From 35c91700376588dff4c5ba6ed09a304db11150e0 Mon Sep 17 00:00:00 2001
From: Liam Fruzyna <liam@fruzyna.net>
Date: Mon, 4 Sep 2023 12:57:23 -0500
Subject: [PATCH] Updated javadoc

---
 docs/allclasses-index.html                    | 258 +++--
 docs/allclasses.html                          |  16 +-
 docs/allpackages-index.html                   |  58 +-
 docs/constant-values.html                     | 146 ++-
 docs/deprecated-list.html                     |   6 +-
 docs/element-list                             |   2 +-
 docs/frc/paths/package-summary.html           | 164 ---
 docs/frc/paths/package-tree.html              | 165 ---
 docs/help-doc.html                            |   6 +-
 docs/index-all.html                           | 378 ++++++-
 docs/index.html                               |  62 +-
 docs/jquery/jquery-3.6.0.min.js               |   2 -
 docs/jquery/jquery-3.6.1.min.js               |   2 +
 docs/legal/ADDITIONAL_LICENSE_INFO            |  37 +
 docs/legal/ASSEMBLY_EXCEPTION                 |  27 +
 docs/legal/LICENSE                            | 347 +++++++
 docs/legal/jquery.md                          |  72 ++
 docs/legal/jqueryUI.md                        |  49 +
 docs/legal/jszip.md                           | 653 ++++++++++++
 docs/legal/pako.md                            |  45 +
 docs/member-search-index.js                   |   2 +-
 docs/org/wildstang/framework/CoreUtils.html   |   6 +-
 .../wildstang/framework/auto/AutoManager.html |  54 +-
 .../wildstang/framework/auto/AutoProgram.html |  61 +-
 .../wildstang/framework/auto/AutoStep.html    |   6 +-
 .../framework/auto/BobTrajectory.html         |   6 +-
 .../framework/auto/package-summary.html       |   6 +-
 .../framework/auto/package-tree.html          |   6 +-
 .../framework/auto/program/Sleeper.html       |  10 +-
 .../auto/program/package-summary.html         |   6 +-
 .../framework/auto/program/package-tree.html  |   6 +-
 .../AutoParallelFinishedOnAnyStepGroup.html   |   6 +-
 .../auto/steps/AutoParallelStepGroup.html     |   6 +-
 .../auto/steps/AutoSerialStepGroup.html       |   6 +-
 .../auto/steps/PathFollowerStep.html          |   6 +-
 .../framework/auto/steps/PathHeadingStep.html |   6 +-
 .../framework/auto/steps/SetGyroStep.html     |   6 +-
 .../auto/steps/SwervePathFollowerStep.html    |  55 +-
 .../auto/steps/control/AutoStepDelay.html     |   6 +-
 .../steps/control/AutoStepStopAutonomous.html |   6 +-
 .../auto/steps/control/package-summary.html   |   6 +-
 .../auto/steps/control/package-tree.html      |   6 +-
 .../framework/auto/steps/package-summary.html |   6 +-
 .../framework/auto/steps/package-tree.html    |   6 +-
 .../wildstang/framework/config/Config.html    |   6 +-
 .../framework/config/ConfigManager.html       |   6 +-
 .../framework/config/package-summary.html     |   6 +-
 .../framework/config/package-tree.html        |   6 +-
 .../framework/core/AutoPrograms.html          |  10 +-
 docs/org/wildstang/framework/core/Core.html   |   6 +-
 docs/org/wildstang/framework/core/Inputs.html |  10 +-
 .../org/wildstang/framework/core/Outputs.html |  10 +-
 .../wildstang/framework/core/Subsystems.html  |  10 +-
 .../framework/core/package-summary.html       |   6 +-
 .../framework/core/package-tree.html          |   6 +-
 .../framework/hardware/InputConfig.html       |   6 +-
 .../framework/hardware/InputFactory.html      |   6 +-
 .../framework/hardware/OutputConfig.html      |   6 +-
 .../framework/hardware/OutputFactory.html     |   6 +-
 .../framework/hardware/package-summary.html   |   6 +-
 .../framework/hardware/package-tree.html      |   6 +-
 .../wildstang/framework/io/InputListener.html |   6 +-
 .../wildstang/framework/io/InputManager.html  |   6 +-
 .../wildstang/framework/io/OutputManager.html |   6 +-
 .../framework/io/inputs/AnalogInput.html      |   6 +-
 .../framework/io/inputs/DigitalInput.html     |   6 +-
 .../framework/io/inputs/DiscreteInput.html    |   6 +-
 .../framework/io/inputs/I2CInput.html         |   6 +-
 .../framework/io/inputs/ImageInput.html       |   6 +-
 .../wildstang/framework/io/inputs/Input.html  |   6 +-
 .../framework/io/inputs/package-summary.html  |   6 +-
 .../framework/io/inputs/package-tree.html     |   6 +-
 .../framework/io/outputs/AnalogOutput.html    |   6 +-
 .../framework/io/outputs/DigitalOutput.html   |   6 +-
 .../framework/io/outputs/DiscreteOutput.html  |   6 +-
 .../framework/io/outputs/I2COutput.html       |   6 +-
 .../framework/io/outputs/Output.html          |   6 +-
 .../framework/io/outputs/package-summary.html |   6 +-
 .../framework/io/outputs/package-tree.html    |   6 +-
 .../framework/io/package-summary.html         |   6 +-
 .../wildstang/framework/io/package-tree.html  |   6 +-
 .../framework/logger/Log.LogLevel.html        |   6 +-
 docs/org/wildstang/framework/logger/Log.html  |   6 +-
 .../framework/logger/package-summary.html     |   6 +-
 .../framework/logger/package-tree.html        |   6 +-
 .../wildstang/framework/package-summary.html  |   6 +-
 .../org/wildstang/framework/package-tree.html |   6 +-
 .../wildstang/framework/pid/PIDConstants.html |   6 +-
 .../pid/controller/PidController.html         |   6 +-
 .../pid/controller/PidStateType.html          |   6 +-
 .../pid/controller/SpeedPidController.html    |   6 +-
 .../pid/controller/package-summary.html       |   6 +-
 .../pid/controller/package-tree.html          |   6 +-
 .../framework/pid/input/IPidInput.html        |   6 +-
 .../framework/pid/input/package-summary.html  |   6 +-
 .../framework/pid/input/package-tree.html     |   6 +-
 .../framework/pid/output/IPidOutput.html      |   6 +-
 .../framework/pid/output/package-summary.html |   6 +-
 .../framework/pid/output/package-tree.html    |   6 +-
 .../framework/pid/package-summary.html        |   6 +-
 .../wildstang/framework/pid/package-tree.html |   6 +-
 .../framework/subsystems/Subsystem.html       |   6 +-
 .../subsystems/SubsystemManager.html          |   6 +-
 .../framework/subsystems/drive/Path.html      |   6 +-
 .../subsystems/drive/PathFollowingDrive.html  |   6 +-
 .../framework/subsystems/drive/TankPath.html  |   6 +-
 .../subsystems/drive/Trajectory.html          |   6 +-
 .../subsystems/drive/package-summary.html     |   6 +-
 .../subsystems/drive/package-tree.html        |   6 +-
 .../framework/subsystems/package-summary.html |   6 +-
 .../framework/subsystems/package-tree.html    |   6 +-
 .../swerve/SwerveDriveTemplate.html           |  48 +-
 .../subsystems/swerve/package-summary.html    |   6 +-
 .../subsystems/swerve/package-tree.html       |   6 +-
 .../wildstang/hardware/JoystickConstants.html |   6 +-
 .../wildstang/hardware/package-summary.html   |   6 +-
 docs/org/wildstang/hardware/package-tree.html |   6 +-
 .../hardware/roborio/RoboRIOInputFactory.html |   6 +-
 .../roborio/RoboRIOOutputFactory.html         |   6 +-
 .../roborio/inputs/WsAbsoluteEncoder.html     |   6 +-
 .../hardware/roborio/inputs/WsAnalogGyro.html |   6 +-
 .../roborio/inputs/WsAnalogInput.html         |   6 +-
 .../roborio/inputs/WsContinuousI2CInput.html  |   6 +-
 .../hardware/roborio/inputs/WsDPadButton.html |   6 +-
 .../roborio/inputs/WsDigitalInput.html        |   6 +-
 .../hardware/roborio/inputs/WsI2CInput.html   |   6 +-
 .../roborio/inputs/WsJoystickAxis.html        |   6 +-
 .../roborio/inputs/WsJoystickButton.html      |   6 +-
 .../inputs/WsJoystickToggleButton.html        |   6 +-
 .../roborio/inputs/WsLidarSensor.html         |   6 +-
 .../inputs/WsMotionProfileControl.html        |   6 +-
 .../roborio/inputs/WsRemoteAnalogInput.html   |   6 +-
 .../roborio/inputs/WsRemoteDigitalInput.html  |   6 +-
 .../config/WsAbsoluteEncoderConfig.html       |   6 +-
 .../inputs/config/WsAnalogGyroConfig.html     |   6 +-
 .../inputs/config/WsAnalogInputConfig.html    |   6 +-
 .../inputs/config/WsCameraInputConfig.html    |   6 +-
 .../config/WsContinuousI2CInputConfig.html    |   6 +-
 .../config/WsDPadButtonInputConfig.html       |   6 +-
 .../inputs/config/WsDigitalInputConfig.html   |   6 +-
 .../inputs/config/WsI2CInputConfig.html       |   6 +-
 .../inputs/config/WsJSButtonInputConfig.html  |   6 +-
 .../config/WsJSJoystickInputConfig.html       |   6 +-
 .../inputs/config/WsLidarInputConfig.html     |   6 +-
 .../inputs/config/WsMotionProfileConfig.html  |   6 +-
 .../config/WsMotionProfileInputConfig.html    |   6 +-
 .../config/WsRemoteAnalogInputConfig.html     |   6 +-
 .../config/WsRemoteDigitalInputConfig.html    |   6 +-
 .../inputs/config/package-summary.html        |   6 +-
 .../roborio/inputs/config/package-tree.html   |   6 +-
 .../roborio/inputs/package-summary.html       |   6 +-
 .../hardware/roborio/inputs/package-tree.html |   6 +-
 .../roborio/outputs/WsDigitalOutput.html      |   6 +-
 .../roborio/outputs/WsDoubleSolenoid.html     |   6 +-
 .../outputs/WsDoubleSolenoidState.html        |   6 +-
 .../hardware/roborio/outputs/WsI2COutput.html |   6 +-
 .../roborio/outputs/WsMotorController.html    |   6 +-
 .../hardware/roborio/outputs/WsPhoenix.html   |   6 +-
 .../hardware/roborio/outputs/WsRelay.html     |   6 +-
 .../roborio/outputs/WsRelayState.html         |   6 +-
 .../roborio/outputs/WsRemoteAnalogOutput.html |   6 +-
 .../outputs/WsRemoteDigitalOutput.html        |   6 +-
 .../hardware/roborio/outputs/WsServo.html     |   6 +-
 .../hardware/roborio/outputs/WsSolenoid.html  |   6 +-
 .../hardware/roborio/outputs/WsSparkMax.html  | 175 +++-
 .../outputs/config/WsAnalogOutputConfig.html  |   6 +-
 .../outputs/config/WsDigitalOutputConfig.html |   6 +-
 .../config/WsDoubleSolenoidConfig.html        |   6 +-
 .../outputs/config/WsI2COutputConfig.html     |   6 +-
 .../outputs/config/WsMotorControllers.html    |   6 +-
 .../outputs/config/WsPhoenixConfig.html       |   6 +-
 .../config/WsPhoenixFollowerConfig.html       |   6 +-
 .../roborio/outputs/config/WsRelayConfig.html |   6 +-
 .../config/WsRemoteAnalogOutputConfig.html    |   6 +-
 .../config/WsRemoteDigitalOutputConfig.html   |   6 +-
 .../roborio/outputs/config/WsServoConfig.html |   6 +-
 .../outputs/config/WsSolenoidConfig.html      |   6 +-
 .../outputs/config/WsSparkMaxConfig.html      |   6 +-
 .../config/WsSparkMaxFollowerConfig.html      |   6 +-
 .../outputs/config/package-summary.html       |   6 +-
 .../roborio/outputs/config/package-tree.html  |   6 +-
 .../roborio/outputs/package-summary.html      |   6 +-
 .../roborio/outputs/package-tree.html         |   6 +-
 .../hardware/roborio/package-summary.html     |   6 +-
 .../hardware/roborio/package-tree.html        |   6 +-
 .../wildstang/sample/robot/CANConstants.html  | 637 ++++++++++++
 .../wildstang/sample/robot/Main.html}         | 121 +--
 docs/org/wildstang/sample/robot/Robot.html    | 580 +++++++++++
 .../sample/robot/WSAutoPrograms.html          | 412 ++++++++
 docs/org/wildstang/sample/robot/WSInputs.html | 982 ++++++++++++++++++
 .../org/wildstang/sample/robot/WSOutputs.html | 668 ++++++++++++
 .../wildstang/sample/robot/WSSubsystems.html  | 451 ++++++++
 .../sample/robot/package-summary.html         | 215 ++++
 .../wildstang/sample/robot/package-tree.html  | 192 ++++
 docs/overview-summary.html                    |   2 +-
 docs/overview-tree.html                       |  34 +-
 docs/package-search-index.js                  |   2 +-
 docs/type-search-index.js                     |   2 +-
 198 files changed, 6999 insertions(+), 1163 deletions(-)
 delete mode 100644 docs/frc/paths/package-summary.html
 delete mode 100644 docs/frc/paths/package-tree.html
 delete mode 100644 docs/jquery/jquery-3.6.0.min.js
 create mode 100644 docs/jquery/jquery-3.6.1.min.js
 create mode 100644 docs/legal/ADDITIONAL_LICENSE_INFO
 create mode 100644 docs/legal/ASSEMBLY_EXCEPTION
 create mode 100644 docs/legal/LICENSE
 create mode 100644 docs/legal/jquery.md
 create mode 100644 docs/legal/jqueryUI.md
 create mode 100644 docs/legal/jszip.md
 create mode 100644 docs/legal/pako.md
 create mode 100644 docs/org/wildstang/sample/robot/CANConstants.html
 rename docs/{frc/paths/Test.html => org/wildstang/sample/robot/Main.html} (64%)
 create mode 100644 docs/org/wildstang/sample/robot/Robot.html
 create mode 100644 docs/org/wildstang/sample/robot/WSAutoPrograms.html
 create mode 100644 docs/org/wildstang/sample/robot/WSInputs.html
 create mode 100644 docs/org/wildstang/sample/robot/WSOutputs.html
 create mode 100644 docs/org/wildstang/sample/robot/WSSubsystems.html
 create mode 100644 docs/org/wildstang/sample/robot/package-summary.html
 create mode 100644 docs/org/wildstang/sample/robot/package-tree.html

diff --git a/docs/allclasses-index.html b/docs/allclasses-index.html
index de5ef510..c99eda7a 100644
--- a/docs/allclasses-index.html
+++ b/docs/allclasses-index.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>All Classes (rfmain API)</title>
+<title>All Classes (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="jquery/jquery-ui.min.css" title="Style">
@@ -14,20 +14,20 @@
 <!--[if IE]>
 <script type="text/javascript" src="jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
 <![endif]-->
-<script type="text/javascript" src="jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="jquery/jquery-3.6.1.min.js"></script>
 <script type="text/javascript" src="jquery/jquery-ui.min.js"></script>
 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="All Classes (rfmain API)";
+            parent.document.title="All Classes (robot_framework API)";
         }
     }
     catch(err) {
     }
 //-->
-var data = {"i0":2,"i1":2,"i2":2,"i3":2,"i4":2,"i5":2,"i6":1,"i7":2,"i8":2,"i9":2,"i10":2,"i11":2,"i12":2,"i13":2,"i14":2,"i15":2,"i16":2,"i17":2,"i18":2,"i19":2,"i20":2,"i21":2,"i22":2,"i23":2,"i24":1,"i25":1,"i26":1,"i27":2,"i28":1,"i29":1,"i30":1,"i31":2,"i32":2,"i33":4,"i34":2,"i35":1,"i36":1,"i37":2,"i38":1,"i39":1,"i40":2,"i41":2,"i42":2,"i43":2,"i44":2,"i45":4,"i46":2,"i47":2,"i48":2,"i49":2,"i50":2,"i51":1,"i52":2,"i53":1,"i54":2,"i55":2,"i56":2,"i57":2,"i58":2,"i59":2,"i60":2,"i61":2,"i62":2,"i63":2,"i64":2,"i65":2,"i66":2,"i67":2,"i68":2,"i69":2,"i70":2,"i71":2,"i72":2,"i73":2,"i74":2,"i75":4,"i76":2,"i77":2,"i78":2,"i79":2,"i80":2,"i81":2,"i82":2,"i83":2,"i84":2,"i85":2,"i86":2,"i87":2,"i88":2,"i89":2,"i90":2,"i91":2,"i92":2,"i93":4,"i94":2,"i95":2,"i96":2,"i97":2,"i98":2,"i99":4,"i100":2,"i101":2,"i102":2,"i103":2,"i104":2,"i105":2,"i106":2,"i107":2,"i108":2,"i109":2,"i110":2,"i111":2,"i112":2,"i113":2,"i114":2};
+var data = {"i0":2,"i1":2,"i2":2,"i3":2,"i4":2,"i5":2,"i6":1,"i7":2,"i8":2,"i9":2,"i10":2,"i11":2,"i12":2,"i13":2,"i14":2,"i15":2,"i16":2,"i17":2,"i18":2,"i19":2,"i20":2,"i21":2,"i22":2,"i23":2,"i24":2,"i25":1,"i26":1,"i27":1,"i28":2,"i29":1,"i30":1,"i31":1,"i32":2,"i33":2,"i34":4,"i35":2,"i36":2,"i37":1,"i38":1,"i39":2,"i40":1,"i41":1,"i42":2,"i43":2,"i44":2,"i45":2,"i46":2,"i47":4,"i48":2,"i49":2,"i50":2,"i51":2,"i52":2,"i53":2,"i54":1,"i55":2,"i56":1,"i57":2,"i58":2,"i59":2,"i60":2,"i61":2,"i62":2,"i63":2,"i64":2,"i65":2,"i66":2,"i67":2,"i68":4,"i69":2,"i70":2,"i71":2,"i72":2,"i73":2,"i74":2,"i75":2,"i76":2,"i77":2,"i78":4,"i79":2,"i80":2,"i81":2,"i82":2,"i83":2,"i84":2,"i85":4,"i86":2,"i87":2,"i88":2,"i89":2,"i90":2,"i91":2,"i92":2,"i93":2,"i94":2,"i95":2,"i96":2,"i97":4,"i98":4,"i99":2,"i100":2,"i101":2,"i102":2,"i103":2,"i104":4,"i105":2,"i106":2,"i107":2,"i108":2,"i109":2,"i110":2,"i111":2,"i112":2,"i113":2,"i114":2,"i115":2,"i116":2,"i117":2,"i118":2,"i119":2,"i120":4};
 var tabs = {65535:["t0","All Classes"],1:["t1","Interface Summary"],2:["t2","Class Summary"],4:["t3","Enum Summary"]};
 var altColor = "altColor";
 var rowColor = "rowColor";
@@ -183,616 +183,656 @@ <h1 title="All&amp;nbsp;Classes" class="title">All&nbsp;Classes</h1>
 <th class="colLast" scope="row">&nbsp;</th>
 </tr>
 <tr id="i12" class="altColor">
+<td class="colFirst"><a href="org/wildstang/sample/robot/CANConstants.html" title="class in org.wildstang.sample.robot">CANConstants</a></td>
+<th class="colLast" scope="row">
+<div class="block">CAN Constants are stored here.</div>
+</th>
+</tr>
+<tr id="i13" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/framework/config/Config.html" title="class in org.wildstang.framework.config">Config</a></td>
 <th class="colLast" scope="row">
 <div class="block">This class represents the config parameters.</div>
 </th>
 </tr>
-<tr id="i13" class="rowColor">
+<tr id="i14" class="altColor">
 <td class="colFirst"><a href="org/wildstang/framework/config/ConfigManager.html" title="class in org.wildstang.framework.config">ConfigManager</a></td>
 <th class="colLast" scope="row">
 <div class="block">This class is the public interface to accessing and working with the
  configuration.</div>
 </th>
 </tr>
-<tr id="i14" class="altColor">
+<tr id="i15" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/framework/core/Core.html" title="class in org.wildstang.framework.core">Core</a></td>
 <th class="colLast" scope="row">
 <div class="block">Core of robot framework.</div>
 </th>
 </tr>
-<tr id="i15" class="rowColor">
+<tr id="i16" class="altColor">
 <td class="colFirst"><a href="org/wildstang/framework/CoreUtils.html" title="class in org.wildstang.framework">CoreUtils</a></td>
 <th class="colLast" scope="row">
 <div class="block">Contains utility functions used across the framework.</div>
 </th>
 </tr>
-<tr id="i16" class="altColor">
+<tr id="i17" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/framework/io/inputs/DigitalInput.html" title="class in org.wildstang.framework.io.inputs">DigitalInput</a></td>
 <th class="colLast" scope="row">
 <div class="block">First abstraction of Input representing "digital" Inputs
  such as buttons and limit switches.</div>
 </th>
 </tr>
-<tr id="i17" class="rowColor">
+<tr id="i18" class="altColor">
 <td class="colFirst"><a href="org/wildstang/framework/io/outputs/DigitalOutput.html" title="class in org.wildstang.framework.io.outputs">DigitalOutput</a></td>
 <th class="colLast" scope="row">
 <div class="block">First abstraction of Output representing "analog" Outputs
  such as solenoids and LEDs.</div>
 </th>
 </tr>
-<tr id="i18" class="altColor">
+<tr id="i19" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/framework/io/inputs/DiscreteInput.html" title="class in org.wildstang.framework.io.inputs">DiscreteInput</a></td>
 <th class="colLast" scope="row">
 <div class="block">First abstraction of Input representing "discrete" Inputs
  such as hall effect and LIDAR sensors.</div>
 </th>
 </tr>
-<tr id="i19" class="rowColor">
+<tr id="i20" class="altColor">
 <td class="colFirst"><a href="org/wildstang/framework/io/outputs/DiscreteOutput.html" title="class in org.wildstang.framework.io.outputs">DiscreteOutput</a></td>
 <th class="colLast" scope="row">
 <div class="block">First abstraction of Output representing "analog" Outputs
  such as relays and double solenoids.</div>
 </th>
 </tr>
-<tr id="i20" class="altColor">
+<tr id="i21" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/framework/io/inputs/I2CInput.html" title="class in org.wildstang.framework.io.inputs">I2CInput</a></td>
 <th class="colLast" scope="row">
 <div class="block">First abstraction of Input representing I2C Inputs.</div>
 </th>
 </tr>
-<tr id="i21" class="rowColor">
+<tr id="i22" class="altColor">
 <td class="colFirst"><a href="org/wildstang/framework/io/outputs/I2COutput.html" title="class in org.wildstang.framework.io.outputs">I2COutput</a></td>
 <th class="colLast" scope="row">
 <div class="block">First abstraction of Output representing I2C Outputs.</div>
 </th>
 </tr>
-<tr id="i22" class="altColor">
+<tr id="i23" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/framework/io/inputs/ImageInput.html" title="class in org.wildstang.framework.io.inputs">ImageInput</a></td>
 <th class="colLast" scope="row">
 <div class="block">First abstraction of Input representing "image" Inputs for vision purposes.</div>
 </th>
 </tr>
-<tr id="i23" class="rowColor">
+<tr id="i24" class="altColor">
 <td class="colFirst"><a href="org/wildstang/framework/io/inputs/Input.html" title="class in org.wildstang.framework.io.inputs">Input</a></td>
 <th class="colLast" scope="row">
 <div class="block">Core input functions, primarily handling InputListeners.</div>
 </th>
 </tr>
-<tr id="i24" class="altColor">
+<tr id="i25" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/framework/hardware/InputConfig.html" title="interface in org.wildstang.framework.hardware">InputConfig</a></td>
 <th class="colLast" scope="row">
 <div class="block">This interface could be deprecated as it provides no functionality
  other than categoriztion.</div>
 </th>
 </tr>
-<tr id="i25" class="rowColor">
+<tr id="i26" class="altColor">
 <td class="colFirst"><a href="org/wildstang/framework/hardware/InputFactory.html" title="interface in org.wildstang.framework.hardware">InputFactory</a></td>
 <th class="colLast" scope="row">
 <div class="block">Creates Input objects attached to a specified port, and of a specified type.</div>
 </th>
 </tr>
-<tr id="i26" class="altColor">
+<tr id="i27" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/framework/io/InputListener.html" title="interface in org.wildstang.framework.io">InputListener</a></td>
 <th class="colLast" scope="row">
 <div class="block">Interface for handling input updates.</div>
 </th>
 </tr>
-<tr id="i27" class="rowColor">
+<tr id="i28" class="altColor">
 <td class="colFirst"><a href="org/wildstang/framework/io/InputManager.html" title="class in org.wildstang.framework.io">InputManager</a></td>
 <th class="colLast" scope="row">
 <div class="block">Contains and updates all Inputs.</div>
 </th>
 </tr>
-<tr id="i28" class="altColor">
+<tr id="i29" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/framework/core/Inputs.html" title="interface in org.wildstang.framework.core">Inputs</a></td>
 <th class="colLast" scope="row">
 <div class="block">Used in implementations to enumerate Inputs.</div>
 </th>
 </tr>
-<tr id="i29" class="rowColor">
+<tr id="i30" class="altColor">
 <td class="colFirst"><a href="org/wildstang/framework/pid/input/IPidInput.html" title="interface in org.wildstang.framework.pid.input">IPidInput</a></td>
 <th class="colLast" scope="row">
 <div class="block">Interface for wrapping an Input to PID.</div>
 </th>
 </tr>
-<tr id="i30" class="altColor">
+<tr id="i31" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/framework/pid/output/IPidOutput.html" title="interface in org.wildstang.framework.pid.output">IPidOutput</a></td>
 <th class="colLast" scope="row">
 <div class="block">Interface for wrapping an Output to PID.</div>
 </th>
 </tr>
-<tr id="i31" class="rowColor">
+<tr id="i32" class="altColor">
 <td class="colFirst"><a href="org/wildstang/hardware/JoystickConstants.html" title="class in org.wildstang.hardware">JoystickConstants</a></td>
 <th class="colLast" scope="row">
 <div class="block">Constants representing controller axis indexes.</div>
 </th>
 </tr>
-<tr id="i32" class="altColor">
+<tr id="i33" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/framework/logger/Log.html" title="class in org.wildstang.framework.logger">Log</a></td>
 <th class="colLast" scope="row">
 <div class="block">Static class wrapping System.out/err logging functions for nicer and controlled output.</div>
 </th>
 </tr>
-<tr id="i33" class="rowColor">
+<tr id="i34" class="altColor">
 <td class="colFirst"><a href="org/wildstang/framework/logger/Log.LogLevel.html" title="enum in org.wildstang.framework.logger">Log.LogLevel</a></td>
 <th class="colLast" scope="row">
 <div class="block">An enum representing the 4 LogLevels.</div>
 </th>
 </tr>
-<tr id="i34" class="altColor">
+<tr id="i35" class="rowColor">
+<td class="colFirst"><a href="org/wildstang/sample/robot/Main.html" title="class in org.wildstang.sample.robot">Main</a></td>
+<th class="colLast" scope="row">
+<div class="block">Do NOT modify this file.</div>
+</th>
+</tr>
+<tr id="i36" class="altColor">
 <td class="colFirst"><a href="org/wildstang/framework/io/outputs/Output.html" title="class in org.wildstang.framework.io.outputs">Output</a></td>
 <th class="colLast" scope="row">
 <div class="block">Core output functions.</div>
 </th>
 </tr>
-<tr id="i35" class="rowColor">
+<tr id="i37" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/framework/hardware/OutputConfig.html" title="interface in org.wildstang.framework.hardware">OutputConfig</a></td>
 <th class="colLast" scope="row">
 <div class="block">This interface could be deprecated as it provides no functionality
  other than categoriztion.</div>
 </th>
 </tr>
-<tr id="i36" class="altColor">
+<tr id="i38" class="altColor">
 <td class="colFirst"><a href="org/wildstang/framework/hardware/OutputFactory.html" title="interface in org.wildstang.framework.hardware">OutputFactory</a></td>
 <th class="colLast" scope="row">
 <div class="block">Creates Output objects attached to a specified port, and of a specified type.</div>
 </th>
 </tr>
-<tr id="i37" class="rowColor">
+<tr id="i39" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/framework/io/OutputManager.html" title="class in org.wildstang.framework.io">OutputManager</a></td>
 <th class="colLast" scope="row">
 <div class="block">Contains and updates all Outputs.</div>
 </th>
 </tr>
-<tr id="i38" class="altColor">
+<tr id="i40" class="altColor">
 <td class="colFirst"><a href="org/wildstang/framework/core/Outputs.html" title="interface in org.wildstang.framework.core">Outputs</a></td>
 <th class="colLast" scope="row">
 <div class="block">Used in implementations to enumerate Outputs.</div>
 </th>
 </tr>
-<tr id="i39" class="rowColor">
+<tr id="i41" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/framework/subsystems/drive/Path.html" title="interface in org.wildstang.framework.subsystems.drive">Path</a></td>
 <th class="colLast" scope="row">
 <div class="block">Empty abstract class representing a drive path.</div>
 </th>
 </tr>
-<tr id="i40" class="altColor">
+<tr id="i42" class="altColor">
 <td class="colFirst"><a href="org/wildstang/framework/auto/steps/PathFollowerStep.html" title="class in org.wildstang.framework.auto.steps">PathFollowerStep</a></td>
 <th class="colLast" scope="row">&nbsp;</th>
 </tr>
-<tr id="i41" class="rowColor">
+<tr id="i43" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/framework/subsystems/drive/PathFollowingDrive.html" title="class in org.wildstang.framework.subsystems.drive">PathFollowingDrive</a></td>
 <th class="colLast" scope="row">
 <div class="block">Abstract representation of a Drive subsystem which support path following.</div>
 </th>
 </tr>
-<tr id="i42" class="altColor">
+<tr id="i44" class="altColor">
 <td class="colFirst"><a href="org/wildstang/framework/auto/steps/PathHeadingStep.html" title="class in org.wildstang.framework.auto.steps">PathHeadingStep</a></td>
 <th class="colLast" scope="row">&nbsp;</th>
 </tr>
-<tr id="i43" class="rowColor">
+<tr id="i45" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/framework/pid/PIDConstants.html" title="class in org.wildstang.framework.pid">PIDConstants</a></td>
 <th class="colLast" scope="row">
 <div class="block">Represents the 4 PID constants: F, P, I, and D.</div>
 </th>
 </tr>
-<tr id="i44" class="altColor">
+<tr id="i46" class="altColor">
 <td class="colFirst"><a href="org/wildstang/framework/pid/controller/PidController.html" title="class in org.wildstang.framework.pid.controller">PidController</a></td>
 <th class="colLast" scope="row">
 <div class="block">Controller for PID motor control.</div>
 </th>
 </tr>
-<tr id="i45" class="rowColor">
+<tr id="i47" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/framework/pid/controller/PidStateType.html" title="enum in org.wildstang.framework.pid.controller">PidStateType</a></td>
 <th class="colLast" scope="row">
 <div class="block">Represents PID states</div>
 </th>
 </tr>
-<tr id="i46" class="altColor">
+<tr id="i48" class="altColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/RoboRIOInputFactory.html" title="class in org.wildstang.hardware.roborio">RoboRIOInputFactory</a></td>
 <th class="colLast" scope="row">
 <div class="block">Builds inputs from WsInputs enumerations.</div>
 </th>
 </tr>
-<tr id="i47" class="rowColor">
+<tr id="i49" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/RoboRIOOutputFactory.html" title="class in org.wildstang.hardware.roborio">RoboRIOOutputFactory</a></td>
 <th class="colLast" scope="row">
 <div class="block">Builds outputs from WsOutputs enumerations.</div>
 </th>
 </tr>
-<tr id="i48" class="altColor">
+<tr id="i50" class="altColor">
+<td class="colFirst"><a href="org/wildstang/sample/robot/Robot.html" title="class in org.wildstang.sample.robot">Robot</a></td>
+<th class="colLast" scope="row">
+<div class="block">Once the Main class starts this class, the VM is configured to call the
+ functions corresponding to each mode, as described in the IterativeRobotBase
+ documentation.</div>
+</th>
+</tr>
+<tr id="i51" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/framework/auto/steps/SetGyroStep.html" title="class in org.wildstang.framework.auto.steps">SetGyroStep</a></td>
 <th class="colLast" scope="row">&nbsp;</th>
 </tr>
-<tr id="i49" class="rowColor">
+<tr id="i52" class="altColor">
 <td class="colFirst"><a href="org/wildstang/framework/auto/program/Sleeper.html" title="class in org.wildstang.framework.auto.program">Sleeper</a></td>
 <th class="colLast" scope="row">
 <div class="block">A default AutoProgram that does nothing an never completes.</div>
 </th>
 </tr>
-<tr id="i50" class="altColor">
+<tr id="i53" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/framework/pid/controller/SpeedPidController.html" title="class in org.wildstang.framework.pid.controller">SpeedPidController</a></td>
 <th class="colLast" scope="row">
 <div class="block">Represents a PID controller for motor speed control.</div>
 </th>
 </tr>
-<tr id="i51" class="rowColor">
+<tr id="i54" class="altColor">
 <td class="colFirst"><a href="org/wildstang/framework/subsystems/Subsystem.html" title="interface in org.wildstang.framework.subsystems">Subsystem</a></td>
 <th class="colLast" scope="row">
 <div class="block">Interface describing a subsystem class.</div>
 </th>
 </tr>
-<tr id="i52" class="altColor">
+<tr id="i55" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/framework/subsystems/SubsystemManager.html" title="class in org.wildstang.framework.subsystems">SubsystemManager</a></td>
 <th class="colLast" scope="row">
 <div class="block">This class in the manager for all outputs.</div>
 </th>
 </tr>
-<tr id="i53" class="rowColor">
+<tr id="i56" class="altColor">
 <td class="colFirst"><a href="org/wildstang/framework/core/Subsystems.html" title="interface in org.wildstang.framework.core">Subsystems</a></td>
 <th class="colLast" scope="row">
 <div class="block">Used in implementations to enumerate Subsystems.</div>
 </th>
 </tr>
-<tr id="i54" class="altColor">
+<tr id="i57" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/framework/subsystems/swerve/SwerveDriveTemplate.html" title="class in org.wildstang.framework.subsystems.swerve">SwerveDriveTemplate</a></td>
 <th class="colLast" scope="row">&nbsp;</th>
 </tr>
-<tr id="i55" class="rowColor">
+<tr id="i58" class="altColor">
 <td class="colFirst"><a href="org/wildstang/framework/auto/steps/SwervePathFollowerStep.html" title="class in org.wildstang.framework.auto.steps">SwervePathFollowerStep</a></td>
 <th class="colLast" scope="row">&nbsp;</th>
 </tr>
-<tr id="i56" class="altColor">
+<tr id="i59" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/framework/subsystems/drive/TankPath.html" title="class in org.wildstang.framework.subsystems.drive">TankPath</a></td>
 <th class="colLast" scope="row">
 <div class="block">A path implementation which represents tank drive.</div>
 </th>
 </tr>
-<tr id="i57" class="rowColor">
-<td class="colFirst"><a href="frc/paths/Test.html" title="class in frc.paths">Test</a></td>
-<th class="colLast" scope="row">&nbsp;</th>
-</tr>
-<tr id="i58" class="altColor">
+<tr id="i60" class="altColor">
 <td class="colFirst"><a href="org/wildstang/framework/subsystems/drive/Trajectory.html" title="class in org.wildstang.framework.subsystems.drive">Trajectory</a></td>
 <th class="colLast" scope="row">
 <div class="block">Represents a list of CTRE TrajectoryPoints for a cumulative drive path.</div>
 </th>
 </tr>
-<tr id="i59" class="rowColor">
+<tr id="i61" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/inputs/WsAbsoluteEncoder.html" title="class in org.wildstang.hardware.roborio.inputs">WsAbsoluteEncoder</a></td>
 <th class="colLast" scope="row">
 <div class="block">Reads an absolute encoder.</div>
 </th>
 </tr>
-<tr id="i60" class="altColor">
+<tr id="i62" class="altColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/inputs/config/WsAbsoluteEncoderConfig.html" title="class in org.wildstang.hardware.roborio.inputs.config">WsAbsoluteEncoderConfig</a></td>
 <th class="colLast" scope="row">
 <div class="block">Contains configuration for absolute encoders.</div>
 </th>
 </tr>
-<tr id="i61" class="rowColor">
+<tr id="i63" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/inputs/WsAnalogGyro.html" title="class in org.wildstang.hardware.roborio.inputs">WsAnalogGyro</a></td>
 <th class="colLast" scope="row">
 <div class="block">Reads an analog gyro.</div>
 </th>
 </tr>
-<tr id="i62" class="altColor">
+<tr id="i64" class="altColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/inputs/config/WsAnalogGyroConfig.html" title="class in org.wildstang.hardware.roborio.inputs.config">WsAnalogGyroConfig</a></td>
 <th class="colLast" scope="row">
 <div class="block">Contains configuration for analog gyros.</div>
 </th>
 </tr>
-<tr id="i63" class="rowColor">
+<tr id="i65" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/inputs/WsAnalogInput.html" title="class in org.wildstang.hardware.roborio.inputs">WsAnalogInput</a></td>
 <th class="colLast" scope="row">
 <div class="block">Reads an analog input.</div>
 </th>
 </tr>
-<tr id="i64" class="altColor">
+<tr id="i66" class="altColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/inputs/config/WsAnalogInputConfig.html" title="class in org.wildstang.hardware.roborio.inputs.config">WsAnalogInputConfig</a></td>
 <th class="colLast" scope="row">
 <div class="block">Contains configuration for analog inputs.</div>
 </th>
 </tr>
-<tr id="i65" class="rowColor">
+<tr id="i67" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/outputs/config/WsAnalogOutputConfig.html" title="class in org.wildstang.hardware.roborio.outputs.config">WsAnalogOutputConfig</a></td>
 <th class="colLast" scope="row">
 <div class="block">Contains configurations for analog outputs.</div>
 </th>
 </tr>
-<tr id="i66" class="altColor">
+<tr id="i68" class="altColor">
+<td class="colFirst"><a href="org/wildstang/sample/robot/WSAutoPrograms.html" title="enum in org.wildstang.sample.robot">WSAutoPrograms</a></td>
+<th class="colLast" scope="row">
+<div class="block">All active AutoPrograms are enumerated here.</div>
+</th>
+</tr>
+<tr id="i69" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/inputs/config/WsCameraInputConfig.html" title="class in org.wildstang.hardware.roborio.inputs.config">WsCameraInputConfig</a></td>
 <th class="colLast" scope="row">
 <div class="block">Contains configuration for cameras.</div>
 </th>
 </tr>
-<tr id="i67" class="rowColor">
+<tr id="i70" class="altColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/inputs/WsContinuousI2CInput.html" title="class in org.wildstang.hardware.roborio.inputs">WsContinuousI2CInput</a></td>
 <th class="colLast" scope="row">
 <div class="block">Contiunously reads a sensor using I2C.</div>
 </th>
 </tr>
-<tr id="i68" class="altColor">
+<tr id="i71" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/inputs/config/WsContinuousI2CInputConfig.html" title="class in org.wildstang.hardware.roborio.inputs.config">WsContinuousI2CInputConfig</a></td>
 <th class="colLast" scope="row">
 <div class="block">Wrapper class to identify hall effect sensors separate from I2C inputs.</div>
 </th>
 </tr>
-<tr id="i69" class="rowColor">
+<tr id="i72" class="altColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/inputs/WsDigitalInput.html" title="class in org.wildstang.hardware.roborio.inputs">WsDigitalInput</a></td>
 <th class="colLast" scope="row">
 <div class="block">Reads a digital input.</div>
 </th>
 </tr>
-<tr id="i70" class="altColor">
+<tr id="i73" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/inputs/config/WsDigitalInputConfig.html" title="class in org.wildstang.hardware.roborio.inputs.config">WsDigitalInputConfig</a></td>
 <th class="colLast" scope="row">
 <div class="block">Contains configuration for digital inputs.</div>
 </th>
 </tr>
-<tr id="i71" class="rowColor">
+<tr id="i74" class="altColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/outputs/WsDigitalOutput.html" title="class in org.wildstang.hardware.roborio.outputs">WsDigitalOutput</a></td>
 <th class="colLast" scope="row">
 <div class="block">Controls a generic digital output.</div>
 </th>
 </tr>
-<tr id="i72" class="altColor">
+<tr id="i75" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/outputs/config/WsDigitalOutputConfig.html" title="class in org.wildstang.hardware.roborio.outputs.config">WsDigitalOutputConfig</a></td>
 <th class="colLast" scope="row">
 <div class="block">Contains configurations for digital outputs.</div>
 </th>
 </tr>
-<tr id="i73" class="rowColor">
+<tr id="i76" class="altColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/outputs/WsDoubleSolenoid.html" title="class in org.wildstang.hardware.roborio.outputs">WsDoubleSolenoid</a></td>
 <th class="colLast" scope="row">
 <div class="block">Controls a double solenoid.</div>
 </th>
 </tr>
-<tr id="i74" class="altColor">
+<tr id="i77" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/outputs/config/WsDoubleSolenoidConfig.html" title="class in org.wildstang.hardware.roborio.outputs.config">WsDoubleSolenoidConfig</a></td>
 <th class="colLast" scope="row">
 <div class="block">Contains configurations for double solenoids.</div>
 </th>
 </tr>
-<tr id="i75" class="rowColor">
+<tr id="i78" class="altColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/outputs/WsDoubleSolenoidState.html" title="enum in org.wildstang.hardware.roborio.outputs">WsDoubleSolenoidState</a></td>
 <th class="colLast" scope="row">
 <div class="block">Represents double solenoid states.</div>
 </th>
 </tr>
-<tr id="i76" class="altColor">
+<tr id="i79" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/inputs/WsDPadButton.html" title="class in org.wildstang.hardware.roborio.inputs">WsDPadButton</a></td>
 <th class="colLast" scope="row">
 <div class="block">Reads the d-pad on playstation controllers.</div>
 </th>
 </tr>
-<tr id="i77" class="rowColor">
+<tr id="i80" class="altColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/inputs/config/WsDPadButtonInputConfig.html" title="class in org.wildstang.hardware.roborio.inputs.config">WsDPadButtonInputConfig</a></td>
 <th class="colLast" scope="row">
 <div class="block">Wrapper class to identify d-pad buttons separate from joystick buttons.</div>
 </th>
 </tr>
-<tr id="i78" class="altColor">
+<tr id="i81" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/inputs/WsI2CInput.html" title="class in org.wildstang.hardware.roborio.inputs">WsI2CInput</a></td>
 <th class="colLast" scope="row">
 <div class="block">Reads an I2C input.</div>
 </th>
 </tr>
-<tr id="i79" class="rowColor">
+<tr id="i82" class="altColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/inputs/config/WsI2CInputConfig.html" title="class in org.wildstang.hardware.roborio.inputs.config">WsI2CInputConfig</a></td>
 <th class="colLast" scope="row">
 <div class="block">Contains configurations for I2C Outputs.</div>
 </th>
 </tr>
-<tr id="i80" class="altColor">
+<tr id="i83" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/outputs/WsI2COutput.html" title="class in org.wildstang.hardware.roborio.outputs">WsI2COutput</a></td>
 <th class="colLast" scope="row">
 <div class="block">Controls an I2C output.</div>
 </th>
 </tr>
-<tr id="i81" class="rowColor">
+<tr id="i84" class="altColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/outputs/config/WsI2COutputConfig.html" title="class in org.wildstang.hardware.roborio.outputs.config">WsI2COutputConfig</a></td>
 <th class="colLast" scope="row">
 <div class="block">Contains configurations for I2C Outputs.</div>
 </th>
 </tr>
-<tr id="i82" class="altColor">
+<tr id="i85" class="rowColor">
+<td class="colFirst"><a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></td>
+<th class="colLast" scope="row">
+<div class="block">Input mappings are stored here.</div>
+</th>
+</tr>
+<tr id="i86" class="altColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/inputs/WsJoystickAxis.html" title="class in org.wildstang.hardware.roborio.inputs">WsJoystickAxis</a></td>
 <th class="colLast" scope="row">
 <div class="block">Reads a controller joystick axis.</div>
 </th>
 </tr>
-<tr id="i83" class="rowColor">
+<tr id="i87" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/inputs/WsJoystickButton.html" title="class in org.wildstang.hardware.roborio.inputs">WsJoystickButton</a></td>
 <th class="colLast" scope="row">
 <div class="block">Reads a controller button.</div>
 </th>
 </tr>
-<tr id="i84" class="altColor">
+<tr id="i88" class="altColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/inputs/WsJoystickToggleButton.html" title="class in org.wildstang.hardware.roborio.inputs">WsJoystickToggleButton</a></td>
 <th class="colLast" scope="row">
 <div class="block">Reads a toggle joystick button.</div>
 </th>
 </tr>
-<tr id="i85" class="rowColor">
+<tr id="i89" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/inputs/config/WsJSButtonInputConfig.html" title="class in org.wildstang.hardware.roborio.inputs.config">WsJSButtonInputConfig</a></td>
 <th class="colLast" scope="row">
 <div class="block">Contains configurations for joystick buttons.</div>
 </th>
 </tr>
-<tr id="i86" class="altColor">
+<tr id="i90" class="altColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/inputs/config/WsJSJoystickInputConfig.html" title="class in org.wildstang.hardware.roborio.inputs.config">WsJSJoystickInputConfig</a></td>
 <th class="colLast" scope="row">
 <div class="block">Contains configurations for joystick axis.</div>
 </th>
 </tr>
-<tr id="i87" class="rowColor">
+<tr id="i91" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/inputs/config/WsLidarInputConfig.html" title="class in org.wildstang.hardware.roborio.inputs.config">WsLidarInputConfig</a></td>
 <th class="colLast" scope="row">
 <div class="block">Wrapper class to identify LIDAR sensors separate from I2C inputs.</div>
 </th>
 </tr>
-<tr id="i88" class="altColor">
+<tr id="i92" class="altColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/inputs/WsLidarSensor.html" title="class in org.wildstang.hardware.roborio.inputs">WsLidarSensor</a></td>
 <th class="colLast" scope="row">
 <div class="block">Reads a LIDAR sensor.</div>
 </th>
 </tr>
-<tr id="i89" class="rowColor">
+<tr id="i93" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/inputs/config/WsMotionProfileConfig.html" title="class in org.wildstang.hardware.roborio.inputs.config">WsMotionProfileConfig</a></td>
 <th class="colLast" scope="row">
 <div class="block">Placeholder config for motion profiles.</div>
 </th>
 </tr>
-<tr id="i90" class="altColor">
+<tr id="i94" class="altColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/inputs/WsMotionProfileControl.html" title="class in org.wildstang.hardware.roborio.inputs">WsMotionProfileControl</a></td>
 <th class="colLast" scope="row">
 <div class="block">Reads a motion profile.</div>
 </th>
 </tr>
-<tr id="i91" class="rowColor">
+<tr id="i95" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/inputs/config/WsMotionProfileInputConfig.html" title="class in org.wildstang.hardware.roborio.inputs.config">WsMotionProfileInputConfig</a></td>
 <th class="colLast" scope="row">
 <div class="block">Used only for identifying motion profiles.</div>
 </th>
 </tr>
-<tr id="i92" class="altColor">
+<tr id="i96" class="altColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/outputs/WsMotorController.html" title="class in org.wildstang.hardware.roborio.outputs">WsMotorController</a></td>
 <th class="colLast" scope="row">
 <div class="block">Abstract class decribing those that control some kind of motor controller.</div>
 </th>
 </tr>
-<tr id="i93" class="rowColor">
+<tr id="i97" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/outputs/config/WsMotorControllers.html" title="enum in org.wildstang.hardware.roborio.outputs.config">WsMotorControllers</a></td>
 <th class="colLast" scope="row">&nbsp;</th>
 </tr>
-<tr id="i94" class="altColor">
+<tr id="i98" class="altColor">
+<td class="colFirst"><a href="org/wildstang/sample/robot/WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a></td>
+<th class="colLast" scope="row">
+<div class="block">Output mappings are stored here.</div>
+</th>
+</tr>
+<tr id="i99" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/outputs/WsPhoenix.html" title="class in org.wildstang.hardware.roborio.outputs">WsPhoenix</a></td>
 <th class="colLast" scope="row">
 <div class="block">Controls a Talon or Victor motor controller as a Phoenix BaseMotorController.</div>
 </th>
 </tr>
-<tr id="i95" class="rowColor">
+<tr id="i100" class="altColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/outputs/config/WsPhoenixConfig.html" title="class in org.wildstang.hardware.roborio.outputs.config">WsPhoenixConfig</a></td>
 <th class="colLast" scope="row">
 <div class="block">Contains configurations for Phoenix Talon and Victor motor controllers.</div>
 </th>
 </tr>
-<tr id="i96" class="altColor">
+<tr id="i101" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/outputs/config/WsPhoenixFollowerConfig.html" title="class in org.wildstang.hardware.roborio.outputs.config">WsPhoenixFollowerConfig</a></td>
 <th class="colLast" scope="row">
 <div class="block">Contains configurations for Phoenix Talon and Victor motor controller followers.</div>
 </th>
 </tr>
-<tr id="i97" class="rowColor">
+<tr id="i102" class="altColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/outputs/WsRelay.html" title="class in org.wildstang.hardware.roborio.outputs">WsRelay</a></td>
 <th class="colLast" scope="row">
 <div class="block">Controls a relay.</div>
 </th>
 </tr>
-<tr id="i98" class="altColor">
+<tr id="i103" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/outputs/config/WsRelayConfig.html" title="class in org.wildstang.hardware.roborio.outputs.config">WsRelayConfig</a></td>
 <th class="colLast" scope="row">
 <div class="block">Contains configurations for relays.</div>
 </th>
 </tr>
-<tr id="i99" class="rowColor">
+<tr id="i104" class="altColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/outputs/WsRelayState.html" title="enum in org.wildstang.hardware.roborio.outputs">WsRelayState</a></td>
 <th class="colLast" scope="row">
 <div class="block">Represents possible relay states.</div>
 </th>
 </tr>
-<tr id="i100" class="altColor">
+<tr id="i105" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/inputs/WsRemoteAnalogInput.html" title="class in org.wildstang.hardware.roborio.inputs">WsRemoteAnalogInput</a></td>
 <th class="colLast" scope="row">
 <div class="block">Reads a remote analog input.</div>
 </th>
 </tr>
-<tr id="i101" class="rowColor">
+<tr id="i106" class="altColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/inputs/config/WsRemoteAnalogInputConfig.html" title="class in org.wildstang.hardware.roborio.inputs.config">WsRemoteAnalogInputConfig</a></td>
 <th class="colLast" scope="row">
 <div class="block">Contains configuration for remote analog inputs.</div>
 </th>
 </tr>
-<tr id="i102" class="altColor">
+<tr id="i107" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/outputs/WsRemoteAnalogOutput.html" title="class in org.wildstang.hardware.roborio.outputs">WsRemoteAnalogOutput</a></td>
 <th class="colLast" scope="row">
 <div class="block">Controls a remote analog output.</div>
 </th>
 </tr>
-<tr id="i103" class="rowColor">
+<tr id="i108" class="altColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/outputs/config/WsRemoteAnalogOutputConfig.html" title="class in org.wildstang.hardware.roborio.outputs.config">WsRemoteAnalogOutputConfig</a></td>
 <th class="colLast" scope="row">
 <div class="block">Contains configurations for remote analog outputs.</div>
 </th>
 </tr>
-<tr id="i104" class="altColor">
+<tr id="i109" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/inputs/WsRemoteDigitalInput.html" title="class in org.wildstang.hardware.roborio.inputs">WsRemoteDigitalInput</a></td>
 <th class="colLast" scope="row">
 <div class="block">Reads a remote digital input.</div>
 </th>
 </tr>
-<tr id="i105" class="rowColor">
+<tr id="i110" class="altColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/inputs/config/WsRemoteDigitalInputConfig.html" title="class in org.wildstang.hardware.roborio.inputs.config">WsRemoteDigitalInputConfig</a></td>
 <th class="colLast" scope="row">
 <div class="block">Contains configuration for remote digital inputs.</div>
 </th>
 </tr>
-<tr id="i106" class="altColor">
+<tr id="i111" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/outputs/WsRemoteDigitalOutput.html" title="class in org.wildstang.hardware.roborio.outputs">WsRemoteDigitalOutput</a></td>
 <th class="colLast" scope="row">
 <div class="block">Controls a remote digital output.</div>
 </th>
 </tr>
-<tr id="i107" class="rowColor">
+<tr id="i112" class="altColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/outputs/config/WsRemoteDigitalOutputConfig.html" title="class in org.wildstang.hardware.roborio.outputs.config">WsRemoteDigitalOutputConfig</a></td>
 <th class="colLast" scope="row">
 <div class="block">Contains configurations for remote digital outputs.</div>
 </th>
 </tr>
-<tr id="i108" class="altColor">
+<tr id="i113" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/outputs/WsServo.html" title="class in org.wildstang.hardware.roborio.outputs">WsServo</a></td>
 <th class="colLast" scope="row">
 <div class="block">Controls a servo.</div>
 </th>
 </tr>
-<tr id="i109" class="rowColor">
+<tr id="i114" class="altColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/outputs/config/WsServoConfig.html" title="class in org.wildstang.hardware.roborio.outputs.config">WsServoConfig</a></td>
 <th class="colLast" scope="row">
 <div class="block">Contains configurations for servos.</div>
 </th>
 </tr>
-<tr id="i110" class="altColor">
+<tr id="i115" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/outputs/WsSolenoid.html" title="class in org.wildstang.hardware.roborio.outputs">WsSolenoid</a></td>
 <th class="colLast" scope="row">
 <div class="block">Controls a single solenoid.</div>
 </th>
 </tr>
-<tr id="i111" class="rowColor">
+<tr id="i116" class="altColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/outputs/config/WsSolenoidConfig.html" title="class in org.wildstang.hardware.roborio.outputs.config">WsSolenoidConfig</a></td>
 <th class="colLast" scope="row">
 <div class="block">Contains configurations for single solenoids.</div>
 </th>
 </tr>
-<tr id="i112" class="altColor">
+<tr id="i117" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/outputs/WsSparkMax.html" title="class in org.wildstang.hardware.roborio.outputs">WsSparkMax</a></td>
 <th class="colLast" scope="row">
 <div class="block">Controls a Spark Max motor controller.</div>
 </th>
 </tr>
-<tr id="i113" class="rowColor">
+<tr id="i118" class="altColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/outputs/config/WsSparkMaxConfig.html" title="class in org.wildstang.hardware.roborio.outputs.config">WsSparkMaxConfig</a></td>
 <th class="colLast" scope="row">
 <div class="block">Contains configurations for Spark Max motor controllers.</div>
 </th>
 </tr>
-<tr id="i114" class="altColor">
+<tr id="i119" class="rowColor">
 <td class="colFirst"><a href="org/wildstang/hardware/roborio/outputs/config/WsSparkMaxFollowerConfig.html" title="class in org.wildstang.hardware.roborio.outputs.config">WsSparkMaxFollowerConfig</a></td>
 <th class="colLast" scope="row">
 <div class="block">Contains configurations for Spark Max motor controller followers.</div>
 </th>
 </tr>
+<tr id="i120" class="altColor">
+<td class="colFirst"><a href="org/wildstang/sample/robot/WSSubsystems.html" title="enum in org.wildstang.sample.robot">WSSubsystems</a></td>
+<th class="colLast" scope="row">
+<div class="block">All subsystems are enumerated here.</div>
+</th>
+</tr>
 </table>
 </li>
 </ul>
diff --git a/docs/allclasses.html b/docs/allclasses.html
index f064810e..f824bf2a 100644
--- a/docs/allclasses.html
+++ b/docs/allclasses.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>All Classes (rfmain API)</title>
+<title>All Classes (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="jquery/jquery-ui.min.css" title="Style">
@@ -14,12 +14,13 @@
 <!--[if IE]>
 <script type="text/javascript" src="jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
 <![endif]-->
-<script type="text/javascript" src="jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="jquery/jquery-3.6.1.min.js"></script>
 <script type="text/javascript" src="jquery/jquery-ui.min.js"></script>
 </head>
 <body>
+<main role="main">
 <h1 class="bar">All&nbsp;Classes</h1>
-<main role="main" class="indexContainer">
+<div class="indexContainer">
 <ul>
 <li><a href="org/wildstang/framework/io/inputs/AnalogInput.html" title="class in org.wildstang.framework.io.inputs">AnalogInput</a></li>
 <li><a href="org/wildstang/framework/io/outputs/AnalogOutput.html" title="class in org.wildstang.framework.io.outputs">AnalogOutput</a></li>
@@ -33,6 +34,7 @@ <h1 class="bar">All&nbsp;Classes</h1>
 <li><a href="org/wildstang/framework/auto/steps/control/AutoStepDelay.html" title="class in org.wildstang.framework.auto.steps.control">AutoStepDelay</a></li>
 <li><a href="org/wildstang/framework/auto/steps/control/AutoStepStopAutonomous.html" title="class in org.wildstang.framework.auto.steps.control">AutoStepStopAutonomous</a></li>
 <li><a href="org/wildstang/framework/auto/BobTrajectory.html" title="class in org.wildstang.framework.auto">BobTrajectory</a></li>
+<li><a href="org/wildstang/sample/robot/CANConstants.html" title="class in org.wildstang.sample.robot">CANConstants</a></li>
 <li><a href="org/wildstang/framework/config/Config.html" title="class in org.wildstang.framework.config">Config</a></li>
 <li><a href="org/wildstang/framework/config/ConfigManager.html" title="class in org.wildstang.framework.config">ConfigManager</a></li>
 <li><a href="org/wildstang/framework/core/Core.html" title="class in org.wildstang.framework.core">Core</a></li>
@@ -55,6 +57,7 @@ <h1 class="bar">All&nbsp;Classes</h1>
 <li><a href="org/wildstang/hardware/JoystickConstants.html" title="class in org.wildstang.hardware">JoystickConstants</a></li>
 <li><a href="org/wildstang/framework/logger/Log.html" title="class in org.wildstang.framework.logger">Log</a></li>
 <li><a href="org/wildstang/framework/logger/Log.LogLevel.html" title="enum in org.wildstang.framework.logger">Log.LogLevel</a></li>
+<li><a href="org/wildstang/sample/robot/Main.html" title="class in org.wildstang.sample.robot">Main</a></li>
 <li><a href="org/wildstang/framework/io/outputs/Output.html" title="class in org.wildstang.framework.io.outputs">Output</a></li>
 <li><a href="org/wildstang/framework/hardware/OutputConfig.html" title="interface in org.wildstang.framework.hardware"><span class="interfaceName">OutputConfig</span></a></li>
 <li><a href="org/wildstang/framework/hardware/OutputFactory.html" title="interface in org.wildstang.framework.hardware"><span class="interfaceName">OutputFactory</span></a></li>
@@ -69,6 +72,7 @@ <h1 class="bar">All&nbsp;Classes</h1>
 <li><a href="org/wildstang/framework/pid/controller/PidStateType.html" title="enum in org.wildstang.framework.pid.controller">PidStateType</a></li>
 <li><a href="org/wildstang/hardware/roborio/RoboRIOInputFactory.html" title="class in org.wildstang.hardware.roborio">RoboRIOInputFactory</a></li>
 <li><a href="org/wildstang/hardware/roborio/RoboRIOOutputFactory.html" title="class in org.wildstang.hardware.roborio">RoboRIOOutputFactory</a></li>
+<li><a href="org/wildstang/sample/robot/Robot.html" title="class in org.wildstang.sample.robot">Robot</a></li>
 <li><a href="org/wildstang/framework/auto/steps/SetGyroStep.html" title="class in org.wildstang.framework.auto.steps">SetGyroStep</a></li>
 <li><a href="org/wildstang/framework/auto/program/Sleeper.html" title="class in org.wildstang.framework.auto.program">Sleeper</a></li>
 <li><a href="org/wildstang/framework/pid/controller/SpeedPidController.html" title="class in org.wildstang.framework.pid.controller">SpeedPidController</a></li>
@@ -78,7 +82,6 @@ <h1 class="bar">All&nbsp;Classes</h1>
 <li><a href="org/wildstang/framework/subsystems/swerve/SwerveDriveTemplate.html" title="class in org.wildstang.framework.subsystems.swerve">SwerveDriveTemplate</a></li>
 <li><a href="org/wildstang/framework/auto/steps/SwervePathFollowerStep.html" title="class in org.wildstang.framework.auto.steps">SwervePathFollowerStep</a></li>
 <li><a href="org/wildstang/framework/subsystems/drive/TankPath.html" title="class in org.wildstang.framework.subsystems.drive">TankPath</a></li>
-<li><a href="frc/paths/Test.html" title="class in frc.paths">Test</a></li>
 <li><a href="org/wildstang/framework/subsystems/drive/Trajectory.html" title="class in org.wildstang.framework.subsystems.drive">Trajectory</a></li>
 <li><a href="org/wildstang/hardware/roborio/inputs/WsAbsoluteEncoder.html" title="class in org.wildstang.hardware.roborio.inputs">WsAbsoluteEncoder</a></li>
 <li><a href="org/wildstang/hardware/roborio/inputs/config/WsAbsoluteEncoderConfig.html" title="class in org.wildstang.hardware.roborio.inputs.config">WsAbsoluteEncoderConfig</a></li>
@@ -87,6 +90,7 @@ <h1 class="bar">All&nbsp;Classes</h1>
 <li><a href="org/wildstang/hardware/roborio/inputs/WsAnalogInput.html" title="class in org.wildstang.hardware.roborio.inputs">WsAnalogInput</a></li>
 <li><a href="org/wildstang/hardware/roborio/inputs/config/WsAnalogInputConfig.html" title="class in org.wildstang.hardware.roborio.inputs.config">WsAnalogInputConfig</a></li>
 <li><a href="org/wildstang/hardware/roborio/outputs/config/WsAnalogOutputConfig.html" title="class in org.wildstang.hardware.roborio.outputs.config">WsAnalogOutputConfig</a></li>
+<li><a href="org/wildstang/sample/robot/WSAutoPrograms.html" title="enum in org.wildstang.sample.robot">WSAutoPrograms</a></li>
 <li><a href="org/wildstang/hardware/roborio/inputs/config/WsCameraInputConfig.html" title="class in org.wildstang.hardware.roborio.inputs.config">WsCameraInputConfig</a></li>
 <li><a href="org/wildstang/hardware/roborio/inputs/WsContinuousI2CInput.html" title="class in org.wildstang.hardware.roborio.inputs">WsContinuousI2CInput</a></li>
 <li><a href="org/wildstang/hardware/roborio/inputs/config/WsContinuousI2CInputConfig.html" title="class in org.wildstang.hardware.roborio.inputs.config">WsContinuousI2CInputConfig</a></li>
@@ -103,6 +107,7 @@ <h1 class="bar">All&nbsp;Classes</h1>
 <li><a href="org/wildstang/hardware/roborio/inputs/config/WsI2CInputConfig.html" title="class in org.wildstang.hardware.roborio.inputs.config">WsI2CInputConfig</a></li>
 <li><a href="org/wildstang/hardware/roborio/outputs/WsI2COutput.html" title="class in org.wildstang.hardware.roborio.outputs">WsI2COutput</a></li>
 <li><a href="org/wildstang/hardware/roborio/outputs/config/WsI2COutputConfig.html" title="class in org.wildstang.hardware.roborio.outputs.config">WsI2COutputConfig</a></li>
+<li><a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></li>
 <li><a href="org/wildstang/hardware/roborio/inputs/WsJoystickAxis.html" title="class in org.wildstang.hardware.roborio.inputs">WsJoystickAxis</a></li>
 <li><a href="org/wildstang/hardware/roborio/inputs/WsJoystickButton.html" title="class in org.wildstang.hardware.roborio.inputs">WsJoystickButton</a></li>
 <li><a href="org/wildstang/hardware/roborio/inputs/WsJoystickToggleButton.html" title="class in org.wildstang.hardware.roborio.inputs">WsJoystickToggleButton</a></li>
@@ -115,6 +120,7 @@ <h1 class="bar">All&nbsp;Classes</h1>
 <li><a href="org/wildstang/hardware/roborio/inputs/config/WsMotionProfileInputConfig.html" title="class in org.wildstang.hardware.roborio.inputs.config">WsMotionProfileInputConfig</a></li>
 <li><a href="org/wildstang/hardware/roborio/outputs/WsMotorController.html" title="class in org.wildstang.hardware.roborio.outputs">WsMotorController</a></li>
 <li><a href="org/wildstang/hardware/roborio/outputs/config/WsMotorControllers.html" title="enum in org.wildstang.hardware.roborio.outputs.config">WsMotorControllers</a></li>
+<li><a href="org/wildstang/sample/robot/WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a></li>
 <li><a href="org/wildstang/hardware/roborio/outputs/WsPhoenix.html" title="class in org.wildstang.hardware.roborio.outputs">WsPhoenix</a></li>
 <li><a href="org/wildstang/hardware/roborio/outputs/config/WsPhoenixConfig.html" title="class in org.wildstang.hardware.roborio.outputs.config">WsPhoenixConfig</a></li>
 <li><a href="org/wildstang/hardware/roborio/outputs/config/WsPhoenixFollowerConfig.html" title="class in org.wildstang.hardware.roborio.outputs.config">WsPhoenixFollowerConfig</a></li>
@@ -136,7 +142,9 @@ <h1 class="bar">All&nbsp;Classes</h1>
 <li><a href="org/wildstang/hardware/roborio/outputs/WsSparkMax.html" title="class in org.wildstang.hardware.roborio.outputs">WsSparkMax</a></li>
 <li><a href="org/wildstang/hardware/roborio/outputs/config/WsSparkMaxConfig.html" title="class in org.wildstang.hardware.roborio.outputs.config">WsSparkMaxConfig</a></li>
 <li><a href="org/wildstang/hardware/roborio/outputs/config/WsSparkMaxFollowerConfig.html" title="class in org.wildstang.hardware.roborio.outputs.config">WsSparkMaxFollowerConfig</a></li>
+<li><a href="org/wildstang/sample/robot/WSSubsystems.html" title="enum in org.wildstang.sample.robot">WSSubsystems</a></li>
 </ul>
+</div>
 </main>
 </body>
 </html>
diff --git a/docs/allpackages-index.html b/docs/allpackages-index.html
index 1c51d05a..711a0a83 100644
--- a/docs/allpackages-index.html
+++ b/docs/allpackages-index.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>All Packages (rfmain API)</title>
+<title>All Packages (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="jquery/jquery-ui.min.css" title="Style">
@@ -14,14 +14,14 @@
 <!--[if IE]>
 <script type="text/javascript" src="jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
 <![endif]-->
-<script type="text/javascript" src="jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="jquery/jquery-3.6.1.min.js"></script>
 <script type="text/javascript" src="jquery/jquery-ui.min.js"></script>
 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="All Packages (rfmain API)";
+            parent.document.title="All Packages (robot_framework API)";
         }
     }
     catch(err) {
@@ -106,107 +106,107 @@ <h1 title="All&amp;nbsp;Packages" class="title">All&nbsp;Packages</h1>
 </tr>
 <tbody>
 <tr class="altColor">
-<th class="colFirst" scope="row"><a href="frc/paths/package-summary.html">frc.paths</a></th>
+<th class="colFirst" scope="row"><a href="org/wildstang/framework/package-summary.html">org.wildstang.framework</a></th>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="rowColor">
-<th class="colFirst" scope="row"><a href="org/wildstang/framework/package-summary.html">org.wildstang.framework</a></th>
+<th class="colFirst" scope="row"><a href="org/wildstang/framework/auto/package-summary.html">org.wildstang.framework.auto</a></th>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="altColor">
-<th class="colFirst" scope="row"><a href="org/wildstang/framework/auto/package-summary.html">org.wildstang.framework.auto</a></th>
+<th class="colFirst" scope="row"><a href="org/wildstang/framework/auto/program/package-summary.html">org.wildstang.framework.auto.program</a></th>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="rowColor">
-<th class="colFirst" scope="row"><a href="org/wildstang/framework/auto/program/package-summary.html">org.wildstang.framework.auto.program</a></th>
+<th class="colFirst" scope="row"><a href="org/wildstang/framework/auto/steps/package-summary.html">org.wildstang.framework.auto.steps</a></th>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="altColor">
-<th class="colFirst" scope="row"><a href="org/wildstang/framework/auto/steps/package-summary.html">org.wildstang.framework.auto.steps</a></th>
+<th class="colFirst" scope="row"><a href="org/wildstang/framework/auto/steps/control/package-summary.html">org.wildstang.framework.auto.steps.control</a></th>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="rowColor">
-<th class="colFirst" scope="row"><a href="org/wildstang/framework/auto/steps/control/package-summary.html">org.wildstang.framework.auto.steps.control</a></th>
+<th class="colFirst" scope="row"><a href="org/wildstang/framework/config/package-summary.html">org.wildstang.framework.config</a></th>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="altColor">
-<th class="colFirst" scope="row"><a href="org/wildstang/framework/config/package-summary.html">org.wildstang.framework.config</a></th>
+<th class="colFirst" scope="row"><a href="org/wildstang/framework/core/package-summary.html">org.wildstang.framework.core</a></th>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="rowColor">
-<th class="colFirst" scope="row"><a href="org/wildstang/framework/core/package-summary.html">org.wildstang.framework.core</a></th>
+<th class="colFirst" scope="row"><a href="org/wildstang/framework/hardware/package-summary.html">org.wildstang.framework.hardware</a></th>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="altColor">
-<th class="colFirst" scope="row"><a href="org/wildstang/framework/hardware/package-summary.html">org.wildstang.framework.hardware</a></th>
+<th class="colFirst" scope="row"><a href="org/wildstang/framework/io/package-summary.html">org.wildstang.framework.io</a></th>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="rowColor">
-<th class="colFirst" scope="row"><a href="org/wildstang/framework/io/package-summary.html">org.wildstang.framework.io</a></th>
+<th class="colFirst" scope="row"><a href="org/wildstang/framework/io/inputs/package-summary.html">org.wildstang.framework.io.inputs</a></th>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="altColor">
-<th class="colFirst" scope="row"><a href="org/wildstang/framework/io/inputs/package-summary.html">org.wildstang.framework.io.inputs</a></th>
+<th class="colFirst" scope="row"><a href="org/wildstang/framework/io/outputs/package-summary.html">org.wildstang.framework.io.outputs</a></th>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="rowColor">
-<th class="colFirst" scope="row"><a href="org/wildstang/framework/io/outputs/package-summary.html">org.wildstang.framework.io.outputs</a></th>
+<th class="colFirst" scope="row"><a href="org/wildstang/framework/logger/package-summary.html">org.wildstang.framework.logger</a></th>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="altColor">
-<th class="colFirst" scope="row"><a href="org/wildstang/framework/logger/package-summary.html">org.wildstang.framework.logger</a></th>
+<th class="colFirst" scope="row"><a href="org/wildstang/framework/pid/package-summary.html">org.wildstang.framework.pid</a></th>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="rowColor">
-<th class="colFirst" scope="row"><a href="org/wildstang/framework/pid/package-summary.html">org.wildstang.framework.pid</a></th>
+<th class="colFirst" scope="row"><a href="org/wildstang/framework/pid/controller/package-summary.html">org.wildstang.framework.pid.controller</a></th>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="altColor">
-<th class="colFirst" scope="row"><a href="org/wildstang/framework/pid/controller/package-summary.html">org.wildstang.framework.pid.controller</a></th>
+<th class="colFirst" scope="row"><a href="org/wildstang/framework/pid/input/package-summary.html">org.wildstang.framework.pid.input</a></th>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="rowColor">
-<th class="colFirst" scope="row"><a href="org/wildstang/framework/pid/input/package-summary.html">org.wildstang.framework.pid.input</a></th>
+<th class="colFirst" scope="row"><a href="org/wildstang/framework/pid/output/package-summary.html">org.wildstang.framework.pid.output</a></th>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="altColor">
-<th class="colFirst" scope="row"><a href="org/wildstang/framework/pid/output/package-summary.html">org.wildstang.framework.pid.output</a></th>
+<th class="colFirst" scope="row"><a href="org/wildstang/framework/subsystems/package-summary.html">org.wildstang.framework.subsystems</a></th>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="rowColor">
-<th class="colFirst" scope="row"><a href="org/wildstang/framework/subsystems/package-summary.html">org.wildstang.framework.subsystems</a></th>
+<th class="colFirst" scope="row"><a href="org/wildstang/framework/subsystems/drive/package-summary.html">org.wildstang.framework.subsystems.drive</a></th>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="altColor">
-<th class="colFirst" scope="row"><a href="org/wildstang/framework/subsystems/drive/package-summary.html">org.wildstang.framework.subsystems.drive</a></th>
+<th class="colFirst" scope="row"><a href="org/wildstang/framework/subsystems/swerve/package-summary.html">org.wildstang.framework.subsystems.swerve</a></th>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="rowColor">
-<th class="colFirst" scope="row"><a href="org/wildstang/framework/subsystems/swerve/package-summary.html">org.wildstang.framework.subsystems.swerve</a></th>
+<th class="colFirst" scope="row"><a href="org/wildstang/hardware/package-summary.html">org.wildstang.hardware</a></th>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="altColor">
-<th class="colFirst" scope="row"><a href="org/wildstang/hardware/package-summary.html">org.wildstang.hardware</a></th>
+<th class="colFirst" scope="row"><a href="org/wildstang/hardware/roborio/package-summary.html">org.wildstang.hardware.roborio</a></th>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="rowColor">
-<th class="colFirst" scope="row"><a href="org/wildstang/hardware/roborio/package-summary.html">org.wildstang.hardware.roborio</a></th>
+<th class="colFirst" scope="row"><a href="org/wildstang/hardware/roborio/inputs/package-summary.html">org.wildstang.hardware.roborio.inputs</a></th>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="altColor">
-<th class="colFirst" scope="row"><a href="org/wildstang/hardware/roborio/inputs/package-summary.html">org.wildstang.hardware.roborio.inputs</a></th>
+<th class="colFirst" scope="row"><a href="org/wildstang/hardware/roborio/inputs/config/package-summary.html">org.wildstang.hardware.roborio.inputs.config</a></th>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="rowColor">
-<th class="colFirst" scope="row"><a href="org/wildstang/hardware/roborio/inputs/config/package-summary.html">org.wildstang.hardware.roborio.inputs.config</a></th>
+<th class="colFirst" scope="row"><a href="org/wildstang/hardware/roborio/outputs/package-summary.html">org.wildstang.hardware.roborio.outputs</a></th>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="altColor">
-<th class="colFirst" scope="row"><a href="org/wildstang/hardware/roborio/outputs/package-summary.html">org.wildstang.hardware.roborio.outputs</a></th>
+<th class="colFirst" scope="row"><a href="org/wildstang/hardware/roborio/outputs/config/package-summary.html">org.wildstang.hardware.roborio.outputs.config</a></th>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="rowColor">
-<th class="colFirst" scope="row"><a href="org/wildstang/hardware/roborio/outputs/config/package-summary.html">org.wildstang.hardware.roborio.outputs.config</a></th>
+<th class="colFirst" scope="row"><a href="org/wildstang/sample/robot/package-summary.html">org.wildstang.sample.robot</a></th>
 <td class="colLast">&nbsp;</td>
 </tr>
 </tbody>
diff --git a/docs/constant-values.html b/docs/constant-values.html
index e8814923..9467535e 100644
--- a/docs/constant-values.html
+++ b/docs/constant-values.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>Constant Field Values (rfmain API)</title>
+<title>Constant Field Values (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="jquery/jquery-ui.min.css" title="Style">
@@ -14,14 +14,14 @@
 <!--[if IE]>
 <script type="text/javascript" src="jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
 <![endif]-->
-<script type="text/javascript" src="jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="jquery/jquery-3.6.1.min.js"></script>
 <script type="text/javascript" src="jquery/jquery-ui.min.js"></script>
 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="Constant Field Values (rfmain API)";
+            parent.document.title="Constant Field Values (robot_framework API)";
         }
     }
     catch(err) {
@@ -204,6 +204,146 @@ <h2 title="org.wildstang">org.wildstang.*</h2>
 </table>
 </li>
 </ul>
+<ul class="blockList">
+<li class="blockList">
+<table class="constantsSummary">
+<caption><span>org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/CANConstants.html" title="class in org.wildstang.sample.robot">CANConstants</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Constant Field</th>
+<th class="colLast" scope="col">Value</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><a id="org.wildstang.sample.robot.CANConstants.ANGLE1">
+<!--   -->
+</a><code>public&nbsp;static&nbsp;final&nbsp;int</code></td>
+<th class="colSecond" scope="row"><code><a href="org/wildstang/sample/robot/CANConstants.html#ANGLE1">ANGLE1</a></code></th>
+<td class="colLast"><code>12</code></td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><a id="org.wildstang.sample.robot.CANConstants.ANGLE2">
+<!--   -->
+</a><code>public&nbsp;static&nbsp;final&nbsp;int</code></td>
+<th class="colSecond" scope="row"><code><a href="org/wildstang/sample/robot/CANConstants.html#ANGLE2">ANGLE2</a></code></th>
+<td class="colLast"><code>14</code></td>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><a id="org.wildstang.sample.robot.CANConstants.ANGLE3">
+<!--   -->
+</a><code>public&nbsp;static&nbsp;final&nbsp;int</code></td>
+<th class="colSecond" scope="row"><code><a href="org/wildstang/sample/robot/CANConstants.html#ANGLE3">ANGLE3</a></code></th>
+<td class="colLast"><code>16</code></td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><a id="org.wildstang.sample.robot.CANConstants.ANGLE4">
+<!--   -->
+</a><code>public&nbsp;static&nbsp;final&nbsp;int</code></td>
+<th class="colSecond" scope="row"><code><a href="org/wildstang/sample/robot/CANConstants.html#ANGLE4">ANGLE4</a></code></th>
+<td class="colLast"><code>18</code></td>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><a id="org.wildstang.sample.robot.CANConstants.DRIVE1">
+<!--   -->
+</a><code>public&nbsp;static&nbsp;final&nbsp;int</code></td>
+<th class="colSecond" scope="row"><code><a href="org/wildstang/sample/robot/CANConstants.html#DRIVE1">DRIVE1</a></code></th>
+<td class="colLast"><code>11</code></td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><a id="org.wildstang.sample.robot.CANConstants.DRIVE2">
+<!--   -->
+</a><code>public&nbsp;static&nbsp;final&nbsp;int</code></td>
+<th class="colSecond" scope="row"><code><a href="org/wildstang/sample/robot/CANConstants.html#DRIVE2">DRIVE2</a></code></th>
+<td class="colLast"><code>13</code></td>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><a id="org.wildstang.sample.robot.CANConstants.DRIVE3">
+<!--   -->
+</a><code>public&nbsp;static&nbsp;final&nbsp;int</code></td>
+<th class="colSecond" scope="row"><code><a href="org/wildstang/sample/robot/CANConstants.html#DRIVE3">DRIVE3</a></code></th>
+<td class="colLast"><code>15</code></td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><a id="org.wildstang.sample.robot.CANConstants.DRIVE4">
+<!--   -->
+</a><code>public&nbsp;static&nbsp;final&nbsp;int</code></td>
+<th class="colSecond" scope="row"><code><a href="org/wildstang/sample/robot/CANConstants.html#DRIVE4">DRIVE4</a></code></th>
+<td class="colLast"><code>17</code></td>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><a id="org.wildstang.sample.robot.CANConstants.ENC1">
+<!--   -->
+</a><code>public&nbsp;static&nbsp;final&nbsp;int</code></td>
+<th class="colSecond" scope="row"><code><a href="org/wildstang/sample/robot/CANConstants.html#ENC1">ENC1</a></code></th>
+<td class="colLast"><code>41</code></td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><a id="org.wildstang.sample.robot.CANConstants.ENC2">
+<!--   -->
+</a><code>public&nbsp;static&nbsp;final&nbsp;int</code></td>
+<th class="colSecond" scope="row"><code><a href="org/wildstang/sample/robot/CANConstants.html#ENC2">ENC2</a></code></th>
+<td class="colLast"><code>42</code></td>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><a id="org.wildstang.sample.robot.CANConstants.ENC3">
+<!--   -->
+</a><code>public&nbsp;static&nbsp;final&nbsp;int</code></td>
+<th class="colSecond" scope="row"><code><a href="org/wildstang/sample/robot/CANConstants.html#ENC3">ENC3</a></code></th>
+<td class="colLast"><code>43</code></td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><a id="org.wildstang.sample.robot.CANConstants.ENC4">
+<!--   -->
+</a><code>public&nbsp;static&nbsp;final&nbsp;int</code></td>
+<th class="colSecond" scope="row"><code><a href="org/wildstang/sample/robot/CANConstants.html#ENC4">ENC4</a></code></th>
+<td class="colLast"><code>44</code></td>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><a id="org.wildstang.sample.robot.CANConstants.EXAMPLE_MOTOR_CONTROLLER">
+<!--   -->
+</a><code>public&nbsp;static&nbsp;final&nbsp;int</code></td>
+<th class="colSecond" scope="row"><code><a href="org/wildstang/sample/robot/CANConstants.html#EXAMPLE_MOTOR_CONTROLLER">EXAMPLE_MOTOR_CONTROLLER</a></code></th>
+<td class="colLast"><code>3</code></td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><a id="org.wildstang.sample.robot.CANConstants.GYRO">
+<!--   -->
+</a><code>public&nbsp;static&nbsp;final&nbsp;int</code></td>
+<th class="colSecond" scope="row"><code><a href="org/wildstang/sample/robot/CANConstants.html#GYRO">GYRO</a></code></th>
+<td class="colLast"><code>31</code></td>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><a id="org.wildstang.sample.robot.CANConstants.LEFT_DRIVE">
+<!--   -->
+</a><code>public&nbsp;static&nbsp;final&nbsp;int</code></td>
+<th class="colSecond" scope="row"><code><a href="org/wildstang/sample/robot/CANConstants.html#LEFT_DRIVE">LEFT_DRIVE</a></code></th>
+<td class="colLast"><code>11</code></td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><a id="org.wildstang.sample.robot.CANConstants.LEFT_DRIVE_FOLLOWER">
+<!--   -->
+</a><code>public&nbsp;static&nbsp;final&nbsp;int</code></td>
+<th class="colSecond" scope="row"><code><a href="org/wildstang/sample/robot/CANConstants.html#LEFT_DRIVE_FOLLOWER">LEFT_DRIVE_FOLLOWER</a></code></th>
+<td class="colLast"><code>13</code></td>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><a id="org.wildstang.sample.robot.CANConstants.RIGHT_DRIVE">
+<!--   -->
+</a><code>public&nbsp;static&nbsp;final&nbsp;int</code></td>
+<th class="colSecond" scope="row"><code><a href="org/wildstang/sample/robot/CANConstants.html#RIGHT_DRIVE">RIGHT_DRIVE</a></code></th>
+<td class="colLast"><code>12</code></td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><a id="org.wildstang.sample.robot.CANConstants.RIGHT_DRIVE_FOLLOWER">
+<!--   -->
+</a><code>public&nbsp;static&nbsp;final&nbsp;int</code></td>
+<th class="colSecond" scope="row"><code><a href="org/wildstang/sample/robot/CANConstants.html#RIGHT_DRIVE_FOLLOWER">RIGHT_DRIVE_FOLLOWER</a></code></th>
+<td class="colLast"><code>14</code></td>
+</tr>
+</tbody>
+</table>
+</li>
+</ul>
 </section>
 </div>
 </main>
diff --git a/docs/deprecated-list.html b/docs/deprecated-list.html
index c7b13c9f..b21606d5 100644
--- a/docs/deprecated-list.html
+++ b/docs/deprecated-list.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>Deprecated List (rfmain API)</title>
+<title>Deprecated List (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="jquery/jquery-ui.min.css" title="Style">
@@ -14,14 +14,14 @@
 <!--[if IE]>
 <script type="text/javascript" src="jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
 <![endif]-->
-<script type="text/javascript" src="jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="jquery/jquery-3.6.1.min.js"></script>
 <script type="text/javascript" src="jquery/jquery-ui.min.js"></script>
 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="Deprecated List (rfmain API)";
+            parent.document.title="Deprecated List (robot_framework API)";
         }
     }
     catch(err) {
diff --git a/docs/element-list b/docs/element-list
index d2994f54..fe0c561a 100644
--- a/docs/element-list
+++ b/docs/element-list
@@ -1,4 +1,3 @@
-frc.paths
 org.wildstang.framework
 org.wildstang.framework.auto
 org.wildstang.framework.auto.program
@@ -24,3 +23,4 @@ org.wildstang.hardware.roborio.inputs
 org.wildstang.hardware.roborio.inputs.config
 org.wildstang.hardware.roborio.outputs
 org.wildstang.hardware.roborio.outputs.config
+org.wildstang.sample.robot
diff --git a/docs/frc/paths/package-summary.html b/docs/frc/paths/package-summary.html
deleted file mode 100644
index c40e8524..00000000
--- a/docs/frc/paths/package-summary.html
+++ /dev/null
@@ -1,164 +0,0 @@
-<!DOCTYPE HTML>
-<!-- NewPage -->
-<html lang="en">
-<head>
-<!-- Generated by javadoc -->
-<title>frc.paths (rfmain API)</title>
-<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
-<link rel="stylesheet" type="text/css" href="../../jquery/jquery-ui.min.css" title="Style">
-<link rel="stylesheet" type="text/css" href="../../jquery-ui.overrides.css" title="Style">
-<script type="text/javascript" src="../../script.js"></script>
-<script type="text/javascript" src="../../jquery/jszip/dist/jszip.min.js"></script>
-<script type="text/javascript" src="../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
-<!--[if IE]>
-<script type="text/javascript" src="../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
-<![endif]-->
-<script type="text/javascript" src="../../jquery/jquery-3.6.0.min.js"></script>
-<script type="text/javascript" src="../../jquery/jquery-ui.min.js"></script>
-</head>
-<body>
-<script type="text/javascript"><!--
-    try {
-        if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="frc.paths (rfmain API)";
-        }
-    }
-    catch(err) {
-    }
-//-->
-var pathtoroot = "../../";
-var useModuleDirectories = true;
-loadScripts(document, 'script');</script>
-<noscript>
-<div>JavaScript is disabled on your browser.</div>
-</noscript>
-<header role="banner">
-<nav role="navigation">
-<div class="fixedNav">
-<!-- ========= START OF TOP NAVBAR ======= -->
-<div class="topNav"><a id="navbar.top">
-<!--   -->
-</a>
-<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
-<a id="navbar.top.firstrow">
-<!--   -->
-</a>
-<ul class="navList" title="Navigation">
-<li><a href="../../index.html">Overview</a></li>
-<li class="navBarCell1Rev">Package</li>
-<li>Class</li>
-<li><a href="package-tree.html">Tree</a></li>
-<li><a href="../../deprecated-list.html">Deprecated</a></li>
-<li><a href="../../index-all.html">Index</a></li>
-<li><a href="../../help-doc.html">Help</a></li>
-</ul>
-</div>
-<div class="subNav">
-<ul class="navList" id="allclasses_navbar_top">
-<li><a href="../../allclasses.html">All&nbsp;Classes</a></li>
-</ul>
-<ul class="navListSearch">
-<li><label for="search">SEARCH:</label>
-<input type="text" id="search" value="search" disabled="disabled">
-<input type="reset" id="reset" value="reset" disabled="disabled">
-</li>
-</ul>
-<div>
-<script type="text/javascript"><!--
-  allClassesLink = document.getElementById("allclasses_navbar_top");
-  if(window==top) {
-    allClassesLink.style.display = "block";
-  }
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-    allClassesLink.style.display = "none";
-  }
-  //-->
-</script>
-<noscript>
-<div>JavaScript is disabled on your browser.</div>
-</noscript>
-</div>
-<a id="skip.navbar.top">
-<!--   -->
-</a></div>
-<!-- ========= END OF TOP NAVBAR ========= -->
-</div>
-<div class="navPadding">&nbsp;</div>
-<script type="text/javascript"><!--
-$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
-//-->
-</script>
-</nav>
-</header>
-<main role="main">
-<div class="header">
-<h1 title="Package" class="title">Package&nbsp;frc.paths</h1>
-</div>
-<div class="contentContainer">
-<ul class="blockList">
-<li class="blockList">
-<table class="typeSummary">
-<caption><span>Class Summary</span><span class="tabEnd">&nbsp;</span></caption>
-<tr>
-<th class="colFirst" scope="col">Class</th>
-<th class="colLast" scope="col">Description</th>
-</tr>
-<tbody>
-<tr class="altColor">
-<th class="colFirst" scope="row"><a href="Test.html" title="class in frc.paths">Test</a></th>
-<td class="colLast">&nbsp;</td>
-</tr>
-</tbody>
-</table>
-</li>
-</ul>
-</div>
-</main>
-<footer role="contentinfo">
-<nav role="navigation">
-<!-- ======= START OF BOTTOM NAVBAR ====== -->
-<div class="bottomNav"><a id="navbar.bottom">
-<!--   -->
-</a>
-<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
-<a id="navbar.bottom.firstrow">
-<!--   -->
-</a>
-<ul class="navList" title="Navigation">
-<li><a href="../../index.html">Overview</a></li>
-<li class="navBarCell1Rev">Package</li>
-<li>Class</li>
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-<li><a href="../../deprecated-list.html">Deprecated</a></li>
-<li><a href="../../index-all.html">Index</a></li>
-<li><a href="../../help-doc.html">Help</a></li>
-</ul>
-</div>
-<div class="subNav">
-<ul class="navList" id="allclasses_navbar_bottom">
-<li><a href="../../allclasses.html">All&nbsp;Classes</a></li>
-</ul>
-<div>
-<script type="text/javascript"><!--
-  allClassesLink = document.getElementById("allclasses_navbar_bottom");
-  if(window==top) {
-    allClassesLink.style.display = "block";
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-  }
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-<div>JavaScript is disabled on your browser.</div>
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-</nav>
-</footer>
-</body>
-</html>
diff --git a/docs/frc/paths/package-tree.html b/docs/frc/paths/package-tree.html
deleted file mode 100644
index ff5f4025..00000000
--- a/docs/frc/paths/package-tree.html
+++ /dev/null
@@ -1,165 +0,0 @@
-<!DOCTYPE HTML>
-<!-- NewPage -->
-<html lang="en">
-<head>
-<!-- Generated by javadoc -->
-<title>frc.paths Class Hierarchy (rfmain API)</title>
-<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
-<link rel="stylesheet" type="text/css" href="../../jquery/jquery-ui.min.css" title="Style">
-<link rel="stylesheet" type="text/css" href="../../jquery-ui.overrides.css" title="Style">
-<script type="text/javascript" src="../../script.js"></script>
-<script type="text/javascript" src="../../jquery/jszip/dist/jszip.min.js"></script>
-<script type="text/javascript" src="../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
-<!--[if IE]>
-<script type="text/javascript" src="../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
-<![endif]-->
-<script type="text/javascript" src="../../jquery/jquery-3.6.0.min.js"></script>
-<script type="text/javascript" src="../../jquery/jquery-ui.min.js"></script>
-</head>
-<body>
-<script type="text/javascript"><!--
-    try {
-        if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="frc.paths Class Hierarchy (rfmain API)";
-        }
-    }
-    catch(err) {
-    }
-//-->
-var pathtoroot = "../../";
-var useModuleDirectories = true;
-loadScripts(document, 'script');</script>
-<noscript>
-<div>JavaScript is disabled on your browser.</div>
-</noscript>
-<header role="banner">
-<nav role="navigation">
-<div class="fixedNav">
-<!-- ========= START OF TOP NAVBAR ======= -->
-<div class="topNav"><a id="navbar.top">
-<!--   -->
-</a>
-<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
-<a id="navbar.top.firstrow">
-<!--   -->
-</a>
-<ul class="navList" title="Navigation">
-<li><a href="../../index.html">Overview</a></li>
-<li><a href="package-summary.html">Package</a></li>
-<li>Class</li>
-<li class="navBarCell1Rev">Tree</li>
-<li><a href="../../deprecated-list.html">Deprecated</a></li>
-<li><a href="../../index-all.html">Index</a></li>
-<li><a href="../../help-doc.html">Help</a></li>
-</ul>
-</div>
-<div class="subNav">
-<ul class="navList" id="allclasses_navbar_top">
-<li><a href="../../allclasses.html">All&nbsp;Classes</a></li>
-</ul>
-<ul class="navListSearch">
-<li><label for="search">SEARCH:</label>
-<input type="text" id="search" value="search" disabled="disabled">
-<input type="reset" id="reset" value="reset" disabled="disabled">
-</li>
-</ul>
-<div>
-<script type="text/javascript"><!--
-  allClassesLink = document.getElementById("allclasses_navbar_top");
-  if(window==top) {
-    allClassesLink.style.display = "block";
-  }
-  else {
-    allClassesLink.style.display = "none";
-  }
-  //-->
-</script>
-<noscript>
-<div>JavaScript is disabled on your browser.</div>
-</noscript>
-</div>
-<a id="skip.navbar.top">
-<!--   -->
-</a></div>
-<!-- ========= END OF TOP NAVBAR ========= -->
-</div>
-<div class="navPadding">&nbsp;</div>
-<script type="text/javascript"><!--
-$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
-//-->
-</script>
-</nav>
-</header>
-<main role="main">
-<div class="header">
-<h1 class="title">Hierarchy For Package frc.paths</h1>
-<span class="packageHierarchyLabel">Package Hierarchies:</span>
-<ul class="horizontal">
-<li><a href="../../overview-tree.html">All Packages</a></li>
-</ul>
-</div>
-<div class="contentContainer">
-<section>
-<h2 title="Class Hierarchy">Class Hierarchy</h2>
-<ul>
-<li class="circle">java.lang.Object
-<ul>
-<li class="circle">com.team319.trajectory.Path
-<ul>
-<li class="circle">frc.paths.<a href="Test.html" title="class in frc.paths"><span class="typeNameLink">Test</span></a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</section>
-</div>
-</main>
-<footer role="contentinfo">
-<nav role="navigation">
-<!-- ======= START OF BOTTOM NAVBAR ====== -->
-<div class="bottomNav"><a id="navbar.bottom">
-<!--   -->
-</a>
-<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
-<a id="navbar.bottom.firstrow">
-<!--   -->
-</a>
-<ul class="navList" title="Navigation">
-<li><a href="../../index.html">Overview</a></li>
-<li><a href="package-summary.html">Package</a></li>
-<li>Class</li>
-<li class="navBarCell1Rev">Tree</li>
-<li><a href="../../deprecated-list.html">Deprecated</a></li>
-<li><a href="../../index-all.html">Index</a></li>
-<li><a href="../../help-doc.html">Help</a></li>
-</ul>
-</div>
-<div class="subNav">
-<ul class="navList" id="allclasses_navbar_bottom">
-<li><a href="../../allclasses.html">All&nbsp;Classes</a></li>
-</ul>
-<div>
-<script type="text/javascript"><!--
-  allClassesLink = document.getElementById("allclasses_navbar_bottom");
-  if(window==top) {
-    allClassesLink.style.display = "block";
-  }
-  else {
-    allClassesLink.style.display = "none";
-  }
-  //-->
-</script>
-<noscript>
-<div>JavaScript is disabled on your browser.</div>
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-<a id="skip.navbar.bottom">
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-</footer>
-</body>
-</html>
diff --git a/docs/help-doc.html b/docs/help-doc.html
index 68dc4f2e..db4a28d3 100644
--- a/docs/help-doc.html
+++ b/docs/help-doc.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>API Help (rfmain API)</title>
+<title>API Help (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="jquery/jquery-ui.min.css" title="Style">
@@ -14,14 +14,14 @@
 <!--[if IE]>
 <script type="text/javascript" src="jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
 <![endif]-->
-<script type="text/javascript" src="jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="jquery/jquery-3.6.1.min.js"></script>
 <script type="text/javascript" src="jquery/jquery-ui.min.js"></script>
 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="API Help (rfmain API)";
+            parent.document.title="API Help (robot_framework API)";
         }
     }
     catch(err) {
diff --git a/docs/index-all.html b/docs/index-all.html
index 7335e002..c8da5306 100644
--- a/docs/index-all.html
+++ b/docs/index-all.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>Index (rfmain API)</title>
+<title>Index (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="jquery/jquery-ui.min.css" title="Style">
@@ -14,14 +14,14 @@
 <!--[if IE]>
 <script type="text/javascript" src="jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
 <![endif]-->
-<script type="text/javascript" src="jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="jquery/jquery-3.6.1.min.js"></script>
 <script type="text/javascript" src="jquery/jquery-ui.min.js"></script>
 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="Index (rfmain API)";
+            parent.document.title="Index (robot_framework API)";
         }
     }
     catch(err) {
@@ -97,6 +97,8 @@
 </a>
 <h2 class="title">A</h2>
 <dl>
+<dt><span class="memberNameLink"><a href="org/wildstang/hardware/roborio/outputs/WsSparkMax.html#addClosedLoop(int,double,double,double,double)">addClosedLoop(int, double, double, double, double)</a></span> - Method in class org.wildstang.hardware.roborio.outputs.<a href="org/wildstang/hardware/roborio/outputs/WsSparkMax.html" title="class in org.wildstang.hardware.roborio.outputs">WsSparkMax</a></dt>
+<dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/hardware/roborio/outputs/WsSparkMax.html#addFollower(int,boolean,boolean)">addFollower(int, boolean, boolean)</a></span> - Method in class org.wildstang.hardware.roborio.outputs.<a href="org/wildstang/hardware/roborio/outputs/WsSparkMax.html" title="class in org.wildstang.hardware.roborio.outputs">WsSparkMax</a></dt>
 <dd>
 <div class="block">Add a follower motor to the current motor.</div>
@@ -145,6 +147,8 @@ <h2 class="title">A</h2>
 <dd>
 <div class="block">Registers a given subsystem with the manager.</div>
 </dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSSubsystems.html#AIM_HELPER">AIM_HELPER</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSSubsystems.html" title="enum in org.wildstang.sample.robot">WSSubsystems</a></dt>
+<dd>&nbsp;</dd>
 <dt><a href="org/wildstang/framework/io/inputs/AnalogInput.html" title="class in org.wildstang.framework.io.inputs"><span class="typeNameLink">AnalogInput</span></a> - Class in <a href="org/wildstang/framework/io/inputs/package-summary.html">org.wildstang.framework.io.inputs</a></dt>
 <dd>
 <div class="block">First abstraction of Input representing "analog" Inputs
@@ -171,6 +175,26 @@ <h2 class="title">A</h2>
 <dd>
 <div class="block">Constructor with default value.</div>
 </dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSOutputs.html#ANGLE1">ANGLE1</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/CANConstants.html#ANGLE1">ANGLE1</a></span> - Static variable in class org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/CANConstants.html" title="class in org.wildstang.sample.robot">CANConstants</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSOutputs.html#ANGLE2">ANGLE2</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/CANConstants.html#ANGLE2">ANGLE2</a></span> - Static variable in class org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/CANConstants.html" title="class in org.wildstang.sample.robot">CANConstants</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSOutputs.html#ANGLE3">ANGLE3</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/CANConstants.html#ANGLE3">ANGLE3</a></span> - Static variable in class org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/CANConstants.html" title="class in org.wildstang.sample.robot">CANConstants</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSOutputs.html#ANGLE4">ANGLE4</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/CANConstants.html#ANGLE4">ANGLE4</a></span> - Static variable in class org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/CANConstants.html" title="class in org.wildstang.sample.robot">CANConstants</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/framework/auto/AutoProgram.html#areStepsDefined()">areStepsDefined()</a></span> - Method in class org.wildstang.framework.auto.<a href="org/wildstang/framework/auto/AutoProgram.html" title="class in org.wildstang.framework.auto">AutoProgram</a></dt>
+<dd>
+<div class="block">Determines if the program's steps have been defined.</div>
+</dd>
 <dt><a href="org/wildstang/framework/auto/AutoManager.html" title="class in org.wildstang.framework.auto"><span class="typeNameLink">AutoManager</span></a> - Class in <a href="org/wildstang/framework/auto/package-summary.html">org.wildstang.framework.auto</a></dt>
 <dd>
 <div class="block">Manages all autonomous and AutoPrograms for the framework.</div>
@@ -179,6 +203,14 @@ <h2 class="title">A</h2>
 <dd>
 <div class="block">Loads in AutoPrograms and adds selectors to the SmartDashboard.</div>
 </dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/Robot.html#autonomousInit()">autonomousInit()</a></span> - Method in class org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/Robot.html" title="class in org.wildstang.sample.robot">Robot</a></dt>
+<dd>
+<div class="block">Runs when autonomous is enabled.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/Robot.html#autonomousPeriodic()">autonomousPeriodic()</a></span> - Method in class org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/Robot.html" title="class in org.wildstang.sample.robot">Robot</a></dt>
+<dd>
+<div class="block">Runs repeatedly while autonomous is enabled.</div>
+</dd>
 <dt><a href="org/wildstang/framework/auto/steps/AutoParallelFinishedOnAnyStepGroup.html" title="class in org.wildstang.framework.auto.steps"><span class="typeNameLink">AutoParallelFinishedOnAnyStepGroup</span></a> - Class in <a href="org/wildstang/framework/auto/steps/package-summary.html">org.wildstang.framework.auto.steps</a></dt>
 <dd>
 <div class="block">AutoParallelStepGroup where on completion of any child steps the whole group finishes.</div>
@@ -273,6 +305,12 @@ <h2 class="title">C</h2>
 <dd>
 <div class="block">Re-calibrate the gyro.</div>
 </dd>
+<dt><a href="org/wildstang/sample/robot/CANConstants.html" title="class in org.wildstang.sample.robot"><span class="typeNameLink">CANConstants</span></a> - Class in <a href="org/wildstang/sample/robot/package-summary.html">org.wildstang.sample.robot</a></dt>
+<dd>
+<div class="block">CAN Constants are stored here.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/CANConstants.html#%3Cinit%3E()">CANConstants()</a></span> - Constructor for class org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/CANConstants.html" title="class in org.wildstang.sample.robot">CANConstants</a></dt>
+<dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/framework/CoreUtils.html#checkNotNull(java.lang.Object,java.lang.String)">checkNotNull(Object, String)</a></span> - Static method in class org.wildstang.framework.<a href="org/wildstang/framework/CoreUtils.html" title="class in org.wildstang.framework">CoreUtils</a></dt>
 <dd>
 <div class="block">Throws a NullPointerException if p_param is null.</div>
@@ -408,6 +446,8 @@ <h2 class="title">D</h2>
 <dd>
 <div class="block">Constructor with default value.</div>
 </dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSOutputs.html#DIO_O_0">DIO_O_0</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a></dt>
+<dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/framework/io/inputs/Input.html#disable()">disable()</a></span> - Method in class org.wildstang.framework.io.inputs.<a href="org/wildstang/framework/io/inputs/Input.html" title="class in org.wildstang.framework.io.inputs">Input</a></dt>
 <dd>
 <div class="block">Disables the Input, does nothing at the Input level.</div>
@@ -432,6 +472,14 @@ <h2 class="title">D</h2>
 <dd>
 <div class="block">Does nothing, SparkMax has no current limit disable function.</div>
 </dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/Robot.html#disabledInit()">disabledInit()</a></span> - Method in class org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/Robot.html" title="class in org.wildstang.sample.robot">Robot</a></dt>
+<dd>
+<div class="block">Runs when robot is disabled, announces that the robot has been disabled.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/Robot.html#disabledPeriodic()">disabledPeriodic()</a></span> - Method in class org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/Robot.html" title="class in org.wildstang.sample.robot">Robot</a></dt>
+<dd>
+<div class="block">Runs repeatedly while robot is disabled.</div>
+</dd>
 <dt><a href="org/wildstang/framework/io/inputs/DiscreteInput.html" title="class in org.wildstang.framework.io.inputs"><span class="typeNameLink">DiscreteInput</span></a> - Class in <a href="org/wildstang/framework/io/inputs/package-summary.html">org.wildstang.framework.io.inputs</a></dt>
 <dd>
 <div class="block">First abstraction of Input representing "discrete" Inputs
@@ -470,6 +518,64 @@ <h2 class="title">D</h2>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/hardware/JoystickConstants.html#DPAD_Y_UP">DPAD_Y_UP</a></span> - Static variable in class org.wildstang.hardware.<a href="org/wildstang/hardware/JoystickConstants.html" title="class in org.wildstang.hardware">JoystickConstants</a></dt>
 <dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSSubsystems.html#DRIVE">DRIVE</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSSubsystems.html" title="enum in org.wildstang.sample.robot">WSSubsystems</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSOutputs.html#DRIVE1">DRIVE1</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/CANConstants.html#DRIVE1">DRIVE1</a></span> - Static variable in class org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/CANConstants.html" title="class in org.wildstang.sample.robot">CANConstants</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSOutputs.html#DRIVE2">DRIVE2</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/CANConstants.html#DRIVE2">DRIVE2</a></span> - Static variable in class org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/CANConstants.html" title="class in org.wildstang.sample.robot">CANConstants</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSOutputs.html#DRIVE3">DRIVE3</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/CANConstants.html#DRIVE3">DRIVE3</a></span> - Static variable in class org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/CANConstants.html" title="class in org.wildstang.sample.robot">CANConstants</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSOutputs.html#DRIVE4">DRIVE4</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/CANConstants.html#DRIVE4">DRIVE4</a></span> - Static variable in class org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/CANConstants.html" title="class in org.wildstang.sample.robot">CANConstants</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#DRIVER_DPAD_DOWN">DRIVER_DPAD_DOWN</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#DRIVER_DPAD_LEFT">DRIVER_DPAD_LEFT</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#DRIVER_DPAD_RIGHT">DRIVER_DPAD_RIGHT</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#DRIVER_DPAD_UP">DRIVER_DPAD_UP</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#DRIVER_FACE_DOWN">DRIVER_FACE_DOWN</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#DRIVER_FACE_LEFT">DRIVER_FACE_LEFT</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#DRIVER_FACE_RIGHT">DRIVER_FACE_RIGHT</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#DRIVER_FACE_UP">DRIVER_FACE_UP</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#DRIVER_LEFT_JOYSTICK_BUTTON">DRIVER_LEFT_JOYSTICK_BUTTON</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#DRIVER_LEFT_JOYSTICK_X">DRIVER_LEFT_JOYSTICK_X</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#DRIVER_LEFT_JOYSTICK_Y">DRIVER_LEFT_JOYSTICK_Y</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#DRIVER_LEFT_SHOULDER">DRIVER_LEFT_SHOULDER</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#DRIVER_LEFT_TRIGGER">DRIVER_LEFT_TRIGGER</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#DRIVER_RIGHT_JOYSTICK_BUTTON">DRIVER_RIGHT_JOYSTICK_BUTTON</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#DRIVER_RIGHT_JOYSTICK_X">DRIVER_RIGHT_JOYSTICK_X</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#DRIVER_RIGHT_JOYSTICK_Y">DRIVER_RIGHT_JOYSTICK_Y</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#DRIVER_RIGHT_SHOULDER">DRIVER_RIGHT_SHOULDER</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#DRIVER_RIGHT_TRIGGER">DRIVER_RIGHT_TRIGGER</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#DRIVER_SELECT">DRIVER_SELECT</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#DRIVER_START">DRIVER_START</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
 </dl>
 <a id="I:E">
 <!--   -->
@@ -496,12 +602,28 @@ <h2 class="title">E</h2>
 <dd>
 <div class="block">Enables voltage compensation.</div>
 </dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/CANConstants.html#ENC1">ENC1</a></span> - Static variable in class org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/CANConstants.html" title="class in org.wildstang.sample.robot">CANConstants</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/CANConstants.html#ENC2">ENC2</a></span> - Static variable in class org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/CANConstants.html" title="class in org.wildstang.sample.robot">CANConstants</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/CANConstants.html#ENC3">ENC3</a></span> - Static variable in class org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/CANConstants.html" title="class in org.wildstang.sample.robot">CANConstants</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/CANConstants.html#ENC4">ENC4</a></span> - Static variable in class org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/CANConstants.html" title="class in org.wildstang.sample.robot">CANConstants</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/framework/auto/AutoManager.html#endPeriod()">endPeriod()</a></span> - Method in class org.wildstang.framework.auto.<a href="org/wildstang/framework/auto/AutoManager.html" title="class in org.wildstang.framework.auto">AutoManager</a></dt>
+<dd>
+<div class="block">Ends the autonomous period, prevents it from continuing into tele.</div>
+</dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/framework/logger/Log.html#error(java.lang.String)">error(String)</a></span> - Static method in class org.wildstang.framework.logger.<a href="org/wildstang/framework/logger/Log.html" title="class in org.wildstang.framework.logger">Log</a></dt>
 <dd>
 <div class="block">Log at level "error".</div>
 </dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/framework/logger/Log.LogLevel.html#ERROR">ERROR</a></span> - org.wildstang.framework.logger.<a href="org/wildstang/framework/logger/Log.LogLevel.html" title="enum in org.wildstang.framework.logger">Log.LogLevel</a></dt>
 <dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/CANConstants.html#EXAMPLE_MOTOR_CONTROLLER">EXAMPLE_MOTOR_CONTROLLER</a></span> - Static variable in class org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/CANConstants.html" title="class in org.wildstang.sample.robot">CANConstants</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/CANConstants.html#EXAMPLE_PAIRED_CONTROLLERS">EXAMPLE_PAIRED_CONTROLLERS</a></span> - Static variable in class org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/CANConstants.html" title="class in org.wildstang.sample.robot">CANConstants</a></dt>
+<dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/framework/core/Core.html#executeUpdate()">executeUpdate()</a></span> - Method in class org.wildstang.framework.core.<a href="org/wildstang/framework/core/Core.html" title="class in org.wildstang.framework.core">Core</a></dt>
 <dd>
 <div class="block">Runs update function of all managers belonging to the framework.</div>
@@ -524,14 +646,20 @@ <h2 class="title">F</h2>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/hardware/roborio/outputs/WsDoubleSolenoidState.html#FORWARD">FORWARD</a></span> - org.wildstang.hardware.roborio.outputs.<a href="org/wildstang/hardware/roborio/outputs/WsDoubleSolenoidState.html" title="enum in org.wildstang.hardware.roborio.outputs">WsDoubleSolenoidState</a></dt>
 <dd>&nbsp;</dd>
-<dt><a href="frc/paths/package-summary.html">frc.paths</a> - package frc.paths</dt>
-<dd>&nbsp;</dd>
 </dl>
 <a id="I:G">
 <!--   -->
 </a>
 <h2 class="title">G</h2>
 <dl>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#get()">get()</a></span> - Method in enum org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>
+<div class="block">Returns the actual Input object from the InputManager</div>
+</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSOutputs.html#get()">get()</a></span> - Method in enum org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a></dt>
+<dd>
+<div class="block">Returns the actual Output object from the OutputManager</div>
+</dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/hardware/roborio/inputs/config/WsI2CInputConfig.html#getAddress()">getAddress()</a></span> - Method in class org.wildstang.hardware.roborio.inputs.config.<a href="org/wildstang/hardware/roborio/inputs/config/WsI2CInputConfig.html" title="class in org.wildstang.hardware.roborio.inputs.config">WsI2CInputConfig</a></dt>
 <dd>
 <div class="block">Return the I2C address.</div>
@@ -636,6 +764,14 @@ <h2 class="title">G</h2>
 <dd>
 <div class="block">Returns the config of Output for the enumeration.</div>
 </dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#getConfig()">getConfig()</a></span> - Method in enum org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>
+<div class="block">Returns the config of Input for the enumeration.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSOutputs.html#getConfig()">getConfig()</a></span> - Method in enum org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a></dt>
+<dd>
+<div class="block">Returns the config of Output for the enumeration.</div>
+</dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/framework/core/Core.html#getConfigManager()">getConfigManager()</a></span> - Static method in class org.wildstang.framework.core.<a href="org/wildstang/framework/core/Core.html" title="class in org.wildstang.framework.core">Core</a></dt>
 <dd>
 <div class="block">Returns the framework's ConfigManager.</div>
@@ -760,6 +896,8 @@ <h2 class="title">G</h2>
 <dd>
 <div class="block">Produces a HashMap of all managed Outputs.</div>
 </dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/framework/auto/steps/SwervePathFollowerStep.html#getHeading()">getHeading()</a></span> - Method in class org.wildstang.framework.auto.steps.<a href="org/wildstang/framework/auto/steps/SwervePathFollowerStep.html" title="class in org.wildstang.framework.auto.steps">SwervePathFollowerStep</a></dt>
+<dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/framework/pid/controller/PidController.html#getI()">getI()</a></span> - Method in class org.wildstang.framework.pid.controller.<a href="org/wildstang/framework/pid/controller/PidController.html" title="class in org.wildstang.framework.pid.controller">PidController</a></dt>
 <dd>
 <div class="block">Returns the I term.</div>
@@ -849,6 +987,22 @@ <h2 class="title">G</h2>
 <dd>
 <div class="block">Returns the name of the subsystem.</div>
 </dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSAutoPrograms.html#getName()">getName()</a></span> - Method in enum org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSAutoPrograms.html" title="enum in org.wildstang.sample.robot">WSAutoPrograms</a></dt>
+<dd>
+<div class="block">Returns the name mapped to the AutoProgram.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#getName()">getName()</a></span> - Method in enum org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>
+<div class="block">Returns the name mapped to the Input.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSOutputs.html#getName()">getName()</a></span> - Method in enum org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a></dt>
+<dd>
+<div class="block">Returns the name mapped to the Output.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSSubsystems.html#getName()">getName()</a></span> - Method in enum org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSSubsystems.html" title="enum in org.wildstang.sample.robot">WSSubsystems</a></dt>
+<dd>
+<div class="block">Returns the name mapped to the subsystem.</div>
+</dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/framework/auto/AutoProgram.html#getNextStep()">getNextStep()</a></span> - Method in class org.wildstang.framework.auto.<a href="org/wildstang/framework/auto/AutoProgram.html" title="class in org.wildstang.framework.auto">AutoProgram</a></dt>
 <dd>
 <div class="block">Returns the next AutoStep to run or null if at the last step.</div>
@@ -885,7 +1039,7 @@ <h2 class="title">G</h2>
 <dd>
 <div class="block">Returns the P term.</div>
 </dd>
-<dt><span class="memberNameLink"><a href="frc/paths/Test.html#getPath()">getPath()</a></span> - Method in class frc.paths.<a href="frc/paths/Test.html" title="class in frc.paths">Test</a></dt>
+<dt><span class="memberNameLink"><a href="org/wildstang/hardware/roborio/outputs/WsSparkMax.html#getPIDController()">getPIDController()</a></span> - Method in class org.wildstang.hardware.roborio.outputs.<a href="org/wildstang/hardware/roborio/outputs/WsSparkMax.html" title="class in org.wildstang.hardware.roborio.outputs">WsSparkMax</a></dt>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/hardware/roborio/inputs/config/WsI2CInputConfig.html#getPort()">getPort()</a></span> - Method in class org.wildstang.hardware.roborio.inputs.config.<a href="org/wildstang/hardware/roborio/inputs/config/WsI2CInputConfig.html" title="class in org.wildstang.hardware.roborio.inputs.config">WsI2CInputConfig</a></dt>
 <dd>
@@ -931,6 +1085,10 @@ <h2 class="title">G</h2>
 <dd>
 <div class="block">Returns AutoProgram's class.</div>
 </dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSAutoPrograms.html#getProgramClass()">getProgramClass()</a></span> - Method in enum org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSAutoPrograms.html" title="enum in org.wildstang.sample.robot">WSAutoPrograms</a></dt>
+<dd>
+<div class="block">Returns AutoProgram's class.</div>
+</dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/hardware/roborio/inputs/config/WsDigitalInputConfig.html#getPullup()">getPullup()</a></span> - Method in class org.wildstang.hardware.roborio.inputs.config.<a href="org/wildstang/hardware/roborio/inputs/config/WsDigitalInputConfig.html" title="class in org.wildstang.hardware.roborio.inputs.config">WsDigitalInputConfig</a></dt>
 <dd>
 <div class="block">Returns the pull up state.</div>
@@ -983,6 +1141,10 @@ <h2 class="title">G</h2>
 <dd>
 <div class="block">Returns subsystem's class.</div>
 </dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSSubsystems.html#getSubsystemClass()">getSubsystemClass()</a></span> - Method in enum org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSSubsystems.html" title="enum in org.wildstang.sample.robot">WSSubsystems</a></dt>
+<dd>
+<div class="block">Returns subsystem's class.</div>
+</dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/framework/core/Core.html#getSubsystemManager()">getSubsystemManager()</a></span> - Static method in class org.wildstang.framework.core.<a href="org/wildstang/framework/core/Core.html" title="class in org.wildstang.framework.core">Core</a></dt>
 <dd>
 <div class="block">Returns the framework's SubsystemManager.</div>
@@ -1083,6 +1245,8 @@ <h2 class="title">G</h2>
 <dd>
 <div class="block">Gets the value corresponding to a key in the config, with default.</div>
 </dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/framework/auto/steps/SwervePathFollowerStep.html#getVelocity()">getVelocity()</a></span> - Method in class org.wildstang.framework.auto.steps.<a href="org/wildstang/framework/auto/steps/SwervePathFollowerStep.html" title="class in org.wildstang.framework.auto.steps">SwervePathFollowerStep</a></dt>
+<dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/hardware/roborio/outputs/WsMotorController.html#getVelocity()">getVelocity()</a></span> - Method in class org.wildstang.hardware.roborio.outputs.<a href="org/wildstang/hardware/roborio/outputs/WsMotorController.html" title="class in org.wildstang.hardware.roborio.outputs">WsMotorController</a></dt>
 <dd>
 <div class="block">Returns the quadrature velocity from an encoder.</div>
@@ -1095,6 +1259,8 @@ <h2 class="title">G</h2>
 <dd>
 <div class="block">Returns the quadrature velocity from an encoder.</div>
 </dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/CANConstants.html#GYRO">GYRO</a></span> - Static variable in class org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/CANConstants.html" title="class in org.wildstang.sample.robot">CANConstants</a></dt>
+<dd>&nbsp;</dd>
 </dl>
 <a id="I:H">
 <!--   -->
@@ -1197,6 +1363,14 @@ <h2 class="title">I</h2>
 <dd>
 <div class="block">Sets up closed loop control for the motor</div>
 </dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/hardware/roborio/outputs/WsSparkMax.html#initClosedLoop(double,double,double,double,com.revrobotics.AbsoluteEncoder)">initClosedLoop(double, double, double, double, AbsoluteEncoder)</a></span> - Method in class org.wildstang.hardware.roborio.outputs.<a href="org/wildstang/hardware/roborio/outputs/WsSparkMax.html" title="class in org.wildstang.hardware.roborio.outputs">WsSparkMax</a></dt>
+<dd>
+<div class="block">Sets up closed loop control for the motor</div>
+</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/hardware/roborio/outputs/WsSparkMax.html#initClosedLoop(double,double,double,double,com.revrobotics.AbsoluteEncoder,boolean)">initClosedLoop(double, double, double, double, AbsoluteEncoder, boolean)</a></span> - Method in class org.wildstang.hardware.roborio.outputs.<a href="org/wildstang/hardware/roborio/outputs/WsSparkMax.html" title="class in org.wildstang.hardware.roborio.outputs">WsSparkMax</a></dt>
+<dd>
+<div class="block">Sets up closed loop control for the motor</div>
+</dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/framework/auto/AutoProgram.html#initialize()">initialize()</a></span> - Method in class org.wildstang.framework.auto.<a href="org/wildstang/framework/auto/AutoProgram.html" title="class in org.wildstang.framework.auto">AutoProgram</a></dt>
 <dd>
 <div class="block">Collects the defined steps and starts the auto program.</div>
@@ -1346,6 +1520,16 @@ <h2 class="title">J</h2>
 </a>
 <h2 class="title">L</h2>
 <dl>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSOutputs.html#LED">LED</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSOutputs.html#LEFT_DRIVE">LEFT_DRIVE</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/CANConstants.html#LEFT_DRIVE">LEFT_DRIVE</a></span> - Static variable in class org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/CANConstants.html" title="class in org.wildstang.sample.robot">CANConstants</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSOutputs.html#LEFT_DRIVE_FOLLOWER">LEFT_DRIVE_FOLLOWER</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/CANConstants.html#LEFT_DRIVE_FOLLOWER">LEFT_DRIVE_FOLLOWER</a></span> - Static variable in class org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/CANConstants.html" title="class in org.wildstang.sample.robot">CANConstants</a></dt>
+<dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/hardware/JoystickConstants.html#LEFT_JOYSTICK_X">LEFT_JOYSTICK_X</a></span> - Static variable in class org.wildstang.hardware.<a href="org/wildstang/hardware/JoystickConstants.html" title="class in org.wildstang.hardware">JoystickConstants</a></dt>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/hardware/JoystickConstants.html#LEFT_JOYSTICK_Y">LEFT_JOYSTICK_Y</a></span> - Static variable in class org.wildstang.hardware.<a href="org/wildstang/hardware/JoystickConstants.html" title="class in org.wildstang.hardware">JoystickConstants</a></dt>
@@ -1356,6 +1540,16 @@ <h2 class="title">L</h2>
 <dd>
 <div class="block">Returns the state of a Talon's limit switches.</div>
 </dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSOutputs.html#LL_LEDS">LL_LEDS</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSOutputs.html#LL_MODE">LL_MODE</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#LL_TV">LL_TV</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#LL_TX">LL_TX</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#LL_TY">LL_TY</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/framework/config/Config.html#load(java.io.BufferedReader)">load(BufferedReader)</a></span> - Method in class org.wildstang.framework.config.<a href="org/wildstang/framework/config/Config.html" title="class in org.wildstang.framework.config">Config</a></dt>
 <dd>
 <div class="block">Load in a config from file.</div>
@@ -1386,6 +1580,56 @@ <h2 class="title">M</h2>
 <dl>
 <dt><span class="memberNameLink"><a href="org/wildstang/framework/auto/BobTrajectory.html#main(java.lang.String...)">main(String...)</a></span> - Static method in class org.wildstang.framework.auto.<a href="org/wildstang/framework/auto/BobTrajectory.html" title="class in org.wildstang.framework.auto">BobTrajectory</a></dt>
 <dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/Main.html#main(java.lang.String...)">main(String...)</a></span> - Static method in class org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/Main.html" title="class in org.wildstang.sample.robot">Main</a></dt>
+<dd>
+<div class="block">Main initialization function.</div>
+</dd>
+<dt><a href="org/wildstang/sample/robot/Main.html" title="class in org.wildstang.sample.robot"><span class="typeNameLink">Main</span></a> - Class in <a href="org/wildstang/sample/robot/package-summary.html">org.wildstang.sample.robot</a></dt>
+<dd>
+<div class="block">Do NOT modify this file.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/Main.html#%3Cinit%3E()">Main()</a></span> - Constructor for class org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/Main.html" title="class in org.wildstang.sample.robot">Main</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#MANIPULATOR_DPAD_DOWN">MANIPULATOR_DPAD_DOWN</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#MANIPULATOR_DPAD_LEFT">MANIPULATOR_DPAD_LEFT</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#MANIPULATOR_DPAD_RIGHT">MANIPULATOR_DPAD_RIGHT</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#MANIPULATOR_DPAD_UP">MANIPULATOR_DPAD_UP</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#MANIPULATOR_FACE_DOWN">MANIPULATOR_FACE_DOWN</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#MANIPULATOR_FACE_LEFT">MANIPULATOR_FACE_LEFT</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#MANIPULATOR_FACE_RIGHT">MANIPULATOR_FACE_RIGHT</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#MANIPULATOR_FACE_UP">MANIPULATOR_FACE_UP</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#MANIPULATOR_LEFT_JOYSTICK_BUTTON">MANIPULATOR_LEFT_JOYSTICK_BUTTON</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#MANIPULATOR_LEFT_JOYSTICK_X">MANIPULATOR_LEFT_JOYSTICK_X</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#MANIPULATOR_LEFT_JOYSTICK_Y">MANIPULATOR_LEFT_JOYSTICK_Y</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#MANIPULATOR_LEFT_SHOULDER">MANIPULATOR_LEFT_SHOULDER</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#MANIPULATOR_LEFT_TRIGGER">MANIPULATOR_LEFT_TRIGGER</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#MANIPULATOR_RIGHT_JOYSTICK_BUTTON">MANIPULATOR_RIGHT_JOYSTICK_BUTTON</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#MANIPULATOR_RIGHT_JOYSTICK_X">MANIPULATOR_RIGHT_JOYSTICK_X</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#MANIPULATOR_RIGHT_JOYSTICK_Y">MANIPULATOR_RIGHT_JOYSTICK_Y</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#MANIPULATOR_RIGHT_SHOULDER">MANIPULATOR_RIGHT_SHOULDER</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#MANIPULATOR_RIGHT_TRIGGER">MANIPULATOR_RIGHT_TRIGGER</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#MANIPULATOR_SELECT">MANIPULATOR_SELECT</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#MANIPULATOR_START">MANIPULATOR_START</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>&nbsp;</dd>
 </dl>
 <a id="I:N">
 <!--   -->
@@ -1489,6 +1733,8 @@ <h2 class="title">O</h2>
 <dd>&nbsp;</dd>
 <dt><a href="org/wildstang/hardware/roborio/outputs/config/package-summary.html">org.wildstang.hardware.roborio.outputs.config</a> - package org.wildstang.hardware.roborio.outputs.config</dt>
 <dd>&nbsp;</dd>
+<dt><a href="org/wildstang/sample/robot/package-summary.html">org.wildstang.sample.robot</a> - package org.wildstang.sample.robot</dt>
+<dd>&nbsp;</dd>
 <dt><a href="org/wildstang/framework/io/outputs/Output.html" title="class in org.wildstang.framework.io.outputs"><span class="typeNameLink">Output</span></a> - Class in <a href="org/wildstang/framework/io/outputs/package-summary.html">org.wildstang.framework.io.outputs</a></dt>
 <dd>
 <div class="block">Core output functions.</div>
@@ -1601,8 +1847,14 @@ <h2 class="title">P</h2>
 <dd>
 <div class="block">Writes a value to an Output.</div>
 </dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/framework/auto/AutoManager.html#preloadLockedProgram()">preloadLockedProgram()</a></span> - Method in class org.wildstang.framework.auto.<a href="org/wildstang/framework/auto/AutoManager.html" title="class in org.wildstang.framework.auto">AutoManager</a></dt>
+<dd>
+<div class="block">Preloads the currently selected program from SmartDashboard if locked in.</div>
+</dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/framework/subsystems/drive/PathFollowingDrive.html#profileNotifier">profileNotifier</a></span> - Variable in class org.wildstang.framework.subsystems.drive.<a href="org/wildstang/framework/subsystems/drive/PathFollowingDrive.html" title="class in org.wildstang.framework.subsystems.drive">PathFollowingDrive</a></dt>
 <dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/framework/auto/AutoProgram.html#programStarted">programStarted</a></span> - Variable in class org.wildstang.framework.auto.<a href="org/wildstang/framework/auto/AutoProgram.html" title="class in org.wildstang.framework.auto">AutoProgram</a></dt>
+<dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/framework/auto/AutoProgram.html#programSteps">programSteps</a></span> - Variable in class org.wildstang.framework.auto.<a href="org/wildstang/framework/auto/AutoProgram.html" title="class in org.wildstang.framework.auto">AutoProgram</a></dt>
 <dd>&nbsp;</dd>
 </dl>
@@ -1789,8 +2041,18 @@ <h2 class="title">R</h2>
 <dd>
 <div class="block">Sets the toggle state back to the start state.</div>
 </dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/framework/subsystems/swerve/SwerveDriveTemplate.html#returnPose(double)">returnPose(double)</a></span> - Method in class org.wildstang.framework.subsystems.swerve.<a href="org/wildstang/framework/subsystems/swerve/SwerveDriveTemplate.html" title="class in org.wildstang.framework.subsystems.swerve">SwerveDriveTemplate</a></dt>
+<dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/hardware/roborio/outputs/WsDoubleSolenoidState.html#REVERSE">REVERSE</a></span> - org.wildstang.hardware.roborio.outputs.<a href="org/wildstang/hardware/roborio/outputs/WsDoubleSolenoidState.html" title="enum in org.wildstang.hardware.roborio.outputs">WsDoubleSolenoidState</a></dt>
 <dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSOutputs.html#RIGHT_DRIVE">RIGHT_DRIVE</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/CANConstants.html#RIGHT_DRIVE">RIGHT_DRIVE</a></span> - Static variable in class org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/CANConstants.html" title="class in org.wildstang.sample.robot">CANConstants</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSOutputs.html#RIGHT_DRIVE_FOLLOWER">RIGHT_DRIVE_FOLLOWER</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/CANConstants.html#RIGHT_DRIVE_FOLLOWER">RIGHT_DRIVE_FOLLOWER</a></span> - Static variable in class org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/CANConstants.html" title="class in org.wildstang.sample.robot">CANConstants</a></dt>
+<dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/hardware/JoystickConstants.html#RIGHT_JOYSTICK_X">RIGHT_JOYSTICK_X</a></span> - Static variable in class org.wildstang.hardware.<a href="org/wildstang/hardware/JoystickConstants.html" title="class in org.wildstang.hardware">JoystickConstants</a></dt>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/hardware/JoystickConstants.html#RIGHT_JOYSTICK_Y">RIGHT_JOYSTICK_Y</a></span> - Static variable in class org.wildstang.hardware.<a href="org/wildstang/hardware/JoystickConstants.html" title="class in org.wildstang.hardware">JoystickConstants</a></dt>
@@ -1813,12 +2075,30 @@ <h2 class="title">R</h2>
 <dd>
 <div class="block">Empty constructor override WPILib InputFactory constructor.</div>
 </dd>
+<dt><a href="org/wildstang/sample/robot/Robot.html" title="class in org.wildstang.sample.robot"><span class="typeNameLink">Robot</span></a> - Class in <a href="org/wildstang/sample/robot/package-summary.html">org.wildstang.sample.robot</a></dt>
+<dd>
+<div class="block">Once the Main class starts this class, the VM is configured to call the
+ functions corresponding to each mode, as described in the IterativeRobotBase
+ documentation.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/Robot.html#%3Cinit%3E()">Robot()</a></span> - Constructor for class org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/Robot.html" title="class in org.wildstang.sample.robot">Robot</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/Robot.html#robotInit()">robotInit()</a></span> - Method in class org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/Robot.html" title="class in org.wildstang.sample.robot">Robot</a></dt>
+<dd>
+<div class="block">Runs on initialization, creates and configures the framework Core.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/Robot.html#robotPeriodic()">robotPeriodic()</a></span> - Method in class org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/Robot.html" title="class in org.wildstang.sample.robot">Robot</a></dt>
+<dd>
+<div class="block">Runs repeatedly, regardless of mode and state.</div>
+</dd>
 </dl>
 <a id="I:S">
 <!--   -->
 </a>
 <h2 class="title">S</h2>
 <dl>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSSubsystems.html#SAMPLE">SAMPLE</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSSubsystems.html" title="enum in org.wildstang.sample.robot">WSSubsystems</a></dt>
+<dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/framework/subsystems/Subsystem.html#selfTest()">selfTest()</a></span> - Method in interface org.wildstang.framework.subsystems.<a href="org/wildstang/framework/subsystems/Subsystem.html" title="interface in org.wildstang.framework.subsystems">Subsystem</a></dt>
 <dd>
 <div class="block">Performs a self test of the subsystem.</div>
@@ -1877,7 +2157,7 @@ <h2 class="title">S</h2>
 </dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/framework/subsystems/swerve/SwerveDriveTemplate.html#setAutoHeading(double)">setAutoHeading(double)</a></span> - Method in class org.wildstang.framework.subsystems.swerve.<a href="org/wildstang/framework/subsystems/swerve/SwerveDriveTemplate.html" title="class in org.wildstang.framework.subsystems.swerve">SwerveDriveTemplate</a></dt>
 <dd>&nbsp;</dd>
-<dt><span class="memberNameLink"><a href="org/wildstang/framework/subsystems/swerve/SwerveDriveTemplate.html#setAutoValues(double,double,double)">setAutoValues(double, double, double)</a></span> - Method in class org.wildstang.framework.subsystems.swerve.<a href="org/wildstang/framework/subsystems/swerve/SwerveDriveTemplate.html" title="class in org.wildstang.framework.subsystems.swerve">SwerveDriveTemplate</a></dt>
+<dt><span class="memberNameLink"><a href="org/wildstang/framework/subsystems/swerve/SwerveDriveTemplate.html#setAutoValues(double,double,double,double)">setAutoValues(double, double, double, double)</a></span> - Method in class org.wildstang.framework.subsystems.swerve.<a href="org/wildstang/framework/subsystems/swerve/SwerveDriveTemplate.html" title="class in org.wildstang.framework.subsystems.swerve">SwerveDriveTemplate</a></dt>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/hardware/roborio/outputs/WsMotorController.html#setBrake()">setBrake()</a></span> - Method in class org.wildstang.hardware.roborio.outputs.<a href="org/wildstang/hardware/roborio/outputs/WsMotorController.html" title="class in org.wildstang.hardware.roborio.outputs">WsMotorController</a></dt>
 <dd>
@@ -1999,6 +2279,10 @@ <h2 class="title">S</h2>
 <dd>
 <div class="block">Sets the motor to track the given position</div>
 </dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/hardware/roborio/outputs/WsSparkMax.html#setPosition(double,int)">setPosition(double, int)</a></span> - Method in class org.wildstang.hardware.roborio.outputs.<a href="org/wildstang/hardware/roborio/outputs/WsSparkMax.html" title="class in org.wildstang.hardware.roborio.outputs">WsSparkMax</a></dt>
+<dd>
+<div class="block">Sets the motor to track the given position with a specific PIDFF constants</div>
+</dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/hardware/roborio/outputs/WsPhoenix.html#setProfile(int)">setProfile(int)</a></span> - Method in class org.wildstang.hardware.roborio.outputs.<a href="org/wildstang/hardware/roborio/outputs/WsPhoenix.html" title="class in org.wildstang.hardware.roborio.outputs">WsPhoenix</a></dt>
 <dd>
 <div class="block">Sets and runs the motion profile slot to use.</div>
@@ -2159,13 +2443,15 @@ <h2 class="title">S</h2>
 <dd>
 <div class="block">Used in implementations to enumerate Subsystems.</div>
 </dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSSubsystems.html#SWERVE_DRIVE">SWERVE_DRIVE</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSSubsystems.html" title="enum in org.wildstang.sample.robot">WSSubsystems</a></dt>
+<dd>&nbsp;</dd>
 <dt><a href="org/wildstang/framework/subsystems/swerve/SwerveDriveTemplate.html" title="class in org.wildstang.framework.subsystems.swerve"><span class="typeNameLink">SwerveDriveTemplate</span></a> - Class in <a href="org/wildstang/framework/subsystems/swerve/package-summary.html">org.wildstang.framework.subsystems.swerve</a></dt>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/framework/subsystems/swerve/SwerveDriveTemplate.html#%3Cinit%3E()">SwerveDriveTemplate()</a></span> - Constructor for class org.wildstang.framework.subsystems.swerve.<a href="org/wildstang/framework/subsystems/swerve/SwerveDriveTemplate.html" title="class in org.wildstang.framework.subsystems.swerve">SwerveDriveTemplate</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="org/wildstang/framework/auto/steps/SwervePathFollowerStep.html" title="class in org.wildstang.framework.auto.steps"><span class="typeNameLink">SwervePathFollowerStep</span></a> - Class in <a href="org/wildstang/framework/auto/steps/package-summary.html">org.wildstang.framework.auto.steps</a></dt>
 <dd>&nbsp;</dd>
-<dt><span class="memberNameLink"><a href="org/wildstang/framework/auto/steps/SwervePathFollowerStep.html#%3Cinit%3E(double%5B%5D%5B%5D,org.wildstang.framework.subsystems.swerve.SwerveDriveTemplate)">SwervePathFollowerStep(double[][], SwerveDriveTemplate)</a></span> - Constructor for class org.wildstang.framework.auto.steps.<a href="org/wildstang/framework/auto/steps/SwervePathFollowerStep.html" title="class in org.wildstang.framework.auto.steps">SwervePathFollowerStep</a></dt>
+<dt><span class="memberNameLink"><a href="org/wildstang/framework/auto/steps/SwervePathFollowerStep.html#%3Cinit%3E(com.pathplanner.lib.PathPlannerTrajectory,org.wildstang.framework.subsystems.swerve.SwerveDriveTemplate,boolean)">SwervePathFollowerStep(PathPlannerTrajectory, SwerveDriveTemplate, boolean)</a></span> - Constructor for class org.wildstang.framework.auto.steps.<a href="org/wildstang/framework/auto/steps/SwervePathFollowerStep.html" title="class in org.wildstang.framework.auto.steps">SwervePathFollowerStep</a></dt>
 <dd>
 <div class="block">Sets the robot to track a new path
  finishes after all values have been read to robot</div>
@@ -2186,10 +2472,30 @@ <h2 class="title">T</h2>
 </dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/framework/subsystems/drive/TankPath.html#%3Cinit%3E()">TankPath()</a></span> - Constructor for class org.wildstang.framework.subsystems.drive.<a href="org/wildstang/framework/subsystems/drive/TankPath.html" title="class in org.wildstang.framework.subsystems.drive">TankPath</a></dt>
 <dd>&nbsp;</dd>
-<dt><a href="frc/paths/Test.html" title="class in frc.paths"><span class="typeNameLink">Test</span></a> - Class in <a href="frc/paths/package-summary.html">frc.paths</a></dt>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/Robot.html#teleopInit()">teleopInit()</a></span> - Method in class org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/Robot.html" title="class in org.wildstang.sample.robot">Robot</a></dt>
+<dd>
+<div class="block">Runs when teleoperated is enabled.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/Robot.html#teleopPeriodic()">teleopPeriodic()</a></span> - Method in class org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/Robot.html" title="class in org.wildstang.sample.robot">Robot</a></dt>
+<dd>
+<div class="block">Runs repeatedly while teleoperated is enabled.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSOutputs.html#TEST_MOTOR">TEST_MOTOR</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSAutoPrograms.html#TEST_PROGRAM">TEST_PROGRAM</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSAutoPrograms.html" title="enum in org.wildstang.sample.robot">WSAutoPrograms</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSOutputs.html#TEST_SERVO">TEST_SERVO</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a></dt>
 <dd>&nbsp;</dd>
-<dt><span class="memberNameLink"><a href="frc/paths/Test.html#%3Cinit%3E()">Test()</a></span> - Constructor for class frc.paths.<a href="frc/paths/Test.html" title="class in frc.paths">Test</a></dt>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSOutputs.html#TEST_SOLENOID">TEST_SOLENOID</a></span> - org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a></dt>
 <dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/Robot.html#testInit()">testInit()</a></span> - Method in class org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/Robot.html" title="class in org.wildstang.sample.robot">Robot</a></dt>
+<dd>
+<div class="block">Runs when test is enabled.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/Robot.html#testPeriodic()">testPeriodic()</a></span> - Method in class org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/Robot.html" title="class in org.wildstang.sample.robot">Robot</a></dt>
+<dd>
+<div class="block">Runs repeatedly while test is enabled.</div>
+</dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/framework/auto/steps/control/AutoStepDelay.html#timer">timer</a></span> - Variable in class org.wildstang.framework.auto.steps.control.<a href="org/wildstang/framework/auto/steps/control/AutoStepDelay.html" title="class in org.wildstang.framework.auto.steps.control">AutoStepDelay</a></dt>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/framework/auto/AutoProgram.html#toString()">toString()</a></span> - Method in class org.wildstang.framework.auto.<a href="org/wildstang/framework/auto/AutoProgram.html" title="class in org.wildstang.framework.auto">AutoProgram</a></dt>
@@ -2457,6 +2763,22 @@ <h2 class="title">V</h2>
 <dd>
 <div class="block">Returns the enum constant of this type with the specified name.</div>
 </dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSAutoPrograms.html#valueOf(java.lang.String)">valueOf(String)</a></span> - Static method in enum org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSAutoPrograms.html" title="enum in org.wildstang.sample.robot">WSAutoPrograms</a></dt>
+<dd>
+<div class="block">Returns the enum constant of this type with the specified name.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#valueOf(java.lang.String)">valueOf(String)</a></span> - Static method in enum org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>
+<div class="block">Returns the enum constant of this type with the specified name.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSOutputs.html#valueOf(java.lang.String)">valueOf(String)</a></span> - Static method in enum org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a></dt>
+<dd>
+<div class="block">Returns the enum constant of this type with the specified name.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSSubsystems.html#valueOf(java.lang.String)">valueOf(String)</a></span> - Static method in enum org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSSubsystems.html" title="enum in org.wildstang.sample.robot">WSSubsystems</a></dt>
+<dd>
+<div class="block">Returns the enum constant of this type with the specified name.</div>
+</dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/framework/logger/Log.LogLevel.html#values()">values()</a></span> - Static method in enum org.wildstang.framework.logger.<a href="org/wildstang/framework/logger/Log.LogLevel.html" title="enum in org.wildstang.framework.logger">Log.LogLevel</a></dt>
 <dd>
 <div class="block">Returns an array containing the constants of this enum type, in
@@ -2482,6 +2804,26 @@ <h2 class="title">V</h2>
 <div class="block">Returns an array containing the constants of this enum type, in
 the order they are declared.</div>
 </dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSAutoPrograms.html#values()">values()</a></span> - Static method in enum org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSAutoPrograms.html" title="enum in org.wildstang.sample.robot">WSAutoPrograms</a></dt>
+<dd>
+<div class="block">Returns an array containing the constants of this enum type, in
+the order they are declared.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSInputs.html#values()">values()</a></span> - Static method in enum org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></dt>
+<dd>
+<div class="block">Returns an array containing the constants of this enum type, in
+the order they are declared.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSOutputs.html#values()">values()</a></span> - Static method in enum org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a></dt>
+<dd>
+<div class="block">Returns an array containing the constants of this enum type, in
+the order they are declared.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="org/wildstang/sample/robot/WSSubsystems.html#values()">values()</a></span> - Static method in enum org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSSubsystems.html" title="enum in org.wildstang.sample.robot">WSSubsystems</a></dt>
+<dd>
+<div class="block">Returns an array containing the constants of this enum type, in
+the order they are declared.</div>
+</dd>
 <dt><span class="memberNameLink"><a href="org/wildstang/hardware/roborio/outputs/config/WsMotorControllers.html#VICTOR_SPX">VICTOR_SPX</a></span> - org.wildstang.hardware.roborio.outputs.config.<a href="org/wildstang/hardware/roborio/outputs/config/WsMotorControllers.html" title="enum in org.wildstang.hardware.roborio.outputs.config">WsMotorControllers</a></dt>
 <dd>&nbsp;</dd>
 </dl>
@@ -2552,6 +2894,10 @@ <h2 class="title">W</h2>
 <dd>
 <div class="block">Construct the analog output config.</div>
 </dd>
+<dt><a href="org/wildstang/sample/robot/WSAutoPrograms.html" title="enum in org.wildstang.sample.robot"><span class="typeNameLink">WSAutoPrograms</span></a> - Enum in <a href="org/wildstang/sample/robot/package-summary.html">org.wildstang.sample.robot</a></dt>
+<dd>
+<div class="block">All active AutoPrograms are enumerated here.</div>
+</dd>
 <dt><a href="org/wildstang/hardware/roborio/inputs/config/WsCameraInputConfig.html" title="class in org.wildstang.hardware.roborio.inputs.config"><span class="typeNameLink">WsCameraInputConfig</span></a> - Class in <a href="org/wildstang/hardware/roborio/inputs/config/package-summary.html">org.wildstang.hardware.roborio.inputs.config</a></dt>
 <dd>
 <div class="block">Contains configuration for cameras.</div>
@@ -2684,6 +3030,10 @@ <h2 class="title">W</h2>
 <dd>
 <div class="block">Construct the I2C config.</div>
 </dd>
+<dt><a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot"><span class="typeNameLink">WSInputs</span></a> - Enum in <a href="org/wildstang/sample/robot/package-summary.html">org.wildstang.sample.robot</a></dt>
+<dd>
+<div class="block">Input mappings are stored here.</div>
+</dd>
 <dt><a href="org/wildstang/hardware/roborio/inputs/WsJoystickAxis.html" title="class in org.wildstang.hardware.roborio.inputs"><span class="typeNameLink">WsJoystickAxis</span></a> - Class in <a href="org/wildstang/hardware/roborio/inputs/package-summary.html">org.wildstang.hardware.roborio.inputs</a></dt>
 <dd>
 <div class="block">Reads a controller joystick axis.</div>
@@ -2778,6 +3128,10 @@ <h2 class="title">W</h2>
 </dd>
 <dt><a href="org/wildstang/hardware/roborio/outputs/config/WsMotorControllers.html" title="enum in org.wildstang.hardware.roborio.outputs.config"><span class="typeNameLink">WsMotorControllers</span></a> - Enum in <a href="org/wildstang/hardware/roborio/outputs/config/package-summary.html">org.wildstang.hardware.roborio.outputs.config</a></dt>
 <dd>&nbsp;</dd>
+<dt><a href="org/wildstang/sample/robot/WSOutputs.html" title="enum in org.wildstang.sample.robot"><span class="typeNameLink">WSOutputs</span></a> - Enum in <a href="org/wildstang/sample/robot/package-summary.html">org.wildstang.sample.robot</a></dt>
+<dd>
+<div class="block">Output mappings are stored here.</div>
+</dd>
 <dt><a href="org/wildstang/hardware/roborio/outputs/WsPhoenix.html" title="class in org.wildstang.hardware.roborio.outputs"><span class="typeNameLink">WsPhoenix</span></a> - Class in <a href="org/wildstang/hardware/roborio/outputs/package-summary.html">org.wildstang.hardware.roborio.outputs</a></dt>
 <dd>
 <div class="block">Controls a Talon or Victor motor controller as a Phoenix BaseMotorController.</div>
@@ -2982,6 +3336,10 @@ <h2 class="title">W</h2>
 <dd>
 <div class="block">Construct the Phoenix config.</div>
 </dd>
+<dt><a href="org/wildstang/sample/robot/WSSubsystems.html" title="enum in org.wildstang.sample.robot"><span class="typeNameLink">WSSubsystems</span></a> - Enum in <a href="org/wildstang/sample/robot/package-summary.html">org.wildstang.sample.robot</a></dt>
+<dd>
+<div class="block">All subsystems are enumerated here.</div>
+</dd>
 </dl>
 <a href="#I:A">A</a>&nbsp;<a href="#I:B">B</a>&nbsp;<a href="#I:C">C</a>&nbsp;<a href="#I:D">D</a>&nbsp;<a href="#I:E">E</a>&nbsp;<a href="#I:F">F</a>&nbsp;<a href="#I:G">G</a>&nbsp;<a href="#I:H">H</a>&nbsp;<a href="#I:I">I</a>&nbsp;<a href="#I:J">J</a>&nbsp;<a href="#I:L">L</a>&nbsp;<a href="#I:M">M</a>&nbsp;<a href="#I:N">N</a>&nbsp;<a href="#I:O">O</a>&nbsp;<a href="#I:P">P</a>&nbsp;<a href="#I:R">R</a>&nbsp;<a href="#I:S">S</a>&nbsp;<a href="#I:T">T</a>&nbsp;<a href="#I:U">U</a>&nbsp;<a href="#I:V">V</a>&nbsp;<a href="#I:W">W</a>&nbsp;<br><a href="allclasses-index.html">All&nbsp;Classes</a>&nbsp;<a href="allpackages-index.html">All&nbsp;Packages</a></div>
 </main>
diff --git a/docs/index.html b/docs/index.html
index 4a81ad81..f870f84b 100644
--- a/docs/index.html
+++ b/docs/index.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>Overview (rfmain API)</title>
+<title>Overview (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="jquery/jquery-ui.min.css" title="Style">
@@ -14,14 +14,14 @@
 <!--[if IE]>
 <script type="text/javascript" src="jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
 <![endif]-->
-<script type="text/javascript" src="jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="jquery/jquery-3.6.1.min.js"></script>
 <script type="text/javascript" src="jquery/jquery-ui.min.js"></script>
 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="Overview (rfmain API)";
+            parent.document.title="Overview (robot_framework API)";
         }
     }
     catch(err) {
@@ -91,10 +91,10 @@
 </script>
 </nav>
 </header>
+<main role="main">
 <div class="header">
-<h1 class="title">rfmain API</h1>
+<h1 class="title">robot_framework API</h1>
 </div>
-<main role="main">
 <div class="contentContainer">
 <table class="overviewSummary">
 <caption><span>Packages</span><span class="tabEnd">&nbsp;</span></caption>
@@ -104,107 +104,107 @@ <h1 class="title">rfmain API</h1>
 </tr>
 <tbody>
 <tr class="altColor" id="i0">
-<th class="colFirst" scope="row"><a href="frc/paths/package-summary.html">frc.paths</a></th>
+<th class="colFirst" scope="row"><a href="org/wildstang/framework/package-summary.html">org.wildstang.framework</a></th>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="rowColor" id="i1">
-<th class="colFirst" scope="row"><a href="org/wildstang/framework/package-summary.html">org.wildstang.framework</a></th>
+<th class="colFirst" scope="row"><a href="org/wildstang/framework/auto/package-summary.html">org.wildstang.framework.auto</a></th>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="altColor" id="i2">
-<th class="colFirst" scope="row"><a href="org/wildstang/framework/auto/package-summary.html">org.wildstang.framework.auto</a></th>
+<th class="colFirst" scope="row"><a href="org/wildstang/framework/auto/program/package-summary.html">org.wildstang.framework.auto.program</a></th>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="rowColor" id="i3">
-<th class="colFirst" scope="row"><a href="org/wildstang/framework/auto/program/package-summary.html">org.wildstang.framework.auto.program</a></th>
+<th class="colFirst" scope="row"><a href="org/wildstang/framework/auto/steps/package-summary.html">org.wildstang.framework.auto.steps</a></th>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="altColor" id="i4">
-<th class="colFirst" scope="row"><a href="org/wildstang/framework/auto/steps/package-summary.html">org.wildstang.framework.auto.steps</a></th>
+<th class="colFirst" scope="row"><a href="org/wildstang/framework/auto/steps/control/package-summary.html">org.wildstang.framework.auto.steps.control</a></th>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="rowColor" id="i5">
-<th class="colFirst" scope="row"><a href="org/wildstang/framework/auto/steps/control/package-summary.html">org.wildstang.framework.auto.steps.control</a></th>
+<th class="colFirst" scope="row"><a href="org/wildstang/framework/config/package-summary.html">org.wildstang.framework.config</a></th>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="altColor" id="i6">
-<th class="colFirst" scope="row"><a href="org/wildstang/framework/config/package-summary.html">org.wildstang.framework.config</a></th>
+<th class="colFirst" scope="row"><a href="org/wildstang/framework/core/package-summary.html">org.wildstang.framework.core</a></th>
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diff --git a/docs/legal/ADDITIONAL_LICENSE_INFO b/docs/legal/ADDITIONAL_LICENSE_INFO
new file mode 100644
index 00000000..ff700cd0
--- /dev/null
+++ b/docs/legal/ADDITIONAL_LICENSE_INFO
@@ -0,0 +1,37 @@
+                      ADDITIONAL INFORMATION ABOUT LICENSING
+
+Certain files distributed by Oracle America, Inc. and/or its affiliates are 
+subject to the following clarification and special exception to the GPLv2, 
+based on the GNU Project exception for its Classpath libraries, known as the 
+GNU Classpath Exception.
+
+Note that Oracle includes multiple, independent programs in this software 
+package.  Some of those programs are provided under licenses deemed 
+incompatible with the GPLv2 by the Free Software Foundation and others. 
+For example, the package includes programs licensed under the Apache 
+License, Version 2.0 and may include FreeType. Such programs are licensed 
+to you under their original licenses. 
+
+Oracle facilitates your further distribution of this package by adding the 
+Classpath Exception to the necessary parts of its GPLv2 code, which permits 
+you to use that code in combination with other independent modules not 
+licensed under the GPLv2. However, note that this would not permit you to 
+commingle code under an incompatible license with Oracle's GPLv2 licensed 
+code by, for example, cutting and pasting such code into a file also 
+containing Oracle's GPLv2 licensed code and then distributing the result. 
+
+Additionally, if you were to remove the Classpath Exception from any of the 
+files to which it applies and distribute the result, you would likely be 
+required to license some or all of the other code in that distribution under 
+the GPLv2 as well, and since the GPLv2 is incompatible with the license terms 
+of some items included in the distribution by Oracle, removing the Classpath 
+Exception could therefore effectively compromise your ability to further 
+distribute the package. 
+
+Failing to distribute notices associated with some files may also create 
+unexpected legal consequences.
+ 
+Proceed with caution and we recommend that you obtain the advice of a lawyer 
+skilled in open source matters before removing the Classpath Exception or 
+making modifications to this package which may subsequently be redistributed 
+and/or involve the use of third party software.
diff --git a/docs/legal/ASSEMBLY_EXCEPTION b/docs/legal/ASSEMBLY_EXCEPTION
new file mode 100644
index 00000000..065b8d90
--- /dev/null
+++ b/docs/legal/ASSEMBLY_EXCEPTION
@@ -0,0 +1,27 @@
+
+OPENJDK ASSEMBLY EXCEPTION
+
+The OpenJDK source code made available by Oracle America, Inc. (Oracle) at
+openjdk.java.net ("OpenJDK Code") is distributed under the terms of the GNU
+General Public License <http://www.gnu.org/copyleft/gpl.html> version 2
+only ("GPL2"), with the following clarification and special exception.
+
+    Linking this OpenJDK Code statically or dynamically with other code
+    is making a combined work based on this library.  Thus, the terms
+    and conditions of GPL2 cover the whole combination.
+
+    As a special exception, Oracle gives you permission to link this
+    OpenJDK Code with certain code licensed by Oracle as indicated at
+    http://openjdk.java.net/legal/exception-modules-2007-05-08.html
+    ("Designated Exception Modules") to produce an executable,
+    regardless of the license terms of the Designated Exception Modules,
+    and to copy and distribute the resulting executable under GPL2,
+    provided that the Designated Exception Modules continue to be
+    governed by the licenses under which they were offered by Oracle.
+
+As such, it allows licensees and sublicensees of Oracle's GPL2 OpenJDK Code
+to build an executable that includes those portions of necessary code that
+Oracle could not provide under GPL2 (or that Oracle has provided under GPL2
+with the Classpath exception).  If you modify or add to the OpenJDK code,
+that new GPL2 code may still be combined with Designated Exception Modules
+if the new code is made subject to this exception by its copyright holder.
diff --git a/docs/legal/LICENSE b/docs/legal/LICENSE
new file mode 100644
index 00000000..8b400c7a
--- /dev/null
+++ b/docs/legal/LICENSE
@@ -0,0 +1,347 @@
+The GNU General Public License (GPL)
+
+Version 2, June 1991
+
+Copyright (C) 1989, 1991 Free Software Foundation, Inc.
+51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+
+Everyone is permitted to copy and distribute verbatim copies of this license
+document, but changing it is not allowed.
+
+Preamble
+
+The licenses for most software are designed to take away your freedom to share
+and change it.  By contrast, the GNU General Public License is intended to
+guarantee your freedom to share and change free software--to make sure the
+software is free for all its users.  This General Public License applies to
+most of the Free Software Foundation's software and to any other program whose
+authors commit to using it.  (Some other Free Software Foundation software is
+covered by the GNU Library General Public License instead.) You can apply it to
+your programs, too.
+
+When we speak of free software, we are referring to freedom, not price.  Our
+General Public Licenses are designed to make sure that you have the freedom to
+distribute copies of free software (and charge for this service if you wish),
+that you receive source code or can get it if you want it, that you can change
+the software or use pieces of it in new free programs; and that you know you
+can do these things.
+
+To protect your rights, we need to make restrictions that forbid anyone to deny
+you these rights or to ask you to surrender the rights.  These restrictions
+translate to certain responsibilities for you if you distribute copies of the
+software, or if you modify it.
+
+For example, if you distribute copies of such a program, whether gratis or for
+a fee, you must give the recipients all the rights that you have.  You must
+make sure that they, too, receive or can get the source code.  And you must
+show them these terms so they know their rights.
+
+We protect your rights with two steps: (1) copyright the software, and (2)
+offer you this license which gives you legal permission to copy, distribute
+and/or modify the software.
+
+Also, for each author's protection and ours, we want to make certain that
+everyone understands that there is no warranty for this free software.  If the
+software is modified by someone else and passed on, we want its recipients to
+know that what they have is not the original, so that any problems introduced
+by others will not reflect on the original authors' reputations.
+
+Finally, any free program is threatened constantly by software patents.  We
+wish to avoid the danger that redistributors of a free program will
+individually obtain patent licenses, in effect making the program proprietary.
+To prevent this, we have made it clear that any patent must be licensed for
+everyone's free use or not licensed at all.
+
+The precise terms and conditions for copying, distribution and modification
+follow.
+
+TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
+
+0. This License applies to any program or other work which contains a notice
+placed by the copyright holder saying it may be distributed under the terms of
+this General Public License.  The "Program", below, refers to any such program
+or work, and a "work based on the Program" means either the Program or any
+derivative work under copyright law: that is to say, a work containing the
+Program or a portion of it, either verbatim or with modifications and/or
+translated into another language.  (Hereinafter, translation is included
+without limitation in the term "modification".) Each licensee is addressed as
+"you".
+
+Activities other than copying, distribution and modification are not covered by
+this License; they are outside its scope.  The act of running the Program is
+not restricted, and the output from the Program is covered only if its contents
+constitute a work based on the Program (independent of having been made by
+running the Program).  Whether that is true depends on what the Program does.
+
+1. You may copy and distribute verbatim copies of the Program's source code as
+you receive it, in any medium, provided that you conspicuously and
+appropriately publish on each copy an appropriate copyright notice and
+disclaimer of warranty; keep intact all the notices that refer to this License
+and to the absence of any warranty; and give any other recipients of the
+Program a copy of this License along with the Program.
+
+You may charge a fee for the physical act of transferring a copy, and you may
+at your option offer warranty protection in exchange for a fee.
+
+2. You may modify your copy or copies of the Program or any portion of it, thus
+forming a work based on the Program, and copy and distribute such modifications
+or work under the terms of Section 1 above, provided that you also meet all of
+these conditions:
+
+    a) You must cause the modified files to carry prominent notices stating
+    that you changed the files and the date of any change.
+
+    b) You must cause any work that you distribute or publish, that in whole or
+    in part contains or is derived from the Program or any part thereof, to be
+    licensed as a whole at no charge to all third parties under the terms of
+    this License.
+
+    c) If the modified program normally reads commands interactively when run,
+    you must cause it, when started running for such interactive use in the
+    most ordinary way, to print or display an announcement including an
+    appropriate copyright notice and a notice that there is no warranty (or
+    else, saying that you provide a warranty) and that users may redistribute
+    the program under these conditions, and telling the user how to view a copy
+    of this License.  (Exception: if the Program itself is interactive but does
+    not normally print such an announcement, your work based on the Program is
+    not required to print an announcement.)
+
+These requirements apply to the modified work as a whole.  If identifiable
+sections of that work are not derived from the Program, and can be reasonably
+considered independent and separate works in themselves, then this License, and
+its terms, do not apply to those sections when you distribute them as separate
+works.  But when you distribute the same sections as part of a whole which is a
+work based on the Program, the distribution of the whole must be on the terms
+of this License, whose permissions for other licensees extend to the entire
+whole, and thus to each and every part regardless of who wrote it.
+
+Thus, it is not the intent of this section to claim rights or contest your
+rights to work written entirely by you; rather, the intent is to exercise the
+right to control the distribution of derivative or collective works based on
+the Program.
+
+In addition, mere aggregation of another work not based on the Program with the
+Program (or with a work based on the Program) on a volume of a storage or
+distribution medium does not bring the other work under the scope of this
+License.
+
+3. You may copy and distribute the Program (or a work based on it, under
+Section 2) in object code or executable form under the terms of Sections 1 and
+2 above provided that you also do one of the following:
+
+    a) Accompany it with the complete corresponding machine-readable source
+    code, which must be distributed under the terms of Sections 1 and 2 above
+    on a medium customarily used for software interchange; or,
+
+    b) Accompany it with a written offer, valid for at least three years, to
+    give any third party, for a charge no more than your cost of physically
+    performing source distribution, a complete machine-readable copy of the
+    corresponding source code, to be distributed under the terms of Sections 1
+    and 2 above on a medium customarily used for software interchange; or,
+
+    c) Accompany it with the information you received as to the offer to
+    distribute corresponding source code.  (This alternative is allowed only
+    for noncommercial distribution and only if you received the program in
+    object code or executable form with such an offer, in accord with
+    Subsection b above.)
+
+The source code for a work means the preferred form of the work for making
+modifications to it.  For an executable work, complete source code means all
+the source code for all modules it contains, plus any associated interface
+definition files, plus the scripts used to control compilation and installation
+of the executable.  However, as a special exception, the source code
+distributed need not include anything that is normally distributed (in either
+source or binary form) with the major components (compiler, kernel, and so on)
+of the operating system on which the executable runs, unless that component
+itself accompanies the executable.
+
+If distribution of executable or object code is made by offering access to copy
+from a designated place, then offering equivalent access to copy the source
+code from the same place counts as distribution of the source code, even though
+third parties are not compelled to copy the source along with the object code.
+
+4. You may not copy, modify, sublicense, or distribute the Program except as
+expressly provided under this License.  Any attempt otherwise to copy, modify,
+sublicense or distribute the Program is void, and will automatically terminate
+your rights under this License.  However, parties who have received copies, or
+rights, from you under this License will not have their licenses terminated so
+long as such parties remain in full compliance.
+
+5. You are not required to accept this License, since you have not signed it.
+However, nothing else grants you permission to modify or distribute the Program
+or its derivative works.  These actions are prohibited by law if you do not
+accept this License.  Therefore, by modifying or distributing the Program (or
+any work based on the Program), you indicate your acceptance of this License to
+do so, and all its terms and conditions for copying, distributing or modifying
+the Program or works based on it.
+
+6. Each time you redistribute the Program (or any work based on the Program),
+the recipient automatically receives a license from the original licensor to
+copy, distribute or modify the Program subject to these terms and conditions.
+You may not impose any further restrictions on the recipients' exercise of the
+rights granted herein.  You are not responsible for enforcing compliance by
+third parties to this License.
+
+7. If, as a consequence of a court judgment or allegation of patent
+infringement or for any other reason (not limited to patent issues), conditions
+are imposed on you (whether by court order, agreement or otherwise) that
+contradict the conditions of this License, they do not excuse you from the
+conditions of this License.  If you cannot distribute so as to satisfy
+simultaneously your obligations under this License and any other pertinent
+obligations, then as a consequence you may not distribute the Program at all.
+For example, if a patent license would not permit royalty-free redistribution
+of the Program by all those who receive copies directly or indirectly through
+you, then the only way you could satisfy both it and this License would be to
+refrain entirely from distribution of the Program.
+
+If any portion of this section is held invalid or unenforceable under any
+particular circumstance, the balance of the section is intended to apply and
+the section as a whole is intended to apply in other circumstances.
+
+It is not the purpose of this section to induce you to infringe any patents or
+other property right claims or to contest validity of any such claims; this
+section has the sole purpose of protecting the integrity of the free software
+distribution system, which is implemented by public license practices.  Many
+people have made generous contributions to the wide range of software
+distributed through that system in reliance on consistent application of that
+system; it is up to the author/donor to decide if he or she is willing to
+distribute software through any other system and a licensee cannot impose that
+choice.
+
+This section is intended to make thoroughly clear what is believed to be a
+consequence of the rest of this License.
+
+8. If the distribution and/or use of the Program is restricted in certain
+countries either by patents or by copyrighted interfaces, the original
+copyright holder who places the Program under this License may add an explicit
+geographical distribution limitation excluding those countries, so that
+distribution is permitted only in or among countries not thus excluded.  In
+such case, this License incorporates the limitation as if written in the body
+of this License.
+
+9. The Free Software Foundation may publish revised and/or new versions of the
+General Public License from time to time.  Such new versions will be similar in
+spirit to the present version, but may differ in detail to address new problems
+or concerns.
+
+Each version is given a distinguishing version number.  If the Program
+specifies a version number of this License which applies to it and "any later
+version", you have the option of following the terms and conditions either of
+that version or of any later version published by the Free Software Foundation.
+If the Program does not specify a version number of this License, you may
+choose any version ever published by the Free Software Foundation.
+
+10. If you wish to incorporate parts of the Program into other free programs
+whose distribution conditions are different, write to the author to ask for
+permission.  For software which is copyrighted by the Free Software Foundation,
+write to the Free Software Foundation; we sometimes make exceptions for this.
+Our decision will be guided by the two goals of preserving the free status of
+all derivatives of our free software and of promoting the sharing and reuse of
+software generally.
+
+NO WARRANTY
+
+11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY FOR
+THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW.  EXCEPT WHEN OTHERWISE
+STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES PROVIDE THE
+PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED,
+INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
+FITNESS FOR A PARTICULAR PURPOSE.  THE ENTIRE RISK AS TO THE QUALITY AND
+PERFORMANCE OF THE PROGRAM IS WITH YOU.  SHOULD THE PROGRAM PROVE DEFECTIVE,
+YOU ASSUME THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING WILL
+ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR REDISTRIBUTE THE
+PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR
+INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA
+BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A
+FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), EVEN IF SUCH HOLDER
+OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.
+
+END OF TERMS AND CONDITIONS
+
+How to Apply These Terms to Your New Programs
+
+If you develop a new program, and you want it to be of the greatest possible
+use to the public, the best way to achieve this is to make it free software
+which everyone can redistribute and change under these terms.
+
+To do so, attach the following notices to the program.  It is safest to attach
+them to the start of each source file to most effectively convey the exclusion
+of warranty; and each file should have at least the "copyright" line and a
+pointer to where the full notice is found.
+
+    One line to give the program's name and a brief idea of what it does.
+
+    Copyright (C) <year> <name of author>
+
+    This program is free software; you can redistribute it and/or modify it
+    under the terms of the GNU General Public License as published by the Free
+    Software Foundation; either version 2 of the License, or (at your option)
+    any later version.
+
+    This program is distributed in the hope that it will be useful, but WITHOUT
+    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
+    more details.
+
+    You should have received a copy of the GNU General Public License along
+    with this program; if not, write to the Free Software Foundation, Inc.,
+    51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+
+Also add information on how to contact you by electronic and paper mail.
+
+If the program is interactive, make it output a short notice like this when it
+starts in an interactive mode:
+
+    Gnomovision version 69, Copyright (C) year name of author Gnomovision comes
+    with ABSOLUTELY NO WARRANTY; for details type 'show w'.  This is free
+    software, and you are welcome to redistribute it under certain conditions;
+    type 'show c' for details.
+
+The hypothetical commands 'show w' and 'show c' should show the appropriate
+parts of the General Public License.  Of course, the commands you use may be
+called something other than 'show w' and 'show c'; they could even be
+mouse-clicks or menu items--whatever suits your program.
+
+You should also get your employer (if you work as a programmer) or your school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.  Here
+is a sample; alter the names:
+
+    Yoyodyne, Inc., hereby disclaims all copyright interest in the program
+    'Gnomovision' (which makes passes at compilers) written by James Hacker.
+
+    signature of Ty Coon, 1 April 1989
+
+    Ty Coon, President of Vice
+
+This General Public License does not permit incorporating your program into
+proprietary programs.  If your program is a subroutine library, you may
+consider it more useful to permit linking proprietary applications with the
+library.  If this is what you want to do, use the GNU Library General Public
+License instead of this License.
+
+
+"CLASSPATH" EXCEPTION TO THE GPL
+
+Certain source files distributed by Oracle America and/or its affiliates are
+subject to the following clarification and special exception to the GPL, but
+only where Oracle has expressly included in the particular source file's header
+the words "Oracle designates this particular file as subject to the "Classpath"
+exception as provided by Oracle in the LICENSE file that accompanied this code."
+
+    Linking this library statically or dynamically with other modules is making
+    a combined work based on this library.  Thus, the terms and conditions of
+    the GNU General Public License cover the whole combination.
+
+    As a special exception, the copyright holders of this library give you
+    permission to link this library with independent modules to produce an
+    executable, regardless of the license terms of these independent modules,
+    and to copy and distribute the resulting executable under terms of your
+    choice, provided that you also meet, for each linked independent module,
+    the terms and conditions of the license of that module.  An independent
+    module is a module which is not derived from or based on this library.  If
+    you modify this library, you may extend this exception to your version of
+    the library, but you are not obligated to do so.  If you do not wish to do
+    so, delete this exception statement from your version.
diff --git a/docs/legal/jquery.md b/docs/legal/jquery.md
new file mode 100644
index 00000000..d468b318
--- /dev/null
+++ b/docs/legal/jquery.md
@@ -0,0 +1,72 @@
+## jQuery v3.6.1
+
+### jQuery License
+```
+jQuery v 3.6.1
+Copyright OpenJS Foundation and other contributors, https://openjsf.org/
+
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of this software and associated documentation files (the
+"Software"), to deal in the Software without restriction, including
+without limitation the rights to use, copy, modify, merge, publish,
+distribute, sublicense, and/or sell copies of the Software, and to
+permit persons to whom the Software is furnished to do so, subject to
+the following conditions:
+
+The above copyright notice and this permission notice shall be
+included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+******************************************
+
+The jQuery JavaScript Library v3.6.1 also includes Sizzle.js
+
+Sizzle.js includes the following license:
+
+Copyright JS Foundation and other contributors, https://js.foundation/
+
+This software consists of voluntary contributions made by many
+individuals. For exact contribution history, see the revision history
+available at https://github.com/jquery/sizzle
+
+The following license applies to all parts of this software except as
+documented below:
+
+====
+
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of this software and associated documentation files (the
+"Software"), to deal in the Software without restriction, including
+without limitation the rights to use, copy, modify, merge, publish,
+distribute, sublicense, and/or sell copies of the Software, and to
+permit persons to whom the Software is furnished to do so, subject to
+the following conditions:
+
+The above copyright notice and this permission notice shall be
+included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+====
+
+All files located in the node_modules and external directories are
+externally maintained libraries used by this software which have their
+own licenses; we recommend you read them, as their terms may differ from
+the terms above.
+
+*********************
+
+```
diff --git a/docs/legal/jqueryUI.md b/docs/legal/jqueryUI.md
new file mode 100644
index 00000000..8031bdb5
--- /dev/null
+++ b/docs/legal/jqueryUI.md
@@ -0,0 +1,49 @@
+## jQuery UI v1.12.1
+
+### jQuery UI License
+```
+Copyright jQuery Foundation and other contributors, https://jquery.org/
+
+This software consists of voluntary contributions made by many
+individuals. For exact contribution history, see the revision history
+available at https://github.com/jquery/jquery-ui
+
+The following license applies to all parts of this software except as
+documented below:
+
+====
+
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of this software and associated documentation files (the
+"Software"), to deal in the Software without restriction, including
+without limitation the rights to use, copy, modify, merge, publish,
+distribute, sublicense, and/or sell copies of the Software, and to
+permit persons to whom the Software is furnished to do so, subject to
+the following conditions:
+
+The above copyright notice and this permission notice shall be
+included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+====
+
+Copyright and related rights for sample code are waived via CC0. Sample
+code is defined as all source code contained within the demos directory.
+
+CC0: http://creativecommons.org/publicdomain/zero/1.0/
+
+====
+
+All files located in the node_modules and external directories are
+externally maintained libraries used by this software which have their
+own licenses; we recommend you read them, as their terms may differ from
+the terms above.
+
+```
diff --git a/docs/legal/jszip.md b/docs/legal/jszip.md
new file mode 100644
index 00000000..fad2cb15
--- /dev/null
+++ b/docs/legal/jszip.md
@@ -0,0 +1,653 @@
+## JSZip v3.7.1
+
+JSZip is dual licensed. You may use it under the MIT license *or* the GPLv3
+license.
+
+### The MIT License
+```
+Copyright (c) 2009-2016 Stuart Knightley, David Duponchel, Franz Buchinger, António Afonso
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+```
+
+### GPL version 3
+```
+
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+                            Preamble
+
+  The GNU General Public License is a free, copyleft license for
+software and other kinds of works.
+
+  The licenses for most software and other practical works are designed
+to take away your freedom to share and change the works.  By contrast,
+the GNU General Public License is intended to guarantee your freedom to
+share and change all versions of a program--to make sure it remains free
+software for all its users.  We, the Free Software Foundation, use the
+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors.  You can apply it to
+your programs, too.
+
+  When we speak of free software, we are referring to freedom, not
+price.  Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+them if you wish), that you receive source code or can get it if you
+want it, that you can change the software or use pieces of it in new
+free programs, and that you know you can do these things.
+
+  To protect your rights, we need to prevent others from denying you
+these rights or asking you to surrender the rights.  Therefore, you have
+certain responsibilities if you distribute copies of the software, or if
+you modify it: responsibilities to respect the freedom of others.
+
+  For example, if you distribute copies of such a program, whether
+gratis or for a fee, you must pass on to the recipients the same
+freedoms that you received.  You must make sure that they, too, receive
+or can get the source code.  And you must show them these terms so they
+know their rights.
+
+  Developers that use the GNU GPL protect your rights with two steps:
+(1) assert copyright on the software, and (2) offer you this License
+giving you legal permission to copy, distribute and/or modify it.
+
+  For the developers' and authors' protection, the GPL clearly explains
+that there is no warranty for this free software.  For both users' and
+authors' sake, the GPL requires that modified versions be marked as
+changed, so that their problems will not be attributed erroneously to
+authors of previous versions.
+
+  Some devices are designed to deny users access to install or run
+modified versions of the software inside them, although the manufacturer
+can do so.  This is fundamentally incompatible with the aim of
+protecting users' freedom to change the software.  The systematic
+pattern of such abuse occurs in the area of products for individuals to
+use, which is precisely where it is most unacceptable.  Therefore, we
+have designed this version of the GPL to prohibit the practice for those
+products.  If such problems arise substantially in other domains, we
+stand ready to extend this provision to those domains in future versions
+of the GPL, as needed to protect the freedom of users.
+
+  Finally, every program is threatened constantly by software patents.
+States should not allow patents to restrict development and use of
+software on general-purpose computers, but in those that do, we wish to
+avoid the special danger that patents applied to a free program could
+make it effectively proprietary.  To prevent this, the GPL assures that
+patents cannot be used to render the program non-free.
+
+  The precise terms and conditions for copying, distribution and
+modification follow.
+
+                       TERMS AND CONDITIONS
+
+  0. Definitions.
+
+  "This License" refers to version 3 of the GNU General Public License.
+
+  "Copyright" also means copyright-like laws that apply to other kinds of
+works, such as semiconductor masks.
+
+  "The Program" refers to any copyrightable work licensed under this
+License.  Each licensee is addressed as "you".  "Licensees" and
+"recipients" may be individuals or organizations.
+
+  To "modify" a work means to copy from or adapt all or part of the work
+in a fashion requiring copyright permission, other than the making of an
+exact copy.  The resulting work is called a "modified version" of the
+earlier work or a work "based on" the earlier work.
+
+  A "covered work" means either the unmodified Program or a work based
+on the Program.
+
+  To "propagate" a work means to do anything with it that, without
+permission, would make you directly or secondarily liable for
+infringement under applicable copyright law, except executing it on a
+computer or modifying a private copy.  Propagation includes copying,
+distribution (with or without modification), making available to the
+public, and in some countries other activities as well.
+
+  To "convey" a work means any kind of propagation that enables other
+parties to make or receive copies.  Mere interaction with a user through
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+same work.
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+copyright on the Program, and are irrevocable provided the stated
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+circumvention of technological measures to the extent such circumvention
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+the covered work, and you disclaim any intention to limit operation or
+modification of the work as a means of enforcing, against the work's
+users, your or third parties' legal rights to forbid circumvention of
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+  You may convey verbatim copies of the Program's source code as you
+receive it, in any medium, provided that you conspicuously and
+appropriately publish on each copy an appropriate copyright notice;
+keep intact all notices stating that this License and any
+non-permissive terms added in accord with section 7 apply to the code;
+keep intact all notices of the absence of any warranty; and give all
+recipients a copy of this License along with the Program.
+
+  You may charge any price or no price for each copy that you convey,
+and you may offer support or warranty protection for a fee.
+
+  5. Conveying Modified Source Versions.
+
+  You may convey a work based on the Program, or the modifications to
+produce it from the Program, in the form of source code under the
+terms of section 4, provided that you also meet all of these conditions:
+
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+    it, and giving a relevant date.
+
+    b) The work must carry prominent notices stating that it is
+    released under this License and any conditions added under section
+    7.  This requirement modifies the requirement in section 4 to
+    "keep intact all notices".
+
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+    License to anyone who comes into possession of a copy.  This
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+    additional terms, to the whole of the work, and all its parts,
+    regardless of how they are packaged.  This License gives no
+    permission to license the work in any other way, but it does not
+    invalidate such permission if you have separately received it.
+
+    d) If the work has interactive user interfaces, each must display
+    Appropriate Legal Notices; however, if the Program has interactive
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+    work need not make them do so.
+
+  A compilation of a covered work with other separate and independent
+works, which are not by their nature extensions of the covered work,
+and which are not combined with it such as to form a larger program,
+in or on a volume of a storage or distribution medium, is called an
+"aggregate" if the compilation and its resulting copyright are not
+used to limit the access or legal rights of the compilation's users
+beyond what the individual works permit.  Inclusion of a covered work
+in an aggregate does not cause this License to apply to the other
+parts of the aggregate.
+
+  6. Conveying Non-Source Forms.
+
+  You may convey a covered work in object code form under the terms
+of sections 4 and 5, provided that you also convey the
+machine-readable Corresponding Source under the terms of this License,
+in one of these ways:
+
+    a) Convey the object code in, or embodied in, a physical product
+    (including a physical distribution medium), accompanied by the
+    Corresponding Source fixed on a durable physical medium
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+    b) Convey the object code in, or embodied in, a physical product
+    (including a physical distribution medium), accompanied by a
+    written offer, valid for at least three years and valid for as
+    long as you offer spare parts or customer support for that product
+    model, to give anyone who possesses the object code either (1) a
+    copy of the Corresponding Source for all the software in the
+    product that is covered by this License, on a durable physical
+    medium customarily used for software interchange, for a price no
+    more than your reasonable cost of physically performing this
+    conveying of source, or (2) access to copy the
+    Corresponding Source from a network server at no charge.
+
+    c) Convey individual copies of the object code with a copy of the
+    written offer to provide the Corresponding Source.  This
+    alternative is allowed only occasionally and noncommercially, and
+    only if you received the object code with such an offer, in accord
+    with subsection 6b.
+
+    d) Convey the object code by offering access from a designated
+    place (gratis or for a charge), and offer equivalent access to the
+    Corresponding Source in the same way through the same place at no
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+    Corresponding Source along with the object code.  If the place to
+    copy the object code is a network server, the Corresponding Source
+    may be on a different server (operated by you or a third party)
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+
+    e) Convey the object code using peer-to-peer transmission, provided
+    you inform other peers where the object code and Corresponding
+    Source of the work are being offered to the general public at no
+    charge under subsection 6d.
+
+  A separable portion of the object code, whose source code is excluded
+from the Corresponding Source as a System Library, need not be
+included in conveying the object code work.
+
+  A "User Product" is either (1) a "consumer product", which means any
+tangible personal property which is normally used for personal, family,
+or household purposes, or (2) anything designed or sold for incorporation
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+doubtful cases shall be resolved in favor of coverage.  For a particular
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+typical or common use of that class of product, regardless of the status
+of the particular user or of the way in which the particular user
+actually uses, or expects or is expected to use, the product.  A product
+is a consumer product regardless of whether the product has substantial
+commercial, industrial or non-consumer uses, unless such uses represent
+the only significant mode of use of the product.
+
+  "Installation Information" for a User Product means any methods,
+procedures, authorization keys, or other information required to install
+and execute modified versions of a covered work in that User Product from
+a modified version of its Corresponding Source.  The information must
+suffice to ensure that the continued functioning of the modified object
+code is in no case prevented or interfered with solely because
+modification has been made.
+
+  If you convey an object code work under this section in, or with, or
+specifically for use in, a User Product, and the conveying occurs as
+part of a transaction in which the right of possession and use of the
+User Product is transferred to the recipient in perpetuity or for a
+fixed term (regardless of how the transaction is characterized), the
+Corresponding Source conveyed under this section must be accompanied
+by the Installation Information.  But this requirement does not apply
+if neither you nor any third party retains the ability to install
+modified object code on the User Product (for example, the work has
+been installed in ROM).
+
+  The requirement to provide Installation Information does not include a
+requirement to continue to provide support service, warranty, or updates
+for a work that has been modified or installed by the recipient, or for
+the User Product in which it has been modified or installed.  Access to a
+network may be denied when the modification itself materially and
+adversely affects the operation of the network or violates the rules and
+protocols for communication across the network.
+
+  Corresponding Source conveyed, and Installation Information provided,
+in accord with this section must be in a format that is publicly
+documented (and with an implementation available to the public in
+source code form), and must require no special password or key for
+unpacking, reading or copying.
+
+  7. Additional Terms.
+
+  "Additional permissions" are terms that supplement the terms of this
+License by making exceptions from one or more of its conditions.
+Additional permissions that are applicable to the entire Program shall
+be treated as though they were included in this License, to the extent
+that they are valid under applicable law.  If additional permissions
+apply only to part of the Program, that part may be used separately
+under those permissions, but the entire Program remains governed by
+this License without regard to the additional permissions.
+
+  When you convey a copy of a covered work, you may at your option
+remove any additional permissions from that copy, or from any part of
+it.  (Additional permissions may be written to require their own
+removal in certain cases when you modify the work.)  You may place
+additional permissions on material, added by you to a covered work,
+for which you have or can give appropriate copyright permission.
+
+  Notwithstanding any other provision of this License, for material you
+add to a covered work, you may (if authorized by the copyright holders of
+that material) supplement the terms of this License with terms:
+
+    a) Disclaiming warranty or limiting liability differently from the
+    terms of sections 15 and 16 of this License; or
+
+    b) Requiring preservation of specified reasonable legal notices or
+    author attributions in that material or in the Appropriate Legal
+    Notices displayed by works containing it; or
+
+    c) Prohibiting misrepresentation of the origin of that material, or
+    requiring that modified versions of such material be marked in
+    reasonable ways as different from the original version; or
+
+    d) Limiting the use for publicity purposes of names of licensors or
+    authors of the material; or
+
+    e) Declining to grant rights under trademark law for use of some
+    trade names, trademarks, or service marks; or
+
+    f) Requiring indemnification of licensors and authors of that
+    material by anyone who conveys the material (or modified versions of
+    it) with contractual assumptions of liability to the recipient, for
+    any liability that these contractual assumptions directly impose on
+    those licensors and authors.
+
+  All other non-permissive additional terms are considered "further
+restrictions" within the meaning of section 10.  If the Program as you
+received it, or any part of it, contains a notice stating that it is
+governed by this License along with a term that is a further
+restriction, you may remove that term.  If a license document contains
+a further restriction but permits relicensing or conveying under this
+License, you may add to a covered work material governed by the terms
+of that license document, provided that the further restriction does
+not survive such relicensing or conveying.
+
+  If you add terms to a covered work in accord with this section, you
+must place, in the relevant source files, a statement of the
+additional terms that apply to those files, or a notice indicating
+where to find the applicable terms.
+
+  Additional terms, permissive or non-permissive, may be stated in the
+form of a separately written license, or stated as exceptions;
+the above requirements apply either way.
+
+  8. Termination.
+
+  You may not propagate or modify a covered work except as expressly
+provided under this License.  Any attempt otherwise to propagate or
+modify it is void, and will automatically terminate your rights under
+this License (including any patent licenses granted under the third
+paragraph of section 11).
+
+  However, if you cease all violation of this License, then your
+license from a particular copyright holder is reinstated (a)
+provisionally, unless and until the copyright holder explicitly and
+finally terminates your license, and (b) permanently, if the copyright
+holder fails to notify you of the violation by some reasonable means
+prior to 60 days after the cessation.
+
+  Moreover, your license from a particular copyright holder is
+reinstated permanently if the copyright holder notifies you of the
+violation by some reasonable means, this is the first time you have
+received notice of violation of this License (for any work) from that
+copyright holder, and you cure the violation prior to 30 days after
+your receipt of the notice.
+
+  Termination of your rights under this section does not terminate the
+licenses of parties who have received copies or rights from you under
+this License.  If your rights have been terminated and not permanently
+reinstated, you do not qualify to receive new licenses for the same
+material under section 10.
+
+  9. Acceptance Not Required for Having Copies.
+
+  You are not required to accept this License in order to receive or
+run a copy of the Program.  Ancillary propagation of a covered work
+occurring solely as a consequence of using peer-to-peer transmission
+to receive a copy likewise does not require acceptance.  However,
+nothing other than this License grants you permission to propagate or
+modify any covered work.  These actions infringe copyright if you do
+not accept this License.  Therefore, by modifying or propagating a
+covered work, you indicate your acceptance of this License to do so.
+
+  10. Automatic Licensing of Downstream Recipients.
+
+  Each time you convey a covered work, the recipient automatically
+receives a license from the original licensors, to run, modify and
+propagate that work, subject to this License.  You are not responsible
+for enforcing compliance by third parties with this License.
+
+  An "entity transaction" is a transaction transferring control of an
+organization, or substantially all assets of one, or subdividing an
+organization, or merging organizations.  If propagation of a covered
+work results from an entity transaction, each party to that
+transaction who receives a copy of the work also receives whatever
+licenses to the work the party's predecessor in interest had or could
+give under the previous paragraph, plus a right to possession of the
+Corresponding Source of the work from the predecessor in interest, if
+the predecessor has it or can get it with reasonable efforts.
+
+  You may not impose any further restrictions on the exercise of the
+rights granted or affirmed under this License.  For example, you may
+not impose a license fee, royalty, or other charge for exercise of
+rights granted under this License, and you may not initiate litigation
+(including a cross-claim or counterclaim in a lawsuit) alleging that
+any patent claim is infringed by making, using, selling, offering for
+sale, or importing the Program or any portion of it.
+
+  11. Patents.
+
+  A "contributor" is a copyright holder who authorizes use under this
+License of the Program or a work on which the Program is based.  The
+work thus licensed is called the contributor's "contributor version".
+
+  A contributor's "essential patent claims" are all patent claims
+owned or controlled by the contributor, whether already acquired or
+hereafter acquired, that would be infringed by some manner, permitted
+by this License, of making, using, or selling its contributor version,
+but do not include claims that would be infringed only as a
+consequence of further modification of the contributor version.  For
+purposes of this definition, "control" includes the right to grant
+patent sublicenses in a manner consistent with the requirements of
+this License.
+
+  Each contributor grants you a non-exclusive, worldwide, royalty-free
+patent license under the contributor's essential patent claims, to
+make, use, sell, offer for sale, import and otherwise run, modify and
+propagate the contents of its contributor version.
+
+  In the following three paragraphs, a "patent license" is any express
+agreement or commitment, however denominated, not to enforce a patent
+(such as an express permission to practice a patent or covenant not to
+sue for patent infringement).  To "grant" such a patent license to a
+party means to make such an agreement or commitment not to enforce a
+patent against the party.
+
+  If you convey a covered work, knowingly relying on a patent license,
+and the Corresponding Source of the work is not available for anyone
+to copy, free of charge and under the terms of this License, through a
+publicly available network server or other readily accessible means,
+then you must either (1) cause the Corresponding Source to be so
+available, or (2) arrange to deprive yourself of the benefit of the
+patent license for this particular work, or (3) arrange, in a manner
+consistent with the requirements of this License, to extend the patent
+license to downstream recipients.  "Knowingly relying" means you have
+actual knowledge that, but for the patent license, your conveying the
+covered work in a country, or your recipient's use of the covered work
+in a country, would infringe one or more identifiable patents in that
+country that you have reason to believe are valid.
+
+  If, pursuant to or in connection with a single transaction or
+arrangement, you convey, or propagate by procuring conveyance of, a
+covered work, and grant a patent license to some of the parties
+receiving the covered work authorizing them to use, propagate, modify
+or convey a specific copy of the covered work, then the patent license
+you grant is automatically extended to all recipients of the covered
+work and works based on it.
+
+  A patent license is "discriminatory" if it does not include within
+the scope of its coverage, prohibits the exercise of, or is
+conditioned on the non-exercise of one or more of the rights that are
+specifically granted under this License.  You may not convey a covered
+work if you are a party to an arrangement with a third party that is
+in the business of distributing software, under which you make payment
+to the third party based on the extent of your activity of conveying
+the work, and under which the third party grants, to any of the
+parties who would receive the covered work from you, a discriminatory
+patent license (a) in connection with copies of the covered work
+conveyed by you (or copies made from those copies), or (b) primarily
+for and in connection with specific products or compilations that
+contain the covered work, unless you entered into that arrangement,
+or that patent license was granted, prior to 28 March 2007.
+
+  Nothing in this License shall be construed as excluding or limiting
+any implied license or other defenses to infringement that may
+otherwise be available to you under applicable patent law.
+
+  12. No Surrender of Others' Freedom.
+
+  If conditions are imposed on you (whether by court order, agreement or
+otherwise) that contradict the conditions of this License, they do not
+excuse you from the conditions of this License.  If you cannot convey a
+covered work so as to satisfy simultaneously your obligations under this
+License and any other pertinent obligations, then as a consequence you may
+not convey it at all.  For example, if you agree to terms that obligate you
+to collect a royalty for further conveying from those to whom you convey
+the Program, the only way you could satisfy both those terms and this
+License would be to refrain entirely from conveying the Program.
+
+  13. Use with the GNU Affero General Public License.
+
+  Notwithstanding any other provision of this License, you have
+permission to link or combine any covered work with a work licensed
+under version 3 of the GNU Affero General Public License into a single
+combined work, and to convey the resulting work.  The terms of this
+License will continue to apply to the part which is the covered work,
+but the special requirements of the GNU Affero General Public License,
+section 13, concerning interaction through a network will apply to the
+combination as such.
+
+  14. Revised Versions of this License.
+
+  The Free Software Foundation may publish revised and/or new versions of
+the GNU General Public License from time to time.  Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+  Each version is given a distinguishing version number.  If the
+Program specifies that a certain numbered version of the GNU General
+Public License "or any later version" applies to it, you have the
+option of following the terms and conditions either of that numbered
+version or of any later version published by the Free Software
+Foundation.  If the Program does not specify a version number of the
+GNU General Public License, you may choose any version ever published
+by the Free Software Foundation.
+
+  If the Program specifies that a proxy can decide which future
+versions of the GNU General Public License can be used, that proxy's
+public statement of acceptance of a version permanently authorizes you
+to choose that version for the Program.
+
+  Later license versions may give you additional or different
+permissions.  However, no additional obligations are imposed on any
+author or copyright holder as a result of your choosing to follow a
+later version.
+
+  15. Disclaimer of Warranty.
+
+  THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW.  EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
+OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE.  THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
+IS WITH YOU.  SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+  16. Limitation of Liability.
+
+  IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+  17. Interpretation of Sections 15 and 16.
+
+  If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+                     END OF TERMS AND CONDITIONS
+```
diff --git a/docs/legal/pako.md b/docs/legal/pako.md
new file mode 100644
index 00000000..de339d89
--- /dev/null
+++ b/docs/legal/pako.md
@@ -0,0 +1,45 @@
+## Pako v1.0
+
+### Pako License
+<pre>
+Copyright (C) 2014-2017 by Vitaly Puzrin and Andrei Tuputcyn
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+(C) 1995-2013 Jean-loup Gailly and Mark Adler
+(C) 2014-2017 Vitaly Puzrin and Andrey Tupitsin
+
+This software is provided 'as-is', without any express or implied
+warranty. In no event will the authors be held liable for any damages
+arising from the use of this software.
+
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it
+freely, subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not
+claim that you wrote the original software. If you use this software
+in a product, an acknowledgment in the product documentation would be
+appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be
+ misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+
+</pre>
+
+
diff --git a/docs/member-search-index.js b/docs/member-search-index.js
index d87e1e03..a98b1944 100644
--- a/docs/member-search-index.js
+++ b/docs/member-search-index.js
@@ -1 +1 @@
-memberSearchIndex = [{"p":"org.wildstang.hardware.roborio.outputs","c":"WsSparkMax","l":"addFollower(int, boolean, boolean)","url":"addFollower(int,boolean,boolean)"},{"p":"org.wildstang.hardware.roborio.outputs","c":"WsMotorController","l":"addFollower(int, WsMotorControllers, boolean)","url":"addFollower(int,org.wildstang.hardware.roborio.outputs.config.WsMotorControllers,boolean)"},{"p":"org.wildstang.hardware.roborio.outputs","c":"WsPhoenix","l":"addFollower(int, WsMotorControllers, boolean)","url":"addFollower(int,org.wildstang.hardware.roborio.outputs.config.WsMotorControllers,boolean)"},{"p":"org.wildstang.hardware.roborio.outputs","c":"WsSparkMax","l":"addFollower(int, WsMotorControllers, 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o","c":"AutoProgram","l":"update()"},{"p":"org.wildstang.framework.auto","c":"AutoStep","l":"update()"},{"p":"org.wildstang.framework.auto.steps","c":"AutoParallelFinishedOnAnyStepGroup","l":"update()"},{"p":"org.wildstang.framework.auto.steps","c":"AutoParallelStepGroup","l":"update()"},{"p":"org.wildstang.framework.auto.steps","c":"AutoSerialStepGroup","l":"update()"},{"p":"org.wildstang.framework.auto.steps","c":"PathFollowerStep","l":"update()"},{"p":"org.wildstang.framework.auto.steps","c":"PathHeadingStep","l":"update()"},{"p":"org.wildstang.framework.auto.steps","c":"SetGyroStep","l":"update()"},{"p":"org.wildstang.framework.auto.steps","c":"SwervePathFollowerStep","l":"update()"},{"p":"org.wildstang.framework.auto.steps.control","c":"AutoStepDelay","l":"update()"},{"p":"org.wildstang.framework.auto.steps.control","c":"AutoStepStopAutonomous","l":"update()"},{"p":"org.wildstang.framework.io","c":"InputManager","l":"update()"},{"p":"org.wildstang.framework.io","c":"OutputManager","l":"update()"},{"p":"org.wildstang.framework.io.inputs","c":"Input","l":"update()"},{"p":"org.wildstang.framework.io.outputs","c":"Output","l":"update()"},{"p":"org.wildstang.framework.subsystems","c":"Subsystem","l":"update()"},{"p":"org.wildstang.framework.subsystems","c":"SubsystemManager","l":"update()"},{"p":"org.wildstang.framework.subsystems.drive","c":"PathFollowingDrive","l":"updatePathFollower(double[])"},{"p":"org.wildstang.hardware.roborio.outputs","c":"WsPhoenix","l":"updateProfile()"},{"p":"org.wildstang.hardware.roborio.inputs","c":"WsLidarSensor","l":"updateSensor()"},{"p":"org.wildstang.framework.logger","c":"Log.LogLevel","l":"valueOf(String)","url":"valueOf(java.lang.String)"},{"p":"org.wildstang.framework.pid.controller","c":"PidStateType","l":"valueOf(String)","url":"valueOf(java.lang.String)"},{"p":"org.wildstang.hardware.roborio.outputs","c":"WsDoubleSolenoidState","l":"valueOf(String)","url":"valueOf(java.lang.String)"},{"p":"org.wildstang.hardware.roborio.outputs","c":"WsRelayState","l":"valueOf(String)","url":"valueOf(java.lang.String)"},{"p":"org.wildstang.hardware.roborio.outputs.config","c":"WsMotorControllers","l":"valueOf(String)","url":"valueOf(java.lang.String)"},{"p":"org.wildstang.sample.robot","c":"WSAutoPrograms","l":"valueOf(String)","url":"valueOf(java.lang.String)"},{"p":"org.wildstang.sample.robot","c":"WSInputs","l":"valueOf(String)","url":"valueOf(java.lang.String)"},{"p":"org.wildstang.sample.robot","c":"WSOutputs","l":"valueOf(String)","url":"valueOf(java.lang.String)"},{"p":"org.wildstang.sample.robot","c":"WSSubsystems","l":"valueOf(String)","url":"valueOf(java.lang.String)"},{"p":"org.wildstang.framework.logger","c":"Log.LogLevel","l":"values()"},{"p":"org.wildstang.framework.pid.controller","c":"PidStateType","l":"values()"},{"p":"org.wildstang.hardware.roborio.outputs","c":"WsDoubleSolenoidState","l":"values()"},{"p":"org.wildstang.hardware.roborio.outputs","c":"WsRelayState","l":"values()"},{"p":"org.wildstang.hardware.roborio.outputs.config","c":"WsMotorControllers","l":"values()"},{"p":"org.wildstang.sample.robot","c":"WSAutoPrograms","l":"values()"},{"p":"org.wildstang.sample.robot","c":"WSInputs","l":"values()"},{"p":"org.wildstang.sample.robot","c":"WSOutputs","l":"values()"},{"p":"org.wildstang.sample.robot","c":"WSSubsystems","l":"values()"},{"p":"org.wildstang.hardware.roborio.outputs.config","c":"WsMotorControllers","l":"VICTOR_SPX"},{"p":"org.wildstang.framework.logger","c":"Log.LogLevel","l":"WARN"},{"p":"org.wildstang.framework.logger","c":"Log","l":"warn(String)","url":"warn(java.lang.String)"},{"p":"org.wildstang.hardware.roborio.inputs","c":"WsAbsoluteEncoder","l":"WsAbsoluteEncoder(String, 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\ No newline at end of file
diff --git a/docs/org/wildstang/framework/CoreUtils.html b/docs/org/wildstang/framework/CoreUtils.html
index eaa36d5a..f47e4168 100644
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+++ b/docs/org/wildstang/framework/CoreUtils.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>CoreUtils (rfmain API)</title>
+<title>CoreUtils (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../jquery/jquery-ui.min.css" title="Style">
@@ -14,14 +14,14 @@
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+<script type="text/javascript" src="../../../jquery/jquery-3.6.1.min.js"></script>
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 <body>
 <script type="text/javascript"><!--
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-            parent.document.title="CoreUtils (rfmain API)";
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     catch(err) {
diff --git a/docs/org/wildstang/framework/auto/AutoManager.html b/docs/org/wildstang/framework/auto/AutoManager.html
index dca3a5fb..627832a1 100644
--- a/docs/org/wildstang/framework/auto/AutoManager.html
+++ b/docs/org/wildstang/framework/auto/AutoManager.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>AutoManager (rfmain API)</title>
+<title>AutoManager (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.min.css" title="Style">
@@ -14,20 +14,20 @@
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-<script type="text/javascript" src="../../../../jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="../../../../jquery/jquery-3.6.1.min.js"></script>
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 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="AutoManager (rfmain API)";
+            parent.document.title="AutoManager (robot_framework API)";
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     }
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     }
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@@ -188,41 +188,55 @@ <h3>Method Summary</h3>
 </td>
 </tr>
 <tr id="i1" class="rowColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#endPeriod()">endPeriod</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Ends the autonomous period, prevents it from continuing into tele.</div>
+</td>
+</tr>
+<tr id="i2" class="altColor">
 <td class="colFirst"><code><a href="AutoProgram.html" title="class in org.wildstang.framework.auto">AutoProgram</a></code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getRunningProgram()">getRunningProgram</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Returns the current running AutoProgram, if one is running.</div>
 </td>
 </tr>
-<tr id="i2" class="altColor">
+<tr id="i3" class="rowColor">
 <td class="colFirst"><code>java.lang.String</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getRunningProgramName()">getRunningProgramName</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Returns the name of the current running AutoProgram, if one is running.</div>
 </td>
 </tr>
-<tr id="i3" class="rowColor">
+<tr id="i4" class="altColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#init()">init</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Resets the current program and all states.</div>
 </td>
 </tr>
-<tr id="i4" class="altColor">
+<tr id="i5" class="rowColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#preloadLockedProgram()">preloadLockedProgram</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Preloads the currently selected program from SmartDashboard if locked in.</div>
+</td>
+</tr>
+<tr id="i6" class="altColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#startCurrentProgram()">startCurrentProgram</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Starts the currently selected program from SmartDashboard if locked in.</div>
 </td>
 </tr>
-<tr id="i5" class="rowColor">
+<tr id="i7" class="rowColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#startSleeper()">startSleeper</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Starts the default program, Sleeper, which does nothing and never ends.</div>
 </td>
 </tr>
-<tr id="i6" class="altColor">
+<tr id="i8" class="altColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#update()">update</a></span>()</code></th>
 <td class="colLast">
@@ -283,6 +297,16 @@ <h4>update</h4>
 <div class="block">Updates the running AutoProgram and detects if it is finished.</div>
 </li>
 </ul>
+<a id="preloadLockedProgram()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>preloadLockedProgram</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;preloadLockedProgram()</pre>
+<div class="block">Preloads the currently selected program from SmartDashboard if locked in.</div>
+</li>
+</ul>
 <a id="startCurrentProgram()">
 <!--   -->
 </a>
@@ -344,7 +368,7 @@ <h4>getRunningProgramName</h4>
 <a id="addProgram(org.wildstang.framework.auto.AutoProgram)">
 <!--   -->
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-<ul class="blockListLast">
+<ul class="blockList">
 <li class="blockList">
 <h4>addProgram</h4>
 <pre class="methodSignature">public&nbsp;void&nbsp;addProgram&#8203;(<a href="AutoProgram.html" title="class in org.wildstang.framework.auto">AutoProgram</a>&nbsp;program)</pre>
@@ -355,6 +379,16 @@ <h4>addProgram</h4>
 </dl>
 </li>
 </ul>
+<a id="endPeriod()">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>endPeriod</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;endPeriod()</pre>
+<div class="block">Ends the autonomous period, prevents it from continuing into tele.</div>
+</li>
+</ul>
 </li>
 </ul>
 </section>
diff --git a/docs/org/wildstang/framework/auto/AutoProgram.html b/docs/org/wildstang/framework/auto/AutoProgram.html
index 3ec14bd8..d607b5a5 100644
--- a/docs/org/wildstang/framework/auto/AutoProgram.html
+++ b/docs/org/wildstang/framework/auto/AutoProgram.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>AutoProgram (rfmain API)</title>
+<title>AutoProgram (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.min.css" title="Style">
@@ -14,20 +14,20 @@
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 <![endif]-->
-<script type="text/javascript" src="../../../../jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="../../../../jquery/jquery-3.6.1.min.js"></script>
 <script type="text/javascript" src="../../../../jquery/jquery-ui.min.js"></script>
 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="AutoProgram (rfmain API)";
+            parent.document.title="AutoProgram (robot_framework API)";
         }
     }
     catch(err) {
     }
 //-->
-var data = {"i0":10,"i1":10,"i2":6,"i3":10,"i4":10,"i5":10,"i6":10,"i7":10,"i8":6,"i9":10};
+var data = {"i0":10,"i1":10,"i2":10,"i3":6,"i4":10,"i5":10,"i6":10,"i7":10,"i8":10,"i9":6,"i10":10};
 var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],4:["t3","Abstract Methods"],8:["t4","Concrete Methods"]};
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@@ -174,6 +174,11 @@ <h3>Field Summary</h3>
 <td class="colLast">&nbsp;</td>
 </tr>
 <tr class="rowColor">
+<td class="colFirst"><code>protected boolean</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#programStarted">programStarted</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
 <td class="colFirst"><code>protected java.util.List&lt;<a href="AutoStep.html" title="class in org.wildstang.framework.auto">AutoStep</a>&gt;</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#programSteps">programSteps</a></span></code></th>
 <td class="colLast">&nbsp;</td>
@@ -225,62 +230,69 @@ <h3>Method Summary</h3>
 </td>
 </tr>
 <tr id="i1" class="rowColor">
+<td class="colFirst"><code>boolean</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#areStepsDefined()">areStepsDefined</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Determines if the program's steps have been defined.</div>
+</td>
+</tr>
+<tr id="i2" class="altColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#cleanup()">cleanup</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Remove all steps from the AutoProgram</div>
 </td>
 </tr>
-<tr id="i2" class="altColor">
+<tr id="i3" class="rowColor">
 <td class="colFirst"><code>protected abstract void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#defineSteps()">defineSteps</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Use this method to set the steps for this program.</div>
 </td>
 </tr>
-<tr id="i3" class="rowColor">
+<tr id="i4" class="altColor">
 <td class="colFirst"><code><a href="AutoStep.html" title="class in org.wildstang.framework.auto">AutoStep</a></code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getCurrentStep()">getCurrentStep</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Returns the current running AutoStep within the AutoProgram.</div>
 </td>
 </tr>
-<tr id="i4" class="altColor">
+<tr id="i5" class="rowColor">
 <td class="colFirst"><code><a href="AutoStep.html" title="class in org.wildstang.framework.auto">AutoStep</a></code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getNextStep()">getNextStep</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Returns the next AutoStep to run or null if at the last step.</div>
 </td>
 </tr>
-<tr id="i5" class="rowColor">
+<tr id="i6" class="altColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#initialize()">initialize</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Collects the defined steps and starts the auto program.</div>
 </td>
 </tr>
-<tr id="i6" class="altColor">
+<tr id="i7" class="rowColor">
 <td class="colFirst"><code>boolean</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#isFinished()">isFinished</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Returns true if the AutoProgram is complete.</div>
 </td>
 </tr>
-<tr id="i7" class="rowColor">
+<tr id="i8" class="altColor">
 <td class="colFirst"><code>protected void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#loadStopPosition()">loadStopPosition</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Adds an AutoStepStopAutonomous after a given AutoStep index from config.</div>
 </td>
 </tr>
-<tr id="i8" class="altColor">
+<tr id="i9" class="rowColor">
 <td class="colFirst"><code>abstract java.lang.String</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#toString()">toString</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Returns the name of the AutoProgram.</div>
 </td>
 </tr>
-<tr id="i9" class="rowColor">
+<tr id="i10" class="altColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#update()">update</a></span>()</code></th>
 <td class="colLast">
@@ -341,12 +353,21 @@ <h4>finishedPreviousStep</h4>
 <a id="finished">
 <!--   -->
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+<ul class="blockList">
 <li class="blockList">
 <h4>finished</h4>
 <pre>protected&nbsp;boolean finished</pre>
 </li>
 </ul>
+<a id="programStarted">
+<!--   -->
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+<ul class="blockListLast">
+<li class="blockList">
+<h4>programStarted</h4>
+<pre>protected&nbsp;boolean programStarted</pre>
+</li>
+</ul>
 </li>
 </ul>
 </section>
@@ -409,6 +430,20 @@ <h4>cleanup</h4>
 <div class="block">Remove all steps from the AutoProgram</div>
 </li>
 </ul>
+<a id="areStepsDefined()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>areStepsDefined</h4>
+<pre class="methodSignature">public&nbsp;boolean&nbsp;areStepsDefined()</pre>
+<div class="block">Determines if the program's steps have been defined.</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Returns true if there are any steps.</dd>
+</dl>
+</li>
+</ul>
 <a id="update()">
 <!--   -->
 </a>
diff --git a/docs/org/wildstang/framework/auto/AutoStep.html b/docs/org/wildstang/framework/auto/AutoStep.html
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+++ b/docs/org/wildstang/framework/auto/AutoStep.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>AutoStep (rfmain API)</title>
+<title>AutoStep (robot_framework API)</title>
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 <link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.min.css" title="Style">
@@ -14,14 +14,14 @@
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-<script type="text/javascript" src="../../../../jquery/jquery-3.6.0.min.js"></script>
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 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="AutoStep (rfmain API)";
+            parent.document.title="AutoStep (robot_framework API)";
         }
     }
     catch(err) {
diff --git a/docs/org/wildstang/framework/auto/BobTrajectory.html b/docs/org/wildstang/framework/auto/BobTrajectory.html
index df67f9c7..638edaf6 100644
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+++ b/docs/org/wildstang/framework/auto/BobTrajectory.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>BobTrajectory (rfmain API)</title>
+<title>BobTrajectory (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.min.css" title="Style">
@@ -14,14 +14,14 @@
 <!--[if IE]>
 <script type="text/javascript" src="../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
 <![endif]-->
-<script type="text/javascript" src="../../../../jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="../../../../jquery/jquery-3.6.1.min.js"></script>
 <script type="text/javascript" src="../../../../jquery/jquery-ui.min.js"></script>
 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="BobTrajectory (rfmain API)";
+            parent.document.title="BobTrajectory (robot_framework API)";
         }
     }
     catch(err) {
diff --git a/docs/org/wildstang/framework/auto/package-summary.html b/docs/org/wildstang/framework/auto/package-summary.html
index a9152e76..104f4ee4 100644
--- a/docs/org/wildstang/framework/auto/package-summary.html
+++ b/docs/org/wildstang/framework/auto/package-summary.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>org.wildstang.framework.auto (rfmain API)</title>
+<title>org.wildstang.framework.auto (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.min.css" title="Style">
@@ -14,14 +14,14 @@
 <!--[if IE]>
 <script type="text/javascript" src="../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
 <![endif]-->
-<script type="text/javascript" src="../../../../jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="../../../../jquery/jquery-3.6.1.min.js"></script>
 <script type="text/javascript" src="../../../../jquery/jquery-ui.min.js"></script>
 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="org.wildstang.framework.auto (rfmain API)";
+            parent.document.title="org.wildstang.framework.auto (robot_framework API)";
         }
     }
     catch(err) {
diff --git a/docs/org/wildstang/framework/auto/package-tree.html b/docs/org/wildstang/framework/auto/package-tree.html
index ec19bcc9..6fe17c8e 100644
--- a/docs/org/wildstang/framework/auto/package-tree.html
+++ b/docs/org/wildstang/framework/auto/package-tree.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>org.wildstang.framework.auto Class Hierarchy (rfmain API)</title>
+<title>org.wildstang.framework.auto Class Hierarchy (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.min.css" title="Style">
@@ -14,14 +14,14 @@
 <!--[if IE]>
 <script type="text/javascript" src="../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
 <![endif]-->
-<script type="text/javascript" src="../../../../jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="../../../../jquery/jquery-3.6.1.min.js"></script>
 <script type="text/javascript" src="../../../../jquery/jquery-ui.min.js"></script>
 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="org.wildstang.framework.auto Class Hierarchy (rfmain API)";
+            parent.document.title="org.wildstang.framework.auto Class Hierarchy (robot_framework API)";
         }
     }
     catch(err) {
diff --git a/docs/org/wildstang/framework/auto/program/Sleeper.html b/docs/org/wildstang/framework/auto/program/Sleeper.html
index 04366ee2..d92e41ab 100644
--- a/docs/org/wildstang/framework/auto/program/Sleeper.html
+++ b/docs/org/wildstang/framework/auto/program/Sleeper.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>Sleeper (rfmain API)</title>
+<title>Sleeper (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../../jquery/jquery-ui.min.css" title="Style">
@@ -14,14 +14,14 @@
 <!--[if IE]>
 <script type="text/javascript" src="../../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
 <![endif]-->
-<script type="text/javascript" src="../../../../../jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="../../../../../jquery/jquery-3.6.1.min.js"></script>
 <script type="text/javascript" src="../../../../../jquery/jquery-ui.min.js"></script>
 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="Sleeper (rfmain API)";
+            parent.document.title="Sleeper (robot_framework API)";
         }
     }
     catch(err) {
@@ -159,7 +159,7 @@ <h3>Field Summary</h3>
 <!--   -->
 </a>
 <h3>Fields inherited from class&nbsp;org.wildstang.framework.auto.<a href="../AutoProgram.html" title="class in org.wildstang.framework.auto">AutoProgram</a></h3>
-<code><a href="../AutoProgram.html#currentStep">currentStep</a>, <a href="../AutoProgram.html#finished">finished</a>, <a href="../AutoProgram.html#finishedPreviousStep">finishedPreviousStep</a>, <a href="../AutoProgram.html#programSteps">programSteps</a></code></li>
+<code><a href="../AutoProgram.html#currentStep">currentStep</a>, <a href="../AutoProgram.html#finished">finished</a>, <a href="../AutoProgram.html#finishedPreviousStep">finishedPreviousStep</a>, <a href="../AutoProgram.html#programStarted">programStarted</a>, <a href="../AutoProgram.html#programSteps">programSteps</a></code></li>
 </ul>
 </li>
 </ul>
@@ -219,7 +219,7 @@ <h3>Method Summary</h3>
 <!--   -->
 </a>
 <h3>Methods inherited from class&nbsp;org.wildstang.framework.auto.<a href="../AutoProgram.html" title="class in org.wildstang.framework.auto">AutoProgram</a></h3>
-<code><a href="../AutoProgram.html#addStep(org.wildstang.framework.auto.AutoStep)">addStep</a>, <a href="../AutoProgram.html#cleanup()">cleanup</a>, <a href="../AutoProgram.html#getCurrentStep()">getCurrentStep</a>, <a href="../AutoProgram.html#getNextStep()">getNextStep</a>, <a href="../AutoProgram.html#initialize()">initialize</a>, <a href="../AutoProgram.html#isFinished()">isFinished</a>, <a href="../AutoProgram.html#loadStopPosition()">loadStopPosition</a>, <a href="../AutoProgram.html#update()">update</a></code></li>
+<code><a href="../AutoProgram.html#addStep(org.wildstang.framework.auto.AutoStep)">addStep</a>, <a href="../AutoProgram.html#areStepsDefined()">areStepsDefined</a>, <a href="../AutoProgram.html#cleanup()">cleanup</a>, <a href="../AutoProgram.html#getCurrentStep()">getCurrentStep</a>, <a href="../AutoProgram.html#getNextStep()">getNextStep</a>, <a href="../AutoProgram.html#initialize()">initialize</a>, <a href="../AutoProgram.html#isFinished()">isFinished</a>, <a href="../AutoProgram.html#loadStopPosition()">loadStopPosition</a>, <a href="../AutoProgram.html#update()">update</a></code></li>
 </ul>
 <ul class="blockList">
 <li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
diff --git a/docs/org/wildstang/framework/auto/program/package-summary.html b/docs/org/wildstang/framework/auto/program/package-summary.html
index aace31cf..2e07499c 100644
--- a/docs/org/wildstang/framework/auto/program/package-summary.html
+++ b/docs/org/wildstang/framework/auto/program/package-summary.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>org.wildstang.framework.auto.program (rfmain API)</title>
+<title>org.wildstang.framework.auto.program (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../../jquery/jquery-ui.min.css" title="Style">
@@ -14,14 +14,14 @@
 <!--[if IE]>
 <script type="text/javascript" src="../../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
 <![endif]-->
-<script type="text/javascript" src="../../../../../jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="../../../../../jquery/jquery-3.6.1.min.js"></script>
 <script type="text/javascript" src="../../../../../jquery/jquery-ui.min.js"></script>
 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="org.wildstang.framework.auto.program (rfmain API)";
+            parent.document.title="org.wildstang.framework.auto.program (robot_framework API)";
         }
     }
     catch(err) {
diff --git a/docs/org/wildstang/framework/auto/program/package-tree.html b/docs/org/wildstang/framework/auto/program/package-tree.html
index 2f95e176..428e7955 100644
--- a/docs/org/wildstang/framework/auto/program/package-tree.html
+++ b/docs/org/wildstang/framework/auto/program/package-tree.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>org.wildstang.framework.auto.program Class Hierarchy (rfmain API)</title>
+<title>org.wildstang.framework.auto.program Class Hierarchy (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../../jquery/jquery-ui.min.css" title="Style">
@@ -14,14 +14,14 @@
 <!--[if IE]>
 <script type="text/javascript" src="../../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
 <![endif]-->
-<script type="text/javascript" src="../../../../../jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="../../../../../jquery/jquery-3.6.1.min.js"></script>
 <script type="text/javascript" src="../../../../../jquery/jquery-ui.min.js"></script>
 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="org.wildstang.framework.auto.program Class Hierarchy (rfmain API)";
+            parent.document.title="org.wildstang.framework.auto.program Class Hierarchy (robot_framework API)";
         }
     }
     catch(err) {
diff --git a/docs/org/wildstang/framework/auto/steps/AutoParallelFinishedOnAnyStepGroup.html b/docs/org/wildstang/framework/auto/steps/AutoParallelFinishedOnAnyStepGroup.html
index 3e9da482..6b355394 100644
--- a/docs/org/wildstang/framework/auto/steps/AutoParallelFinishedOnAnyStepGroup.html
+++ b/docs/org/wildstang/framework/auto/steps/AutoParallelFinishedOnAnyStepGroup.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>AutoParallelFinishedOnAnyStepGroup (rfmain API)</title>
+<title>AutoParallelFinishedOnAnyStepGroup (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../../jquery/jquery-ui.min.css" title="Style">
@@ -14,14 +14,14 @@
 <!--[if IE]>
 <script type="text/javascript" src="../../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
 <![endif]-->
-<script type="text/javascript" src="../../../../../jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="../../../../../jquery/jquery-3.6.1.min.js"></script>
 <script type="text/javascript" src="../../../../../jquery/jquery-ui.min.js"></script>
 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="AutoParallelFinishedOnAnyStepGroup (rfmain API)";
+            parent.document.title="AutoParallelFinishedOnAnyStepGroup (robot_framework API)";
         }
     }
     catch(err) {
diff --git a/docs/org/wildstang/framework/auto/steps/AutoParallelStepGroup.html b/docs/org/wildstang/framework/auto/steps/AutoParallelStepGroup.html
index c1490f28..dd8902c7 100644
--- a/docs/org/wildstang/framework/auto/steps/AutoParallelStepGroup.html
+++ b/docs/org/wildstang/framework/auto/steps/AutoParallelStepGroup.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>AutoParallelStepGroup (rfmain API)</title>
+<title>AutoParallelStepGroup (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../../jquery/jquery-ui.min.css" title="Style">
@@ -14,14 +14,14 @@
 <!--[if IE]>
 <script type="text/javascript" src="../../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
 <![endif]-->
-<script type="text/javascript" src="../../../../../jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="../../../../../jquery/jquery-3.6.1.min.js"></script>
 <script type="text/javascript" src="../../../../../jquery/jquery-ui.min.js"></script>
 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="AutoParallelStepGroup (rfmain API)";
+            parent.document.title="AutoParallelStepGroup (robot_framework API)";
         }
     }
     catch(err) {
diff --git a/docs/org/wildstang/framework/auto/steps/AutoSerialStepGroup.html b/docs/org/wildstang/framework/auto/steps/AutoSerialStepGroup.html
index 408a4921..d68f3667 100644
--- a/docs/org/wildstang/framework/auto/steps/AutoSerialStepGroup.html
+++ b/docs/org/wildstang/framework/auto/steps/AutoSerialStepGroup.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>AutoSerialStepGroup (rfmain API)</title>
+<title>AutoSerialStepGroup (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../../jquery/jquery-ui.min.css" title="Style">
@@ -14,14 +14,14 @@
 <!--[if IE]>
 <script type="text/javascript" src="../../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
 <![endif]-->
-<script type="text/javascript" src="../../../../../jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="../../../../../jquery/jquery-3.6.1.min.js"></script>
 <script type="text/javascript" src="../../../../../jquery/jquery-ui.min.js"></script>
 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="AutoSerialStepGroup (rfmain API)";
+            parent.document.title="AutoSerialStepGroup (robot_framework API)";
         }
     }
     catch(err) {
diff --git a/docs/org/wildstang/framework/auto/steps/PathFollowerStep.html b/docs/org/wildstang/framework/auto/steps/PathFollowerStep.html
index 70564d5f..0446a3f0 100644
--- a/docs/org/wildstang/framework/auto/steps/PathFollowerStep.html
+++ b/docs/org/wildstang/framework/auto/steps/PathFollowerStep.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>PathFollowerStep (rfmain API)</title>
+<title>PathFollowerStep (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../../jquery/jquery-ui.min.css" title="Style">
@@ -14,14 +14,14 @@
 <!--[if IE]>
 <script type="text/javascript" src="../../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
 <![endif]-->
-<script type="text/javascript" src="../../../../../jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="../../../../../jquery/jquery-3.6.1.min.js"></script>
 <script type="text/javascript" src="../../../../../jquery/jquery-ui.min.js"></script>
 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="PathFollowerStep (rfmain API)";
+            parent.document.title="PathFollowerStep (robot_framework API)";
         }
     }
     catch(err) {
diff --git a/docs/org/wildstang/framework/auto/steps/PathHeadingStep.html b/docs/org/wildstang/framework/auto/steps/PathHeadingStep.html
index 4b121c53..b0230714 100644
--- a/docs/org/wildstang/framework/auto/steps/PathHeadingStep.html
+++ b/docs/org/wildstang/framework/auto/steps/PathHeadingStep.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>PathHeadingStep (rfmain API)</title>
+<title>PathHeadingStep (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../../jquery/jquery-ui.min.css" title="Style">
@@ -14,14 +14,14 @@
 <!--[if IE]>
 <script type="text/javascript" src="../../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
 <![endif]-->
-<script type="text/javascript" src="../../../../../jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="../../../../../jquery/jquery-3.6.1.min.js"></script>
 <script type="text/javascript" src="../../../../../jquery/jquery-ui.min.js"></script>
 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="PathHeadingStep (rfmain API)";
+            parent.document.title="PathHeadingStep (robot_framework API)";
         }
     }
     catch(err) {
diff --git a/docs/org/wildstang/framework/auto/steps/SetGyroStep.html b/docs/org/wildstang/framework/auto/steps/SetGyroStep.html
index 502ef345..b448f125 100644
--- a/docs/org/wildstang/framework/auto/steps/SetGyroStep.html
+++ b/docs/org/wildstang/framework/auto/steps/SetGyroStep.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>SetGyroStep (rfmain API)</title>
+<title>SetGyroStep (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../../jquery/jquery-ui.min.css" title="Style">
@@ -14,14 +14,14 @@
 <!--[if IE]>
 <script type="text/javascript" src="../../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
 <![endif]-->
-<script type="text/javascript" src="../../../../../jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="../../../../../jquery/jquery-3.6.1.min.js"></script>
 <script type="text/javascript" src="../../../../../jquery/jquery-ui.min.js"></script>
 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="SetGyroStep (rfmain API)";
+            parent.document.title="SetGyroStep (robot_framework API)";
         }
     }
     catch(err) {
diff --git a/docs/org/wildstang/framework/auto/steps/SwervePathFollowerStep.html b/docs/org/wildstang/framework/auto/steps/SwervePathFollowerStep.html
index bf79ff70..efcd7e44 100644
--- a/docs/org/wildstang/framework/auto/steps/SwervePathFollowerStep.html
+++ b/docs/org/wildstang/framework/auto/steps/SwervePathFollowerStep.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>SwervePathFollowerStep (rfmain API)</title>
+<title>SwervePathFollowerStep (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../../jquery/jquery-ui.min.css" title="Style">
@@ -14,20 +14,20 @@
 <!--[if IE]>
 <script type="text/javascript" src="../../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
 <![endif]-->
-<script type="text/javascript" src="../../../../../jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="../../../../../jquery/jquery-3.6.1.min.js"></script>
 <script type="text/javascript" src="../../../../../jquery/jquery-ui.min.js"></script>
 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="SwervePathFollowerStep (rfmain API)";
+            parent.document.title="SwervePathFollowerStep (robot_framework API)";
         }
     }
     catch(err) {
     }
 //-->
-var data = {"i0":10,"i1":10,"i2":10};
+var data = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10};
 var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]};
 var altColor = "altColor";
 var rowColor = "rowColor";
@@ -158,8 +158,9 @@ <h3>Constructor Summary</h3>
 <th class="colLast" scope="col">Description</th>
 </tr>
 <tr class="altColor">
-<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double%5B%5D%5B%5D,org.wildstang.framework.subsystems.swerve.SwerveDriveTemplate)">SwervePathFollowerStep</a></span>&#8203;(double[][]&nbsp;pathData,
-                      <a href="../../subsystems/swerve/SwerveDriveTemplate.html" title="class in org.wildstang.framework.subsystems.swerve">SwerveDriveTemplate</a>&nbsp;drive)</code></th>
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.pathplanner.lib.PathPlannerTrajectory,org.wildstang.framework.subsystems.swerve.SwerveDriveTemplate,boolean)">SwervePathFollowerStep</a></span>&#8203;(com.pathplanner.lib.PathPlannerTrajectory&nbsp;pathData,
+                      <a href="../../subsystems/swerve/SwerveDriveTemplate.html" title="class in org.wildstang.framework.subsystems.swerve">SwerveDriveTemplate</a>&nbsp;drive,
+                      boolean&nbsp;isBlue)</code></th>
 <td class="colLast">
 <div class="block">Sets the robot to track a new path
  finishes after all values have been read to robot</div>
@@ -184,20 +185,30 @@ <h3>Method Summary</h3>
 <th class="colLast" scope="col">Description</th>
 </tr>
 <tr id="i0" class="altColor">
+<td class="colFirst"><code>double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getHeading()">getHeading</a></span>()</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code>double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getVelocity()">getVelocity</a></span>()</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr id="i2" class="altColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#initialize()">initialize</a></span>()</code></th>
 <td class="colLast">
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-<tr id="i2" class="altColor">
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-<a id="&lt;init&gt;(double[][],org.wildstang.framework.subsystems.swerve.SwerveDriveTemplate)">
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+<pre>public&nbsp;SwervePathFollowerStep&#8203;(com.pathplanner.lib.PathPlannerTrajectory&nbsp;pathData,
+                              <a href="../../subsystems/swerve/SwerveDriveTemplate.html" title="class in org.wildstang.framework.subsystems.swerve">SwerveDriveTemplate</a>&nbsp;drive,
+                              boolean&nbsp;isBlue)</pre>
 <div class="block">Sets the robot to track a new path
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 <dl>
 <dt><span class="paramLabel">Parameters:</span></dt>
 <dd><code>pathData</code> - double[][] that contains path, should be from \frc\paths</dd>
 <dd><code>drive</code> - the swerveDrive subsystem</dd>
+<dd><code>isBlue</code> - whether the robot is on the blue alliance</dd>
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--- a/docs/org/wildstang/framework/auto/steps/control/AutoStepDelay.html
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@@ -3,7 +3,7 @@
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-<title>AutoStepDelay (rfmain API)</title>
+<title>AutoStepDelay (robot_framework API)</title>
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-<script type="text/javascript" src="../../../../../../jquery/jquery-3.6.0.min.js"></script>
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 <script type="text/javascript"><!--
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-            parent.document.title="org.wildstang.framework.auto.steps.control (rfmain API)";
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-<title>org.wildstang.framework.auto.steps.control Class Hierarchy (rfmain API)</title>
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-            parent.document.title="org.wildstang.framework.auto.steps.control Class Hierarchy (rfmain API)";
+            parent.document.title="org.wildstang.framework.auto.steps.control Class Hierarchy (robot_framework API)";
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index ac5823bd..b4e14ca9 100644
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 <body>
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index 8c5e132b..83411aed 100644
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 <head>
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-            parent.document.title="org.wildstang.framework.auto.steps Class Hierarchy (rfmain API)";
+            parent.document.title="org.wildstang.framework.auto.steps Class Hierarchy (robot_framework API)";
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index a6146667..af546c9d 100644
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@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>Config (rfmain API)</title>
+<title>Config (robot_framework API)</title>
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 <script type="text/javascript"><!--
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-            parent.document.title="Config (rfmain API)";
+            parent.document.title="Config (robot_framework API)";
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     catch(err) {
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index f16079ca..5ba84975 100644
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 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>ConfigManager (rfmain API)</title>
+<title>ConfigManager (robot_framework API)</title>
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 <script type="text/javascript"><!--
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-            parent.document.title="ConfigManager (rfmain API)";
+            parent.document.title="ConfigManager (robot_framework API)";
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     catch(err) {
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index b9fe8cf2..ca7306f9 100644
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+            parent.document.title="org.wildstang.framework.config (robot_framework API)";
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-            parent.document.title="org.wildstang.framework.config Class Hierarchy (rfmain API)";
+            parent.document.title="org.wildstang.framework.config Class Hierarchy (robot_framework API)";
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diff --git a/docs/org/wildstang/framework/core/AutoPrograms.html b/docs/org/wildstang/framework/core/AutoPrograms.html
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+++ b/docs/org/wildstang/framework/core/AutoPrograms.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>AutoPrograms (rfmain API)</title>
+<title>AutoPrograms (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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 <![endif]-->
-<script type="text/javascript" src="../../../../jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="../../../../jquery/jquery-3.6.1.min.js"></script>
 <script type="text/javascript" src="../../../../jquery/jquery-ui.min.js"></script>
 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="AutoPrograms (rfmain API)";
+            parent.document.title="AutoPrograms (robot_framework API)";
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 <div class="description">
 <ul class="blockList">
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+<dl>
+<dt>All Known Implementing Classes:</dt>
+<dd><code><a href="../../sample/robot/WSAutoPrograms.html" title="enum in org.wildstang.sample.robot">WSAutoPrograms</a></code></dd>
+</dl>
 <hr>
 <pre>public interface <span class="typeNameLabel">AutoPrograms</span></pre>
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@@ -3,7 +3,7 @@
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+<title>Core (robot_framework API)</title>
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-<script type="text/javascript" src="../../../../jquery/jquery-3.6.0.min.js"></script>
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 <body>
 <script type="text/javascript"><!--
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-            parent.document.title="Core (rfmain API)";
+            parent.document.title="Core (robot_framework API)";
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     catch(err) {
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@@ -3,7 +3,7 @@
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-<title>Inputs (rfmain API)</title>
+<title>Inputs (robot_framework API)</title>
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 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="Inputs (rfmain API)";
+            parent.document.title="Inputs (robot_framework API)";
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 <div class="description">
 <ul class="blockList">
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+<dl>
+<dt>All Known Implementing Classes:</dt>
+<dd><code><a href="../../sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></code></dd>
+</dl>
 <hr>
 <pre>public interface <span class="typeNameLabel">Inputs</span></pre>
 <div class="block">Used in implementations to enumerate Inputs.
diff --git a/docs/org/wildstang/framework/core/Outputs.html b/docs/org/wildstang/framework/core/Outputs.html
index 046f9fdc..5c0e2599 100644
--- a/docs/org/wildstang/framework/core/Outputs.html
+++ b/docs/org/wildstang/framework/core/Outputs.html
@@ -3,7 +3,7 @@
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 <head>
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-<title>Outputs (rfmain API)</title>
+<title>Outputs (robot_framework API)</title>
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 <link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.min.css" title="Style">
@@ -14,14 +14,14 @@
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 <![endif]-->
-<script type="text/javascript" src="../../../../jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="../../../../jquery/jquery-3.6.1.min.js"></script>
 <script type="text/javascript" src="../../../../jquery/jquery-ui.min.js"></script>
 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="Outputs (rfmain API)";
+            parent.document.title="Outputs (robot_framework API)";
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@@ -122,6 +122,10 @@ <h2 title="Interface Outputs" class="title">Interface Outputs</h2>
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+<dl>
+<dt>All Known Implementing Classes:</dt>
+<dd><code><a href="../../sample/robot/WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a></code></dd>
+</dl>
 <hr>
 <pre>public interface <span class="typeNameLabel">Outputs</span></pre>
 <div class="block">Used in implementations to enumerate Outputs.
diff --git a/docs/org/wildstang/framework/core/Subsystems.html b/docs/org/wildstang/framework/core/Subsystems.html
index 7c681421..3a5eece1 100644
--- a/docs/org/wildstang/framework/core/Subsystems.html
+++ b/docs/org/wildstang/framework/core/Subsystems.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
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-<title>Subsystems (rfmain API)</title>
+<title>Subsystems (robot_framework API)</title>
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 </head>
 <body>
 <script type="text/javascript"><!--
     try {
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-            parent.document.title="Subsystems (rfmain API)";
+            parent.document.title="Subsystems (robot_framework API)";
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+<dt>All Known Implementing Classes:</dt>
+<dd><code><a href="../../sample/robot/WSSubsystems.html" title="enum in org.wildstang.sample.robot">WSSubsystems</a></code></dd>
+</dl>
 <hr>
 <pre>public interface <span class="typeNameLabel">Subsystems</span></pre>
 <div class="block">Used in implementations to enumerate Subsystems.
diff --git a/docs/org/wildstang/framework/core/package-summary.html b/docs/org/wildstang/framework/core/package-summary.html
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@@ -3,7 +3,7 @@
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-            parent.document.title="OutputFactory (rfmain API)";
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 <body>
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+            parent.document.title="org.wildstang.framework.pid.output Class Hierarchy (robot_framework API)";
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index 4d612ebd..9eeda9cb 100644
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@@ -3,7 +3,7 @@
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-            parent.document.title="org.wildstang.framework.pid (rfmain API)";
+            parent.document.title="org.wildstang.framework.pid (robot_framework API)";
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index a71476f5..118e59a3 100644
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+++ b/docs/org/wildstang/framework/pid/package-tree.html
@@ -3,7 +3,7 @@
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-<script type="text/javascript" src="../../../../jquery/jquery-3.6.0.min.js"></script>
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-            parent.document.title="org.wildstang.framework.pid Class Hierarchy (rfmain API)";
+            parent.document.title="org.wildstang.framework.pid Class Hierarchy (robot_framework API)";
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diff --git a/docs/org/wildstang/framework/subsystems/Subsystem.html b/docs/org/wildstang/framework/subsystems/Subsystem.html
index f5b4b256..4e7543cb 100644
--- a/docs/org/wildstang/framework/subsystems/Subsystem.html
+++ b/docs/org/wildstang/framework/subsystems/Subsystem.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>Subsystem (rfmain API)</title>
+<title>Subsystem (robot_framework API)</title>
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@@ -14,14 +14,14 @@
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 <![endif]-->
-<script type="text/javascript" src="../../../../jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="../../../../jquery/jquery-3.6.1.min.js"></script>
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 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="Subsystem (rfmain API)";
+            parent.document.title="Subsystem (robot_framework API)";
         }
     }
     catch(err) {
diff --git a/docs/org/wildstang/framework/subsystems/SubsystemManager.html b/docs/org/wildstang/framework/subsystems/SubsystemManager.html
index 90bfc754..6ba06968 100644
--- a/docs/org/wildstang/framework/subsystems/SubsystemManager.html
+++ b/docs/org/wildstang/framework/subsystems/SubsystemManager.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
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-<title>SubsystemManager (rfmain API)</title>
+<title>SubsystemManager (robot_framework API)</title>
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-<script type="text/javascript" src="../../../../jquery/jquery-3.6.0.min.js"></script>
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         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="SubsystemManager (rfmain API)";
+            parent.document.title="SubsystemManager (robot_framework API)";
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diff --git a/docs/org/wildstang/framework/subsystems/drive/Path.html b/docs/org/wildstang/framework/subsystems/drive/Path.html
index 63473fdc..35433020 100644
--- a/docs/org/wildstang/framework/subsystems/drive/Path.html
+++ b/docs/org/wildstang/framework/subsystems/drive/Path.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>Path (rfmain API)</title>
+<title>Path (robot_framework API)</title>
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 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="Path (rfmain API)";
+            parent.document.title="Path (robot_framework API)";
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     }
     catch(err) {
diff --git a/docs/org/wildstang/framework/subsystems/drive/PathFollowingDrive.html b/docs/org/wildstang/framework/subsystems/drive/PathFollowingDrive.html
index 7f5c5ec7..a0d4fb46 100644
--- a/docs/org/wildstang/framework/subsystems/drive/PathFollowingDrive.html
+++ b/docs/org/wildstang/framework/subsystems/drive/PathFollowingDrive.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>PathFollowingDrive (rfmain API)</title>
+<title>PathFollowingDrive (robot_framework API)</title>
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-<script type="text/javascript" src="../../../../../jquery/jquery-3.6.0.min.js"></script>
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         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="PathFollowingDrive (rfmain API)";
+            parent.document.title="PathFollowingDrive (robot_framework API)";
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diff --git a/docs/org/wildstang/framework/subsystems/drive/TankPath.html b/docs/org/wildstang/framework/subsystems/drive/TankPath.html
index 8015c4bb..1a43251d 100644
--- a/docs/org/wildstang/framework/subsystems/drive/TankPath.html
+++ b/docs/org/wildstang/framework/subsystems/drive/TankPath.html
@@ -3,7 +3,7 @@
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 <head>
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-<title>TankPath (rfmain API)</title>
+<title>TankPath (robot_framework API)</title>
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         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="TankPath (rfmain API)";
+            parent.document.title="TankPath (robot_framework API)";
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index 5ad73eca..5dd73620 100644
--- a/docs/org/wildstang/framework/subsystems/drive/Trajectory.html
+++ b/docs/org/wildstang/framework/subsystems/drive/Trajectory.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
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-<title>Trajectory (rfmain API)</title>
+<title>Trajectory (robot_framework API)</title>
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-<script type="text/javascript" src="../../../../../jquery/jquery-3.6.0.min.js"></script>
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         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="Trajectory (rfmain API)";
+            parent.document.title="Trajectory (robot_framework API)";
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index 886ff0c3..0f568659 100644
--- a/docs/org/wildstang/framework/subsystems/drive/package-summary.html
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@@ -3,7 +3,7 @@
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-<script type="text/javascript" src="../../../../../jquery/jquery-3.6.0.min.js"></script>
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index 39b421f0..6465aa12 100644
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@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
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+<title>org.wildstang.framework.subsystems.drive Class Hierarchy (robot_framework API)</title>
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@@ -14,14 +14,14 @@
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-<script type="text/javascript" src="../../../../../jquery/jquery-3.6.0.min.js"></script>
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-            parent.document.title="org.wildstang.framework.subsystems.drive Class Hierarchy (rfmain API)";
+            parent.document.title="org.wildstang.framework.subsystems.drive Class Hierarchy (robot_framework API)";
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-<script type="text/javascript" src="../../../../jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="../../../../jquery/jquery-3.6.1.min.js"></script>
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-            parent.document.title="org.wildstang.framework.subsystems (rfmain API)";
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+<title>org.wildstang.framework.subsystems Class Hierarchy (robot_framework API)</title>
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 <![endif]-->
-<script type="text/javascript" src="../../../../jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="../../../../jquery/jquery-3.6.1.min.js"></script>
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     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="org.wildstang.framework.subsystems Class Hierarchy (rfmain API)";
+            parent.document.title="org.wildstang.framework.subsystems Class Hierarchy (robot_framework API)";
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diff --git a/docs/org/wildstang/framework/subsystems/swerve/SwerveDriveTemplate.html b/docs/org/wildstang/framework/subsystems/swerve/SwerveDriveTemplate.html
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@@ -3,7 +3,7 @@
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+<title>SwerveDriveTemplate (robot_framework API)</title>
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-<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setAutoHeading(double)">setAutoHeading</a></span>&#8203;(double&nbsp;headingTarget)</code></th>
+<td class="colFirst"><code>abstract edu.wpi.first.math.geometry.Pose2d</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#returnPose(double)">returnPose</a></span>&#8203;(double&nbsp;returnVelocity)</code></th>
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+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setAutoValues(double,double,double,double)">setAutoValues</a></span>&#8203;(double&nbsp;velocity,
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index 7c2cca4d..c1d4d567 100644
--- a/docs/org/wildstang/hardware/roborio/inputs/WsJoystickAxis.html
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@@ -3,7 +3,7 @@
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index 0c3da316..8b78e166 100644
--- a/docs/org/wildstang/hardware/roborio/inputs/WsJoystickButton.html
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@@ -3,7 +3,7 @@
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index 0c80d79b..512ff820 100644
--- a/docs/org/wildstang/hardware/roborio/inputs/WsJoystickToggleButton.html
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@@ -3,7 +3,7 @@
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 <head>
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-            parent.document.title="WsJoystickToggleButton (rfmain API)";
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     catch(err) {
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index 78dbf434..c88a9344 100644
--- a/docs/org/wildstang/hardware/roborio/inputs/WsLidarSensor.html
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@@ -3,7 +3,7 @@
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 <head>
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+            parent.document.title="WsLidarSensor (robot_framework API)";
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index 8c00cea4..55200a38 100644
--- a/docs/org/wildstang/hardware/roborio/inputs/WsMotionProfileControl.html
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@@ -3,7 +3,7 @@
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 <head>
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+            parent.document.title="WsMotionProfileControl (robot_framework API)";
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index 67798e75..cc2e7f80 100644
--- a/docs/org/wildstang/hardware/roborio/inputs/WsRemoteAnalogInput.html
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@@ -3,7 +3,7 @@
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index cf58b5a7..7d0879fd 100644
--- a/docs/org/wildstang/hardware/roborio/inputs/WsRemoteDigitalInput.html
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@@ -3,7 +3,7 @@
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index c14b375b..aaf023c3 100644
--- a/docs/org/wildstang/hardware/roborio/inputs/config/WsAbsoluteEncoderConfig.html
+++ b/docs/org/wildstang/hardware/roborio/inputs/config/WsAbsoluteEncoderConfig.html
@@ -3,7 +3,7 @@
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 <head>
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 <body>
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+            parent.document.title="WsAbsoluteEncoderConfig (robot_framework API)";
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index e1b700b9..d47aa131 100644
--- a/docs/org/wildstang/hardware/roborio/inputs/config/WsAnalogGyroConfig.html
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@@ -3,7 +3,7 @@
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 <head>
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index 391e8494..cdc9fdc1 100644
--- a/docs/org/wildstang/hardware/roborio/inputs/config/WsAnalogInputConfig.html
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index 4c7a5afd..bcc974a7 100644
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index 5e355d97..63737d4e 100644
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+            parent.document.title="WsDPadButtonInputConfig (robot_framework API)";
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index 43d81dfe..9adfff43 100644
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+            parent.document.title="WsDigitalInputConfig (robot_framework API)";
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index 74799102..b51519dd 100644
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+            parent.document.title="WsI2CInputConfig (robot_framework API)";
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     }
     catch(err) {
diff --git a/docs/org/wildstang/hardware/roborio/outputs/WsMotorController.html b/docs/org/wildstang/hardware/roborio/outputs/WsMotorController.html
index c628f659..c0214ba4 100644
--- a/docs/org/wildstang/hardware/roborio/outputs/WsMotorController.html
+++ b/docs/org/wildstang/hardware/roborio/outputs/WsMotorController.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>WsMotorController (rfmain API)</title>
+<title>WsMotorController (robot_framework API)</title>
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 <link rel="stylesheet" type="text/css" href="../../../../../stylesheet.css" title="Style">
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 <body>
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         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="WsMotorController (rfmain API)";
+            parent.document.title="WsMotorController (robot_framework API)";
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     }
     catch(err) {
diff --git a/docs/org/wildstang/hardware/roborio/outputs/WsPhoenix.html b/docs/org/wildstang/hardware/roborio/outputs/WsPhoenix.html
index 0717ca3f..bb877ab3 100644
--- a/docs/org/wildstang/hardware/roborio/outputs/WsPhoenix.html
+++ b/docs/org/wildstang/hardware/roborio/outputs/WsPhoenix.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>WsPhoenix (rfmain API)</title>
+<title>WsPhoenix (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../../stylesheet.css" title="Style">
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@@ -14,14 +14,14 @@
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 <![endif]-->
-<script type="text/javascript" src="../../../../../jquery/jquery-3.6.0.min.js"></script>
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 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="WsPhoenix (rfmain API)";
+            parent.document.title="WsPhoenix (robot_framework API)";
         }
     }
     catch(err) {
diff --git a/docs/org/wildstang/hardware/roborio/outputs/WsRelay.html b/docs/org/wildstang/hardware/roborio/outputs/WsRelay.html
index 704c3e69..03e950a7 100644
--- a/docs/org/wildstang/hardware/roborio/outputs/WsRelay.html
+++ b/docs/org/wildstang/hardware/roborio/outputs/WsRelay.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>WsRelay (rfmain API)</title>
+<title>WsRelay (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../../stylesheet.css" title="Style">
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@@ -14,14 +14,14 @@
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 <script type="text/javascript" src="../../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
 <![endif]-->
-<script type="text/javascript" src="../../../../../jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="../../../../../jquery/jquery-3.6.1.min.js"></script>
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 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="WsRelay (rfmain API)";
+            parent.document.title="WsRelay (robot_framework API)";
         }
     }
     catch(err) {
diff --git a/docs/org/wildstang/hardware/roborio/outputs/WsRelayState.html b/docs/org/wildstang/hardware/roborio/outputs/WsRelayState.html
index 76a91154..dbf26738 100644
--- a/docs/org/wildstang/hardware/roborio/outputs/WsRelayState.html
+++ b/docs/org/wildstang/hardware/roborio/outputs/WsRelayState.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>WsRelayState (rfmain API)</title>
+<title>WsRelayState (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../../stylesheet.css" title="Style">
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@@ -14,14 +14,14 @@
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 <![endif]-->
-<script type="text/javascript" src="../../../../../jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="../../../../../jquery/jquery-3.6.1.min.js"></script>
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 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="WsRelayState (rfmain API)";
+            parent.document.title="WsRelayState (robot_framework API)";
         }
     }
     catch(err) {
diff --git a/docs/org/wildstang/hardware/roborio/outputs/WsRemoteAnalogOutput.html b/docs/org/wildstang/hardware/roborio/outputs/WsRemoteAnalogOutput.html
index 99567206..584dc384 100644
--- a/docs/org/wildstang/hardware/roborio/outputs/WsRemoteAnalogOutput.html
+++ b/docs/org/wildstang/hardware/roborio/outputs/WsRemoteAnalogOutput.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>WsRemoteAnalogOutput (rfmain API)</title>
+<title>WsRemoteAnalogOutput (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../../stylesheet.css" title="Style">
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@@ -14,14 +14,14 @@
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 <![endif]-->
-<script type="text/javascript" src="../../../../../jquery/jquery-3.6.0.min.js"></script>
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 </head>
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 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="WsRemoteAnalogOutput (rfmain API)";
+            parent.document.title="WsRemoteAnalogOutput (robot_framework API)";
         }
     }
     catch(err) {
diff --git a/docs/org/wildstang/hardware/roborio/outputs/WsRemoteDigitalOutput.html b/docs/org/wildstang/hardware/roborio/outputs/WsRemoteDigitalOutput.html
index 75d6c5ce..0cf7ce92 100644
--- a/docs/org/wildstang/hardware/roborio/outputs/WsRemoteDigitalOutput.html
+++ b/docs/org/wildstang/hardware/roborio/outputs/WsRemoteDigitalOutput.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>WsRemoteDigitalOutput (rfmain API)</title>
+<title>WsRemoteDigitalOutput (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../../stylesheet.css" title="Style">
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@@ -14,14 +14,14 @@
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 <![endif]-->
-<script type="text/javascript" src="../../../../../jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="../../../../../jquery/jquery-3.6.1.min.js"></script>
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 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="WsRemoteDigitalOutput (rfmain API)";
+            parent.document.title="WsRemoteDigitalOutput (robot_framework API)";
         }
     }
     catch(err) {
diff --git a/docs/org/wildstang/hardware/roborio/outputs/WsServo.html b/docs/org/wildstang/hardware/roborio/outputs/WsServo.html
index 551ac74e..b8f49175 100644
--- a/docs/org/wildstang/hardware/roborio/outputs/WsServo.html
+++ b/docs/org/wildstang/hardware/roborio/outputs/WsServo.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>WsServo (rfmain API)</title>
+<title>WsServo (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../../stylesheet.css" title="Style">
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 <![endif]-->
-<script type="text/javascript" src="../../../../../jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="../../../../../jquery/jquery-3.6.1.min.js"></script>
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 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="WsServo (rfmain API)";
+            parent.document.title="WsServo (robot_framework API)";
         }
     }
     catch(err) {
diff --git a/docs/org/wildstang/hardware/roborio/outputs/WsSolenoid.html b/docs/org/wildstang/hardware/roborio/outputs/WsSolenoid.html
index a49c9759..31487284 100644
--- a/docs/org/wildstang/hardware/roborio/outputs/WsSolenoid.html
+++ b/docs/org/wildstang/hardware/roborio/outputs/WsSolenoid.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>WsSolenoid (rfmain API)</title>
+<title>WsSolenoid (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../../stylesheet.css" title="Style">
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@@ -14,14 +14,14 @@
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 <![endif]-->
-<script type="text/javascript" src="../../../../../jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="../../../../../jquery/jquery-3.6.1.min.js"></script>
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 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="WsSolenoid (rfmain API)";
+            parent.document.title="WsSolenoid (robot_framework API)";
         }
     }
     catch(err) {
diff --git a/docs/org/wildstang/hardware/roborio/outputs/WsSparkMax.html b/docs/org/wildstang/hardware/roborio/outputs/WsSparkMax.html
index 614aebfd..b6758cab 100644
--- a/docs/org/wildstang/hardware/roborio/outputs/WsSparkMax.html
+++ b/docs/org/wildstang/hardware/roborio/outputs/WsSparkMax.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>WsSparkMax (rfmain API)</title>
+<title>WsSparkMax (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../../stylesheet.css" title="Style">
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@@ -14,20 +14,20 @@
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 <![endif]-->
-<script type="text/javascript" src="../../../../../jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="../../../../../jquery/jquery-3.6.1.min.js"></script>
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 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="WsSparkMax (rfmain API)";
+            parent.document.title="WsSparkMax (robot_framework API)";
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-var data = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10,"i6":10,"i7":10,"i8":10,"i9":10,"i10":10,"i11":10,"i12":10,"i13":10,"i14":10,"i15":10,"i16":10,"i17":10,"i18":10,"i19":10};
+var data = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10,"i6":10,"i7":10,"i8":10,"i9":10,"i10":10,"i11":10,"i12":10,"i13":10,"i14":10,"i15":10,"i16":10,"i17":10,"i18":10,"i19":10,"i20":10,"i21":10,"i22":10,"i23":10,"i24":10};
 var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]};
 var altColor = "altColor";
 var rowColor = "rowColor";
@@ -207,6 +207,15 @@ <h3>Method Summary</h3>
 </tr>
 <tr id="i0" class="altColor">
 <td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#addClosedLoop(int,double,double,double,double)">addClosedLoop</a></span>&#8203;(int&nbsp;slotID,
+             double&nbsp;P,
+             double&nbsp;I,
+             double&nbsp;D,
+             double&nbsp;FF)</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#addFollower(int,boolean,boolean)">addFollower</a></span>&#8203;(int&nbsp;canConstant,
            boolean&nbsp;brushless,
            boolean&nbsp;oppose)</code></th>
@@ -214,7 +223,7 @@ <h3>Method Summary</h3>
 <div class="block">Add a follower motor to the current motor.</div>
 </td>
 </tr>
-<tr id="i1" class="rowColor">
+<tr id="i2" class="altColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#addFollower(int,org.wildstang.hardware.roborio.outputs.config.WsMotorControllers,boolean)">addFollower</a></span>&#8203;(int&nbsp;canConstant,
            <a href="config/WsMotorControllers.html" title="enum in org.wildstang.hardware.roborio.outputs.config">WsMotorControllers</a>&nbsp;controller,
@@ -223,63 +232,68 @@ <h3>Method Summary</h3>
 <div class="block">Add a follower motor to the current motor.</div>
 </td>
 </tr>
-<tr id="i2" class="altColor">
+<tr id="i3" class="rowColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#disableCurrentLimit()">disableCurrentLimit</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Does nothing, SparkMax has no current limit disable function.</div>
 </td>
 </tr>
-<tr id="i3" class="rowColor">
+<tr id="i4" class="altColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#enableVoltageCompensation()">enableVoltageCompensation</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Enables voltage compensation.</div>
 </td>
 </tr>
-<tr id="i4" class="altColor">
+<tr id="i5" class="rowColor">
 <td class="colFirst"><code>com.revrobotics.CANSparkMax</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getController()">getController</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Returns the raw motor controller Object.</div>
 </td>
 </tr>
-<tr id="i5" class="rowColor">
+<tr id="i6" class="altColor">
 <td class="colFirst"><code>com.revrobotics.CANSparkMax</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getFollower()">getFollower</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Returns the raw follower motor controller Object.</div>
 </td>
 </tr>
-<tr id="i6" class="altColor">
+<tr id="i7" class="rowColor">
 <td class="colFirst"><code>double</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getOutput()">getOutput</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Returns the current motor output percent.</div>
 </td>
 </tr>
-<tr id="i7" class="rowColor">
+<tr id="i8" class="altColor">
+<td class="colFirst"><code>com.revrobotics.SparkMaxPIDController</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getPIDController()">getPIDController</a></span>()</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr id="i9" class="rowColor">
 <td class="colFirst"><code>double</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getPosition()">getPosition</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Returns the quadrature position from an encoder.</div>
 </td>
 </tr>
-<tr id="i8" class="altColor">
+<tr id="i10" class="altColor">
 <td class="colFirst"><code>double</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getTemperature()">getTemperature</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Returns the temperature of the motor.</div>
 </td>
 </tr>
-<tr id="i9" class="rowColor">
+<tr id="i11" class="rowColor">
 <td class="colFirst"><code>double</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getVelocity()">getVelocity</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Returns the quadrature velocity from an encoder.</div>
 </td>
 </tr>
-<tr id="i10" class="altColor">
+<tr id="i12" class="altColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#initClosedLoop(double,double,double,double)">initClosedLoop</a></span>&#8203;(double&nbsp;P,
               double&nbsp;I,
@@ -289,42 +303,65 @@ <h3>Method Summary</h3>
 <div class="block">Sets up closed loop control for the motor</div>
 </td>
 </tr>
-<tr id="i11" class="rowColor">
+<tr id="i13" class="rowColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#initClosedLoop(double,double,double,double,com.revrobotics.AbsoluteEncoder)">initClosedLoop</a></span>&#8203;(double&nbsp;P,
+              double&nbsp;I,
+              double&nbsp;D,
+              double&nbsp;FF,
+              com.revrobotics.AbsoluteEncoder&nbsp;absEncoder)</code></th>
+<td class="colLast">
+<div class="block">Sets up closed loop control for the motor</div>
+</td>
+</tr>
+<tr id="i14" class="altColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#initClosedLoop(double,double,double,double,com.revrobotics.AbsoluteEncoder,boolean)">initClosedLoop</a></span>&#8203;(double&nbsp;P,
+              double&nbsp;I,
+              double&nbsp;D,
+              double&nbsp;FF,
+              com.revrobotics.AbsoluteEncoder&nbsp;absEncoder,
+              boolean&nbsp;isWrapped)</code></th>
+<td class="colLast">
+<div class="block">Sets up closed loop control for the motor</div>
+</td>
+</tr>
+<tr id="i15" class="rowColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#notifyConfigChange()">notifyConfigChange</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Does nothing, config values only affects start state.</div>
 </td>
 </tr>
-<tr id="i12" class="altColor">
+<tr id="i16" class="altColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#resetEncoder()">resetEncoder</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Resets the position of an encoder.</div>
 </td>
 </tr>
-<tr id="i13" class="rowColor">
+<tr id="i17" class="rowColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#sendDataToOutput()">sendDataToOutput</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Sets motor control</div>
 </td>
 </tr>
-<tr id="i14" class="altColor">
+<tr id="i18" class="altColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setBrake()">setBrake</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Sets the motor to brake mode, will not freely spin.</div>
 </td>
 </tr>
-<tr id="i15" class="rowColor">
+<tr id="i19" class="rowColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setCoast()">setCoast</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Sets the motor to coast mode, will freely spin.</div>
 </td>
 </tr>
-<tr id="i16" class="altColor">
+<tr id="i20" class="altColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setCurrentLimit(int,int,int)">setCurrentLimit</a></span>&#8203;(int&nbsp;stallLimitAmps,
                int&nbsp;freeLimitAmps,
@@ -333,21 +370,29 @@ <h3>Method Summary</h3>
 <div class="block">Sets the current limit of the motor controller.</div>
 </td>
 </tr>
-<tr id="i17" class="rowColor">
+<tr id="i21" class="rowColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setPosition(double)">setPosition</a></span>&#8203;(double&nbsp;target)</code></th>
 <td class="colLast">
 <div class="block">Sets the motor to track the given position</div>
 </td>
 </tr>
-<tr id="i18" class="altColor">
+<tr id="i22" class="altColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setPosition(double,int)">setPosition</a></span>&#8203;(double&nbsp;target,
+           int&nbsp;slotID)</code></th>
+<td class="colLast">
+<div class="block">Sets the motor to track the given position with a specific PIDFF constants</div>
+</td>
+</tr>
+<tr id="i23" class="rowColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setSpeed(double)">setSpeed</a></span>&#8203;(double&nbsp;value)</code></th>
 <td class="colLast">
 <div class="block">Wraps setValue().</div>
 </td>
 </tr>
-<tr id="i19" class="rowColor">
+<tr id="i24" class="altColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setVelocity(double)">setVelocity</a></span>&#8203;(double&nbsp;target)</code></th>
 <td class="colLast">
@@ -707,6 +752,74 @@ <h4>initClosedLoop</h4>
 </dl>
 </li>
 </ul>
+<a id="initClosedLoop(double,double,double,double,com.revrobotics.AbsoluteEncoder)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>initClosedLoop</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;initClosedLoop&#8203;(double&nbsp;P,
+                           double&nbsp;I,
+                           double&nbsp;D,
+                           double&nbsp;FF,
+                           com.revrobotics.AbsoluteEncoder&nbsp;absEncoder)</pre>
+<div class="block">Sets up closed loop control for the motor</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>P</code> - the P value</dd>
+<dd><code>I</code> - the I value</dd>
+<dd><code>D</code> - the D value</dd>
+<dd><code>FF</code> - the feed forward constant</dd>
+<dd><code>absEncoder</code> - absolute encoder used to provided PID feedback</dd>
+</dl>
+</li>
+</ul>
+<a id="initClosedLoop(double,double,double,double,com.revrobotics.AbsoluteEncoder,boolean)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>initClosedLoop</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;initClosedLoop&#8203;(double&nbsp;P,
+                           double&nbsp;I,
+                           double&nbsp;D,
+                           double&nbsp;FF,
+                           com.revrobotics.AbsoluteEncoder&nbsp;absEncoder,
+                           boolean&nbsp;isWrapped)</pre>
+<div class="block">Sets up closed loop control for the motor</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>P</code> - the P value</dd>
+<dd><code>I</code> - the I value</dd>
+<dd><code>D</code> - the D value</dd>
+<dd><code>FF</code> - the feed forward constant</dd>
+<dd><code>absEncoder</code> - absolute encoder used to provided PID feedback</dd>
+<dd><code>isWrapped</code> - whether wrapping should be enabled</dd>
+</dl>
+</li>
+</ul>
+<a id="getPIDController()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getPIDController</h4>
+<pre class="methodSignature">public&nbsp;com.revrobotics.SparkMaxPIDController&nbsp;getPIDController()</pre>
+</li>
+</ul>
+<a id="addClosedLoop(int,double,double,double,double)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>addClosedLoop</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;addClosedLoop&#8203;(int&nbsp;slotID,
+                          double&nbsp;P,
+                          double&nbsp;I,
+                          double&nbsp;D,
+                          double&nbsp;FF)</pre>
+</li>
+</ul>
 <a id="setPosition(double)">
 <!--   -->
 </a>
@@ -721,6 +834,22 @@ <h4>setPosition</h4>
 </dl>
 </li>
 </ul>
+<a id="setPosition(double,int)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>setPosition</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;setPosition&#8203;(double&nbsp;target,
+                        int&nbsp;slotID)</pre>
+<div class="block">Sets the motor to track the given position with a specific PIDFF constants</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>target</code> - the encoder target to track to</dd>
+<dd><code>slotID</code> - the ID slot of the sparkmax to use</dd>
+</dl>
+</li>
+</ul>
 <a id="setVelocity(double)">
 <!--   -->
 </a>
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index 10baa4b2..a280537d 100644
--- a/docs/org/wildstang/hardware/roborio/outputs/config/WsAnalogOutputConfig.html
+++ b/docs/org/wildstang/hardware/roborio/outputs/config/WsAnalogOutputConfig.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>WsAnalogOutputConfig (rfmain API)</title>
+<title>WsAnalogOutputConfig (robot_framework API)</title>
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-<script type="text/javascript" src="../../../../../../jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="../../../../../../jquery/jquery-3.6.1.min.js"></script>
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 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="WsAnalogOutputConfig (rfmain API)";
+            parent.document.title="WsAnalogOutputConfig (robot_framework API)";
         }
     }
     catch(err) {
diff --git a/docs/org/wildstang/hardware/roborio/outputs/config/WsDigitalOutputConfig.html b/docs/org/wildstang/hardware/roborio/outputs/config/WsDigitalOutputConfig.html
index a3785b8d..b984366e 100644
--- a/docs/org/wildstang/hardware/roborio/outputs/config/WsDigitalOutputConfig.html
+++ b/docs/org/wildstang/hardware/roborio/outputs/config/WsDigitalOutputConfig.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>WsDigitalOutputConfig (rfmain API)</title>
+<title>WsDigitalOutputConfig (robot_framework API)</title>
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 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
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-<script type="text/javascript" src="../../../../../../jquery/jquery-3.6.0.min.js"></script>
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 <body>
 <script type="text/javascript"><!--
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         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="WsDigitalOutputConfig (rfmain API)";
+            parent.document.title="WsDigitalOutputConfig (robot_framework API)";
         }
     }
     catch(err) {
diff --git a/docs/org/wildstang/hardware/roborio/outputs/config/WsDoubleSolenoidConfig.html b/docs/org/wildstang/hardware/roborio/outputs/config/WsDoubleSolenoidConfig.html
index b0d852d8..52290152 100644
--- a/docs/org/wildstang/hardware/roborio/outputs/config/WsDoubleSolenoidConfig.html
+++ b/docs/org/wildstang/hardware/roborio/outputs/config/WsDoubleSolenoidConfig.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>WsDoubleSolenoidConfig (rfmain API)</title>
+<title>WsDoubleSolenoidConfig (robot_framework API)</title>
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 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
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@@ -14,14 +14,14 @@
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 <![endif]-->
-<script type="text/javascript" src="../../../../../../jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="../../../../../../jquery/jquery-3.6.1.min.js"></script>
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 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="WsDoubleSolenoidConfig (rfmain API)";
+            parent.document.title="WsDoubleSolenoidConfig (robot_framework API)";
         }
     }
     catch(err) {
diff --git a/docs/org/wildstang/hardware/roborio/outputs/config/WsI2COutputConfig.html b/docs/org/wildstang/hardware/roborio/outputs/config/WsI2COutputConfig.html
index 26c171db..ac96ccd8 100644
--- a/docs/org/wildstang/hardware/roborio/outputs/config/WsI2COutputConfig.html
+++ b/docs/org/wildstang/hardware/roborio/outputs/config/WsI2COutputConfig.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>WsI2COutputConfig (rfmain API)</title>
+<title>WsI2COutputConfig (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
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@@ -14,14 +14,14 @@
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 <![endif]-->
-<script type="text/javascript" src="../../../../../../jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="../../../../../../jquery/jquery-3.6.1.min.js"></script>
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 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="WsI2COutputConfig (rfmain API)";
+            parent.document.title="WsI2COutputConfig (robot_framework API)";
         }
     }
     catch(err) {
diff --git a/docs/org/wildstang/hardware/roborio/outputs/config/WsMotorControllers.html b/docs/org/wildstang/hardware/roborio/outputs/config/WsMotorControllers.html
index f03280b2..d8f1dbd5 100644
--- a/docs/org/wildstang/hardware/roborio/outputs/config/WsMotorControllers.html
+++ b/docs/org/wildstang/hardware/roborio/outputs/config/WsMotorControllers.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>WsMotorControllers (rfmain API)</title>
+<title>WsMotorControllers (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
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@@ -14,14 +14,14 @@
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 <![endif]-->
-<script type="text/javascript" src="../../../../../../jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="../../../../../../jquery/jquery-3.6.1.min.js"></script>
 <script type="text/javascript" src="../../../../../../jquery/jquery-ui.min.js"></script>
 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="WsMotorControllers (rfmain API)";
+            parent.document.title="WsMotorControllers (robot_framework API)";
         }
     }
     catch(err) {
diff --git a/docs/org/wildstang/hardware/roborio/outputs/config/WsPhoenixConfig.html b/docs/org/wildstang/hardware/roborio/outputs/config/WsPhoenixConfig.html
index 910195bc..e913fc1b 100644
--- a/docs/org/wildstang/hardware/roborio/outputs/config/WsPhoenixConfig.html
+++ b/docs/org/wildstang/hardware/roborio/outputs/config/WsPhoenixConfig.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>WsPhoenixConfig (rfmain API)</title>
+<title>WsPhoenixConfig (robot_framework API)</title>
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 <link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
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 <![endif]-->
-<script type="text/javascript" src="../../../../../../jquery/jquery-3.6.0.min.js"></script>
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 <body>
 <script type="text/javascript"><!--
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         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="WsPhoenixConfig (rfmain API)";
+            parent.document.title="WsPhoenixConfig (robot_framework API)";
         }
     }
     catch(err) {
diff --git a/docs/org/wildstang/hardware/roborio/outputs/config/WsPhoenixFollowerConfig.html b/docs/org/wildstang/hardware/roborio/outputs/config/WsPhoenixFollowerConfig.html
index d74e30ed..4623c423 100644
--- a/docs/org/wildstang/hardware/roborio/outputs/config/WsPhoenixFollowerConfig.html
+++ b/docs/org/wildstang/hardware/roborio/outputs/config/WsPhoenixFollowerConfig.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>WsPhoenixFollowerConfig (rfmain API)</title>
+<title>WsPhoenixFollowerConfig (robot_framework API)</title>
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-<script type="text/javascript" src="../../../../../../jquery/jquery-3.6.0.min.js"></script>
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 <script type="text/javascript"><!--
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-            parent.document.title="WsPhoenixFollowerConfig (rfmain API)";
+            parent.document.title="WsPhoenixFollowerConfig (robot_framework API)";
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     }
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index cc62e405..6d58815b 100644
--- a/docs/org/wildstang/hardware/roborio/outputs/config/WsRelayConfig.html
+++ b/docs/org/wildstang/hardware/roborio/outputs/config/WsRelayConfig.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>WsRelayConfig (rfmain API)</title>
+<title>WsRelayConfig (robot_framework API)</title>
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@@ -14,14 +14,14 @@
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-<script type="text/javascript" src="../../../../../../jquery/jquery-3.6.0.min.js"></script>
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 <body>
 <script type="text/javascript"><!--
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         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="WsRelayConfig (rfmain API)";
+            parent.document.title="WsRelayConfig (robot_framework API)";
         }
     }
     catch(err) {
diff --git a/docs/org/wildstang/hardware/roborio/outputs/config/WsRemoteAnalogOutputConfig.html b/docs/org/wildstang/hardware/roborio/outputs/config/WsRemoteAnalogOutputConfig.html
index bada20ce..794465c5 100644
--- a/docs/org/wildstang/hardware/roborio/outputs/config/WsRemoteAnalogOutputConfig.html
+++ b/docs/org/wildstang/hardware/roborio/outputs/config/WsRemoteAnalogOutputConfig.html
@@ -3,7 +3,7 @@
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-<title>WsRemoteAnalogOutputConfig (rfmain API)</title>
+<title>WsRemoteAnalogOutputConfig (robot_framework API)</title>
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-            parent.document.title="WsRemoteAnalogOutputConfig (rfmain API)";
+            parent.document.title="WsRemoteAnalogOutputConfig (robot_framework API)";
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index 39d91463..72c77416 100644
--- a/docs/org/wildstang/hardware/roborio/outputs/config/WsRemoteDigitalOutputConfig.html
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@@ -3,7 +3,7 @@
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+            parent.document.title="WsRemoteDigitalOutputConfig (robot_framework API)";
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index a4d9621a..c78fec20 100644
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+<title>WsSparkMaxFollowerConfig (robot_framework API)</title>
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+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc -->
+<title>CANConstants (robot_framework API)</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.min.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../jquery-ui.overrides.css" title="Style">
+<script type="text/javascript" src="../../../../script.js"></script>
+<script type="text/javascript" src="../../../../jquery/jszip/dist/jszip.min.js"></script>
+<script type="text/javascript" src="../../../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
+<!--[if IE]>
+<script type="text/javascript" src="../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
+<![endif]-->
+<script type="text/javascript" src="../../../../jquery/jquery-3.6.1.min.js"></script>
+<script type="text/javascript" src="../../../../jquery/jquery-ui.min.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="CANConstants (robot_framework API)";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var pathtoroot = "../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
+<nav role="navigation">
+<div class="fixedNav">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a id="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../index.html">Overview</a></li>
+<li><a href="package-summary.html">Package</a></li>
+<li class="navBarCell1Rev">Class</li>
+<li><a href="package-tree.html">Tree</a></li>
+<li><a href="../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../index-all.html">Index</a></li>
+<li><a href="../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_top">
+<li><a href="../../../../allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<ul class="navListSearch">
+<li><label for="search">SEARCH:</label>
+<input type="text" id="search" value="search" disabled="disabled">
+<input type="reset" id="reset" value="reset" disabled="disabled">
+</li>
+</ul>
+<div>
+<script type="text/javascript"><!--
+  allClassesLink = document.getElementById("allclasses_navbar_top");
+  if(window==top) {
+    allClassesLink.style.display = "block";
+  }
+  else {
+    allClassesLink.style.display = "none";
+  }
+  //-->
+</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<div>
+<ul class="subNavList">
+<li>Summary:&nbsp;</li>
+<li>Nested&nbsp;|&nbsp;</li>
+<li><a href="#field.summary">Field</a>&nbsp;|&nbsp;</li>
+<li><a href="#constructor.summary">Constr</a>&nbsp;|&nbsp;</li>
+<li><a href="#method.summary">Method</a></li>
+</ul>
+<ul class="subNavList">
+<li>Detail:&nbsp;</li>
+<li><a href="#field.detail">Field</a>&nbsp;|&nbsp;</li>
+<li><a href="#constructor.detail">Constr</a>&nbsp;|&nbsp;</li>
+<li>Method</li>
+</ul>
+</div>
+<a id="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+</div>
+<div class="navPadding">&nbsp;</div>
+<script type="text/javascript"><!--
+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<!-- ======== START OF CLASS DATA ======== -->
+<main role="main">
+<div class="header">
+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">org.wildstang.sample.robot</a></div>
+<h2 title="Class CANConstants" class="title">Class CANConstants</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li>java.lang.Object</li>
+<li>
+<ul class="inheritance">
+<li>org.wildstang.sample.robot.CANConstants</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<hr>
+<pre>public final class <span class="typeNameLabel">CANConstants</span>
+extends java.lang.Object</pre>
+<div class="block">CAN Constants are stored here.
+ We primarily use CAN to communicate with Talon motor controllers.
+ These constants must correlate with the IDs set in Phoenix Tuner.
+ Official documentation can be found here:
+ https://phoenix-documentation.readthedocs.io/en/latest/ch08_BringUpCAN.html</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- =========== FIELD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="field.summary">
+<!--   -->
+</a>
+<h3>Field Summary</h3>
+<table class="memberSummary">
+<caption><span>Fields</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Field</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code>static int</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#ANGLE1">ANGLE1</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>static int</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#ANGLE2">ANGLE2</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code>static int</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#ANGLE3">ANGLE3</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>static int</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#ANGLE4">ANGLE4</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code>static int</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#DRIVE1">DRIVE1</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>static int</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#DRIVE2">DRIVE2</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code>static int</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#DRIVE3">DRIVE3</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>static int</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#DRIVE4">DRIVE4</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code>static int</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#ENC1">ENC1</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>static int</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#ENC2">ENC2</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code>static int</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#ENC3">ENC3</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>static int</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#ENC4">ENC4</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code>static int</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#EXAMPLE_MOTOR_CONTROLLER">EXAMPLE_MOTOR_CONTROLLER</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>static int[]</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#EXAMPLE_PAIRED_CONTROLLERS">EXAMPLE_PAIRED_CONTROLLERS</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code>static int</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#GYRO">GYRO</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>static int</code></td>
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diff --git a/docs/frc/paths/Test.html b/docs/org/wildstang/sample/robot/Main.html
similarity index 64%
rename from docs/frc/paths/Test.html
rename to docs/org/wildstang/sample/robot/Main.html
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@@ -3,37 +3,37 @@
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-<title>Test (rfmain API)</title>
+<title>Main (robot_framework API)</title>
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-<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
-<link rel="stylesheet" type="text/css" href="../../jquery/jquery-ui.min.css" title="Style">
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-<script type="text/javascript" src="../../jquery/jszip/dist/jszip.min.js"></script>
-<script type="text/javascript" src="../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
+<link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.min.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../jquery-ui.overrides.css" title="Style">
+<script type="text/javascript" src="../../../../script.js"></script>
+<script type="text/javascript" src="../../../../jquery/jszip/dist/jszip.min.js"></script>
+<script type="text/javascript" src="../../../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
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@@ -51,18 +51,18 @@
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+<li><a href="../../../../index.html">Overview</a></li>
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-<li><a href="../../help-doc.html">Help</a></li>
+<li><a href="../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../index-all.html">Index</a></li>
+<li><a href="../../../../help-doc.html">Help</a></li>
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+<li><a href="../../../../allclasses.html">All&nbsp;Classes</a></li>
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 <div>
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-<li><a href="#nested.class.summary">Nested</a>&nbsp;|&nbsp;</li>
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-<h2 title="Class Test" class="title">Class Test</h2>
+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">org.wildstang.sample.robot</a></div>
+<h2 title="Class Main" class="title">Class Main</h2>
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+<pre>public final class <span class="typeNameLabel">Main</span>
+extends java.lang.Object</pre>
+<div class="block">Do NOT modify this file. This is the main class as defined in build.gradle.
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+<h4>main</h4>
+<pre class="methodSignature">public static&nbsp;void&nbsp;main&#8203;(java.lang.String...&nbsp;args)</pre>
+<div class="block">Main initialization function.
+ The TimedRobot defined in Robot.java is started from here.</div>
 <dl>
-<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
-<dd><code>getPath</code>&nbsp;in class&nbsp;<code>com.team319.trajectory.Path</code></dd>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>args</code> - No arguments are expected.</dd>
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-<li><a href="../../index.html">Overview</a></li>
+<li><a href="../../../../index.html">Overview</a></li>
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 <li class="navBarCell1Rev">Class</li>
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-<li><a href="../../index-all.html">Index</a></li>
-<li><a href="../../help-doc.html">Help</a></li>
+<li><a href="../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../index-all.html">Index</a></li>
+<li><a href="../../../../help-doc.html">Help</a></li>
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diff --git a/docs/org/wildstang/sample/robot/Robot.html b/docs/org/wildstang/sample/robot/Robot.html
new file mode 100644
index 00000000..73465f0d
--- /dev/null
+++ b/docs/org/wildstang/sample/robot/Robot.html
@@ -0,0 +1,580 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc -->
+<title>Robot (robot_framework API)</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.min.css" title="Style">
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+<script type="text/javascript" src="../../../../jquery/jszip/dist/jszip.min.js"></script>
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+<script type="text/javascript" src="../../../../jquery/jquery-ui.min.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="Robot (robot_framework API)";
+        }
+    }
+    catch(err) {
+    }
+//-->
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+var pathtoroot = "../../../../";
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+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
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+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
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+<ul class="navList" title="Navigation">
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+<li><a href="../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../index-all.html">Index</a></li>
+<li><a href="../../../../help-doc.html">Help</a></li>
+</ul>
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+<div class="subNav">
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+<li><a href="../../../../allclasses.html">All&nbsp;Classes</a></li>
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+<input type="text" id="search" value="search" disabled="disabled">
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+</li>
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+<script type="text/javascript"><!--
+  allClassesLink = document.getElementById("allclasses_navbar_top");
+  if(window==top) {
+    allClassesLink.style.display = "block";
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+</noscript>
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+<ul class="subNavList">
+<li>Summary:&nbsp;</li>
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+<li><a href="#field.summary">Field</a>&nbsp;|&nbsp;</li>
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+<li><a href="#method.summary">Method</a></li>
+</ul>
+<ul class="subNavList">
+<li>Detail:&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
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+<!-- ========= END OF TOP NAVBAR ========= -->
+</div>
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+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
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+</nav>
+</header>
+<!-- ======== START OF CLASS DATA ======== -->
+<main role="main">
+<div class="header">
+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">org.wildstang.sample.robot</a></div>
+<h2 title="Class Robot" class="title">Class Robot</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li>java.lang.Object</li>
+<li>
+<ul class="inheritance">
+<li>edu.wpi.first.wpilibj.RobotBase</li>
+<li>
+<ul class="inheritance">
+<li>edu.wpi.first.wpilibj.IterativeRobotBase</li>
+<li>
+<ul class="inheritance">
+<li>edu.wpi.first.wpilibj.TimedRobot</li>
+<li>
+<ul class="inheritance">
+<li>org.wildstang.sample.robot.Robot</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
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+<dt>All Implemented Interfaces:</dt>
+<dd><code>java.lang.AutoCloseable</code></dd>
+</dl>
+<hr>
+<pre>public class <span class="typeNameLabel">Robot</span>
+extends edu.wpi.first.wpilibj.TimedRobot</pre>
+<div class="block">Once the Main class starts this class, the VM is configured to call the
+ functions corresponding to each mode, as described in the IterativeRobotBase
+ documentation. In summary, this class is the root of everything that the
+ robot does. Everytime the driver station or FMS tells the robot to enter a
+ new mode, this class handles that instruction.
+ 
+ In general, this class should not be modified.</div>
+<dl>
+<dt><span class="seeLabel">See Also:</span></dt>
+<dd><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj/IterativeRobotBase.html">IterativeRobotBase</a></dd>
+</dl>
+</li>
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+<h3>Fields inherited from class&nbsp;edu.wpi.first.wpilibj.TimedRobot</h3>
+<code>kDefaultPeriod</code></li>
+</ul>
+</li>
+</ul>
+</section>
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+<ul class="blockList">
+<li class="blockList"><a id="constructor.summary">
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+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">Robot</a></span>()</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</table>
+</li>
+</ul>
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+<!-- ========== METHOD SUMMARY =========== -->
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+<ul class="blockList">
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+<!--   -->
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+<h3>Method Summary</h3>
+<table class="memberSummary">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#autonomousInit()">autonomousInit</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Runs when autonomous is enabled.</div>
+</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#autonomousPeriodic()">autonomousPeriodic</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Runs repeatedly while autonomous is enabled.</div>
+</td>
+</tr>
+<tr id="i2" class="altColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#disabledInit()">disabledInit</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Runs when robot is disabled, announces that the robot has been disabled.</div>
+</td>
+</tr>
+<tr id="i3" class="rowColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#disabledPeriodic()">disabledPeriodic</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Runs repeatedly while robot is disabled.</div>
+</td>
+</tr>
+<tr id="i4" class="altColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#robotInit()">robotInit</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Runs on initialization, creates and configures the framework Core.</div>
+</td>
+</tr>
+<tr id="i5" class="rowColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#robotPeriodic()">robotPeriodic</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Runs repeatedly, regardless of mode and state.</div>
+</td>
+</tr>
+<tr id="i6" class="altColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#teleopInit()">teleopInit</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Runs when teleoperated is enabled.</div>
+</td>
+</tr>
+<tr id="i7" class="rowColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#teleopPeriodic()">teleopPeriodic</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Runs repeatedly while teleoperated is enabled.</div>
+</td>
+</tr>
+<tr id="i8" class="altColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#testInit()">testInit</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Runs when test is enabled.</div>
+</td>
+</tr>
+<tr id="i9" class="rowColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#testPeriodic()">testPeriodic</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Runs repeatedly while test is enabled.</div>
+</td>
+</tr>
+</table>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.edu.wpi.first.wpilibj.TimedRobot">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;edu.wpi.first.wpilibj.TimedRobot</h3>
+<code>addPeriodic, addPeriodic, close, endCompetition, startCompetition</code></li>
+</ul>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.edu.wpi.first.wpilibj.IterativeRobotBase">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;edu.wpi.first.wpilibj.IterativeRobotBase</h3>
+<code>autonomousExit, disabledExit, enableLiveWindowInTest, getPeriod, isLiveWindowEnabledInTest, loopFunc, setNetworkTablesFlushEnabled, simulationInit, simulationPeriodic, teleopExit, testExit</code></li>
+</ul>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.edu.wpi.first.wpilibj.RobotBase">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;edu.wpi.first.wpilibj.RobotBase</h3>
+<code>getMainThreadId, getRuntimeType, isAutonomous, isAutonomousEnabled, isDisabled, isEnabled, isReal, isSimulation, isTeleop, isTeleopEnabled, isTest, isTestEnabled, startRobot, suppressExitWarning</code></li>
+</ul>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;java.lang.Object</h3>
+<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+<div class="details">
+<ul class="blockList">
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+<!-- ========= CONSTRUCTOR DETAIL ======== -->
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+<ul class="blockList">
+<li class="blockList"><a id="constructor.detail">
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+<a id="&lt;init&gt;()">
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+<li class="blockList">
+<h4>Robot</h4>
+<pre>public&nbsp;Robot()</pre>
+</li>
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+<!-- ============ METHOD DETAIL ========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.detail">
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+<h3>Method Detail</h3>
+<a id="robotInit()">
+<!--   -->
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+<ul class="blockList">
+<li class="blockList">
+<h4>robotInit</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;robotInit()</pre>
+<div class="block">Runs on initialization, creates and configures the framework Core.</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code>robotInit</code>&nbsp;in class&nbsp;<code>edu.wpi.first.wpilibj.IterativeRobotBase</code></dd>
+</dl>
+</li>
+</ul>
+<a id="disabledInit()">
+<!--   -->
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+<ul class="blockList">
+<li class="blockList">
+<h4>disabledInit</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;disabledInit()</pre>
+<div class="block">Runs when robot is disabled, announces that the robot has been disabled.</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code>disabledInit</code>&nbsp;in class&nbsp;<code>edu.wpi.first.wpilibj.IterativeRobotBase</code></dd>
+</dl>
+</li>
+</ul>
+<a id="autonomousInit()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>autonomousInit</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;autonomousInit()</pre>
+<div class="block">Runs when autonomous is enabled. Resets all the subsystems, then starts
+ the currently selected (and locked in) auto program.</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code>autonomousInit</code>&nbsp;in class&nbsp;<code>edu.wpi.first.wpilibj.IterativeRobotBase</code></dd>
+</dl>
+</li>
+</ul>
+<a id="teleopInit()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>teleopInit</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;teleopInit()</pre>
+<div class="block">Runs when teleoperated is enabled.
+ Cleans up from autonomous then resets all the subsystems.
+ Note: once teleopInit() is called auto cannot be run again.</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code>teleopInit</code>&nbsp;in class&nbsp;<code>edu.wpi.first.wpilibj.IterativeRobotBase</code></dd>
+</dl>
+</li>
+</ul>
+<a id="testInit()">
+<!--   -->
+</a>
+<ul class="blockList">
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+<h4>testInit</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;testInit()</pre>
+<div class="block">Runs when test is enabled. Currently does nothing.</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code>testInit</code>&nbsp;in class&nbsp;<code>edu.wpi.first.wpilibj.IterativeRobotBase</code></dd>
+<dt><span class="seeLabel">See Also:</span></dt>
+<dd><a href="https://github.com/wildstang/robot_framework/issues/10">robot_framework#10</a></dd>
+</dl>
+</li>
+</ul>
+<a id="robotPeriodic()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>robotPeriodic</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;robotPeriodic()</pre>
+<div class="block">Runs repeatedly, regardless of mode and state.
+ Tells the core to run each manager.</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code>robotPeriodic</code>&nbsp;in class&nbsp;<code>edu.wpi.first.wpilibj.IterativeRobotBase</code></dd>
+<dt><span class="seeLabel">See Also:</span></dt>
+<dd><a href="https://github.com/wildstang/robot_framework/issues/26">robot_framework#26</a></dd>
+</dl>
+</li>
+</ul>
+<a id="disabledPeriodic()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>disabledPeriodic</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;disabledPeriodic()</pre>
+<div class="block">Runs repeatedly while robot is disabled. Currently does nothing.</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code>disabledPeriodic</code>&nbsp;in class&nbsp;<code>edu.wpi.first.wpilibj.IterativeRobotBase</code></dd>
+</dl>
+</li>
+</ul>
+<a id="autonomousPeriodic()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>autonomousPeriodic</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;autonomousPeriodic()</pre>
+<div class="block">Runs repeatedly while autonomous is enabled.
+ Tells the core to run each manager.</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code>autonomousPeriodic</code>&nbsp;in class&nbsp;<code>edu.wpi.first.wpilibj.IterativeRobotBase</code></dd>
+</dl>
+</li>
+</ul>
+<a id="teleopPeriodic()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>teleopPeriodic</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;teleopPeriodic()</pre>
+<div class="block">Runs repeatedly while teleoperated is enabled.
+ Tells the core to run each manager.</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code>teleopPeriodic</code>&nbsp;in class&nbsp;<code>edu.wpi.first.wpilibj.IterativeRobotBase</code></dd>
+</dl>
+</li>
+</ul>
+<a id="testPeriodic()">
+<!--   -->
+</a>
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+<li class="blockList">
+<h4>testPeriodic</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;testPeriodic()</pre>
+<div class="block">Runs repeatedly while test is enabled. Currently does nothing.</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code>testPeriodic</code>&nbsp;in class&nbsp;<code>edu.wpi.first.wpilibj.IterativeRobotBase</code></dd>
+<dt><span class="seeLabel">See Also:</span></dt>
+<dd><a href="https://github.com/wildstang/robot_framework/issues/10">robot_framework#10</a></dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+</div>
+</main>
+<!-- ========= END OF CLASS DATA ========= -->
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
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+<!--   -->
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diff --git a/docs/org/wildstang/sample/robot/WSAutoPrograms.html b/docs/org/wildstang/sample/robot/WSAutoPrograms.html
new file mode 100644
index 00000000..8074b1ea
--- /dev/null
+++ b/docs/org/wildstang/sample/robot/WSAutoPrograms.html
@@ -0,0 +1,412 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc -->
+<title>WSAutoPrograms (robot_framework API)</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.min.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../jquery-ui.overrides.css" title="Style">
+<script type="text/javascript" src="../../../../script.js"></script>
+<script type="text/javascript" src="../../../../jquery/jszip/dist/jszip.min.js"></script>
+<script type="text/javascript" src="../../../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
+<!--[if IE]>
+<script type="text/javascript" src="../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
+<![endif]-->
+<script type="text/javascript" src="../../../../jquery/jquery-3.6.1.min.js"></script>
+<script type="text/javascript" src="../../../../jquery/jquery-ui.min.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="WSAutoPrograms (robot_framework API)";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var data = {"i0":10,"i1":10,"i2":9,"i3":9};
+var tabs = {65535:["t0","All Methods"],1:["t1","Static Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]};
+var altColor = "altColor";
+var rowColor = "rowColor";
+var tableTab = "tableTab";
+var activeTableTab = "activeTableTab";
+var pathtoroot = "../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
+<nav role="navigation">
+<div class="fixedNav">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a id="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
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+<ul class="navList" title="Navigation">
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+</li>
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+</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<div>
+<ul class="subNavList">
+<li>Summary:&nbsp;</li>
+<li>Nested&nbsp;|&nbsp;</li>
+<li><a href="#enum.constant.summary">Enum Constants</a>&nbsp;|&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
+<li><a href="#method.summary">Method</a></li>
+</ul>
+<ul class="subNavList">
+<li>Detail:&nbsp;</li>
+<li><a href="#enum.constant.detail">Enum Constants</a>&nbsp;|&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
+<li><a href="#method.detail">Method</a></li>
+</ul>
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+<!--   -->
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+<!-- ========= END OF TOP NAVBAR ========= -->
+</div>
+<div class="navPadding">&nbsp;</div>
+<script type="text/javascript"><!--
+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<!-- ======== START OF CLASS DATA ======== -->
+<main role="main">
+<div class="header">
+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">org.wildstang.sample.robot</a></div>
+<h2 title="Enum WSAutoPrograms" class="title">Enum WSAutoPrograms</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li>java.lang.Object</li>
+<li>
+<ul class="inheritance">
+<li>java.lang.Enum&lt;<a href="WSAutoPrograms.html" title="enum in org.wildstang.sample.robot">WSAutoPrograms</a>&gt;</li>
+<li>
+<ul class="inheritance">
+<li>org.wildstang.sample.robot.WSAutoPrograms</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<dl>
+<dt>All Implemented Interfaces:</dt>
+<dd><code>java.io.Serializable</code>, <code>java.lang.Comparable&lt;<a href="WSAutoPrograms.html" title="enum in org.wildstang.sample.robot">WSAutoPrograms</a>&gt;</code>, <code><a href="../../framework/core/AutoPrograms.html" title="interface in org.wildstang.framework.core">AutoPrograms</a></code></dd>
+</dl>
+<hr>
+<pre>public enum <span class="typeNameLabel">WSAutoPrograms</span>
+extends java.lang.Enum&lt;<a href="WSAutoPrograms.html" title="enum in org.wildstang.sample.robot">WSAutoPrograms</a>&gt;
+implements <a href="../../framework/core/AutoPrograms.html" title="interface in org.wildstang.framework.core">AutoPrograms</a></pre>
+<div class="block">All active AutoPrograms are enumerated here.
+ It is used in Robot.java to initialize all programs.</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- =========== ENUM CONSTANT SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="enum.constant.summary">
+<!--   -->
+</a>
+<h3>Enum Constant Summary</h3>
+<table class="memberSummary">
+<caption><span>Enum Constants</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Enum Constant</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#TEST_PROGRAM">TEST_PROGRAM</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<table class="memberSummary">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code>java.lang.String</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getName()">getName</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Returns the name mapped to the AutoProgram.</div>
+</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code>java.lang.Class&lt;?&gt;</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getProgramClass()">getProgramClass</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Returns AutoProgram's class.</div>
+</td>
+</tr>
+<tr id="i2" class="altColor">
+<td class="colFirst"><code>static <a href="WSAutoPrograms.html" title="enum in org.wildstang.sample.robot">WSAutoPrograms</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#valueOf(java.lang.String)">valueOf</a></span>&#8203;(java.lang.String&nbsp;name)</code></th>
+<td class="colLast">
+<div class="block">Returns the enum constant of this type with the specified name.</div>
+</td>
+</tr>
+<tr id="i3" class="rowColor">
+<td class="colFirst"><code>static <a href="WSAutoPrograms.html" title="enum in org.wildstang.sample.robot">WSAutoPrograms</a>[]</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#values()">values</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Returns an array containing the constants of this enum type, in
+the order they are declared.</div>
+</td>
+</tr>
+</table>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.java.lang.Enum">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;java.lang.Enum</h3>
+<code>clone, compareTo, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf</code></li>
+</ul>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;java.lang.Object</h3>
+<code>getClass, notify, notifyAll, wait, wait, wait</code></li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+<div class="details">
+<ul class="blockList">
+<li class="blockList">
+<!-- ============ ENUM CONSTANT DETAIL =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="enum.constant.detail">
+<!--   -->
+</a>
+<h3>Enum Constant Detail</h3>
+<a id="TEST_PROGRAM">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>TEST_PROGRAM</h4>
+<pre>public static final&nbsp;<a href="WSAutoPrograms.html" title="enum in org.wildstang.sample.robot">WSAutoPrograms</a> TEST_PROGRAM</pre>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ============ METHOD DETAIL ========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.detail">
+<!--   -->
+</a>
+<h3>Method Detail</h3>
+<a id="values()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>values</h4>
+<pre class="methodSignature">public static&nbsp;<a href="WSAutoPrograms.html" title="enum in org.wildstang.sample.robot">WSAutoPrograms</a>[]&nbsp;values()</pre>
+<div class="block">Returns an array containing the constants of this enum type, in
+the order they are declared. This method may be used to iterate
+over the constants as follows:
+<pre>
+for (WSAutoPrograms c : WSAutoPrograms.values())
+&nbsp;   System.out.println(c);
+</pre></div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>an array containing the constants of this enum type, in the order they are declared</dd>
+</dl>
+</li>
+</ul>
+<a id="valueOf(java.lang.String)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>valueOf</h4>
+<pre class="methodSignature">public static&nbsp;<a href="WSAutoPrograms.html" title="enum in org.wildstang.sample.robot">WSAutoPrograms</a>&nbsp;valueOf&#8203;(java.lang.String&nbsp;name)</pre>
+<div class="block">Returns the enum constant of this type with the specified name.
+The string must match <i>exactly</i> an identifier used to declare an
+enum constant in this type.  (Extraneous whitespace characters are 
+not permitted.)</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>name</code> - the name of the enum constant to be returned.</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>the enum constant with the specified name</dd>
+<dt><span class="throwsLabel">Throws:</span></dt>
+<dd><code>java.lang.IllegalArgumentException</code> - if this enum type has no constant with the specified name</dd>
+<dd><code>java.lang.NullPointerException</code> - if the argument is null</dd>
+</dl>
+</li>
+</ul>
+<a id="getName()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getName</h4>
+<pre class="methodSignature">public&nbsp;java.lang.String&nbsp;getName()</pre>
+<div class="block">Returns the name mapped to the AutoProgram.</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
+<dd><code><a href="../../framework/core/AutoPrograms.html#getName()">getName</a></code>&nbsp;in interface&nbsp;<code><a href="../../framework/core/AutoPrograms.html" title="interface in org.wildstang.framework.core">AutoPrograms</a></code></dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Name mapped to the AutoProgram.</dd>
+</dl>
+</li>
+</ul>
+<a id="getProgramClass()">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>getProgramClass</h4>
+<pre class="methodSignature">public&nbsp;java.lang.Class&lt;?&gt;&nbsp;getProgramClass()</pre>
+<div class="block">Returns AutoProgram's class.</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
+<dd><code><a href="../../framework/core/AutoPrograms.html#getProgramClass()">getProgramClass</a></code>&nbsp;in interface&nbsp;<code><a href="../../framework/core/AutoPrograms.html" title="interface in org.wildstang.framework.core">AutoPrograms</a></code></dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>AutoProgram's class.</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+</div>
+</main>
+<!-- ========= END OF CLASS DATA ========= -->
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
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+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
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+<!--   -->
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+<ul class="navList" title="Navigation">
+<li><a href="../../../../index.html">Overview</a></li>
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+<li class="navBarCell1Rev">Class</li>
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+<li><a href="../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../index-all.html">Index</a></li>
+<li><a href="../../../../help-doc.html">Help</a></li>
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+<ul class="subNavList">
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+<li><a href="#enum.constant.summary">Enum Constants</a>&nbsp;|&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
+<li><a href="#method.summary">Method</a></li>
+</ul>
+<ul class="subNavList">
+<li>Detail:&nbsp;</li>
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diff --git a/docs/org/wildstang/sample/robot/WSInputs.html b/docs/org/wildstang/sample/robot/WSInputs.html
new file mode 100644
index 00000000..6795c4d6
--- /dev/null
+++ b/docs/org/wildstang/sample/robot/WSInputs.html
@@ -0,0 +1,982 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc -->
+<title>WSInputs (robot_framework API)</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.min.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../jquery-ui.overrides.css" title="Style">
+<script type="text/javascript" src="../../../../script.js"></script>
+<script type="text/javascript" src="../../../../jquery/jszip/dist/jszip.min.js"></script>
+<script type="text/javascript" src="../../../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
+<!--[if IE]>
+<script type="text/javascript" src="../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
+<![endif]-->
+<script type="text/javascript" src="../../../../jquery/jquery-3.6.1.min.js"></script>
+<script type="text/javascript" src="../../../../jquery/jquery-ui.min.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="WSInputs (robot_framework API)";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var data = {"i0":10,"i1":10,"i2":10,"i3":9,"i4":9};
+var tabs = {65535:["t0","All Methods"],1:["t1","Static Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]};
+var altColor = "altColor";
+var rowColor = "rowColor";
+var tableTab = "tableTab";
+var activeTableTab = "activeTableTab";
+var pathtoroot = "../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
+<nav role="navigation">
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+<!-- ========= START OF TOP NAVBAR ======= -->
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+<!--   -->
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+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
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+<ul class="navList" title="Navigation">
+<li><a href="../../../../index.html">Overview</a></li>
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+<li class="navBarCell1Rev">Class</li>
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+<li><a href="../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../index-all.html">Index</a></li>
+<li><a href="../../../../help-doc.html">Help</a></li>
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+<ul class="navListSearch">
+<li><label for="search">SEARCH:</label>
+<input type="text" id="search" value="search" disabled="disabled">
+<input type="reset" id="reset" value="reset" disabled="disabled">
+</li>
+</ul>
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+  allClassesLink = document.getElementById("allclasses_navbar_top");
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+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<div>
+<ul class="subNavList">
+<li>Summary:&nbsp;</li>
+<li>Nested&nbsp;|&nbsp;</li>
+<li><a href="#enum.constant.summary">Enum Constants</a>&nbsp;|&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
+<li><a href="#method.summary">Method</a></li>
+</ul>
+<ul class="subNavList">
+<li>Detail:&nbsp;</li>
+<li><a href="#enum.constant.detail">Enum Constants</a>&nbsp;|&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
+<li><a href="#method.detail">Method</a></li>
+</ul>
+</div>
+<a id="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+</div>
+<div class="navPadding">&nbsp;</div>
+<script type="text/javascript"><!--
+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<!-- ======== START OF CLASS DATA ======== -->
+<main role="main">
+<div class="header">
+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">org.wildstang.sample.robot</a></div>
+<h2 title="Enum WSInputs" class="title">Enum WSInputs</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li>java.lang.Object</li>
+<li>
+<ul class="inheritance">
+<li>java.lang.Enum&lt;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a>&gt;</li>
+<li>
+<ul class="inheritance">
+<li>org.wildstang.sample.robot.WSInputs</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<dl>
+<dt>All Implemented Interfaces:</dt>
+<dd><code>java.io.Serializable</code>, <code>java.lang.Comparable&lt;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a>&gt;</code>, <code><a href="../../framework/core/Inputs.html" title="interface in org.wildstang.framework.core">Inputs</a></code></dd>
+</dl>
+<hr>
+<pre>public enum <span class="typeNameLabel">WSInputs</span>
+extends java.lang.Enum&lt;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a>&gt;
+implements <a href="../../framework/core/Inputs.html" title="interface in org.wildstang.framework.core">Inputs</a></pre>
+<div class="block">Input mappings are stored here.
+ We currently use two Xbox controller for input, driver and manipulator, plus additional sensors.
+ Below each button, axis, and sensor is enumerated with their appropriated IDs.
+ Unclaimed inputs should have a name representing the input.
+ Claim inputs by changing the name to represent the output.</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- =========== ENUM CONSTANT SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="enum.constant.summary">
+<!--   -->
+</a>
+<h3>Enum Constant Summary</h3>
+<table class="memberSummary">
+<caption><span>Enum Constants</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Enum Constant</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#DRIVER_DPAD_DOWN">DRIVER_DPAD_DOWN</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#DRIVER_DPAD_LEFT">DRIVER_DPAD_LEFT</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#DRIVER_DPAD_RIGHT">DRIVER_DPAD_RIGHT</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#DRIVER_DPAD_UP">DRIVER_DPAD_UP</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#DRIVER_FACE_DOWN">DRIVER_FACE_DOWN</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#DRIVER_FACE_LEFT">DRIVER_FACE_LEFT</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#DRIVER_FACE_RIGHT">DRIVER_FACE_RIGHT</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#DRIVER_FACE_UP">DRIVER_FACE_UP</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#DRIVER_LEFT_JOYSTICK_BUTTON">DRIVER_LEFT_JOYSTICK_BUTTON</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#DRIVER_LEFT_JOYSTICK_X">DRIVER_LEFT_JOYSTICK_X</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#DRIVER_LEFT_JOYSTICK_Y">DRIVER_LEFT_JOYSTICK_Y</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#DRIVER_LEFT_SHOULDER">DRIVER_LEFT_SHOULDER</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#DRIVER_LEFT_TRIGGER">DRIVER_LEFT_TRIGGER</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#DRIVER_RIGHT_JOYSTICK_BUTTON">DRIVER_RIGHT_JOYSTICK_BUTTON</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#DRIVER_RIGHT_JOYSTICK_X">DRIVER_RIGHT_JOYSTICK_X</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#DRIVER_RIGHT_JOYSTICK_Y">DRIVER_RIGHT_JOYSTICK_Y</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#DRIVER_RIGHT_SHOULDER">DRIVER_RIGHT_SHOULDER</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#DRIVER_RIGHT_TRIGGER">DRIVER_RIGHT_TRIGGER</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#DRIVER_SELECT">DRIVER_SELECT</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#DRIVER_START">DRIVER_START</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#LL_TV">LL_TV</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#LL_TX">LL_TX</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#LL_TY">LL_TY</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#MANIPULATOR_DPAD_DOWN">MANIPULATOR_DPAD_DOWN</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#MANIPULATOR_DPAD_LEFT">MANIPULATOR_DPAD_LEFT</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#MANIPULATOR_DPAD_RIGHT">MANIPULATOR_DPAD_RIGHT</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#MANIPULATOR_DPAD_UP">MANIPULATOR_DPAD_UP</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#MANIPULATOR_FACE_DOWN">MANIPULATOR_FACE_DOWN</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#MANIPULATOR_FACE_LEFT">MANIPULATOR_FACE_LEFT</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#MANIPULATOR_FACE_RIGHT">MANIPULATOR_FACE_RIGHT</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#MANIPULATOR_FACE_UP">MANIPULATOR_FACE_UP</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#MANIPULATOR_LEFT_JOYSTICK_BUTTON">MANIPULATOR_LEFT_JOYSTICK_BUTTON</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#MANIPULATOR_LEFT_JOYSTICK_X">MANIPULATOR_LEFT_JOYSTICK_X</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#MANIPULATOR_LEFT_JOYSTICK_Y">MANIPULATOR_LEFT_JOYSTICK_Y</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#MANIPULATOR_LEFT_SHOULDER">MANIPULATOR_LEFT_SHOULDER</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#MANIPULATOR_LEFT_TRIGGER">MANIPULATOR_LEFT_TRIGGER</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#MANIPULATOR_RIGHT_JOYSTICK_BUTTON">MANIPULATOR_RIGHT_JOYSTICK_BUTTON</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#MANIPULATOR_RIGHT_JOYSTICK_X">MANIPULATOR_RIGHT_JOYSTICK_X</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#MANIPULATOR_RIGHT_JOYSTICK_Y">MANIPULATOR_RIGHT_JOYSTICK_Y</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#MANIPULATOR_RIGHT_SHOULDER">MANIPULATOR_RIGHT_SHOULDER</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#MANIPULATOR_RIGHT_TRIGGER">MANIPULATOR_RIGHT_TRIGGER</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#MANIPULATOR_SELECT">MANIPULATOR_SELECT</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#MANIPULATOR_START">MANIPULATOR_START</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<table class="memberSummary">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code><a href="../../framework/io/inputs/Input.html" title="class in org.wildstang.framework.io.inputs">Input</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#get()">get</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Returns the actual Input object from the InputManager</div>
+</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code><a href="../../framework/hardware/InputConfig.html" title="interface in org.wildstang.framework.hardware">InputConfig</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getConfig()">getConfig</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Returns the config of Input for the enumeration.</div>
+</td>
+</tr>
+<tr id="i2" class="altColor">
+<td class="colFirst"><code>java.lang.String</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getName()">getName</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Returns the name mapped to the Input.</div>
+</td>
+</tr>
+<tr id="i3" class="rowColor">
+<td class="colFirst"><code>static <a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#valueOf(java.lang.String)">valueOf</a></span>&#8203;(java.lang.String&nbsp;name)</code></th>
+<td class="colLast">
+<div class="block">Returns the enum constant of this type with the specified name.</div>
+</td>
+</tr>
+<tr id="i4" class="altColor">
+<td class="colFirst"><code>static <a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a>[]</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#values()">values</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Returns an array containing the constants of this enum type, in
+the order they are declared.</div>
+</td>
+</tr>
+</table>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.java.lang.Enum">
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+</a>
+<h3>Methods inherited from class&nbsp;java.lang.Enum</h3>
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+</ul>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;java.lang.Object</h3>
+<code>getClass, notify, notifyAll, wait, wait, wait</code></li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+<div class="details">
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+<ul class="blockList">
+<li class="blockList"><a id="enum.constant.detail">
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+</a>
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+<ul class="blockList">
+<li class="blockList">
+<h4>DRIVER_LEFT_JOYSTICK_Y</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> DRIVER_LEFT_JOYSTICK_Y</pre>
+</li>
+</ul>
+<a id="DRIVER_LEFT_JOYSTICK_X">
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+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>DRIVER_LEFT_JOYSTICK_X</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> DRIVER_LEFT_JOYSTICK_X</pre>
+</li>
+</ul>
+<a id="DRIVER_RIGHT_JOYSTICK_Y">
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+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>DRIVER_RIGHT_JOYSTICK_Y</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> DRIVER_RIGHT_JOYSTICK_Y</pre>
+</li>
+</ul>
+<a id="DRIVER_RIGHT_JOYSTICK_X">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>DRIVER_RIGHT_JOYSTICK_X</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> DRIVER_RIGHT_JOYSTICK_X</pre>
+</li>
+</ul>
+<a id="DRIVER_DPAD_DOWN">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>DRIVER_DPAD_DOWN</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> DRIVER_DPAD_DOWN</pre>
+</li>
+</ul>
+<a id="DRIVER_DPAD_LEFT">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>DRIVER_DPAD_LEFT</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> DRIVER_DPAD_LEFT</pre>
+</li>
+</ul>
+<a id="DRIVER_DPAD_RIGHT">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>DRIVER_DPAD_RIGHT</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> DRIVER_DPAD_RIGHT</pre>
+</li>
+</ul>
+<a id="DRIVER_DPAD_UP">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>DRIVER_DPAD_UP</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> DRIVER_DPAD_UP</pre>
+</li>
+</ul>
+<a id="DRIVER_FACE_DOWN">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>DRIVER_FACE_DOWN</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> DRIVER_FACE_DOWN</pre>
+</li>
+</ul>
+<a id="DRIVER_FACE_LEFT">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>DRIVER_FACE_LEFT</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> DRIVER_FACE_LEFT</pre>
+</li>
+</ul>
+<a id="DRIVER_FACE_RIGHT">
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+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>DRIVER_FACE_RIGHT</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> DRIVER_FACE_RIGHT</pre>
+</li>
+</ul>
+<a id="DRIVER_FACE_UP">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>DRIVER_FACE_UP</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> DRIVER_FACE_UP</pre>
+</li>
+</ul>
+<a id="DRIVER_LEFT_SHOULDER">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>DRIVER_LEFT_SHOULDER</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> DRIVER_LEFT_SHOULDER</pre>
+</li>
+</ul>
+<a id="DRIVER_RIGHT_SHOULDER">
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+</a>
+<ul class="blockList">
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+<h4>DRIVER_RIGHT_SHOULDER</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> DRIVER_RIGHT_SHOULDER</pre>
+</li>
+</ul>
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+</a>
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+<h4>DRIVER_SELECT</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> DRIVER_SELECT</pre>
+</li>
+</ul>
+<a id="DRIVER_START">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>DRIVER_START</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> DRIVER_START</pre>
+</li>
+</ul>
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+<!--   -->
+</a>
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+<h4>DRIVER_LEFT_JOYSTICK_BUTTON</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> DRIVER_LEFT_JOYSTICK_BUTTON</pre>
+</li>
+</ul>
+<a id="DRIVER_RIGHT_JOYSTICK_BUTTON">
+<!--   -->
+</a>
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+<h4>DRIVER_RIGHT_JOYSTICK_BUTTON</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> DRIVER_RIGHT_JOYSTICK_BUTTON</pre>
+</li>
+</ul>
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+<!--   -->
+</a>
+<ul class="blockList">
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+<h4>DRIVER_LEFT_TRIGGER</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> DRIVER_LEFT_TRIGGER</pre>
+</li>
+</ul>
+<a id="DRIVER_RIGHT_TRIGGER">
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+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> DRIVER_RIGHT_TRIGGER</pre>
+</li>
+</ul>
+<a id="MANIPULATOR_LEFT_JOYSTICK_Y">
+<!--   -->
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+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> MANIPULATOR_LEFT_JOYSTICK_Y</pre>
+</li>
+</ul>
+<a id="MANIPULATOR_LEFT_JOYSTICK_X">
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+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> MANIPULATOR_LEFT_JOYSTICK_X</pre>
+</li>
+</ul>
+<a id="MANIPULATOR_RIGHT_JOYSTICK_Y">
+<!--   -->
+</a>
+<ul class="blockList">
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+<h4>MANIPULATOR_RIGHT_JOYSTICK_Y</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> MANIPULATOR_RIGHT_JOYSTICK_Y</pre>
+</li>
+</ul>
+<a id="MANIPULATOR_RIGHT_JOYSTICK_X">
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+<h4>MANIPULATOR_RIGHT_JOYSTICK_X</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> MANIPULATOR_RIGHT_JOYSTICK_X</pre>
+</li>
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+<a id="MANIPULATOR_DPAD_DOWN">
+<!--   -->
+</a>
+<ul class="blockList">
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+<h4>MANIPULATOR_DPAD_DOWN</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> MANIPULATOR_DPAD_DOWN</pre>
+</li>
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+<a id="MANIPULATOR_DPAD_LEFT">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>MANIPULATOR_DPAD_LEFT</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> MANIPULATOR_DPAD_LEFT</pre>
+</li>
+</ul>
+<a id="MANIPULATOR_DPAD_RIGHT">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>MANIPULATOR_DPAD_RIGHT</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> MANIPULATOR_DPAD_RIGHT</pre>
+</li>
+</ul>
+<a id="MANIPULATOR_DPAD_UP">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>MANIPULATOR_DPAD_UP</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> MANIPULATOR_DPAD_UP</pre>
+</li>
+</ul>
+<a id="MANIPULATOR_FACE_DOWN">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>MANIPULATOR_FACE_DOWN</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> MANIPULATOR_FACE_DOWN</pre>
+</li>
+</ul>
+<a id="MANIPULATOR_FACE_LEFT">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>MANIPULATOR_FACE_LEFT</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> MANIPULATOR_FACE_LEFT</pre>
+</li>
+</ul>
+<a id="MANIPULATOR_FACE_RIGHT">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>MANIPULATOR_FACE_RIGHT</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> MANIPULATOR_FACE_RIGHT</pre>
+</li>
+</ul>
+<a id="MANIPULATOR_FACE_UP">
+<!--   -->
+</a>
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+<h4>MANIPULATOR_FACE_UP</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> MANIPULATOR_FACE_UP</pre>
+</li>
+</ul>
+<a id="MANIPULATOR_LEFT_SHOULDER">
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+<h4>MANIPULATOR_LEFT_SHOULDER</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> MANIPULATOR_LEFT_SHOULDER</pre>
+</li>
+</ul>
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+<h4>MANIPULATOR_RIGHT_SHOULDER</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> MANIPULATOR_RIGHT_SHOULDER</pre>
+</li>
+</ul>
+<a id="MANIPULATOR_SELECT">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>MANIPULATOR_SELECT</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> MANIPULATOR_SELECT</pre>
+</li>
+</ul>
+<a id="MANIPULATOR_START">
+<!--   -->
+</a>
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+<h4>MANIPULATOR_START</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> MANIPULATOR_START</pre>
+</li>
+</ul>
+<a id="MANIPULATOR_LEFT_JOYSTICK_BUTTON">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>MANIPULATOR_LEFT_JOYSTICK_BUTTON</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> MANIPULATOR_LEFT_JOYSTICK_BUTTON</pre>
+</li>
+</ul>
+<a id="MANIPULATOR_RIGHT_JOYSTICK_BUTTON">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>MANIPULATOR_RIGHT_JOYSTICK_BUTTON</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> MANIPULATOR_RIGHT_JOYSTICK_BUTTON</pre>
+</li>
+</ul>
+<a id="MANIPULATOR_LEFT_TRIGGER">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>MANIPULATOR_LEFT_TRIGGER</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> MANIPULATOR_LEFT_TRIGGER</pre>
+</li>
+</ul>
+<a id="MANIPULATOR_RIGHT_TRIGGER">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>MANIPULATOR_RIGHT_TRIGGER</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> MANIPULATOR_RIGHT_TRIGGER</pre>
+</li>
+</ul>
+<a id="LL_TX">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>LL_TX</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> LL_TX</pre>
+</li>
+</ul>
+<a id="LL_TY">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>LL_TY</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> LL_TY</pre>
+</li>
+</ul>
+<a id="LL_TV">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>LL_TV</h4>
+<pre>public static final&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a> LL_TV</pre>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ============ METHOD DETAIL ========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.detail">
+<!--   -->
+</a>
+<h3>Method Detail</h3>
+<a id="values()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>values</h4>
+<pre class="methodSignature">public static&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a>[]&nbsp;values()</pre>
+<div class="block">Returns an array containing the constants of this enum type, in
+the order they are declared. This method may be used to iterate
+over the constants as follows:
+<pre>
+for (WSInputs c : WSInputs.values())
+&nbsp;   System.out.println(c);
+</pre></div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>an array containing the constants of this enum type, in the order they are declared</dd>
+</dl>
+</li>
+</ul>
+<a id="valueOf(java.lang.String)">
+<!--   -->
+</a>
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+<li class="blockList">
+<h4>valueOf</h4>
+<pre class="methodSignature">public static&nbsp;<a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a>&nbsp;valueOf&#8203;(java.lang.String&nbsp;name)</pre>
+<div class="block">Returns the enum constant of this type with the specified name.
+The string must match <i>exactly</i> an identifier used to declare an
+enum constant in this type.  (Extraneous whitespace characters are 
+not permitted.)</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>name</code> - the name of the enum constant to be returned.</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>the enum constant with the specified name</dd>
+<dt><span class="throwsLabel">Throws:</span></dt>
+<dd><code>java.lang.IllegalArgumentException</code> - if this enum type has no constant with the specified name</dd>
+<dd><code>java.lang.NullPointerException</code> - if the argument is null</dd>
+</dl>
+</li>
+</ul>
+<a id="getName()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getName</h4>
+<pre class="methodSignature">public&nbsp;java.lang.String&nbsp;getName()</pre>
+<div class="block">Returns the name mapped to the Input.</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
+<dd><code><a href="../../framework/core/Inputs.html#getName()">getName</a></code>&nbsp;in interface&nbsp;<code><a href="../../framework/core/Inputs.html" title="interface in org.wildstang.framework.core">Inputs</a></code></dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Name mapped to the Input.</dd>
+</dl>
+</li>
+</ul>
+<a id="getConfig()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getConfig</h4>
+<pre class="methodSignature">public&nbsp;<a href="../../framework/hardware/InputConfig.html" title="interface in org.wildstang.framework.hardware">InputConfig</a>&nbsp;getConfig()</pre>
+<div class="block">Returns the config of Input for the enumeration.</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
+<dd><code><a href="../../framework/core/Inputs.html#getConfig()">getConfig</a></code>&nbsp;in interface&nbsp;<code><a href="../../framework/core/Inputs.html" title="interface in org.wildstang.framework.core">Inputs</a></code></dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>InputConfig of enumeration.</dd>
+</dl>
+</li>
+</ul>
+<a id="get()">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>get</h4>
+<pre class="methodSignature">public&nbsp;<a href="../../framework/io/inputs/Input.html" title="class in org.wildstang.framework.io.inputs">Input</a>&nbsp;get()</pre>
+<div class="block">Returns the actual Input object from the InputManager</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>The corresponding input.</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+</div>
+</main>
+<!-- ========= END OF CLASS DATA ========= -->
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
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+<!--   -->
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+<ul class="navList" title="Navigation">
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+<li><a href="../../../../index-all.html">Index</a></li>
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+<ul class="subNavList">
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+<li><a href="#enum.constant.summary">Enum Constants</a>&nbsp;|&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
+<li><a href="#method.summary">Method</a></li>
+</ul>
+<ul class="subNavList">
+<li>Detail:&nbsp;</li>
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+<!-- ======== END OF BOTTOM NAVBAR ======= -->
+</nav>
+</footer>
+</body>
+</html>
diff --git a/docs/org/wildstang/sample/robot/WSOutputs.html b/docs/org/wildstang/sample/robot/WSOutputs.html
new file mode 100644
index 00000000..e87e6e4e
--- /dev/null
+++ b/docs/org/wildstang/sample/robot/WSOutputs.html
@@ -0,0 +1,668 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc -->
+<title>WSOutputs (robot_framework API)</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.min.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../jquery-ui.overrides.css" title="Style">
+<script type="text/javascript" src="../../../../script.js"></script>
+<script type="text/javascript" src="../../../../jquery/jszip/dist/jszip.min.js"></script>
+<script type="text/javascript" src="../../../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
+<!--[if IE]>
+<script type="text/javascript" src="../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
+<![endif]-->
+<script type="text/javascript" src="../../../../jquery/jquery-3.6.1.min.js"></script>
+<script type="text/javascript" src="../../../../jquery/jquery-ui.min.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="WSOutputs (robot_framework API)";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var data = {"i0":10,"i1":10,"i2":10,"i3":9,"i4":9};
+var tabs = {65535:["t0","All Methods"],1:["t1","Static Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]};
+var altColor = "altColor";
+var rowColor = "rowColor";
+var tableTab = "tableTab";
+var activeTableTab = "activeTableTab";
+var pathtoroot = "../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
+<nav role="navigation">
+<div class="fixedNav">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a id="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../index.html">Overview</a></li>
+<li><a href="package-summary.html">Package</a></li>
+<li class="navBarCell1Rev">Class</li>
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+<li><a href="../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../index-all.html">Index</a></li>
+<li><a href="../../../../help-doc.html">Help</a></li>
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+<div class="subNav">
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+<li><a href="../../../../allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<ul class="navListSearch">
+<li><label for="search">SEARCH:</label>
+<input type="text" id="search" value="search" disabled="disabled">
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+<script type="text/javascript"><!--
+  allClassesLink = document.getElementById("allclasses_navbar_top");
+  if(window==top) {
+    allClassesLink.style.display = "block";
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+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<div>
+<ul class="subNavList">
+<li>Summary:&nbsp;</li>
+<li>Nested&nbsp;|&nbsp;</li>
+<li><a href="#enum.constant.summary">Enum Constants</a>&nbsp;|&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
+<li><a href="#method.summary">Method</a></li>
+</ul>
+<ul class="subNavList">
+<li>Detail:&nbsp;</li>
+<li><a href="#enum.constant.detail">Enum Constants</a>&nbsp;|&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
+<li><a href="#method.detail">Method</a></li>
+</ul>
+</div>
+<a id="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+</div>
+<div class="navPadding">&nbsp;</div>
+<script type="text/javascript"><!--
+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<!-- ======== START OF CLASS DATA ======== -->
+<main role="main">
+<div class="header">
+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">org.wildstang.sample.robot</a></div>
+<h2 title="Enum WSOutputs" class="title">Enum WSOutputs</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li>java.lang.Object</li>
+<li>
+<ul class="inheritance">
+<li>java.lang.Enum&lt;<a href="WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a>&gt;</li>
+<li>
+<ul class="inheritance">
+<li>org.wildstang.sample.robot.WSOutputs</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<dl>
+<dt>All Implemented Interfaces:</dt>
+<dd><code>java.io.Serializable</code>, <code>java.lang.Comparable&lt;<a href="WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a>&gt;</code>, <code><a href="../../framework/core/Outputs.html" title="interface in org.wildstang.framework.core">Outputs</a></code></dd>
+</dl>
+<hr>
+<pre>public enum <span class="typeNameLabel">WSOutputs</span>
+extends java.lang.Enum&lt;<a href="WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a>&gt;
+implements <a href="../../framework/core/Outputs.html" title="interface in org.wildstang.framework.core">Outputs</a></pre>
+<div class="block">Output mappings are stored here.
+ Below each Motor, PWM, Digital Output, Solenoid, and Relay is enumerated with their appropriated IDs.
+ The enumeration includes a name, output type, and output config object.</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- =========== ENUM CONSTANT SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="enum.constant.summary">
+<!--   -->
+</a>
+<h3>Enum Constant Summary</h3>
+<table class="memberSummary">
+<caption><span>Enum Constants</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Enum Constant</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#ANGLE1">ANGLE1</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#ANGLE2">ANGLE2</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#ANGLE3">ANGLE3</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#ANGLE4">ANGLE4</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#DIO_O_0">DIO_O_0</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#DRIVE1">DRIVE1</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#DRIVE2">DRIVE2</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#DRIVE3">DRIVE3</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#DRIVE4">DRIVE4</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#LED">LED</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#LEFT_DRIVE">LEFT_DRIVE</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#LEFT_DRIVE_FOLLOWER">LEFT_DRIVE_FOLLOWER</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#LL_LEDS">LL_LEDS</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#LL_MODE">LL_MODE</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#RIGHT_DRIVE">RIGHT_DRIVE</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#RIGHT_DRIVE_FOLLOWER">RIGHT_DRIVE_FOLLOWER</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#TEST_MOTOR">TEST_MOTOR</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#TEST_SERVO">TEST_SERVO</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#TEST_SOLENOID">TEST_SOLENOID</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<table class="memberSummary">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code><a href="../../framework/io/outputs/Output.html" title="class in org.wildstang.framework.io.outputs">Output</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#get()">get</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Returns the actual Output object from the OutputManager</div>
+</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code><a href="../../framework/hardware/OutputConfig.html" title="interface in org.wildstang.framework.hardware">OutputConfig</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getConfig()">getConfig</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Returns the config of Output for the enumeration.</div>
+</td>
+</tr>
+<tr id="i2" class="altColor">
+<td class="colFirst"><code>java.lang.String</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getName()">getName</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Returns the name mapped to the Output.</div>
+</td>
+</tr>
+<tr id="i3" class="rowColor">
+<td class="colFirst"><code>static <a href="WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#valueOf(java.lang.String)">valueOf</a></span>&#8203;(java.lang.String&nbsp;name)</code></th>
+<td class="colLast">
+<div class="block">Returns the enum constant of this type with the specified name.</div>
+</td>
+</tr>
+<tr id="i4" class="altColor">
+<td class="colFirst"><code>static <a href="WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a>[]</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#values()">values</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Returns an array containing the constants of this enum type, in
+the order they are declared.</div>
+</td>
+</tr>
+</table>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.java.lang.Enum">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;java.lang.Enum</h3>
+<code>clone, compareTo, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf</code></li>
+</ul>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;java.lang.Object</h3>
+<code>getClass, notify, notifyAll, wait, wait, wait</code></li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+<div class="details">
+<ul class="blockList">
+<li class="blockList">
+<!-- ============ ENUM CONSTANT DETAIL =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="enum.constant.detail">
+<!--   -->
+</a>
+<h3>Enum Constant Detail</h3>
+<a id="LEFT_DRIVE">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>LEFT_DRIVE</h4>
+<pre>public static final&nbsp;<a href="WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a> LEFT_DRIVE</pre>
+</li>
+</ul>
+<a id="RIGHT_DRIVE">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>RIGHT_DRIVE</h4>
+<pre>public static final&nbsp;<a href="WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a> RIGHT_DRIVE</pre>
+</li>
+</ul>
+<a id="LEFT_DRIVE_FOLLOWER">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>LEFT_DRIVE_FOLLOWER</h4>
+<pre>public static final&nbsp;<a href="WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a> LEFT_DRIVE_FOLLOWER</pre>
+</li>
+</ul>
+<a id="RIGHT_DRIVE_FOLLOWER">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>RIGHT_DRIVE_FOLLOWER</h4>
+<pre>public static final&nbsp;<a href="WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a> RIGHT_DRIVE_FOLLOWER</pre>
+</li>
+</ul>
+<a id="TEST_MOTOR">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>TEST_MOTOR</h4>
+<pre>public static final&nbsp;<a href="WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a> TEST_MOTOR</pre>
+</li>
+</ul>
+<a id="DRIVE1">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>DRIVE1</h4>
+<pre>public static final&nbsp;<a href="WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a> DRIVE1</pre>
+</li>
+</ul>
+<a id="ANGLE1">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>ANGLE1</h4>
+<pre>public static final&nbsp;<a href="WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a> ANGLE1</pre>
+</li>
+</ul>
+<a id="DRIVE2">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>DRIVE2</h4>
+<pre>public static final&nbsp;<a href="WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a> DRIVE2</pre>
+</li>
+</ul>
+<a id="ANGLE2">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>ANGLE2</h4>
+<pre>public static final&nbsp;<a href="WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a> ANGLE2</pre>
+</li>
+</ul>
+<a id="DRIVE3">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>DRIVE3</h4>
+<pre>public static final&nbsp;<a href="WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a> DRIVE3</pre>
+</li>
+</ul>
+<a id="ANGLE3">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>ANGLE3</h4>
+<pre>public static final&nbsp;<a href="WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a> ANGLE3</pre>
+</li>
+</ul>
+<a id="DRIVE4">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>DRIVE4</h4>
+<pre>public static final&nbsp;<a href="WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a> DRIVE4</pre>
+</li>
+</ul>
+<a id="ANGLE4">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>ANGLE4</h4>
+<pre>public static final&nbsp;<a href="WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a> ANGLE4</pre>
+</li>
+</ul>
+<a id="TEST_SERVO">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>TEST_SERVO</h4>
+<pre>public static final&nbsp;<a href="WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a> TEST_SERVO</pre>
+</li>
+</ul>
+<a id="DIO_O_0">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>DIO_O_0</h4>
+<pre>public static final&nbsp;<a href="WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a> DIO_O_0</pre>
+</li>
+</ul>
+<a id="TEST_SOLENOID">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>TEST_SOLENOID</h4>
+<pre>public static final&nbsp;<a href="WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a> TEST_SOLENOID</pre>
+</li>
+</ul>
+<a id="LL_MODE">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>LL_MODE</h4>
+<pre>public static final&nbsp;<a href="WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a> LL_MODE</pre>
+</li>
+</ul>
+<a id="LL_LEDS">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>LL_LEDS</h4>
+<pre>public static final&nbsp;<a href="WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a> LL_LEDS</pre>
+</li>
+</ul>
+<a id="LED">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>LED</h4>
+<pre>public static final&nbsp;<a href="WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a> LED</pre>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ============ METHOD DETAIL ========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.detail">
+<!--   -->
+</a>
+<h3>Method Detail</h3>
+<a id="values()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>values</h4>
+<pre class="methodSignature">public static&nbsp;<a href="WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a>[]&nbsp;values()</pre>
+<div class="block">Returns an array containing the constants of this enum type, in
+the order they are declared. This method may be used to iterate
+over the constants as follows:
+<pre>
+for (WSOutputs c : WSOutputs.values())
+&nbsp;   System.out.println(c);
+</pre></div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>an array containing the constants of this enum type, in the order they are declared</dd>
+</dl>
+</li>
+</ul>
+<a id="valueOf(java.lang.String)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>valueOf</h4>
+<pre class="methodSignature">public static&nbsp;<a href="WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a>&nbsp;valueOf&#8203;(java.lang.String&nbsp;name)</pre>
+<div class="block">Returns the enum constant of this type with the specified name.
+The string must match <i>exactly</i> an identifier used to declare an
+enum constant in this type.  (Extraneous whitespace characters are 
+not permitted.)</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>name</code> - the name of the enum constant to be returned.</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>the enum constant with the specified name</dd>
+<dt><span class="throwsLabel">Throws:</span></dt>
+<dd><code>java.lang.IllegalArgumentException</code> - if this enum type has no constant with the specified name</dd>
+<dd><code>java.lang.NullPointerException</code> - if the argument is null</dd>
+</dl>
+</li>
+</ul>
+<a id="getName()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getName</h4>
+<pre class="methodSignature">public&nbsp;java.lang.String&nbsp;getName()</pre>
+<div class="block">Returns the name mapped to the Output.</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
+<dd><code><a href="../../framework/core/Outputs.html#getName()">getName</a></code>&nbsp;in interface&nbsp;<code><a href="../../framework/core/Outputs.html" title="interface in org.wildstang.framework.core">Outputs</a></code></dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Name mapped to the Output.</dd>
+</dl>
+</li>
+</ul>
+<a id="getConfig()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getConfig</h4>
+<pre class="methodSignature">public&nbsp;<a href="../../framework/hardware/OutputConfig.html" title="interface in org.wildstang.framework.hardware">OutputConfig</a>&nbsp;getConfig()</pre>
+<div class="block">Returns the config of Output for the enumeration.</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
+<dd><code><a href="../../framework/core/Outputs.html#getConfig()">getConfig</a></code>&nbsp;in interface&nbsp;<code><a href="../../framework/core/Outputs.html" title="interface in org.wildstang.framework.core">Outputs</a></code></dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>OutputConfig of enumeration.</dd>
+</dl>
+</li>
+</ul>
+<a id="get()">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>get</h4>
+<pre class="methodSignature">public&nbsp;<a href="../../framework/io/outputs/Output.html" title="class in org.wildstang.framework.io.outputs">Output</a>&nbsp;get()</pre>
+<div class="block">Returns the actual Output object from the OutputManager</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>The corresponding output.</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+</div>
+</main>
+<!-- ========= END OF CLASS DATA ========= -->
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../index.html">Overview</a></li>
+<li><a href="package-summary.html">Package</a></li>
+<li class="navBarCell1Rev">Class</li>
+<li><a href="package-tree.html">Tree</a></li>
+<li><a href="../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../index-all.html">Index</a></li>
+<li><a href="../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_bottom">
+<li><a href="../../../../allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<div>
+<script type="text/javascript"><!--
+  allClassesLink = document.getElementById("allclasses_navbar_bottom");
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+    allClassesLink.style.display = "block";
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+<div>
+<ul class="subNavList">
+<li>Summary:&nbsp;</li>
+<li>Nested&nbsp;|&nbsp;</li>
+<li><a href="#enum.constant.summary">Enum Constants</a>&nbsp;|&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
+<li><a href="#method.summary">Method</a></li>
+</ul>
+<ul class="subNavList">
+<li>Detail:&nbsp;</li>
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+<!--   -->
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+<!-- ======== END OF BOTTOM NAVBAR ======= -->
+</nav>
+</footer>
+</body>
+</html>
diff --git a/docs/org/wildstang/sample/robot/WSSubsystems.html b/docs/org/wildstang/sample/robot/WSSubsystems.html
new file mode 100644
index 00000000..451a25e6
--- /dev/null
+++ b/docs/org/wildstang/sample/robot/WSSubsystems.html
@@ -0,0 +1,451 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc -->
+<title>WSSubsystems (robot_framework API)</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.min.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../jquery-ui.overrides.css" title="Style">
+<script type="text/javascript" src="../../../../script.js"></script>
+<script type="text/javascript" src="../../../../jquery/jszip/dist/jszip.min.js"></script>
+<script type="text/javascript" src="../../../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
+<!--[if IE]>
+<script type="text/javascript" src="../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
+<![endif]-->
+<script type="text/javascript" src="../../../../jquery/jquery-3.6.1.min.js"></script>
+<script type="text/javascript" src="../../../../jquery/jquery-ui.min.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="WSSubsystems (robot_framework API)";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var data = {"i0":10,"i1":10,"i2":9,"i3":9};
+var tabs = {65535:["t0","All Methods"],1:["t1","Static Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]};
+var altColor = "altColor";
+var rowColor = "rowColor";
+var tableTab = "tableTab";
+var activeTableTab = "activeTableTab";
+var pathtoroot = "../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
+<nav role="navigation">
+<div class="fixedNav">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a id="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../index.html">Overview</a></li>
+<li><a href="package-summary.html">Package</a></li>
+<li class="navBarCell1Rev">Class</li>
+<li><a href="package-tree.html">Tree</a></li>
+<li><a href="../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../index-all.html">Index</a></li>
+<li><a href="../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_top">
+<li><a href="../../../../allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<ul class="navListSearch">
+<li><label for="search">SEARCH:</label>
+<input type="text" id="search" value="search" disabled="disabled">
+<input type="reset" id="reset" value="reset" disabled="disabled">
+</li>
+</ul>
+<div>
+<script type="text/javascript"><!--
+  allClassesLink = document.getElementById("allclasses_navbar_top");
+  if(window==top) {
+    allClassesLink.style.display = "block";
+  }
+  else {
+    allClassesLink.style.display = "none";
+  }
+  //-->
+</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<div>
+<ul class="subNavList">
+<li>Summary:&nbsp;</li>
+<li>Nested&nbsp;|&nbsp;</li>
+<li><a href="#enum.constant.summary">Enum Constants</a>&nbsp;|&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
+<li><a href="#method.summary">Method</a></li>
+</ul>
+<ul class="subNavList">
+<li>Detail:&nbsp;</li>
+<li><a href="#enum.constant.detail">Enum Constants</a>&nbsp;|&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
+<li><a href="#method.detail">Method</a></li>
+</ul>
+</div>
+<a id="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+</div>
+<div class="navPadding">&nbsp;</div>
+<script type="text/javascript"><!--
+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<!-- ======== START OF CLASS DATA ======== -->
+<main role="main">
+<div class="header">
+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">org.wildstang.sample.robot</a></div>
+<h2 title="Enum WSSubsystems" class="title">Enum WSSubsystems</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li>java.lang.Object</li>
+<li>
+<ul class="inheritance">
+<li>java.lang.Enum&lt;<a href="WSSubsystems.html" title="enum in org.wildstang.sample.robot">WSSubsystems</a>&gt;</li>
+<li>
+<ul class="inheritance">
+<li>org.wildstang.sample.robot.WSSubsystems</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<dl>
+<dt>All Implemented Interfaces:</dt>
+<dd><code>java.io.Serializable</code>, <code>java.lang.Comparable&lt;<a href="WSSubsystems.html" title="enum in org.wildstang.sample.robot">WSSubsystems</a>&gt;</code>, <code><a href="../../framework/core/Subsystems.html" title="interface in org.wildstang.framework.core">Subsystems</a></code></dd>
+</dl>
+<hr>
+<pre>public enum <span class="typeNameLabel">WSSubsystems</span>
+extends java.lang.Enum&lt;<a href="WSSubsystems.html" title="enum in org.wildstang.sample.robot">WSSubsystems</a>&gt;
+implements <a href="../../framework/core/Subsystems.html" title="interface in org.wildstang.framework.core">Subsystems</a></pre>
+<div class="block">All subsystems are enumerated here.
+ It is used in Robot.java to initialize all subsystems.</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- =========== ENUM CONSTANT SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="enum.constant.summary">
+<!--   -->
+</a>
+<h3>Enum Constant Summary</h3>
+<table class="memberSummary">
+<caption><span>Enum Constants</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Enum Constant</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#AIM_HELPER">AIM_HELPER</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#DRIVE">DRIVE</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#SAMPLE">SAMPLE</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#SWERVE_DRIVE">SWERVE_DRIVE</a></span></code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<table class="memberSummary">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code>java.lang.String</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getName()">getName</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Returns the name mapped to the subsystem.</div>
+</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code>java.lang.Class&lt;?&gt;</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getSubsystemClass()">getSubsystemClass</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Returns subsystem's class.</div>
+</td>
+</tr>
+<tr id="i2" class="altColor">
+<td class="colFirst"><code>static <a href="WSSubsystems.html" title="enum in org.wildstang.sample.robot">WSSubsystems</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#valueOf(java.lang.String)">valueOf</a></span>&#8203;(java.lang.String&nbsp;name)</code></th>
+<td class="colLast">
+<div class="block">Returns the enum constant of this type with the specified name.</div>
+</td>
+</tr>
+<tr id="i3" class="rowColor">
+<td class="colFirst"><code>static <a href="WSSubsystems.html" title="enum in org.wildstang.sample.robot">WSSubsystems</a>[]</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#values()">values</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Returns an array containing the constants of this enum type, in
+the order they are declared.</div>
+</td>
+</tr>
+</table>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.java.lang.Enum">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;java.lang.Enum</h3>
+<code>clone, compareTo, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf</code></li>
+</ul>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;java.lang.Object</h3>
+<code>getClass, notify, notifyAll, wait, wait, wait</code></li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+<div class="details">
+<ul class="blockList">
+<li class="blockList">
+<!-- ============ ENUM CONSTANT DETAIL =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="enum.constant.detail">
+<!--   -->
+</a>
+<h3>Enum Constant Detail</h3>
+<a id="DRIVE">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>DRIVE</h4>
+<pre>public static final&nbsp;<a href="WSSubsystems.html" title="enum in org.wildstang.sample.robot">WSSubsystems</a> DRIVE</pre>
+</li>
+</ul>
+<a id="SWERVE_DRIVE">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>SWERVE_DRIVE</h4>
+<pre>public static final&nbsp;<a href="WSSubsystems.html" title="enum in org.wildstang.sample.robot">WSSubsystems</a> SWERVE_DRIVE</pre>
+</li>
+</ul>
+<a id="AIM_HELPER">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>AIM_HELPER</h4>
+<pre>public static final&nbsp;<a href="WSSubsystems.html" title="enum in org.wildstang.sample.robot">WSSubsystems</a> AIM_HELPER</pre>
+</li>
+</ul>
+<a id="SAMPLE">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>SAMPLE</h4>
+<pre>public static final&nbsp;<a href="WSSubsystems.html" title="enum in org.wildstang.sample.robot">WSSubsystems</a> SAMPLE</pre>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ============ METHOD DETAIL ========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.detail">
+<!--   -->
+</a>
+<h3>Method Detail</h3>
+<a id="values()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>values</h4>
+<pre class="methodSignature">public static&nbsp;<a href="WSSubsystems.html" title="enum in org.wildstang.sample.robot">WSSubsystems</a>[]&nbsp;values()</pre>
+<div class="block">Returns an array containing the constants of this enum type, in
+the order they are declared. This method may be used to iterate
+over the constants as follows:
+<pre>
+for (WSSubsystems c : WSSubsystems.values())
+&nbsp;   System.out.println(c);
+</pre></div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>an array containing the constants of this enum type, in the order they are declared</dd>
+</dl>
+</li>
+</ul>
+<a id="valueOf(java.lang.String)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>valueOf</h4>
+<pre class="methodSignature">public static&nbsp;<a href="WSSubsystems.html" title="enum in org.wildstang.sample.robot">WSSubsystems</a>&nbsp;valueOf&#8203;(java.lang.String&nbsp;name)</pre>
+<div class="block">Returns the enum constant of this type with the specified name.
+The string must match <i>exactly</i> an identifier used to declare an
+enum constant in this type.  (Extraneous whitespace characters are 
+not permitted.)</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>name</code> - the name of the enum constant to be returned.</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>the enum constant with the specified name</dd>
+<dt><span class="throwsLabel">Throws:</span></dt>
+<dd><code>java.lang.IllegalArgumentException</code> - if this enum type has no constant with the specified name</dd>
+<dd><code>java.lang.NullPointerException</code> - if the argument is null</dd>
+</dl>
+</li>
+</ul>
+<a id="getName()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getName</h4>
+<pre class="methodSignature">public&nbsp;java.lang.String&nbsp;getName()</pre>
+<div class="block">Returns the name mapped to the subsystem.</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
+<dd><code><a href="../../framework/core/Subsystems.html#getName()">getName</a></code>&nbsp;in interface&nbsp;<code><a href="../../framework/core/Subsystems.html" title="interface in org.wildstang.framework.core">Subsystems</a></code></dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Name mapped to the subsystem.</dd>
+</dl>
+</li>
+</ul>
+<a id="getSubsystemClass()">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>getSubsystemClass</h4>
+<pre class="methodSignature">public&nbsp;java.lang.Class&lt;?&gt;&nbsp;getSubsystemClass()</pre>
+<div class="block">Returns subsystem's class.</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
+<dd><code><a href="../../framework/core/Subsystems.html#getSubsystemClass()">getSubsystemClass</a></code>&nbsp;in interface&nbsp;<code><a href="../../framework/core/Subsystems.html" title="interface in org.wildstang.framework.core">Subsystems</a></code></dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Subsystem's class.</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+</div>
+</main>
+<!-- ========= END OF CLASS DATA ========= -->
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../index.html">Overview</a></li>
+<li><a href="package-summary.html">Package</a></li>
+<li class="navBarCell1Rev">Class</li>
+<li><a href="package-tree.html">Tree</a></li>
+<li><a href="../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../index-all.html">Index</a></li>
+<li><a href="../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_bottom">
+<li><a href="../../../../allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<div>
+<script type="text/javascript"><!--
+  allClassesLink = document.getElementById("allclasses_navbar_bottom");
+  if(window==top) {
+    allClassesLink.style.display = "block";
+  }
+  else {
+    allClassesLink.style.display = "none";
+  }
+  //-->
+</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<div>
+<ul class="subNavList">
+<li>Summary:&nbsp;</li>
+<li>Nested&nbsp;|&nbsp;</li>
+<li><a href="#enum.constant.summary">Enum Constants</a>&nbsp;|&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
+<li><a href="#method.summary">Method</a></li>
+</ul>
+<ul class="subNavList">
+<li>Detail:&nbsp;</li>
+<li><a href="#enum.constant.detail">Enum Constants</a>&nbsp;|&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
+<li><a href="#method.detail">Method</a></li>
+</ul>
+</div>
+<a id="skip.navbar.bottom">
+<!--   -->
+</a></div>
+<!-- ======== END OF BOTTOM NAVBAR ======= -->
+</nav>
+</footer>
+</body>
+</html>
diff --git a/docs/org/wildstang/sample/robot/package-summary.html b/docs/org/wildstang/sample/robot/package-summary.html
new file mode 100644
index 00000000..a84528ba
--- /dev/null
+++ b/docs/org/wildstang/sample/robot/package-summary.html
@@ -0,0 +1,215 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc -->
+<title>org.wildstang.sample.robot (robot_framework API)</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.min.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../jquery-ui.overrides.css" title="Style">
+<script type="text/javascript" src="../../../../script.js"></script>
+<script type="text/javascript" src="../../../../jquery/jszip/dist/jszip.min.js"></script>
+<script type="text/javascript" src="../../../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
+<!--[if IE]>
+<script type="text/javascript" src="../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
+<![endif]-->
+<script type="text/javascript" src="../../../../jquery/jquery-3.6.1.min.js"></script>
+<script type="text/javascript" src="../../../../jquery/jquery-ui.min.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="org.wildstang.sample.robot (robot_framework API)";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var pathtoroot = "../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
+<nav role="navigation">
+<div class="fixedNav">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a id="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../index.html">Overview</a></li>
+<li class="navBarCell1Rev">Package</li>
+<li>Class</li>
+<li><a href="package-tree.html">Tree</a></li>
+<li><a href="../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../index-all.html">Index</a></li>
+<li><a href="../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_top">
+<li><a href="../../../../allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<ul class="navListSearch">
+<li><label for="search">SEARCH:</label>
+<input type="text" id="search" value="search" disabled="disabled">
+<input type="reset" id="reset" value="reset" disabled="disabled">
+</li>
+</ul>
+<div>
+<script type="text/javascript"><!--
+  allClassesLink = document.getElementById("allclasses_navbar_top");
+  if(window==top) {
+    allClassesLink.style.display = "block";
+  }
+  else {
+    allClassesLink.style.display = "none";
+  }
+  //-->
+</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+</div>
+<div class="navPadding">&nbsp;</div>
+<script type="text/javascript"><!--
+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<main role="main">
+<div class="header">
+<h1 title="Package" class="title">Package&nbsp;org.wildstang.sample.robot</h1>
+</div>
+<div class="contentContainer">
+<ul class="blockList">
+<li class="blockList">
+<table class="typeSummary">
+<caption><span>Class Summary</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Class</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="CANConstants.html" title="class in org.wildstang.sample.robot">CANConstants</a></th>
+<td class="colLast">
+<div class="block">CAN Constants are stored here.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><a href="Main.html" title="class in org.wildstang.sample.robot">Main</a></th>
+<td class="colLast">
+<div class="block">Do NOT modify this file.</div>
+</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="Robot.html" title="class in org.wildstang.sample.robot">Robot</a></th>
+<td class="colLast">
+<div class="block">Once the Main class starts this class, the VM is configured to call the
+ functions corresponding to each mode, as described in the IterativeRobotBase
+ documentation.</div>
+</td>
+</tr>
+</tbody>
+</table>
+</li>
+<li class="blockList">
+<table class="typeSummary">
+<caption><span>Enum Summary</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Enum</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="WSAutoPrograms.html" title="enum in org.wildstang.sample.robot">WSAutoPrograms</a></th>
+<td class="colLast">
+<div class="block">All active AutoPrograms are enumerated here.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><a href="WSInputs.html" title="enum in org.wildstang.sample.robot">WSInputs</a></th>
+<td class="colLast">
+<div class="block">Input mappings are stored here.</div>
+</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="WSOutputs.html" title="enum in org.wildstang.sample.robot">WSOutputs</a></th>
+<td class="colLast">
+<div class="block">Output mappings are stored here.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><a href="WSSubsystems.html" title="enum in org.wildstang.sample.robot">WSSubsystems</a></th>
+<td class="colLast">
+<div class="block">All subsystems are enumerated here.</div>
+</td>
+</tr>
+</tbody>
+</table>
+</li>
+</ul>
+</div>
+</main>
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../index.html">Overview</a></li>
+<li class="navBarCell1Rev">Package</li>
+<li>Class</li>
+<li><a href="package-tree.html">Tree</a></li>
+<li><a href="../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../index-all.html">Index</a></li>
+<li><a href="../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_bottom">
+<li><a href="../../../../allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<div>
+<script type="text/javascript"><!--
+  allClassesLink = document.getElementById("allclasses_navbar_bottom");
+  if(window==top) {
+    allClassesLink.style.display = "block";
+  }
+  else {
+    allClassesLink.style.display = "none";
+  }
+  //-->
+</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.bottom">
+<!--   -->
+</a></div>
+<!-- ======== END OF BOTTOM NAVBAR ======= -->
+</nav>
+</footer>
+</body>
+</html>
diff --git a/docs/org/wildstang/sample/robot/package-tree.html b/docs/org/wildstang/sample/robot/package-tree.html
new file mode 100644
index 00000000..4ab61ae5
--- /dev/null
+++ b/docs/org/wildstang/sample/robot/package-tree.html
@@ -0,0 +1,192 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc -->
+<title>org.wildstang.sample.robot Class Hierarchy (robot_framework API)</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.min.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../jquery-ui.overrides.css" title="Style">
+<script type="text/javascript" src="../../../../script.js"></script>
+<script type="text/javascript" src="../../../../jquery/jszip/dist/jszip.min.js"></script>
+<script type="text/javascript" src="../../../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
+<!--[if IE]>
+<script type="text/javascript" src="../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
+<![endif]-->
+<script type="text/javascript" src="../../../../jquery/jquery-3.6.1.min.js"></script>
+<script type="text/javascript" src="../../../../jquery/jquery-ui.min.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="org.wildstang.sample.robot Class Hierarchy (robot_framework API)";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var pathtoroot = "../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
+<nav role="navigation">
+<div class="fixedNav">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a id="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../index.html">Overview</a></li>
+<li><a href="package-summary.html">Package</a></li>
+<li>Class</li>
+<li class="navBarCell1Rev">Tree</li>
+<li><a href="../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../index-all.html">Index</a></li>
+<li><a href="../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_top">
+<li><a href="../../../../allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<ul class="navListSearch">
+<li><label for="search">SEARCH:</label>
+<input type="text" id="search" value="search" disabled="disabled">
+<input type="reset" id="reset" value="reset" disabled="disabled">
+</li>
+</ul>
+<div>
+<script type="text/javascript"><!--
+  allClassesLink = document.getElementById("allclasses_navbar_top");
+  if(window==top) {
+    allClassesLink.style.display = "block";
+  }
+  else {
+    allClassesLink.style.display = "none";
+  }
+  //-->
+</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+</div>
+<div class="navPadding">&nbsp;</div>
+<script type="text/javascript"><!--
+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<main role="main">
+<div class="header">
+<h1 class="title">Hierarchy For Package org.wildstang.sample.robot</h1>
+<span class="packageHierarchyLabel">Package Hierarchies:</span>
+<ul class="horizontal">
+<li><a href="../../../../overview-tree.html">All Packages</a></li>
+</ul>
+</div>
+<div class="contentContainer">
+<section>
+<h2 title="Class Hierarchy">Class Hierarchy</h2>
+<ul>
+<li class="circle">java.lang.Object
+<ul>
+<li class="circle">org.wildstang.sample.robot.<a href="CANConstants.html" title="class in org.wildstang.sample.robot"><span class="typeNameLink">CANConstants</span></a></li>
+<li class="circle">org.wildstang.sample.robot.<a href="Main.html" title="class in org.wildstang.sample.robot"><span class="typeNameLink">Main</span></a></li>
+<li class="circle">edu.wpi.first.wpilibj.RobotBase (implements java.lang.AutoCloseable)
+<ul>
+<li class="circle">edu.wpi.first.wpilibj.IterativeRobotBase
+<ul>
+<li class="circle">edu.wpi.first.wpilibj.TimedRobot
+<ul>
+<li class="circle">org.wildstang.sample.robot.<a href="Robot.html" title="class in org.wildstang.sample.robot"><span class="typeNameLink">Robot</span></a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+<section>
+<h2 title="Enum Hierarchy">Enum Hierarchy</h2>
+<ul>
+<li class="circle">java.lang.Object
+<ul>
+<li class="circle">java.lang.Enum&lt;E&gt; (implements java.lang.Comparable&lt;T&gt;, java.io.Serializable)
+<ul>
+<li class="circle">org.wildstang.sample.robot.<a href="WSAutoPrograms.html" title="enum in org.wildstang.sample.robot"><span class="typeNameLink">WSAutoPrograms</span></a> (implements org.wildstang.framework.core.<a href="../../framework/core/AutoPrograms.html" title="interface in org.wildstang.framework.core">AutoPrograms</a>)</li>
+<li class="circle">org.wildstang.sample.robot.<a href="WSInputs.html" title="enum in org.wildstang.sample.robot"><span class="typeNameLink">WSInputs</span></a> (implements org.wildstang.framework.core.<a href="../../framework/core/Inputs.html" title="interface in org.wildstang.framework.core">Inputs</a>)</li>
+<li class="circle">org.wildstang.sample.robot.<a href="WSOutputs.html" title="enum in org.wildstang.sample.robot"><span class="typeNameLink">WSOutputs</span></a> (implements org.wildstang.framework.core.<a href="../../framework/core/Outputs.html" title="interface in org.wildstang.framework.core">Outputs</a>)</li>
+<li class="circle">org.wildstang.sample.robot.<a href="WSSubsystems.html" title="enum in org.wildstang.sample.robot"><span class="typeNameLink">WSSubsystems</span></a> (implements org.wildstang.framework.core.<a href="../../framework/core/Subsystems.html" title="interface in org.wildstang.framework.core">Subsystems</a>)</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</div>
+</main>
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../index.html">Overview</a></li>
+<li><a href="package-summary.html">Package</a></li>
+<li>Class</li>
+<li class="navBarCell1Rev">Tree</li>
+<li><a href="../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../index-all.html">Index</a></li>
+<li><a href="../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_bottom">
+<li><a href="../../../../allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<div>
+<script type="text/javascript"><!--
+  allClassesLink = document.getElementById("allclasses_navbar_bottom");
+  if(window==top) {
+    allClassesLink.style.display = "block";
+  }
+  else {
+    allClassesLink.style.display = "none";
+  }
+  //-->
+</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.bottom">
+<!--   -->
+</a></div>
+<!-- ======== END OF BOTTOM NAVBAR ======= -->
+</nav>
+</footer>
+</body>
+</html>
diff --git a/docs/overview-summary.html b/docs/overview-summary.html
index 1fba11ae..12be1c66 100644
--- a/docs/overview-summary.html
+++ b/docs/overview-summary.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>rfmain API</title>
+<title>robot_framework API</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <script type="text/javascript">window.location.replace('index.html')</script>
 <noscript>
diff --git a/docs/overview-tree.html b/docs/overview-tree.html
index 044a6ec8..8fec0315 100644
--- a/docs/overview-tree.html
+++ b/docs/overview-tree.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>Class Hierarchy (rfmain API)</title>
+<title>Class Hierarchy (robot_framework API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="jquery/jquery-ui.min.css" title="Style">
@@ -14,14 +14,14 @@
 <!--[if IE]>
 <script type="text/javascript" src="jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
 <![endif]-->
-<script type="text/javascript" src="jquery/jquery-3.6.0.min.js"></script>
+<script type="text/javascript" src="jquery/jquery-3.6.1.min.js"></script>
 <script type="text/javascript" src="jquery/jquery-ui.min.js"></script>
 </head>
 <body>
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="Class Hierarchy (rfmain API)";
+            parent.document.title="Class Hierarchy (robot_framework API)";
         }
     }
     catch(err) {
@@ -96,7 +96,6 @@
 <h1 class="title">Hierarchy For All Packages</h1>
 <span class="packageHierarchyLabel">Package Hierarchies:</span>
 <ul class="horizontal">
-<li><a href="frc/paths/package-tree.html">frc.paths</a>, </li>
 <li><a href="org/wildstang/framework/package-tree.html">org.wildstang.framework</a>, </li>
 <li><a href="org/wildstang/framework/auto/package-tree.html">org.wildstang.framework.auto</a>, </li>
 <li><a href="org/wildstang/framework/auto/program/package-tree.html">org.wildstang.framework.auto.program</a>, </li>
@@ -121,7 +120,8 @@ <h1 class="title">Hierarchy For All Packages</h1>
 <li><a href="org/wildstang/hardware/roborio/inputs/package-tree.html">org.wildstang.hardware.roborio.inputs</a>, </li>
 <li><a href="org/wildstang/hardware/roborio/inputs/config/package-tree.html">org.wildstang.hardware.roborio.inputs.config</a>, </li>
 <li><a href="org/wildstang/hardware/roborio/outputs/package-tree.html">org.wildstang.hardware.roborio.outputs</a>, </li>
-<li><a href="org/wildstang/hardware/roborio/outputs/config/package-tree.html">org.wildstang.hardware.roborio.outputs.config</a></li>
+<li><a href="org/wildstang/hardware/roborio/outputs/config/package-tree.html">org.wildstang.hardware.roborio.outputs.config</a>, </li>
+<li><a href="org/wildstang/sample/robot/package-tree.html">org.wildstang.sample.robot</a></li>
 </ul>
 </div>
 <div class="contentContainer">
@@ -153,6 +153,7 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 </ul>
 </li>
 <li class="circle">org.wildstang.framework.auto.<a href="org/wildstang/framework/auto/BobTrajectory.html" title="class in org.wildstang.framework.auto"><span class="typeNameLink">BobTrajectory</span></a></li>
+<li class="circle">org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/CANConstants.html" title="class in org.wildstang.sample.robot"><span class="typeNameLink">CANConstants</span></a></li>
 <li class="circle">org.wildstang.framework.config.<a href="org/wildstang/framework/config/Config.html" title="class in org.wildstang.framework.config"><span class="typeNameLink">Config</span></a></li>
 <li class="circle">org.wildstang.framework.config.<a href="org/wildstang/framework/config/ConfigManager.html" title="class in org.wildstang.framework.config"><span class="typeNameLink">ConfigManager</span></a></li>
 <li class="circle">org.wildstang.framework.core.<a href="org/wildstang/framework/core/Core.html" title="class in org.wildstang.framework.core"><span class="typeNameLink">Core</span></a></li>
@@ -201,6 +202,7 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 <li class="circle">org.wildstang.framework.io.<a href="org/wildstang/framework/io/InputManager.html" title="class in org.wildstang.framework.io"><span class="typeNameLink">InputManager</span></a></li>
 <li class="circle">org.wildstang.hardware.<a href="org/wildstang/hardware/JoystickConstants.html" title="class in org.wildstang.hardware"><span class="typeNameLink">JoystickConstants</span></a></li>
 <li class="circle">org.wildstang.framework.logger.<a href="org/wildstang/framework/logger/Log.html" title="class in org.wildstang.framework.logger"><span class="typeNameLink">Log</span></a></li>
+<li class="circle">org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/Main.html" title="class in org.wildstang.sample.robot"><span class="typeNameLink">Main</span></a></li>
 <li class="circle">org.wildstang.framework.io.outputs.<a href="org/wildstang/framework/io/outputs/Output.html" title="class in org.wildstang.framework.io.outputs"><span class="typeNameLink">Output</span></a>
 <ul>
 <li class="circle">org.wildstang.framework.io.outputs.<a href="org/wildstang/framework/io/outputs/AnalogOutput.html" title="class in org.wildstang.framework.io.outputs"><span class="typeNameLink">AnalogOutput</span></a>
@@ -236,11 +238,6 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 </ul>
 </li>
 <li class="circle">org.wildstang.framework.io.<a href="org/wildstang/framework/io/OutputManager.html" title="class in org.wildstang.framework.io"><span class="typeNameLink">OutputManager</span></a></li>
-<li class="circle">com.team319.trajectory.Path
-<ul>
-<li class="circle">frc.paths.<a href="frc/paths/Test.html" title="class in frc.paths"><span class="typeNameLink">Test</span></a></li>
-</ul>
-</li>
 <li class="circle">org.wildstang.framework.subsystems.drive.<a href="org/wildstang/framework/subsystems/drive/PathFollowingDrive.html" title="class in org.wildstang.framework.subsystems.drive"><span class="typeNameLink">PathFollowingDrive</span></a> (implements org.wildstang.framework.subsystems.<a href="org/wildstang/framework/subsystems/Subsystem.html" title="interface in org.wildstang.framework.subsystems">Subsystem</a>)</li>
 <li class="circle">org.wildstang.framework.pid.<a href="org/wildstang/framework/pid/PIDConstants.html" title="class in org.wildstang.framework.pid"><span class="typeNameLink">PIDConstants</span></a></li>
 <li class="circle">org.wildstang.framework.pid.controller.<a href="org/wildstang/framework/pid/controller/PidController.html" title="class in org.wildstang.framework.pid.controller"><span class="typeNameLink">PidController</span></a>
@@ -250,6 +247,19 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 </li>
 <li class="circle">org.wildstang.hardware.roborio.<a href="org/wildstang/hardware/roborio/RoboRIOInputFactory.html" title="class in org.wildstang.hardware.roborio"><span class="typeNameLink">RoboRIOInputFactory</span></a> (implements org.wildstang.framework.hardware.<a href="org/wildstang/framework/hardware/InputFactory.html" title="interface in org.wildstang.framework.hardware">InputFactory</a>)</li>
 <li class="circle">org.wildstang.hardware.roborio.<a href="org/wildstang/hardware/roborio/RoboRIOOutputFactory.html" title="class in org.wildstang.hardware.roborio"><span class="typeNameLink">RoboRIOOutputFactory</span></a> (implements org.wildstang.framework.hardware.<a href="org/wildstang/framework/hardware/OutputFactory.html" title="interface in org.wildstang.framework.hardware">OutputFactory</a>)</li>
+<li class="circle">edu.wpi.first.wpilibj.RobotBase (implements java.lang.AutoCloseable)
+<ul>
+<li class="circle">edu.wpi.first.wpilibj.IterativeRobotBase
+<ul>
+<li class="circle">edu.wpi.first.wpilibj.TimedRobot
+<ul>
+<li class="circle">org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/Robot.html" title="class in org.wildstang.sample.robot"><span class="typeNameLink">Robot</span></a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
 <li class="circle">org.wildstang.framework.subsystems.<a href="org/wildstang/framework/subsystems/SubsystemManager.html" title="class in org.wildstang.framework.subsystems"><span class="typeNameLink">SubsystemManager</span></a></li>
 <li class="circle">org.wildstang.framework.subsystems.swerve.<a href="org/wildstang/framework/subsystems/swerve/SwerveDriveTemplate.html" title="class in org.wildstang.framework.subsystems.swerve"><span class="typeNameLink">SwerveDriveTemplate</span></a> (implements org.wildstang.framework.subsystems.<a href="org/wildstang/framework/subsystems/Subsystem.html" title="interface in org.wildstang.framework.subsystems">Subsystem</a>)</li>
 <li class="circle">org.wildstang.framework.subsystems.drive.<a href="org/wildstang/framework/subsystems/drive/TankPath.html" title="class in org.wildstang.framework.subsystems.drive"><span class="typeNameLink">TankPath</span></a> (implements org.wildstang.framework.subsystems.drive.<a href="org/wildstang/framework/subsystems/drive/Path.html" title="interface in org.wildstang.framework.subsystems.drive">Path</a>)</li>
@@ -325,9 +335,13 @@ <h2 title="Enum Hierarchy">Enum Hierarchy</h2>
 <ul>
 <li class="circle">org.wildstang.framework.logger.<a href="org/wildstang/framework/logger/Log.LogLevel.html" title="enum in org.wildstang.framework.logger"><span class="typeNameLink">Log.LogLevel</span></a></li>
 <li class="circle">org.wildstang.framework.pid.controller.<a href="org/wildstang/framework/pid/controller/PidStateType.html" title="enum in org.wildstang.framework.pid.controller"><span class="typeNameLink">PidStateType</span></a></li>
+<li class="circle">org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSAutoPrograms.html" title="enum in org.wildstang.sample.robot"><span class="typeNameLink">WSAutoPrograms</span></a> (implements org.wildstang.framework.core.<a href="org/wildstang/framework/core/AutoPrograms.html" title="interface in org.wildstang.framework.core">AutoPrograms</a>)</li>
 <li class="circle">org.wildstang.hardware.roborio.outputs.<a href="org/wildstang/hardware/roborio/outputs/WsDoubleSolenoidState.html" title="enum in org.wildstang.hardware.roborio.outputs"><span class="typeNameLink">WsDoubleSolenoidState</span></a></li>
+<li class="circle">org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSInputs.html" title="enum in org.wildstang.sample.robot"><span class="typeNameLink">WSInputs</span></a> (implements org.wildstang.framework.core.<a href="org/wildstang/framework/core/Inputs.html" title="interface in org.wildstang.framework.core">Inputs</a>)</li>
 <li class="circle">org.wildstang.hardware.roborio.outputs.config.<a href="org/wildstang/hardware/roborio/outputs/config/WsMotorControllers.html" title="enum in org.wildstang.hardware.roborio.outputs.config"><span class="typeNameLink">WsMotorControllers</span></a></li>
+<li class="circle">org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSOutputs.html" title="enum in org.wildstang.sample.robot"><span class="typeNameLink">WSOutputs</span></a> (implements org.wildstang.framework.core.<a href="org/wildstang/framework/core/Outputs.html" title="interface in org.wildstang.framework.core">Outputs</a>)</li>
 <li class="circle">org.wildstang.hardware.roborio.outputs.<a href="org/wildstang/hardware/roborio/outputs/WsRelayState.html" title="enum in org.wildstang.hardware.roborio.outputs"><span class="typeNameLink">WsRelayState</span></a></li>
+<li class="circle">org.wildstang.sample.robot.<a href="org/wildstang/sample/robot/WSSubsystems.html" title="enum in org.wildstang.sample.robot"><span class="typeNameLink">WSSubsystems</span></a> (implements org.wildstang.framework.core.<a href="org/wildstang/framework/core/Subsystems.html" title="interface in org.wildstang.framework.core">Subsystems</a>)</li>
 </ul>
 </li>
 </ul>
diff --git a/docs/package-search-index.js b/docs/package-search-index.js
index 66bbeef8..d7492e25 100644
--- a/docs/package-search-index.js
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diff --git a/docs/type-search-index.js b/docs/type-search-index.js
index 1338159d..89c34b40 100644
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