diff --git a/README.md b/README.md
index 9bd21fd..c0eb6b6 100644
--- a/README.md
+++ b/README.md
@@ -75,7 +75,7 @@ If unfamiliar with GitHub, go through tutorials in the [Using Git](#using-git) s
 
 #### CppCheck
 
-- Download [CppCheck](https://sourceforge.net/projects/cppcheck/files/1.86/cppcheck-1.86-x64-Setup.msi/download).
+- Download [CppCheck](https://github.com/danmar/cppcheck/releases/download/2.16.0/cppcheck-2.16.0-x64-Setup.msi).
 - If "Add CppCheck to Path" is an option during setup process, select YES.
   - If not, add `C:\Program Files\Cppcheck` to PATH
   - Read [this](https://stackoverflow.com/questions/44272416/how-to-add-a-folder-to-path-environment-variable-in-windows-10-with-screensho) for more information on adding files to PATH.
@@ -181,6 +181,18 @@ To undo the going back:
 
 
 
+
+
+
+
+
+
+
+
+
+
+
+
 
 
 
diff --git a/src/frc846/cpp/frc846/control/MotorMonkey.cc b/src/frc846/cpp/frc846/control/MotorMonkey.cc
index d8df8a1..cf70a40 100644
--- a/src/frc846/cpp/frc846/control/MotorMonkey.cc
+++ b/src/frc846/cpp/frc846/control/MotorMonkey.cc
@@ -5,13 +5,12 @@
 #include <rev/CANSparkFlex.h>
 #include <rev/CANSparkMax.h>
 
-#include "frc846/control/hardware/TalonFX_interm.h"
-#include "frc846/control/hardware/SparkMXFX_interm.h"
+#include <string>
 
+#include "frc846/control/hardware/SparkMXFX_interm.h"
+#include "frc846/control/hardware/TalonFX_interm.h"
 #include "frc846/math/collection.h"
 
-#include <string>
-
 // TODO: Add dynamic can/power management
 
 namespace frc846::control {
diff --git a/src/frc846/cpp/frc846/control/hardware/SparkMXFX_interm.cc b/src/frc846/cpp/frc846/control/hardware/SparkMXFX_interm.cc
index 9776a25..0ef9b4c 100644
--- a/src/frc846/cpp/frc846/control/hardware/SparkMXFX_interm.cc
+++ b/src/frc846/cpp/frc846/control/hardware/SparkMXFX_interm.cc
@@ -1,4 +1,5 @@
 #include "frc846/control/hardware/SparkMXFX_interm.h"
+
 #include "frc846/wpilib/util.h"
 
 namespace frc846::control::hardware {
diff --git a/src/frc846/cpp/frc846/robot/swerve/drivetrain.cc b/src/frc846/cpp/frc846/robot/swerve/drivetrain.cc
new file mode 100644
index 0000000..4635696
--- /dev/null
+++ b/src/frc846/cpp/frc846/robot/swerve/drivetrain.cc
@@ -0,0 +1,34 @@
+#include "frc846/robot/swerve/drivetrain.h"
+
+namespace frc846::robot::swerve {
+
+DrivetrainSubsystem::DrivetrainSubsystem(DrivetrainConfigs configs, bool enable)
+    : GenericSubsystem{"SwerveDrivetrain"}, configs_{configs}, modules_{} {
+  // TODO: finish
+}
+
+void DrivetrainSubsystem::Setup() {
+  // TODO: finish
+}
+
+DrivetrainTarget DrivetrainSubsystem::ZeroTarget() const {
+  return DrivetrainOLControlTarget{{0_fps, 0_fps}};
+}
+
+bool DrivetrainSubsystem::VerifyHardware() {
+  bool ok = true;
+  // TODO: finish
+  return ok;
+}
+
+DrivetrainReadings DrivetrainSubsystem::ReadFromHardware() {
+  DrivetrainReadings readings;
+  // TODO: finish
+  return readings;
+}
+
+void DrivetrainSubsystem::WriteToHardware(DrivetrainTarget target) {
+  // TODO: finish
+}
+
+}  // namespace frc846::robot::swerve
\ No newline at end of file
diff --git a/src/frc846/cpp/frc846/robot/swerve/odometry/swerve_pose.cc b/src/frc846/cpp/frc846/robot/swerve/odometry/swerve_pose.cc
new file mode 100644
index 0000000..669db38
--- /dev/null
+++ b/src/frc846/cpp/frc846/robot/swerve/odometry/swerve_pose.cc
@@ -0,0 +1,30 @@
+#include "frc846/robot/swerve/odometry/swerve_pose.h"
+
+namespace frc846::robot::swerve::odometry {
+
+SwervePose SwervePose::rotate(units::degree_t angle) const {
+  return SwervePose{
+      position.rotate(angle), bearing + angle, velocity.rotate(angle)};
+}
+
+SwervePose SwervePose::translate(frc846::math::Vector2D translation) const {
+  return SwervePose{position + translation, bearing, velocity};
+}
+
+SwervePose SwervePose::extrapolate(units::second_t time) const {
+  return SwervePose{
+      position + frc846::math::Vector2D{velocity[0] * time, velocity[1] * time},
+      bearing, velocity};
+}
+
+SwervePose SwervePose::operator+(const SwervePose& other) const {
+  return SwervePose{position + other.position, bearing + other.bearing,
+      velocity + other.velocity};
+}
+
+SwervePose SwervePose::operator-(const SwervePose& other) const {
+  return SwervePose{position - other.position, bearing - other.bearing,
+      velocity - other.velocity};
+}
+
+}  // namespace frc846::robot::swerve::odometry
diff --git a/src/frc846/cpp/frc846/robot/swerve/swerve_module.cc b/src/frc846/cpp/frc846/robot/swerve/swerve_module.cc
index 81f37ea..98619f2 100644
--- a/src/frc846/cpp/frc846/robot/swerve/swerve_module.cc
+++ b/src/frc846/cpp/frc846/robot/swerve/swerve_module.cc
@@ -51,4 +51,8 @@ void SwerveModule::WriteToHardware(SwerveModuleTarget target) {
   // TODO: finish. Refer to howler_monkey for open-loop.
 }
 
+void SwerveModule::SetSteerGains(frc846::control::base::MotorGains gains) {
+  steer_.SetGains(gains);
+}
+
 }  // namespace frc846::robot::swerve
\ No newline at end of file
diff --git a/src/frc846/include/frc846/control/HigherMotorController.h b/src/frc846/include/frc846/control/HigherMotorController.h
index 8a7d983..4969264 100644
--- a/src/frc846/include/frc846/control/HigherMotorController.h
+++ b/src/frc846/include/frc846/control/HigherMotorController.h
@@ -2,15 +2,14 @@
 
 #include <units/torque.h>
 
+#include <optional>
+
 #include "frc846/control/base/motor_control_base.h"
 #include "frc846/control/base/motor_gains.h"
 #include "frc846/control/base/motor_specs.h"
 #include "frc846/control/config/construction_params.h"
-
 #include "frc846/control/config/soft_limits.h"
 
-#include <optional>
-
 namespace frc846::control {
 
 /*
diff --git a/src/frc846/include/frc846/control/MotorMonkey.h b/src/frc846/include/frc846/control/MotorMonkey.h
index 5f734c8..69f7e0f 100644
--- a/src/frc846/include/frc846/control/MotorMonkey.h
+++ b/src/frc846/include/frc846/control/MotorMonkey.h
@@ -5,12 +5,12 @@
 
 #include <ctre/phoenix6/TalonFX.hpp>
 
+#include "frc846/base/Loggable.h"
 #include "frc846/control/base/motor_control_base.h"
 #include "frc846/control/base/motor_gains.h"
 #include "frc846/control/base/motor_specs.h"
 #include "frc846/control/config/construction_params.h"
 #include "frc846/control/hardware/TalonFX_interm.h"
-#include "frc846/base/Loggable.h"
 
 #define CONTROLLER_REGISTRY_SIZE 64
 
diff --git a/src/frc846/include/frc846/control/calculators/CircuitResistanceCalculator.h b/src/frc846/include/frc846/control/calculators/CircuitResistanceCalculator.h
index 66d7111..e8a0ee2 100644
--- a/src/frc846/include/frc846/control/calculators/CircuitResistanceCalculator.h
+++ b/src/frc846/include/frc846/control/calculators/CircuitResistanceCalculator.h
@@ -2,7 +2,7 @@
 
 #include <units/length.h>
 
-#include "frc846/wpilib/846_units.h"
+#include "frc846/wpilib/units.h"
 
 namespace frc846::control::calculators {
 
diff --git a/src/frc846/include/frc846/control/calculators/CurrentTorqueCalculator.h b/src/frc846/include/frc846/control/calculators/CurrentTorqueCalculator.h
index df247e0..3ce74e2 100644
--- a/src/frc846/include/frc846/control/calculators/CurrentTorqueCalculator.h
+++ b/src/frc846/include/frc846/control/calculators/CurrentTorqueCalculator.h
@@ -2,7 +2,7 @@
 
 #include "frc846/control/base/motor_control_base.h"
 #include "frc846/control/base/motor_specs.h"
-#include "frc846/wpilib/846_units.h"
+#include "frc846/wpilib/units.h"
 
 namespace frc846::control::calculators {
 
diff --git a/src/frc846/include/frc846/control/calculators/VelocityPositionEstimator.h b/src/frc846/include/frc846/control/calculators/VelocityPositionEstimator.h
index 0f8af5d..a66b7d7 100644
--- a/src/frc846/include/frc846/control/calculators/VelocityPositionEstimator.h
+++ b/src/frc846/include/frc846/control/calculators/VelocityPositionEstimator.h
@@ -4,7 +4,7 @@
 #include <units/mass.h>
 #include <units/torque.h>
 
-#include "frc846/wpilib/846_units.h"
+#include "frc846/wpilib/units.h"
 
 namespace frc846::control::calculators {
 
diff --git a/src/frc846/include/frc846/control/config/construction_params.h b/src/frc846/include/frc846/control/config/construction_params.h
index ec8ef0c..b8626a3 100644
--- a/src/frc846/include/frc846/control/config/construction_params.h
+++ b/src/frc846/include/frc846/control/config/construction_params.h
@@ -4,7 +4,7 @@
 #include <units/time.h>
 #include <units/voltage.h>
 
-#include "frc846/wpilib/846_units.h"
+#include "frc846/wpilib/units.h"
 
 namespace frc846::control::config {
 
diff --git a/src/frc846/include/frc846/control/config/soft_limits.h b/src/frc846/include/frc846/control/config/soft_limits.h
index c182eb1..7eaa357 100644
--- a/src/frc846/include/frc846/control/config/soft_limits.h
+++ b/src/frc846/include/frc846/control/config/soft_limits.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <units/angular_velocity.h>
+
 #include <cassert>
 
 namespace frc846::control::config {
diff --git a/src/frc846/include/frc846/control/hardware/SparkMXFX_interm.h b/src/frc846/include/frc846/control/hardware/SparkMXFX_interm.h
index 65a14c4..bbb5eaf 100644
--- a/src/frc846/include/frc846/control/hardware/SparkMXFX_interm.h
+++ b/src/frc846/include/frc846/control/hardware/SparkMXFX_interm.h
@@ -2,8 +2,9 @@
 
 #include <rev/CANSparkFlex.h>
 #include <rev/CANSparkMax.h>
-#include <variant>
+
 #include <algorithm>
+#include <variant>
 
 #include "IntermediateController.h"
 
diff --git a/src/frc846/include/frc846/control/simulation/MCSimulator.h b/src/frc846/include/frc846/control/simulation/MCSimulator.h
index dee7e70..19c0d53 100644
--- a/src/frc846/include/frc846/control/simulation/MCSimulator.h
+++ b/src/frc846/include/frc846/control/simulation/MCSimulator.h
@@ -10,7 +10,7 @@
 
 #include "frc846/control/base/motor_gains.h"
 #include "frc846/control/base/motor_specs.h"
-#include "frc846/wpilib/846_units.h"
+#include "frc846/wpilib/units.h"
 
 namespace frc846::control::simulation {
 
diff --git a/src/frc846/include/frc846/math/fieldpoints.h b/src/frc846/include/frc846/math/fieldpoints.h
index 3239933..59d8aeb 100644
--- a/src/frc846/include/frc846/math/fieldpoints.h
+++ b/src/frc846/include/frc846/math/fieldpoints.h
@@ -12,10 +12,10 @@
 namespace frc846::math {
 
 struct FieldPoint {
-  VectorND<units::foot_t, 2> point;
+  VectorND<units::foot, 2> point;
   units::degree_t bearing;
 
-  VectorND<units::feet_per_second_t, 2> velocity;
+  VectorND<units::feet_per_second, 2> velocity;
 
   // Returns a FieldPoint that is 'mirrored' across the field
   FieldPoint mirror(bool shouldMirror = true) const {
diff --git a/src/frc846/include/frc846/math/vectors.h b/src/frc846/include/frc846/math/vectors.h
index 3dd207a..82888d6 100644
--- a/src/frc846/include/frc846/math/vectors.h
+++ b/src/frc846/include/frc846/math/vectors.h
@@ -12,11 +12,13 @@
 #include "frc846/math/collection.h"
 
 namespace frc846::math {
-template <typename T, size_t N> class VectorND {
+template <typename UT, size_t N> class VectorND {
   static_assert(
       N > 0, "VectorND can not be created with less than one dimension.");
-  static_assert(units::traits::is_unit_t<T>(),
-      "VectorND can only be created with unit types.");
+  static_assert(units::traits::is_unit<UT>(),
+      "VectorND can only be created with unit types. Unit_t is invalid.");
+
+  using T = units::unit_t<UT>;
 
 private:
   std::vector<T> data;
@@ -50,86 +52,86 @@ template <typename T, size_t N> class VectorND {
   }
 
   // Copy constructor for VectorND
-  VectorND(const VectorND<T, N>& other) : VectorND() {
+  VectorND(const VectorND<UT, N>& other) : VectorND() {
     for (size_t i = 0; i < N; ++i) {
       data[i] = other[i];
     }
   }
 
-  // Adds VectorND<T, N> to this and returns result
-  VectorND<T, N> operator+(const VectorND<T, N>& other) const {
-    VectorND<T, N> result;
+  // Adds VectorND<UT, N> to this and returns result
+  VectorND<UT, N> operator+(const VectorND<UT, N>& other) const {
+    VectorND<UT, N> result;
     for (size_t i = 0; i < N; ++i) {
       result[i] = data[i] + other[i];
     }
     return result;
   }
 
-  // Subtracts VectorND<T, N> from this and returns result
-  VectorND<T, N> operator-(const VectorND<T, N>& other) const {
-    VectorND<T, N> result;
+  // Subtracts VectorND<UT, N> from this and returns result
+  VectorND<UT, N> operator-(const VectorND<UT, N>& other) const {
+    VectorND<UT, N> result;
     for (size_t i = 0; i < N; ++i) {
       result[i] = data[i] - other[i];
     }
     return result;
   }
 
-  VectorND<T, N> operator*(const double scalar) const {
-    VectorND<T, N> result;
+  VectorND<UT, N> operator*(const double scalar) const {
+    VectorND<UT, N> result;
     for (size_t i = 0; i < N; ++i) {
       result[i] = data[i] * scalar;
     }
     return result;
   }
 
-  friend double operator*(double lhs, const VectorND<T, N>& rhs) {
+  friend double operator*(double lhs, const VectorND<UT, N>& rhs) {
     return rhs * lhs;
   }
 
-  VectorND<T, N> operator/(const double scalar) const {
-    VectorND<T, N> result;
+  VectorND<UT, N> operator/(const double scalar) const {
+    VectorND<UT, N> result;
     for (size_t i = 0; i < N; ++i) {
       result[i] = data[i] / scalar;
     }
     return result;
   }
 
-  VectorND<T, N>& operator+=(const VectorND<T, N>& other) {
+  VectorND<UT, N>& operator+=(const VectorND<UT, N>& other) {
     for (size_t i = 0; i < N; ++i) {
       data[i] += other[i];
     }
     return *this;
   }
 
-  VectorND<T, N>& operator-=(const VectorND<T, N>& other) {
+  VectorND<UT, N>& operator-=(const VectorND<UT, N>& other) {
     for (size_t i = 0; i < N; ++i) {
       data[i] -= other[i];
     }
     return *this;
   }
 
-  VectorND<T, N>& operator*=(const double scalar) {
+  VectorND<UT, N>& operator*=(const double scalar) {
     for (size_t i = 0; i < N; ++i) {
       data[i] *= scalar;
     }
     return *this;
   }
 
-  VectorND<T, N>& operator/=(const double scalar) {
+  VectorND<UT, N>& operator/=(const double scalar) {
     for (size_t i = 0; i < N; ++i) {
       data[i] /= scalar;
     }
     return *this;
   }
 
-  void operator=(const VectorND<T, N>& other) {
+  void operator=(const VectorND<UT, N>& other) {
     for (size_t i = 0; i < N; ++i) {
       data[i] = other[i];
     }
   }
 
   // Uses 'safe' double comparison
-  bool operator==(const VectorND<T, N>& other) const {
+  bool operator==(const VectorND<UT, N>& other) const {
     for (size_t i = 0; i < N; ++i) {
       if (!frc846::math::DEquals(data[i], other[i])) { return false; }
     }
@@ -137,7 +139,7 @@ template <typename T, size_t N> class VectorND {
   }
 
   // Returns a vector rotated by a given angle. Default is clockwise rotation.
-  VectorND<T, N> rotate(units::degree_t angle, bool clockwise = true) const {
+  VectorND<UT, N> rotate(units::degree_t angle, bool clockwise = true) const {
     static_assert(N == 2, "Rotation is only defined for 2D vectors.");
     if (clockwise) { angle = -angle; }
     return {
@@ -146,7 +148,7 @@ template <typename T, size_t N> class VectorND {
   }
 
   // Returns the dot product of this vector and another
-  T dot(const VectorND<T, N>& other) const {
+  T dot(const VectorND<UT, N>& other) const {
     T result = T{};
     for (size_t i = 0; i < N; ++i) {
       result += data[i] * other[i].template to<double>();
@@ -156,7 +158,7 @@ template <typename T, size_t N> class VectorND {
 
   // Returns the cross product of this vector and another
   // Cross product is only defined for 3D vectors
-  VectorND<T, N> cross(const VectorND<T, N>& other) const {
+  VectorND<UT, N> cross(const VectorND<UT, N>& other) const {
     static_assert(N == 3, "Cross product is only defined for 3D vectors.");
     return {data[1] * other[2] - data[2] * other[1],
         data[2] * other[0] - data[0] * other[2],
@@ -173,17 +175,17 @@ template <typename T, size_t N> class VectorND {
   }
 
   // Returns the unit vector of this vector
-  VectorND<T, N> unit() const {
+  VectorND<UT, N> unit() const {
     return *this / magnitude().template to<double>();
   }
 
   // Projects this vector onto another and returns
-  VectorND<T, N> projectOntoAnother(const VectorND<T, N>& other) const {
+  VectorND<UT, N> projectOntoAnother(const VectorND<UT, N>& other) const {
     return other.projectOntoThis(*this);
   }
 
   // Projects another vector onto this and returns
-  VectorND<T, N> projectOntoThis(const VectorND<T, N>& other) const {
+  VectorND<UT, N> projectOntoThis(const VectorND<UT, N>& other) const {
     return unit() * dot(other).template to<double>();
   }
 
@@ -198,7 +200,7 @@ template <typename T, size_t N> class VectorND {
 
   // Returns the angle between this vector and another
   units::degree_t angleTo(
-      const VectorND<T, N>& other, bool angleIsBearing = false) const {
+      const VectorND<UT, N>& other, bool angleIsBearing = false) const {
     return other.angle(angleIsBearing) - angle(angleIsBearing);
   }
 
@@ -227,10 +229,10 @@ template <typename T, size_t N> class VectorND {
 // Commonly used vector types
 
 // 1D vector, units::inch_t
-using Vector1D = VectorND<units::inch_t, 1>;
+using Vector1D = VectorND<units::inch, 1>;
 // 2D vector, units::inch_t
-using Vector2D = VectorND<units::inch_t, 2>;
+using Vector2D = VectorND<units::inch, 2>;
 // 3D vector, units::inch_t
-using Vector3D = VectorND<units::inch_t, 3>;
+using Vector3D = VectorND<units::inch, 3>;
 
 }  // namespace frc846::math
\ No newline at end of file
diff --git a/src/frc846/include/frc846/robot/calculators/VerticalArmCalculator.h b/src/frc846/include/frc846/robot/calculators/VerticalArmCalculator.h
index 54837a0..38fab9b 100644
--- a/src/frc846/include/frc846/robot/calculators/VerticalArmCalculator.h
+++ b/src/frc846/include/frc846/robot/calculators/VerticalArmCalculator.h
@@ -8,7 +8,7 @@
 #include "frc846/control/base/motor_gains.h"
 #include "frc846/math/calculator.h"
 #include "frc846/math/constants.h"
-#include "frc846/wpilib/846_units.h"
+#include "frc846/wpilib/units.h"
 
 namespace frc846::robot::calculators {
 
diff --git a/src/frc846/include/frc846/robot/swerve/drivetrain.h b/src/frc846/include/frc846/robot/swerve/drivetrain.h
new file mode 100644
index 0000000..3786311
--- /dev/null
+++ b/src/frc846/include/frc846/robot/swerve/drivetrain.h
@@ -0,0 +1,63 @@
+#pragma once
+
+#include <units/acceleration.h>
+#include <units/angular_acceleration.h>
+
+#include "frc846/robot/GenericSubsystem.h"
+#include "frc846/robot/swerve/odometry/swerve_pose.h"
+#include "frc846/robot/swerve/swerve_module.h"
+
+namespace frc846::robot::swerve {
+
+/*
+DrivetrainConfigs
+
+Contains all configs related to the specific drivetrain in use.
+*/
+struct DrivetrainConfigs {};
+
+struct DrivetrainReadings {
+  frc846::robot::swerve::odometry::SwervePose pose;
+};
+
+// Open-loop control, for use during teleop
+struct DrivetrainOLControlTarget {
+  frc846::math::VectorND<units::feet_per_second, 2> velocity;
+};
+
+// Allows for acceleration-based control of the drivetrain
+struct DrivetrainAccelerationControlTarget {
+  frc846::math::VectorND<units::feet_per_second_squared, 2> linear_acceleration;
+  units::degrees_per_second_squared_t angular_acceleration;
+};
+
+using DrivetrainTarget = std::variant<DrivetrainOLControlTarget,
+    DrivetrainAccelerationControlTarget>;
+
+/*
+DrivetrainSubsystem
+
+A generic class to control a 4-module Kraken x60 swerve drive with CANCoders.
+*/
+class DrivetrainSubsystem
+    : public frc846::robot::GenericSubsystem<DrivetrainReadings,
+          DrivetrainTarget> {
+public:
+  DrivetrainSubsystem(DrivetrainConfigs configs, bool enable);
+
+  void Setup() override;
+
+  DrivetrainTarget ZeroTarget() const override;
+
+  bool VerifyHardware() override;
+
+private:
+  DrivetrainReadings ReadFromHardware() override;
+
+  void WriteToHardware(DrivetrainTarget target) override;
+
+  DrivetrainConfigs configs_;
+  std::array<SwerveModule*, 4> modules_;
+};
+
+}  // namespace frc846::robot::swerve
\ No newline at end of file
diff --git a/src/frc846/include/frc846/robot/swerve/odometry/swerve_pose.h b/src/frc846/include/frc846/robot/swerve/odometry/swerve_pose.h
new file mode 100644
index 0000000..1a5318a
--- /dev/null
+++ b/src/frc846/include/frc846/robot/swerve/odometry/swerve_pose.h
@@ -0,0 +1,34 @@
+#pragma once
+
+#include "frc846/math/vectors.h"
+
+namespace frc846::robot::swerve::odometry {
+
+/*
+SwervePose
+
+A class representing the pose of a swerve drive robot. Contains Vector2D (check
+math/vectors.h) position and velocity, and a bearing (degrees).
+*/
+struct SwervePose {
+  frc846::math::Vector2D position;
+  units::degree_t bearing;
+  frc846::math::VectorND<units::feet_per_second, 2> velocity;
+
+  SwervePose rotate(units::degree_t angle) const;
+  SwervePose translate(frc846::math::Vector2D translation) const;
+
+  /*
+  Extrapolates the pose of the robot by the given time, knowing the velocity.
+  Can be used for latency compensation.
+
+  @note Can be innacurate with large time intervals, especially if the robot is
+  moving at a non-constant velocity.
+  */
+  SwervePose extrapolate(units::second_t time) const;
+
+  SwervePose operator+(const SwervePose& other) const;
+  SwervePose operator-(const SwervePose& other) const;
+};
+
+}  // namespace frc846::robot::swerve::odometry
\ No newline at end of file
diff --git a/src/frc846/include/frc846/robot/swerve/swerve_module.h b/src/frc846/include/frc846/robot/swerve/swerve_module.h
index 3172adf..bb43a37 100644
--- a/src/frc846/include/frc846/robot/swerve/swerve_module.h
+++ b/src/frc846/include/frc846/robot/swerve/swerve_module.h
@@ -1,17 +1,16 @@
 #pragma once
 
-#include "frc846/robot/GenericSubsystem.h"
-#include "frc846/control/HigherMotorController.h"
-#include "frc846/control/HMCHelper.h"
-
 #include <units/angle.h>
+#include <units/base.h>
 #include <units/torque.h>
 #include <units/velocity.h>
-#include <units/base.h>
 
+#include <ctre/phoenix6/CANcoder.hpp>
 #include <variant>
 
-#include <ctre/phoenix6/CANcoder.hpp>
+#include "frc846/control/HMCHelper.h"
+#include "frc846/control/HigherMotorController.h"
+#include "frc846/robot/GenericSubsystem.h"
 
 namespace frc846::robot::swerve {
 
@@ -21,11 +20,13 @@ struct SwerveModuleReadings {
   units::degree_t steer_pos;
 };
 
+// Allows for torque-based control by DrivetrainSubsystem
 struct SwerveModuleTorqueControlTarget {
   units::newton_meter_t drive;
   units::newton_meter_t steer;
 };
 
+// For open-loop control by DrivetrainSubsystem
 struct SwerveModuleOLControlTarget {
   double drive;
   units::degree_t steer;
@@ -34,6 +35,13 @@ struct SwerveModuleOLControlTarget {
 using SwerveModuleTarget =
     std::variant<SwerveModuleTorqueControlTarget, SwerveModuleOLControlTarget>;
 
+/*
+SwerveModule
+
+A class representing a single swerve module. Controls a drive and steer motor
+and a CANcoder. Meant to be constructed as a child subsystem of
+DrivetrainSubsystem.
+*/
 class SwerveModule
     : public frc846::robot::GenericSubsystem<SwerveModuleReadings,
           SwerveModuleTarget> {
@@ -42,6 +50,12 @@ class SwerveModule
       units::compound_unit<units::foot, units::inverse<units::turn>>>;
 
 public:
+  /*
+  SwerveModule()
+
+  Constructs a SwerveModule object with the given parameters. For use by
+  DrivetrainSubsystem.
+  */
   SwerveModule(Loggable& parent, std::string loc,
       frc846::control::config::MotorConstructionParameters drive_params,
       frc846::control::config::MotorConstructionParameters steer_params,
@@ -55,15 +69,19 @@ class SwerveModule
 
   bool VerifyHardware() override;
 
-  void SetMaxSpeed(units::feet_per_second_t max_speed);
+  /*
+  SetSteerGains()
+
+  Sets the gains for the steer motor controller. Should be called after
+  SwerveModuleSubsystem Setup, in DrivetrainSubsystem Setup.
+  */
+  void SetSteerGains(frc846::control::base::MotorGains gains);
 
 private:
   SwerveModuleReadings ReadFromHardware() override;
 
   void WriteToHardware(SwerveModuleTarget target) override;
 
-  units::feet_per_second_t max_speed_ = 10.0_fps;
-
   frc846::control::HigherMotorController drive_;
   frc846::control::HigherMotorController steer_;
 
diff --git a/src/frc846/include/frc846/wpilib/846_units.h b/src/frc846/include/frc846/wpilib/units.h
similarity index 100%
rename from src/frc846/include/frc846/wpilib/846_units.h
rename to src/frc846/include/frc846/wpilib/units.h
diff --git a/src/frc846/include/frc846/wpilib/util.h b/src/frc846/include/frc846/wpilib/util.h
index 0c90856..50f8fcd 100644
--- a/src/frc846/include/frc846/wpilib/util.h
+++ b/src/frc846/include/frc846/wpilib/util.h
@@ -1,5 +1,5 @@
-#include <vector>
 #include <algorithm>
+#include <vector>
 
 namespace frc846::wpilib {
 
diff --git a/style.standard b/style.standard
index 13b525c..aa1e8b6 100644
--- a/style.standard
+++ b/style.standard
@@ -1 +1 @@
-{   BasedOnStyle: Google,   AccessModifierOffset: -2,   AlignAfterOpenBracket: DontAlign,   AlignConsecutiveAssignments: false,   AlignConsecutiveDeclarations: false,   AlignEscapedNewlines: Left,   AlignOperands: true,   AlignTrailingComments: true,   AllowAllParametersOfDeclarationOnNextLine: true,   AllowShortBlocksOnASingleLine: true,   AllowShortCaseLabelsOnASingleLine: true,   AllowShortEnumsOnASingleLine: true,   AllowShortFunctionsOnASingleLine: true,   AllowShortIfStatementsOnASingleLine: true,   AllowShortLambdasOnASingleLine: Inline,   AllowShortLoopsOnASingleLine: false,   AlwaysBreakAfterReturnType: None,   AlwaysBreakBeforeMultilineStrings: false,   AlwaysBreakTemplateDeclarations: false,   BinPackArguments: true,   BinPackParameters: true,   BreakAfterJavaFieldAnnotations: false,   BreakBeforeBinaryOperators: None,   BreakBeforeBraces: Attach,   BreakBeforeConceptDeclarations: false,   BreakBeforeTernaryOperators: true,   BreakConstructorInitializersBeforeComma: false,   ColumnLimit: 80,   CompactNamespaces: false,   ConstructorInitializerAllOnOneLineOrOnePerLine: true,   ConstructorInitializerIndentWidth: 4,   ContinuationIndentWidth: 4,   Cpp11BracedListStyle: true,   DeriveLineEnding: true,   DerivePointerAlignment: true,   DisableFormat: false,   FixNamespaceComments: false,   IndentAccessModifiers: false,   IndentCaseLabels: false,   IndentExternBlock: AfterExternBlock,   IndentPPDirectives: None,   IndentWidth: 2,   InsertTrailingCommas: None,   KeepEmptyLinesAtTheStartOfBlocks: false,   MacroBlockBegin: "",   MacroBlockEnd: "",   MaxEmptyLinesToKeep: 1,   NamespaceIndentation: None,   PenaltyBreakAssignment: 2,   PenaltyBreakBeforeFirstCallParameter: 19,   PenaltyBreakComment: 300,   PenaltyBreakFirstLessLess: 120,   PenaltyBreakString: 1000,   PenaltyExcessCharacter: 1000000,   PenaltyReturnTypeOnItsOwnLine: 60,   PointerAlignment: Left,   ReflowComments: true,   SortIncludes: false,   SortUsingDeclarations: true,   SpaceAfterCStyleCast: false,   SpaceAfterLogicalNot: false,   SpaceAfterTemplateKeyword: true,   SpaceAroundPointerQualifiers: Default,   SpaceBeforeAssignmentOperators: true,   SpaceBeforeCaseColon: false,   SpaceBeforeCpp11BracedList: false,   SpaceBeforeCtorInitializerColon: true,   SpaceBeforeInheritanceColon: true,   SpaceBeforeParens: ControlStatements,   SpaceBeforeRangeBasedForLoopColon: true,   SpaceBeforeSquareBrackets: false,   SpaceInEmptyBlock: false,   SpaceInEmptyParentheses: false,   SpacesBeforeTrailingComments: 2,   SpacesInAngles: false,   SpacesInCStyleCastParentheses: false,   SpacesInContainerLiterals: false,   SpacesInParentheses: false,   SpacesInSquareBrackets: false,   Standard: Auto,   TabWidth: 2,   UseCRLF: false,   UseTab: Never }
\ No newline at end of file
+{   BasedOnStyle: Google,   AccessModifierOffset: -2,   AlignAfterOpenBracket: DontAlign,   AlignConsecutiveAssignments: false,   AlignConsecutiveDeclarations: false,   AlignEscapedNewlines: Left,   AlignOperands: true,   AlignTrailingComments: true,   AllowAllParametersOfDeclarationOnNextLine: true,   AllowShortBlocksOnASingleLine: true,   AllowShortCaseLabelsOnASingleLine: true,   AllowShortEnumsOnASingleLine: true,   AllowShortFunctionsOnASingleLine: true,   AllowShortIfStatementsOnASingleLine: true,   AllowShortLambdasOnASingleLine: Inline,   AllowShortLoopsOnASingleLine: false,   AlwaysBreakAfterReturnType: None,   AlwaysBreakBeforeMultilineStrings: false,   AlwaysBreakTemplateDeclarations: false,   BinPackArguments: true,   BinPackParameters: true,   BreakAfterJavaFieldAnnotations: false,   BreakBeforeBinaryOperators: None,   BreakBeforeBraces: Attach,   BreakBeforeConceptDeclarations: false,   BreakBeforeTernaryOperators: true,   BreakConstructorInitializersBeforeComma: false,   ColumnLimit: 80,   CompactNamespaces: false,   ConstructorInitializerAllOnOneLineOrOnePerLine: true,   ConstructorInitializerIndentWidth: 4,   ContinuationIndentWidth: 4,   Cpp11BracedListStyle: true,   DeriveLineEnding: true,   DerivePointerAlignment: true,   DisableFormat: false,   FixNamespaceComments: false,   IndentAccessModifiers: false,   IndentCaseLabels: false,   IndentExternBlock: AfterExternBlock,   IndentPPDirectives: None,   IndentWidth: 2,   InsertTrailingCommas: None,   KeepEmptyLinesAtTheStartOfBlocks: false,   MacroBlockBegin: "",   MacroBlockEnd: "",   MaxEmptyLinesToKeep: 1,   NamespaceIndentation: None,   PenaltyBreakAssignment: 2,   PenaltyBreakBeforeFirstCallParameter: 19,   PenaltyBreakComment: 300,   PenaltyBreakFirstLessLess: 120,   PenaltyBreakString: 1000,   PenaltyExcessCharacter: 1000000,   PenaltyReturnTypeOnItsOwnLine: 60,   PointerAlignment: Left,   ReflowComments: true,   SortIncludes: true,   SortUsingDeclarations: true,   SpaceAfterCStyleCast: false,   SpaceAfterLogicalNot: false,   SpaceAfterTemplateKeyword: true,   SpaceAroundPointerQualifiers: Default,   SpaceBeforeAssignmentOperators: true,   SpaceBeforeCaseColon: false,   SpaceBeforeCpp11BracedList: false,   SpaceBeforeCtorInitializerColon: true,   SpaceBeforeInheritanceColon: true,   SpaceBeforeParens: ControlStatements,   SpaceBeforeRangeBasedForLoopColon: true,   SpaceBeforeSquareBrackets: false,   SpaceInEmptyBlock: false,   SpaceInEmptyParentheses: false,   SpacesBeforeTrailingComments: 2,   SpacesInAngles: false,   SpacesInCStyleCastParentheses: false,   SpacesInContainerLiterals: false,   SpacesInParentheses: false,   SpacesInSquareBrackets: false,   Standard: Auto,   TabWidth: 2,   UseCRLF: false,   UseTab: Never }
\ No newline at end of file