diff --git a/swervelib/bin/main/frc/team1711/swerve/util/odometry/MovementManner$MovementSpeedSupplier.class b/swervelib/bin/main/frc/team1711/swerve/util/odometry/MovementManner$MovementSpeedSupplier.class
index eca061b..65f9c00 100644
Binary files a/swervelib/bin/main/frc/team1711/swerve/util/odometry/MovementManner$MovementSpeedSupplier.class and b/swervelib/bin/main/frc/team1711/swerve/util/odometry/MovementManner$MovementSpeedSupplier.class differ
diff --git a/swervelib/bin/main/frc/team1711/swerve/util/odometry/MovementManner.class b/swervelib/bin/main/frc/team1711/swerve/util/odometry/MovementManner.class
index 009d9b5..bd2fcbd 100644
Binary files a/swervelib/bin/main/frc/team1711/swerve/util/odometry/MovementManner.class and b/swervelib/bin/main/frc/team1711/swerve/util/odometry/MovementManner.class differ
diff --git a/swervelib/bin/main/frc/team1711/swerve/util/odometry/RobotMovement.class b/swervelib/bin/main/frc/team1711/swerve/util/odometry/RobotMovement.class
index 5443ffd..5745bf4 100644
Binary files a/swervelib/bin/main/frc/team1711/swerve/util/odometry/RobotMovement.class and b/swervelib/bin/main/frc/team1711/swerve/util/odometry/RobotMovement.class differ
diff --git a/swervelib/bin/main/frc/team1711/swerve/util/odometry/RobotTurn.class b/swervelib/bin/main/frc/team1711/swerve/util/odometry/RobotTurn.class
index 4523bcb..d4f41b5 100644
Binary files a/swervelib/bin/main/frc/team1711/swerve/util/odometry/RobotTurn.class and b/swervelib/bin/main/frc/team1711/swerve/util/odometry/RobotTurn.class differ
diff --git a/swervelib/bin/main/frc/team1711/swerve/util/odometry/TurnManner$TurnSpeedSupplier.class b/swervelib/bin/main/frc/team1711/swerve/util/odometry/TurnManner$TurnSpeedSupplier.class
index 718928b..b6bb6b5 100644
Binary files a/swervelib/bin/main/frc/team1711/swerve/util/odometry/TurnManner$TurnSpeedSupplier.class and b/swervelib/bin/main/frc/team1711/swerve/util/odometry/TurnManner$TurnSpeedSupplier.class differ
diff --git a/swervelib/bin/main/frc/team1711/swerve/util/odometry/TurnManner.class b/swervelib/bin/main/frc/team1711/swerve/util/odometry/TurnManner.class
index 67ee61c..cd09a4f 100644
Binary files a/swervelib/bin/main/frc/team1711/swerve/util/odometry/TurnManner.class and b/swervelib/bin/main/frc/team1711/swerve/util/odometry/TurnManner.class differ
diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/MovementManner$MovementSpeedSupplier.class b/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/MovementManner$MovementSpeedSupplier.class
index c26beeb..8cb3bd8 100644
Binary files a/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/MovementManner$MovementSpeedSupplier.class and b/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/MovementManner$MovementSpeedSupplier.class differ
diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/MovementManner.class b/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/MovementManner.class
index 980dd41..543f0c2 100644
Binary files a/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/MovementManner.class and b/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/MovementManner.class differ
diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/RobotMovement.class b/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/RobotMovement.class
index 9209c82..c6bf798 100644
Binary files a/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/RobotMovement.class and b/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/RobotMovement.class differ
diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/RobotTurn.class b/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/RobotTurn.class
index 35b39f2..502e8a0 100644
Binary files a/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/RobotTurn.class and b/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/RobotTurn.class differ
diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/TurnManner$TurnSpeedSupplier.class b/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/TurnManner$TurnSpeedSupplier.class
index c0c4e75..c818603 100644
Binary files a/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/TurnManner$TurnSpeedSupplier.class and b/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/TurnManner$TurnSpeedSupplier.class differ
diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/TurnManner.class b/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/TurnManner.class
index bd915cd..1c06763 100644
Binary files a/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/TurnManner.class and b/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/TurnManner.class differ
diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/util/odometry/MovementManner.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/util/odometry/MovementManner.html
index eb82e9e..4ead507 100644
--- a/swervelib/build/docs/javadoc/frc/team1711/swerve/util/odometry/MovementManner.html
+++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/util/odometry/MovementManner.html
@@ -88,13 +88,13 @@
 <ul class="subNavList">
 <li>Summary:&nbsp;</li>
 <li><a href="#nested.class.summary">Nested</a>&nbsp;|&nbsp;</li>
-<li>Field&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>Field&nbsp;|&nbsp;</li>
+<li><a href="#field.detail">Field</a>&nbsp;|&nbsp;</li>
 <li><a href="#constructor.detail">Constr</a>&nbsp;|&nbsp;</li>
 <li><a href="#method.detail">Method</a></li>
 </ul>
@@ -182,6 +182,31 @@ <h3>Nested classes/interfaces inherited from class&nbsp;frc.team1711.swerve.util
 </li>
 </ul>
 </section>
+<!-- =========== FIELD SUMMARY =========== -->
+<section role="region">
+<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 <a href="MovementManner.html" title="class in frc.team1711.swerve.util.odometry">MovementManner</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#NONE">NONE</a></span></code></th>
+<td class="colLast">
+<div class="block">A <code>MovementManner</code> where the robot will not attempt to move and the path will immediately be completed.</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
 <!-- ======== CONSTRUCTOR SUMMARY ======== -->
 <section role="region">
 <ul class="blockList">
@@ -254,6 +279,26 @@ <h3>Methods inherited from class&nbsp;java.lang.Object</h3>
 <div class="details">
 <ul class="blockList">
 <li class="blockList">
+<!-- ============ FIELD DETAIL =========== -->
+<section role="region">
+<ul class="blockList">
+<li class="blockList"><a id="field.detail">
+<!--   -->
+</a>
+<h3>Field Detail</h3>
+<a id="NONE">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>NONE</h4>
+<pre>public static final&nbsp;<a href="MovementManner.html" title="class in frc.team1711.swerve.util.odometry">MovementManner</a> NONE</pre>
+<div class="block">A <code>MovementManner</code> where the robot will not attempt to move and the path will immediately be completed.</div>
+</li>
+</ul>
+</li>
+</ul>
+</section>
 <!-- ========= CONSTRUCTOR DETAIL ======== -->
 <section role="region">
 <ul class="blockList">
@@ -377,13 +422,13 @@ <h4>getMarginOfError</h4>
 <ul class="subNavList">
 <li>Summary:&nbsp;</li>
 <li><a href="#nested.class.summary">Nested</a>&nbsp;|&nbsp;</li>
-<li>Field&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>Field&nbsp;|&nbsp;</li>
+<li><a href="#field.detail">Field</a>&nbsp;|&nbsp;</li>
 <li><a href="#constructor.detail">Constr</a>&nbsp;|&nbsp;</li>
 <li><a href="#method.detail">Method</a></li>
 </ul>
diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/util/odometry/RobotMovement.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/util/odometry/RobotMovement.html
index 2e9b9ac..cda5050 100644
--- a/swervelib/build/docs/javadoc/frc/team1711/swerve/util/odometry/RobotMovement.html
+++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/util/odometry/RobotMovement.html
@@ -88,13 +88,13 @@
 <ul class="subNavList">
 <li>Summary:&nbsp;</li>
 <li>Nested&nbsp;|&nbsp;</li>
-<li>Field&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>Field&nbsp;|&nbsp;</li>
+<li><a href="#field.detail">Field</a>&nbsp;|&nbsp;</li>
 <li><a href="#constructor.detail">Constr</a>&nbsp;|&nbsp;</li>
 <li><a href="#method.detail">Method</a></li>
 </ul>
@@ -145,6 +145,31 @@ <h2 title="Class RobotMovement" class="title">Class RobotMovement</h2>
 <div class="summary">
 <ul class="blockList">
 <li class="blockList">
+<!-- =========== FIELD SUMMARY =========== -->
+<section role="region">
+<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 <a href="RobotMovement.html" title="class in frc.team1711.swerve.util.odometry">RobotMovement</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#NONE">NONE</a></span></code></th>
+<td class="colLast">
+<div class="block">A <code>RobotMovement</code> describing no movement whatsoever.</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
 <!-- ======== CONSTRUCTOR SUMMARY ======== -->
 <section role="region">
 <ul class="blockList">
@@ -216,6 +241,26 @@ <h3>Methods inherited from class&nbsp;java.lang.Object</h3>
 <div class="details">
 <ul class="blockList">
 <li class="blockList">
+<!-- ============ FIELD DETAIL =========== -->
+<section role="region">
+<ul class="blockList">
+<li class="blockList"><a id="field.detail">
+<!--   -->
+</a>
+<h3>Field Detail</h3>
+<a id="NONE">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>NONE</h4>
+<pre>public static final&nbsp;<a href="RobotMovement.html" title="class in frc.team1711.swerve.util.odometry">RobotMovement</a> NONE</pre>
+<div class="block">A <code>RobotMovement</code> describing no movement whatsoever.</div>
+</li>
+</ul>
+</li>
+</ul>
+</section>
 <!-- ========= CONSTRUCTOR DETAIL ======== -->
 <section role="region">
 <ul class="blockList">
@@ -340,13 +385,13 @@ <h4>toFieldRel</h4>
 <ul class="subNavList">
 <li>Summary:&nbsp;</li>
 <li>Nested&nbsp;|&nbsp;</li>
-<li>Field&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>Field&nbsp;|&nbsp;</li>
+<li><a href="#field.detail">Field</a>&nbsp;|&nbsp;</li>
 <li><a href="#constructor.detail">Constr</a>&nbsp;|&nbsp;</li>
 <li><a href="#method.detail">Method</a></li>
 </ul>
diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/util/odometry/RobotTurn.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/util/odometry/RobotTurn.html
index 9e240aa..065f227 100644
--- a/swervelib/build/docs/javadoc/frc/team1711/swerve/util/odometry/RobotTurn.html
+++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/util/odometry/RobotTurn.html
@@ -88,13 +88,13 @@
 <ul class="subNavList">
 <li>Summary:&nbsp;</li>
 <li>Nested&nbsp;|&nbsp;</li>
-<li>Field&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>Field&nbsp;|&nbsp;</li>
+<li><a href="#field.detail">Field</a>&nbsp;|&nbsp;</li>
 <li><a href="#constructor.detail">Constr</a>&nbsp;|&nbsp;</li>
 <li><a href="#method.detail">Method</a></li>
 </ul>
@@ -144,6 +144,31 @@ <h2 title="Class RobotTurn" class="title">Class RobotTurn</h2>
 <div class="summary">
 <ul class="blockList">
 <li class="blockList">
+<!-- =========== FIELD SUMMARY =========== -->
+<section role="region">
+<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 <a href="RobotTurn.html" title="class in frc.team1711.swerve.util.odometry">RobotTurn</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#NONE">NONE</a></span></code></th>
+<td class="colLast">
+<div class="block">A <code>RobotTurn</code> describing no movement whatsoever.</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
 <!-- ======== CONSTRUCTOR SUMMARY ======== -->
 <section role="region">
 <ul class="blockList">
@@ -215,6 +240,26 @@ <h3>Methods inherited from class&nbsp;java.lang.Object</h3>
 <div class="details">
 <ul class="blockList">
 <li class="blockList">
+<!-- ============ FIELD DETAIL =========== -->
+<section role="region">
+<ul class="blockList">
+<li class="blockList"><a id="field.detail">
+<!--   -->
+</a>
+<h3>Field Detail</h3>
+<a id="NONE">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>NONE</h4>
+<pre>public static final&nbsp;<a href="RobotTurn.html" title="class in frc.team1711.swerve.util.odometry">RobotTurn</a> NONE</pre>
+<div class="block">A <code>RobotTurn</code> describing no movement whatsoever.</div>
+</li>
+</ul>
+</li>
+</ul>
+</section>
 <!-- ========= CONSTRUCTOR DETAIL ======== -->
 <section role="region">
 <ul class="blockList">
@@ -342,13 +387,13 @@ <h4>toFieldRel</h4>
 <ul class="subNavList">
 <li>Summary:&nbsp;</li>
 <li>Nested&nbsp;|&nbsp;</li>
-<li>Field&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>Field&nbsp;|&nbsp;</li>
+<li><a href="#field.detail">Field</a>&nbsp;|&nbsp;</li>
 <li><a href="#constructor.detail">Constr</a>&nbsp;|&nbsp;</li>
 <li><a href="#method.detail">Method</a></li>
 </ul>
diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/util/odometry/TurnManner.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/util/odometry/TurnManner.html
index baaf3cd..790b346 100644
--- a/swervelib/build/docs/javadoc/frc/team1711/swerve/util/odometry/TurnManner.html
+++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/util/odometry/TurnManner.html
@@ -88,13 +88,13 @@
 <ul class="subNavList">
 <li>Summary:&nbsp;</li>
 <li><a href="#nested.class.summary">Nested</a>&nbsp;|&nbsp;</li>
-<li>Field&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>Field&nbsp;|&nbsp;</li>
+<li><a href="#field.detail">Field</a>&nbsp;|&nbsp;</li>
 <li><a href="#constructor.detail">Constr</a>&nbsp;|&nbsp;</li>
 <li><a href="#method.detail">Method</a></li>
 </ul>
@@ -181,6 +181,31 @@ <h3>Nested classes/interfaces inherited from class&nbsp;frc.team1711.swerve.util
 </li>
 </ul>
 </section>
+<!-- =========== FIELD SUMMARY =========== -->
+<section role="region">
+<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 <a href="TurnManner.html" title="class in frc.team1711.swerve.util.odometry">TurnManner</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#NONE">NONE</a></span></code></th>
+<td class="colLast">
+<div class="block">A <code>TurnManner</code> where the robot will not attempt to move and the path will immediately be completed.</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
 <!-- ======== CONSTRUCTOR SUMMARY ======== -->
 <section role="region">
 <ul class="blockList">
@@ -253,6 +278,26 @@ <h3>Methods inherited from class&nbsp;java.lang.Object</h3>
 <div class="details">
 <ul class="blockList">
 <li class="blockList">
+<!-- ============ FIELD DETAIL =========== -->
+<section role="region">
+<ul class="blockList">
+<li class="blockList"><a id="field.detail">
+<!--   -->
+</a>
+<h3>Field Detail</h3>
+<a id="NONE">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>NONE</h4>
+<pre>public static final&nbsp;<a href="TurnManner.html" title="class in frc.team1711.swerve.util.odometry">TurnManner</a> NONE</pre>
+<div class="block">A <code>TurnManner</code> where the robot will not attempt to move and the path will immediately be completed.</div>
+</li>
+</ul>
+</li>
+</ul>
+</section>
 <!-- ========= CONSTRUCTOR DETAIL ======== -->
 <section role="region">
 <ul class="blockList">
@@ -376,13 +421,13 @@ <h4>getMarginOfError</h4>
 <ul class="subNavList">
 <li>Summary:&nbsp;</li>
 <li><a href="#nested.class.summary">Nested</a>&nbsp;|&nbsp;</li>
-<li>Field&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>Field&nbsp;|&nbsp;</li>
+<li><a href="#field.detail">Field</a>&nbsp;|&nbsp;</li>
 <li><a href="#constructor.detail">Constr</a>&nbsp;|&nbsp;</li>
 <li><a href="#method.detail">Method</a></li>
 </ul>
diff --git a/swervelib/build/docs/javadoc/index-all.html b/swervelib/build/docs/javadoc/index-all.html
index 0687da0..971efcf 100644
--- a/swervelib/build/docs/javadoc/index-all.html
+++ b/swervelib/build/docs/javadoc/index-all.html
@@ -91,7 +91,7 @@
 </nav>
 </header>
 <main role="main">
-<div class="contentContainer"><a href="#I:A">A</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:I">I</a>&nbsp;<a href="#I:L">L</a>&nbsp;<a href="#I:M">M</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;<a href="#I:Z">Z</a>&nbsp;<br><a href="allclasses-index.html">All&nbsp;Classes</a>&nbsp;<a href="allpackages-index.html">All&nbsp;Packages</a><a id="I:A">
+<div class="contentContainer"><a href="#I:A">A</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:I">I</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;<a href="#I:Z">Z</a>&nbsp;<br><a href="allclasses-index.html">All&nbsp;Classes</a>&nbsp;<a href="allpackages-index.html">All&nbsp;Packages</a><a id="I:A">
 <!--   -->
 </a>
 <h2 class="title">A</h2>
@@ -451,6 +451,28 @@ <h2 class="title">M</h2>
  another on the field.</div>
 </dd>
 </dl>
+<a id="I:N">
+<!--   -->
+</a>
+<h2 class="title">N</h2>
+<dl>
+<dt><span class="memberNameLink"><a href="frc/team1711/swerve/util/odometry/MovementManner.html#NONE">NONE</a></span> - Static variable in class frc.team1711.swerve.util.odometry.<a href="frc/team1711/swerve/util/odometry/MovementManner.html" title="class in frc.team1711.swerve.util.odometry">MovementManner</a></dt>
+<dd>
+<div class="block">A <code>MovementManner</code> where the robot will not attempt to move and the path will immediately be completed.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="frc/team1711/swerve/util/odometry/RobotMovement.html#NONE">NONE</a></span> - Static variable in class frc.team1711.swerve.util.odometry.<a href="frc/team1711/swerve/util/odometry/RobotMovement.html" title="class in frc.team1711.swerve.util.odometry">RobotMovement</a></dt>
+<dd>
+<div class="block">A <code>RobotMovement</code> describing no movement whatsoever.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="frc/team1711/swerve/util/odometry/RobotTurn.html#NONE">NONE</a></span> - Static variable in class frc.team1711.swerve.util.odometry.<a href="frc/team1711/swerve/util/odometry/RobotTurn.html" title="class in frc.team1711.swerve.util.odometry">RobotTurn</a></dt>
+<dd>
+<div class="block">A <code>RobotTurn</code> describing no movement whatsoever.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="frc/team1711/swerve/util/odometry/TurnManner.html#NONE">NONE</a></span> - Static variable in class frc.team1711.swerve.util.odometry.<a href="frc/team1711/swerve/util/odometry/TurnManner.html" title="class in frc.team1711.swerve.util.odometry">TurnManner</a></dt>
+<dd>
+<div class="block">A <code>TurnManner</code> where the robot will not attempt to move and the path will immediately be completed.</div>
+</dd>
+</dl>
 <a id="I:O">
 <!--   -->
 </a>
@@ -766,7 +788,7 @@ <h2 class="title">Z</h2>
 <div class="block">The vector (0, 0).</div>
 </dd>
 </dl>
-<a href="#I:A">A</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:I">I</a>&nbsp;<a href="#I:L">L</a>&nbsp;<a href="#I:M">M</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;<a href="#I:Z">Z</a>&nbsp;<br><a href="allclasses-index.html">All&nbsp;Classes</a>&nbsp;<a href="allpackages-index.html">All&nbsp;Packages</a></div>
+<a href="#I:A">A</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:I">I</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;<a href="#I:Z">Z</a>&nbsp;<br><a href="allclasses-index.html">All&nbsp;Classes</a>&nbsp;<a href="allpackages-index.html">All&nbsp;Packages</a></div>
 </main>
 <footer role="contentinfo">
 <nav role="navigation">
diff --git a/swervelib/build/docs/javadoc/member-search-index.js b/swervelib/build/docs/javadoc/member-search-index.js
index ce88427..1f800cf 100644
--- a/swervelib/build/docs/javadoc/member-search-index.js
+++ b/swervelib/build/docs/javadoc/member-search-index.js
@@ -1 +1 @@
-memberSearchIndex = [{"p":"frc.team1711.swerve.util","c":"Vector","l":"add(Vector)","url":"add(frc.team1711.swerve.util.Vector)"},{"p":"frc.team1711.swerve.util.odometry","c":"Position","l":"addMovementVector(Vector)","url":"addMovementVector(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, Position, MovementManner, TurnManner)","url":"%3Cinit%3E(frc.team1711.swerve.subsystems.AutoSwerveDrive,frc.team1711.swerve.util.odometry.Position,frc.team1711.swerve.util.odometry.MovementManner,frc.team1711.swerve.util.odometry.TurnManner)"},{"p":"frc.team1711.swerve.commands","c":"AutonDrive","l":"AutonDrive(AutoSwerveDrive, RobotMovement, RobotTurn)","url":"%3Cinit%3E(frc.team1711.swerve.subsystems.AutoSwerveDrive,frc.team1711.swerve.util.odometry.RobotMovement,frc.team1711.swerve.util.odometry.RobotTurn)"},{"p":"frc.team1711.swerve.subsystems","c":"AutoSwerveDrive","l":"AutoSwerveDrive(Gyro, AutoSwerveWheel, AutoSwerveWheel, AutoSwerveWheel, AutoSwerveWheel, double)","url":"%3Cinit%3E(edu.wpi.first.wpilibj.interfaces.Gyro,frc.team1711.swerve.subsystems.AutoSwerveWheel,frc.team1711.swerve.subsystems.AutoSwerveWheel,frc.team1711.swerve.subsystems.AutoSwerveWheel,frc.team1711.swerve.subsystems.AutoSwerveWheel,double)"},{"p":"frc.team1711.swerve.subsystems","c":"AutoSwerveWheel","l":"AutoSwerveWheel()","url":"%3Cinit%3E()"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveWheel","l":"checkWithin180Range(double, double)","url":"checkWithin180Range(double,double)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveWheel","l":"checkWithinRange(double, double)","url":"checkWithinRange(double,double)"},{"p":"frc.team1711.swerve.util.odometry","c":"Manner.SpeedSupplier","l":"constantSpeed(double)"},{"p":"frc.team1711.swerve.util.odometry","c":"MovementManner.MovementSpeedSupplier","l":"constantSpeed(double)"},{"p":"frc.team1711.swerve.util.odometry","c":"TurnManner.TurnSpeedSupplier","l":"constantSpeed(double)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive.ControlsConfig","l":"ControlsConfig(double, double, InputHandler)","url":"%3Cinit%3E(double,double,frc.team1711.swerve.util.InputHandler)"},{"p":"frc.team1711.swerve.util","c":"Angles","l":"degreesToRadians(double)"},{"p":"frc.team1711.swerve.util.odometry","c":"Position","l":"distanceFrom(Position)","url":"distanceFrom(frc.team1711.swerve.util.odometry.Position)"},{"p":"frc.team1711.swerve.commands","c":"AutonDrive","l":"end(boolean)"},{"p":"frc.team1711.swerve.commands","c":"AutonDrive","l":"execute()"},{"p":"frc.team1711.swerve.commands","c":"FrameOfReference","l":"FIELD"},{"p":"frc.team1711.swerve.subsystems","c":"GyroSwerveDrive","l":"fieldRelativeUserInputDrive(double, double, double, SwerveDrive.ControlsConfig)","url":"fieldRelativeUserInputDrive(double,double,double,frc.team1711.swerve.subsystems.SwerveDrive.ControlsConfig)"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"fromPolarDegrees(double, double)","url":"fromPolarDegrees(double,double)"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"fromPolarRadians(double, double)","url":"fromPolarRadians(double,double)"},{"p":"frc.team1711.swerve.subsystems","c":"GyroSwerveDrive","l":"getAbsoluteGyroAngle()"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveWheel","l":"getDirection()"},{"p":"frc.team1711.swerve.util.odometry","c":"Position","l":"getDirection()"},{"p":"frc.team1711.swerve.subsystems","c":"AutoSwerveWheel","l":"getEncoderDistance()"},{"p":"frc.team1711.swerve.subsystems","c":"GyroSwerveDrive","l":"getGyroAngle()"},{"p":"frc.team1711.swerve.util.odometry","c":"Position","l":"getLocation()"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"getMagnitude()"},{"p":"frc.team1711.swerve.util.odometry","c":"RobotMovement","l":"getManner()"},{"p":"frc.team1711.swerve.util.odometry","c":"RobotTurn","l":"getManner()"},{"p":"frc.team1711.swerve.util.odometry","c":"Manner","l":"getMarginOfError()"},{"p":"frc.team1711.swerve.util.odometry","c":"MovementManner","l":"getMarginOfError()"},{"p":"frc.team1711.swerve.util.odometry","c":"TurnManner","l":"getMarginOfError()"},{"p":"frc.team1711.swerve.util","c":"InputHandler.Curve","l":"getOutput(double)"},{"p":"frc.team1711.swerve.subsystems","c":"AutoSwerveDrive","l":"getPosition()"},{"p":"frc.team1711.swerve.util.odometry","c":"Odometry","l":"getPosition()"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"getRotationDegrees()"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"getRotationRadians()"},{"p":"frc.team1711.swerve.util.odometry","c":"Manner.SpeedSupplier","l":"getSpeed(double)"},{"p":"frc.team1711.swerve.util.odometry","c":"MovementManner.MovementSpeedSupplier","l":"getSpeed(double)"},{"p":"frc.team1711.swerve.util.odometry","c":"TurnManner.TurnSpeedSupplier","l":"getSpeed(double)"},{"p":"frc.team1711.swerve.util.odometry","c":"Manner","l":"getSpeedSupplier()"},{"p":"frc.team1711.swerve.util.odometry","c":"MovementManner","l":"getSpeedSupplier()"},{"p":"frc.team1711.swerve.util.odometry","c":"TurnManner","l":"getSpeedSupplier()"},{"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(Gyro, SwerveWheel, SwerveWheel, SwerveWheel, SwerveWheel, double)","url":"%3Cinit%3E(edu.wpi.first.wpilibj.interfaces.Gyro,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,double)"},{"p":"frc.team1711.swerve.commands","c":"AutonDrive","l":"initialize()"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"initSendable(SendableBuilder)","url":"initSendable(edu.wpi.first.util.sendable.SendableBuilder)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive.ControlsConfig","l":"inputHandler"},{"p":"frc.team1711.swerve.util","c":"InputHandler","l":"InputHandler(double, InputHandler.Curve)","url":"%3Cinit%3E(double,frc.team1711.swerve.util.InputHandler.Curve)"},{"p":"frc.team1711.swerve.util","c":"InputHandler","l":"InputHandler(double)","url":"%3Cinit%3E(double)"},{"p":"frc.team1711.swerve.commands","c":"AutonDrive","l":"isFinished()"},{"p":"frc.team1711.swerve.util","c":"InputHandler.Curve","l":"linearCurve"},{"p":"frc.team1711.swerve.util.odometry","c":"Manner","l":"Manner(double)","url":"%3Cinit%3E(double)"},{"p":"frc.team1711.swerve.util.odometry","c":"MovementManner","l":"MovementManner(double, MovementManner.MovementSpeedSupplier)","url":"%3Cinit%3E(double,frc.team1711.swerve.util.odometry.MovementManner.MovementSpeedSupplier)"},{"p":"frc.team1711.swerve.util.odometry","c":"Position","l":"movementTo(Position)","url":"movementTo(frc.team1711.swerve.util.odometry.Position)"},{"p":"frc.team1711.swerve.util.odometry","c":"Odometry","l":"Odometry(AutoSwerveDrive, AutoSwerveWheel, AutoSwerveWheel, AutoSwerveWheel, AutoSwerveWheel)","url":"%3Cinit%3E(frc.team1711.swerve.subsystems.AutoSwerveDrive,frc.team1711.swerve.subsystems.AutoSwerveWheel,frc.team1711.swerve.subsystems.AutoSwerveWheel,frc.team1711.swerve.subsystems.AutoSwerveWheel,frc.team1711.swerve.subsystems.AutoSwerveWheel)"},{"p":"frc.team1711.swerve.util","c":"Angles","l":"PI"},{"p":"frc.team1711.swerve.util.odometry","c":"Position","l":"Position(Vector, double)","url":"%3Cinit%3E(frc.team1711.swerve.util.Vector,double)"},{"p":"frc.team1711.swerve.util","c":"Angles","l":"radiansToDegrees(double)"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"reflectAcrossX()"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"reflectAcrossY()"},{"p":"frc.team1711.swerve.subsystems","c":"GyroSwerveDrive","l":"resetGyro()"},{"p":"frc.team1711.swerve.subsystems","c":"GyroSwerveDrive","l":"resetGyro(double)"},{"p":"frc.team1711.swerve.subsystems","c":"AutoSwerveDrive","l":"resetPosition(Position)","url":"resetPosition(frc.team1711.swerve.util.odometry.Position)"},{"p":"frc.team1711.swerve.util.odometry","c":"Odometry","l":"resetPosition(Position)","url":"resetPosition(frc.team1711.swerve.util.odometry.Position)"},{"p":"frc.team1711.swerve.commands","c":"FrameOfReference","l":"ROBOT"},{"p":"frc.team1711.swerve.util.odometry","c":"RobotMovement","l":"RobotMovement(Vector, FrameOfReference, MovementManner)","url":"%3Cinit%3E(frc.team1711.swerve.util.Vector,frc.team1711.swerve.commands.FrameOfReference,frc.team1711.swerve.util.odometry.MovementManner)"},{"p":"frc.team1711.swerve.util.odometry","c":"RobotTurn","l":"RobotTurn(double, FrameOfReference, TurnManner)","url":"%3Cinit%3E(double,frc.team1711.swerve.commands.FrameOfReference,frc.team1711.swerve.util.odometry.TurnManner)"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"scale(double)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveWheel","l":"setDirection(double)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveWheel","l":"setDriveSpeed(double)"},{"p":"frc.team1711.swerve.util.odometry","c":"Manner.SpeedSupplier","l":"speedWithSlowdown(double, double, double)","url":"speedWithSlowdown(double,double,double)"},{"p":"frc.team1711.swerve.util.odometry","c":"MovementManner.MovementSpeedSupplier","l":"speedWithSlowdown(double, double, double)","url":"speedWithSlowdown(double,double,double)"},{"p":"frc.team1711.swerve.util.odometry","c":"TurnManner.TurnSpeedSupplier","l":"speedWithSlowdown(double, double, double)","url":"speedWithSlowdown(double,double,double)"},{"p":"frc.team1711.swerve.util","c":"InputHandler.Curve","l":"squareCurve"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"steerAllWithinRange(double, double)","url":"steerAllWithinRange(double,double)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveWheel","l":"steerAndDrive(double, double)","url":"steerAndDrive(double,double)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"steerAndDriveAll(double, double)","url":"steerAndDriveAll(double,double)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive.ControlsConfig","l":"steerSpeed"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"stop()"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveWheel","l":"stop()"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveWheel","l":"stopSteering()"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive.ControlsConfig","l":"strafeSpeed"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"subtract(Vector)","url":"subtract(frc.team1711.swerve.util.Vector)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"SwerveDrive(SwerveWheel, SwerveWheel, SwerveWheel, SwerveWheel, double)","url":"%3Cinit%3E(frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,double)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveWheel","l":"SwerveWheel()","url":"%3Cinit%3E()"},{"p":"frc.team1711.swerve.util","c":"Angles","l":"TAU"},{"p":"frc.team1711.swerve.util","c":"InputHandler.Curve","l":"threeHalvesPowerCurve"},{"p":"frc.team1711.swerve.util.odometry","c":"RobotMovement","l":"toFieldRel(Position)","url":"toFieldRel(frc.team1711.swerve.util.odometry.Position)"},{"p":"frc.team1711.swerve.util.odometry","c":"RobotTurn","l":"toFieldRel(Position)","url":"toFieldRel(frc.team1711.swerve.util.odometry.Position)"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"toRotationDegrees(double)"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"toRotationRadians(double)"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"toString()"},{"p":"frc.team1711.swerve.util.odometry","c":"TurnManner","l":"TurnManner(double, TurnManner.TurnSpeedSupplier)","url":"%3Cinit%3E(double,frc.team1711.swerve.util.odometry.TurnManner.TurnSpeedSupplier)"},{"p":"frc.team1711.swerve.util.odometry","c":"Odometry","l":"update()"},{"p":"frc.team1711.swerve.subsystems","c":"AutoSwerveDrive","l":"updateOdometry()"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"updateOdometry()"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"userInputDrive(double, double, double, SwerveDrive.ControlsConfig)","url":"userInputDrive(double,double,double,frc.team1711.swerve.subsystems.SwerveDrive.ControlsConfig)"},{"p":"frc.team1711.swerve.commands","c":"FrameOfReference","l":"valueOf(String)","url":"valueOf(java.lang.String)"},{"p":"frc.team1711.swerve.commands","c":"FrameOfReference","l":"values()"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"Vector(double, double)","url":"%3Cinit%3E(double,double)"},{"p":"frc.team1711.swerve.util.odometry","c":"Position","l":"withDirection(double)"},{"p":"frc.team1711.swerve.util","c":"Angles","l":"wrapDegrees(double)"},{"p":"frc.team1711.swerve.util","c":"Angles","l":"wrapDegreesZeroCenter(double)"},{"p":"frc.team1711.swerve.util","c":"Angles","l":"wrapRadians(double)"},{"p":"frc.team1711.swerve.util","c":"Angles","l":"wrapRadiansZeroCenter(double)"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"ZERO"}]
\ 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.odometry","c":"Position","l":"addMovementVector(Vector)","url":"addMovementVector(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, Position, MovementManner, TurnManner)","url":"%3Cinit%3E(frc.team1711.swerve.subsystems.AutoSwerveDrive,frc.team1711.swerve.util.odometry.Position,frc.team1711.swerve.util.odometry.MovementManner,frc.team1711.swerve.util.odometry.TurnManner)"},{"p":"frc.team1711.swerve.commands","c":"AutonDrive","l":"AutonDrive(AutoSwerveDrive, RobotMovement, RobotTurn)","url":"%3Cinit%3E(frc.team1711.swerve.subsystems.AutoSwerveDrive,frc.team1711.swerve.util.odometry.RobotMovement,frc.team1711.swerve.util.odometry.RobotTurn)"},{"p":"frc.team1711.swerve.subsystems","c":"AutoSwerveDrive","l":"AutoSwerveDrive(Gyro, AutoSwerveWheel, AutoSwerveWheel, AutoSwerveWheel, AutoSwerveWheel, double)","url":"%3Cinit%3E(edu.wpi.first.wpilibj.interfaces.Gyro,frc.team1711.swerve.subsystems.AutoSwerveWheel,frc.team1711.swerve.subsystems.AutoSwerveWheel,frc.team1711.swerve.subsystems.AutoSwerveWheel,frc.team1711.swerve.subsystems.AutoSwerveWheel,double)"},{"p":"frc.team1711.swerve.subsystems","c":"AutoSwerveWheel","l":"AutoSwerveWheel()","url":"%3Cinit%3E()"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveWheel","l":"checkWithin180Range(double, double)","url":"checkWithin180Range(double,double)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveWheel","l":"checkWithinRange(double, double)","url":"checkWithinRange(double,double)"},{"p":"frc.team1711.swerve.util.odometry","c":"Manner.SpeedSupplier","l":"constantSpeed(double)"},{"p":"frc.team1711.swerve.util.odometry","c":"MovementManner.MovementSpeedSupplier","l":"constantSpeed(double)"},{"p":"frc.team1711.swerve.util.odometry","c":"TurnManner.TurnSpeedSupplier","l":"constantSpeed(double)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive.ControlsConfig","l":"ControlsConfig(double, double, InputHandler)","url":"%3Cinit%3E(double,double,frc.team1711.swerve.util.InputHandler)"},{"p":"frc.team1711.swerve.util","c":"Angles","l":"degreesToRadians(double)"},{"p":"frc.team1711.swerve.util.odometry","c":"Position","l":"distanceFrom(Position)","url":"distanceFrom(frc.team1711.swerve.util.odometry.Position)"},{"p":"frc.team1711.swerve.commands","c":"AutonDrive","l":"end(boolean)"},{"p":"frc.team1711.swerve.commands","c":"AutonDrive","l":"execute()"},{"p":"frc.team1711.swerve.commands","c":"FrameOfReference","l":"FIELD"},{"p":"frc.team1711.swerve.subsystems","c":"GyroSwerveDrive","l":"fieldRelativeUserInputDrive(double, double, double, SwerveDrive.ControlsConfig)","url":"fieldRelativeUserInputDrive(double,double,double,frc.team1711.swerve.subsystems.SwerveDrive.ControlsConfig)"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"fromPolarDegrees(double, double)","url":"fromPolarDegrees(double,double)"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"fromPolarRadians(double, double)","url":"fromPolarRadians(double,double)"},{"p":"frc.team1711.swerve.subsystems","c":"GyroSwerveDrive","l":"getAbsoluteGyroAngle()"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveWheel","l":"getDirection()"},{"p":"frc.team1711.swerve.util.odometry","c":"Position","l":"getDirection()"},{"p":"frc.team1711.swerve.subsystems","c":"AutoSwerveWheel","l":"getEncoderDistance()"},{"p":"frc.team1711.swerve.subsystems","c":"GyroSwerveDrive","l":"getGyroAngle()"},{"p":"frc.team1711.swerve.util.odometry","c":"Position","l":"getLocation()"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"getMagnitude()"},{"p":"frc.team1711.swerve.util.odometry","c":"RobotMovement","l":"getManner()"},{"p":"frc.team1711.swerve.util.odometry","c":"RobotTurn","l":"getManner()"},{"p":"frc.team1711.swerve.util.odometry","c":"Manner","l":"getMarginOfError()"},{"p":"frc.team1711.swerve.util.odometry","c":"MovementManner","l":"getMarginOfError()"},{"p":"frc.team1711.swerve.util.odometry","c":"TurnManner","l":"getMarginOfError()"},{"p":"frc.team1711.swerve.util","c":"InputHandler.Curve","l":"getOutput(double)"},{"p":"frc.team1711.swerve.subsystems","c":"AutoSwerveDrive","l":"getPosition()"},{"p":"frc.team1711.swerve.util.odometry","c":"Odometry","l":"getPosition()"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"getRotationDegrees()"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"getRotationRadians()"},{"p":"frc.team1711.swerve.util.odometry","c":"Manner.SpeedSupplier","l":"getSpeed(double)"},{"p":"frc.team1711.swerve.util.odometry","c":"MovementManner.MovementSpeedSupplier","l":"getSpeed(double)"},{"p":"frc.team1711.swerve.util.odometry","c":"TurnManner.TurnSpeedSupplier","l":"getSpeed(double)"},{"p":"frc.team1711.swerve.util.odometry","c":"Manner","l":"getSpeedSupplier()"},{"p":"frc.team1711.swerve.util.odometry","c":"MovementManner","l":"getSpeedSupplier()"},{"p":"frc.team1711.swerve.util.odometry","c":"TurnManner","l":"getSpeedSupplier()"},{"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(Gyro, SwerveWheel, SwerveWheel, SwerveWheel, SwerveWheel, double)","url":"%3Cinit%3E(edu.wpi.first.wpilibj.interfaces.Gyro,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,double)"},{"p":"frc.team1711.swerve.commands","c":"AutonDrive","l":"initialize()"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"initSendable(SendableBuilder)","url":"initSendable(edu.wpi.first.util.sendable.SendableBuilder)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive.ControlsConfig","l":"inputHandler"},{"p":"frc.team1711.swerve.util","c":"InputHandler","l":"InputHandler(double, InputHandler.Curve)","url":"%3Cinit%3E(double,frc.team1711.swerve.util.InputHandler.Curve)"},{"p":"frc.team1711.swerve.util","c":"InputHandler","l":"InputHandler(double)","url":"%3Cinit%3E(double)"},{"p":"frc.team1711.swerve.commands","c":"AutonDrive","l":"isFinished()"},{"p":"frc.team1711.swerve.util","c":"InputHandler.Curve","l":"linearCurve"},{"p":"frc.team1711.swerve.util.odometry","c":"Manner","l":"Manner(double)","url":"%3Cinit%3E(double)"},{"p":"frc.team1711.swerve.util.odometry","c":"MovementManner","l":"MovementManner(double, MovementManner.MovementSpeedSupplier)","url":"%3Cinit%3E(double,frc.team1711.swerve.util.odometry.MovementManner.MovementSpeedSupplier)"},{"p":"frc.team1711.swerve.util.odometry","c":"Position","l":"movementTo(Position)","url":"movementTo(frc.team1711.swerve.util.odometry.Position)"},{"p":"frc.team1711.swerve.util.odometry","c":"MovementManner","l":"NONE"},{"p":"frc.team1711.swerve.util.odometry","c":"RobotMovement","l":"NONE"},{"p":"frc.team1711.swerve.util.odometry","c":"RobotTurn","l":"NONE"},{"p":"frc.team1711.swerve.util.odometry","c":"TurnManner","l":"NONE"},{"p":"frc.team1711.swerve.util.odometry","c":"Odometry","l":"Odometry(AutoSwerveDrive, AutoSwerveWheel, AutoSwerveWheel, AutoSwerveWheel, AutoSwerveWheel)","url":"%3Cinit%3E(frc.team1711.swerve.subsystems.AutoSwerveDrive,frc.team1711.swerve.subsystems.AutoSwerveWheel,frc.team1711.swerve.subsystems.AutoSwerveWheel,frc.team1711.swerve.subsystems.AutoSwerveWheel,frc.team1711.swerve.subsystems.AutoSwerveWheel)"},{"p":"frc.team1711.swerve.util","c":"Angles","l":"PI"},{"p":"frc.team1711.swerve.util.odometry","c":"Position","l":"Position(Vector, double)","url":"%3Cinit%3E(frc.team1711.swerve.util.Vector,double)"},{"p":"frc.team1711.swerve.util","c":"Angles","l":"radiansToDegrees(double)"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"reflectAcrossX()"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"reflectAcrossY()"},{"p":"frc.team1711.swerve.subsystems","c":"GyroSwerveDrive","l":"resetGyro()"},{"p":"frc.team1711.swerve.subsystems","c":"GyroSwerveDrive","l":"resetGyro(double)"},{"p":"frc.team1711.swerve.subsystems","c":"AutoSwerveDrive","l":"resetPosition(Position)","url":"resetPosition(frc.team1711.swerve.util.odometry.Position)"},{"p":"frc.team1711.swerve.util.odometry","c":"Odometry","l":"resetPosition(Position)","url":"resetPosition(frc.team1711.swerve.util.odometry.Position)"},{"p":"frc.team1711.swerve.commands","c":"FrameOfReference","l":"ROBOT"},{"p":"frc.team1711.swerve.util.odometry","c":"RobotMovement","l":"RobotMovement(Vector, FrameOfReference, MovementManner)","url":"%3Cinit%3E(frc.team1711.swerve.util.Vector,frc.team1711.swerve.commands.FrameOfReference,frc.team1711.swerve.util.odometry.MovementManner)"},{"p":"frc.team1711.swerve.util.odometry","c":"RobotTurn","l":"RobotTurn(double, FrameOfReference, TurnManner)","url":"%3Cinit%3E(double,frc.team1711.swerve.commands.FrameOfReference,frc.team1711.swerve.util.odometry.TurnManner)"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"scale(double)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveWheel","l":"setDirection(double)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveWheel","l":"setDriveSpeed(double)"},{"p":"frc.team1711.swerve.util.odometry","c":"Manner.SpeedSupplier","l":"speedWithSlowdown(double, double, double)","url":"speedWithSlowdown(double,double,double)"},{"p":"frc.team1711.swerve.util.odometry","c":"MovementManner.MovementSpeedSupplier","l":"speedWithSlowdown(double, double, double)","url":"speedWithSlowdown(double,double,double)"},{"p":"frc.team1711.swerve.util.odometry","c":"TurnManner.TurnSpeedSupplier","l":"speedWithSlowdown(double, double, double)","url":"speedWithSlowdown(double,double,double)"},{"p":"frc.team1711.swerve.util","c":"InputHandler.Curve","l":"squareCurve"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"steerAllWithinRange(double, double)","url":"steerAllWithinRange(double,double)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveWheel","l":"steerAndDrive(double, double)","url":"steerAndDrive(double,double)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"steerAndDriveAll(double, double)","url":"steerAndDriveAll(double,double)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive.ControlsConfig","l":"steerSpeed"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"stop()"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveWheel","l":"stop()"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveWheel","l":"stopSteering()"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive.ControlsConfig","l":"strafeSpeed"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"subtract(Vector)","url":"subtract(frc.team1711.swerve.util.Vector)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"SwerveDrive(SwerveWheel, SwerveWheel, SwerveWheel, SwerveWheel, double)","url":"%3Cinit%3E(frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,frc.team1711.swerve.subsystems.SwerveWheel,double)"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveWheel","l":"SwerveWheel()","url":"%3Cinit%3E()"},{"p":"frc.team1711.swerve.util","c":"Angles","l":"TAU"},{"p":"frc.team1711.swerve.util","c":"InputHandler.Curve","l":"threeHalvesPowerCurve"},{"p":"frc.team1711.swerve.util.odometry","c":"RobotMovement","l":"toFieldRel(Position)","url":"toFieldRel(frc.team1711.swerve.util.odometry.Position)"},{"p":"frc.team1711.swerve.util.odometry","c":"RobotTurn","l":"toFieldRel(Position)","url":"toFieldRel(frc.team1711.swerve.util.odometry.Position)"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"toRotationDegrees(double)"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"toRotationRadians(double)"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"toString()"},{"p":"frc.team1711.swerve.util.odometry","c":"TurnManner","l":"TurnManner(double, TurnManner.TurnSpeedSupplier)","url":"%3Cinit%3E(double,frc.team1711.swerve.util.odometry.TurnManner.TurnSpeedSupplier)"},{"p":"frc.team1711.swerve.util.odometry","c":"Odometry","l":"update()"},{"p":"frc.team1711.swerve.subsystems","c":"AutoSwerveDrive","l":"updateOdometry()"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"updateOdometry()"},{"p":"frc.team1711.swerve.subsystems","c":"SwerveDrive","l":"userInputDrive(double, double, double, SwerveDrive.ControlsConfig)","url":"userInputDrive(double,double,double,frc.team1711.swerve.subsystems.SwerveDrive.ControlsConfig)"},{"p":"frc.team1711.swerve.commands","c":"FrameOfReference","l":"valueOf(String)","url":"valueOf(java.lang.String)"},{"p":"frc.team1711.swerve.commands","c":"FrameOfReference","l":"values()"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"Vector(double, double)","url":"%3Cinit%3E(double,double)"},{"p":"frc.team1711.swerve.util.odometry","c":"Position","l":"withDirection(double)"},{"p":"frc.team1711.swerve.util","c":"Angles","l":"wrapDegrees(double)"},{"p":"frc.team1711.swerve.util","c":"Angles","l":"wrapDegreesZeroCenter(double)"},{"p":"frc.team1711.swerve.util","c":"Angles","l":"wrapRadians(double)"},{"p":"frc.team1711.swerve.util","c":"Angles","l":"wrapRadiansZeroCenter(double)"},{"p":"frc.team1711.swerve.util","c":"Vector","l":"ZERO"}]
\ 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 aae41ce..7e8fa0b 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 3b12334..bf6908b 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 d83a2e4..48508c4 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-v4.2022.4.1-javadoc.jar b/swervelib/build/libs/swervelib-v4.2022.4.1-javadoc.jar
index 3ff3270..4de9d86 100644
Binary files a/swervelib/build/libs/swervelib-v4.2022.4.1-javadoc.jar and b/swervelib/build/libs/swervelib-v4.2022.4.1-javadoc.jar differ
diff --git a/swervelib/build/libs/swervelib-v4.2022.4.1.jar b/swervelib/build/libs/swervelib-v4.2022.4.1.jar
index 0ccbbd2..e906022 100644
Binary files a/swervelib/build/libs/swervelib-v4.2022.4.1.jar and b/swervelib/build/libs/swervelib-v4.2022.4.1.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 859d0d2..9c302e8 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 Sep 13, 2022, 4:22:28 PM</p>
+<a href="http://www.gradle.org">Gradle 7.3.3</a> at Sep 13, 2022, 7:32:57 PM</p>
 </div>
 </div>
 </body>
diff --git a/swervelib/build/reports/tests/test/index.html b/swervelib/build/reports/tests/test/index.html
index ad8f802..d8e2243 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 Sep 13, 2022, 4:22:28 PM</p>
+<a href="http://www.gradle.org">Gradle 7.3.3</a> at Sep 13, 2022, 7:32:57 PM</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 2afbc15..a029ac4 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 Sep 13, 2022, 4:22:28 PM</p>
+<a href="http://www.gradle.org">Gradle 7.3.3</a> at Sep 13, 2022, 7:32:57 PM</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 174e923..c93002f 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="2022-09-13T20:22:28" hostname="GABRIEL-LAPTOP" time="0.0">
+<testsuite name="swerve.LibraryTest" tests="1" skipped="1" failures="0" errors="0" timestamp="2022-09-13T23:32:57" 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 d770d8a..afb936d 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 fc7e9f2..5539b7f 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/util/odometry/MovementManner.java b/swervelib/src/main/java/frc/team1711/swerve/util/odometry/MovementManner.java
index 25799e7..803a339 100644
--- a/swervelib/src/main/java/frc/team1711/swerve/util/odometry/MovementManner.java
+++ b/swervelib/src/main/java/frc/team1711/swerve/util/odometry/MovementManner.java
@@ -9,6 +9,11 @@
  */
 public class MovementManner extends Manner {
     
+    /**
+     * A {@code MovementManner} where the robot will not attempt to move and the path will immediately be completed.
+     */
+    public static final MovementManner NONE = new MovementManner(Double.POSITIVE_INFINITY, MovementSpeedSupplier.constantSpeed(0));
+    
     private final MovementSpeedSupplier speedSupplier;
     
     /**
diff --git a/swervelib/src/main/java/frc/team1711/swerve/util/odometry/RobotMovement.java b/swervelib/src/main/java/frc/team1711/swerve/util/odometry/RobotMovement.java
index 902124c..cf6004c 100644
--- a/swervelib/src/main/java/frc/team1711/swerve/util/odometry/RobotMovement.java
+++ b/swervelib/src/main/java/frc/team1711/swerve/util/odometry/RobotMovement.java
@@ -16,6 +16,11 @@
  */
 public class RobotMovement {
     
+    /**
+     * A {@code RobotMovement} describing no movement whatsoever.
+     */
+    public static final RobotMovement NONE = new RobotMovement(Vector.ZERO, FrameOfReference.ROBOT, MovementManner.NONE);
+    
     private final Vector movement;
     private final FrameOfReference frameOfReference;
     private final MovementManner manner;
diff --git a/swervelib/src/main/java/frc/team1711/swerve/util/odometry/RobotTurn.java b/swervelib/src/main/java/frc/team1711/swerve/util/odometry/RobotTurn.java
index 28f715f..d573655 100644
--- a/swervelib/src/main/java/frc/team1711/swerve/util/odometry/RobotTurn.java
+++ b/swervelib/src/main/java/frc/team1711/swerve/util/odometry/RobotTurn.java
@@ -15,6 +15,11 @@
  */
 public class RobotTurn {
     
+    /**
+     * A {@code RobotTurn} describing no movement whatsoever.
+     */
+    public static final RobotTurn NONE = new RobotTurn(0, FrameOfReference.ROBOT, TurnManner.NONE);
+    
     private final double direction;
     private final FrameOfReference frameOfReference;
     private final TurnManner manner;
diff --git a/swervelib/src/main/java/frc/team1711/swerve/util/odometry/TurnManner.java b/swervelib/src/main/java/frc/team1711/swerve/util/odometry/TurnManner.java
index ffbd696..478fedd 100644
--- a/swervelib/src/main/java/frc/team1711/swerve/util/odometry/TurnManner.java
+++ b/swervelib/src/main/java/frc/team1711/swerve/util/odometry/TurnManner.java
@@ -8,6 +8,11 @@
  */
 public class TurnManner extends Manner {
     
+    /**
+     * A {@code TurnManner} where the robot will not attempt to move and the path will immediately be completed.
+     */
+    public static final TurnManner NONE = new TurnManner(Double.POSITIVE_INFINITY, TurnSpeedSupplier.constantSpeed(0));
+    
     private final TurnSpeedSupplier speedSupplier;
     
     /**