diff --git a/README.md b/README.md
index 1d91c7c..bb71ac5 100644
--- a/README.md
+++ b/README.md
@@ -1,2 +1,8 @@
 # Codex
 Team 4201's Generic Robot Software Library
+
+## Development Notes
+* Maven artifacts are saved under the [releases/](releases) directory after running `./gradlew publish`.
+* To publish changes to the library, run `./gradlew publish` and push the updated files under `releases/` to GitHub.
+  * TODO: This can be automated with a GitHub action. 
+* The Codex repo is set to host the root directory of the main branch as a GitHub page, which allows the vendordep JSON file to pull the library.
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diff --git a/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-javadoc.jar b/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-javadoc.jar
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diff --git a/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-javadoc.jar.md5 b/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-javadoc.jar.md5
index e23cf68..204fc23 100644
--- a/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-javadoc.jar.md5
+++ b/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-javadoc.jar.md5
@@ -1 +1 @@
-e70ed0c1ca8cbdf03af461b944851dfe
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diff --git a/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-javadoc.jar.sha1 b/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-javadoc.jar.sha1
index 245b9e1..8a46e4e 100644
--- a/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-javadoc.jar.sha1
+++ b/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-javadoc.jar.sha1
@@ -1 +1 @@
-e42fcf0c1b6dba01261ac7e8c80d74139c84b266
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diff --git a/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-javadoc.jar.sha256 b/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-javadoc.jar.sha256
index 1897603..12a1fd7 100644
--- a/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-javadoc.jar.sha256
+++ b/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-javadoc.jar.sha256
@@ -1 +1 @@
-9a1f4b70761a393279135613caa3d76d87db478a4d16a98b0fc0528c93bed329
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diff --git a/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-javadoc.jar.sha512 b/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-javadoc.jar.sha512
index f9ddc4a..1134f9d 100644
--- a/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-javadoc.jar.sha512
+++ b/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-javadoc.jar.sha512
@@ -1 +1 @@
-538d34798c281d79ce4aa1c09e3cdb745077c418ecdacacb1885d241a7f59f08b68e6a4cdd0b752a45599a0cc91b00702507dc8bc37b14d6927c5fd0f917a38f
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diff --git a/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-sources.jar b/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-sources.jar
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diff --git a/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-sources.jar.md5 b/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-sources.jar.md5
index 38c1d59..2a8a6c4 100644
--- a/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-sources.jar.md5
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diff --git a/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-sources.jar.sha1 b/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-sources.jar.sha1
index 286b4c6..356a017 100644
--- a/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-sources.jar.sha1
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diff --git a/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-sources.jar.sha256 b/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-sources.jar.sha256
index a29235b..46eb503 100644
--- a/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-sources.jar.sha256
+++ b/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-sources.jar.sha256
@@ -1 +1 @@
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diff --git a/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-sources.jar.sha512 b/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-sources.jar.sha512
index da8e8a0..68cde44 100644
--- a/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-sources.jar.sha512
+++ b/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-sources.jar.sha512
@@ -1 +1 @@
-ef833dccd05fb0013f0c5e769c1d359483d8a1585331ba3d5dc320b0e9303787674e5d80440a71a5b05c2145bfd5ba0de5765d99a7a92fbbd744fb8cb8858a06
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diff --git a/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1.jar b/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1.jar
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diff --git a/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1.jar.md5 b/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1.jar.md5
index 011593d..61e48c2 100644
--- a/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1.jar.md5
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diff --git a/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1.jar.sha1 b/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1.jar.sha1
index 2d4a5de..9bbb345 100644
--- a/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1.jar.sha1
+++ b/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1.jar.sha1
@@ -1 +1 @@
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diff --git a/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1.jar.sha256 b/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1.jar.sha256
index 79fa881..a326846 100644
--- a/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1.jar.sha256
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diff --git a/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1.jar.sha512 b/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1.jar.sha512
index c0e2569..8a11e9b 100644
--- a/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1.jar.sha512
+++ b/releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1.jar.sha512
@@ -1 +1 @@
-f103d6f5c33733cb429f9489fd8a9a5af2936ccf51344f990ba261026dc814b4b076abaa34511c88d2ef4fd9b4678be0f49ed827267a5c6b09c3038a1097bc7d
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+c00af60d13c361006de9391767271e33b7602efa1d8c84753ae5175b05d036602bd2a3b7bbc38e5e8fce8c54faaa26c92e642ab7f9e6f6f475a6a4cf3c82316e
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diff --git a/src/main/java/org/team4201/codex/utils/TrajectoryUtils.java b/src/main/java/org/team4201/codex/utils/TrajectoryUtils.java
index 69e0536..54c36ae 100644
--- a/src/main/java/org/team4201/codex/utils/TrajectoryUtils.java
+++ b/src/main/java/org/team4201/codex/utils/TrajectoryUtils.java
@@ -49,13 +49,12 @@ public TrajectoryUtils(SwerveSubsystem swerveDrive, RobotConfig robotConfig, PID
    * Generate a PathPlanner Command to follow a named PathPlanner trajectory file.
    *
    * @param pathName The name of the PathPlanner Trajectory file to reference.
-   * @param maxSpeed The robot's max speed to obey (Overrides the setting in the PathPlanner trajectory file)
    *
    * @return Command
    */
-  public Command generatePPHolonomicCommand(String pathName, double maxSpeed) {
+  public Command generatePPHolonomicCommand(String pathName) {
     try {
-     return generatePPHolonomicCommand(PathPlannerPath.fromPathFile(pathName), maxSpeed, false);
+     return generatePPHolonomicCommand(PathPlannerPath.fromPathFile(pathName), m_robotConfig, false);
     } catch (Exception e) {
       DriverStation.reportError("Could not load PathPlanner Path '" + pathName + "':" + e.getMessage(), e.getStackTrace());
       return new WaitCommand(0);
@@ -66,14 +65,13 @@ public Command generatePPHolonomicCommand(String pathName, double maxSpeed) {
    * Generate a PathPlanner Command to follow a named PathPlanner trajectory file.
    *
    * @param pathName The name of the PathPlanner Trajectory file to reference.
-   * @param maxSpeed The robot's max speed to obey (Overrides the setting in the PathPlanner trajectory file)
    * @param manualFlip Option to manually flip the trajectory instead of using the robot's current {@link DriverStation.Alliance} color
    *
    * @return Command
    */
-  public Command generatePPHolonomicCommand(String pathName, double maxSpeed, boolean manualFlip) {
+  public Command generatePPHolonomicCommand(String pathName, boolean manualFlip) {
     try {
-      return generatePPHolonomicCommand(PathPlannerPath.fromPathFile(pathName), maxSpeed, manualFlip);
+      return generatePPHolonomicCommand(PathPlannerPath.fromPathFile(pathName), m_robotConfig, manualFlip);
     } catch (Exception e) {
         DriverStation.reportError("Could not load PathPlanner Path '" + pathName + "':" + e.getMessage(), e.getStackTrace());
         return new WaitCommand(0);
@@ -84,43 +82,28 @@ public Command generatePPHolonomicCommand(String pathName, double maxSpeed, bool
    * Generate a PathPlanner Command to follow a named PathPlanner trajectory file.
    *
    * @param path The {@link PathPlannerPath} to follow.
-   * @param maxSpeed The robot's max speed to obey (Overrides the setting in the PathPlanner trajectory file)
+   * @param robotConfig The {@link RobotConfig} to use.
    *
    * @return Command
    */
-  public Command generatePPHolonomicCommand(PathPlannerPath path, double maxSpeed) {
+  public Command generatePPHolonomicCommand(PathPlannerPath path, RobotConfig robotConfig) {
 
-    return generatePPHolonomicCommand(path, maxSpeed, false);
+    return generatePPHolonomicCommand(path, robotConfig, false);
   }
 
   /**
    * Generate a PathPlanner Command to follow a named PathPlanner trajectory file.
    *
    * @param path The {@link PathPlannerPath} to follow.
-   * @param maxSpeed The robot's max speed to obey (Overrides the setting in the PathPlanner trajectory file)
+   * @param robotConfig The {@link RobotConfig} to use
    * @param flipPath Option to flip the trajectory around the field's center.
    *
    * @return Command
    */
   public Command generatePPHolonomicCommand(
       PathPlannerPath path,
-      double maxSpeed,
+      RobotConfig robotConfig,
       boolean flipPath) {
-
-    RobotConfig robotConfig = m_robotConfig;
-    if (maxSpeed != 0) {
-      ModuleConfig moduleConfig =
-              new ModuleConfig(m_robotConfig.moduleConfig.wheelRadiusMeters,
-                      maxSpeed,
-                      m_robotConfig.moduleConfig.wheelCOF,
-                      m_robotConfig.moduleConfig.driveMotor,
-                      m_robotConfig.moduleConfig.driveCurrentLimit,
-                      m_robotConfig.moduleConfig.
-                      driveCurrentLimit,
-                      1);
-      robotConfig = new RobotConfig(m_robotConfig.massKG, m_robotConfig.MOI, moduleConfig, m_robotConfig.moduleLocations);
-    }
-
     return new FollowPathCommand(
         path,
         () -> m_swerveDrive.getState().Pose,