diff --git a/swervelib/bin/main/frc/team1711/swerve/subsystems/GyroSwerveDrive.class b/swervelib/bin/main/frc/team1711/swerve/subsystems/GyroSwerveDrive.class
index ac7e16b..4695913 100644
Binary files a/swervelib/bin/main/frc/team1711/swerve/subsystems/GyroSwerveDrive.class and b/swervelib/bin/main/frc/team1711/swerve/subsystems/GyroSwerveDrive.class differ
diff --git a/swervelib/bin/main/frc/team1711/swerve/subsystems/SwerveDrive$SwerveDrivingSpeeds.class b/swervelib/bin/main/frc/team1711/swerve/subsystems/SwerveDrive$SwerveDrivingSpeeds.class
index af2683b..e832a52 100644
Binary files a/swervelib/bin/main/frc/team1711/swerve/subsystems/SwerveDrive$SwerveDrivingSpeeds.class and b/swervelib/bin/main/frc/team1711/swerve/subsystems/SwerveDrive$SwerveDrivingSpeeds.class differ
diff --git a/swervelib/bin/main/frc/team1711/swerve/subsystems/SwerveDrive.class b/swervelib/bin/main/frc/team1711/swerve/subsystems/SwerveDrive.class
index d3b9865..678393f 100644
Binary files a/swervelib/bin/main/frc/team1711/swerve/subsystems/SwerveDrive.class and b/swervelib/bin/main/frc/team1711/swerve/subsystems/SwerveDrive.class differ
diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/GyroSwerveDrive.class b/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/GyroSwerveDrive.class
index d12734d..4c09980 100644
Binary files a/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/GyroSwerveDrive.class and b/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/GyroSwerveDrive.class differ
diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/SwerveDrive$SwerveDrivingSpeeds.class b/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/SwerveDrive$SwerveDrivingSpeeds.class
index 39bdcba..c9ec3d3 100644
Binary files a/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/SwerveDrive$SwerveDrivingSpeeds.class and b/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/SwerveDrive$SwerveDrivingSpeeds.class differ
diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/SwerveDrive.class b/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/SwerveDrive.class
index a316cfb..b115923 100644
Binary files a/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/SwerveDrive.class and b/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/SwerveDrive.class differ
diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/AutoSwerveDrive.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/AutoSwerveDrive.html
index 06f119e..9cdacf6 100644
--- a/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/AutoSwerveDrive.html
+++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/AutoSwerveDrive.html
@@ -256,7 +256,7 @@ <h3>Method Summary</h3>
 <!--   -->
 </a>
 <h3>Methods inherited from class&nbsp;frc.team1711.swerve.subsystems.<a href="GyroSwerveDrive.html" title="class in frc.team1711.swerve.subsystems">GyroSwerveDrive</a></h3>
-<code><a href="GyroSwerveDrive.html#fieldRelativeUserInputDrive(double,double,double,frc.team1711.swerve.util.InputHandler)">fieldRelativeUserInputDrive</a>, <a href="GyroSwerveDrive.html#getGyroAngle()">getGyroAngle</a>, <a href="GyroSwerveDrive.html#resetGyro()">resetGyro</a></code></li>
+<code><a href="GyroSwerveDrive.html#fieldRelativeUserInputDrive(double,double,double,frc.team1711.swerve.util.InputHandler)">fieldRelativeUserInputDrive</a>, <a href="GyroSwerveDrive.html#getGyroAngle()">getGyroAngle</a>, <a href="GyroSwerveDrive.html#initSendable(edu.wpi.first.util.sendable.SendableBuilder)">initSendable</a>, <a href="GyroSwerveDrive.html#resetGyro()">resetGyro</a></code></li>
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@@ -270,7 +270,7 @@ <h3>Methods inherited from class&nbsp;frc.team1711.swerve.subsystems.<a href="Sw
 <!--   -->
 </a>
 <h3>Methods inherited from class&nbsp;edu.wpi.first.wpilibj2.command.SubsystemBase</h3>
-<code>addChild, getName, getSubsystem, initSendable, setName, setSubsystem</code></li>
+<code>addChild, getName, getSubsystem, setName, setSubsystem</code></li>
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diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/GyroSwerveDrive.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/GyroSwerveDrive.html
index b5cdd65..05e4827 100644
--- a/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/GyroSwerveDrive.html
+++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/GyroSwerveDrive.html
@@ -26,7 +26,7 @@
     catch(err) {
     }
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-var data = {"i0":10,"i1":6,"i2":6};
+var data = {"i0":10,"i1":6,"i2":10,"i3":6};
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@@ -252,6 +252,11 @@ <h3>Method Summary</h3>
 </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="#initSendable(edu.wpi.first.util.sendable.SendableBuilder)">initSendable</a></span>&#8203;(edu.wpi.first.util.sendable.SendableBuilder&nbsp;builder)</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr id="i3" class="rowColor">
 <td class="colFirst"><code>abstract void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#resetGyro()">resetGyro</a></span>()</code></th>
 <td class="colLast">
@@ -271,7 +276,7 @@ <h3>Methods inherited from class&nbsp;frc.team1711.swerve.subsystems.<a href="Sw
 <!--   -->
 </a>
 <h3>Methods inherited from class&nbsp;edu.wpi.first.wpilibj2.command.SubsystemBase</h3>
-<code>addChild, getName, getSubsystem, initSendable, setName, setSubsystem</code></li>
+<code>addChild, getName, getSubsystem, setName, setSubsystem</code></li>
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@@ -364,6 +369,21 @@ <h4>fieldRelativeUserInputDrive</h4>
 </dl>
 </li>
 </ul>
+<a id="initSendable(edu.wpi.first.util.sendable.SendableBuilder)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>initSendable</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;initSendable&#8203;(edu.wpi.first.util.sendable.SendableBuilder&nbsp;builder)</pre>
+<dl>
+<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
+<dd><code>initSendable</code>&nbsp;in interface&nbsp;<code>edu.wpi.first.util.sendable.Sendable</code></dd>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code><a href="SwerveDrive.html#initSendable(edu.wpi.first.util.sendable.SendableBuilder)">initSendable</a></code>&nbsp;in class&nbsp;<code><a href="SwerveDrive.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive</a></code></dd>
+</dl>
+</li>
+</ul>
 <a id="getGyroAngle()">
 <!--   -->
 </a>
diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/SwerveDrive.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/SwerveDrive.html
index 54370fb..a3076a1 100644
--- a/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/SwerveDrive.html
+++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/SwerveDrive.html
@@ -26,7 +26,7 @@
     catch(err) {
     }
 //-->
-var data = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10};
+var data = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10,"i6":10};
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@@ -255,12 +255,17 @@ <h3>Method Summary</h3>
 </tr>
 <tr id="i1" class="rowColor">
 <td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#initSendable(edu.wpi.first.util.sendable.SendableBuilder)">initSendable</a></span>&#8203;(edu.wpi.first.util.sendable.SendableBuilder&nbsp;builder)</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="#setSwerveDrivingSpeeds(frc.team1711.swerve.subsystems.SwerveDrive.SwerveDrivingSpeeds)">setSwerveDrivingSpeeds</a></span>&#8203;(<a href="SwerveDrive.SwerveDrivingSpeeds.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.SwerveDrivingSpeeds</a>&nbsp;swerveDrivingSpeeds)</code></th>
 <td class="colLast">
 <div class="block">Used to set a new <a href="SwerveDrive.SwerveDrivingSpeeds.html" title="class in frc.team1711.swerve.subsystems"><code>SwerveDrive.SwerveDrivingSpeeds</code></a> configuration.</div>
 </td>
 </tr>
-<tr id="i2" class="altColor">
+<tr id="i3" class="rowColor">
 <td class="colFirst"><code>boolean</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#steerAllWithinRange(double,double)">steerAllWithinRange</a></span>&#8203;(double&nbsp;direction,
                    double&nbsp;marginOfError)</code></th>
@@ -268,7 +273,7 @@ <h3>Method Summary</h3>
 <div class="block">Steers all wheels to a direction within a certain range.</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="#steerAndDriveAll(double,double)">steerAndDriveAll</a></span>&#8203;(double&nbsp;direction,
                 double&nbsp;speed)</code></th>
@@ -276,14 +281,14 @@ <h3>Method Summary</h3>
 <div class="block">Steers and drives all wheels in the same direction and with the same speed.</div>
 </td>
 </tr>
-<tr id="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="#stop()">stop</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Stops all modules immediately.</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="#userInputDrive(double,double,double,frc.team1711.swerve.util.InputHandler)">userInputDrive</a></span>&#8203;(double&nbsp;strafeX,
               double&nbsp;strafeY,
@@ -300,7 +305,7 @@ <h3>Method Summary</h3>
 <!--   -->
 </a>
 <h3>Methods inherited from class&nbsp;edu.wpi.first.wpilibj2.command.SubsystemBase</h3>
-<code>addChild, getName, getSubsystem, initSendable, setName, setSubsystem</code></li>
+<code>addChild, getName, getSubsystem, setName, setSubsystem</code></li>
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@@ -386,6 +391,21 @@ <h4>SwerveDrive</h4>
 <!--   -->
 </a>
 <h3>Method Detail</h3>
+<a id="initSendable(edu.wpi.first.util.sendable.SendableBuilder)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>initSendable</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;initSendable&#8203;(edu.wpi.first.util.sendable.SendableBuilder&nbsp;builder)</pre>
+<dl>
+<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
+<dd><code>initSendable</code>&nbsp;in interface&nbsp;<code>edu.wpi.first.util.sendable.Sendable</code></dd>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code>initSendable</code>&nbsp;in class&nbsp;<code>edu.wpi.first.wpilibj2.command.SubsystemBase</code></dd>
+</dl>
+</li>
+</ul>
 <a id="setSwerveDrivingSpeeds(frc.team1711.swerve.subsystems.SwerveDrive.SwerveDrivingSpeeds)">
 <!--   -->
 </a>
diff --git a/swervelib/build/docs/javadoc/index-all.html b/swervelib/build/docs/javadoc/index-all.html
index 17d5b76..7816024 100644
--- a/swervelib/build/docs/javadoc/index-all.html
+++ b/swervelib/build/docs/javadoc/index-all.html
@@ -289,6 +289,10 @@ <h2 class="title">I</h2>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="frc/team1711/swerve/commands/AutonTurn.html#initialize()">initialize()</a></span> - Method in class frc.team1711.swerve.commands.<a href="frc/team1711/swerve/commands/AutonTurn.html" title="class in frc.team1711.swerve.commands">AutonTurn</a></dt>
 <dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="frc/team1711/swerve/subsystems/GyroSwerveDrive.html#initSendable(edu.wpi.first.util.sendable.SendableBuilder)">initSendable(SendableBuilder)</a></span> - Method in class frc.team1711.swerve.subsystems.<a href="frc/team1711/swerve/subsystems/GyroSwerveDrive.html" title="class in frc.team1711.swerve.subsystems">GyroSwerveDrive</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="frc/team1711/swerve/subsystems/SwerveDrive.html#initSendable(edu.wpi.first.util.sendable.SendableBuilder)">initSendable(SendableBuilder)</a></span> - Method in class frc.team1711.swerve.subsystems.<a href="frc/team1711/swerve/subsystems/SwerveDrive.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive</a></dt>
+<dd>&nbsp;</dd>
 <dt><a href="frc/team1711/swerve/util/InputHandler.html" title="class in frc.team1711.swerve.util"><span class="typeNameLink">InputHandler</span></a> - Class in <a href="frc/team1711/swerve/util/package-summary.html">frc.team1711.swerve.util</a></dt>
 <dd>
 <div class="block">Represents a system for converting continuous user input into a usable input into robot-control functions.</div>
diff --git a/swervelib/build/docs/javadoc/member-search-index.js b/swervelib/build/docs/javadoc/member-search-index.js
index 604d37b..b85bd68 100644
--- a/swervelib/build/docs/javadoc/member-search-index.js
+++ b/swervelib/build/docs/javadoc/member-search-index.js
@@ -1 +1 @@
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\ No newline at end of file
+memberSearchIndex = [{"p":"frc.team1711.swerve.util","c":"Vector","l":"add(Vector)","url":"add(frc.team1711.swerve.util.Vector)"},{"p":"frc.team1711.swerve.util","c":"Angles","l":"Angles()","url":"%3Cinit%3E()"},{"p":"frc.team1711.swerve.util","c":"InputHandler","l":"apply(double)"},{"p":"frc.team1711.swerve.util","c":"InputHandler","l":"apply(Vector)","url":"apply(frc.team1711.swerve.util.Vector)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"autoDrive(double, double, double)","url":"autoDrive(double,double,double)"},{"p":"frc.team1711.swerve.commands","c":"AutonDrive","l":"AutonDrive(AutoSwerveDrive, double, double, double, double, double, FrameOfReference)","url":"%3Cinit%3E(frc.team1711.swerve.subsystems.AutoSwerveDrive,double,double,double,double,double,frc.team1711.swerve.commands.FrameOfReference)"},{"p":"frc.team1711.swerve.commands","c":"AutonTurn","l":"AutonTurn(AutoSwerveDrive, double, double, double, 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double)","url":"fromPolarRadians(double,double)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveWheel","l":"getDirection()"},{"p":"frc.team1711.swerve.subsystems","c":"AutoSwerveDrive","l":"getDistanceTraveled()"},{"p":"frc.team1711.swerve.subsystems","c":"GyroSwerveDrive","l":"getGyroAngle()"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"getMagnitude()"},{"p":"frc.team1711.swerve.util","c":"InputHandler.Curve","l":"getOutput(double)"},{"p":"frc.team1711.swerve.subsystems","c":"AutoSwerveWheel","l":"getPositionDifference()"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"getRotationDegrees()"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"getRotationRadians()"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"getX()"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"getY()"},{"p":"frc.team1711.swerve.subsystems","c":"GyroSwerveDrive","l":"GyroSwerveDrive(SwerveWheel, SwerveWheel, SwerveWheel, SwerveWheel, double, 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\ No newline at end of file
diff --git a/swervelib/build/docs/javadoc/member-search-index.zip b/swervelib/build/docs/javadoc/member-search-index.zip
index 8f4449a..e140d9d 100644
Binary files a/swervelib/build/docs/javadoc/member-search-index.zip and b/swervelib/build/docs/javadoc/member-search-index.zip differ
diff --git a/swervelib/build/docs/javadoc/package-search-index.zip b/swervelib/build/docs/javadoc/package-search-index.zip
index b8c6b01..f0f9cea 100644
Binary files a/swervelib/build/docs/javadoc/package-search-index.zip and b/swervelib/build/docs/javadoc/package-search-index.zip differ
diff --git a/swervelib/build/docs/javadoc/type-search-index.zip b/swervelib/build/docs/javadoc/type-search-index.zip
index eed3e23..a928d77 100644
Binary files a/swervelib/build/docs/javadoc/type-search-index.zip and b/swervelib/build/docs/javadoc/type-search-index.zip differ
diff --git a/swervelib/build/libs/swervelib-v3.2022.3.1-javadoc.jar b/swervelib/build/libs/swervelib-v3.2022.3.1-javadoc.jar
index c19c2b6..bde451a 100644
Binary files a/swervelib/build/libs/swervelib-v3.2022.3.1-javadoc.jar and b/swervelib/build/libs/swervelib-v3.2022.3.1-javadoc.jar differ
diff --git a/swervelib/build/libs/swervelib-v3.2022.3.1.jar b/swervelib/build/libs/swervelib-v3.2022.3.1.jar
index cc7d21d..db98dc0 100644
Binary files a/swervelib/build/libs/swervelib-v3.2022.3.1.jar and b/swervelib/build/libs/swervelib-v3.2022.3.1.jar differ
diff --git a/swervelib/build/reports/tests/test/classes/swerve.LibraryTest.html b/swervelib/build/reports/tests/test/classes/swerve.LibraryTest.html
index 7df82ad..ef7eb47 100644
--- a/swervelib/build/reports/tests/test/classes/swerve.LibraryTest.html
+++ b/swervelib/build/reports/tests/test/classes/swerve.LibraryTest.html
@@ -89,7 +89,7 @@ <h2>Tests</h2>
 <input id="line-wrapping-toggle" type="checkbox" autocomplete="off"/>
 </label>
 </div>Generated by 
-<a href="http://www.gradle.org">Gradle 7.3.3</a> at Feb 17, 2022, 6:34:16 PM</p>
+<a href="http://www.gradle.org">Gradle 7.3.3</a> at Feb 19, 2022, 11:35:47 AM</p>
 </div>
 </div>
 </body>
diff --git a/swervelib/build/reports/tests/test/index.html b/swervelib/build/reports/tests/test/index.html
index 9bf02a6..33f2c45 100644
--- a/swervelib/build/reports/tests/test/index.html
+++ b/swervelib/build/reports/tests/test/index.html
@@ -138,7 +138,7 @@ <h2>Classes</h2>
 <input id="line-wrapping-toggle" type="checkbox" autocomplete="off"/>
 </label>
 </div>Generated by 
-<a href="http://www.gradle.org">Gradle 7.3.3</a> at Feb 17, 2022, 6:34:16 PM</p>
+<a href="http://www.gradle.org">Gradle 7.3.3</a> at Feb 19, 2022, 11:35:47 AM</p>
 </div>
 </div>
 </body>
diff --git a/swervelib/build/reports/tests/test/packages/swerve.html b/swervelib/build/reports/tests/test/packages/swerve.html
index 4cbd40d..c618cd7 100644
--- a/swervelib/build/reports/tests/test/packages/swerve.html
+++ b/swervelib/build/reports/tests/test/packages/swerve.html
@@ -108,7 +108,7 @@ <h2>Classes</h2>
 <input id="line-wrapping-toggle" type="checkbox" autocomplete="off"/>
 </label>
 </div>Generated by 
-<a href="http://www.gradle.org">Gradle 7.3.3</a> at Feb 17, 2022, 6:34:16 PM</p>
+<a href="http://www.gradle.org">Gradle 7.3.3</a> at Feb 19, 2022, 11:35:47 AM</p>
 </div>
 </div>
 </body>
diff --git a/swervelib/build/test-results/test/TEST-swerve.LibraryTest.xml b/swervelib/build/test-results/test/TEST-swerve.LibraryTest.xml
index d279c9f..197e9ae 100644
--- a/swervelib/build/test-results/test/TEST-swerve.LibraryTest.xml
+++ b/swervelib/build/test-results/test/TEST-swerve.LibraryTest.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<testsuite name="swerve.LibraryTest" tests="1" skipped="1" failures="0" errors="0" timestamp="2022-02-17T23:34:16" hostname="GABRIEL-LAPTOP" time="0.0">
+<testsuite name="swerve.LibraryTest" tests="1" skipped="1" failures="0" errors="0" timestamp="2022-02-19T16:35:47" hostname="GABRIEL-LAPTOP" time="0.0">
   <properties/>
   <testcase name="testSomeLibraryMethod" classname="swerve.LibraryTest" time="0.0">
     <skipped/>
diff --git a/swervelib/build/test-results/test/binary/results.bin b/swervelib/build/test-results/test/binary/results.bin
index 3a938f6..f16ed46 100644
Binary files a/swervelib/build/test-results/test/binary/results.bin and b/swervelib/build/test-results/test/binary/results.bin differ
diff --git a/swervelib/build/tmp/compileJava/previous-compilation-data.bin b/swervelib/build/tmp/compileJava/previous-compilation-data.bin
index 97fe3d4..e313b9f 100644
Binary files a/swervelib/build/tmp/compileJava/previous-compilation-data.bin and b/swervelib/build/tmp/compileJava/previous-compilation-data.bin differ
diff --git a/swervelib/src/main/java/frc/team1711/swerve/subsystems/GyroSwerveDrive.java b/swervelib/src/main/java/frc/team1711/swerve/subsystems/GyroSwerveDrive.java
index ed91aa9..605f20d 100644
--- a/swervelib/src/main/java/frc/team1711/swerve/subsystems/GyroSwerveDrive.java
+++ b/swervelib/src/main/java/frc/team1711/swerve/subsystems/GyroSwerveDrive.java
@@ -3,6 +3,7 @@
 
 package frc.team1711.swerve.subsystems;
 
+import edu.wpi.first.util.sendable.SendableBuilder;
 import frc.team1711.swerve.util.Angles;
 import frc.team1711.swerve.util.InputHandler;
 import frc.team1711.swerve.util.Vector;
@@ -61,6 +62,12 @@ public void fieldRelativeUserInputDrive (double strafeX, double strafeY, double
 			fieldStrafeInput.getY() * swerveDrivingSpeeds.strafeSpeed,
 			steering * swerveDrivingSpeeds.steerSpeed);
     }
+	
+	@Override
+	public void initSendable (SendableBuilder builder) {
+		super.initSendable(builder);
+		builder.addDoubleProperty("Gyro Angle", () -> getGyroAngle(), (x) -> {});
+	}
     
     /**
      * Gets the gyro yaw angle on the range [0, 360) degrees.
diff --git a/swervelib/src/main/java/frc/team1711/swerve/subsystems/SwerveDrive.java b/swervelib/src/main/java/frc/team1711/swerve/subsystems/SwerveDrive.java
index 2a82031..72af2f3 100644
--- a/swervelib/src/main/java/frc/team1711/swerve/subsystems/SwerveDrive.java
+++ b/swervelib/src/main/java/frc/team1711/swerve/subsystems/SwerveDrive.java
@@ -3,6 +3,7 @@
 
 package frc.team1711.swerve.subsystems;
 
+import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 import frc.team1711.swerve.util.InputHandler;
@@ -78,6 +79,20 @@ public SwerveDrivingSpeeds (double strafeSpeed, double steerSpeed) {
 		
 	}
 	
+	@Override
+	public void initSendable (SendableBuilder builder) {
+		builder.setSmartDashboardType("Swerve Drive");
+		builder.addDoubleProperty("Front Left Module", () -> getSendableDir(flWheel), (x) -> {});
+		builder.addDoubleProperty("Front Right Module", () -> getSendableDir(frWheel), (x) -> {});
+		builder.addDoubleProperty("Rear Left Module", () -> getSendableDir(rlWheel), (x) -> {});
+		builder.addDoubleProperty("Rear Right Module", () -> getSendableDir(rrWheel), (x) -> {});
+	}
+	
+	// Gets the direction to send to the dashboard for a given SwerveWheel
+	private double getSendableDir (SwerveWheel wheel) {
+		return (wheel.getDirection() + 90) % 180 - 90;
+	}
+	
 	/**
 	 * Used to set a new {@link SwerveDrivingSpeeds} configuration.
 	 * @param swerveDrivingSpeeds The new {@code SwerveDrivingSpeeds} configuration