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diff --git a/docs/SwerveUtils_8h_source.html b/docs/SwerveUtils_8h_source.html
@@ -107,22 +107,22 @@
 <div class="foldopen" id="foldopen00004" data-start="{" data-end="};">
 <div class="line"><a id="l00004" name="l00004"></a><span class="lineno"><a class="line" href="classsubzero_1_1SwerveUtils.html">    4</a></span><span class="keyword">class </span><a class="code hl_class" href="classsubzero_1_1SwerveUtils.html">SwerveUtils</a> {</div>
 <div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> <span class="keyword">public</span>:</div>
-<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"><a class="line" href="classsubzero_1_1SwerveUtils.html#a0335303b0d9a1f65a5629212ad6e8af0">   17</a></span>  <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code hl_function" href="classsubzero_1_1SwerveUtils.html#a0335303b0d9a1f65a5629212ad6e8af0">StepTowards</a>(<span class="keywordtype">double</span> _current, <span class="keywordtype">double</span> _target, <span class="keywordtype">double</span> _stepsize);</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"><a class="line" href="classsubzero_1_1SwerveUtils.html#a08f2a2629a96257a97e59e10ace4fd55">   17</a></span>  <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code hl_function" href="classsubzero_1_1SwerveUtils.html#a08f2a2629a96257a97e59e10ace4fd55">StepTowards</a>(<span class="keywordtype">double</span> current, <span class="keywordtype">double</span> target, <span class="keywordtype">double</span> stepsize);</div>
 <div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span> </div>
-<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"><a class="line" href="classsubzero_1_1SwerveUtils.html#aa9e021a74844b1fb9db44957fbd3c796">   32</a></span>  <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code hl_function" href="classsubzero_1_1SwerveUtils.html#aa9e021a74844b1fb9db44957fbd3c796">StepTowardsCircular</a>(<span class="keywordtype">double</span> _current, <span class="keywordtype">double</span> _target,</div>
-<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>                                    <span class="keywordtype">double</span> _stepsize);</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"><a class="line" href="classsubzero_1_1SwerveUtils.html#aff85a0521a3ac1824a69001600352acb">   32</a></span>  <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code hl_function" href="classsubzero_1_1SwerveUtils.html#aff85a0521a3ac1824a69001600352acb">StepTowardsCircular</a>(<span class="keywordtype">double</span> current, <span class="keywordtype">double</span> target,</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>                                    <span class="keywordtype">double</span> stepsize);</div>
 <div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span> </div>
-<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="classsubzero_1_1SwerveUtils.html#ae15b952d8b7f289cf7dbec2ecac0ae10">   44</a></span>  <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code hl_function" href="classsubzero_1_1SwerveUtils.html#ae15b952d8b7f289cf7dbec2ecac0ae10">AngleDifference</a>(<span class="keywordtype">double</span> _angleA, <span class="keywordtype">double</span> _angleB);</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="classsubzero_1_1SwerveUtils.html#a2dc520181f60ab2e41f39c4f5b4998d4">   44</a></span>  <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code hl_function" href="classsubzero_1_1SwerveUtils.html#a2dc520181f60ab2e41f39c4f5b4998d4">AngleDifference</a>(<span class="keywordtype">double</span> angleA, <span class="keywordtype">double</span> angleB);</div>
 <div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span> </div>
-<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"><a class="line" href="classsubzero_1_1SwerveUtils.html#ab1c819001169fc00b87c9342e07867f4">   53</a></span>  <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code hl_function" href="classsubzero_1_1SwerveUtils.html#ab1c819001169fc00b87c9342e07867f4">WrapAngle</a>(<span class="keywordtype">double</span> _angle);</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"><a class="line" href="classsubzero_1_1SwerveUtils.html#ae14ba3fb90981ab675044e4414fa7a3c">   53</a></span>  <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code hl_function" href="classsubzero_1_1SwerveUtils.html#ae14ba3fb90981ab675044e4414fa7a3c">WrapAngle</a>(<span class="keywordtype">double</span> angle);</div>
 <div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>};</div>
 </div>
 <div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>}  <span class="comment">// namespace subzero</span></div>
 <div class="ttc" id="aclasssubzero_1_1SwerveUtils_html"><div class="ttname"><a href="classsubzero_1_1SwerveUtils.html">subzero::SwerveUtils</a></div><div class="ttdef"><b>Definition</b> <a href="#l00004">SwerveUtils.h:4</a></div></div>
-<div class="ttc" id="aclasssubzero_1_1SwerveUtils_html_a0335303b0d9a1f65a5629212ad6e8af0"><div class="ttname"><a href="classsubzero_1_1SwerveUtils.html#a0335303b0d9a1f65a5629212ad6e8af0">subzero::SwerveUtils::StepTowards</a></div><div class="ttdeci">static double StepTowards(double _current, double _target, double _stepsize)</div></div>
-<div class="ttc" id="aclasssubzero_1_1SwerveUtils_html_aa9e021a74844b1fb9db44957fbd3c796"><div class="ttname"><a href="classsubzero_1_1SwerveUtils.html#aa9e021a74844b1fb9db44957fbd3c796">subzero::SwerveUtils::StepTowardsCircular</a></div><div class="ttdeci">static double StepTowardsCircular(double _current, double _target, double _stepsize)</div></div>
-<div class="ttc" id="aclasssubzero_1_1SwerveUtils_html_ab1c819001169fc00b87c9342e07867f4"><div class="ttname"><a href="classsubzero_1_1SwerveUtils.html#ab1c819001169fc00b87c9342e07867f4">subzero::SwerveUtils::WrapAngle</a></div><div class="ttdeci">static double WrapAngle(double _angle)</div></div>
-<div class="ttc" id="aclasssubzero_1_1SwerveUtils_html_ae15b952d8b7f289cf7dbec2ecac0ae10"><div class="ttname"><a href="classsubzero_1_1SwerveUtils.html#ae15b952d8b7f289cf7dbec2ecac0ae10">subzero::SwerveUtils::AngleDifference</a></div><div class="ttdeci">static double AngleDifference(double _angleA, double _angleB)</div></div>
+<div class="ttc" id="aclasssubzero_1_1SwerveUtils_html_a08f2a2629a96257a97e59e10ace4fd55"><div class="ttname"><a href="classsubzero_1_1SwerveUtils.html#a08f2a2629a96257a97e59e10ace4fd55">subzero::SwerveUtils::StepTowards</a></div><div class="ttdeci">static double StepTowards(double current, double target, double stepsize)</div></div>
+<div class="ttc" id="aclasssubzero_1_1SwerveUtils_html_a2dc520181f60ab2e41f39c4f5b4998d4"><div class="ttname"><a href="classsubzero_1_1SwerveUtils.html#a2dc520181f60ab2e41f39c4f5b4998d4">subzero::SwerveUtils::AngleDifference</a></div><div class="ttdeci">static double AngleDifference(double angleA, double angleB)</div></div>
+<div class="ttc" id="aclasssubzero_1_1SwerveUtils_html_ae14ba3fb90981ab675044e4414fa7a3c"><div class="ttname"><a href="classsubzero_1_1SwerveUtils.html#ae14ba3fb90981ab675044e4414fa7a3c">subzero::SwerveUtils::WrapAngle</a></div><div class="ttdeci">static double WrapAngle(double angle)</div></div>
+<div class="ttc" id="aclasssubzero_1_1SwerveUtils_html_aff85a0521a3ac1824a69001600352acb"><div class="ttname"><a href="classsubzero_1_1SwerveUtils.html#aff85a0521a3ac1824a69001600352acb">subzero::SwerveUtils::StepTowardsCircular</a></div><div class="ttdeci">static double StepTowardsCircular(double current, double target, double stepsize)</div></div>
 <div class="ttc" id="anamespacesubzero_html"><div class="ttname"><a href="namespacesubzero.html">subzero</a></div><div class="ttdef"><b>Definition</b> <a href="AutoFactory_8h_source.html#l00020">AutoFactory.h:20</a></div></div>
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diff --git a/docs/classsubzero_1_1SwerveUtils-members.html b/docs/classsubzero_1_1SwerveUtils-members.html
@@ -104,10 +104,10 @@
 
 <p>This is the complete list of members for <a class="el" href="classsubzero_1_1SwerveUtils.html">subzero::SwerveUtils</a>, including all inherited members.</p>
 <table class="directory">
-  <tr class="even"><td class="entry"><a class="el" href="classsubzero_1_1SwerveUtils.html#ae15b952d8b7f289cf7dbec2ecac0ae10">AngleDifference</a>(double _angleA, double _angleB)</td><td class="entry"><a class="el" href="classsubzero_1_1SwerveUtils.html">subzero::SwerveUtils</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classsubzero_1_1SwerveUtils.html#a0335303b0d9a1f65a5629212ad6e8af0">StepTowards</a>(double _current, double _target, double _stepsize)</td><td class="entry"><a class="el" href="classsubzero_1_1SwerveUtils.html">subzero::SwerveUtils</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classsubzero_1_1SwerveUtils.html#aa9e021a74844b1fb9db44957fbd3c796">StepTowardsCircular</a>(double _current, double _target, double _stepsize)</td><td class="entry"><a class="el" href="classsubzero_1_1SwerveUtils.html">subzero::SwerveUtils</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classsubzero_1_1SwerveUtils.html#ab1c819001169fc00b87c9342e07867f4">WrapAngle</a>(double _angle)</td><td class="entry"><a class="el" href="classsubzero_1_1SwerveUtils.html">subzero::SwerveUtils</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classsubzero_1_1SwerveUtils.html#a2dc520181f60ab2e41f39c4f5b4998d4">AngleDifference</a>(double angleA, double angleB)</td><td class="entry"><a class="el" href="classsubzero_1_1SwerveUtils.html">subzero::SwerveUtils</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classsubzero_1_1SwerveUtils.html#a08f2a2629a96257a97e59e10ace4fd55">StepTowards</a>(double current, double target, double stepsize)</td><td class="entry"><a class="el" href="classsubzero_1_1SwerveUtils.html">subzero::SwerveUtils</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classsubzero_1_1SwerveUtils.html#aff85a0521a3ac1824a69001600352acb">StepTowardsCircular</a>(double current, double target, double stepsize)</td><td class="entry"><a class="el" href="classsubzero_1_1SwerveUtils.html">subzero::SwerveUtils</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classsubzero_1_1SwerveUtils.html#ae14ba3fb90981ab675044e4414fa7a3c">WrapAngle</a>(double angle)</td><td class="entry"><a class="el" href="classsubzero_1_1SwerveUtils.html">subzero::SwerveUtils</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
 </table></div><!-- contents -->
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