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diff --git a/docs/allclasses-index.html b/docs/allclasses-index.html
diff --git a/docs/allpackages-index.html b/docs/allpackages-index.html
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-<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
+<!-- Generated by javadoc (17) on Sun Oct 20 09:12:47 CDT 2024 -->
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 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2024-10-14">
+<meta name="dc.created" content="2024-10-20">
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diff --git a/docs/constant-values.html b/docs/constant-values.html
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-<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
+<!-- Generated by javadoc (17) on Sun Oct 20 09:12:47 CDT 2024 -->
 <title>Constant Field Values</title>
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 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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diff --git a/docs/help-doc.html b/docs/help-doc.html
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-<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
+<!-- Generated by javadoc (17) on Sun Oct 20 09:12:47 CDT 2024 -->
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diff --git a/docs/index-files/index-1.html b/docs/index-files/index-1.html
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diff --git a/docs/index-files/index-10.html b/docs/index-files/index-10.html
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-<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
+<!-- Generated by javadoc (17) on Sun Oct 20 09:12:47 CDT 2024 -->
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diff --git a/docs/index-files/index-11.html b/docs/index-files/index-11.html
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-<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
+<!-- Generated by javadoc (17) on Sun Oct 20 09:12:47 CDT 2024 -->
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diff --git a/docs/index-files/index-12.html b/docs/index-files/index-12.html
@@ -1,11 +1,11 @@
 <!DOCTYPE HTML>
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-<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
+<!-- Generated by javadoc (17) on Sun Oct 20 09:12:47 CDT 2024 -->
 <title>M-Index</title>
 <meta name="viewport" content="width=device-width, initial-scale=1">
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-<meta name="dc.created" content="2024-10-14">
+<meta name="dc.created" content="2024-10-20">
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diff --git a/docs/index-files/index-13.html b/docs/index-files/index-13.html
@@ -1,11 +1,11 @@
 <!DOCTYPE HTML>
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-<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
+<!-- Generated by javadoc (17) on Sun Oct 20 09:12:47 CDT 2024 -->
 <title>N-Index</title>
 <meta name="viewport" content="width=device-width, initial-scale=1">
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2024-10-14">
+<meta name="dc.created" content="2024-10-20">
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diff --git a/docs/index-files/index-14.html b/docs/index-files/index-14.html
@@ -1,11 +1,11 @@
 <!DOCTYPE HTML>
 <html lang="en">
 <head>
-<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
+<!-- Generated by javadoc (17) on Sun Oct 20 09:12:47 CDT 2024 -->
 <title>O-Index</title>
 <meta name="viewport" content="width=device-width, initial-scale=1">
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2024-10-14">
+<meta name="dc.created" content="2024-10-20">
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 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -81,6 +81,10 @@ <h2 class="title" id="I:O">O</h2>
 <dd>
 <div class="block">Offset for the analog gyro.</div>
 </dd>
+<dt><a href="../swervelib/imu/CanandgyroSwerve.html#offset" class="member-name-link">offset</a> - Variable in class swervelib.imu.<a href="../swervelib/imu/CanandgyroSwerve.html" title="class in swervelib.imu">CanandgyroSwerve</a></dt>
+<dd>
+<div class="block">Offset for the Boron Canandgyro.</div>
+</dd>
 <dt><a href="../swervelib/imu/NavXSwerve.html#offset" class="member-name-link">offset</a> - Variable in class swervelib.imu.<a href="../swervelib/imu/NavXSwerve.html" title="class in swervelib.imu">NavXSwerve</a></dt>
 <dd>
 <div class="block">Offset for the NavX.</div>

diff --git a/docs/index-files/index-15.html b/docs/index-files/index-15.html
@@ -1,11 +1,11 @@
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-<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
+<!-- Generated by javadoc (17) on Sun Oct 20 09:12:47 CDT 2024 -->
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-<meta name="dc.created" content="2024-10-14">
+<meta name="dc.created" content="2024-10-20">
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diff --git a/docs/index-files/index-16.html b/docs/index-files/index-16.html
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-<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
+<!-- Generated by javadoc (17) on Sun Oct 20 09:12:47 CDT 2024 -->
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-<meta name="dc.created" content="2024-10-14">
+<meta name="dc.created" content="2024-10-20">
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diff --git a/docs/index-files/index-17.html b/docs/index-files/index-17.html
@@ -1,11 +1,11 @@
 <!DOCTYPE HTML>
 <html lang="en">
 <head>
-<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
+<!-- Generated by javadoc (17) on Sun Oct 20 09:12:47 CDT 2024 -->
 <title>R-Index</title>
 <meta name="viewport" content="width=device-width, initial-scale=1">
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2024-10-14">
+<meta name="dc.created" content="2024-10-20">
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diff --git a/docs/index-files/index-18.html b/docs/index-files/index-18.html
@@ -1,11 +1,11 @@
 <!DOCTYPE HTML>
 <html lang="en">
 <head>
-<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
+<!-- Generated by javadoc (17) on Sun Oct 20 09:12:47 CDT 2024 -->
 <title>S-Index</title>
 <meta name="viewport" content="width=device-width, initial-scale=1">
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2024-10-14">
+<meta name="dc.created" content="2024-10-20">
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 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -297,6 +297,10 @@ <h2 class="title" id="I:S">S</h2>
 <dd>
 <div class="block">Set the gyro to invert its default direction</div>
 </dd>
+<dt><a href="../swervelib/imu/CanandgyroSwerve.html#setInverted(boolean)" class="member-name-link">setInverted(boolean)</a> - Method in class swervelib.imu.<a href="../swervelib/imu/CanandgyroSwerve.html" title="class in swervelib.imu">CanandgyroSwerve</a></dt>
+<dd>
+<div class="block">Set the gyro to invert its default direction</div>
+</dd>
 <dt><a href="../swervelib/imu/NavXSwerve.html#setInverted(boolean)" class="member-name-link">setInverted(boolean)</a> - Method in class swervelib.imu.<a href="../swervelib/imu/NavXSwerve.html" title="class in swervelib.imu">NavXSwerve</a></dt>
 <dd>
 <div class="block">Set the gyro to invert its default direction</div>
@@ -441,6 +445,10 @@ <h2 class="title" id="I:S">S</h2>
 <dd>
 <div class="block">Set the gyro offset.</div>
 </dd>
+<dt><a href="../swervelib/imu/CanandgyroSwerve.html#setOffset(edu.wpi.first.math.geometry.Rotation3d)" class="member-name-link">setOffset(Rotation3d)</a> - Method in class swervelib.imu.<a href="../swervelib/imu/CanandgyroSwerve.html" title="class in swervelib.imu">CanandgyroSwerve</a></dt>
+<dd>
+<div class="block">Set the gyro offset.</div>
+</dd>
 <dt><a href="../swervelib/imu/NavXSwerve.html#setOffset(edu.wpi.first.math.geometry.Rotation3d)" class="member-name-link">setOffset(Rotation3d)</a> - Method in class swervelib.imu.<a href="../swervelib/imu/NavXSwerve.html" title="class in swervelib.imu">NavXSwerve</a></dt>
 <dd>
 <div class="block">Set the gyro offset.</div>
@@ -686,6 +694,10 @@ <h2 class="title" id="I:S">S</h2>
 <dd>
 <div class="block">Wait time for status frames to show up.</div>
 </dd>
+<dt><a href="../swervelib/imu/CanandgyroSwerve.html#STATUS_TIMEOUT_SECONDS" class="member-name-link">STATUS_TIMEOUT_SECONDS</a> - Static variable in class swervelib.imu.<a href="../swervelib/imu/CanandgyroSwerve.html" title="class in swervelib.imu">CanandgyroSwerve</a></dt>
+<dd>
+<div class="block">Wait time for status frames to show up.</div>
+</dd>
 <dt><a href="../swervelib/imu/Pigeon2Swerve.html#STATUS_TIMEOUT_SECONDS" class="member-name-link">STATUS_TIMEOUT_SECONDS</a> - Static variable in class swervelib.imu.<a href="../swervelib/imu/Pigeon2Swerve.html" title="class in swervelib.imu">Pigeon2Swerve</a></dt>
 <dd>
 <div class="block">Wait time for status frames to show up.</div>

diff --git a/docs/index-files/index-19.html b/docs/index-files/index-19.html
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-<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
+<!-- Generated by javadoc (17) on Sun Oct 20 09:12:47 CDT 2024 -->
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-<meta name="dc.created" content="2024-10-14">
+<meta name="dc.created" content="2024-10-20">
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diff --git a/docs/index-files/index-2.html b/docs/index-files/index-2.html
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-<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
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-<meta name="dc.created" content="2024-10-14">
+<meta name="dc.created" content="2024-10-20">
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diff --git a/docs/index-files/index-20.html b/docs/index-files/index-20.html
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+<!-- Generated by javadoc (17) on Sun Oct 20 09:12:47 CDT 2024 -->
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-<meta name="dc.created" content="2024-10-14">
+<meta name="dc.created" content="2024-10-20">
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diff --git a/docs/index-files/index-21.html b/docs/index-files/index-21.html
@@ -1,11 +1,11 @@
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-<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
+<!-- Generated by javadoc (17) on Sun Oct 20 09:12:47 CDT 2024 -->
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-<meta name="dc.created" content="2024-10-14">
+<meta name="dc.created" content="2024-10-20">
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diff --git a/docs/index-files/index-22.html b/docs/index-files/index-22.html
@@ -1,11 +1,11 @@
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-<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
+<!-- Generated by javadoc (17) on Sun Oct 20 09:12:47 CDT 2024 -->
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 <meta name="viewport" content="width=device-width, initial-scale=1">
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2024-10-14">
+<meta name="dc.created" content="2024-10-20">
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diff --git a/docs/index-files/index-23.html b/docs/index-files/index-23.html
@@ -1,11 +1,11 @@
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-<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
+<!-- Generated by javadoc (17) on Sun Oct 20 09:12:47 CDT 2024 -->
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 <meta name="viewport" content="width=device-width, initial-scale=1">
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2024-10-14">
+<meta name="dc.created" content="2024-10-20">
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 <meta name="generator" content="javadoc/IndexWriter">
 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">

diff --git a/docs/index-files/index-24.html b/docs/index-files/index-24.html
@@ -1,11 +1,11 @@
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 <html lang="en">
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-<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
+<!-- Generated by javadoc (17) on Sun Oct 20 09:12:47 CDT 2024 -->
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 <meta name="viewport" content="width=device-width, initial-scale=1">
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2024-10-14">
+<meta name="dc.created" content="2024-10-20">
 <meta name="description" content="index: Y">
 <meta name="generator" content="javadoc/IndexWriter">
 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">

diff --git a/docs/index-files/index-25.html b/docs/index-files/index-25.html
@@ -1,11 +1,11 @@
 <!DOCTYPE HTML>
 <html lang="en">
 <head>
-<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
+<!-- Generated by javadoc (17) on Sun Oct 20 09:12:47 CDT 2024 -->
 <title>Z-Index</title>
 <meta name="viewport" content="width=device-width, initial-scale=1">
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2024-10-14">
+<meta name="dc.created" content="2024-10-20">
 <meta name="description" content="index: Z">
 <meta name="generator" content="javadoc/IndexWriter">
 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">

diff --git a/docs/index-files/index-3.html b/docs/index-files/index-3.html
@@ -1,11 +1,11 @@
 <!DOCTYPE HTML>
 <html lang="en">
 <head>
-<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
+<!-- Generated by javadoc (17) on Sun Oct 20 09:12:47 CDT 2024 -->
 <title>C-Index</title>
 <meta name="viewport" content="width=device-width, initial-scale=1">
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2024-10-14">
+<meta name="dc.created" content="2024-10-20">
 <meta name="description" content="index: C">
 <meta name="generator" content="javadoc/IndexWriter">
 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -105,6 +105,14 @@ <h2 class="title" id="I:C">C</h2>
 <dd>
 <div class="block">Calculate the meters per rotation for the integrated encoder.</div>
 </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 Candandgyro 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 <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 <code>Canandmag</code> from ReduxRobotics absolute encoder, attached through the CAN bus.</div>
@@ -210,6 +218,10 @@ <h2 class="title" id="I:C">C</h2>
 <dd>
 <div class="block">Clear sticky faults on IMU.</div>
 </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 IMU.</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>
 <div class="block">Clear sticky faults on IMU.</div>

diff --git a/docs/index-files/index-4.html b/docs/index-files/index-4.html
@@ -1,11 +1,11 @@
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 <html lang="en">
 <head>
-<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
+<!-- Generated by javadoc (17) on Sun Oct 20 09:12:47 CDT 2024 -->
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 <meta name="viewport" content="width=device-width, initial-scale=1">
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2024-10-14">
+<meta name="dc.created" content="2024-10-20">
 <meta name="description" content="index: D">
 <meta name="generator" content="javadoc/IndexWriter">
 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">