diff --git a/Begin.vi b/Begin.vi
index 0c65bfa..11dd018 100644
Binary files a/Begin.vi and b/Begin.vi differ
diff --git a/Ford.lvproj b/Ford.lvproj
index 6441303..43b03f4 100644
--- a/Ford.lvproj
+++ b/Ford.lvproj
@@ -125,8 +125,8 @@ 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="../../../GitHub/hhVI/hhVI.lvlib"/>
-		<Item Name="PotValueToDegrees.vi" Type="VI" URL="../../PotValueToDegrees.vi"/>
+		<Item Name="hhVI.lvlib" Type="Library" URL="../../hhVI/hhVI.lvlib"/>
+		<Item Name="PotValueToDegrees.vi" Type="VI" URL="../../../LabVIEW Data/PotValueToDegrees.vi"/>
 		<Item Name="Robot Main.vi" Type="VI" URL="../Robot Main.vi"/>
 		<Item Name="Dependencies" Type="Dependencies">
 			<Item Name="vi.lib" Type="Folder">
@@ -170,18 +170,11 @@ AddOutputFilter chunkFilter
 				<Item Name="FPGA_AIDevRef.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/AI/FPGA_AIDevRef.ctl"/>
 				<Item Name="FPGA_AIERRInvalidAccumulatorChannel.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/AI/FPGA_AIERRInvalidAccumulatorChannel.vi"/>
 				<Item Name="FPGA_AIERRInvalidAnalogChannel.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/AI/FPGA_AIERRInvalidAnalogChannel.vi"/>
-				<Item Name="FPGA_AIGyroChannel.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/AI/FPGA_AIGyroChannel.ctl"/>
 				<Item Name="FPGA_AIOpen.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/AI/FPGA_AIOpen.vi"/>
 				<Item Name="FPGA_AIOversampleBits.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/AI/FPGA_AIOversampleBits.vi"/>
-				<Item Name="FPGA_AIReadAccumulatorOutput.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/AI/FPGA_AIReadAccumulatorOutput.vi"/>
-				<Item Name="FPGA_AIReadAverageBits.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/AI/FPGA_AIReadAverageBits.vi"/>
 				<Item Name="FPGA_AIReadAveraged.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/AI/FPGA_AIReadAveraged.vi"/>
-				<Item Name="FPGA_AIReadConfig.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/AI/FPGA_AIReadConfig.vi"/>
 				<Item Name="FPGA_AIReadLSBWeight.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/AI/FPGA_AIReadLSBWeight.vi"/>
-				<Item Name="FPGA_AIReadOffset.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/AI/FPGA_AIReadOffset.vi"/>
 				<Item Name="FPGA_AIReadOversampleBits.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/AI/FPGA_AIReadOversampleBits.vi"/>
-				<Item Name="FPGA_AIWriteAccumulatorCenter.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/AI/FPGA_AIWriteAccumulatorCenter.vi"/>
-				<Item Name="FPGA_AIWriteAccumulatorDeadband.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/AI/FPGA_AIWriteAccumulatorDeadband.vi"/>
 				<Item Name="FPGA_AIWriteAccumulatorReset.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/AI/FPGA_AIWriteAccumulatorReset.vi"/>
 				<Item Name="FPGA_AIWriteAverageBits.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/AI/FPGA_AIWriteAverageBits.vi"/>
 				<Item Name="FPGA_AIWriteConfig.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/AI/FPGA_AIWriteConfig.vi"/>
@@ -243,7 +236,6 @@ AddOutputFilter chunkFilter
 				<Item Name="FPGA_MapDIOChannelEnumToModuleLine.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/DIO/FPGA_MapDIOChannelEnumToModuleLine.vi"/>
 				<Item Name="FPGA_NIFPGAInterfaceFPGAResourceConstant.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/FPGA_NIFPGAInterfaceFPGAResourceConstant.vi"/>
 				<Item Name="FPGA_ReadAI.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/AI/FPGA_ReadAI.vi"/>
-				<Item Name="FPGA_SPIWriteChipSelectActiveHigh.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/SPI/FPGA_SPIWriteChipSelectActiveHigh.vi"/>
 				<Item Name="FPGA_SystemAsync VI Agent.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/System/FPGA_SystemAsync VI Agent.vi"/>
 				<Item Name="FPGA_SystemAsynch VI Registration.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/System/FPGA_SystemAsynch VI Registration.vi"/>
 				<Item Name="FPGA_SystemERRWrongVersion.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/System/FPGA_SystemERRWrongVersion.vi"/>
@@ -254,7 +246,6 @@ AddOutputFilter chunkFilter
 				<Item Name="FPGA_SystemStart Async Agent.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/System/FPGA_SystemStart Async Agent.vi"/>
 				<Item Name="FPGA_TypedefDigitalModule.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/Typedef/FPGA_TypedefDigitalModule.ctl"/>
 				<Item Name="GetNamedSemaphorePrefix.vi" Type="VI" URL="/&lt;vilib&gt;/Utility/semaphor.llb/GetNamedSemaphorePrefix.vi"/>
-				<Item Name="GetSystemError.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/System/GetSystemError.vi"/>
 				<Item Name="Handle Dirty Elements.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/Network Tables/Handle Dirty Elements.vi"/>
 				<Item Name="Handle Dirty Fields for a Connection.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/Network Tables/Handle Dirty Fields for a Connection.vi"/>
 				<Item Name="Handle Dirty Flags.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/Network Tables/Handle Dirty Flags.vi"/>
@@ -295,7 +286,6 @@ AddOutputFilter chunkFilter
 				<Item Name="NI_PackedLibraryUtility.lvlib" Type="Library" URL="/&lt;vilib&gt;/Utility/LVLibp/NI_PackedLibraryUtility.lvlib"/>
 				<Item Name="NI_PID__prctrl compat.lvlib" Type="Library" URL="/&lt;vilib&gt;/addons/control/pid/NI_PID__prctrl compat.lvlib"/>
 				<Item Name="NI_PID_pid.lvlib" Type="Library" URL="/&lt;vilib&gt;/addons/control/pid/NI_PID_pid.lvlib"/>
-				<Item Name="NI_PtbyPt.lvlib" Type="Library" URL="/&lt;vilib&gt;/ptbypt/NI_PtbyPt.lvlib"/>
 				<Item Name="NI_Vision_Acquisition_Software.lvlib" Type="Library" URL="/&lt;vilib&gt;/vision/driver/NI_Vision_Acquisition_Software.lvlib"/>
 				<Item Name="NI_Vision_Development_Module.lvlib" Type="Library" URL="/&lt;vilib&gt;/vision/NI_Vision_Development_Module.lvlib"/>
 				<Item Name="Not A Semaphore.vi" Type="VI" URL="/&lt;vilib&gt;/Utility/semaphor.llb/Not A Semaphore.vi"/>
@@ -368,11 +358,6 @@ AddOutputFilter chunkFilter
 				<Item Name="Skip to RPC Outputs.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/Network Tables/Skip to RPC Outputs.vi"/>
 				<Item Name="Space Constant.vi" Type="VI" URL="/&lt;vilib&gt;/dlg_ctls.llb/Space Constant.vi"/>
 				<Item Name="spi_bus.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/spilib/spi_bus.ctl"/>
-				<Item Name="spilib_open.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/spilib/spilib_open.vi"/>
-				<Item Name="spilib_read.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/spilib/spilib_read.vi"/>
-				<Item Name="spilib_setopts.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/spilib/spilib_setopts.vi"/>
-				<Item Name="spilib_setspeed.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/spilib/spilib_setspeed.vi"/>
-				<Item Name="spilib_writeread.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/spilib/spilib_writeread.vi"/>
 				<Item Name="String Matches Pattern.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/Network Tables/String Matches Pattern.vi"/>
 				<Item Name="System Exec.vi" Type="VI" URL="/&lt;vilib&gt;/Platform/system.llb/System Exec.vi"/>
 				<Item Name="Table Manager.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/Network Tables/Table Manager.vi"/>
@@ -388,12 +373,6 @@ AddOutputFilter chunkFilter
 				<Item Name="Usage Statistics.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/Network Tables/Usage Statistics.vi"/>
 				<Item Name="Validate Semaphore Size.vi" Type="VI" URL="/&lt;vilib&gt;/Utility/semaphor.llb/Validate Semaphore Size.vi"/>
 				<Item Name="whitespace.ctl" Type="VI" URL="/&lt;vilib&gt;/Utility/error.llb/whitespace.ctl"/>
-				<Item Name="WPI_AccumulatorGetOutput.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/AnalogChannel/Accumulator/WPI_AccumulatorGetOutput.vi"/>
-				<Item Name="WPI_AccumulatorInit.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/AnalogChannel/Accumulator/WPI_AccumulatorInit.vi"/>
-				<Item Name="WPI_AccumulatorOffset.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/AnalogChannel/Accumulator/WPI_AccumulatorOffset.vi"/>
-				<Item Name="WPI_AccumulatorReset.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/AnalogChannel/Accumulator/WPI_AccumulatorReset.vi"/>
-				<Item Name="WPI_AccumulatorSetConfiguration.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/AnalogChannel/Accumulator/WPI_AccumulatorSetConfiguration.vi"/>
-				<Item Name="WPI_AccumulatorVerifyChannel.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/AnalogChannel/Accumulator/WPI_AccumulatorVerifyChannel.vi"/>
 				<Item Name="WPI_AnalogChannelChannelCache.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/AnalogChannel/WPI_AnalogChannelChannelCache.vi"/>
 				<Item Name="WPI_AnalogChannelChannelCacheOp.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/AnalogChannel/WPI_AnalogChannelChannelCacheOp.ctl"/>
 				<Item Name="WPI_AnalogChannelDevRef.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/AnalogChannel/WPI_AnalogChannelDevRef.ctl"/>
@@ -401,12 +380,10 @@ AddOutputFilter chunkFilter
 				<Item Name="WPI_AnalogChannelERRChannelAllocated.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/AnalogChannel/WPI_AnalogChannelERRChannelAllocated.vi"/>
 				<Item Name="WPI_AnalogChannelERRScanlistInvalid.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/AnalogChannel/WPI_AnalogChannelERRScanlistInvalid.vi"/>
 				<Item Name="WPI_AnalogChannelGetAverageVoltage.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/AnalogChannel/WPI_AnalogChannelGetAverageVoltage.vi"/>
-				<Item Name="WPI_AnalogChannelGetOffset.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/AnalogChannel/WPI_AnalogChannelGetOffset.vi"/>
 				<Item Name="WPI_AnalogChannelOpen.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/AnalogChannel/WPI_AnalogChannelOpen.vi"/>
 				<Item Name="WPI_AnalogChannelSetAveraging.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/AnalogChannel/WPI_AnalogChannelSetAveraging.vi"/>
 				<Item Name="WPI_AnalogChannelSetSampleRate.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/AnalogChannel/WPI_AnalogChannelSetSampleRate.vi"/>
 				<Item Name="WPI_AnalogChannelToAnalogModule.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/AnalogChannel/WPI_AnalogChannelToAnalogModule.vi"/>
-				<Item Name="WPI_AnalogChannelVoltageToValue.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/AnalogChannel/WPI_AnalogChannelVoltageToValue.vi"/>
 				<Item Name="WPI_AnalogChannelWARNSampleRateTooFast.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/AnalogChannel/WPI_AnalogChannelWARNSampleRateTooFast.vi"/>
 				<Item Name="WPI_AnalogModuleDefaults.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/AnalogModule/WPI_AnalogModuleDefaults.vi"/>
 				<Item Name="WPI_AnalogModuleDevStatus.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/AnalogModule/WPI_AnalogModuleDevStatus.ctl"/>
@@ -560,6 +537,8 @@ AddOutputFilter chunkFilter
 				<Item Name="WPI_DigitalInputDevRef.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/DigitalInput/WPI_DigitalInputDevRef.ctl"/>
 				<Item Name="WPI_DigitalInputGetValue.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/DigitalInput/WPI_DigitalInputGetValue.vi"/>
 				<Item Name="WPI_DigitalInputOpen.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/DigitalInput/WPI_DigitalInputOpen.vi"/>
+				<Item Name="WPI_DigitalInputRefNum Registry Get.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/DigitalInput/WPI_DigitalInputRefNum Registry Get.vi"/>
+				<Item Name="WPI_DigitalInputRefNum Registry Set.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/DigitalInput/WPI_DigitalInputRefNum Registry Set.vi"/>
 				<Item Name="WPI_DigitalInputToDigitalModule.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/DigitalInput/WPI_DigitalInputToDigitalModule.vi"/>
 				<Item Name="WPI_DigitalModuleDeviceRef.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/DigitalModule/WPI_DigitalModuleDeviceRef.ctl"/>
 				<Item Name="WPI_DigitalModuleDIOAllocator.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/DigitalModule/WPI_DigitalModuleDIOAllocator.vi"/>
@@ -615,23 +594,6 @@ AddOutputFilter chunkFilter
 				<Item Name="WPI_ERRSolenoidAllocation.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Solenoid/WPI_ERRSolenoidAllocation.vi"/>
 				<Item Name="WPI_ERRSolenoidNotAllocated.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Solenoid/WPI_ERRSolenoidNotAllocated.vi"/>
 				<Item Name="WPI_GetSetVariantRefNum.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Utilities/WPI_GetSetVariantRefNum.vi"/>
-				<Item Name="WPI_Gyro_ADXRS453_Bit0OddParity.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Gyro/ADXRS453/WPI_Gyro_ADXRS453_Bit0OddParity.vi"/>
-				<Item Name="WPI_Gyro_ADXRS453_BitArrayToSPI.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Gyro/ADXRS453/WPI_Gyro_ADXRS453_BitArrayToSPI.vi"/>
-				<Item Name="WPI_Gyro_ADXRS453_Commands.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Gyro/ADXRS453/WPI_Gyro_ADXRS453_Commands.ctl"/>
-				<Item Name="WPI_Gyro_ADXRS453_ReadRegister.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Gyro/ADXRS453/WPI_Gyro_ADXRS453_ReadRegister.vi"/>
-				<Item Name="WPI_Gyro_ADXRS453_ReadSensorData.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Gyro/ADXRS453/WPI_Gyro_ADXRS453_ReadSensorData.vi"/>
-				<Item Name="WPI_Gyro_ADXRS453_Registers.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Gyro/ADXRS453/WPI_Gyro_ADXRS453_Registers.ctl"/>
-				<Item Name="WPI_Gyro_ADXRS453_SPIToBitArray.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Gyro/ADXRS453/WPI_Gyro_ADXRS453_SPIToBitArray.vi"/>
-				<Item Name="WPI_Gyro_ADXRS453_Status.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Gyro/ADXRS453/WPI_Gyro_ADXRS453_Status.ctl"/>
-				<Item Name="WPI_GyroAnalogOpen.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Gyro/WPI_GyroAnalogOpen.vi"/>
-				<Item Name="WPI_GyroChannelToAIChannel.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Gyro/WPI_GyroChannelToAIChannel.vi"/>
-				<Item Name="WPI_GyroConstants.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Gyro/WPI_GyroConstants.vi"/>
-				<Item Name="WPI_GyroDevRef.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Gyro/WPI_GyroDevRef.ctl"/>
-				<Item Name="WPI_GyroOpen.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Gyro/WPI_GyroOpen.vi"/>
-				<Item Name="WPI_GyroRefNum Registry Set.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Gyro/WPI_GyroRefNum Registry Set.vi"/>
-				<Item Name="WPI_GyroXRS450_SPI_Accumulator_Loop.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Gyro/WPI_GyroXRS450_SPI_Accumulator_Loop.vi"/>
-				<Item Name="WPI_GyroXRS450_SPI_GetSet_Data.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Gyro/WPI_GyroXRS450_SPI_GetSet_Data.vi"/>
-				<Item Name="WPI_GyroXRS450_SPI_Open.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Gyro/WPI_GyroXRS450_SPI_Open.vi"/>
 				<Item Name="WPI_JoystickArcadeMapping.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Joystick/WPI_JoystickArcadeMapping.vi"/>
 				<Item Name="WPI_JoystickButtonSpinMapping.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Joystick/WPI_JoystickButtonSpinMapping.vi"/>
 				<Item Name="WPI_JoystickClose.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Joystick/WPI_JoystickClose.vi"/>
@@ -789,15 +751,6 @@ 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_SPI_ERRInvalidSPI_Index.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/SPI/WPI_SPI_ERRInvalidSPI_Index.vi"/>
-				<Item Name="WPI_SPI_ERRSPIAlreadyAllocated.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/SPI/WPI_SPI_ERRSPIAlreadyAllocated.vi"/>
-				<Item Name="WPI_SPIBusCache.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/SPI/WPI_SPIBusCache.vi"/>
-				<Item Name="WPI_SPIBusCacheOp.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/SPI/WPI_SPIBusCacheOp.ctl"/>
-				<Item Name="WPI_SPIDevRef.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/SPI/WPI_SPIDevRef.ctl"/>
-				<Item Name="WPI_SPIMode.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/SPI/WPI_SPIMode.ctl"/>
-				<Item Name="WPI_SPIOpen.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/SPI/WPI_SPIOpen.vi"/>
-				<Item Name="WPI_SPIRead.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/SPI/WPI_SPIRead.vi"/>
-				<Item Name="WPI_SPIWrite.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/SPI/WPI_SPIWrite.vi"/>
 				<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"/>
@@ -812,11 +765,11 @@ 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="../../../GitHub/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="HypoToDistInches.vi" Type="VI" URL="../../HypoToDistInches.vi"/>
-			<Item Name="Joystick axes.vi" Type="VI" URL="../../Joystick axes.vi"/>
-			<Item Name="JoystickButtons.vi" Type="VI" URL="../../JoystickButtons.vi"/>
+			<Item Name="HypoToDistInches.vi" Type="VI" URL="../../../LabVIEW Data/HypoToDistInches.vi"/>
+			<Item Name="Joystick axes.vi" Type="VI" URL="../../../LabVIEW Data/Joystick axes.vi"/>
+			<Item Name="JoystickButtons.vi" Type="VI" URL="../../../LabVIEW Data/JoystickButtons.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"/>
 			<Item Name="NiFpgaLv.dll" Type="Document" URL="NiFpgaLv.dll">
diff --git a/Periodic Tasks.vi b/Periodic Tasks.vi
index 6a5ee41..f5a3324 100644
Binary files a/Periodic Tasks.vi and b/Periodic Tasks.vi differ
diff --git a/Teleop.vi b/Teleop.vi
index b4df2e7..e8bb1c7 100644
Binary files a/Teleop.vi and b/Teleop.vi differ