diff --git a/Autonomous Independent.vi b/Autonomous Independent.vi
index 40ce40e..2784e47 100644
Binary files a/Autonomous Independent.vi and b/Autonomous Independent.vi differ
diff --git a/Begin.vi b/Begin.vi
index c5a5db9..cc1507c 100644
Binary files a/Begin.vi and b/Begin.vi differ
diff --git a/Ford.lvproj b/Ford.lvproj
index f5444c8..4acdab4 100644
--- a/Ford.lvproj
+++ b/Ford.lvproj
@@ -136,11 +136,12 @@ AddOutputFilter chunkFilter
 			<Item Name="Test.vi" Type="VI" URL="../Test.vi"/>
 			<Item Name="Vision Tracking Processing.vi" Type="VI" URL="../Vision/Vision Tracking Processing.vi"/>
 		</Item>
-		<Item Name="hhVI.lvlib" Type="Library" URL="../hhVI/hhVI.lvlib"/>
+		<Item Name="hhVI.lvlib" Type="Library" URL="../../hhVI/hhVI.lvlib"/>
 		<Item Name="Inches to Shooter Angle.vi" Type="VI" URL="../Systems/Sensors/Inches to Shooter Angle.vi"/>
 		<Item Name="PotValueToDegrees.vi" Type="VI" URL="../PotValueToDegrees.vi"/>
 		<Item Name="Robot Main.vi" Type="VI" URL="../Robot Main.vi"/>
 		<Item Name="Set Robot Position.vi" Type="VI" URL="../Systems/Set Robot Position.vi"/>
+		<Item Name="WPI_SonarSRF04DigitalOpen.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Ultrasonic/WPI_SonarSRF04DigitalOpen.vi"/>
 		<Item Name="Dependencies" Type="Dependencies">
 			<Item Name="vi.lib" Type="Folder">
 				<Item Name="8.6CompatibleGlobalVar.vi" Type="VI" URL="/&lt;vilib&gt;/Utility/config.llb/8.6CompatibleGlobalVar.vi"/>
@@ -545,6 +546,12 @@ AddOutputFilter chunkFilter
 				<Item Name="WPI_CounterDigitalOutputToDigitalSource.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Counter/WPI_CounterDigitalOutputToDigitalSource.vi"/>
 				<Item Name="WPI_CounterEdgeLevel.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Counter/WPI_CounterEdgeLevel.ctl"/>
 				<Item Name="WPI_CounterOpen &amp; Configure.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Counter/WPI_CounterOpen &amp; Configure.vi"/>
+				<Item Name="WPI_CounterOpen External Direction Mode.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Counter/WPI_CounterOpen External Direction Mode.vi"/>
+				<Item Name="WPI_CounterOpen Gear Tooth Sensor Mode.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Counter/WPI_CounterOpen Gear Tooth Sensor Mode.vi"/>
+				<Item Name="WPI_CounterOpen Semi Period Mode.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Counter/WPI_CounterOpen Semi Period Mode.vi"/>
+				<Item Name="WPI_CounterOpen UpDown Mode.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Counter/WPI_CounterOpen UpDown Mode.vi"/>
+				<Item Name="WPI_CounterOpen.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Counter/WPI_CounterOpen.vi"/>
+				<Item Name="WPI_CounterReset.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Counter/WPI_CounterReset.vi"/>
 				<Item Name="WPI_CounterToDigitalSource.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Counter/WPI_CounterToDigitalSource.vi"/>
 				<Item Name="WPI_CounterVerifyDigitalSourceOkWithEdgeType.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Counter/WPI_CounterVerifyDigitalSourceOkWithEdgeType.vi"/>
 				<Item Name="WPI_CounterWARNDigitalSourceAndEdgeType.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Counter/WPI_CounterWARNDigitalSourceAndEdgeType.vi"/>
@@ -571,6 +578,7 @@ AddOutputFilter chunkFilter
 				<Item Name="WPI_DigitalModuleSetRelayReverse.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/DigitalModule/WPI_DigitalModuleSetRelayReverse.vi"/>
 				<Item Name="WPI_DigitalModuleValidateDIOChannel.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/DigitalModule/WPI_DigitalModuleValidateDIOChannel.vi"/>
 				<Item Name="WPI_DigitalOutputDevRef.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/DigitalOutput/WPI_DigitalOutputDevRef.ctl"/>
+				<Item Name="WPI_DigitalOutputOpen.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/DigitalOutput/WPI_DigitalOutputOpen.vi"/>
 				<Item Name="WPI_DisableFilter.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/DigitalInput/Filter/WPI_DisableFilter.vi"/>
 				<Item Name="WPI_DriverStationAllianceInfo.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/DriverStation/WPI_DriverStationAllianceInfo.ctl"/>
 				<Item Name="WPI_DriverStationCreate Lib Version File.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/DriverStation/WPI_DriverStationCreate Lib Version File.vi"/>
@@ -754,6 +762,12 @@ AddOutputFilter chunkFilter
 				<Item Name="WPI_SafetyOutputConfigMenu.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/SafetyOutput/WPI_SafetyOutputConfigMenu.ctl"/>
 				<Item Name="WPI_SafetyOutputEngine.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/SafetyOutput/WPI_SafetyOutputEngine.vi"/>
 				<Item Name="WPI_SafetyOutputVIRefnumList.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/SafetyOutput/WPI_SafetyOutputVIRefnumList.vi"/>
+				<Item Name="WPI_ServoDeviceRef.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/PWM/Servo/WPI_ServoDeviceRef.ctl"/>
+				<Item Name="WPI_ServoOpen.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/PWM/Servo/WPI_ServoOpen.vi"/>
+				<Item Name="WPI_ServoRefNum Registry Get.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/PWM/Servo/WPI_ServoRefNum Registry Get.vi"/>
+				<Item Name="WPI_ServoRefNum Registry Set.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/PWM/Servo/WPI_ServoRefNum Registry Set.vi"/>
+				<Item Name="WPI_ServoSetPosition.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/PWM/Servo/WPI_ServoSetPosition.vi"/>
+				<Item Name="WPI_ServoToPWM.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/PWM/Servo/WPI_ServoToPWM.vi"/>
 				<Item Name="WPI_SolenoidCache.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Solenoid/WPI_SolenoidCache.vi"/>
 				<Item Name="WPI_SolenoidCacheOp.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Solenoid/WPI_SolenoidCacheOp.ctl"/>
 				<Item Name="WPI_SolenoidChannel.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Solenoid/WPI_SolenoidChannel.ctl"/>
@@ -772,6 +786,7 @@ AddOutputFilter chunkFilter
 				<Item Name="WPI_SolenoidSetBool.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Solenoid/Deprecated/WPI_SolenoidSetBool.vi"/>
 				<Item Name="WPI_SolenoidSetEnum.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Solenoid/WPI_SolenoidSetEnum.vi"/>
 				<Item Name="WPI_SolenoidValue.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Solenoid/WPI_SolenoidValue.ctl"/>
+				<Item Name="WPI_UltrasonicDeviceRef.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Ultrasonic/WPI_UltrasonicDeviceRef.ctl"/>
 				<Item Name="WPI_UtilitiesERRGetRefNum.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Utilities/WPI_UtilitiesERRGetRefNum.vi"/>
 				<Item Name="WPI_UtilitiesFRC Build Error.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Utilities/WPI_UtilitiesFRC Build Error.vi"/>
 				<Item Name="WPI_UtilitiesFRCAutomaticValuePublisher.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Utilities/WPI_UtilitiesFRCAutomaticValuePublisher.vi"/>
@@ -786,7 +801,7 @@ AddOutputFilter chunkFilter
 			<Item Name="FRC_NetworkCommunication.dll" Type="Document" URL="FRC_NetworkCommunication.dll">
 				<Property Name="NI.PreserveRelativePath" Type="Bool">true</Property>
 			</Item>
-			<Item Name="Get 4 Motor Drive Refs.vi" Type="VI" URL="../hhVI/Sensors/Get 4 Motor Drive Refs.vi"/>
+			<Item Name="Get 4 Motor Drive Refs.vi" Type="VI" URL="../../hhVI/Sensors/Get 4 Motor Drive Refs.vi"/>
 			<Item Name="Get camera FOVs.vi" Type="VI" URL="../Vision/Get camera FOVs.vi"/>
 			<Item Name="Label Targets.vi" Type="VI" URL="../Vision/Label Targets.vi"/>
 			<Item Name="Moment Score.vi" Type="VI" URL="../Vision/Moment Score.vi"/>
@@ -826,7 +841,7 @@ AddOutputFilter chunkFilter
 				<Property Name="Bld_modifyLibraryFile" Type="Bool">true</Property>
 				<Property Name="Bld_previewCacheID" Type="Str">{6782B190-04E1-4A41-93AB-3F357B35791E}</Property>
 				<Property Name="Bld_targetDestDir" Type="Path">/home/lvuser/natinst/bin</Property>
-				<Property Name="Bld_version.build" Type="Int">6</Property>
+				<Property Name="Bld_version.build" Type="Int">7</Property>
 				<Property Name="Bld_version.major" Type="Int">1</Property>
 				<Property Name="Destination[0].destName" Type="Str">startup.rtexe</Property>
 				<Property Name="Destination[0].path" Type="Path">/home/lvuser/natinst/bin/startup.rtexe</Property>
diff --git a/Front Drive Sensor.lvlib b/Front Drive Sensor.lvlib
new file mode 100644
index 0000000..4039f8c
--- /dev/null
+++ b/Front Drive Sensor.lvlib	
@@ -0,0 +1,7 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Library LVVersion="15008000">
+	<Property Name="NI.Lib.Icon" Type="Bin">&amp;1#!!!!!!!)!"1!&amp;!!!-!%!!!@````]!!!!"!!%!!!(]!!!*Q(C=\&gt;8"=&gt;MQ%!8143;(8.6"2CVM#WJ",7Q,SN&amp;(N&lt;!NK!7VM#WI"&lt;8A0$%94UZ2$P%E"Y.?G@I%A7=11U&gt;M\7P%FXB^VL\`NHV=@X&lt;^39O0^N(_&lt;8NZOEH@@=^_CM?,3)VK63LD-&gt;8LS%=_]J'0@/1N&lt;XH,7^\SFJ?]Z#5P?=F,HP+5JTTF+5`Z&gt;MB$(P+1)YX*RU2DU$(![)Q3YW.YBG&gt;YBM@8'*\B':\B'2Z&gt;9HC':XC':XD=&amp;M-T0--T0-.DK%USWS(H'2\$2`-U4`-U4`/9-JKH!&gt;JE&lt;?!W#%;UC_WE?:KH?:R']T20]T20]\A=T&gt;-]T&gt;-]T?/7&lt;66[UTQ//9^BIHC+JXC+JXA-(=640-640-6DOCC?YCG)-G%:(#(+4;6$_6)]R?.8&amp;%`R&amp;%`R&amp;)^,WR/K&lt;75?GM=BZUG?Z%G?Z%E?1U4S*%`S*%`S'$;3*XG3*XG3RV320-G40!G3*D6^J-(3D;F4#J,(T\:&lt;=HN+P5FS/S,7ZIWV+7.NNFC&lt;+.&lt;GC0819TX-7!]JVO,(7N29CR6L%7,^=&lt;(1M4#R*IFV][.DX(X?V&amp;6&gt;V&amp;G&gt;V&amp;%&gt;V&amp;\N(L@_Z9\X_TVONVN=L^?Y8#ZR0J`D&gt;$L&amp;]8C-Q_%1_`U_&gt;LP&gt;WWPAG_0NB@$TP@4C`%`KH@[8`A@PRPA=PYZLD8Y!#/7SO!!!!!!</Property>
+	<Property Name="NI.Lib.SourceVersion" Type="Int">352354304</Property>
+	<Property Name="NI.Lib.Version" Type="Str">1.0.0.0</Property>
+	<Item Name="Untitled 1" Type="VI"/>
+</Library>
diff --git a/Periodic Tasks.vi b/Periodic Tasks.vi
index fc9ecc9..5ad65d1 100644
Binary files a/Periodic Tasks.vi and b/Periodic Tasks.vi differ
diff --git a/Teleop.vi b/Teleop.vi
index 2429c06..4c99042 100644
Binary files a/Teleop.vi and b/Teleop.vi differ
diff --git a/Test.vi b/Test.vi
index d9817fe..5d825ad 100644
Binary files a/Test.vi and b/Test.vi differ