluteTangent;
+    private double absoluteTangent;
+
+    private TrajectoryBuilder currentTrajectoryBuilder;
+
+    private double currentDuration;
+    private double currentDisplacement;
+
+    private double lastDurationTraj;
+    private double lastDisplacementTraj;
+
+    public TrajectorySequenceBuilder(
+            Pose2d startPose,
+            Double startTangent,
+            TrajectoryVelocityConstraint baseVelConstraint,
+            TrajectoryAccelerationConstraint baseAccelConstraint,
+            double baseTurnConstraintMaxAngVel,
+            double baseTurnConstraintMaxAngAccel
+    ) {
+        this.baseVelConstraint = baseVelConstraint;
+        this.baseAccelConstraint = baseAccelConstraint;
+
+        this.currentVelConstraint = baseVelConstraint;
+        this.currentAccelConstraint = baseAccelConstraint;
+
+        this.baseTurnConstraintMaxAngVel = baseTurnConstraintMaxAngVel;
+        this.baseTurnConstraintMaxAngAccel = baseTurnConstraintMaxAngAccel;
+
+        this.currentTurnConstraintMaxAngVel = baseTurnConstraintMaxAngVel;
+        this.currentTurnConstraintMaxAngAccel = baseTurnConstraintMaxAngAccel;
+
+        sequenceSegments = new ArrayList<>();
+
+        temporalMarkers = new ArrayList<>();
+        displacementMarkers = new ArrayList<>();
+        spatialMarkers = new ArrayList<>();
+
+        lastPose = startPose;
+
+        tangentOffset = 0.0;
+
+        setAbsoluteTangent = (startTangent != null);
+        absoluteTangent = startTangent != null ? startTangent : 0.0;
+
+        currentTrajectoryBuilder = null;
+
+        currentDuration = 0.0;
+        currentDisplacement = 0.0;
+
+        lastDurationTraj = 0.0;
+        lastDisplacementTraj = 0.0;
+    }
+
+    public TrajectorySequenceBuilder(
+            Pose2d startPose,
+            TrajectoryVelocityConstraint baseVelConstraint,
+            TrajectoryAccelerationConstraint baseAccelConstraint,
+            double baseTurnConstraintMaxAngVel,
+            double baseTurnConstraintMaxAngAccel
+    ) {
+        this(
+                startPose, null,
+                baseVelConstraint, baseAccelConstraint,
+                baseTurnConstraintMaxAngVel, baseTurnConstraintMaxAngAccel
+        );
+    }
+
+    public TrajectorySequenceBuilder lineTo(Vector2d endPosition) {
+        return addPath(() -> currentTrajectoryBuilder.lineTo(endPosition, currentVelConstraint, currentAccelConstraint));
+    }
+
+    public TrajectorySequenceBuilder lineTo(
+            Vector2d endPosition,
+            TrajectoryVelocityConstraint velConstraint,
+            TrajectoryAccelerationConstraint accelConstraint
+    ) {
+        return addPath(() -> currentTrajectoryBuilder.lineTo(endPosition, velConstraint, accelConstraint));
+    }
+
+    public TrajectorySequenceBuilder lineToConstantHeading(Vector2d endPosition) {
+        return addPath(() -> currentTrajectoryBuilder.lineToConstantHeading(endPosition, currentVelConstraint, currentAccelConstraint));
+    }
+
+    public TrajectorySequenceBuilder lineToConstantHeading(
+            Vector2d endPosition,
+            TrajectoryVelocityConstraint velConstraint,
+            TrajectoryAccelerationConstraint accelConstraint
+    ) {
+        return addPath(() -> currentTrajectoryBuilder.lineToConstantHeading(endPosition, velConstraint, accelConstraint));
+    }
+
+    public TrajectorySequenceBuilder lineToLinearHeading(Pose2d endPose) {
+        return addPath(() -> currentTrajectoryBuilder.lineToLinearHeading(endPose, currentVelConstraint, currentAccelConstraint));
+    }
+
+    public TrajectorySequenceBuilder lineToLinearHeading(
+            Pose2d endPose,
+            TrajectoryVelocityConstraint velConstraint,
+            TrajectoryAccelerationConstraint accelConstraint
+    ) {
+        return addPath(() -> currentTrajectoryBuilder.lineToLinearHeading(endPose, velConstraint, accelConstraint));
+    }
+
+    public TrajectorySequenceBuilder lineToSplineHeading(Pose2d endPose) {
+        return addPath(() -> currentTrajectoryBuilder.lineToSplineHeading(endPose, currentVelConstraint, currentAccelConstraint));
+    }
+
+    public TrajectorySequenceBuilder lineToSplineHeading(
+            Pose2d endPose,
+            TrajectoryVelocityConstraint velConstraint,
+            TrajectoryAccelerationConstraint accelConstraint
+    ) {
+        return addPath(() -> currentTrajectoryBuilder.lineToSplineHeading(endPose, velConstraint, accelConstraint));
+    }
+
+    public TrajectorySequenceBuilder strafeTo(Vector2d endPosition) {
+        return addPath(() -> currentTrajectoryBuilder.strafeTo(endPosition, currentVelConstraint, currentAccelConstraint));
+    }
+
+    public TrajectorySequenceBuilder strafeTo(
+            Vector2d endPosition,
+            TrajectoryVelocityConstraint velConstraint,
+            TrajectoryAccelerationConstraint accelConstraint
+    ) {
+        return addPath(() -> currentTrajectoryBuilder.strafeTo(endPosition, velConstraint, accelConstraint));
+    }
+
+    public TrajectorySequenceBuilder forward(double distance) {
+        return addPath(() -> currentTrajectoryBuilder.forward(distance, currentVelConstraint, currentAccelConstraint));
+    }
+
+    public TrajectorySequenceBuilder forward(
+            double distance,
+            TrajectoryVelocityConstraint velConstraint,
+            TrajectoryAccelerationConstraint accelConstraint
+    ) {
+        return addPath(() -> currentTrajectoryBuilder.forward(distance, velConstraint, accelConstraint));
+    }
+
+    public TrajectorySequenceBuilder back(double distance) {
+        return addPath(() -> currentTrajectoryBuilder.back(distance, currentVelConstraint, currentAccelConstraint));
+    }
+
+    public TrajectorySequenceBuilder back(
+            double distance,
+            TrajectoryVelocityConstraint velConstraint,
+            TrajectoryAccelerationConstraint accelConstraint
+    ) {
+        return addPath(() -> currentTrajectoryBuilder.back(distance, velConstraint, accelConstraint));
+    }
+
+    public TrajectorySequenceBuilder strafeLeft(double distance) {
+        return addPath(() -> currentTrajectoryBuilder.strafeLeft(distance, currentVelConstraint, currentAccelConstraint));
+    }
+
+    public TrajectorySequenceBuilder strafeLeft(
+            double distance,
+            TrajectoryVelocityConstraint velConstraint,
+            TrajectoryAccelerationConstraint accelConstraint
+    ) {
+        return addPath(() -> currentTrajectoryBuilder.strafeLeft(distance, velConstraint, accelConstraint));
+    }
+
+    public TrajectorySequenceBuilder strafeRight(double distance) {
+        return addPath(() -> currentTrajectoryBuilder.strafeRight(distance, currentVelConstraint, currentAccelConstraint));
+    }
+
+    public TrajectorySequenceBuilder strafeRight(
+            double distance,
+            TrajectoryVelocityConstraint velConstraint,
+            TrajectoryAccelerationConstraint accelConstraint
+    ) {
+        return addPath(() -> currentTrajectoryBuilder.strafeRight(distance, velConstraint, accelConstraint));
+    }
+
+    public TrajectorySequenceBuilder splineTo(Vector2d endPosition, double endHeading) {
+        return addPath(() -> currentTrajectoryBuilder.splineTo(endPosition, endHeading, currentVelConstraint, currentAccelConstraint));
+    }
+
+    public TrajectorySequenceBuilder splineTo(
+            Vector2d endPosition,
+            double endHeading,
+            TrajectoryVelocityConstraint velConstraint,
+            TrajectoryAccelerationConstraint accelConstraint
+    ) {
+        return addPath(() -> currentTrajectoryBuilder.splineTo(endPosition, endHeading, velConstraint, accelConstraint));
+    }
+
+    public TrajectorySequenceBuilder splineToConstantHeading(Vector2d endPosition, double endHeading) {
+        return addPath(() -> currentTrajectoryBuilder.splineToConstantHeading(endPosition, endHeading, currentVelConstraint, currentAccelConstraint));
+    }
+
+    public TrajectorySequenceBuilder splineToConstantHeading(
+            Vector2d endPosition,
+            double endHeading,
+            TrajectoryVelocityConstraint velConstraint,
+            TrajectoryAccelerationConstraint accelConstraint
+    ) {
+        return addPath(() -> currentTrajectoryBuilder.splineToConstantHeading(endPosition, endHeading, velConstraint, accelConstraint));
+    }
+
+    public TrajectorySequenceBuilder splineToLinearHeading(Pose2d endPose, double endHeading) {
+        return addPath(() -> currentTrajectoryBuilder.splineToLinearHeading(endPose, endHeading, currentVelConstraint, currentAccelConstraint));
+    }
+
+    public TrajectorySequenceBuilder splineToLinearHeading(
+            Pose2d endPose,
+            double endHeading,
+            TrajectoryVelocityConstraint velConstraint,
+            TrajectoryAccelerationConstraint accelConstraint
+    ) {
+        return addPath(() -> currentTrajectoryBuilder.splineToLinearHeading(endPose, endHeading, velConstraint, accelConstraint));
+    }
+
+    public TrajectorySequenceBuilder splineToSplineHeading(Pose2d endPose, double endHeading) {
+        return addPath(() -> currentTrajectoryBuilder.splineToSplineHeading(endPose, endHeading, currentVelConstraint, currentAccelConstraint));
+    }
+
+    public TrajectorySequenceBuilder splineToSplineHeading(
+            Pose2d endPose,
+            double endHeading,
+            TrajectoryVelocityConstraint velConstraint,
+            TrajectoryAccelerationConstraint accelConstraint
+    ) {
+        return addPath(() -> currentTrajectoryBuilder.splineToSplineHeading(endPose, endHeading, velConstraint, accelConstraint));
+    }
+
+    private TrajectorySequenceBuilder addPath(AddPathCallback callback) {
+        if (currentTrajectoryBuilder == null) newPath();
+
+        try {
+            callback.run();
+        } catch (PathContinuityViolationException e) {
+            newPath();
+            callback.run();
+        }
+
+        Trajectory builtTraj = currentTrajectoryBuilder.build();
+
+        double durationDifference = builtTraj.duration() - lastDurationTraj;
+        double displacementDifference = builtTraj.getPath().length() - lastDisplacementTraj;
+
+        lastPose = builtTraj.end();
+        currentDuration += durationDifference;
+        currentDisplacement += displacementDifference;
+
+        lastDurationTraj = builtTraj.duration();
+        lastDisplacementTraj = builtTraj.getPath().length();
+
+        return this;
+    }
+
+    public TrajectorySequenceBuilder setTangent(double tangent) {
+        setAbsoluteTangent = true;
+        absoluteTangent = tangent;
+
+        pushPath();
+
+        return this;
+    }
+
+    private TrajectorySequenceBuilder setTangentOffset(double offset) {
+        setAbsoluteTangent = false;
+
+        this.tangentOffset = offset;
+        this.pushPath();
+
+        return this;
+    }
+
+    public TrajectorySequenceBuilder setReversed(boolean reversed) {
+        return reversed ? this.setTangentOffset(Math.toRadians(180.0)) : this.setTangentOffset(0.0);
+    }
+
+    public TrajectorySequenceBuilder setConstraints(
+            TrajectoryVelocityConstraint velConstraint,
+            TrajectoryAccelerationConstraint accelConstraint
+    ) {
+        this.currentVelConstraint = velConstraint;
+        this.currentAccelConstraint = accelConstraint;
+
+        return this;
+    }
+
+    public TrajectorySequenceBuilder resetConstraints() {
+        this.currentVelConstraint = this.baseVelConstraint;
+        this.currentAccelConstraint = this.baseAccelConstraint;
+
+        return this;
+    }
+
+    public TrajectorySequenceBuilder setVelConstraint(TrajectoryVelocityConstraint velConstraint) {
+        this.currentVelConstraint = velConstraint;
+
+        return this;
+    }
+
+    public TrajectorySequenceBuilder resetVelConstraint() {
+        this.currentVelConstraint = this.baseVelConstraint;
+
+        return this;
+    }
+
+    public TrajectorySequenceBuilder setAccelConstraint(TrajectoryAccelerationConstraint accelConstraint) {
+        this.currentAccelConstraint = accelConstraint;
+
+        return this;
+    }
+
+    public TrajectorySequenceBuilder resetAccelConstraint() {
+        this.currentAccelConstraint = this.baseAccelConstraint;
+
+        return this;
+    }
+
+    public TrajectorySequenceBuilder setTurnConstraint(double maxAngVel, double maxAngAccel) {
+        this.currentTurnConstraintMaxAngVel = maxAngVel;
+        this.currentTurnConstraintMaxAngAccel = maxAngAccel;
+
+        return this;
+    }
+
+    public TrajectorySequenceBuilder resetTurnConstraint() {
+        this.currentTurnConstraintMaxAngVel = baseTurnConstraintMaxAngVel;
+        this.currentTurnConstraintMaxAngAccel = baseTurnConstraintMaxAngAccel;
+
+        return this;
+    }
+
+    public TrajectorySequenceBuilder addTemporalMarker(MarkerCallback callback) {
+        return this.addTemporalMarker(currentDuration, callback);
+    }
+
+    public TrajectorySequenceBuilder UNSTABLE_addTemporalMarkerOffset(double offset, MarkerCallback callback) {
+        return this.addTemporalMarker(currentDuration + offset, callback);
+    }
+
+    public TrajectorySequenceBuilder addTemporalMarker(double time, MarkerCallback callback) {
+        return this.addTemporalMarker(0.0, time, callback);
+    }
+
+    public TrajectorySequenceBuilder addTemporalMarker(double scale, double offset, MarkerCallback callback) {
+        return this.addTemporalMarker(time -> scale * time + offset, callback);
+    }
+
+    public TrajectorySequenceBuilder addTemporalMarker(TimeProducer time, MarkerCallback callback) {
+        this.temporalMarkers.add(new TemporalMarker(time, callback));
+        return this;
+    }
+
+    public TrajectorySequenceBuilder addSpatialMarker(Vector2d point, MarkerCallback callback) {
+        this.spatialMarkers.add(new SpatialMarker(point, callback));
+        return this;
+    }
+
+    public TrajectorySequenceBuilder addDisplacementMarker(MarkerCallback callback) {
+        return this.addDisplacementMarker(currentDisplacement, callback);
+    }
+
+    public TrajectorySequenceBuilder UNSTABLE_addDisplacementMarkerOffset(double offset, MarkerCallback callback) {
+        return this.addDisplacementMarker(currentDisplacement + offset, callback);
+    }
+
+    public TrajectorySequenceBuilder addDisplacementMarker(double displacement, MarkerCallback callback) {
+        return this.addDisplacementMarker(0.0, displacement, callback);
+    }
+
+    public TrajectorySequenceBuilder addDisplacementMarker(double scale, double offset, MarkerCallback callback) {
+        return addDisplacementMarker((displacement -> scale * displacement + offset), callback);
+    }
+
+    public TrajectorySequenceBuilder addDisplacementMarker(DisplacementProducer displacement, MarkerCallback callback) {
+        displacementMarkers.add(new DisplacementMarker(displacement, callback));
+
+        return this;
+    }
+
+    public TrajectorySequenceBuilder turn(double angle) {
+        return turn(angle, currentTurnConstraintMaxAngVel, currentTurnConstraintMaxAngAccel);
+    }
+
+    public TrajectorySequenceBuilder turn(double angle, double maxAngVel, double maxAngAccel) {
+        pushPath();
+
+        MotionProfile turnProfile = MotionProfileGenerator.generateSimpleMotionProfile(
+                new MotionState(lastPose.getHeading(), 0.0, 0.0, 0.0),
+                new MotionState(lastPose.getHeading() + angle, 0.0, 0.0, 0.0),
+                maxAngVel,
+                maxAngAccel
+        );
+
+        sequenceSegments.add(new TurnSegment(lastPose, angle, turnProfile, Collections.emptyList()));
+
+        lastPose = new Pose2d(
+                lastPose.getX(), lastPose.getY(),
+                Angle.norm(lastPose.getHeading() + angle)
+        );
+
+        currentDuration += turnProfile.duration();
+
+        return this;
+    }
+
+    public TrajectorySequenceBuilder waitSeconds(double seconds) {
+        pushPath();
+        sequenceSegments.add(new WaitSegment(lastPose, seconds, Collections.emptyList()));
+
+        currentDuration += seconds;
+        return this;
+    }
+
+    public TrajectorySequenceBuilder addTrajectory(Trajectory trajectory) {
+        pushPath();
+
+        sequenceSegments.add(new TrajectorySegment(trajectory));
+        return this;
+    }
+
+    private void pushPath() {
+        if (currentTrajectoryBuilder != null) {
+            Trajectory builtTraj = currentTrajectoryBuilder.build();
+            sequenceSegments.add(new TrajectorySegment(builtTraj));
+        }
+
+        currentTrajectoryBuilder = null;
+    }
+
+    private void newPath() {
+        if (currentTrajectoryBuilder != null)
+            pushPath();
+
+        lastDurationTraj = 0.0;
+        lastDisplacementTraj = 0.0;
+
+        double tangent = setAbsoluteTangent ? absoluteTangent : Angle.norm(lastPose.getHeading() + tangentOffset);
+
+        currentTrajectoryBuilder = new TrajectoryBuilder(lastPose, tangent, currentVelConstraint, currentAccelConstraint, resolution);
+    }
+
+    public TrajectorySequence build() {
+        pushPath();
+
+        List<TrajectoryMarker> globalMarkers = convertMarkersToGlobal(
+                sequenceSegments,
+                temporalMarkers, displacementMarkers, spatialMarkers
+        );
+        projectGlobalMarkersToLocalSegments(globalMarkers, sequenceSegments);
+
+        return new TrajectorySequence(sequenceSegments);
+    }
+
+    private List<TrajectoryMarker> convertMarkersToGlobal(
+            List<SequenceSegment> sequenceSegments,
+            List<TemporalMarker> temporalMarkers,
+            List<DisplacementMarker> displacementMarkers,
+            List<SpatialMarker> spatialMarkers
+    ) {
+        ArrayList<TrajectoryMarker> trajectoryMarkers = new ArrayList<>();
+
+        // Convert temporal markers
+        for (TemporalMarker marker : temporalMarkers) {
+            trajectoryMarkers.add(
+                    new TrajectoryMarker(marker.getProducer().produce(currentDuration), marker.getCallback())
+            );
+        }
+
+        // Convert displacement markers
+        for (DisplacementMarker marker : displacementMarkers) {
+            double time = displacementToTime(
+                    sequenceSegments,
+                    marker.getProducer().produce(currentDisplacement)
+            );
+
+            trajectoryMarkers.add(
+                    new TrajectoryMarker(
+                            time,
+                            marker.getCallback()
+                    )
+            );
+        }
+
+        // Convert spatial markers
+        for (SpatialMarker marker : spatialMarkers) {
+            trajectoryMarkers.add(
+                    new TrajectoryMarker(
+                            pointToTime(sequenceSegments, marker.getPoint()),
+                            marker.getCallback()
+                    )
+            );
+        }
+
+        return trajectoryMarkers;
+    }
+
+    private void projectGlobalMarkersToLocalSegments(List<TrajectoryMarker> markers, List<SequenceSegment> sequenceSegments) {
+        if (sequenceSegments.isEmpty()) return;
+
+        markers.sort(Comparator.comparingDouble(TrajectoryMarker::getTime));
+
+        double timeOffset = 0.0;
+        int markerIndex = 0;
+        for (SequenceSegment segment : sequenceSegments) {
+            while (markerIndex < markers.size()) {
+                TrajectoryMarker marker = markers.get(markerIndex);
+                if (marker.getTime() >= timeOffset + segment.getDuration()) {
+                    break;
+                }
+
+                segment.getMarkers().add(new TrajectoryMarker(
+                        Math.max(0.0, marker.getTime()) - timeOffset, marker.getCallback()));
+                ++markerIndex;
+            }
+
+            timeOffset += segment.getDuration();
+        }
+
+        SequenceSegment segment = sequenceSegments.get(sequenceSegments.size() - 1);
+        while (markerIndex < markers.size()) {
+            TrajectoryMarker marker = markers.get(markerIndex);
+            segment.getMarkers().add(new TrajectoryMarker(segment.getDuration(), marker.getCallback()));
+            ++markerIndex;
+        }
+    }
+
+    // Taken from Road Runner's TrajectoryGenerator.displacementToTime() since it's private
+    // note: this assumes that the profile position is monotonic increasing
+    private Double motionProfileDisplacementToTime(MotionProfile profile, double s) {
+        double tLo = 0.0;
+        double tHi = profile.duration();
+        while (!(Math.abs(tLo - tHi) < 1e-6)) {
+            double tMid = 0.5 * (tLo + tHi);
+            if (profile.get(tMid).getX() > s) {
+                tHi = tMid;
+            } else {
+                tLo = tMid;
+            }
+        }
+        return 0.5 * (tLo + tHi);
+    }
+
+    private Double displacementToTime(List<SequenceSegment> sequenceSegments, double s) {
+        double currentTime = 0.0;
+        double currentDisplacement = 0.0;
+
+        for (SequenceSegment segment : sequenceSegments) {
+            if (segment instanceof TrajectorySegment) {
+                TrajectorySegment thisSegment = (TrajectorySegment) segment;
+
+                double segmentLength = thisSegment.getTrajectory().getPath().length();
+
+                if (currentDisplacement + segmentLength > s) {
+                    double target = s - currentDisplacement;
+                    double timeInSegment = motionProfileDisplacementToTime(
+                            thisSegment.getTrajectory().getProfile(),
+                            target
+                    );
+
+                    return currentTime + timeInSegment;
+                } else {
+                    currentDisplacement += segmentLength;
+                }
+            }
+
+            currentTime += segment.getDuration();
+        }
+
+        return currentTime;
+    }
+
+    private Double pointToTime(List<SequenceSegment> sequenceSegments, Vector2d point) {
+        class ComparingPoints {
+            private final double distanceToPoint;
+            private final double totalDisplacement;
+            private final double thisPathDisplacement;
+
+            public ComparingPoints(double distanceToPoint, double totalDisplacement, double thisPathDisplacement) {
+                this.distanceToPoint = distanceToPoint;
+                this.totalDisplacement = totalDisplacement;
+                this.thisPathDisplacement = thisPathDisplacement;
+            }
+        }
+
+        List<ComparingPoints> projectedPoints = new ArrayList<>();
+
+        for (SequenceSegment segment : sequenceSegments) {
+            if (segment instanceof TrajectorySegment) {
+                TrajectorySegment thisSegment = (TrajectorySegment) segment;
+
+                double displacement = thisSegment.getTrajectory().getPath().project(point, 0.25);
+                Vector2d projectedPoint = thisSegment.getTrajectory().getPath().get(displacement).vec();
+                double distanceToPoint = point.minus(projectedPoint).norm();
+
+                double totalDisplacement = 0.0;
+
+                for (ComparingPoints comparingPoint : projectedPoints) {
+                    totalDisplacement += comparingPoint.totalDisplacement;
+                }
+
+                totalDisplacement += displacement;
+
+                projectedPoints.add(new ComparingPoints(distanceToPoint, displacement, totalDisplacement));
+            }
+        }
+
+        ComparingPoints closestPoint = null;
+
+        for (ComparingPoints comparingPoint : projectedPoints) {
+            if (closestPoint == null) {
+                closestPoint = comparingPoint;
+                continue;
+            }
+
+            if (comparingPoint.distanceToPoint < closestPoint.distanceToPoint)
+                closestPoint = comparingPoint;
+        }
+
+        return displacementToTime(sequenceSegments, closestPoint.thisPathDisplacement);
+    }
+
+    private interface AddPathCallback {
+        void run();
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/trajectorysequence/TrajectorySequenceRunner.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/trajectorysequence/TrajectorySequenceRunner.java
new file mode 100644
index 0000000..e05af9c
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/trajectorysequence/TrajectorySequenceRunner.java
@@ -0,0 +1,306 @@
+package org.firstinspires.ftc.teamcode.trajectorysequence;
+
+import androidx.annotation.Nullable;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.canvas.Canvas;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.acmerobotics.roadrunner.control.PIDCoefficients;
+import com.acmerobotics.roadrunner.control.PIDFController;
+import com.acmerobotics.roadrunner.drive.DriveSignal;
+import com.acmerobotics.roadrunner.followers.TrajectoryFollower;
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.acmerobotics.roadrunner.profile.MotionState;
+import com.acmerobotics.roadrunner.trajectory.Trajectory;
+import com.acmerobotics.roadrunner.trajectory.TrajectoryMarker;
+import com.acmerobotics.roadrunner.util.NanoClock;
+import com.qualcomm.robotcore.hardware.VoltageSensor;
+
+import org.firstinspires.ftc.teamcode.drive.DriveConstants;
+import org.firstinspires.ftc.teamcode.trajectorysequence.sequencesegment.SequenceSegment;
+import org.firstinspires.ftc.teamcode.trajectorysequence.sequencesegment.TrajectorySegment;
+import org.firstinspires.ftc.teamcode.trajectorysequence.sequencesegment.TurnSegment;
+import org.firstinspires.ftc.teamcode.trajectorysequence.sequencesegment.WaitSegment;
+import org.firstinspires.ftc.teamcode.util.DashboardUtil;
+import org.firstinspires.ftc.teamcode.util.LogFiles;
+
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.LinkedList;
+import java.util.List;
+
+@Config
+public class TrajectorySequenceRunner {
+    public static String COLOR_INACTIVE_TRAJECTORY = "#4caf507a";
+    public static String COLOR_INACTIVE_TURN = "#7c4dff7a";
+    public static String COLOR_INACTIVE_WAIT = "#dd2c007a";
+
+    public static String COLOR_ACTIVE_TRAJECTORY = "#4CAF50";
+    public static String COLOR_ACTIVE_TURN = "#7c4dff";
+    public static String COLOR_ACTIVE_WAIT = "#dd2c00";
+
+    public static int POSE_HISTORY_LIMIT = 100;
+
+    private final TrajectoryFollower follower;
+
+    private final PIDFController turnController;
+
+    private final NanoClock clock;
+
+    private TrajectorySequence currentTrajectorySequence;
+    private double currentSegmentStartTime;
+    private int currentSegmentIndex;
+    private int lastSegmentIndex;
+
+    private Pose2d lastPoseError = new Pose2d();
+
+    List<TrajectoryMarker> remainingMarkers = new ArrayList<>();
+
+    private final FtcDashboard dashboard;
+    private final LinkedList<Pose2d> poseHistory = new LinkedList<>();
+
+    private VoltageSensor voltageSensor;
+
+    private List<Integer> lastDriveEncPositions, lastDriveEncVels, lastTrackingEncPositions, lastTrackingEncVels;
+
+    public TrajectorySequenceRunner(
+            TrajectoryFollower follower, PIDCoefficients headingPIDCoefficients, VoltageSensor voltageSensor,
+            List<Integer> lastDriveEncPositions, List<Integer> lastDriveEncVels, List<Integer> lastTrackingEncPositions, List<Integer> lastTrackingEncVels
+    ) {
+        this.follower = follower;
+
+        turnController = new PIDFController(headingPIDCoefficients);
+        turnController.setInputBounds(0, 2 * Math.PI);
+
+        this.voltageSensor = voltageSensor;
+
+        this.lastDriveEncPositions = lastDriveEncPositions;
+        this.lastDriveEncVels = lastDriveEncVels;
+        this.lastTrackingEncPositions = lastTrackingEncPositions;
+        this.lastTrackingEncVels = lastTrackingEncVels;
+
+        clock = NanoClock.system();
+
+        dashboard = FtcDashboard.getInstance();
+        dashboard.setTelemetryTransmissionInterval(25);
+    }
+
+    public void followTrajectorySequenceAsync(TrajectorySequence trajectorySequence) {
+        currentTrajectorySequence = trajectorySequence;
+        currentSegmentStartTime = clock.seconds();
+        currentSegmentIndex = 0;
+        lastSegmentIndex = -1;
+    }
+
+    public @Nullable
+    DriveSignal update(Pose2d poseEstimate, Pose2d poseVelocity) {
+        Pose2d targetPose = null;
+        DriveSignal driveSignal = null;
+
+        TelemetryPacket packet = new TelemetryPacket();
+        Canvas fieldOverlay = packet.fieldOverlay();
+
+        SequenceSegment currentSegment = null;
+
+        if (currentTrajectorySequence != null) {
+            if (currentSegmentIndex >= currentTrajectorySequence.size()) {
+                for (TrajectoryMarker marker : remainingMarkers) {
+                    marker.getCallback().onMarkerReached();
+                }
+
+                remainingMarkers.clear();
+
+                currentTrajectorySequence = null;
+            }
+
+            if (currentTrajectorySequence == null)
+                return new DriveSignal();
+
+            double now = clock.seconds();
+            boolean isNewTransition = currentSegmentIndex != lastSegmentIndex;
+
+            currentSegment = currentTrajectorySequence.get(currentSegmentIndex);
+
+            if (isNewTransition) {
+                currentSegmentStartTime = now;
+                lastSegmentIndex = currentSegmentIndex;
+
+                for (TrajectoryMarker marker : remainingMarkers) {
+                    marker.getCallback().onMarkerReached();
+                }
+
+                remainingMarkers.clear();
+
+                remainingMarkers.addAll(currentSegment.getMarkers());
+                Collections.sort(remainingMarkers, (t1, t2) -> Double.compare(t1.getTime(), t2.getTime()));
+            }
+
+            double deltaTime = now - currentSegmentStartTime;
+
+            if (currentSegment instanceof TrajectorySegment) {
+                Trajectory currentTrajectory = ((TrajectorySegment) currentSegment).getTrajectory();
+
+                if (isNewTransition)
+                    follower.followTrajectory(currentTrajectory);
+
+                if (!follower.isFollowing()) {
+                    currentSegmentIndex++;
+
+                    driveSignal = new DriveSignal();
+                } else {
+                    driveSignal = follower.update(poseEstimate, poseVelocity);
+                    lastPoseError = follower.getLastError();
+                }
+
+                targetPose = currentTrajectory.get(deltaTime);
+            } else if (currentSegment instanceof TurnSegment) {
+                MotionState targetState = ((TurnSegment) currentSegment).getMotionProfile().get(deltaTime);
+
+                turnController.setTargetPosition(targetState.getX());
+
+                double correction = turnController.update(poseEstimate.getHeading());
+
+                double targetOmega = targetState.getV();
+                double targetAlpha = targetState.getA();
+
+                lastPoseError = new Pose2d(0, 0, turnController.getLastError());
+
+                Pose2d startPose = currentSegment.getStartPose();
+                targetPose = startPose.copy(startPose.getX(), startPose.getY(), targetState.getX());
+
+                driveSignal = new DriveSignal(
+                        new Pose2d(0, 0, targetOmega + correction),
+                        new Pose2d(0, 0, targetAlpha)
+                );
+
+                if (deltaTime >= currentSegment.getDuration()) {
+                    currentSegmentIndex++;
+                    driveSignal = new DriveSignal();
+                }
+            } else if (currentSegment instanceof WaitSegment) {
+                lastPoseError = new Pose2d();
+
+                targetPose = currentSegment.getStartPose();
+                driveSignal = new DriveSignal();
+
+                if (deltaTime >= currentSegment.getDuration()) {
+                    currentSegmentIndex++;
+                }
+            }
+
+            while (remainingMarkers.size() > 0 && deltaTime > remainingMarkers.get(0).getTime()) {
+                remainingMarkers.get(0).getCallback().onMarkerReached();
+                remainingMarkers.remove(0);
+            }
+        }
+
+        poseHistory.add(poseEstimate);
+
+        if (POSE_HISTORY_LIMIT > -1 && poseHistory.size() > POSE_HISTORY_LIMIT) {
+            poseHistory.removeFirst();
+        }
+
+        final double NOMINAL_VOLTAGE = 12.0;
+        double voltage = voltageSensor.getVoltage();
+        if (driveSignal != null && !DriveConstants.RUN_USING_ENCODER) {
+            driveSignal = new DriveSignal(
+                    driveSignal.getVel().times(NOMINAL_VOLTAGE / voltage),
+                    driveSignal.getAccel().times(NOMINAL_VOLTAGE / voltage)
+            );
+        }
+
+        if (targetPose != null) {
+            LogFiles.record(
+                    targetPose, poseEstimate, voltage,
+                    lastDriveEncPositions, lastDriveEncVels, lastTrackingEncPositions, lastTrackingEncVels
+            );
+        }
+
+        packet.put("x", poseEstimate.getX());
+        packet.put("y", poseEstimate.getY());
+        packet.put("heading (deg)", Math.toDegrees(poseEstimate.getHeading()));
+
+        packet.put("xError", getLastPoseError().getX());
+        packet.put("yError", getLastPoseError().getY());
+        packet.put("headingError (deg)", Math.toDegrees(getLastPoseError().getHeading()));
+
+        draw(fieldOverlay, currentTrajectorySequence, currentSegment, targetPose, poseEstimate);
+
+        dashboard.sendTelemetryPacket(packet);
+
+        return driveSignal;
+    }
+
+    private void draw(
+            Canvas fieldOverlay,
+            TrajectorySequence sequence, SequenceSegment currentSegment,
+            Pose2d targetPose, Pose2d poseEstimate
+    ) {
+        if (sequence != null) {
+            for (int i = 0; i < sequence.size(); i++) {
+                SequenceSegment segment = sequence.get(i);
+
+                if (segment instanceof TrajectorySegment) {
+                    fieldOverlay.setStrokeWidth(1);
+                    fieldOverlay.setStroke(COLOR_INACTIVE_TRAJECTORY);
+
+                    DashboardUtil.drawSampledPath(fieldOverlay, ((TrajectorySegment) segment).getTrajectory().getPath());
+                } else if (segment instanceof TurnSegment) {
+                    Pose2d pose = segment.getStartPose();
+
+                    fieldOverlay.setFill(COLOR_INACTIVE_TURN);
+                    fieldOverlay.fillCircle(pose.getX(), pose.getY(), 2);
+                } else if (segment instanceof WaitSegment) {
+                    Pose2d pose = segment.getStartPose();
+
+                    fieldOverlay.setStrokeWidth(1);
+                    fieldOverlay.setStroke(COLOR_INACTIVE_WAIT);
+                    fieldOverlay.strokeCircle(pose.getX(), pose.getY(), 3);
+                }
+            }
+        }
+
+        if (currentSegment != null) {
+            if (currentSegment instanceof TrajectorySegment) {
+                Trajectory currentTrajectory = ((TrajectorySegment) currentSegment).getTrajectory();
+
+                fieldOverlay.setStrokeWidth(1);
+                fieldOverlay.setStroke(COLOR_ACTIVE_TRAJECTORY);
+
+                DashboardUtil.drawSampledPath(fieldOverlay, currentTrajectory.getPath());
+            } else if (currentSegment instanceof TurnSegment) {
+                Pose2d pose = currentSegment.getStartPose();
+
+                fieldOverlay.setFill(COLOR_ACTIVE_TURN);
+                fieldOverlay.fillCircle(pose.getX(), pose.getY(), 3);
+            } else if (currentSegment instanceof WaitSegment) {
+                Pose2d pose = currentSegment.getStartPose();
+
+                fieldOverlay.setStrokeWidth(1);
+                fieldOverlay.setStroke(COLOR_ACTIVE_WAIT);
+                fieldOverlay.strokeCircle(pose.getX(), pose.getY(), 3);
+            }
+        }
+
+        if (targetPose != null) {
+            fieldOverlay.setStrokeWidth(1);
+            fieldOverlay.setStroke("#4CAF50");
+            DashboardUtil.drawRobot(fieldOverlay, targetPose);
+        }
+
+        fieldOverlay.setStroke("#3F51B5");
+        DashboardUtil.drawPoseHistory(fieldOverlay, poseHistory);
+
+        fieldOverlay.setStroke("#3F51B5");
+        DashboardUtil.drawRobot(fieldOverlay, poseEstimate);
+    }
+
+    public Pose2d getLastPoseError() {
+        return lastPoseError;
+    }
+
+    public boolean isBusy() {
+        return currentTrajectorySequence != null;
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/trajectorysequence/sequencesegment/SequenceSegment.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/trajectorysequence/sequencesegment/SequenceSegment.java
new file mode 100644
index 0000000..84bccfe
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/trajectorysequence/sequencesegment/SequenceSegment.java
@@ -0,0 +1,41 @@
+package org.firstinspires.ftc.teamcode.trajectorysequence.sequencesegment;
+
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.acmerobotics.roadrunner.trajectory.TrajectoryMarker;
+
+import java.util.ArrayList;
+import java.util.List;
+
+public abstract class SequenceSegment {
+    private final double duration;
+    private final Pose2d startPose;
+    private final Pose2d endPose;
+    private final List<TrajectoryMarker> markers;
+
+    protected SequenceSegment(
+            double duration,
+            Pose2d startPose, Pose2d endPose,
+            List<TrajectoryMarker> markers
+    ) {
+        this.duration = duration;
+        this.startPose = startPose;
+        this.endPose = endPose;
+        this.markers = new ArrayList<>(markers);
+    }
+
+    public double getDuration() {
+        return this.duration;
+    }
+
+    public Pose2d getStartPose() {
+        return startPose;
+    }
+
+    public Pose2d getEndPose() {
+        return endPose;
+    }
+
+    public List<TrajectoryMarker> getMarkers() {
+        return markers;
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/trajectorysequence/sequencesegment/TrajectorySegment.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/trajectorysequence/sequencesegment/TrajectorySegment.java
new file mode 100644
index 0000000..2e735d4
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/trajectorysequence/sequencesegment/TrajectorySegment.java
@@ -0,0 +1,20 @@
+package org.firstinspires.ftc.teamcode.trajectorysequence.sequencesegment;
+
+import com.acmerobotics.roadrunner.trajectory.Trajectory;
+
+import java.util.Collections;
+
+public final class TrajectorySegment extends SequenceSegment {
+    private final Trajectory trajectory;
+
+    public TrajectorySegment(Trajectory trajectory) {
+        // Note: Markers are already stored in the `Trajectory` itself.
+        // This class should not hold any markers
+        super(trajectory.duration(), trajectory.start(), trajectory.end(), Collections.emptyList());
+        this.trajectory = trajectory;
+    }
+
+    public Trajectory getTrajectory() {
+        return this.trajectory;
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/trajectorysequence/sequencesegment/TurnSegment.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/trajectorysequence/sequencesegment/TurnSegment.java
new file mode 100644
index 0000000..11995db
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/trajectorysequence/sequencesegment/TurnSegment.java
@@ -0,0 +1,36 @@
+package org.firstinspires.ftc.teamcode.trajectorysequence.sequencesegment;
+
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.acmerobotics.roadrunner.profile.MotionProfile;
+import com.acmerobotics.roadrunner.trajectory.TrajectoryMarker;
+import com.acmerobotics.roadrunner.util.Angle;
+
+import java.util.List;
+
+public final class TurnSegment extends SequenceSegment {
+    private final double totalRotation;
+    private final MotionProfile motionProfile;
+
+    public TurnSegment(Pose2d startPose, double totalRotation, MotionProfile motionProfile, List<TrajectoryMarker> markers) {
+        super(
+                motionProfile.duration(),
+                startPose,
+                new Pose2d(
+                        startPose.getX(), startPose.getY(),
+                        Angle.norm(startPose.getHeading() + totalRotation)
+                ),
+                markers
+        );
+
+        this.totalRotation = totalRotation;
+        this.motionProfile = motionProfile;
+    }
+
+    public final double getTotalRotation() {
+        return this.totalRotation;
+    }
+
+    public final MotionProfile getMotionProfile() {
+        return this.motionProfile;
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/trajectorysequence/sequencesegment/WaitSegment.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/trajectorysequence/sequencesegment/WaitSegment.java
new file mode 100644
index 0000000..62d2ba4
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/trajectorysequence/sequencesegment/WaitSegment.java
@@ -0,0 +1,12 @@
+package org.firstinspires.ftc.teamcode.trajectorysequence.sequencesegment;
+
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.acmerobotics.roadrunner.trajectory.TrajectoryMarker;
+
+import java.util.List;
+
+public final class WaitSegment extends SequenceSegment {
+    public WaitSegment(Pose2d pose, double seconds, List<TrajectoryMarker> markers) {
+        super(seconds, pose, pose, markers);
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/LocalizationTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/LocalizationTest.java
deleted file mode 100644
index 803ea15..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/LocalizationTest.java
+++ /dev/null
@@ -1,76 +0,0 @@
-package org.firstinspires.ftc.teamcode.tuning;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.Pose2d;
-import com.acmerobotics.roadrunner.PoseVelocity2d;
-import com.acmerobotics.roadrunner.Vector2d;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-
-import org.firstinspires.ftc.teamcode.Drawing;
-import org.firstinspires.ftc.teamcode.MecanumDrive;
-import org.firstinspires.ftc.teamcode.TankDrive;
-
-public class LocalizationTest extends LinearOpMode {
-    @Override
-    public void runOpMode() throws InterruptedException {
-        telemetry = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
-
-        if (TuningOpModes.DRIVE_CLASS.equals(MecanumDrive.class)) {
-            MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
-
-            waitForStart();
-
-            while (opModeIsActive()) {
-                drive.setDrivePowers(new PoseVelocity2d(
-                        new Vector2d(
-                                -gamepad1.left_stick_y,
-                                -gamepad1.left_stick_x
-                        ),
-                        -gamepad1.right_stick_x
-                ));
-
-                drive.updatePoseEstimate();
-
-                telemetry.addData("x", drive.pose.position.x);
-                telemetry.addData("y", drive.pose.position.y);
-                telemetry.addData("heading (deg)", Math.toDegrees(drive.pose.heading.toDouble()));
-                telemetry.update();
-
-                TelemetryPacket packet = new TelemetryPacket();
-                packet.fieldOverlay().setStroke("#3F51B5");
-                Drawing.drawRobot(packet.fieldOverlay(), drive.pose);
-                FtcDashboard.getInstance().sendTelemetryPacket(packet);
-            }
-        } else if (TuningOpModes.DRIVE_CLASS.equals(TankDrive.class)) {
-            TankDrive drive = new TankDrive(hardwareMap, new Pose2d(0, 0, 0));
-
-            waitForStart();
-
-            while (opModeIsActive()) {
-                drive.setDrivePowers(new PoseVelocity2d(
-                        new Vector2d(
-                                -gamepad1.left_stick_y,
-                                0.0
-                        ),
-                        -gamepad1.right_stick_x
-                ));
-
-                drive.updatePoseEstimate();
-
-                telemetry.addData("x", drive.pose.position.x);
-                telemetry.addData("y", drive.pose.position.y);
-                telemetry.addData("heading (deg)", Math.toDegrees(drive.pose.heading.toDouble()));
-                telemetry.update();
-
-                TelemetryPacket packet = new TelemetryPacket();
-                packet.fieldOverlay().setStroke("#3F51B5");
-                Drawing.drawRobot(packet.fieldOverlay(), drive.pose);
-                FtcDashboard.getInstance().sendTelemetryPacket(packet);
-            }
-        } else {
-            throw new RuntimeException();
-        }
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/ManualFeedbackTuner.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/ManualFeedbackTuner.java
deleted file mode 100644
index 0b6f193..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/ManualFeedbackTuner.java
+++ /dev/null
@@ -1,63 +0,0 @@
-package org.firstinspires.ftc.teamcode.tuning;
-
-import com.acmerobotics.roadrunner.Pose2d;
-import com.acmerobotics.roadrunner.ftc.Actions;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-
-import org.firstinspires.ftc.teamcode.MecanumDrive;
-import org.firstinspires.ftc.teamcode.TankDrive;
-import org.firstinspires.ftc.teamcode.ThreeDeadWheelLocalizer;
-import org.firstinspires.ftc.teamcode.TwoDeadWheelLocalizer;
-
-public final class ManualFeedbackTuner extends LinearOpMode {
-    public static double DISTANCE = 64;
-
-    @Override
-    public void runOpMode() throws InterruptedException {
-        if (TuningOpModes.DRIVE_CLASS.equals(MecanumDrive.class)) {
-            MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
-            
-            if (drive.localizer instanceof TwoDeadWheelLocalizer) {
-                if (TwoDeadWheelLocalizer.PARAMS.perpXTicks == 0 && TwoDeadWheelLocalizer.PARAMS.parYTicks == 0) {
-                    throw new RuntimeException("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
-                }
-            } else if (drive.localizer instanceof ThreeDeadWheelLocalizer) {
-                if (ThreeDeadWheelLocalizer.PARAMS.perpXTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par0YTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par1YTicks == 1) {
-                    throw new RuntimeException("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
-                }
-            }
-            waitForStart();
-
-            while (opModeIsActive()) {
-                Actions.runBlocking(
-                    drive.actionBuilder(new Pose2d(0, 0, 0))
-                            .lineToX(DISTANCE)
-                            .lineToX(0)
-                            .build());
-            }
-        } else if (TuningOpModes.DRIVE_CLASS.equals(TankDrive.class)) {
-            TankDrive drive = new TankDrive(hardwareMap, new Pose2d(0, 0, 0));
-
-            if (drive.localizer instanceof TwoDeadWheelLocalizer) {
-                if (TwoDeadWheelLocalizer.PARAMS.perpXTicks == 0 && TwoDeadWheelLocalizer.PARAMS.parYTicks == 0) {
-                    throw new RuntimeException("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
-                }
-            } else if (drive.localizer instanceof ThreeDeadWheelLocalizer) {
-                if (ThreeDeadWheelLocalizer.PARAMS.perpXTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par0YTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par1YTicks == 1) {
-                    throw new RuntimeException("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
-                }
-            }
-            waitForStart();
-
-            while (opModeIsActive()) {
-                Actions.runBlocking(
-                    drive.actionBuilder(new Pose2d(0, 0, 0))
-                            .lineToX(DISTANCE)
-                            .lineToX(0)
-                            .build());
-            }
-        } else {
-            throw new RuntimeException();
-        }
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/SplineTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/SplineTest.java
deleted file mode 100644
index d70825e..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/SplineTest.java
+++ /dev/null
@@ -1,39 +0,0 @@
-package org.firstinspires.ftc.teamcode.tuning;
-
-import com.acmerobotics.roadrunner.Pose2d;
-import com.acmerobotics.roadrunner.Vector2d;
-import com.acmerobotics.roadrunner.ftc.Actions;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-
-import org.firstinspires.ftc.teamcode.MecanumDrive;
-import org.firstinspires.ftc.teamcode.TankDrive;
-
-public final class SplineTest extends LinearOpMode {
-    @Override
-    public void runOpMode() throws InterruptedException {
-        Pose2d beginPose = new Pose2d(0, 0, 0);
-        if (TuningOpModes.DRIVE_CLASS.equals(MecanumDrive.class)) {
-            MecanumDrive drive = new MecanumDrive(hardwareMap, beginPose);
-
-            waitForStart();
-
-            Actions.runBlocking(
-                drive.actionBuilder(beginPose)
-                        .splineTo(new Vector2d(30, 30), Math.PI / 2)
-                        .splineTo(new Vector2d(0, 60), Math.PI)
-                        .build());
-        } else if (TuningOpModes.DRIVE_CLASS.equals(TankDrive.class)) {
-            TankDrive drive = new TankDrive(hardwareMap, beginPose);
-
-            waitForStart();
-
-            Actions.runBlocking(
-                    drive.actionBuilder(beginPose)
-                            .splineTo(new Vector2d(30, 30), Math.PI / 2)
-                            .splineTo(new Vector2d(0, 60), Math.PI)
-                            .build());
-        } else {
-            throw new RuntimeException();
-        }
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java
deleted file mode 100644
index e69de29..0000000
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/AssetsTrajectoryManager.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/AssetsTrajectoryManager.java
new file mode 100644
index 0000000..1b34a95
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/AssetsTrajectoryManager.java
@@ -0,0 +1,70 @@
+package org.firstinspires.ftc.teamcode.util;
+
+import androidx.annotation.Nullable;
+
+import com.acmerobotics.roadrunner.trajectory.Trajectory;
+import com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder;
+import com.acmerobotics.roadrunner.trajectory.config.TrajectoryConfig;
+import com.acmerobotics.roadrunner.trajectory.config.TrajectoryConfigManager;
+import com.acmerobotics.roadrunner.trajectory.config.TrajectoryGroupConfig;
+
+import org.firstinspires.ftc.robotcore.internal.system.AppUtil;
+
+import java.io.IOException;
+import java.io.InputStream;
+
+/**
+ * Set of utilities for loading trajectories from assets (the plugin save location).
+ */
+public class AssetsTrajectoryManager {
+
+    /**
+     * Loads the group config.
+     */
+    public static @Nullable
+    TrajectoryGroupConfig loadGroupConfig() {
+        try {
+            InputStream inputStream = AppUtil.getDefContext().getAssets().open(
+                    "trajectory/" + TrajectoryConfigManager.GROUP_FILENAME);
+            return TrajectoryConfigManager.loadGroupConfig(inputStream);
+        } catch (IOException e) {
+            return null;
+        }
+    }
+
+    /**
+     * Loads a trajectory config with the given name.
+     */
+    public static @Nullable TrajectoryConfig loadConfig(String name) {
+        try {
+            InputStream inputStream = AppUtil.getDefContext().getAssets().open(
+                    "trajectory/" + name + ".yaml");
+            return TrajectoryConfigManager.loadConfig(inputStream);
+        } catch (IOException e) {
+            return null;
+        }
+    }
+
+    /**
+     * Loads a trajectory builder with the given name.
+     */
+    public static @Nullable TrajectoryBuilder loadBuilder(String name) {
+        TrajectoryGroupConfig groupConfig = loadGroupConfig();
+        TrajectoryConfig config = loadConfig(name);
+        if (groupConfig == null || config == null) {
+            return null;
+        }
+        return config.toTrajectoryBuilder(groupConfig);
+    }
+
+    /**
+     * Loads a trajectory with the given name.
+     */
+    public static @Nullable Trajectory load(String name) {
+        TrajectoryBuilder builder = loadBuilder(name);
+        if (builder == null) {
+            return null;
+        }
+        return builder.build();
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/AxesSigns.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/AxesSigns.java
new file mode 100644
index 0000000..42271d6
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/AxesSigns.java
@@ -0,0 +1,45 @@
+package org.firstinspires.ftc.teamcode.util;
+
+/**
+ * IMU axes signs in the order XYZ (after remapping).
+ */
+public enum AxesSigns {
+    PPP(0b000),
+    PPN(0b001),
+    PNP(0b010),
+    PNN(0b011),
+    NPP(0b100),
+    NPN(0b101),
+    NNP(0b110),
+    NNN(0b111);
+
+    public final int bVal;
+
+    AxesSigns(int bVal) {
+        this.bVal = bVal;
+    }
+
+    public static AxesSigns fromBinaryValue(int bVal) {
+        int maskedVal = bVal & 0x07;
+        switch (maskedVal) {
+            case 0b000:
+                return AxesSigns.PPP;
+            case 0b001:
+                return AxesSigns.PPN;
+            case 0b010:
+                return AxesSigns.PNP;
+            case 0b011:
+                return AxesSigns.PNN;
+            case 0b100:
+                return AxesSigns.NPP;
+            case 0b101:
+                return AxesSigns.NPN;
+            case 0b110:
+                return AxesSigns.NNP;
+            case 0b111:
+                return AxesSigns.NNN;
+            default:
+                throw new IllegalStateException("Unexpected value for maskedVal: " + maskedVal);
+        }
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/AxisDirection.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/AxisDirection.java
new file mode 100644
index 0000000..5b8279b
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/AxisDirection.java
@@ -0,0 +1,8 @@
+package org.firstinspires.ftc.teamcode.util;
+
+/**
+ * A direction for an axis to be remapped to
+ */
+public enum AxisDirection {
+    POS_X, NEG_X, POS_Y, NEG_Y, POS_Z, NEG_Z
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/DashboardUtil.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/DashboardUtil.java
new file mode 100644
index 0000000..ce11d8d
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/DashboardUtil.java
@@ -0,0 +1,54 @@
+package org.firstinspires.ftc.teamcode.util;
+
+import com.acmerobotics.dashboard.canvas.Canvas;
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.acmerobotics.roadrunner.geometry.Vector2d;
+import com.acmerobotics.roadrunner.path.Path;
+
+import java.util.List;
+
+/**
+ * Set of helper functions for drawing Road Runner paths and trajectories on dashboard canvases.
+ */
+public class DashboardUtil {
+    private static final double DEFAULT_RESOLUTION = 2.0; // distance units; presumed inches
+    private static final double ROBOT_RADIUS = 9; // in
+
+
+    public static void drawPoseHistory(Canvas canvas, List<Pose2d> poseHistory) {
+        double[] xPoints = new double[poseHistory.size()];
+        double[] yPoints = new double[poseHistory.size()];
+        for (int i = 0; i < poseHistory.size(); i++) {
+            Pose2d pose = poseHistory.get(i);
+            xPoints[i] = pose.getX();
+            yPoints[i] = pose.getY();
+        }
+        canvas.strokePolyline(xPoints, yPoints);
+    }
+
+    public static void drawSampledPath(Canvas canvas, Path path, double resolution) {
+        int samples = (int) Math.ceil(path.length() / resolution);
+        double[] xPoints = new double[samples];
+        double[] yPoints = new double[samples];
+        double dx = path.length() / (samples - 1);
+        for (int i = 0; i < samples; i++) {
+            double displacement = i * dx;
+            Pose2d pose = path.get(displacement);
+            xPoints[i] = pose.getX();
+            yPoints[i] = pose.getY();
+        }
+        canvas.strokePolyline(xPoints, yPoints);
+    }
+
+    public static void drawSampledPath(Canvas canvas, Path path) {
+        drawSampledPath(canvas, path, DEFAULT_RESOLUTION);
+    }
+
+    public static void drawRobot(Canvas canvas, Pose2d pose) {
+        canvas.strokeCircle(pose.getX(), pose.getY(), ROBOT_RADIUS);
+        Vector2d v = pose.headingVec().times(ROBOT_RADIUS);
+        double x1 = pose.getX() + v.getX() / 2, y1 = pose.getY() + v.getY() / 2;
+        double x2 = pose.getX() + v.getX(), y2 = pose.getY() + v.getY();
+        canvas.strokeLine(x1, y1, x2, y2);
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/Encoder.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/Encoder.java
new file mode 100644
index 0000000..f724c52
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/Encoder.java
@@ -0,0 +1,125 @@
+package org.firstinspires.ftc.teamcode.util;
+
+import com.acmerobotics.roadrunner.util.NanoClock;
+import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+
+/**
+ * Wraps a motor instance to provide corrected velocity counts and allow reversing independently of the corresponding
+ * slot's motor direction
+ */
+public class Encoder {
+    private final static int CPS_STEP = 0x10000;
+
+    private static double inverseOverflow(double input, double estimate) {
+        // convert to uint16
+        int real = (int) input & 0xffff;
+        // initial, modulo-based correction: it can recover the remainder of 5 of the upper 16 bits
+        // because the velocity is always a multiple of 20 cps due to Expansion Hub's 50ms measurement window
+        real += ((real % 20) / 4) * CPS_STEP;
+        // estimate-based correction: it finds the nearest multiple of 5 to correct the upper bits by
+        real += Math.round((estimate - real) / (5 * CPS_STEP)) * 5 * CPS_STEP;
+        return real;
+    }
+
+    public enum Direction {
+        FORWARD(1),
+        REVERSE(-1);
+
+        private int multiplier;
+
+        Direction(int multiplier) {
+            this.multiplier = multiplier;
+        }
+
+        public int getMultiplier() {
+            return multiplier;
+        }
+    }
+
+    private DcMotorEx motor;
+    private NanoClock clock;
+
+    private Direction direction;
+
+    private int lastPosition;
+    private int velocityEstimateIdx;
+    private double[] velocityEstimates;
+    private double lastUpdateTime;
+
+    public Encoder(DcMotorEx motor, NanoClock clock) {
+        this.motor = motor;
+        this.clock = clock;
+
+        this.direction = Direction.FORWARD;
+
+        this.lastPosition = 0;
+        this.velocityEstimates = new double[3];
+        this.lastUpdateTime = clock.seconds();
+    }
+
+    public Encoder(DcMotorEx motor) {
+        this(motor, NanoClock.system());
+    }
+
+    public Direction getDirection() {
+        return direction;
+    }
+
+    private int getMultiplier() {
+        return getDirection().getMultiplier() * (motor.getDirection() == DcMotorSimple.Direction.FORWARD ? 1 : -1);
+    }
+
+    /**
+     * Allows you to set the direction of the counts and velocity without modifying the motor's direction state
+     * @param direction either reverse or forward depending on if encoder counts should be negated
+     */
+    public void setDirection(Direction direction) {
+        this.direction = direction;
+    }
+
+    /**
+     * Gets the position from the underlying motor and adjusts for the set direction.
+     * Additionally, this method updates the velocity estimates used for compensated velocity
+     *
+     * @return encoder position
+     */
+    public int getCurrentPosition() {
+        int multiplier = getMultiplier();
+        int currentPosition = motor.getCurrentPosition() * multiplier;
+        if (currentPosition != lastPosition) {
+            double currentTime = clock.seconds();
+            double dt = currentTime - lastUpdateTime;
+            velocityEstimates[velocityEstimateIdx] = (currentPosition - lastPosition) / dt;
+            velocityEstimateIdx = (velocityEstimateIdx + 1) % 3;
+            lastPosition = currentPosition;
+            lastUpdateTime = currentTime;
+        }
+        return currentPosition;
+    }
+
+    /**
+     * Gets the velocity directly from the underlying motor and compensates for the direction
+     * See {@link #getCorrectedVelocity} for high (>2^15) counts per second velocities (such as on REV Through Bore)
+     *
+     * @return raw velocity
+     */
+    public double getRawVelocity() {
+        int multiplier = getMultiplier();
+        return motor.getVelocity() * multiplier;
+    }
+
+    /**
+     * Uses velocity estimates gathered in {@link #getCurrentPosition} to estimate the upper bits of velocity
+     * that are lost in overflow due to velocity being transmitted as 16 bits.
+     * CAVEAT: must regularly call {@link #getCurrentPosition} for the compensation to work correctly.
+     *
+     * @return corrected velocity
+     */
+    public double getCorrectedVelocity() {
+        double median = velocityEstimates[0] > velocityEstimates[1]
+                ? Math.max(velocityEstimates[1], Math.min(velocityEstimates[0], velocityEstimates[2]))
+                : Math.max(velocityEstimates[0], Math.min(velocityEstimates[1], velocityEstimates[2]));
+        return inverseOverflow(getRawVelocity(), median);
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/LogFiles.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/LogFiles.java
new file mode 100644
index 0000000..8338eb1
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/LogFiles.java
@@ -0,0 +1,273 @@
+package org.firstinspires.ftc.teamcode.util;
+
+import android.annotation.SuppressLint;
+import android.content.Context;
+
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.fasterxml.jackson.core.JsonFactory;
+import com.fasterxml.jackson.databind.ObjectMapper;
+import com.fasterxml.jackson.databind.ObjectWriter;
+import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+import com.qualcomm.robotcore.eventloop.opmode.OpModeManagerImpl;
+import com.qualcomm.robotcore.eventloop.opmode.OpModeManagerNotifier;
+import com.qualcomm.robotcore.util.RobotLog;
+import com.qualcomm.robotcore.util.WebHandlerManager;
+
+import org.firstinspires.ftc.ftccommon.external.WebHandlerRegistrar;
+import org.firstinspires.ftc.robotcore.internal.system.AppUtil;
+import org.firstinspires.ftc.teamcode.drive.DriveConstants;
+import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
+import org.firstinspires.ftc.teamcode.drive.SampleTankDrive;
+import org.firstinspires.ftc.teamcode.drive.StandardTrackingWheelLocalizer;
+
+import java.io.File;
+import java.io.FileInputStream;
+import java.io.IOException;
+import java.text.DateFormat;
+import java.text.SimpleDateFormat;
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.Date;
+import java.util.List;
+import java.util.Objects;
+
+import fi.iki.elonen.NanoHTTPD;
+
+public final class LogFiles {
+    private static final File ROOT =
+            new File(AppUtil.ROOT_FOLDER + "/RoadRunner/logs/");
+
+    public static LogFile log = new LogFile("uninitialized");
+
+    public static class LogFile {
+        public String version = "quickstart1 v2";
+
+        public String opModeName;
+        public long msInit = System.currentTimeMillis();
+        public long nsInit = System.nanoTime();
+        public long nsStart, nsStop;
+
+        public double ticksPerRev = DriveConstants.TICKS_PER_REV;
+        public double maxRpm = DriveConstants.MAX_RPM;
+        public boolean runUsingEncoder = DriveConstants.RUN_USING_ENCODER;
+        public double motorP = DriveConstants.MOTOR_VELO_PID.p;
+        public double motorI = DriveConstants.MOTOR_VELO_PID.i;
+        public double motorD = DriveConstants.MOTOR_VELO_PID.d;
+        public double motorF = DriveConstants.MOTOR_VELO_PID.f;
+        public double wheelRadius = DriveConstants.WHEEL_RADIUS;
+        public double gearRatio = DriveConstants.GEAR_RATIO;
+        public double trackWidth = DriveConstants.TRACK_WIDTH;
+        public double kV = DriveConstants.kV;
+        public double kA = DriveConstants.kA;
+        public double kStatic = DriveConstants.kStatic;
+        public double maxVel = DriveConstants.MAX_VEL;
+        public double maxAccel = DriveConstants.MAX_ACCEL;
+        public double maxAngVel = DriveConstants.MAX_ANG_VEL;
+        public double maxAngAccel = DriveConstants.MAX_ANG_ACCEL;
+
+        public double mecTransP = SampleMecanumDrive.TRANSLATIONAL_PID.kP;
+        public double mecTransI = SampleMecanumDrive.TRANSLATIONAL_PID.kI;
+        public double mecTransD = SampleMecanumDrive.TRANSLATIONAL_PID.kD;
+        public double mecHeadingP = SampleMecanumDrive.HEADING_PID.kP;
+        public double mecHeadingI = SampleMecanumDrive.HEADING_PID.kI;
+        public double mecHeadingD = SampleMecanumDrive.HEADING_PID.kD;
+        public double mecLateralMultiplier = SampleMecanumDrive.LATERAL_MULTIPLIER;
+
+        public double tankAxialP = SampleTankDrive.AXIAL_PID.kP;
+        public double tankAxialI = SampleTankDrive.AXIAL_PID.kI;
+        public double tankAxialD = SampleTankDrive.AXIAL_PID.kD;
+        public double tankCrossTrackP = SampleTankDrive.CROSS_TRACK_PID.kP;
+        public double tankCrossTrackI = SampleTankDrive.CROSS_TRACK_PID.kI;
+        public double tankCrossTrackD = SampleTankDrive.CROSS_TRACK_PID.kD;
+        public double tankHeadingP = SampleTankDrive.HEADING_PID.kP;
+        public double tankHeadingI = SampleTankDrive.HEADING_PID.kI;
+        public double tankHeadingD = SampleTankDrive.HEADING_PID.kD;
+
+        public double trackingTicksPerRev = StandardTrackingWheelLocalizer.TICKS_PER_REV;
+        public double trackingWheelRadius = StandardTrackingWheelLocalizer.WHEEL_RADIUS;
+        public double trackingGearRatio = StandardTrackingWheelLocalizer.GEAR_RATIO;
+        public double trackingLateralDistance = StandardTrackingWheelLocalizer.LATERAL_DISTANCE;
+        public double trackingForwardOffset = StandardTrackingWheelLocalizer.FORWARD_OFFSET;
+
+        public RevHubOrientationOnRobot.LogoFacingDirection LOGO_FACING_DIR = DriveConstants.LOGO_FACING_DIR;
+        public RevHubOrientationOnRobot.UsbFacingDirection USB_FACING_DIR = DriveConstants.USB_FACING_DIR;
+
+        public List<Long> nsTimes = new ArrayList<>();
+
+        public List<Double> targetXs = new ArrayList<>();
+        public List<Double> targetYs = new ArrayList<>();
+        public List<Double> targetHeadings = new ArrayList<>();
+
+        public List<Double> xs = new ArrayList<>();
+        public List<Double> ys = new ArrayList<>();
+        public List<Double> headings = new ArrayList<>();
+
+        public List<Double> voltages = new ArrayList<>();
+
+        public List<List<Integer>> driveEncPositions = new ArrayList<>();
+        public List<List<Integer>> driveEncVels = new ArrayList<>();
+        public List<List<Integer>> trackingEncPositions = new ArrayList<>();
+        public List<List<Integer>> trackingEncVels = new ArrayList<>();
+
+        public LogFile(String opModeName) {
+            this.opModeName = opModeName;
+        }
+    }
+
+    public static void record(
+            Pose2d targetPose, Pose2d pose, double voltage,
+            List<Integer> lastDriveEncPositions, List<Integer> lastDriveEncVels, List<Integer> lastTrackingEncPositions, List<Integer> lastTrackingEncVels
+    ) {
+        long nsTime = System.nanoTime();
+        if (nsTime - log.nsStart > 3 * 60 * 1_000_000_000L) {
+            return;
+        }
+
+        log.nsTimes.add(nsTime);
+
+        log.targetXs.add(targetPose.getX());
+        log.targetYs.add(targetPose.getY());
+        log.targetHeadings.add(targetPose.getHeading());
+
+        log.xs.add(pose.getX());
+        log.ys.add(pose.getY());
+        log.headings.add(pose.getHeading());
+
+        log.voltages.add(voltage);
+
+        while (log.driveEncPositions.size() < lastDriveEncPositions.size()) {
+            log.driveEncPositions.add(new ArrayList<>());
+        }
+        while (log.driveEncVels.size() < lastDriveEncVels.size()) {
+            log.driveEncVels.add(new ArrayList<>());
+        }
+        while (log.trackingEncPositions.size() < lastTrackingEncPositions.size()) {
+            log.trackingEncPositions.add(new ArrayList<>());
+        }
+        while (log.trackingEncVels.size() < lastTrackingEncVels.size()) {
+            log.trackingEncVels.add(new ArrayList<>());
+        }
+
+        for (int i = 0; i < lastDriveEncPositions.size(); i++) {
+            log.driveEncPositions.get(i).add(lastDriveEncPositions.get(i));
+        }
+        for (int i = 0; i < lastDriveEncVels.size(); i++) {
+            log.driveEncVels.get(i).add(lastDriveEncVels.get(i));
+        }
+        for (int i = 0; i < lastTrackingEncPositions.size(); i++) {
+            log.trackingEncPositions.get(i).add(lastTrackingEncPositions.get(i));
+        }
+        for (int i = 0; i < lastTrackingEncVels.size(); i++) {
+            log.trackingEncVels.get(i).add(lastTrackingEncVels.get(i));
+        }
+    }
+
+    private static final OpModeManagerNotifier.Notifications notifHandler = new OpModeManagerNotifier.Notifications() {
+        @SuppressLint("SimpleDateFormat")
+        final DateFormat dateFormat = new SimpleDateFormat("yyyy_MM_dd__HH_mm_ss_SSS");
+
+        final ObjectWriter jsonWriter = new ObjectMapper(new JsonFactory())
+                .writerWithDefaultPrettyPrinter();
+
+        @Override
+        public void onOpModePreInit(OpMode opMode) {
+            log = new LogFile(opMode.getClass().getCanonicalName());
+
+            // clean up old files
+            File[] fs = Objects.requireNonNull(ROOT.listFiles());
+            Arrays.sort(fs, (a, b) -> Long.compare(a.lastModified(), b.lastModified()));
+            long totalSizeBytes = 0;
+            for (File f : fs) {
+                totalSizeBytes += f.length();
+            }
+
+            int i = 0;
+            while (i < fs.length && totalSizeBytes >= 32 * 1000 * 1000) {
+                totalSizeBytes -= fs[i].length();
+                if (!fs[i].delete()) {
+                    RobotLog.setGlobalErrorMsg("Unable to delete file " + fs[i].getAbsolutePath());
+                }
+                ++i;
+            }
+        }
+
+        @Override
+        public void onOpModePreStart(OpMode opMode) {
+            log.nsStart = System.nanoTime();
+        }
+
+        @Override
+        public void onOpModePostStop(OpMode opMode) {
+            log.nsStop = System.nanoTime();
+
+            if (!(opMode instanceof OpModeManagerImpl.DefaultOpMode)) {
+                //noinspection ResultOfMethodCallIgnored
+                ROOT.mkdirs();
+
+                String filename = dateFormat.format(new Date(log.msInit)) + "__" + opMode.getClass().getSimpleName() + ".json";
+                File file = new File(ROOT, filename);
+                try {
+                    jsonWriter.writeValue(file, log);
+                } catch (IOException e) {
+                    RobotLog.setGlobalErrorMsg(new RuntimeException(e),
+                            "Unable to write data to " + file.getAbsolutePath());
+                }
+            }
+        }
+    };
+
+    @WebHandlerRegistrar
+    public static void registerRoutes(Context context, WebHandlerManager manager) {
+        //noinspection ResultOfMethodCallIgnored
+        ROOT.mkdirs();
+
+        // op mode manager only stores a weak reference, so we need to keep notifHandler alive ourselves
+        // don't use @OnCreateEventLoop because it's unreliable
+        OpModeManagerImpl.getOpModeManagerOfActivity(
+                AppUtil.getInstance().getActivity()
+        ).registerListener(notifHandler);
+
+        manager.register("/logs", session -> {
+            final StringBuilder sb = new StringBuilder();
+            sb.append("<!doctype html><html><head><title>Logs</title></head><body><ul>");
+            File[] fs = Objects.requireNonNull(ROOT.listFiles());
+            Arrays.sort(fs, (a, b) -> Long.compare(b.lastModified(), a.lastModified()));
+            for (File f : fs) {
+                sb.append("<li><a href=\"/logs/download?file=");
+                sb.append(f.getName());
+                sb.append("\" download=\"");
+                sb.append(f.getName());
+                sb.append("\">");
+                sb.append(f.getName());
+                sb.append("</a></li>");
+            }
+            sb.append("</ul></body></html>");
+            return NanoHTTPD.newFixedLengthResponse(NanoHTTPD.Response.Status.OK,
+                    NanoHTTPD.MIME_HTML, sb.toString());
+        });
+
+        manager.register("/logs/download", session -> {
+            final String[] pairs = session.getQueryParameterString().split("&");
+            if (pairs.length != 1) {
+                return NanoHTTPD.newFixedLengthResponse(NanoHTTPD.Response.Status.BAD_REQUEST,
+                        NanoHTTPD.MIME_PLAINTEXT, "expected one query parameter, got " + pairs.length);
+            }
+
+            final String[] parts = pairs[0].split("=");
+            if (!parts[0].equals("file")) {
+                return NanoHTTPD.newFixedLengthResponse(NanoHTTPD.Response.Status.BAD_REQUEST,
+                        NanoHTTPD.MIME_PLAINTEXT, "expected file query parameter, got " + parts[0]);
+            }
+
+            File f = new File(ROOT, parts[1]);
+            if (!f.exists()) {
+                return NanoHTTPD.newFixedLengthResponse(NanoHTTPD.Response.Status.NOT_FOUND,
+                        NanoHTTPD.MIME_PLAINTEXT, "file " + f + " doesn't exist");
+            }
+
+            return NanoHTTPD.newChunkedResponse(NanoHTTPD.Response.Status.OK,
+                    "application/json", new FileInputStream(f));
+        });
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/LoggingUtil.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/LoggingUtil.java
new file mode 100644
index 0000000..2c558f1
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/LoggingUtil.java
@@ -0,0 +1,60 @@
+package org.firstinspires.ftc.teamcode.util;
+
+import org.firstinspires.ftc.robotcore.internal.system.AppUtil;
+
+import java.io.File;
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.List;
+
+/**
+ * Utility functions for log files.
+ */
+public class LoggingUtil {
+    public static final File ROAD_RUNNER_FOLDER =
+            new File(AppUtil.ROOT_FOLDER + "/RoadRunner/");
+
+    private static final long LOG_QUOTA = 25 * 1024 * 1024; // 25MB log quota for now
+
+    private static void buildLogList(List<File> logFiles, File dir) {
+        for (File file : dir.listFiles()) {
+            if (file.isDirectory()) {
+                buildLogList(logFiles, file);
+            } else {
+                logFiles.add(file);
+            }
+        }
+    }
+
+    private static void pruneLogsIfNecessary() {
+        List<File> logFiles = new ArrayList<>();
+        buildLogList(logFiles, ROAD_RUNNER_FOLDER);
+        Collections.sort(logFiles, (lhs, rhs) ->
+                Long.compare(lhs.lastModified(), rhs.lastModified()));
+
+        long dirSize = 0;
+        for (File file: logFiles) {
+            dirSize += file.length();
+        }
+
+        while (dirSize > LOG_QUOTA) {
+            if (logFiles.size() == 0) break;
+            File fileToRemove = logFiles.remove(0);
+            dirSize -= fileToRemove.length();
+            //noinspection ResultOfMethodCallIgnored
+            fileToRemove.delete();
+        }
+    }
+
+    /**
+     * Obtain a log file with the provided name
+     */
+    public static File getLogFile(String name) {
+        //noinspection ResultOfMethodCallIgnored
+        ROAD_RUNNER_FOLDER.mkdirs();
+
+        pruneLogsIfNecessary();
+
+        return new File(ROAD_RUNNER_FOLDER, name);
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/LynxModuleUtil.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/LynxModuleUtil.java
new file mode 100644
index 0000000..243dd7e
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/LynxModuleUtil.java
@@ -0,0 +1,124 @@
+package org.firstinspires.ftc.teamcode.util;
+
+import com.qualcomm.hardware.lynx.LynxModule;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+import org.firstinspires.ftc.robotcore.internal.system.Misc;
+
+import java.util.HashMap;
+import java.util.Map;
+
+/**
+ * Collection of utilites for interacting with Lynx modules.
+ */
+public class LynxModuleUtil {
+
+    private static final LynxFirmwareVersion MIN_VERSION = new LynxFirmwareVersion(1, 8, 2);
+
+    /**
+     * Parsed representation of a Lynx module firmware version.
+     */
+    public static class LynxFirmwareVersion implements Comparable<LynxFirmwareVersion> {
+        public final int major;
+        public final int minor;
+        public final int eng;
+
+        public LynxFirmwareVersion(int major, int minor, int eng) {
+            this.major = major;
+            this.minor = minor;
+            this.eng = eng;
+        }
+
+        @Override
+        public boolean equals(Object other) {
+            if (other instanceof LynxFirmwareVersion) {
+                LynxFirmwareVersion otherVersion = (LynxFirmwareVersion) other;
+                return major == otherVersion.major && minor == otherVersion.minor &&
+                        eng == otherVersion.eng;
+            } else {
+                return false;
+            }
+        }
+
+        @Override
+        public int compareTo(LynxFirmwareVersion other) {
+            int majorComp = Integer.compare(major, other.major);
+            if (majorComp == 0) {
+                int minorComp = Integer.compare(minor, other.minor);
+                if (minorComp == 0) {
+                    return Integer.compare(eng, other.eng);
+                } else {
+                    return minorComp;
+                }
+            } else {
+                return majorComp;
+            }
+        }
+
+        @Override
+        public String toString() {
+            return Misc.formatInvariant("%d.%d.%d", major, minor, eng);
+        }
+    }
+
+    /**
+     * Retrieve and parse Lynx module firmware version.
+     * @param module Lynx module
+     * @return parsed firmware version
+     */
+    public static LynxFirmwareVersion getFirmwareVersion(LynxModule module) {
+        String versionString = module.getNullableFirmwareVersionString();
+        if (versionString == null) {
+            return null;
+        }
+
+        String[] parts = versionString.split("[ :,]+");
+        try {
+            // note: for now, we ignore the hardware entry
+            return new LynxFirmwareVersion(
+                    Integer.parseInt(parts[3]),
+                    Integer.parseInt(parts[5]),
+                    Integer.parseInt(parts[7])
+            );
+        } catch (NumberFormatException e) {
+            return null;
+        }
+    }
+
+    /**
+     * Exception indicating an outdated Lynx firmware version.
+     */
+    public static class LynxFirmwareVersionException extends RuntimeException {
+        public LynxFirmwareVersionException(String detailMessage) {
+            super(detailMessage);
+        }
+    }
+
+    /**
+     * Ensure all of the Lynx modules attached to the robot satisfy the minimum requirement.
+     * @param hardwareMap hardware map containing Lynx modules
+     */
+    public static void ensureMinimumFirmwareVersion(HardwareMap hardwareMap) {
+        Map<String, LynxFirmwareVersion> outdatedModules = new HashMap<>();
+        for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
+            LynxFirmwareVersion version = getFirmwareVersion(module);
+            if (version == null || version.compareTo(MIN_VERSION) < 0) {
+                for (String name : hardwareMap.getNamesOf(module)) {
+                    outdatedModules.put(name, version);
+                }
+            }
+        }
+        if (outdatedModules.size() > 0) {
+            StringBuilder msgBuilder = new StringBuilder();
+            msgBuilder.append("One or more of the attached Lynx modules has outdated firmware\n");
+            msgBuilder.append(Misc.formatInvariant("Mandatory minimum firmware version for Road Runner: %s\n",
+                    MIN_VERSION.toString()));
+            for (Map.Entry<String, LynxFirmwareVersion> entry : outdatedModules.entrySet()) {
+                msgBuilder.append(Misc.formatInvariant(
+                        "\t%s: %s\n", entry.getKey(),
+                        entry.getValue() == null ? "Unknown" : entry.getValue().toString()));
+            }
+            throw new LynxFirmwareVersionException(msgBuilder.toString());
+        }
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/RegressionUtil.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/RegressionUtil.java
new file mode 100644
index 0000000..c3bf488
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/RegressionUtil.java
@@ -0,0 +1,156 @@
+package org.firstinspires.ftc.teamcode.util;
+
+import androidx.annotation.Nullable;
+
+import com.acmerobotics.roadrunner.kinematics.Kinematics;
+
+import org.apache.commons.math3.stat.regression.SimpleRegression;
+
+import java.io.File;
+import java.io.FileNotFoundException;
+import java.io.PrintWriter;
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * Various regression utilities.
+ */
+public class RegressionUtil {
+
+    /**
+     * Feedforward parameter estimates from the ramp regression and additional summary statistics
+     */
+    public static class RampResult {
+        public final double kV, kStatic, rSquare;
+
+        public RampResult(double kV, double kStatic, double rSquare) {
+            this.kV = kV;
+            this.kStatic = kStatic;
+            this.rSquare = rSquare;
+        }
+    }
+
+    /**
+     * Feedforward parameter estimates from the ramp regression and additional summary statistics
+     */
+    public static class AccelResult {
+        public final double kA, rSquare;
+
+        public AccelResult(double kA, double rSquare) {
+            this.kA = kA;
+            this.rSquare = rSquare;
+        }
+    }
+
+    /**
+     * Numerically compute dy/dx from the given x and y values. The returned list is padded to match
+     * the length of the original sequences.
+     *
+     * @param x x-values
+     * @param y y-values
+     * @return derivative values
+     */
+    private static List<Double> numericalDerivative(List<Double> x, List<Double> y) {
+        List<Double> deriv = new ArrayList<>(x.size());
+        for (int i = 1; i < x.size() - 1; i++) {
+            deriv.add(
+                    (y.get(i + 1) - y.get(i - 1)) /
+                    (x.get(i + 1) - x.get(i - 1))
+            );
+        }
+        // copy endpoints to pad output
+        deriv.add(0, deriv.get(0));
+        deriv.add(deriv.get(deriv.size() - 1));
+        return deriv;
+    }
+
+    /**
+     * Run regression to compute velocity and static feedforward from ramp test data.
+     *
+     * Here's the general procedure for gathering the requisite data:
+     *   1. Slowly ramp the motor power/voltage and record encoder values along the way.
+     *   2. Run a linear regression on the encoder velocity vs. motor power plot to obtain a slope
+     *      (kV) and an optional intercept (kStatic).
+     *
+     * @param timeSamples time samples
+     * @param positionSamples position samples
+     * @param powerSamples power samples
+     * @param fitStatic fit kStatic
+     * @param file log file
+     */
+    public static RampResult fitRampData(List<Double> timeSamples, List<Double> positionSamples,
+                                         List<Double> powerSamples, boolean fitStatic,
+                                         @Nullable File file) {
+        if (file != null) {
+            try (PrintWriter pw = new PrintWriter(file)) {
+                pw.println("time,position,power");
+                for (int i = 0; i < timeSamples.size(); i++) {
+                    double time = timeSamples.get(i);
+                    double pos = positionSamples.get(i);
+                    double power = powerSamples.get(i);
+                    pw.println(time + "," + pos + "," + power);
+                }
+            } catch (FileNotFoundException e) {
+                // ignore
+            }
+        }
+
+        List<Double> velSamples = numericalDerivative(timeSamples, positionSamples);
+
+        SimpleRegression rampReg = new SimpleRegression(fitStatic);
+        for (int i = 0; i < timeSamples.size(); i++) {
+            double vel = velSamples.get(i);
+            double power = powerSamples.get(i);
+
+            rampReg.addData(vel, power);
+        }
+
+        return new RampResult(Math.abs(rampReg.getSlope()), Math.abs(rampReg.getIntercept()),
+                              rampReg.getRSquare());
+    }
+
+    /**
+     * Run regression to compute acceleration feedforward.
+     *
+     * @param timeSamples time samples
+     * @param positionSamples position samples
+     * @param powerSamples power samples
+     * @param rampResult ramp result
+     * @param file log file
+     */
+    public static AccelResult fitAccelData(List<Double> timeSamples, List<Double> positionSamples,
+                                           List<Double> powerSamples, RampResult rampResult,
+                                           @Nullable File file) {
+        if (file != null) {
+            try (PrintWriter pw = new PrintWriter(file)) {
+                pw.println("time,position,power");
+                for (int i = 0; i < timeSamples.size(); i++) {
+                    double time = timeSamples.get(i);
+                    double pos = positionSamples.get(i);
+                    double power = powerSamples.get(i);
+                    pw.println(time + "," + pos + "," + power);
+                }
+            } catch (FileNotFoundException e) {
+                // ignore
+            }
+        }
+
+        List<Double> velSamples = numericalDerivative(timeSamples, positionSamples);
+        List<Double> accelSamples = numericalDerivative(timeSamples, velSamples);
+
+        SimpleRegression accelReg = new SimpleRegression(false);
+        for (int i = 0; i < timeSamples.size(); i++) {
+            double vel = velSamples.get(i);
+            double accel = accelSamples.get(i);
+            double power = powerSamples.get(i);
+
+            double powerFromVel = Kinematics.calculateMotorFeedforward(
+                    vel, 0.0, rampResult.kV, 0.0, rampResult.kStatic);
+            double powerFromAccel = power - powerFromVel;
+
+            accelReg.addData(accel, powerFromAccel);
+        }
+
+        return new AccelResult(Math.abs(accelReg.getSlope()), accelReg.getRSquare());
+    }
+}
diff --git a/build.dependencies.gradle b/build.dependencies.gradle
index 750985f..8cfce2c 100644
--- a/build.dependencies.gradle
+++ b/build.dependencies.gradle
@@ -1,6 +1,7 @@
 repositories {
     mavenCentral()
     google() // Needed for androidx
+    maven { url = 'https://maven.brott.dev/' }
 }
 
 dependencies {
@@ -17,6 +18,7 @@ dependencies {
     implementation 'org.tensorflow:tensorflow-lite-task-vision:0.4.3'
     runtimeOnly 'org.tensorflow:tensorflow-lite:2.12.0'
     implementation 'androidx.appcompat:appcompat:1.2.0'
+    implementation 'com.acmerobotics.dashboard:dashboard:0.4.15'
 }