diff --git a/docs/allclasses-index.html b/docs/allclasses-index.html
index 7894055e..9ad0f07a 100644
--- a/docs/allclasses-index.html
+++ b/docs/allclasses-index.html
@@ -94,11 +94,11 @@ <h1 title="All Classes and Interfaces" class="title">All Classes and Interfaces<
 </div>
 <div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/imu/CanandgyroSwerve.html" title="class in swervelib.imu">CanandgyroSwerve</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">
-<div class="block">SwerveIMU interface for the Boron <a href="https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandgyro/Canandgyro.html" title="class or interface in com.reduxrobotics.sensors.canandgyro" class="external-link"><code>Canandgyro</code></a> by Redux Robotics</div>
+<div class="block">SwerveIMU interface for the Boron <code>Canandgyro</code> by Redux Robotics</div>
 </div>
 <div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/encoders/CanAndMagSwerve.html" title="class in swervelib.encoders">CanAndMagSwerve</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
-<div class="block">HELIUM <a href="https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandmag/Canandmag.html" title="class or interface in com.reduxrobotics.sensors.canandmag" class="external-link"><code>Canandmag</code></a> from ReduxRobotics absolute encoder, attached through the CAN bus.</div>
+<div class="block">HELIUM <code>Canandmag</code> from ReduxRobotics absolute encoder, attached through the CAN bus.</div>
 </div>
 <div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/encoders/CANCoderSwerve.html" title="class in swervelib.encoders">CANCoderSwerve</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">
diff --git a/docs/index-all.html b/docs/index-all.html
index f41e5dff..d4939bc7 100644
--- a/docs/index-all.html
+++ b/docs/index-all.html
@@ -347,19 +347,19 @@ <h2 class="title" id="I:C">C</h2>
 </dd>
 <dt><a href="swervelib/imu/CanandgyroSwerve.html" class="type-name-link" title="class in swervelib.imu">CanandgyroSwerve</a> - Class in <a href="swervelib/imu/package-summary.html">swervelib.imu</a></dt>
 <dd>
-<div class="block">SwerveIMU interface for the Boron <a href="https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandgyro/Canandgyro.html" title="class or interface in com.reduxrobotics.sensors.canandgyro" class="external-link"><code>Canandgyro</code></a> by Redux Robotics</div>
+<div class="block">SwerveIMU interface for the Boron <code>Canandgyro</code> by Redux Robotics</div>
 </dd>
 <dt><a href="swervelib/imu/CanandgyroSwerve.html#%3Cinit%3E(int)" class="member-name-link">CanandgyroSwerve(int)</a> - Constructor for class swervelib.imu.<a href="swervelib/imu/CanandgyroSwerve.html" title="class in swervelib.imu">CanandgyroSwerve</a></dt>
 <dd>
-<div class="block">Generate the SwerveIMU for <a href="https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandgyro/Canandgyro.html" title="class or interface in com.reduxrobotics.sensors.canandgyro" class="external-link"><code>Canandgyro</code></a>.</div>
+<div class="block">Generate the SwerveIMU for <code>Canandgyro</code>.</div>
 </dd>
 <dt><a href="swervelib/encoders/CanAndMagSwerve.html" class="type-name-link" title="class in swervelib.encoders">CanAndMagSwerve</a> - Class in <a href="swervelib/encoders/package-summary.html">swervelib.encoders</a></dt>
 <dd>
-<div class="block">HELIUM <a href="https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandmag/Canandmag.html" title="class or interface in com.reduxrobotics.sensors.canandmag" class="external-link"><code>Canandmag</code></a> from ReduxRobotics absolute encoder, attached through the CAN bus.</div>
+<div class="block">HELIUM <code>Canandmag</code> from ReduxRobotics absolute encoder, attached through the CAN bus.</div>
 </dd>
 <dt><a href="swervelib/encoders/CanAndMagSwerve.html#%3Cinit%3E(int)" class="member-name-link">CanAndMagSwerve(int)</a> - Constructor for class swervelib.encoders.<a href="swervelib/encoders/CanAndMagSwerve.html" title="class in swervelib.encoders">CanAndMagSwerve</a></dt>
 <dd>
-<div class="block">Create the <a href="https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandmag/Canandmag.html" title="class or interface in com.reduxrobotics.sensors.canandmag" class="external-link"><code>Canandmag</code></a></div>
+<div class="block">Create the <code>Canandmag</code></div>
 </dd>
 <dt><a href="swervelib/parser/json/DeviceJson.html#canbus" class="member-name-link">canbus</a> - Variable in class swervelib.parser.json.<a href="swervelib/parser/json/DeviceJson.html" title="class in swervelib.parser.json">DeviceJson</a></dt>
 <dd>
@@ -442,7 +442,7 @@ <h2 class="title" id="I:C">C</h2>
 </dd>
 <dt><a href="swervelib/imu/CanandgyroSwerve.html#clearStickyFaults()" class="member-name-link">clearStickyFaults()</a> - Method in class swervelib.imu.<a href="swervelib/imu/CanandgyroSwerve.html" title="class in swervelib.imu">CanandgyroSwerve</a></dt>
 <dd>
-<div class="block">Clear sticky faults on <a href="https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandgyro/Canandgyro.html" title="class or interface in com.reduxrobotics.sensors.canandgyro" class="external-link"><code>Canandgyro</code></a>.</div>
+<div class="block">Clear sticky faults on <code>Canandgyro</code>.</div>
 </dd>
 <dt><a href="swervelib/imu/NavXSwerve.html#clearStickyFaults()" class="member-name-link">clearStickyFaults()</a> - Method in class swervelib.imu.<a href="swervelib/imu/NavXSwerve.html" title="class in swervelib.imu">NavXSwerve</a></dt>
 <dd>
@@ -896,7 +896,7 @@ <h2 class="title" id="I:E">E</h2>
 </dd>
 <dt><a href="swervelib/encoders/CanAndMagSwerve.html#encoder" class="member-name-link">encoder</a> - Variable in class swervelib.encoders.<a href="swervelib/encoders/CanAndMagSwerve.html" title="class in swervelib.encoders">CanAndMagSwerve</a></dt>
 <dd>
-<div class="block">The <a href="https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandmag/Canandmag.html" title="class or interface in com.reduxrobotics.sensors.canandmag" class="external-link"><code>Canandmag</code></a> representing the CANandMag on the CAN bus.</div>
+<div class="block">The <code>Canandmag</code> representing the CANandMag on the CAN bus.</div>
 </dd>
 <dt><a href="swervelib/encoders/CANCoderSwerve.html#encoder" class="member-name-link">encoder</a> - Variable in class swervelib.encoders.<a href="swervelib/encoders/CANCoderSwerve.html" title="class in swervelib.encoders">CANCoderSwerve</a></dt>
 <dd>
@@ -1002,7 +1002,7 @@ <h2 class="title" id="I:F">F</h2>
 </dd>
 <dt><a href="swervelib/imu/CanandgyroSwerve.html#factoryDefault()" class="member-name-link">factoryDefault()</a> - Method in class swervelib.imu.<a href="swervelib/imu/CanandgyroSwerve.html" title="class in swervelib.imu">CanandgyroSwerve</a></dt>
 <dd>
-<div class="block">Reset <a href="https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandgyro/Canandgyro.html" title="class or interface in com.reduxrobotics.sensors.canandgyro" class="external-link"><code>Canandgyro</code></a> to factory default.</div>
+<div class="block">Reset <code>Canandgyro</code> to factory default.</div>
 </dd>
 <dt><a href="swervelib/imu/NavXSwerve.html#factoryDefault()" class="member-name-link">factoryDefault()</a> - Method in class swervelib.imu.<a href="swervelib/imu/NavXSwerve.html" title="class in swervelib.imu">NavXSwerve</a></dt>
 <dd>
@@ -1330,7 +1330,7 @@ <h2 class="title" id="I:G">G</h2>
 </dd>
 <dt><a href="swervelib/imu/CanandgyroSwerve.html#getIMU()" class="member-name-link">getIMU()</a> - Method in class swervelib.imu.<a href="swervelib/imu/CanandgyroSwerve.html" title="class in swervelib.imu">CanandgyroSwerve</a></dt>
 <dd>
-<div class="block">Get the instantiated <a href="https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandgyro/Canandgyro.html" title="class or interface in com.reduxrobotics.sensors.canandgyro" class="external-link"><code>Canandgyro</code></a> IMU object.</div>
+<div class="block">Get the instantiated <code>Canandgyro</code> IMU object.</div>
 </dd>
 <dt><a href="swervelib/imu/NavXSwerve.html#getIMU()" class="member-name-link">getIMU()</a> - Method in class swervelib.imu.<a href="swervelib/imu/NavXSwerve.html" title="class in swervelib.imu">NavXSwerve</a></dt>
 <dd>
@@ -1803,6 +1803,18 @@ <h2 class="title" id="I:H">H</h2>
 <dd>
 <div class="block">Whether to correct heading when driving translationally.</div>
 </dd>
+<dt><a href="swervelib/SwerveInputStream.html#headingOffset(boolean)" class="member-name-link">headingOffset(boolean)</a> - Method in class swervelib.<a href="swervelib/SwerveInputStream.html" title="class in swervelib">SwerveInputStream</a></dt>
+<dd>
+<div class="block">Heading offset enable</div>
+</dd>
+<dt><a href="swervelib/SwerveInputStream.html#headingOffset(edu.wpi.first.math.geometry.Rotation2d)" class="member-name-link">headingOffset(Rotation2d)</a> - Method in class swervelib.<a href="swervelib/SwerveInputStream.html" title="class in swervelib">SwerveInputStream</a></dt>
+<dd>
+<div class="block">Set the heading offset angle.</div>
+</dd>
+<dt><a href="swervelib/SwerveInputStream.html#headingOffset(java.util.function.BooleanSupplier)" class="member-name-link">headingOffset(BooleanSupplier)</a> - Method in class swervelib.<a href="swervelib/SwerveInputStream.html" title="class in swervelib">SwerveInputStream</a></dt>
+<dd>
+<div class="block">Heading offset enabled boolean supplier.</div>
+</dd>
 <dt><a href="swervelib/parser/SwerveControllerConfiguration.html#headingPIDF" class="member-name-link">headingPIDF</a> - Variable in class swervelib.parser.<a href="swervelib/parser/SwerveControllerConfiguration.html" title="class in swervelib.parser">SwerveControllerConfiguration</a></dt>
 <dd>
 <div class="block">PIDF for the heading of the robot.</div>
@@ -2965,7 +2977,7 @@ <h2 class="title" id="I:S">S</h2>
 </dd>
 <dt><a href="swervelib/encoders/CanAndMagSwerve.html#settings" class="member-name-link">settings</a> - Variable in class swervelib.encoders.<a href="swervelib/encoders/CanAndMagSwerve.html" title="class in swervelib.encoders">CanAndMagSwerve</a></dt>
 <dd>
-<div class="block">The <a href="https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandmag/Canandmag.html" title="class or interface in com.reduxrobotics.sensors.canandmag" class="external-link"><code>Canandmag</code></a> settings object to use.</div>
+<div class="block">The <code>Canandmag</code> settings object to use.</div>
 </dd>
 <dt><a href="swervelib/SwerveDrive.html#setVisionMeasurementStdDevs(edu.wpi.first.math.Matrix)" class="member-name-link">setVisionMeasurementStdDevs(Matrix&lt;N3, N1&gt;)</a> - Method in class swervelib.<a href="swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
 <dd>
diff --git a/docs/member-search-index.js b/docs/member-search-index.js
index 39d11be1..2e56d081 100644
--- a/docs/member-search-index.js
+++ b/docs/member-search-index.js
@@ -1 +1 @@
-memberSearchIndex = [{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"absoluteEncoder"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"absoluteEncoder"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"absoluteEncoder"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"absoluteEncoderInverted"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"absoluteEncoderInverted"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"absoluteEncoderOffset"},{"p":"swervelib","c":"SwerveModule","l":"absolutePositionCache"},{"p":"swervelib","c":"SwerveController","l":"addSlewRateLimiters(SlewRateLimiter, SlewRateLimiter, SlewRateLimiter)","u":"addSlewRateLimiters(edu.wpi.first.math.filter.SlewRateLimiter,edu.wpi.first.math.filter.SlewRateLimiter,edu.wpi.first.math.filter.SlewRateLimiter)"},{"p":"swervelib","c":"SwerveDrive","l":"addVisionMeasurement(Pose2d, double)","u":"addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double)"},{"p":"swervelib","c":"SwerveDrive","l":"addVisionMeasurement(Pose2d, double, Matrix<N3, 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Rotation2d)","u":"angleModules(swervelib.SwerveDrive,edu.wpi.first.math.geometry.Rotation2d)"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"angleMotor"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"angleMotorCurrentLimit"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"angleMotorInverted"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"angleMotorRampRate"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"angleOffset"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"anglePIDF"},{"p":"swervelib","c":"SwerveDrive","l":"angularVelocityCoefficient"},{"p":"swervelib","c":"SwerveDrive","l":"angularVelocityCorrection"},{"p":"swervelib","c":"SwerveDrive","l":"angularVelocitySkewCorrection(ChassisSpeeds)","u":"angularVelocitySkewCorrection(edu.wpi.first.math.kinematics.ChassisSpeeds)"},{"p":"swervelib.math","c":"SwerveMath","l":"antiJitter(SwerveModuleState, SwerveModuleState, double)","u":"antiJitter(edu.wpi.first.math.kinematics.SwerveModuleState,edu.wpi.first.math.kinematics.SwerveModuleState,double)"},{"p":"swervelib.math","c":"SwerveMath","l":"applyDeadband(double, boolean, double)","u":"applyDeadband(double,boolean,double)"},{"p":"swervelib","c":"SwerveDrive","l":"autonomousAngularVelocityCorrection"},{"p":"swervelib","c":"SwerveDrive","l":"autonomousChassisVelocityCorrection"},{"p":"swervelib.parser.json.modules","c":"BoolMotorJson","l":"BoolMotorJson()","u":"%3Cinit%3E()"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"burnFlash()"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"burnFlash()"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"burnFlash()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"burnFlash()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"burnFlash()"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"burnFlash()"},{"p":"swervelib.motors","c":"ThriftyNovaSwerve","l":"burnFlash()"},{"p":"swervelib.parser","c":"Cache","l":"Cache(Supplier<T>, long)","u":"%3Cinit%3E(java.util.function.Supplier,long)"},{"p":"swervelib.parser.json.modules","c":"AngleConversionFactorsJson","l":"calculate()"},{"p":"swervelib.parser.json.modules","c":"DriveConversionFactorsJson","l":"calculate()"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateDegreesPerSteeringRotation(double)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateDegreesPerSteeringRotation(double, double)","u":"calculateDegreesPerSteeringRotation(double,double)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateMaxAcceleration(double)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateMaxAcceleration(double, double, double, double, double)","u":"calculateMaxAcceleration(double,double,double,double,double)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateMaxAngularVelocity(double, double, double)","u":"calculateMaxAngularVelocity(double,double,double)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateMetersPerRotation(double, double)","u":"calculateMetersPerRotation(double,double)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateMetersPerRotation(double, double, double)","u":"calculateMetersPerRotation(double,double,double)"},{"p":"swervelib.imu","c":"CanandgyroSwerve","l":"CanandgyroSwerve(int)","u":"%3Cinit%3E(int)"},{"p":"swervelib.encoders","c":"CanAndMagSwerve","l":"CanAndMagSwerve(int)","u":"%3Cinit%3E(int)"},{"p":"swervelib.parser.json","c":"DeviceJson","l":"canbus"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"CANCoderSwerve(int)","u":"%3Cinit%3E(int)"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"CANCoderSwerve(int, String)","u":"%3Cinit%3E(int,java.lang.String)"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"canIdWarning"},{"p":"swervelib","c":"SwerveDriveTest","l":"centerModules(SwerveDrive)","u":"centerModules(swervelib.SwerveDrive)"},{"p":"swervelib","c":"SwerveDrive","l":"chassisVelocityCorrection"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"clearStickyFaults()"},{"p":"swervelib.encoders","c":"CanAndMagSwerve","l":"clearStickyFaults()"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"clearStickyFaults()"},{"p":"swervelib.encoders","c":"PWMDutyCycleEncoderSwerve","l":"clearStickyFaults()"},{"p":"swervelib.encoders","c":"SparkMaxAnalogEncoderSwerve","l":"clearStickyFaults()"},{"p":"swervelib.encoders","c":"SparkMaxEncoderSwerve","l":"clearStickyFaults()"},{"p":"swervelib.encoders","c":"SwerveAbsoluteEncoder","l":"clearStickyFaults()"},{"p":"swervelib.encoders","c":"TalonSRXEncoderSwerve","l":"clearStickyFaults()"},{"p":"swervelib.encoders","c":"ThriftyNovaEncoderSwerve","l":"clearStickyFaults()"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"clearStickyFaults()"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"clearStickyFaults()"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"clearStickyFaults()"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"clearStickyFaults()"},{"p":"swervelib.imu","c":"CanandgyroSwerve","l":"clearStickyFaults()"},{"p":"swervelib.imu","c":"NavXSwerve","l":"clearStickyFaults()"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"clearStickyFaults()"},{"p":"swervelib.imu","c":"PigeonSwerve","l":"clearStickyFaults()"},{"p":"swervelib.imu","c":"SwerveIMU","l":"clearStickyFaults()"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"clearStickyFaults()"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"clearStickyFaults()"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"clearStickyFaults()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"clearStickyFaults()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"clearStickyFaults()"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"clearStickyFaults()"},{"p":"swervelib.motors","c":"ThriftyNovaSwerve","l":"clearStickyFaults()"},{"p":"swervelib","c":"SwerveController","l":"config"},{"p":"swervelib","c":"SwerveModule","l":"configuration"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"configure(boolean)"},{"p":"swervelib.encoders","c":"CanAndMagSwerve","l":"configure(boolean)"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"configure(boolean)"},{"p":"swervelib.encoders","c":"PWMDutyCycleEncoderSwerve","l":"configure(boolean)"},{"p":"swervelib.encoders","c":"SparkMaxAnalogEncoderSwerve","l":"configure(boolean)"},{"p":"swervelib.encoders","c":"SparkMaxEncoderSwerve","l":"configure(boolean)"},{"p":"swervelib.encoders","c":"SwerveAbsoluteEncoder","l":"configure(boolean)"},{"p":"swervelib.encoders","c":"TalonSRXEncoderSwerve","l":"configure(boolean)"},{"p":"swervelib.encoders","c":"ThriftyNovaEncoderSwerve","l":"configure(boolean)"},{"p":"swervelib.motors","c":"ThriftyNovaSwerve","l":"configureCANStatusFrames(double, 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DoubleSupplier)","u":"withControllerHeadingAxis(java.util.function.DoubleSupplier,java.util.function.DoubleSupplier)"},{"p":"swervelib","c":"SwerveInputStream","l":"withControllerRotationAxis(DoubleSupplier)","u":"withControllerRotationAxis(java.util.function.DoubleSupplier)"},{"p":"swervelib","c":"SwerveController","l":"withinHypotDeadband(double, double)","u":"withinHypotDeadband(double,double)"},{"p":"swervelib.parser.json.modules","c":"ConversionFactorsJson","l":"works()"},{"p":"swervelib.parser.json.modules","c":"LocationJson","l":"x"},{"p":"swervelib","c":"SwerveController","l":"xLimiter"},{"p":"swervelib.parser.json.modules","c":"LocationJson","l":"y"},{"p":"swervelib","c":"SwerveController","l":"yLimiter"},{"p":"swervelib","c":"SwerveDrive","l":"zeroGyro()"}];updateSearchResults();
\ No newline at end of file
diff --git a/docs/swervelib/SwerveInputStream.html b/docs/swervelib/SwerveInputStream.html
index 8c7d1651..d6cf761b 100644
--- a/docs/swervelib/SwerveInputStream.html
+++ b/docs/swervelib/SwerveInputStream.html
@@ -209,62 +209,77 @@ <h2>Method Summary</h2>
 <div class="block">Gets a <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html" title="class or interface in edu.wpi.first.math.kinematics" class="external-link"><code>ChassisSpeeds</code></a></div>
 </div>
 <div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveInputStream.html" title="class in swervelib">SwerveInputStream</a></code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#headingWhile(boolean)" class="member-name-link">headingWhile</a><wbr>(boolean&nbsp;headingState)</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#headingOffset(boolean)" class="member-name-link">headingOffset</a><wbr>(boolean&nbsp;enabled)</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
-<div class="block">Set the heading enable state.</div>
+<div class="block">Heading offset enable</div>
+</div>
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveInputStream.html" title="class in swervelib">SwerveInputStream</a></code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#headingOffset(edu.wpi.first.math.geometry.Rotation2d)" class="member-name-link">headingOffset</a><wbr>(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Rotation2d.html" title="class or interface in edu.wpi.first.math.geometry" class="external-link">Rotation2d</a>&nbsp;angle)</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="block">Set the heading offset angle.</div>
+</div>
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveInputStream.html" title="class in swervelib">SwerveInputStream</a></code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#headingOffset(java.util.function.BooleanSupplier)" class="member-name-link">headingOffset</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/BooleanSupplier.html" title="class or interface in java.util.function" class="external-link">BooleanSupplier</a>&nbsp;enabled)</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="block">Heading offset enabled boolean supplier.</div>
 </div>
 <div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveInputStream.html" title="class in swervelib">SwerveInputStream</a></code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#headingWhile(java.util.function.BooleanSupplier)" class="member-name-link">headingWhile</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/BooleanSupplier.html" title="class or interface in java.util.function" class="external-link">BooleanSupplier</a>&nbsp;trigger)</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#headingWhile(boolean)" class="member-name-link">headingWhile</a><wbr>(boolean&nbsp;headingState)</code></div>
 <div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="block">Set the heading enable state.</div>
+</div>
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveInputStream.html" title="class in swervelib">SwerveInputStream</a></code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#headingWhile(java.util.function.BooleanSupplier)" class="member-name-link">headingWhile</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/BooleanSupplier.html" title="class or interface in java.util.function" class="external-link">BooleanSupplier</a>&nbsp;trigger)</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Output <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html" title="class or interface in edu.wpi.first.math.kinematics" class="external-link"><code>ChassisSpeeds</code></a> based on heading while the supplier is True.</div>
 </div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static <a href="SwerveInputStream.html" title="class in swervelib">SwerveInputStream</a></code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#of(swervelib.SwerveDrive,java.util.function.DoubleSupplier,java.util.function.DoubleSupplier)" class="member-name-link">of</a><wbr>(<a href="SwerveDrive.html" title="class in swervelib">SwerveDrive</a>&nbsp;drive,
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static <a href="SwerveInputStream.html" title="class in swervelib">SwerveInputStream</a></code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#of(swervelib.SwerveDrive,java.util.function.DoubleSupplier,java.util.function.DoubleSupplier)" class="member-name-link">of</a><wbr>(<a href="SwerveDrive.html" title="class in swervelib">SwerveDrive</a>&nbsp;drive,
  <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/DoubleSupplier.html" title="class or interface in java.util.function" class="external-link">DoubleSupplier</a>&nbsp;x,
  <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/DoubleSupplier.html" title="class or interface in java.util.function" class="external-link">DoubleSupplier</a>&nbsp;y)</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
 <div class="block">Create basic <a href="SwerveInputStream.html" title="class in swervelib"><code>SwerveInputStream</code></a> without any rotation components.</div>
 </div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveInputStream.html" title="class in swervelib">SwerveInputStream</a></code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#robotRelative(boolean)" class="member-name-link">robotRelative</a><wbr>(boolean&nbsp;enabled)</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
-<div class="block">Set the stream to output robot relative <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html" title="class or interface in edu.wpi.first.math.kinematics" class="external-link"><code>ChassisSpeeds</code></a></div>
-</div>
 <div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveInputStream.html" title="class in swervelib">SwerveInputStream</a></code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#robotRelative(java.util.function.BooleanSupplier)" class="member-name-link">robotRelative</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/BooleanSupplier.html" title="class or interface in java.util.function" class="external-link">BooleanSupplier</a>&nbsp;enabled)</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#robotRelative(boolean)" class="member-name-link">robotRelative</a><wbr>(boolean&nbsp;enabled)</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Set the stream to output robot relative <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html" title="class or interface in edu.wpi.first.math.kinematics" class="external-link"><code>ChassisSpeeds</code></a></div>
 </div>
 <div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveInputStream.html" title="class in swervelib">SwerveInputStream</a></code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#scaleRotation(double)" class="member-name-link">scaleRotation</a><wbr>(double&nbsp;scaleRotation)</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#robotRelative(java.util.function.BooleanSupplier)" class="member-name-link">robotRelative</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/BooleanSupplier.html" title="class or interface in java.util.function" class="external-link">BooleanSupplier</a>&nbsp;enabled)</code></div>
 <div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
-<div class="block">Scale the rotation axis input for <a href="SwerveInputStream.html" title="class in swervelib"><code>SwerveInputStream</code></a> to reduce the range in which they
- operate.</div>
+<div class="block">Set the stream to output robot relative <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html" title="class or interface in edu.wpi.first.math.kinematics" class="external-link"><code>ChassisSpeeds</code></a></div>
 </div>
 <div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveInputStream.html" title="class in swervelib">SwerveInputStream</a></code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#scaleTranslation(double)" class="member-name-link">scaleTranslation</a><wbr>(double&nbsp;scaleTranslation)</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#scaleRotation(double)" class="member-name-link">scaleRotation</a><wbr>(double&nbsp;scaleRotation)</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
-<div class="block">Scale the translation axis for <a href="SwerveInputStream.html" title="class in swervelib"><code>SwerveInputStream</code></a> by a constant scalar value.</div>
+<div class="block">Scale the rotation axis input for <a href="SwerveInputStream.html" title="class in swervelib"><code>SwerveInputStream</code></a> to reduce the range in which they
+ operate.</div>
 </div>
 <div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveInputStream.html" title="class in swervelib">SwerveInputStream</a></code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#translationOnlyWhile(boolean)" class="member-name-link">translationOnlyWhile</a><wbr>(boolean&nbsp;translationState)</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#scaleTranslation(double)" class="member-name-link">scaleTranslation</a><wbr>(double&nbsp;scaleTranslation)</code></div>
 <div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
-<div class="block">Enable locking of rotation and only translating, overrides everything.</div>
+<div class="block">Scale the translation axis for <a href="SwerveInputStream.html" title="class in swervelib"><code>SwerveInputStream</code></a> by a constant scalar value.</div>
 </div>
 <div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveInputStream.html" title="class in swervelib">SwerveInputStream</a></code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#translationOnlyWhile(java.util.function.BooleanSupplier)" class="member-name-link">translationOnlyWhile</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/BooleanSupplier.html" title="class or interface in java.util.function" class="external-link">BooleanSupplier</a>&nbsp;trigger)</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#translationOnlyWhile(boolean)" class="member-name-link">translationOnlyWhile</a><wbr>(boolean&nbsp;translationState)</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Enable locking of rotation and only translating, overrides everything.</div>
 </div>
 <div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveInputStream.html" title="class in swervelib">SwerveInputStream</a></code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#withControllerHeadingAxis(java.util.function.DoubleSupplier,java.util.function.DoubleSupplier)" class="member-name-link">withControllerHeadingAxis</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/DoubleSupplier.html" title="class or interface in java.util.function" class="external-link">DoubleSupplier</a>&nbsp;headingX,
- <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/DoubleSupplier.html" title="class or interface in java.util.function" class="external-link">DoubleSupplier</a>&nbsp;headingY)</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#translationOnlyWhile(java.util.function.BooleanSupplier)" class="member-name-link">translationOnlyWhile</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/BooleanSupplier.html" title="class or interface in java.util.function" class="external-link">BooleanSupplier</a>&nbsp;trigger)</code></div>
 <div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
-<div class="block">Add heading axis for Heading based control.</div>
+<div class="block">Enable locking of rotation and only translating, overrides everything.</div>
 </div>
 <div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveInputStream.html" title="class in swervelib">SwerveInputStream</a></code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#withControllerRotationAxis(java.util.function.DoubleSupplier)" class="member-name-link">withControllerRotationAxis</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/DoubleSupplier.html" title="class or interface in java.util.function" class="external-link">DoubleSupplier</a>&nbsp;rot)</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#withControllerHeadingAxis(java.util.function.DoubleSupplier,java.util.function.DoubleSupplier)" class="member-name-link">withControllerHeadingAxis</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/DoubleSupplier.html" title="class or interface in java.util.function" class="external-link">DoubleSupplier</a>&nbsp;headingX,
+ <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/DoubleSupplier.html" title="class or interface in java.util.function" class="external-link">DoubleSupplier</a>&nbsp;headingY)</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="block">Add heading axis for Heading based control.</div>
+</div>
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveInputStream.html" title="class in swervelib">SwerveInputStream</a></code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#withControllerRotationAxis(java.util.function.DoubleSupplier)" class="member-name-link">withControllerRotationAxis</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/DoubleSupplier.html" title="class or interface in java.util.function" class="external-link">DoubleSupplier</a>&nbsp;rot)</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Add a rotation axis for Angular Velocity control</div>
 </div>
 </div>
@@ -385,6 +400,45 @@ <h3>robotRelative</h3>
 </section>
 </li>
 <li>
+<section class="detail" id="headingOffset(java.util.function.BooleanSupplier)">
+<h3>headingOffset</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="SwerveInputStream.html" title="class in swervelib">SwerveInputStream</a></span>&nbsp;<span class="element-name">headingOffset</span><wbr><span class="parameters">(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/BooleanSupplier.html" title="class or interface in java.util.function" class="external-link">BooleanSupplier</a>&nbsp;enabled)</span></div>
+<div class="block">Heading offset enabled boolean supplier.</div>
+<dl class="notes">
+<dt>Parameters:</dt>
+<dd><code>enabled</code> - Enable state</dd>
+<dt>Returns:</dt>
+<dd>self</dd>
+</dl>
+</section>
+</li>
+<li>
+<section class="detail" id="headingOffset(boolean)">
+<h3>headingOffset</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="SwerveInputStream.html" title="class in swervelib">SwerveInputStream</a></span>&nbsp;<span class="element-name">headingOffset</span><wbr><span class="parameters">(boolean&nbsp;enabled)</span></div>
+<div class="block">Heading offset enable</div>
+<dl class="notes">
+<dt>Parameters:</dt>
+<dd><code>enabled</code> - Enable state</dd>
+<dt>Returns:</dt>
+<dd>self</dd>
+</dl>
+</section>
+</li>
+<li>
+<section class="detail" id="headingOffset(edu.wpi.first.math.geometry.Rotation2d)">
+<h3>headingOffset</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="SwerveInputStream.html" title="class in swervelib">SwerveInputStream</a></span>&nbsp;<span class="element-name">headingOffset</span><wbr><span class="parameters">(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Rotation2d.html" title="class or interface in edu.wpi.first.math.geometry" class="external-link">Rotation2d</a>&nbsp;angle)</span></div>
+<div class="block">Set the heading offset angle.</div>
+<dl class="notes">
+<dt>Parameters:</dt>
+<dd><code>angle</code> - <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Rotation2d.html" title="class or interface in edu.wpi.first.math.geometry" class="external-link"><code>Rotation2d</code></a> offset to apply</dd>
+<dt>Returns:</dt>
+<dd>self</dd>
+</dl>
+</section>
+</li>
+<li>
 <section class="detail" id="allianceRelativeControl(java.util.function.BooleanSupplier)">
 <h3>allianceRelativeControl</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="SwerveInputStream.html" title="class in swervelib">SwerveInputStream</a></span>&nbsp;<span class="element-name">allianceRelativeControl</span><wbr><span class="parameters">(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/BooleanSupplier.html" title="class or interface in java.util.function" class="external-link">BooleanSupplier</a>&nbsp;enabled)</span></div>
diff --git a/docs/swervelib/encoders/CanAndMagSwerve.html b/docs/swervelib/encoders/CanAndMagSwerve.html
index b4a18159..e347cfee 100644
--- a/docs/swervelib/encoders/CanAndMagSwerve.html
+++ b/docs/swervelib/encoders/CanAndMagSwerve.html
@@ -80,7 +80,7 @@ <h1 title="Class CanAndMagSwerve" class="title">Class CanAndMagSwerve</h1>
 <hr>
 <div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">CanAndMagSwerve</span>
 <span class="extends-implements">extends <a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></span></div>
-<div class="block">HELIUM <a href="https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandmag/Canandmag.html" title="class or interface in com.reduxrobotics.sensors.canandmag" class="external-link"><code>Canandmag</code></a> from ReduxRobotics absolute encoder, attached through the CAN bus.</div>
+<div class="block">HELIUM <code>Canandmag</code> from ReduxRobotics absolute encoder, attached through the CAN bus.</div>
 </section>
 <section class="summary">
 <ul class="summary-list">
@@ -93,15 +93,15 @@ <h2>Field Summary</h2>
 <div class="table-header col-first">Modifier and Type</div>
 <div class="table-header col-second">Field</div>
 <div class="table-header col-last">Description</div>
-<div class="col-first even-row-color"><code><a href="https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandmag/Canandmag.html" title="class or interface in com.reduxrobotics.sensors.canandmag" class="external-link">Canandmag</a></code></div>
+<div class="col-first even-row-color"><code>com.reduxrobotics.sensors.canandmag.Canandmag</code></div>
 <div class="col-second even-row-color"><code><a href="#encoder" class="member-name-link">encoder</a></code></div>
 <div class="col-last even-row-color">
-<div class="block">The <a href="https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandmag/Canandmag.html" title="class or interface in com.reduxrobotics.sensors.canandmag" class="external-link"><code>Canandmag</code></a> representing the CANandMag on the CAN bus.</div>
+<div class="block">The <code>Canandmag</code> representing the CANandMag on the CAN bus.</div>
 </div>
-<div class="col-first odd-row-color"><code><a href="https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandmag/CanandmagSettings.html" title="class or interface in com.reduxrobotics.sensors.canandmag" class="external-link">CanandmagSettings</a></code></div>
+<div class="col-first odd-row-color"><code>com.reduxrobotics.sensors.canandmag.CanandmagSettings</code></div>
 <div class="col-second odd-row-color"><code><a href="#settings" class="member-name-link">settings</a></code></div>
 <div class="col-last odd-row-color">
-<div class="block">The <a href="https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandmag/Canandmag.html" title="class or interface in com.reduxrobotics.sensors.canandmag" class="external-link"><code>Canandmag</code></a> settings object to use.</div>
+<div class="block">The <code>Canandmag</code> settings object to use.</div>
 </div>
 </div>
 <div class="inherited-list">
@@ -119,7 +119,7 @@ <h2>Constructor Summary</h2>
 <div class="table-header col-last">Description</div>
 <div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(int)" class="member-name-link">CanAndMagSwerve</a><wbr>(int&nbsp;canid)</code></div>
 <div class="col-last even-row-color">
-<div class="block">Create the <a href="https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandmag/Canandmag.html" title="class or interface in com.reduxrobotics.sensors.canandmag" class="external-link"><code>Canandmag</code></a></div>
+<div class="block">Create the <code>Canandmag</code></div>
 </div>
 </div>
 </section>
@@ -190,15 +190,15 @@ <h2>Field Details</h2>
 <li>
 <section class="detail" id="encoder">
 <h3>encoder</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandmag/Canandmag.html" title="class or interface in com.reduxrobotics.sensors.canandmag" class="external-link">Canandmag</a></span>&nbsp;<span class="element-name">encoder</span></div>
-<div class="block">The <a href="https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandmag/Canandmag.html" title="class or interface in com.reduxrobotics.sensors.canandmag" class="external-link"><code>Canandmag</code></a> representing the CANandMag on the CAN bus.</div>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">com.reduxrobotics.sensors.canandmag.Canandmag</span>&nbsp;<span class="element-name">encoder</span></div>
+<div class="block">The <code>Canandmag</code> representing the CANandMag on the CAN bus.</div>
 </section>
 </li>
 <li>
 <section class="detail" id="settings">
 <h3>settings</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandmag/CanandmagSettings.html" title="class or interface in com.reduxrobotics.sensors.canandmag" class="external-link">CanandmagSettings</a></span>&nbsp;<span class="element-name">settings</span></div>
-<div class="block">The <a href="https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandmag/Canandmag.html" title="class or interface in com.reduxrobotics.sensors.canandmag" class="external-link"><code>Canandmag</code></a> settings object to use.</div>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">com.reduxrobotics.sensors.canandmag.CanandmagSettings</span>&nbsp;<span class="element-name">settings</span></div>
+<div class="block">The <code>Canandmag</code> settings object to use.</div>
 </section>
 </li>
 </ul>
@@ -213,7 +213,7 @@ <h2>Constructor Details</h2>
 <section class="detail" id="&lt;init&gt;(int)">
 <h3>CanAndMagSwerve</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">CanAndMagSwerve</span><wbr><span class="parameters">(int&nbsp;canid)</span></div>
-<div class="block">Create the <a href="https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandmag/Canandmag.html" title="class or interface in com.reduxrobotics.sensors.canandmag" class="external-link"><code>Canandmag</code></a></div>
+<div class="block">Create the <code>Canandmag</code></div>
 <dl class="notes">
 <dt>Parameters:</dt>
 <dd><code>canid</code> - The CAN ID whenever the CANandMag is operating on the CANBus.</dd>
diff --git a/docs/swervelib/encoders/package-summary.html b/docs/swervelib/encoders/package-summary.html
index ae822149..05f96aa0 100644
--- a/docs/swervelib/encoders/package-summary.html
+++ b/docs/swervelib/encoders/package-summary.html
@@ -90,7 +90,7 @@ <h1 title="Package swervelib.encoders" class="title">Package swervelib.encoders<
 </div>
 <div class="col-first odd-row-color class-summary class-summary-tab2"><a href="CanAndMagSwerve.html" title="class in swervelib.encoders">CanAndMagSwerve</a></div>
 <div class="col-last odd-row-color class-summary class-summary-tab2">
-<div class="block">HELIUM <a href="https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandmag/Canandmag.html" title="class or interface in com.reduxrobotics.sensors.canandmag" class="external-link"><code>Canandmag</code></a> from ReduxRobotics absolute encoder, attached through the CAN bus.</div>
+<div class="block">HELIUM <code>Canandmag</code> from ReduxRobotics absolute encoder, attached through the CAN bus.</div>
 </div>
 <div class="col-first even-row-color class-summary class-summary-tab2"><a href="CANCoderSwerve.html" title="class in swervelib.encoders">CANCoderSwerve</a></div>
 <div class="col-last even-row-color class-summary class-summary-tab2">
diff --git a/docs/swervelib/imu/CanandgyroSwerve.html b/docs/swervelib/imu/CanandgyroSwerve.html
index 8a5b3ca8..a6f93071 100644
--- a/docs/swervelib/imu/CanandgyroSwerve.html
+++ b/docs/swervelib/imu/CanandgyroSwerve.html
@@ -80,7 +80,7 @@ <h1 title="Class CanandgyroSwerve" class="title">Class CanandgyroSwerve</h1>
 <hr>
 <div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">CanandgyroSwerve</span>
 <span class="extends-implements">extends <a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></span></div>
-<div class="block">SwerveIMU interface for the Boron <a href="https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandgyro/Canandgyro.html" title="class or interface in com.reduxrobotics.sensors.canandgyro" class="external-link"><code>Canandgyro</code></a> by Redux Robotics</div>
+<div class="block">SwerveIMU interface for the Boron <code>Canandgyro</code> by Redux Robotics</div>
 </section>
 <section class="summary">
 <ul class="summary-list">
@@ -111,7 +111,7 @@ <h2>Constructor Summary</h2>
 <div class="table-header col-last">Description</div>
 <div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(int)" class="member-name-link">CanandgyroSwerve</a><wbr>(int&nbsp;canid)</code></div>
 <div class="col-last even-row-color">
-<div class="block">Generate the SwerveIMU for <a href="https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandgyro/Canandgyro.html" title="class or interface in com.reduxrobotics.sensors.canandgyro" class="external-link"><code>Canandgyro</code></a>.</div>
+<div class="block">Generate the SwerveIMU for <code>Canandgyro</code>.</div>
 </div>
 </div>
 </section>
@@ -130,12 +130,12 @@ <h2>Method Summary</h2>
 <div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
 <div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#clearStickyFaults()" class="member-name-link">clearStickyFaults</a>()</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
-<div class="block">Clear sticky faults on <a href="https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandgyro/Canandgyro.html" title="class or interface in com.reduxrobotics.sensors.canandgyro" class="external-link"><code>Canandgyro</code></a>.</div>
+<div class="block">Clear sticky faults on <code>Canandgyro</code>.</div>
 </div>
 <div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
 <div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#factoryDefault()" class="member-name-link">factoryDefault</a>()</code></div>
 <div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
-<div class="block">Reset <a href="https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandgyro/Canandgyro.html" title="class or interface in com.reduxrobotics.sensors.canandgyro" class="external-link"><code>Canandgyro</code></a> to factory default.</div>
+<div class="block">Reset <code>Canandgyro</code> to factory default.</div>
 </div>
 <div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation3d.html" title="class or interface in edu.wpi.first.math.geometry" class="external-link">Translation3d</a>&gt;</code></div>
 <div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getAccel()" class="member-name-link">getAccel</a>()</code></div>
@@ -145,7 +145,7 @@ <h2>Method Summary</h2>
 <div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
 <div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getIMU()" class="member-name-link">getIMU</a>()</code></div>
 <div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
-<div class="block">Get the instantiated <a href="https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandgyro/Canandgyro.html" title="class or interface in com.reduxrobotics.sensors.canandgyro" class="external-link"><code>Canandgyro</code></a> IMU object.</div>
+<div class="block">Get the instantiated <code>Canandgyro</code> IMU object.</div>
 </div>
 <div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Rotation3d.html" title="class or interface in edu.wpi.first.math.geometry" class="external-link">Rotation3d</a></code></div>
 <div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRawRotation3d()" class="member-name-link">getRawRotation3d</a>()</code></div>
@@ -208,10 +208,10 @@ <h2>Constructor Details</h2>
 <section class="detail" id="&lt;init&gt;(int)">
 <h3>CanandgyroSwerve</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">CanandgyroSwerve</span><wbr><span class="parameters">(int&nbsp;canid)</span></div>
-<div class="block">Generate the SwerveIMU for <a href="https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandgyro/Canandgyro.html" title="class or interface in com.reduxrobotics.sensors.canandgyro" class="external-link"><code>Canandgyro</code></a>.</div>
+<div class="block">Generate the SwerveIMU for <code>Canandgyro</code>.</div>
 <dl class="notes">
 <dt>Parameters:</dt>
-<dd><code>canid</code> - CAN ID for the Boron <a href="https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandgyro/Canandgyro.html" title="class or interface in com.reduxrobotics.sensors.canandgyro" class="external-link"><code>Canandgyro</code></a></dd>
+<dd><code>canid</code> - CAN ID for the Boron <code>Canandgyro</code></dd>
 </dl>
 </section>
 </li>
@@ -227,7 +227,7 @@ <h2>Method Details</h2>
 <section class="detail" id="factoryDefault()">
 <h3>factoryDefault</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">factoryDefault</span>()</div>
-<div class="block">Reset <a href="https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandgyro/Canandgyro.html" title="class or interface in com.reduxrobotics.sensors.canandgyro" class="external-link"><code>Canandgyro</code></a> to factory default.</div>
+<div class="block">Reset <code>Canandgyro</code> to factory default.</div>
 <dl class="notes">
 <dt>Specified by:</dt>
 <dd><code><a href="SwerveIMU.html#factoryDefault()">factoryDefault</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
@@ -238,7 +238,7 @@ <h3>factoryDefault</h3>
 <section class="detail" id="clearStickyFaults()">
 <h3>clearStickyFaults</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">clearStickyFaults</span>()</div>
-<div class="block">Clear sticky faults on <a href="https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandgyro/Canandgyro.html" title="class or interface in com.reduxrobotics.sensors.canandgyro" class="external-link"><code>Canandgyro</code></a>.</div>
+<div class="block">Clear sticky faults on <code>Canandgyro</code>.</div>
 <dl class="notes">
 <dt>Specified by:</dt>
 <dd><code><a href="SwerveIMU.html#clearStickyFaults()">clearStickyFaults</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
@@ -329,7 +329,7 @@ <h3>getYawAngularVelocity</h3>
 <section class="detail" id="getIMU()">
 <h3>getIMU</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span>&nbsp;<span class="element-name">getIMU</span>()</div>
-<div class="block">Get the instantiated <a href="https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandgyro/Canandgyro.html" title="class or interface in com.reduxrobotics.sensors.canandgyro" class="external-link"><code>Canandgyro</code></a> IMU object.</div>
+<div class="block">Get the instantiated <code>Canandgyro</code> IMU object.</div>
 <dl class="notes">
 <dt>Specified by:</dt>
 <dd><code><a href="SwerveIMU.html#getIMU()">getIMU</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
diff --git a/docs/swervelib/imu/package-summary.html b/docs/swervelib/imu/package-summary.html
index 89cc5eb9..12e0192b 100644
--- a/docs/swervelib/imu/package-summary.html
+++ b/docs/swervelib/imu/package-summary.html
@@ -102,7 +102,7 @@ <h1 title="Package swervelib.imu" class="title">Package swervelib.imu</h1>
 </div>
 <div class="col-first even-row-color class-summary class-summary-tab2"><a href="CanandgyroSwerve.html" title="class in swervelib.imu">CanandgyroSwerve</a></div>
 <div class="col-last even-row-color class-summary class-summary-tab2">
-<div class="block">SwerveIMU interface for the Boron <a href="https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandgyro/Canandgyro.html" title="class or interface in com.reduxrobotics.sensors.canandgyro" class="external-link"><code>Canandgyro</code></a> by Redux Robotics</div>
+<div class="block">SwerveIMU interface for the Boron <code>Canandgyro</code> by Redux Robotics</div>
 </div>
 <div class="col-first odd-row-color class-summary class-summary-tab2"><a href="NavXSwerve.html" title="class in swervelib.imu">NavXSwerve</a></div>
 <div class="col-last odd-row-color class-summary class-summary-tab2">
diff --git a/src/main/java/swervelib/SwerveDrive.java b/src/main/java/swervelib/SwerveDrive.java
index 61cb06ab..2de7d0ee 100644
--- a/src/main/java/swervelib/SwerveDrive.java
+++ b/src/main/java/swervelib/SwerveDrive.java
@@ -498,7 +498,7 @@ public void drive(
     ChassisSpeeds velocity = new ChassisSpeeds(translation.getX(), translation.getY(), rotation);
 
     if (fieldRelative) {
-      ChassisSpeeds.fromFieldRelativeSpeeds(velocity, getOdometryHeading());
+      velocity = ChassisSpeeds.fromFieldRelativeSpeeds(velocity, getOdometryHeading());
     }
     drive(velocity, isOpenLoop, new Translation2d());
   }
diff --git a/src/main/java/swervelib/SwerveInputStream.java b/src/main/java/swervelib/SwerveInputStream.java
index 311f5068..fa191851 100644
--- a/src/main/java/swervelib/SwerveInputStream.java
+++ b/src/main/java/swervelib/SwerveInputStream.java
@@ -77,6 +77,10 @@ public class SwerveInputStream implements Supplier<ChassisSpeeds> {
   private Optional<BooleanSupplier> robotRelative = Optional.empty();
   /** Field oriented chassis output is relative to your current alliance. */
   private Optional<BooleanSupplier> allianceRelative = Optional.empty();
+  /** Heading offset enable state. */
+  private Optional<BooleanSupplier> headingOffsetEnabled = Optional.empty();
+  /** Heading offset to apply during heading based control. */
+  private Optional<Rotation2d> headingOffset = Optional.empty();
   /** {@link SwerveController} for simple control over heading. */
   private SwerveController swerveController = null;
   /** Current {@link SwerveInputMode} to use. */
@@ -169,6 +173,8 @@ public SwerveInputStream copy() {
     newStream.translationCube = translationCube;
     newStream.robotRelative = robotRelative;
     newStream.allianceRelative = allianceRelative;
+    newStream.headingOffsetEnabled = headingOffsetEnabled;
+    newStream.headingOffset = headingOffset;
     return newStream;
   }
 
@@ -194,6 +200,39 @@ public SwerveInputStream robotRelative(boolean enabled) {
     return this;
   }
 
+  /**
+   * Heading offset enabled boolean supplier.
+   *
+   * @param enabled Enable state
+   * @return self
+   */
+  public SwerveInputStream headingOffset(BooleanSupplier enabled) {
+    headingOffsetEnabled = Optional.of(enabled);
+    return this;
+  }
+
+  /**
+   * Heading offset enable
+   *
+   * @param enabled Enable state
+   * @return self
+   */
+  public SwerveInputStream headingOffset(boolean enabled) {
+    headingOffsetEnabled = enabled ? Optional.of(() -> enabled) : Optional.empty();
+    return this;
+  }
+
+  /**
+   * Set the heading offset angle.
+   *
+   * @param angle {@link Rotation2d} offset to apply
+   * @return self
+   */
+  public SwerveInputStream headingOffset(Rotation2d angle) {
+    headingOffset = Optional.of(angle);
+    return this;
+  }
+
   /**
    * Modify the output {@link ChassisSpeeds} so that it is always relative to your alliance.
    *
@@ -562,14 +601,15 @@ private double applyOmegaCube(double rotationAxis) {
   }
 
   /**
-   * Change {@link ChassisSpeeds} to robot relative.
+   * Change {@link ChassisSpeeds} from robot relative if enabled.
    *
-   * @param fieldRelativeSpeeds Field relative speeds to translate into robot-relative speeds.
-   * @return Robot relative {@link ChassisSpeeds}.
+   * @param fieldRelativeSpeeds Field or robot relative speeds to translate into robot-relative
+   *     speeds.
+   * @return Field relative {@link ChassisSpeeds}.
    */
   private ChassisSpeeds applyRobotRelativeTranslation(ChassisSpeeds fieldRelativeSpeeds) {
     if (robotRelative.isPresent() && robotRelative.get().getAsBoolean()) {
-      return ChassisSpeeds.fromFieldRelativeSpeeds(
+      return ChassisSpeeds.fromRobotRelativeSpeeds(
           fieldRelativeSpeeds, swerveDrive.getOdometryHeading());
     }
     return fieldRelativeSpeeds;
@@ -617,6 +657,21 @@ private Rotation2d applyAllianceAwareRotation(Rotation2d fieldRelativeRotation)
     return fieldRelativeRotation;
   }
 
+  /**
+   * Adds offset to rotation if one is set.
+   *
+   * @param fieldRelativeRotation Field-relative {@link Rotation2d} to offset
+   * @return Offsetted {@link Rotation2d}
+   */
+  private Rotation2d applyHeadingOffset(Rotation2d fieldRelativeRotation) {
+    if (headingOffsetEnabled.isPresent() && headingOffsetEnabled.get().getAsBoolean()) {
+      if (headingOffset.isPresent()) {
+        return fieldRelativeRotation.rotateBy(headingOffset.get());
+      }
+    }
+    return fieldRelativeRotation;
+  }
+
   /**
    * Gets a {@link ChassisSpeeds}
    *
@@ -666,11 +721,12 @@ public ChassisSpeeds get() {
         omegaRadiansPerSecond =
             swerveController.headingCalculate(
                 swerveDrive.getOdometryHeading().getRadians(),
-                applyAllianceAwareRotation(
-                        Rotation2d.fromRadians(
-                            swerveController.getJoystickAngle(
-                                controllerHeadingX.get().getAsDouble(),
-                                controllerHeadingY.get().getAsDouble())))
+                applyHeadingOffset(
+                        applyAllianceAwareRotation(
+                            Rotation2d.fromRadians(
+                                swerveController.getJoystickAngle(
+                                    controllerHeadingX.get().getAsDouble(),
+                                    controllerHeadingY.get().getAsDouble()))))
                     .getRadians());
         speeds = new ChassisSpeeds(vxMetersPerSecond, vyMetersPerSecond, omegaRadiansPerSecond);
         break;
diff --git a/src/main/java/swervelib/telemetry/SwerveDriveTelemetry.java b/src/main/java/swervelib/telemetry/SwerveDriveTelemetry.java
index 0aed8297..a0b03e36 100644
--- a/src/main/java/swervelib/telemetry/SwerveDriveTelemetry.java
+++ b/src/main/java/swervelib/telemetry/SwerveDriveTelemetry.java
@@ -287,7 +287,7 @@ public static void updateData() {
       updateSwerveTelemetrySettings();
     }
     measuredChassisSpeeds[0] = measuredChassisSpeedsObj.vxMetersPerSecond;
-    measuredChassisSpeeds[1] = measuredChassisSpeedsObj.vxMetersPerSecond;
+    measuredChassisSpeeds[1] = measuredChassisSpeedsObj.vyMetersPerSecond;
     measuredChassisSpeeds[2] = Math.toDegrees(measuredChassisSpeedsObj.omegaRadiansPerSecond);
 
     desiredChassisSpeeds[0] = desiredChassisSpeedsObj.vxMetersPerSecond;
diff --git a/vendordeps/Studica-2025.0.0.json b/vendordeps/Studica-2025.0.1.json
similarity index 88%
rename from vendordeps/Studica-2025.0.0.json
rename to vendordeps/Studica-2025.0.1.json
index 7ba0ef38..e0b50d75 100644
--- a/vendordeps/Studica-2025.0.0.json
+++ b/vendordeps/Studica-2025.0.1.json
@@ -1,13 +1,13 @@
 {
-  "fileName": "Studica-2025.0.0.json",
+  "fileName": "Studica-2025.0.1.json",
   "name": "Studica",
-  "version": "2025.0.0",
+  "version": "2025.0.1",
   "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
   "frcYear": "2025",
   "mavenUrls": [
     "https://dev.studica.com/maven/release/2025/"
   ],
-  "jsonUrl": "https://dev.studica.com/releases/2025/Studica-2025.0.0.json",
+  "jsonUrl": "https://dev.studica.com/releases/2025/Studica-2025.0.1.json",
   "cppDependencies": [
     {
       "artifactId": "Studica-cpp",
@@ -24,7 +24,7 @@
       "libName": "Studica",
       "sharedLibrary": false,
       "skipInvalidPlatforms": true,
-      "version": "2025.0.0"
+      "version": "2025.0.1"
     },
     {
       "artifactId": "Studica-driver",
@@ -41,14 +41,14 @@
       "libName": "StudicaDriver",
       "sharedLibrary": false,
       "skipInvalidPlatforms": true,
-      "version": "2025.0.0"
+      "version": "2025.0.1"
     }
   ],
   "javaDependencies": [
     {
       "artifactId": "Studica-java",
       "groupId": "com.studica.frc",
-      "version": "2025.0.0"
+      "version": "2025.0.1"
     }
   ],
   "jniDependencies": [
@@ -65,7 +65,7 @@
         "osxuniversal",
         "windowsx86-64"
       ],
-      "version": "2025.0.0"
+      "version": "2025.0.1"
     }
   ]
 }
\ No newline at end of file
diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json
new file mode 100644
index 00000000..28ce4f41
--- /dev/null
+++ b/vendordeps/photonlib.json
@@ -0,0 +1,71 @@
+{
+  "fileName": "photonlib.json",
+  "name": "photonlib",
+  "version": "v2025.1.1",
+  "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
+  "frcYear": "2025",
+  "mavenUrls": [
+    "https://maven.photonvision.org/repository/internal",
+    "https://maven.photonvision.org/repository/snapshots"
+  ],
+  "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json",
+  "jniDependencies": [
+    {
+      "groupId": "org.photonvision",
+      "artifactId": "photontargeting-cpp",
+      "version": "v2025.1.1",
+      "skipInvalidPlatforms": true,
+      "isJar": false,
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxathena",
+        "linuxx86-64",
+        "osxuniversal"
+      ]
+    }
+  ],
+  "cppDependencies": [
+    {
+      "groupId": "org.photonvision",
+      "artifactId": "photonlib-cpp",
+      "version": "v2025.1.1",
+      "libName": "photonlib",
+      "headerClassifier": "headers",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxathena",
+        "linuxx86-64",
+        "osxuniversal"
+      ]
+    },
+    {
+      "groupId": "org.photonvision",
+      "artifactId": "photontargeting-cpp",
+      "version": "v2025.1.1",
+      "libName": "photontargeting",
+      "headerClassifier": "headers",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxathena",
+        "linuxx86-64",
+        "osxuniversal"
+      ]
+    }
+  ],
+  "javaDependencies": [
+    {
+      "groupId": "org.photonvision",
+      "artifactId": "photonlib-java",
+      "version": "v2025.1.1"
+    },
+    {
+      "groupId": "org.photonvision",
+      "artifactId": "photontargeting-java",
+      "version": "v2025.1.1"
+    }
+  ]
+}
\ No newline at end of file
diff --git a/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2-headers.zip b/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2-headers.zip
new file mode 100644
index 00000000..eb21f7c6
Binary files /dev/null and b/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2-headers.zip differ
diff --git a/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2-headers.zip.md5 b/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2-headers.zip.md5
new file mode 100644
index 00000000..bc0e305c
--- /dev/null
+++ b/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2-headers.zip.md5
@@ -0,0 +1 @@
+7c7b5b2d984d9e045a1cc06ebe6cf094
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diff --git a/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2-headers.zip.sha1 b/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2-headers.zip.sha1
new file mode 100644
index 00000000..f169fead
--- /dev/null
+++ b/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2-headers.zip.sha1
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2-headers.zip.sha256 b/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2-headers.zip.sha256
new file mode 100644
index 00000000..c7b120ca
--- /dev/null
+++ b/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2-headers.zip.sha256
@@ -0,0 +1 @@
+dcc1a27973691dd2507aa3c72f43e025b6b344402bd802a1a5f2c2c654033316
\ No newline at end of file
diff --git a/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2-headers.zip.sha512 b/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2-headers.zip.sha512
new file mode 100644
index 00000000..f947b525
--- /dev/null
+++ b/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2-headers.zip.sha512
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2-sources.zip b/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2-sources.zip
new file mode 100644
index 00000000..eb21f7c6
Binary files /dev/null and b/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2-sources.zip differ
diff --git a/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2-sources.zip.md5 b/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2-sources.zip.md5
new file mode 100644
index 00000000..bc0e305c
--- /dev/null
+++ b/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2-sources.zip.md5
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2-sources.zip.sha1 b/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2-sources.zip.sha1
new file mode 100644
index 00000000..f169fead
--- /dev/null
+++ b/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2-sources.zip.sha1
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2-sources.zip.sha256 b/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2-sources.zip.sha256
new file mode 100644
index 00000000..c7b120ca
--- /dev/null
+++ b/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2-sources.zip.sha256
@@ -0,0 +1 @@
+dcc1a27973691dd2507aa3c72f43e025b6b344402bd802a1a5f2c2c654033316
\ No newline at end of file
diff --git a/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2-sources.zip.sha512 b/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2-sources.zip.sha512
new file mode 100644
index 00000000..f947b525
--- /dev/null
+++ b/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2-sources.zip.sha512
@@ -0,0 +1 @@
+68b1b197fb22dfd80f6f8e47b4568ac76cab62dc24abdb7eb00e67835c4444cd6ac8c88d939d641b64cce244fa10936476bbccfa5352d3073929ab093d6471dd
\ No newline at end of file
diff --git a/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2.pom b/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2.pom
new file mode 100644
index 00000000..d409a56e
--- /dev/null
+++ b/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2.pom
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 https://maven.apache.org/xsd/maven-4.0.0.xsd" xmlns="http://maven.apache.org/POM/4.0.0"
+    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <modelVersion>4.0.0</modelVersion>
+  <groupId>swervelib</groupId>
+  <artifactId>YAGSL-cpp</artifactId>
+  <version>2025.2.2</version>
+  <packaging>pom</packaging>
+</project>
diff --git a/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2.pom.md5 b/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2.pom.md5
new file mode 100644
index 00000000..b3706292
--- /dev/null
+++ b/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2.pom.md5
@@ -0,0 +1 @@
+a40025f00fc6f7a16ad17e8645adec5b
\ No newline at end of file
diff --git a/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2.pom.sha1 b/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2.pom.sha1
new file mode 100644
index 00000000..2281c86c
--- /dev/null
+++ b/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2.pom.sha1
@@ -0,0 +1 @@
+363c8ec9b4f43fbb00d5eb4db01721206208cc0a
\ No newline at end of file
diff --git a/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2.pom.sha256 b/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2.pom.sha256
new file mode 100644
index 00000000..b7ba74f4
--- /dev/null
+++ b/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2.pom.sha256
@@ -0,0 +1 @@
+56e85821002801e02a6b7fa461dc9d7fc8cc92f8b79ddc8e2d62cee631326cf9
\ No newline at end of file
diff --git a/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2.pom.sha512 b/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2.pom.sha512
new file mode 100644
index 00000000..709e883a
--- /dev/null
+++ b/yagsl/repos/swervelib/YAGSL-cpp/2025.2.2/YAGSL-cpp-2025.2.2.pom.sha512
@@ -0,0 +1 @@
+9d8e56819700f23367371fd15357da8be66cae6e8fd9ce397d2c687779fdb6c51abcf7778f626d9586b0a2ed5543891e7cedb84aa0a4cb4d7b6a0f76d70ad261
\ No newline at end of file
diff --git a/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml b/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml
index 69698d41..35e8c7ab 100644
--- a/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml
+++ b/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml
@@ -3,8 +3,8 @@
   <groupId>swervelib</groupId>
   <artifactId>YAGSL-cpp</artifactId>
   <versioning>
-    <latest>2025.2.1</latest>
-    <release>2025.2.1</release>
+    <latest>2025.2.2</latest>
+    <release>2025.2.2</release>
     <versions>
       <version>2024.6.1.0</version>
       <version>2024.7.0</version>
@@ -38,7 +38,8 @@
       <version>2025.2.1-beta3</version>
       <version>2025.2.1-beta4</version>
       <version>2025.2.1</version>
+      <version>2025.2.2</version>
     </versions>
-    <lastUpdated>20250116011704</lastUpdated>
+    <lastUpdated>20250118034805</lastUpdated>
   </versioning>
 </metadata>
diff --git a/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.md5 b/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.md5
index 76f0e775..c9de86b7 100644
--- a/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.md5
+++ b/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.md5
@@ -1 +1 @@
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\ No newline at end of file
+78e2650bbed3eb71c7054405f6e3041a
\ No newline at end of file
diff --git a/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.sha1 b/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.sha1
index 92b52b4f..ea8f923e 100644
--- a/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.sha1
+++ b/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.sha1
@@ -1 +1 @@
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\ No newline at end of file
+cae01081b3ea1f677c87528eadb5a9c44aed874d
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diff --git a/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.sha256 b/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.sha256
index 19832171..c08eb4fe 100644
--- a/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.sha256
+++ b/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.sha256
@@ -1 +1 @@
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diff --git a/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.sha512 b/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.sha512
index f887a6c8..1e1e5303 100644
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@@ -1 +1 @@
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Binary files /dev/null and b/yagsl/repos/swervelib/YAGSL-java/2025.2.2/YAGSL-java-2025.2.2-javadoc.jar differ
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/yagsl/repos/swervelib/YAGSL-java/2025.2.2/YAGSL-java-2025.2.2-sources.jar b/yagsl/repos/swervelib/YAGSL-java/2025.2.2/YAGSL-java-2025.2.2-sources.jar
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new file mode 100644
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new file mode 100644
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new file mode 100644
index 00000000..80f0f3dc
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new file mode 100644
index 00000000..6e91233f
--- /dev/null
+++ b/yagsl/repos/swervelib/YAGSL-java/2025.2.2/YAGSL-java-2025.2.2-sources.jar.sha512
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diff --git a/yagsl/repos/swervelib/YAGSL-java/2025.2.2/YAGSL-java-2025.2.2.jar b/yagsl/repos/swervelib/YAGSL-java/2025.2.2/YAGSL-java-2025.2.2.jar
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Binary files /dev/null and b/yagsl/repos/swervelib/YAGSL-java/2025.2.2/YAGSL-java-2025.2.2.jar differ
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new file mode 100644
index 00000000..cfc6de84
--- /dev/null
+++ b/yagsl/repos/swervelib/YAGSL-java/2025.2.2/YAGSL-java-2025.2.2.jar.md5
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diff --git a/yagsl/repos/swervelib/YAGSL-java/2025.2.2/YAGSL-java-2025.2.2.jar.sha1 b/yagsl/repos/swervelib/YAGSL-java/2025.2.2/YAGSL-java-2025.2.2.jar.sha1
new file mode 100644
index 00000000..82b769d8
--- /dev/null
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new file mode 100644
index 00000000..6806b75f
--- /dev/null
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new file mode 100644
index 00000000..90e52b9b
--- /dev/null
+++ b/yagsl/repos/swervelib/YAGSL-java/2025.2.2/YAGSL-java-2025.2.2.jar.sha512
@@ -0,0 +1 @@
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diff --git a/yagsl/repos/swervelib/YAGSL-java/2025.2.2/YAGSL-java-2025.2.2.pom b/yagsl/repos/swervelib/YAGSL-java/2025.2.2/YAGSL-java-2025.2.2.pom
new file mode 100644
index 00000000..ef9597e0
--- /dev/null
+++ b/yagsl/repos/swervelib/YAGSL-java/2025.2.2/YAGSL-java-2025.2.2.pom
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 https://maven.apache.org/xsd/maven-4.0.0.xsd" xmlns="http://maven.apache.org/POM/4.0.0"
+    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <modelVersion>4.0.0</modelVersion>
+  <groupId>swervelib</groupId>
+  <artifactId>YAGSL-java</artifactId>
+  <version>2025.2.2</version>
+</project>
diff --git a/yagsl/repos/swervelib/YAGSL-java/2025.2.2/YAGSL-java-2025.2.2.pom.md5 b/yagsl/repos/swervelib/YAGSL-java/2025.2.2/YAGSL-java-2025.2.2.pom.md5
new file mode 100644
index 00000000..08d80b42
--- /dev/null
+++ b/yagsl/repos/swervelib/YAGSL-java/2025.2.2/YAGSL-java-2025.2.2.pom.md5
@@ -0,0 +1 @@
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diff --git a/yagsl/repos/swervelib/YAGSL-java/2025.2.2/YAGSL-java-2025.2.2.pom.sha1 b/yagsl/repos/swervelib/YAGSL-java/2025.2.2/YAGSL-java-2025.2.2.pom.sha1
new file mode 100644
index 00000000..8e17fdf7
--- /dev/null
+++ b/yagsl/repos/swervelib/YAGSL-java/2025.2.2/YAGSL-java-2025.2.2.pom.sha1
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diff --git a/yagsl/repos/swervelib/YAGSL-java/2025.2.2/YAGSL-java-2025.2.2.pom.sha256 b/yagsl/repos/swervelib/YAGSL-java/2025.2.2/YAGSL-java-2025.2.2.pom.sha256
new file mode 100644
index 00000000..2a302fdf
--- /dev/null
+++ b/yagsl/repos/swervelib/YAGSL-java/2025.2.2/YAGSL-java-2025.2.2.pom.sha256
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diff --git a/yagsl/repos/swervelib/YAGSL-java/2025.2.2/YAGSL-java-2025.2.2.pom.sha512 b/yagsl/repos/swervelib/YAGSL-java/2025.2.2/YAGSL-java-2025.2.2.pom.sha512
new file mode 100644
index 00000000..277b49fd
--- /dev/null
+++ b/yagsl/repos/swervelib/YAGSL-java/2025.2.2/YAGSL-java-2025.2.2.pom.sha512
@@ -0,0 +1 @@
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diff --git a/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml b/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml
index 4d34020c..9f67fe31 100644
--- a/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml
+++ b/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml
@@ -3,8 +3,8 @@
   <groupId>swervelib</groupId>
   <artifactId>YAGSL-java</artifactId>
   <versioning>
-    <latest>2025.2.1</latest>
-    <release>2025.2.1</release>
+    <latest>2025.2.2</latest>
+    <release>2025.2.2</release>
     <versions>
       <version>2024.7.0</version>
       <version>2025.0.0</version>
@@ -28,7 +28,8 @@
       <version>2025.2.1-beta3</version>
       <version>2025.2.1-beta4</version>
       <version>2025.2.1</version>
+      <version>2025.2.2</version>
     </versions>
-    <lastUpdated>20250116011709</lastUpdated>
+    <lastUpdated>20250118034810</lastUpdated>
   </versioning>
 </metadata>
diff --git a/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.md5 b/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.md5
index c081e062..921d1881 100644
--- a/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.md5
+++ b/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.md5
@@ -1 +1 @@
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diff --git a/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.sha1 b/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.sha1
index 7a1b4412..8974b656 100644
--- a/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.sha1
+++ b/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.sha1
@@ -1 +1 @@
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diff --git a/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.sha256 b/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.sha256
index d41cccac..715d7689 100644
--- a/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.sha256
+++ b/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.sha256
@@ -1 +1 @@
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diff --git a/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.sha512 b/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.sha512
index 2dc2e1d9..b492345e 100644
--- a/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.sha512
+++ b/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.sha512
@@ -1 +1 @@
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diff --git a/yagsl/yagsl.json b/yagsl/yagsl.json
index 8a2416a9..55fa43b7 100644
--- a/yagsl/yagsl.json
+++ b/yagsl/yagsl.json
@@ -1,7 +1,7 @@
 {
-  "fileName": "yagsl-2025.2.1.json",
+  "fileName": "yagsl-2025.2.2.json",
   "name": "YAGSL",
-  "version": "2025.2.1",
+  "version": "2025.2.2",
   "frcYear": "2025",
   "uuid": "1ccce5a4-acd2-4d18-bca3-4b8047188400",
   "mavenUrls": [
@@ -12,7 +12,7 @@
     {
       "groupId": "swervelib",
       "artifactId": "YAGSL-java",
-      "version": "2025.2.1"
+      "version": "2025.2.2"
     }
   ],
   "requires": [