diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 3ff8121..cb22f61 100644
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -6,9 +6,7 @@
         "limitSymbolsToIncludedHeaders": false
       },
       "includePath": [
-        "/home/danielz/WRover_Software/devel/include/**",
         "/opt/ros/noetic/include/**",
-        "/home/danielz/catkin_ws/src/wrevolution/include/**",
         "/usr/include/**"
       ],
       "name": "ROS",
@@ -19,4 +17,4 @@
     }
   ],
   "version": 4
-}
\ No newline at end of file
+}
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 42469da..055e76e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -63,6 +63,7 @@ add_service_files(
     ResetSettings.srv
     ResetEncoder.srv
     Reverse.srv
+    SetHeading.srv
     ZeroPowerBehavior.srv
 )
 
@@ -132,29 +133,17 @@ include_directories(
 # add_library(${PROJECT_NAME}
 # src/${PROJECT_NAME}/wrevolution.cpp
 # )
+if(${CMAKE_LIBRARY_ARCHITECTURE} STREQUAL "arm-linux-gnueabihf") # Jetson TK1 / Pi
+    set(PHOENIX_LIBS_DIR ${PROJECT_SOURCE_DIR}/lib/raspberry)
+elseif(${CMAKE_LIBRARY_ARCHITECTURE} STREQUAL "aarch64-linux-gnu") # Jetson TX2
+    set(PHOENIX_LIBS_DIR ${PROJECT_SOURCE_DIR}/lib/jetsontx)
+else()
+    set(PHOENIX_LIBS_DIR ${PROJECT_SOURCE_DIR}/lib/x86-64)
+endif()
+
 function(MakeTalonTarget TARGET_NAME)
-    if(${CMAKE_LIBRARY_ARCHITECTURE} STREQUAL "arm-linux-gnueabihf") # Jetson TK1 / Pi
-        target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/raspberry/libCTRE_Phoenix.a)
-        target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/raspberry/libCTRE_PhoenixCCI.a)
-        target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/raspberry/libCTRE_PhoenixDiagnostics.a)
-        target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/raspberry/libCTRE_PhoenixPlatform_socketcan.a)
-        target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/raspberry/libCTRE_PhoenixCanutils.a)
-        target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/raspberry/libCTRE_PhoenixCore.a)
-    elseif(${CMAKE_LIBRARY_ARCHITECTURE} STREQUAL "aarch64-linux-gnu") # Jetson TX2
-        target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/jetsontx/libCTRE_Phoenix.a)
-        target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/jetsontx/libCTRE_PhoenixCCI.a)
-        target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/jetsontx/libCTRE_PhoenixDiagnostics.a)
-        target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/jetsontx/libCTRE_PhoenixPlatform_socketcan.a)
-        target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/jetsontx/libCTRE_PhoenixCanutils.a)
-        target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/jetsontx/libCTRE_PhoenixCore.a)
-    else()
-        target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/x86-64/libCTRE_Phoenix.a)
-        target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/x86-64/libCTRE_PhoenixCCI.a)
-        target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/x86-64/libCTRE_PhoenixDiagnostics.a)
-        target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/x86-64/libCTRE_PhoenixPlatform_socketcan.a)
-        target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/x86-64/libCTRE_PhoenixCanutils.a)
-        target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/x86-64/libCTRE_PhoenixCore.a)
-    endif()
+    target_link_libraries(${TARGET_NAME} PRIVATE ${PHOENIX_LIBS_DIR}/libCTRE_Phoenix.so)
+    target_link_libraries(${TARGET_NAME} PRIVATE ${PHOENIX_LIBS_DIR}/libCTRE_PhoenixCCI.so)
 
     target_link_libraries(${TARGET_NAME} PRIVATE Threads::Threads)
 endfunction(MakeTalonTarget)
@@ -164,4 +153,14 @@ function(MakeROSTarget TARGET_NAME)
     add_dependencies(${TARGET_NAME} ${catkin_EXPORTED_TARGETS})
 endfunction(MakeROSTarget)
 
-add_subdirectory(src)
\ No newline at end of file
+add_subdirectory(src)
+
+# Copy Phoenix shared libraries
+file(
+    COPY ${PHOENIX_LIBS_DIR}/libCTRE_Phoenix.so
+    DESTINATION ${CATKIN_DEVEL_PREFIX}/lib
+)
+file(
+    COPY ${PHOENIX_LIBS_DIR}/libCTRE_PhoenixCCI.so
+    DESTINATION ${CATKIN_DEVEL_PREFIX}/lib
+)
diff --git a/include/ctre/Phoenix.h b/include/ctre/Phoenix.h
index 40738da..edb4a7f 100644
--- a/include/ctre/Phoenix.h
+++ b/include/ctre/Phoenix.h
@@ -14,6 +14,7 @@
 #include "ctre/phoenix/paramEnum.h"
 #include "ctre/phoenix/HsvToRgb.h"
 #include "ctre/phoenix/LinearInterpolation.h"
+#include "ctre/phoenix/led/CANdle.h"
 #include "ctre/phoenix/motion/BufferedTrajectoryPointStream.h"
 #include "ctre/phoenix/motion/MotionProfileStatus.h"
 #include "ctre/phoenix/motion/TrajectoryPoint.h"
@@ -30,6 +31,7 @@
 #include "ctre/phoenix/music/Orchestra.h"
 #include "ctre/phoenix/sensors/CANCoder.h"
 #include "ctre/phoenix/sensors/PigeonIMU.h"
+#include "ctre/phoenix/sensors/Pigeon2.h"
 #include "ctre/phoenix/signals/MovingAverage.h"
 #include "ctre/phoenix/tasking/Schedulers/ConcurrentScheduler.h"
 #include "ctre/phoenix/tasking/ILoopable.h"
@@ -40,6 +42,9 @@
 #include "ctre/phoenix/motorcontrol/can/WPI_TalonFX.h"
 #include "ctre/phoenix/motorcontrol/can/WPI_TalonSRX.h"
 #include "ctre/phoenix/motorcontrol/can/WPI_VictorSPX.h"
+#include "ctre/phoenix/sensors/WPI_CANCoder.h"
+#include "ctre/phoenix/sensors/WPI_PigeonIMU.h"
+#include "ctre/phoenix/sensors/WPI_Pigeon2.h"
 #include "ctre/phoenix/tasking/ButtonMonitor.h"
 #endif
 
@@ -56,6 +61,7 @@
  */
 using namespace ctre;
 using namespace ctre::phoenix;
+using namespace ctre::phoenix::led;
 using namespace ctre::phoenix::motion;
 using namespace ctre::phoenix::motorcontrol;
 using namespace ctre::phoenix::motorcontrol::can;
diff --git a/include/ctre/phoenix/CANifier.h b/include/ctre/phoenix/CANifier.h
index 205b02e..da7e8e2 100644
--- a/include/ctre/phoenix/CANifier.h
+++ b/include/ctre/phoenix/CANifier.h
@@ -9,6 +9,7 @@
 #include "ctre/phoenix/CANifierStatusFrame.h"
 #include "ctre/phoenix/CANifierStickyFaults.h"
 #include "ctre/phoenix/CANifierFaults.h"
+#include "ctre/phoenix/sensors/SensorVelocityMeasPeriod.h"
 #include "ctre/phoenix/CANifierVelocityMeasPeriod.h"
 
 namespace ctre {namespace phoenix {
@@ -20,7 +21,7 @@ struct CANifierConfiguration : CustomParamConfiguration{
     /** 
      * Velocity measurement period to use
      */
-    CANifierVelocityMeasPeriod velocityMeasurementPeriod;
+    ctre::phoenix::sensors::SensorVelocityMeasPeriod velocityMeasurementPeriod;
     /**
      * Velocity measurement window to use
      */
@@ -39,7 +40,7 @@ struct CANifierConfiguration : CustomParamConfiguration{
     bool clearPositionOnQuadIdx;
 
 	CANifierConfiguration() : 
-		velocityMeasurementPeriod(Period_100Ms), 
+		velocityMeasurementPeriod(ctre::phoenix::sensors::SensorVelocityMeasPeriod::Period_100Ms), 
 		velocityMeasurementWindow(64), 	
 	    clearPositionOnLimitF(false),
         clearPositionOnLimitR(false),
@@ -61,7 +62,7 @@ struct CANifierConfiguration : CustomParamConfiguration{
      */
     std::string toString(std::string prependString) {
 
-        std::string retstr = prependString + ".velocityMeasurementPeriod = " + CANifierVelocityMeasPeriodRoutines::toString(velocityMeasurementPeriod) + ";\n";
+        std::string retstr = prependString + ".velocityMeasurementPeriod = " + ctre::phoenix::sensors::SensorVelocityMeasPeriodRoutines::toString(velocityMeasurementPeriod) + ";\n";
         retstr += prependString + ".velocityMeasurementWindow = " + std::to_string(velocityMeasurementWindow) + ";\n";
         retstr += prependString + ".clearPositionOnLimitF = " + std::to_string(clearPositionOnLimitF) + ";\n";
         retstr += prependString + ".clearPositionOnLimitR = " + std::to_string(clearPositionOnLimitR) + ";\n";
@@ -325,6 +326,10 @@ class CANifier: public CANBusAddressable {
 	 *            If zero, no blocking or checking is performed.
 	 * @return Error Code generated by function. 0 indicates no error.
 	 */
+	ErrorCode ConfigVelocityMeasurementPeriod(
+			ctre::phoenix::sensors::SensorVelocityMeasPeriod period, int timeoutMs = 0);
+
+	[[deprecated("Use the overload with SensorVelocityMeasPeriod instead")]]
 	ErrorCode ConfigVelocityMeasurementPeriod(
 			CANifierVelocityMeasPeriod period, int timeoutMs = 0);
 	/**
diff --git a/include/ctre/phoenix/ErrorCode.h b/include/ctre/phoenix/ErrorCode.h
index ea7e7f4..3e61104 100644
--- a/include/ctre/phoenix/ErrorCode.h
+++ b/include/ctre/phoenix/ErrorCode.h
@@ -1,13 +1,16 @@
 #pragma once
+
 #include <stdint.h>
 
 namespace ctre {
 namespace phoenix {
 
 enum ErrorCode
-: int32_t
+#ifdef __cplusplus
+	: int32_t
+#endif
 {
-	OK = 0, 
+	OK = 0,
 	OKAY = 0,		//!< No Error - Function executed as expected
 
 	//CAN-Related
@@ -30,7 +33,6 @@ enum ErrorCode
 	BufferFailure = -10,
 	FirwmwareNonFRC = -11,
 
-
 	//General
 	GeneralError = -100,		//!< User Specified General Error
 	GENERAL_ERROR = -100,
@@ -58,11 +60,12 @@ enum ErrorCode
 	GainsAreNotSet = -503,
 	WrongRemoteLimitSwitchSource = -504,
 	DoubleVoltageCompensatingWPI = -505,
+	CANdleAnimSlotOutOfBounds = -506,
 
 	//Higher Level
 	IncompatibleMode = -600,
 	InvalidHandle = -601,		//!< Handle does not match stored map of handles
-	
+
 	//Firmware Versions
 	FeatureRequiresHigherFirm = -700,
     MotorControllerFeatureRequiresHigherFirm = -701,
@@ -70,12 +73,13 @@ enum ErrorCode
     ConfigFactoryDefaultRequiresHigherFirm = -702,
 	ConfigMotionSCurveRequiresHigherFirm = -703,
 	TalonFXFirmwarePreVBatDetect = -704,
+	CANdleAnimationsRequireHigherFirm = -705,
 
 	//Operating system centric
 	LibraryCouldNotBeLoaded = -800,
 	MissingRoutineInLibrary = -801,
 	ResourceNotAvailable = -802,
-	
+
 	//MIDI and Orchestra centric
 	MusicFileNotFound = -900,
 	MusicFileWrongSize = -901,
@@ -85,7 +89,24 @@ enum ErrorCode
 	MusicFileTooOld = -905,
 	MusicInterrupted = -906,
 	MusicNotSupported = -907,
-	
+
+	kInvalidInterface = -1000,
+	kInvalidGuid = -1001,
+	kInvalidClass = -1002,
+	kInvalidProtocol = -1003,
+	kInvalidPath = -1004,
+	kGeneralWinUsbError = -1005,
+	kFailedSetup = -1006,
+	kListenFailed = -1007,
+	kSendFailed = -1008,
+	kReceiveFailed = -1009,
+	kInvalidRespFormat = -1010,
+	kWinUsbInitFailed = -1011,
+	kWinUsbQueryFailed = -1012,
+	kWinUsbGeneralError = -1013,
+	kAccessDenied = -1014,
+	kFirmwareInvalidResponse = -1015,
+
 	//CAN Related
 	PulseWidthSensorNotPresent = +10,	//!< Special Code for "isSensorPresent"
 
@@ -97,11 +118,16 @@ enum ErrorCode
 	FeaturesNotAvailableYet = 104, // feature will be release in an upcoming release
 	ControlModeNotValid = 105, // Current control mode of motor controller not valid for this call
 	ControlModeNotSupportedYet = 106,
-	CascadedPIDNotSupporteYet= 107,
-	AuxiliaryPIDNotSupportedYet= 107,
-	RemoteSensorsNotSupportedYet= 108,
-	MotProfFirmThreshold= 109,
+	CascadedPIDNotSupporteYet = 107,
+	AuxiliaryPIDNotSupportedYet = 107,
+	RemoteSensorsNotSupportedYet = 108,
+	MotProfFirmThreshold = 109,
 	MotProfFirmThreshold2 = 110,
+
+	//Simulation
+	SimDeviceNotFound = 200,
+	SimPhysicsTypeNotSupported = 201,
+	SimDeviceAlreadyExists = 202,
 };
 class ErrorCollection {
 public:
@@ -112,7 +138,7 @@ class ErrorCollection {
         _firstError = FirstOne(_firstError, err);
     }
     void NewError(int err) {
-        _firstError = FirstOne(_firstError, (ErrorCode) err); 
+        _firstError = FirstOne(_firstError, (ErrorCode) err);
     }
 	ErrorCode GetFirstNonZeroError()
 	{
diff --git a/include/ctre/phoenix/PhoenixVersion.h b/include/ctre/phoenix/PhoenixVersion.h
new file mode 100644
index 0000000..9cb75e2
--- /dev/null
+++ b/include/ctre/phoenix/PhoenixVersion.h
@@ -0,0 +1 @@
+const int kPhoenixVersion = 0x00051501;
\ No newline at end of file
diff --git a/include/ctre/phoenix/cci/CANCoder_CCI.h b/include/ctre/phoenix/cci/CANCoder_CCI.h
index d9ec48e..5293c2f 100644
--- a/include/ctre/phoenix/cci/CANCoder_CCI.h
+++ b/include/ctre/phoenix/cci/CANCoder_CCI.h
@@ -15,7 +15,7 @@
 
 
 extern "C" {
-	CCIEXPORT void* c_CANCoder_Create1(int deviceNumber);
+	CCIEXPORT void* c_CANCoder_Create1(int deviceNumber, const char* canbus);
 	CCIEXPORT void c_CANCoder_DestroyAll();
 	CCIEXPORT ctre::phoenix::ErrorCode c_CANCoder_Destroy(void* handle);
 	CCIEXPORT ctre::phoenix::ErrorCode c_CANCoder_GetDescription(void* handle, char* toFill, int toFillByteSz, size_t* numBytesFilled);
diff --git a/include/ctre/phoenix/cci/CANdle_CCI.h b/include/ctre/phoenix/cci/CANdle_CCI.h
new file mode 100644
index 0000000..9fd0c7e
--- /dev/null
+++ b/include/ctre/phoenix/cci/CANdle_CCI.h
@@ -0,0 +1,42 @@
+#pragma once
+
+#include "ctre/phoenix/cci/CCI.h"
+#include "ctre/phoenix/ErrorCode.h"
+#include <set>
+#include <cstddef>
+
+extern "C"{
+    CCIEXPORT void *c_CANdle_Create1(int deviceNumber, const char* canbus);
+    CCIEXPORT void c_CANdle_DestroyAll();
+    CCIEXPORT ctre::phoenix::ErrorCode c_CANdle_Destroy(void *handle);
+    CCIEXPORT ctre::phoenix::ErrorCode c_CANdle_GetDescription(void* handle, char* toFill, int toFillByteSz, size_t* numBytesFilled);
+    CCIEXPORT ctre::phoenix::ErrorCode c_CANdle_GetLastError(void* handle);
+    CCIEXPORT ctre::phoenix::ErrorCode c_CANdle_GetLastTimestamp(void* handle, double* timestamp);
+    CCIEXPORT void c_CANdle_SetLastError(void *handle, int error);
+    CCIEXPORT ctre::phoenix::ErrorCode c_CANdle_ConfigSetParameter(void *handle, int param, double value, uint8_t subValue, int ordinal, int timeoutMs);
+    CCIEXPORT ctre::phoenix::ErrorCode c_CANdle_ConfigGetParameter(void *handle, int param, double *value, int ordinal, int timeoutMs);
+    CCIEXPORT ctre::phoenix::ErrorCode c_CANdle_ConfigSetCustomParam(void *handle, int newValue, int paramIndex, int timeoutMs);
+    CCIEXPORT ctre::phoenix::ErrorCode c_CANdle_ConfigGetCustomParam(void *handle, int *readValue, int paramIndex, int timoutMs);
+    CCIEXPORT ctre::phoenix::ErrorCode c_CANdle_ConfigFactoryDefault(void *handle, int timeoutMs);
+    CCIEXPORT ctre::phoenix::ErrorCode c_CANdle_GetFaults(void *handle, int * param) ;
+    CCIEXPORT ctre::phoenix::ErrorCode c_CANdle_GetStickyFaults(void *handle, int * param) ;
+    CCIEXPORT ctre::phoenix::ErrorCode c_CANdle_ClearStickyFaults(void *handle, int timeoutMs) ;
+    CCIEXPORT ctre::phoenix::ErrorCode c_CANdle_GetFirmwareVersion(void *handle, int *firmwareVers);
+    CCIEXPORT ctre::phoenix::ErrorCode c_CANdle_HasResetOccurred(void *handle, bool * hasReset);
+    CCIEXPORT ctre::phoenix::ErrorCode c_CANdle_SetStatusFramePeriod(void *handle, int frame, uint8_t periodMs, int timeoutMs);
+    CCIEXPORT ctre::phoenix::ErrorCode c_CANdle_GetStatusFramePeriod(void *handle, int frame, int *periodMs, int timeoutMs);
+    CCIEXPORT ctre::phoenix::ErrorCode c_CANdle_SetControlFramePeriod(void *handle, int frame,	int periodMs);
+
+    CCIEXPORT ctre::phoenix::ErrorCode c_CANdle_BlockSet(void *handle, int r, int g, int b, int w, int startIdx, int count);
+    CCIEXPORT ctre::phoenix::ErrorCode c_CANdle_SetStandardAnimation(void *handle, int idx, double brightness, double speed, int numLed, int ledOffset, double param4,  double param5, bool reverseDirection, int animSlot);
+    CCIEXPORT ctre::phoenix::ErrorCode c_CANdle_SetTwoSizeAnimation(void *handle, int idx, int r, int g, int b, int w, double speed, int numLed, int ledOffset, int direction, int size, int animSlot);
+    CCIEXPORT ctre::phoenix::ErrorCode c_CANdle_ClearAnimation(void *handle, int animSlot);
+    CCIEXPORT ctre::phoenix::ErrorCode c_CANdle_ModulateVBatOutput(void *handle, double percentModulation);
+
+    CCIEXPORT ctre::phoenix::ErrorCode c_CANdle_GetBusVoltage(void *handle, double *voltage);
+    CCIEXPORT ctre::phoenix::ErrorCode c_CANdle_Get5VRailVoltage(void *handle, double *voltage);
+    CCIEXPORT ctre::phoenix::ErrorCode c_CANdle_GetCurrent(void *handle, double *current);
+    CCIEXPORT ctre::phoenix::ErrorCode c_CANdle_GetTemperature(void *handle, double *temperature);
+    CCIEXPORT ctre::phoenix::ErrorCode c_CANdle_GetVBatModulation(void *handle, double *modulation);
+    CCIEXPORT ctre::phoenix::ErrorCode c_CANdle_GetMaxSimultaneousAnimationCount(void *handle, int *maxAnimationCount);
+}
diff --git a/include/ctre/phoenix/cci/CCI.h b/include/ctre/phoenix/cci/CCI.h
index e849d70..85dfbdf 100644
--- a/include/ctre/phoenix/cci/CCI.h
+++ b/include/ctre/phoenix/cci/CCI.h
@@ -1,3 +1,4 @@
+//Legacy Export Define.  New code should use CTREXPORT from ctre/phoenix/export.h
 #ifndef CCIEXPORT
 
 	#if defined(WIN32) || defined(_WIN32) || defined(_WIN64)
diff --git a/include/ctre/phoenix/cci/Diagnostics_CCI.h b/include/ctre/phoenix/cci/Diagnostics_CCI.h
index 61e16fa..e1ca91a 100644
--- a/include/ctre/phoenix/cci/Diagnostics_CCI.h
+++ b/include/ctre/phoenix/cci/Diagnostics_CCI.h
@@ -1,10 +1,11 @@
 #pragma once
 
 #include <stdint.h>
-#include "ctre/phoenix/cci/CCI.h"
+#include "ctre/phoenix/export.h"
 
 extern "C"{
-    CCIEXPORT void c_Phoenix_Diagnostics_Create();
-    CCIEXPORT void c_Phoenix_Diagnostics_Create1(int port);
-    CCIEXPORT void c_Phoenix_Diagnostics_SetSecondsToStart(int secondsToStart);
+    CTREXPORT void c_Phoenix_Diagnostics_Create();
+    CTREXPORT void c_Phoenix_Diagnostics_Create1(int port);
+    CTREXPORT void c_Phoenix_Diagnostics_SetSecondsToStart(int secondsToStart);
+    CTREXPORT void c_Phoenix_Diagnostics_Dispose();
 }
\ No newline at end of file
diff --git a/include/ctre/phoenix/cci/MotController_CCI.h b/include/ctre/phoenix/cci/MotController_CCI.h
index e592845..3474a57 100644
--- a/include/ctre/phoenix/cci/MotController_CCI.h
+++ b/include/ctre/phoenix/cci/MotController_CCI.h
@@ -10,7 +10,7 @@
 
 extern "C"{
 	CCIEXPORT void* c_MotController_Create1(int baseArbId);
-	CCIEXPORT void* c_MotController_Create2(int deviceID, const char * model);
+	CCIEXPORT void* c_MotController_Create2(int deviceID, const char * model, const char* canbus);
     CCIEXPORT void c_MotController_DestroyAll();
     CCIEXPORT ctre::phoenix::ErrorCode c_MotController_Destroy(void *handle);
 	CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetAppliedControlMode(void *handle, int &controlMode);
diff --git a/include/ctre/phoenix/cci/Orchestra_CCI.h b/include/ctre/phoenix/cci/Orchestra_CCI.h
index 08f70cd..f933ece 100644
--- a/include/ctre/phoenix/cci/Orchestra_CCI.h
+++ b/include/ctre/phoenix/cci/Orchestra_CCI.h
@@ -14,6 +14,7 @@ extern "C" {
 	CCIEXPORT ctre::phoenix::ErrorCode c_Orchestra_Stop(void* handle);
 	CCIEXPORT ctre::phoenix::ErrorCode c_Orchestra_Pause(void* handle);
 	CCIEXPORT ctre::phoenix::ErrorCode c_Orchestra_IsPlaying(void* handle, bool &playing);
+	CCIEXPORT ctre::phoenix::ErrorCode c_Orchestra_GetCurrentTime(void* handle, uint32_t &currentTime);
 
 	CCIEXPORT ctre::phoenix::ErrorCode c_Orchestra_ClearInstruments(void* handle);
 	CCIEXPORT ctre::phoenix::ErrorCode c_Orchestra_AddInstrument(void* handle, void* instrument);
diff --git a/include/ctre/phoenix/cci/PDP_CCI.h b/include/ctre/phoenix/cci/PDP_CCI.h
new file mode 100644
index 0000000..0fde830
--- /dev/null
+++ b/include/ctre/phoenix/cci/PDP_CCI.h
@@ -0,0 +1,6 @@
+#pragma once
+
+#include "ctre/phoenix/cci/CCI.h"
+#include "ctre/phoenix/ErrorCode.h"
+
+CCIEXPORT ctre::phoenix::ErrorCode c_PDP_GetValues(int deviceID, double *voltage, double currents[], int currentCapacity, int *currentsFilled);
\ No newline at end of file
diff --git a/include/ctre/phoenix/cci/PigeonIMU_CCI.h b/include/ctre/phoenix/cci/PigeonIMU_CCI.h
index 8289965..9d27e78 100644
--- a/include/ctre/phoenix/cci/PigeonIMU_CCI.h
+++ b/include/ctre/phoenix/cci/PigeonIMU_CCI.h
@@ -31,8 +31,8 @@
  static std::map<void *, bool> pigeonPresent;
  
  extern "C"{
-	CCIEXPORT void *c_PigeonIMU_Create2(int talonDeviceID);
-	CCIEXPORT void *c_PigeonIMU_Create1(int deviceNumber);
+	CCIEXPORT void *c_PigeonIMU_Create2(int talonDeviceID, const char *version);
+	CCIEXPORT void *c_PigeonIMU_Create1(int deviceNumber, const char *version, const char *canbus);
     CCIEXPORT ctre::phoenix::ErrorCode c_PigeonIMU_Destroy(void *handle);
     CCIEXPORT void c_PigeonIMU_DestroyAll();
 	CCIEXPORT ctre::phoenix::ErrorCode c_PigeonIMU_GetDescription(void *handle, char * toFill, int toFillByteSz, size_t * numBytesFilled);
@@ -55,8 +55,14 @@
 	CCIEXPORT ctre::phoenix::ErrorCode c_PigeonIMU_EnterCalibrationMode(void *handle, int calMode, int timeoutMs);
 	CCIEXPORT ctre::phoenix::ErrorCode c_PigeonIMU_GetGeneralStatus(void *handle, int *state, int *currentMode, int *calibrationError, int *bCalIsBooting, double *tempC, int *upTimeSec, int *noMotionBiasCount, int *tempCompensationCount, int *lastError);
 	CCIEXPORT ctre::phoenix::ErrorCode c_PigeonIMU_GetLastError(void *handle);
+	CCIEXPORT ctre::phoenix::ErrorCode c_PigeonIMU_GetLastTimestamp(void* handle, double* timestamp);
 	CCIEXPORT ctre::phoenix::ErrorCode c_PigeonIMU_Get6dQuaternion(void *handle, double wxyz[4]);
 	CCIEXPORT ctre::phoenix::ErrorCode c_PigeonIMU_GetYawPitchRoll(void *handle, double ypr[3]);
+	CCIEXPORT ctre::phoenix::ErrorCode c_PigeonIMU_GetYawPitchRoll2(void *handle, double ypr[3]);
+	CCIEXPORT ctre::phoenix::ErrorCode c_PigeonIMU_GetYaw(void *handle, double *yaw);
+	CCIEXPORT ctre::phoenix::ErrorCode c_PigeonIMU_GetPitch(void *handle, double *pitch);
+	CCIEXPORT ctre::phoenix::ErrorCode c_PigeonIMU_GetRoll(void *handle, double *roll);
+	CCIEXPORT ctre::phoenix::ErrorCode c_PigeonIMU_GetGravityVector(void *handle, double ypr[3]);
 	CCIEXPORT ctre::phoenix::ErrorCode c_PigeonIMU_GetAccumGyro(void *handle, double xyz_deg[3]);
 	CCIEXPORT ctre::phoenix::ErrorCode c_PigeonIMU_GetAbsoluteCompassHeading(void *handle, double *value);
 	CCIEXPORT ctre::phoenix::ErrorCode c_PigeonIMU_GetCompassHeading(void *handle, double *value);
diff --git a/include/ctre/phoenix/cci/PlatformCAN_CCI.h b/include/ctre/phoenix/cci/PlatformCAN_CCI.h
index 95c93b2..8776bf9 100644
--- a/include/ctre/phoenix/cci/PlatformCAN_CCI.h
+++ b/include/ctre/phoenix/cci/PlatformCAN_CCI.h
@@ -6,7 +6,7 @@
 #include "ctre/phoenix/autocache.h"
 
 extern "C" {
-    CCIEXPORT int32_t c_SetCANInterface(const char * canBusInterface);
+    CCIEXPORT int32_t c_RegisterCANbus(char const *canbus);
     CCIEXPORT ctre::phoenix::ErrorCode c_DestroyAll();
     CCIEXPORT ctre::phoenix::ErrorCode c_StartAll();
     CCIEXPORT void c_Autocache_SetAutocacheLevel(ctre::phoenix::AutocacheState state);
diff --git a/include/ctre/phoenix/cci/Platform_CCI.h b/include/ctre/phoenix/cci/Platform_CCI.h
index 1155158..62e659f 100644
--- a/include/ctre/phoenix/cci/Platform_CCI.h
+++ b/include/ctre/phoenix/cci/Platform_CCI.h
@@ -7,9 +7,10 @@
 using namespace ctre::phoenix::platform;
 
 extern "C" {
-    CCIEXPORT int32_t c_SimCreate(DeviceType type, int id);
-    CCIEXPORT int32_t c_SimDestroy(DeviceType type, int id);
-    CCIEXPORT int32_t c_SimDestroyAll();
-    CCIEXPORT int32_t c_SimConfigGet(DeviceType type, uint32_t param, uint32_t valueToSend, uint32_t & outValueReceived, uint32_t & outSubvalue, uint32_t ordinal, int id);
-    CCIEXPORT int32_t c_SimConfigSet(DeviceType type, uint32_t param, uint32_t value, uint32_t subValue, uint32_t ordinal, int id);
+    CCIEXPORT ctre::phoenix::ErrorCode c_SimCreate(DeviceType type, int id);
+    CCIEXPORT ctre::phoenix::ErrorCode c_SimDestroy(DeviceType type, int id);
+    CCIEXPORT ctre::phoenix::ErrorCode c_SimDestroyAll();
+    CCIEXPORT ctre::phoenix::ErrorCode c_SimSetPhysicsInput(DeviceType type, int id, std::string const &physicsType, double value);
+    CCIEXPORT ctre::phoenix::ErrorCode c_SimGetPhysicsValue(DeviceType type, int id, std::string const &physicsType, double &value);
+    CCIEXPORT ctre::phoenix::ErrorCode c_SimGetLastError(DeviceType type, int id);
 }
diff --git a/include/ctre/phoenix/defs/signalTypes.h b/include/ctre/phoenix/defs/signalTypes.h
deleted file mode 100644
index c26562c..0000000
--- a/include/ctre/phoenix/defs/signalTypes.h
+++ /dev/null
@@ -1,87 +0,0 @@
-#ifndef signalTypes__h_
-#define signalTypes__h_
-
-enum{
-	modeDutyCycleControl = 0,	
-	modePosControl = 1,			
-	modeSpeedControl = 2,		
-	modeCurrentControl = 3,		
-	modeSlaveFollower = 5,		
-	modeMotionProfile = 6,		
-	modeMotionMagic = 7,		
-	motionMagicArc = 8,
-	//9
-	motionProfileArc = 10,
-	//11
-	//12
-	//13
-#ifdef SUPPORT_ONE_SHOT_CONTROL_MODE
-	modeOneShot = 14,
-#endif
-	modeNoDrive = 15,
-};
-
-typedef enum _feedbackDevice_t{
-	kQuadEncoder = 0,
-	//1
-	kAnalog = 2,
-	//3
-	Tachometer= 4,
-	kPulseWidthEncodedPosition = 8,
-	
-	kSensorSum = 9,
-	kSensorDifference = 10,
-	kRemoteSensor0 = 11,
-	kRemoteSensor1 = 12,
-	//13
-	//14
-	kSoftwarEmulatedSensor=15,
-}feedbackDevice_t;
-
-typedef enum _MotProf_OutputType_t {
-	MotProf_OutputType_Disabled = 0,
-	MotProf_OutputType_Enabled,
-	MotProf_OutputType_Hold,
-	MotProf_OutputType_Invalid,
-}MotProf_OutputType_t;
-
-/**
- * Saved to limitSwitchForward_Source/limitSwitchReverse_Source
- */
-typedef enum _LimitSwitchSource_t {
-	LSS_Local=0,
-	LSS_RemoteTalon=1,
-	LSS_RemoteCanif=2,
-	LSS_Deactivated=3,
-}LimitSwitchSource_t;
-
-/**
- * Saved to limitSwitchForward_normClosedAndDis / limitSwitchReverse_normClosedAndDis
- */
-typedef enum _LimitSwitchNormClosedAndDis_t {
-	LSNCD_NormallyOpen=0,
-	LSNCD_NormallyClosed=1,
-	LSNCD_NormallyDisabled=2,
-}LimitSwitchNormClosedAndDis_t;
-
-typedef enum _RemoteSensorSource_t {
-	RSS_Off,
-	RSS_RemoteTalonSelSensor,
-	RSS_RemotePigeon_Yaw,
-	RSS_RemotePigeon_Pitch,
-	RSS_RemotePigeon_Roll,
-	RSS_RemoteCanif_Quad,
-	RSS_RemoteCanif_PWM0,
-	RSS_RemoteCanif_PWM1,
-	RSS_RemoteCanif_PWM2,
-	RSS_RemoteCanif_PWM3,
-} RemoteSensorSource_t;
-
-typedef enum _SensorTermOrdinal_t {
-	SensorTermOrdinal_Sum0 = 0,
-	SensorTermOrdinal_Sum1 = 0,
-	SensorTermOrdinal_Diff0 = 0,
-	SensorTermOrdinal_Diff1 = 0,
-}SensorTermOrdinal_t;
-
-#endif // signalTypes__h_
diff --git a/include/ctre/phoenix/export.h b/include/ctre/phoenix/export.h
new file mode 100644
index 0000000..2d42244
--- /dev/null
+++ b/include/ctre/phoenix/export.h
@@ -0,0 +1,10 @@
+#ifndef CTREXPORT
+
+	#if defined(WIN32) || defined(_WIN32) || defined(_WIN64)
+			#define CTREXPORT	__declspec(dllexport)
+    #elif (defined(__GNUC__) && ((__GNUC__ > 4) || (__GNUC__ == 4) && (__GNUC_MINOR__ > 2))) || __has_attribute(visibility)
+    	    #define CTREXPORT     __attribute__((visibility("default")))
+    #else
+        #define CTREXPORT
+    #endif
+#endif
\ No newline at end of file
diff --git a/include/ctre/phoenix/jni/com_ctre_phoenix_MotorControl_CAN_MotControllerJNI.h b/include/ctre/phoenix/jni/com_ctre_phoenix_MotorControl_CAN_MotControllerJNI.h
index 053a2f5..153d373 100644
--- a/include/ctre/phoenix/jni/com_ctre_phoenix_MotorControl_CAN_MotControllerJNI.h
+++ b/include/ctre/phoenix/jni/com_ctre_phoenix_MotorControl_CAN_MotControllerJNI.h
@@ -18,10 +18,10 @@ JNIEXPORT jlong JNICALL Java_com_ctre_phoenix_motorcontrol_can_MotControllerJNI_
 /*
  * Class:     com_ctre_phoenix_motorcontrol_can_MotControllerJNI
  * Method:    Create2
- * Signature: (Ijava/lang/String;)J
+ * Signature: (Ijava/lang/String;java/lang/String;)J
  */
 JNIEXPORT jlong JNICALL Java_com_ctre_phoenix_motorcontrol_can_MotControllerJNI_Create2
-  (JNIEnv *, jclass, jint, jstring);
+  (JNIEnv *, jclass, jint, jstring, jstring);
 
 /*
  * Class:     com_ctre_phoenix_motorcontrol_can_MotControllerJNI
diff --git a/include/ctre/phoenix/jni/com_ctre_phoenix_OrchestraJNI.h b/include/ctre/phoenix/jni/com_ctre_phoenix_OrchestraJNI.h
index 0d0b1a6..778a537 100644
--- a/include/ctre/phoenix/jni/com_ctre_phoenix_OrchestraJNI.h
+++ b/include/ctre/phoenix/jni/com_ctre_phoenix_OrchestraJNI.h
@@ -63,6 +63,14 @@ JNIEXPORT jint JNICALL Java_com_ctre_phoenix_music_OrchestraJNI_JNI_1Pause
 JNIEXPORT jboolean JNICALL Java_com_ctre_phoenix_music_OrchestraJNI_JNI_1IsPlaying
   (JNIEnv *, jclass, jlong);
 
+/*
+ * Class:     com_ctre_phoenix_OrchestraJNI
+ * Method:    JNI_GetCurrentTime
+ * Signature: (J)Z
+ */
+JNIEXPORT jint JNICALL Java_com_ctre_phoenix_music_OrchestraJNI_JNI_1GetCurrentTime
+  (JNIEnv *, jclass, jlong);
+
 /*
  * Class:     com_ctre_phoenix_OrchestraJNI
  * Method:    JNI_ClearInstruments
diff --git a/include/ctre/phoenix/jni/com_ctre_phoenix_Sensors_PigeonImuJNI.h b/include/ctre/phoenix/jni/com_ctre_phoenix_Sensors_PigeonImuJNI.h
index 5a68bdc..4f8fa38 100644
--- a/include/ctre/phoenix/jni/com_ctre_phoenix_Sensors_PigeonImuJNI.h
+++ b/include/ctre/phoenix/jni/com_ctre_phoenix_Sensors_PigeonImuJNI.h
@@ -10,18 +10,18 @@ extern "C" {
 /*
  * Class:     com_ctre_phoenix_sensors_PigeonImuJNI
  * Method:    JNI_new_PigeonImu_Talon
- * Signature: (I)J
+ * Signature: (ILjava/lang/String;)J
  */
 JNIEXPORT jlong JNICALL Java_com_ctre_phoenix_sensors_PigeonImuJNI_JNI_1new_1PigeonImu_1Talon
-  (JNIEnv *, jclass, jint);
+  (JNIEnv *, jclass, jint, jstring);
 
 /*
  * Class:     com_ctre_phoenix_sensors_PigeonImuJNI
  * Method:    JNI_new_PigeonImu
- * Signature: (I)J
+ * Signature: (ILjava/lang/String;Ljava/lang/String;)J
  */
 JNIEXPORT jlong JNICALL Java_com_ctre_phoenix_sensors_PigeonImuJNI_JNI_1new_1PigeonImu
-  (JNIEnv *, jclass, jint);
+  (JNIEnv *, jclass, jint, jstring, jstring);
 
 /*
  * Class:     com_ctre_phoenix_sensors_PigeonImuJNI
@@ -31,14 +31,6 @@ JNIEXPORT jlong JNICALL Java_com_ctre_phoenix_sensors_PigeonImuJNI_JNI_1new_1Pig
 JNIEXPORT jint JNICALL Java_com_ctre_phoenix_sensors_PigeonImuJNI_JNI_1destroy_1PigeonImu
   (JNIEnv *, jclass, jlong);
 
-/*
- * Class:     com_ctre_phoenix_sensors_PigeonImuJNI
- * Method:    JNI_destroy_AllPigeonImus
- * Signature: ()V
- */
-//JNIEXPORT void JNICALL Java_com_ctre_phoenix_sensors_PigeonImuJNI_JNI_1destroy_1AllPigeonImus
-//  (JNIEnv *, jclass);
-
 /*
  * Class:     com_ctre_phoenix_sensors_PigeonImuJNI
  * Method:    JNI_ConfigSetCustomParam
@@ -199,6 +191,46 @@ JNIEXPORT jint JNICALL Java_com_ctre_phoenix_sensors_PigeonImuJNI_JNI_1Get6dQuat
 JNIEXPORT jint JNICALL Java_com_ctre_phoenix_sensors_PigeonImuJNI_JNI_1GetYawPitchRoll
   (JNIEnv *, jclass, jlong, jdoubleArray);
 
+/*
+ * Class:     com_ctre_phoenix_sensors_PigeonImuJNI
+ * Method:    JNI_GetYawPitchRoll2
+ * Signature: (J[D)I
+ */
+JNIEXPORT jint JNICALL Java_com_ctre_phoenix_sensors_PigeonImuJNI_JNI_1GetYawPitchRoll2
+  (JNIEnv *, jclass, jlong, jdoubleArray);
+
+/*
+ * Class:     com_ctre_phoenix_sensors_PigeonImuJNI
+ * Method:    JNI_GetYaw
+ * Signature: (J)D
+ */
+JNIEXPORT jdouble JNICALL Java_com_ctre_phoenix_sensors_PigeonImuJNI_JNI_1GetYaw
+  (JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     com_ctre_phoenix_sensors_PigeonImuJNI
+ * Method:    JNI_GetPitch
+ * Signature: (J)D
+ */
+JNIEXPORT jdouble JNICALL Java_com_ctre_phoenix_sensors_PigeonImuJNI_JNI_1GetPitch
+  (JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     com_ctre_phoenix_sensors_PigeonImuJNI
+ * Method:    JNI_GetRoll
+ * Signature: (J)D
+ */
+JNIEXPORT jdouble JNICALL Java_com_ctre_phoenix_sensors_PigeonImuJNI_JNI_1GetRoll
+  (JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     com_ctre_phoenix_sensors_PigeonImuJNI
+ * Method:    JNI_GetGravityVector
+ * Signature: (J[D)I
+ */
+JNIEXPORT jint JNICALL Java_com_ctre_phoenix_sensors_PigeonImuJNI_JNI_1GetGravityVector
+  (JNIEnv *, jclass, jlong, jdoubleArray);
+
 /*
  * Class:     com_ctre_phoenix_sensors_PigeonImuJNI
  * Method:    JNI_GetAccumGyro
@@ -335,6 +367,14 @@ JNIEXPORT jint JNICALL Java_com_ctre_phoenix_sensors_PigeonImuJNI_JNI_1GetFirmwa
 JNIEXPORT jint JNICALL Java_com_ctre_phoenix_sensors_PigeonImuJNI_JNI_1GetLastError
   (JNIEnv *, jclass, jlong);
 
+/*
+ * Class:     com_ctre_phoenix_sensors_PigeonImuJNI
+ * Method:    JNI_GetLastTimestamp
+ * Signature: (J)D
+ */
+JNIEXPORT jdouble JNICALL Java_com_ctre_phoenix_sensors_PigeonImuJNI_JNI_1GetLastTimestamp
+  (JNIEnv *, jclass, jlong);
+
 /*
  * Class:     com_ctre_phoenix_sensors_PigeonImuJNI
  * Method:    JNI_HasResetOccurred
diff --git a/include/ctre/phoenix/jni/com_ctre_phoenix_led_CANdleJNI.h b/include/ctre/phoenix/jni/com_ctre_phoenix_led_CANdleJNI.h
new file mode 100644
index 0000000..4d79e0c
--- /dev/null
+++ b/include/ctre/phoenix/jni/com_ctre_phoenix_led_CANdleJNI.h
@@ -0,0 +1,229 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_ctre_phoenix_led_CANdleJNI */
+
+#ifndef _Included_com_ctre_phoenix_led_CANdleJNI
+#define _Included_com_ctre_phoenix_led_CANdleJNI
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     com_ctre_phoenix_led_CANdleJNI
+ * Method:    Create
+ * Signature: (ILjava/lang/String;)J
+ */
+JNIEXPORT jlong JNICALL Java_com_ctre_phoenix_led_CANdleJNI_Create
+  (JNIEnv *, jclass, jint, jstring);
+
+/*
+ * Class:     com_ctre_phoenix_led_CANdleJNI
+ * Method:    GetLastError
+ * Signature: (J)I
+ */
+JNIEXPORT jint JNICALL Java_com_ctre_phoenix_led_CANdleJNI_GetLastError
+  (JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     com_ctre_phoenix_led_CANdleJNI
+ * Method:    GetLastTimestamp
+ * Signature: (J)D
+ */
+JNIEXPORT jdouble JNICALL Java_com_ctre_phoenix_led_CANdleJNI_GetLastTimestamp
+  (JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     com_ctre_phoenix_led_CANdleJNI
+ * Method:    BlockSet
+ * Signature: (JIIIIII)I
+ */
+JNIEXPORT jint JNICALL Java_com_ctre_phoenix_led_CANdleJNI_BlockSet
+  (JNIEnv *, jclass, jlong, jint, jint, jint, jint, jint, jint);
+
+/*
+ * Class:     com_ctre_phoenix_led_CANdleJNI
+ * Method:    SetStandardAnimation
+ * Signature: (JIDDIIDDZI)I
+ */
+JNIEXPORT jint JNICALL Java_com_ctre_phoenix_led_CANdleJNI_SetStandardAnimation
+  (JNIEnv *, jclass, jlong, jint, jdouble, jdouble, jint, jint, jdouble, jdouble, jboolean, jint);
+
+/*
+ * Class:     com_ctre_phoenix_led_CANdleJNI
+ * Method:    SetTwoSizeAnimation
+ * Signature: (JIIIIIDIIIII)I
+ */
+JNIEXPORT jint JNICALL Java_com_ctre_phoenix_led_CANdleJNI_SetTwoSizeAnimation
+  (JNIEnv *, jclass, jlong, jint, jint, jint, jint, jint, jdouble, jint, jint, jint, jint, jint);
+
+/*
+ * Class:     com_ctre_phoenix_led_CANdleJNI
+ * Method:    ClearAnimation
+ * Signature: (JI)I
+ */
+JNIEXPORT jint JNICALL Java_com_ctre_phoenix_led_CANdleJNI_ClearAnimation
+  (JNIEnv *, jclass, jlong, jint);
+
+/*
+ * Class:     com_ctre_phoenix_led_CANdleJNI
+ * Method:    ModulateVBatOutput
+ * Signature: (JD)I
+ */
+JNIEXPORT jint JNICALL Java_com_ctre_phoenix_led_CANdleJNI_ModulateVBatOutput
+  (JNIEnv *, jclass, jlong, jdouble);
+
+/*
+ * Class:     com_ctre_phoenix_led_CANdleJNI
+ * Method:    GetBusVoltage
+ * Signature: (J)D
+ */
+JNIEXPORT jdouble JNICALL Java_com_ctre_phoenix_led_CANdleJNI_GetBusVoltage
+  (JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     com_ctre_phoenix_led_CANdleJNI
+ * Method:    Get5VRailVoltage
+ * Signature: (J)D
+ */
+JNIEXPORT jdouble JNICALL Java_com_ctre_phoenix_led_CANdleJNI_Get5VRailVoltage
+  (JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     com_ctre_phoenix_led_CANdleJNI
+ * Method:    GetCurrent
+ * Signature: (J)D
+ */
+JNIEXPORT jdouble JNICALL Java_com_ctre_phoenix_led_CANdleJNI_GetCurrent
+  (JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     com_ctre_phoenix_led_CANdleJNI
+ * Method:    GetTemperature
+ * Signature: (J)D
+ */
+JNIEXPORT jdouble JNICALL Java_com_ctre_phoenix_led_CANdleJNI_GetTemperature
+  (JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     com_ctre_phoenix_led_CANdleJNI
+ * Method:    GetVbatModulation
+ * Signature: (J)D
+ */
+JNIEXPORT jdouble JNICALL Java_com_ctre_phoenix_led_CANdleJNI_GetVbatModulation
+  (JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     com_ctre_phoenix_led_CANdleJNI
+ * Method:    GetMaxSimultaneousAnimationCount
+ * Signature: (J)I
+ */
+JNIEXPORT jint JNICALL Java_com_ctre_phoenix_led_CANdleJNI_GetMaxSimultaneousAnimationCount
+  (JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     com_ctre_phoenix_led_CANdleJNI
+ * Method:    ConfigGetParameter
+ * Signature: (JIII)D
+ */
+JNIEXPORT jdouble JNICALL Java_com_ctre_phoenix_led_CANdleJNI_ConfigGetParameter
+  (JNIEnv *, jclass, jlong, jint, jint, jint);
+
+/*
+ * Class:     com_ctre_phoenix_led_CANdleJNI
+ * Method:    ConfigSetParameter
+ * Signature: (JIDIII)I
+ */
+JNIEXPORT jint JNICALL Java_com_ctre_phoenix_led_CANdleJNI_ConfigSetParameter
+  (JNIEnv *, jclass, jlong, jint, jdouble, jint, jint, jint);
+
+/*
+ * Class:     com_ctre_phoenix_led_CANdleJNI
+ * Method:    ConfigGetCustomParam
+ * Signature: (JII)I
+ */
+JNIEXPORT jint JNICALL Java_com_ctre_phoenix_led_CANdleJNI_ConfigGetCustomParam
+  (JNIEnv *, jclass, jlong, jint, jint);
+
+/*
+ * Class:     com_ctre_phoenix_led_CANdleJNI
+ * Method:    ConfigSetCustomParam
+ * Signature: (JIII)I
+ */
+JNIEXPORT jint JNICALL Java_com_ctre_phoenix_led_CANdleJNI_ConfigSetCustomParam
+  (JNIEnv *, jclass, jlong, jint, jint, jint);
+
+/*
+ * Class:     com_ctre_phoenix_led_CANdleJNI
+ * Method:    ConfigFactoryDefault
+ * Signature: (JI)I
+ */
+JNIEXPORT jint JNICALL Java_com_ctre_phoenix_led_CANdleJNI_ConfigFactoryDefault
+  (JNIEnv *, jclass, jlong, jint);
+
+/*
+ * Class:     com_ctre_phoenix_led_CANdleJNI
+ * Method:    GetFaults
+ * Signature: (J)I
+ */
+JNIEXPORT jint JNICALL Java_com_ctre_phoenix_led_CANdleJNI_GetFaults
+  (JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     com_ctre_phoenix_led_CANdleJNI
+ * Method:    GetStickyFaults
+ * Signature: (J)I
+ */
+JNIEXPORT jint JNICALL Java_com_ctre_phoenix_led_CANdleJNI_GetStickyFaults
+  (JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     com_ctre_phoenix_led_CANdleJNI
+ * Method:    ClearStickyFaults
+ * Signature: (JI)I
+ */
+JNIEXPORT jint JNICALL Java_com_ctre_phoenix_led_CANdleJNI_ClearStickyFaults
+  (JNIEnv *, jclass, jlong, jint);
+
+/*
+ * Class:     com_ctre_phoenix_led_CANdleJNI
+ * Method:    GetFirmwareVersion
+ * Signature: (J)I
+ */
+JNIEXPORT jint JNICALL Java_com_ctre_phoenix_led_CANdleJNI_GetFirmwareVersion
+  (JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     com_ctre_phoenix_led_CANdleJNI
+ * Method:    HasResetOccurred
+ * Signature: (J)Z
+ */
+JNIEXPORT jboolean JNICALL Java_com_ctre_phoenix_led_CANdleJNI_HasResetOccurred
+  (JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     com_ctre_phoenix_led_CANdleJNI
+ * Method:    SetStatusFramePeriod
+ * Signature: (JIII)I
+ */
+JNIEXPORT jint JNICALL Java_com_ctre_phoenix_led_CANdleJNI_SetStatusFramePeriod
+  (JNIEnv *, jclass, jlong, jint, jint, jint);
+
+/*
+ * Class:     com_ctre_phoenix_led_CANdleJNI
+ * Method:    GetStatusFramePeriod
+ * Signature: (JII)I
+ */
+JNIEXPORT jint JNICALL Java_com_ctre_phoenix_led_CANdleJNI_GetStatusFramePeriod
+  (JNIEnv *, jclass, jlong, jint, jint);
+
+/*
+ * Class:     com_ctre_phoenix_led_CANdleJNI
+ * Method:    SetControlFramePeriod
+ * Signature: (JII)I
+ */
+JNIEXPORT jint JNICALL Java_com_ctre_phoenix_led_CANdleJNI_SetControlFramePeriod
+  (JNIEnv *, jclass, jlong, jint, jint);
+
+#ifdef __cplusplus
+}
+#endif
+#endif
diff --git a/include/ctre/phoenix/jni/com_ctre_phoenix_platform_PlatformJNI.h b/include/ctre/phoenix/jni/com_ctre_phoenix_platform_PlatformJNI.h
index f9bad7d..35db873 100644
--- a/include/ctre/phoenix/jni/com_ctre_phoenix_platform_PlatformJNI.h
+++ b/include/ctre/phoenix/jni/com_ctre_phoenix_platform_PlatformJNI.h
@@ -33,19 +33,27 @@ JNIEXPORT jint JNICALL Java_com_ctre_phoenix_platform_PlatformJNI_JNI_1SimDestro
 
 /*
  * Class:     com_ctre_phoenix_platform_PlatformJNI
- * Method:    JNI_SimConfigGet
- * Signature: (IIIII)I
+ * Method:    JNI_SimSetPhysicsInput
+ * Signature: (IILjava/lang/String;D)I
  */
-JNIEXPORT jint JNICALL Java_com_ctre_phoenix_platform_PlatformJNI_JNI_1SimConfigGet
-  (JNIEnv *, jclass, jint, jint, jint, jint, jint);
+JNIEXPORT jint JNICALL Java_com_ctre_phoenix_platform_PlatformJNI_JNI_1SimSetPhysicsInput
+  (JNIEnv *, jclass, jint, jint, jstring, jdouble);
 
 /*
  * Class:     com_ctre_phoenix_platform_PlatformJNI
- * Method:    JNI_SimConfigSet
- * Signature: (IIIIII)I
+ * Method:    JNI_SimGetPhysicsValue
+ * Signature: (IILjava/lang/String;)D
  */
-JNIEXPORT jint JNICALL Java_com_ctre_phoenix_platform_PlatformJNI_JNI_1SimConfigSet
-  (JNIEnv *, jclass, jint, jint, jint, jint, jint, jint);
+JNIEXPORT jdouble JNICALL Java_com_ctre_phoenix_platform_PlatformJNI_JNI_1SimGetPhysicsValue
+  (JNIEnv *, jclass, jint, jint, jstring);
+
+/*
+ * Class:     com_ctre_phoenix_platform_PlatformJNI
+ * Method:    JNI_SimGetLastError
+ * Signature: (II)I
+ */
+JNIEXPORT jint JNICALL Java_com_ctre_phoenix_platform_PlatformJNI_JNI_1SimGetLastError
+  (JNIEnv *, jclass, jint, jint);
 
 #ifdef __cplusplus
 }
diff --git a/include/ctre/phoenix/jni/com_ctre_phoenix_platform_can_PlatformCANJNI.h b/include/ctre/phoenix/jni/com_ctre_phoenix_platform_can_PlatformCANJNI.h
index 4a7e690..433c697 100644
--- a/include/ctre/phoenix/jni/com_ctre_phoenix_platform_can_PlatformCANJNI.h
+++ b/include/ctre/phoenix/jni/com_ctre_phoenix_platform_can_PlatformCANJNI.h
@@ -9,10 +9,10 @@ extern "C" {
 #endif
 /*
  * Class:     com_ctre_phoenix_platform_can_PlatformCANJNI
- * Method:    JNI_SetCANInterface
+ * Method:    JNI_RegisterCANbus
  * Signature: ([C)I
  */
-JNIEXPORT jint JNICALL Java_com_ctre_phoenix_platform_can_PlatformCANJNI_JNI_1SetCANInterface
+JNIEXPORT jint JNICALL Java_com_ctre_phoenix_platform_can_PlatformCANJNI_JNI_1RegisterCANbus
   (JNIEnv *, jclass, jcharArray);
 
 /*
diff --git a/include/ctre/phoenix/jni/com_ctre_phoenix_sensors_CANCoderJNI.h b/include/ctre/phoenix/jni/com_ctre_phoenix_sensors_CANCoderJNI.h
index 87a4a4e..9703d83 100644
--- a/include/ctre/phoenix/jni/com_ctre_phoenix_sensors_CANCoderJNI.h
+++ b/include/ctre/phoenix/jni/com_ctre_phoenix_sensors_CANCoderJNI.h
@@ -10,10 +10,10 @@ extern "C" {
 /*
  * Class:     com_ctre_phoenix_sensors_CANCoderJNI
  * Method:    Create
- * Signature: (I)J
+ * Signature: (Ijava/lang/String;)J
  */
 JNIEXPORT jlong JNICALL Java_com_ctre_phoenix_sensors_CANCoderJNI_Create
-  (JNIEnv *, jclass, jint);
+  (JNIEnv *, jclass, jint, jstring);
 
 /*
  * Class:     com_ctre_phoenix_sensors_CANCoderJNI
diff --git a/include/ctre/phoenix/led/Animation.h b/include/ctre/phoenix/led/Animation.h
new file mode 100644
index 0000000..f619d20
--- /dev/null
+++ b/include/ctre/phoenix/led/Animation.h
@@ -0,0 +1,53 @@
+#pragma once
+
+#include <cstddef>
+
+namespace ctre{ namespace phoenix{ namespace led{ 
+
+class BaseStandardAnimation;
+class BaseTwoSizeAnimation;
+
+/**
+ * The base class for all animations that CANdle supports.
+ */
+class Animation {
+    int _animationIdx, _numLed, _ledOffset;
+    double _speed;
+public:
+    /**
+     * Constructor for an Animation class
+     * @param idx The animation-specific ID 
+     * @param speed The rate at which the animation runs at. Higher is generally faster
+     * @param numLed The number of LEDs to run the animation on
+     * @param ledOffset Where to start the animation
+     */
+    Animation(int idx, double speed, int numLed, int ledOffset);
+    virtual ~Animation();
+    /**
+     * Sets the speed of the animation
+     * @param speed The rate at which the animation runs at. Higher is generally faster
+     */
+    void SetSpeed(double speed);
+    /**
+     * Sets the number of LEDs the animation will run on
+     * @param numLed The number of LEDs to run the animation on
+     */
+    void SetNumLed(int numLed);
+    /**
+     * Sets where the animation starts along the strip
+     * @param ledOffset Where to start the animation along the strip
+     */
+    void SetLedOffset(int ledOffset);
+
+    virtual BaseStandardAnimation *GetBaseStandardAnimation() = 0;
+    virtual BaseTwoSizeAnimation *GetBaseTwoSizeAnimation() = 0;
+
+    int GetAnimationIdx();
+    double GetSpeed();
+    int GetNumLed();
+    int GetLedOffset();
+};
+
+} // namespace led
+} // namespace phoenix
+} // namespace ctre
\ No newline at end of file
diff --git a/include/ctre/phoenix/led/BaseStandardAnimation.h b/include/ctre/phoenix/led/BaseStandardAnimation.h
new file mode 100644
index 0000000..98cc7db
--- /dev/null
+++ b/include/ctre/phoenix/led/BaseStandardAnimation.h
@@ -0,0 +1,53 @@
+#pragma once
+
+#include "ctre/phoenix/led/Animation.h"
+
+namespace ctre{ namespace phoenix{ namespace led{ 
+
+/**
+ * The base class for one generic type of animation.
+ * These animations do not allow the user to specify a color.
+ */
+class BaseStandardAnimation : public Animation {
+    double _brightness, _param4, _param5;
+    bool _reverseDirection;
+public:
+    /**
+     * Constructor for the BaseStandardAnimation object
+     * @param idx The animation-specific ID
+     * @param brightness The brightness to run the animation at. This is a scalar from [0, 1]
+     * @param speed The rate at which the animation runs at. Higher is generally faster
+     * @param numLed The number of LEDs to run the animation on
+     * @param param4 Animation-specific parameter
+     * @param param5 Animation-specific parameter
+     * @param reverseDirection True to reverse the animation direction, so instead of going "away" from the CANdle, it will go "toward" the CANdle.
+     * @param ledOffset Where to start the animation
+     */
+    BaseStandardAnimation(int idx, double brightness, double speed, int numLed, double param4, double param5, bool reverseDirection, int ledOffset);
+    ~BaseStandardAnimation();
+    
+    BaseStandardAnimation *GetBaseStandardAnimation();
+    BaseTwoSizeAnimation *GetBaseTwoSizeAnimation();
+
+    /**
+     * Sets the brightness of this animation
+     * @param brightness The brightness to run the animation at. This is a scalar from [0, 1]
+     */
+    void SetBrightness(double brightness);
+    void SetParam4(double param4);
+    void SetParam5(double param5);
+    /**
+     * Set the Direction of the animation
+     * @param reverseDirection True to reverse the animation direction, so instead of fire going "away" from the CANdle, it will go "toward" the CANdle.
+     */
+    void SetReverseDirection(bool reverseDirection);
+
+    double GetBrightness();
+    double GetParam4();
+    double GetParam5();
+    bool GetReverseDirection();
+};
+
+} // namespace led
+} // namespace phoenix
+} // namespace ctre
diff --git a/include/ctre/phoenix/led/BaseTwoSizeAnimation.h b/include/ctre/phoenix/led/BaseTwoSizeAnimation.h
new file mode 100644
index 0000000..2a89ad2
--- /dev/null
+++ b/include/ctre/phoenix/led/BaseTwoSizeAnimation.h
@@ -0,0 +1,70 @@
+#pragma once
+
+#include "ctre/phoenix/led/Animation.h"
+
+namespace ctre{ namespace phoenix{ namespace led{ 
+
+/**
+ * The base class for one generic type of animation.
+ * These animations do allow the user to specify a color.
+ */
+class BaseTwoSizeAnimation : public Animation {
+    int _r, _g, _b, _w;
+    int _direction, _size;
+
+public:
+
+    /**
+     * Constructor for the BaseStandardAnimation object
+     * @param idx The animation-specific ID
+     * @param r The amount of red to set, a value between [0, 255]
+     * @param g The amount of green to set, a value between [0, 255]
+     * @param b The amount of blue to set, a value between [0, 255]
+     * @param w The amount of white to set, a value between [0, 255]
+     * @param speed The rate at which the animation runs at. Higher is generally faster
+     * @param numLed The number of LEDs to run the animation on
+     * @param direction An animation-specific parameter for its direction
+     * @param size An animation-specific parameter for its size
+     * @param ledOffset Where to start the animation
+     */
+    BaseTwoSizeAnimation(int idx, int r, int g, int b, int w, double speed, int numLed, int direction, int size, int ledOffset);
+    ~BaseTwoSizeAnimation();
+
+    BaseStandardAnimation *GetBaseStandardAnimation();
+    BaseTwoSizeAnimation *GetBaseTwoSizeAnimation();
+    
+    /**
+     * Sets the R value of the LEDs
+     * @param r The amount of red to set, a value between [0, 255]
+     */
+    void SetR(int r);
+    /**
+     * Sets the G value of the LEDs
+     * @param g The amount of green to set, a value between [0, 255]
+     */
+    void SetG(int g);
+    /**
+     * Sets the B value of the LEDs
+     * @param b The amount of blue to set, a value between [0, 255]
+     */
+    void SetB(int b);
+    /**
+     * Sets the W value of the LEDs
+     * @param w The amount of white to set, a value between [0, 255]
+     */
+    void SetW(int w);
+    void SetDirection(int direction);
+    void SetSize(int size);
+
+    int GetR();
+    int GetG();
+    int GetB();
+    int GetW();
+    int GetDirection();
+    int GetSize();
+};
+
+} // namespace led
+} // namespace phoenix
+} // namespace ctre
+
diff --git a/include/ctre/phoenix/led/CANdle.h b/include/ctre/phoenix/led/CANdle.h
new file mode 100644
index 0000000..cce8a37
--- /dev/null
+++ b/include/ctre/phoenix/led/CANdle.h
@@ -0,0 +1,403 @@
+#pragma once
+
+#include "ctre/phoenix/led/Animation.h"
+#include "ctre/phoenix/led/BaseStandardAnimation.h"
+#include "ctre/phoenix/led/BaseTwoSizeAnimation.h"
+#include "ctre/phoenix/led/CANdleFaults.h"
+#include "ctre/phoenix/led/CANdleStatusFrame.h"
+#include "ctre/phoenix/led/CANdleControlFrame.h"
+#include "ctre/phoenix/led/CANdleConfiguration.h"
+#include "ctre/phoenix/led/CANdleConfigUtil.h"
+#include "ctre/phoenix/led/CANdleLedStripType.h"
+#include "ctre/phoenix/led/VBatOutputMode.h"
+#include "ctre/phoenix/cci/CANdle_CCI.h"
+#include "ctre/phoenix/paramEnum.h"
+#include "ctre/phoenix/ErrorCode.h"
+
+namespace ctre{ namespace phoenix{ namespace led{
+
+/**
+ * CTRE CANdle
+ *
+ * Device for controlling LEDs from the CAN bus.
+ *
+ * <pre>
+ * {@code
+ * // Example usage of a CANdle
+ * CANdle candle{0}; // creates a new CANdle with ID 0
+ *
+ * CANdleConfiguration config;
+ * config.stripType = LEDStripType::RGB; // set the strip type to RGB
+ * config.brightnessScalar = 0.5; // dim the LEDs to half brightness
+ * candle.ConfigAllSettings(config);
+ *
+ * candle.SetLEDs(255, 255, 255); // set the CANdle LEDs to white
+ *
+ * // create a rainbow animation:
+ * // - max brightness
+ * // - half speed
+ * // - 64 LEDs
+ * RainbowAnimation rainbowAnim{1, 0.5, 64};
+ * candle.Animate(rainbowAnim);
+ *
+ * ErrorCode error = candle.GetLastError(); // gets the last error generated by the CANdle
+ * CANdleFaults faults;
+ * ErrorCode faultsError = candle.GetFaults(faults); // fills faults with the current CANdle faults; returns the last error generated
+ * }
+ * </pre>
+ */
+class CANdle {
+private:
+    void *_handle;
+
+
+    ctre::phoenix::ErrorCode AnimateStandard(BaseStandardAnimation& animation, int animSlot);
+    ctre::phoenix::ErrorCode AnimateTwoSize(BaseTwoSizeAnimation& animation, int animSlot);
+public:
+
+    /**
+     * Constructor for a CANdle Device
+     * @param deviceId The Device ID of the CANdle
+	 * @param canbus Name of the CANbus; can be a SocketCAN interface (on Linux),
+	 *               or a CANivore device name or serial number
+     */
+    CANdle(int deviceId, std::string const &canbus = "");
+    ~CANdle();
+
+    /**
+     * Gets the Voltage of VBat as measured by CANdle
+     * @return Voltage of VBat
+     */
+    double GetBusVoltage();
+    /**
+     * Gets the Voltage of the 5V line as measured by CANdle
+     * @return Voltage of the 5V line
+     */
+    double Get5VRailVoltage();
+    /**
+     * Gets the low-side current as measured by CANdle
+     * @return Current in Amps
+     */
+    double GetCurrent();
+    /**
+     * Gets the temperature of the CANdle in Celcius
+     * @return Temperature in Celcius
+     */
+    double GetTemperature();
+    /**
+     * Gets the applied vbat modulation in percent.
+     * If the CANdle is configured to always enable VBat, this returns 1
+     * If the CANdle is confgigured to always disable VBat, this returns 0
+     * Otherwise it returns the last set Modulation as a value [0, 1]
+     * @return VBat Output Modulation
+     */
+    double GetVBatModulation();
+    /**
+     * Gets the maximum number of simultaneous animations this version of CANdle firmware supports.
+     * If you specify an animation slot >= to this return, Phoenix will error out.
+     * You can also get the maximum count from a self-test snapshot.
+     * @return Maximum number of simultaneous animations this version of firmware supports.
+     */
+    int GetMaxSimultaneousAnimationCount();
+
+    /**
+     * Animates the CANdle with the passed-in animation
+     * If the animation changes after calling this function,
+     *  it must be passed into animate again for the changes to take effect
+     * @param animation The animation that CANdle will run. If this is null, it will clear the animation at the specified slot
+     * @param animSlot The animation slot to use for the animation, range is [0, getMaxSimultaneousAnimationCount()) exclusive
+     * @return ErrorCode generated by function. OK indicates no error.
+     */
+    ctre::phoenix::ErrorCode Animate(Animation& animation, int animSlot = 0);
+
+    /**
+     * Clears the animation occurring in the selected selected animSlot.
+     * @param animSlot Animation slot to clear
+     * @return ErrorCode generated by function. OK indicates no error.
+     */
+    ctre::phoenix::ErrorCode ClearAnimation(int animSlot);
+
+    /**
+     * Sets a block of LEDs to the specified color
+     * @param r The amount of Red to set, range is [0, 255]
+     * @param g The amount of Green to set, range is [0, 255]
+     * @param b The amount of Blue to set, range is [0, 255]
+     * @param w The amount of White to set, range is [0, 255]. This only applies for LED strips with white in them.
+     * @param startIdx Where to start setting the LEDs
+     * @param count The number of LEDs to apply this to
+     * @return ErrorCode generated by function. OK indicates no error.
+     */
+    ctre::phoenix::ErrorCode SetLEDs(int r, int g, int b, int w = 0, int startIdx = 0, int count = 512);
+
+    /**
+     * Modulates the VBat output to the specified duty cycle percentage
+     * This function will only do something if the CANdle's VBatOutput is configured to Modulated
+     * @param dutyCyclePrcnt The duty cycle of the output modulation [0, 1]
+     * @return ErrorCode generated by function. OK indicates no error.
+     */
+    ErrorCode ModulateVBatOutput(double dutyCyclePrcnt);
+
+    /**
+     * Configures what the CANdle should do if it loses communications to the Controller
+     * @param disableWhenLOS Set to true to disable the LEDs on Loss of Signal.
+     * @param timeoutMs
+     *            Timeout value in ms. If nonzero, function will wait for
+     *            config success and report an error if it times out.
+     *            If zero, no blocking or checking is performed.
+     * @return ErrorCode generated by function. OK indicates no error.
+     */
+    ErrorCode ConfigLOSBehavior(bool disableWhenLOS, int timeoutMs = 0);
+    /**
+     * Configures the type of LED the CANdle controls
+     * @param type The type of the LEDs the CANdle controls
+     * @param timeoutMs
+     *            Timeout value in ms. If nonzero, function will wait for
+     *            config success and report an error if it times out.
+     *            If zero, no blocking or checking is performed.
+     * @return ErrorCode generated by function. OK indicates no error.
+     */
+    ErrorCode ConfigLEDType(LEDStripType type, int timeoutMs = 0);
+    /**
+     * Configures the brightness scalar to be applied to every LED output.
+     * This value is bounded to [0, 1].
+     *
+     * Setting this to 1 will allow the LEDs to function at max brightness.
+     * Setting this to 0.5 will scale all values to half their applied value.
+     * Setting this to 0 will turn off the LEDs.
+     *
+     * Forcing the LEDs off this way may be useful in certain testing circumstances
+     * but is generally not necessary. Self-test (Tuner) may be used to verify what
+     * the effective scalar is in case user forgot to restore the scalar to a
+     * non-zero value.
+     *
+     * @param brightness Value from [0, 1] that will scale the LED output.
+     * @param timeoutMs
+                    Timeout value in ms. If nonzero, function will wait for
+                    config success and report an error if it times out.
+                    If zero, no blocking or checking is performed.
+     * @return Error Code generated by function. 0 indicates no error.
+     */
+    ErrorCode ConfigBrightnessScalar(double brightness, int timeoutMs = 0);
+
+    /**
+     * Configures how the status led will behave when the CANdle is actively controlling LEDs
+     * If the CANdle is LOS or not actively commanded a value, it will always turn on its status LED.
+     * @param disableWhenRunning Disables the status LED when the CANdle is running
+     * @param timeoutMs
+                    Timeout value in ms. If nonzero, function will wait for
+                    config success and report an error if it times out.
+                    If zero, no blocking or checking is performed.
+     * @return Error Code generated by function. 0 indicates no error.
+     */
+    ErrorCode ConfigStatusLedState(bool disableWhenRunning, int timeoutMs = 0);
+    /**
+     * Configures how the VBat Output will behave
+     * @param mode VBat Output Behavior
+     * @param timeoutMs
+                    Timeout value in ms. If nonzero, function will wait for
+                    config success and report an error if it times out.
+                    If zero, no blocking or checking is performed.
+     * @return Error Code generated by function. 0 indicates no error.
+     */
+    ErrorCode ConfigVBatOutput(VBatOutputMode mode, int timeoutMs = 0);
+    /**
+     * Configures the enable state for the 5V rail. This also affects the on-board LEDs.
+     * @param v5Enabled True to enable the 5V rail.
+     * @param timeoutMs
+     *            Timeout value in ms. If nonzero, function will wait for
+     *            config success and report an error if it times out.
+     *            If zero, no blocking or checking is performed.
+     * @return ErrorCode generated by function. OK indicates no error.
+     */
+    ErrorCode configV5Enabled(bool v5Enabled, int timeoutMs = 0);
+
+    /**
+     * Gets a parameter. Generally this is not used.
+     * This can be utilized in
+     * - Using new features without updating API installation.
+     * - Errata workarounds to circumvent API implementation.
+     * - Allows for rapid testing / unit testing of firmware.
+     *
+     * @param param
+     *            Parameter enumeration.
+     * @param ordinal
+     *            Ordinal of parameter.
+     * @param timeoutMs
+     *            Timeout value in ms. If nonzero, function will wait for
+     *            config success and report an error if it times out.
+     *            If zero, no blocking or checking is performed.
+     * @return Value of parameter.
+     */
+    double ConfigGetParameter(ParamEnum param, int ordinal, int timeoutMs = 0);
+    /**
+     * Sets a parameter. Generally this is not used.
+     * This can be utilized in
+     * - Using new features without updating API installation.
+     * - Errata workarounds to circumvent API implementation.
+     * - Allows for rapid testing / unit testing of firmware.
+     *
+     * @param param
+     *            Parameter enumeration.
+     * @param value
+     *            Value of parameter.
+     * @param subValue
+     *            Subvalue for parameter. Maximum value of 255.
+     * @param ordinal
+     *            Ordinal of parameter.
+     * @param timeoutMs
+     *            Timeout value in ms. If nonzero, function will wait for
+     *            config success and report an error if it times out.
+     *            If zero, no blocking or checking is performed.
+     * @return Error Code generated by function. 0 indicates no error.
+     */
+    ErrorCode ConfigSetParameter(ParamEnum param, double value, int subValue = 0, int ordinal = 0, int timeoutMs = 0);
+    /**
+     * Gets the value of a custom parameter. This is for arbitrary use.
+     *
+     * Sometimes it is necessary to save calibration/duty cycle/output
+     * information in the device. Particularly if the
+     * device is part of a subsystem that can be replaced.
+     *
+     * @param paramIndex
+     *            Index of custom parameter. [0-1]
+     * @param timeoutMs
+     *            Timeout value in ms. If nonzero, function will wait for
+     *            config success and report an error if it times out.
+     *            If zero, no blocking or checking is performed.
+     * @return Value of the custom param.
+     */
+    int ConfigGetCustomParam(int paramIndex, int timeoutMs = 0);
+    /**
+     * Sets the value of a custom parameter. This is for arbitrary use.
+     *
+     * Sometimes it is necessary to save calibration/duty cycle/output
+     * information in the device. Particularly if the
+     * device is part of a subsystem that can be replaced.
+     *
+     * @param newValue
+     *            Value for custom parameter.
+     * @param paramIndex
+     *            Index of custom parameter. [0-1]
+     * @param timeoutMs
+     *            Timeout value in ms. If nonzero, function will wait for
+     *            config success and report an error if it times out.
+     *            If zero, no blocking or checking is performed.
+     * @return Error Code generated by function. 0 indicates no error.
+     */
+    ErrorCode ConfigSetCustomParam(int paramIndex, int value, int timeoutMs = 0);
+    /**
+     * Configures all persistent settings to defaults.
+     *
+     * @param timeoutMs
+     *              Timeout value in ms. If nonzero, function will wait for
+     *              config success and report an error if it times out.
+     *              If zero, no blocking or checking is performed.
+     *
+     * @return Error Code generated by function. 0 indicates no error.
+     */
+    ErrorCode ConfigFactoryDefault(int timeoutMs = 50);
+    /**
+     * Gets the CANdle fault status
+     *
+     * @param toFill Container for fault statuses.
+     * @return Error Code generated by function. OK indicates no error.
+     */
+    ErrorCode GetFaults(CANdleFaults& toFill);
+    /**
+     * Gets the CANdle sticky fault status
+     *
+     * @param toFill Container for sticky fault statuses.
+     * @return Error Code generated by function. OK indicates no error.
+     */
+    ErrorCode GetStickyFaults(CANdleStickyFaults& toFill);
+    /**
+     * Clears the sticky faults.
+     *
+     * @param timeoutMs
+     *            Timeout value in ms. If nonzero, function will wait for
+     *            config success and report an error if it times out.
+     *            If zero, no blocking or checking is performed.
+     * @return Error Code generated by function. 0 indicates no error.
+     */
+    ErrorCode ClearStickyFaults(int timeoutMs = 0);
+    /**
+     * Returns true if the device has reset since last call.
+     *
+     * @return Has a Device Reset Occurred?
+     */
+    bool HasResetOccurred();
+    /**
+     * Sets the period of the given status frame.
+     *
+     * @param frame
+     *            Frame whose period is to be changed.
+     * @param periodMs
+     *            Period in ms for the given frame.
+     * @param timeoutMs
+     *            Timeout value in ms. If nonzero, function will wait for
+     *            config success and report an error if it times out.
+     *            If zero, no blocking or checking is performed.
+     * @return Error Code generated by function. 0 indicates no error.
+     */
+    ErrorCode SetStatusFramePeriod(CANdleStatusFrame frame, int periodMs, int timeoutMs = 0);
+    /**
+     * Gets the period of the given status frame.
+     *
+     * @param frame
+     *            Frame to get the period of.
+     * @param timeoutMs
+     *            Timeout value in ms. If nonzero, function will wait for
+     *            config success and report an error if it times out.
+     *            If zero, no blocking or checking is performed.
+     * @return Period of the given status frame.
+     */
+    int GetStatusFramePeriod(CANdleStatusFrame frame, int timeoutMs = 0);
+	/**
+	 * Sets the period of the given control frame.
+	 *
+	 * @param frame
+	 *            Frame whose period is to be changed.
+	 * @param periodMs
+	 *            Period in ms for the given frame.
+	 * @return Error Code generated by function. 0 indicates no error.
+	 */
+    ErrorCode SetControlFramePeriod(CANdleControlFrame frame, int periodMs);
+
+    /**
+     * Configures all persistent settings.
+     *
+     * @param allConfigs        Object with all of the persistant settings
+     * @param timeoutMs
+     *              Timeout value in ms. If nonzero, function will wait for
+     *              config success and report an error if it times out.
+     *              If zero, no blocking or checking is performed.
+     * @return Error Code generated by function. 0 indicates no error.
+     */
+    ErrorCode ConfigAllSettings(CANdleConfiguration allConfigs, int timeoutMs = 50);
+    /**
+     * Gets all persistant settings.
+     *
+     * @param allConfigs        Object with all of the persistant settings
+     * @param timeoutMs
+     *              Timeout value in ms. If nonzero, function will wait for
+     *              config success and report an error if it times out.
+     *              If zero, no blocking or checking is performed.
+     */
+    void GetAllConfigs(CANdleConfiguration allConfigs, int timeoutMs = 50);
+
+    /**
+     * Call GetLastError() generated by this object.
+     * Not all functions return an error code but can
+     * potentially report errors.
+     *
+     * This function can be used to retrieve those error codes.
+     *
+     * @return The last ErrorCode generated.
+     */
+    ErrorCode GetLastError();
+};
+
+} // namespace led
+} // namespace phoenix
+} // namespace ctre
+
diff --git a/include/ctre/phoenix/led/CANdleConfigUtil.h b/include/ctre/phoenix/led/CANdleConfigUtil.h
new file mode 100644
index 0000000..953f53b
--- /dev/null
+++ b/include/ctre/phoenix/led/CANdleConfigUtil.h
@@ -0,0 +1,26 @@
+#pragma once
+
+#include "ctre/phoenix/led/CANdleConfiguration.h"
+#include "ctre/phoenix/CustomParamConfiguration.h"
+#include "ctre/phoenix/Utilities.h"
+
+namespace ctre{ namespace phoenix{ namespace led{
+
+/**
+ * Util class to help with configuring CANifier
+ */
+class CANdleConfigUtil : public CustomParamConfigUtil{
+	static CANdleConfiguration _default;
+public:
+
+	static bool StripTypeDifferent (CANdleConfiguration settings);
+	static bool BrightnessScalarDifferent (CANdleConfiguration settings);
+	static bool DisableWhenLOSDifferent (CANdleConfiguration settings);
+	static bool StatusLedOffWhenActiveDifferent (CANdleConfiguration settings);
+	static bool VBatOutputModeDifferent (CANdleConfiguration settings);
+	static bool V5EnabledDifferent (CANdleConfiguration settings);
+};
+
+} // namespace led
+} // namespace phoenix
+} // namespace ctre
diff --git a/include/ctre/phoenix/led/CANdleConfiguration.h b/include/ctre/phoenix/led/CANdleConfiguration.h
new file mode 100644
index 0000000..dbbe652
--- /dev/null
+++ b/include/ctre/phoenix/led/CANdleConfiguration.h
@@ -0,0 +1,52 @@
+#pragma once
+
+#include "ctre/phoenix/CustomParamConfiguration.h"
+#include "ctre/phoenix/led/CANdleLedStripType.h"
+#include "ctre/phoenix/led/VBatOutputMode.h"
+#include <string>
+
+namespace ctre{ namespace phoenix{ namespace led{
+
+/**
+ * Configurables available to CANifier
+ */
+struct CANdleConfiguration : public CustomParamConfiguration {
+    /** 
+     * What type of LEDs the CANdle controls
+     */
+    LEDStripType stripType {LEDStripType::RGB};
+    /**
+     * Brightness scalar for all LEDs controlled
+     */
+    double brightnessScalar {1.0};
+    /**
+     * True to turn off LEDs when Loss of Signal occurrs
+     */
+    bool disableWhenLOS {false};
+    /**
+     * True to turn off Status LED when CANdle is actively being controlled
+     */
+    bool statusLedOffWhenActive {false};
+    /**
+     * The behavior of VBat output
+     */
+    VBatOutputMode vBatOutputMode {VBatOutputMode::On};
+    /**
+     * True to turn off the 5V rail. This turns off the on-board LEDs as well.
+     */
+    bool v5Enabled {false};
+
+    CANdleConfiguration();
+
+    /**
+     * @param prependString
+     *              String to prepend to configs
+     * @return String representation of configs
+     */
+    std::string toString(std::string prependString = "");
+
+};
+
+} // namespace led
+} // namespace phoenix
+} // namespace ctre
diff --git a/include/ctre/phoenix/led/CANdleControlFrame.h b/include/ctre/phoenix/led/CANdleControlFrame.h
new file mode 100644
index 0000000..ec072a7
--- /dev/null
+++ b/include/ctre/phoenix/led/CANdleControlFrame.h
@@ -0,0 +1,15 @@
+#pragma once
+
+namespace ctre {
+namespace phoenix {
+namespace led {
+
+/** Enumerated type for status frame types. */
+enum CANdleControlFrame {
+	CANdle_Control_1_General = 0x040000,
+	CANdle_Control_2_ModulatedVBatOutput = 0x040040,
+};
+
+} // namespace led
+} // namespace phoenix
+} // namespace ctre
diff --git a/include/ctre/phoenix/led/CANdleFaults.h b/include/ctre/phoenix/led/CANdleFaults.h
new file mode 100644
index 0000000..fbc9c6f
--- /dev/null
+++ b/include/ctre/phoenix/led/CANdleFaults.h
@@ -0,0 +1,219 @@
+#pragma once
+
+#include <cstdint>
+
+namespace ctre {
+namespace phoenix {
+namespace led{
+
+/**
+ * Faults available to CANdle (Currently has none)
+ */
+struct CANdleFaults {
+	/**
+	 * Device detects hardware failure
+	 */
+	bool HardwareFault;
+	/**
+	 * API error detected.  Make sure API and firmware versions are compatible.
+	 */
+	bool APIError;
+    /**
+     * Boot while receiving an enable frame 
+     */
+    bool BootDuringEnable;
+    /**
+     * VBat is under 5V
+     */
+    bool VBatTooLow;
+    /**
+     * VBat is over 30V
+     */
+    bool VBatTooHigh;
+    /**
+     * 5V Line is under 4 V
+     */
+    bool V5TooLow;
+    /**
+     * 5V Line is over 6V
+     */
+    bool V5TooHigh;
+    /**
+     * Exceeded output current of 6 amps
+     */
+    bool SoftwareFuse;
+    /**
+     * Device is over temperature
+     */
+    bool ThermalFault;
+    /**
+     * Output pin is shorted to something
+     */
+    bool ShortCircuit;
+
+    /**
+     * @return true if any faults are tripped
+     */
+    bool HasAnyFault() const {
+        return  HardwareFault |
+                APIError |
+                BootDuringEnable |
+                VBatTooLow |
+                VBatTooHigh |
+                V5TooLow |
+                V5TooHigh |
+                SoftwareFuse |
+                ThermalFault |
+                ShortCircuit;
+    }
+    /**
+     * @return Current fault list as a bit field
+     */
+    int ToBitfield() const {
+		uint64_t commonFaults = 0;
+        commonFaults |= ShortCircuit ? 1 : 0; commonFaults <<= 1;
+        commonFaults |= ThermalFault ? 1 : 0; commonFaults <<= 1;
+        commonFaults |= SoftwareFuse ? 1 : 0; commonFaults <<= 1;
+        commonFaults |= V5TooLow ? 1 : 0; commonFaults <<= 1;
+        commonFaults |= V5TooHigh ? 1 : 0; commonFaults <<= 1;
+        commonFaults |= VBatTooLow ? 1 : 0; commonFaults <<= 1;
+		commonFaults |= VBatTooHigh ? 1 : 0; commonFaults <<= 1;
+		commonFaults |= BootDuringEnable ? 1 : 0; commonFaults <<= 1;
+		commonFaults |= APIError ? 1 : 0; commonFaults <<= 1;
+		commonFaults |= HardwareFault ? 1 : 0;
+
+        return commonFaults;
+    }
+    void Update(uint64_t bits) {
+        uint64_t mask = 1;
+        HardwareFault  =    (bits & mask) ? true : false; mask <<= 1;
+        APIError =          (bits & mask) ? true : false; mask <<= 1;
+        BootDuringEnable =  (bits & mask) ? true : false; mask <<= 1;
+        VBatTooHigh =       (bits & mask) ? true : false; mask <<= 1;
+        VBatTooLow =        (bits & mask) ? true : false; mask <<= 1;
+        V5TooHigh =         (bits & mask) ? true : false; mask <<= 1;
+        V5TooLow =          (bits & mask) ? true : false; mask <<= 1;
+        SoftwareFuse =      (bits & mask) ? true : false; mask <<= 1;
+        ThermalFault =      (bits & mask) ? true : false; mask <<= 1;
+        ShortCircuit =      (bits & mask) ? true : false; mask <<= 1;
+    }
+    /**
+     * Updates current fault list with specified bit field of faults
+     * 
+     * @param bits bit field of faults to update with
+     */
+    CANdleFaults(int bits) {
+        Update(bits);
+    }
+    CANdleFaults() {
+        Update(0);
+    }
+};
+/**
+ * Faults available to CANdle (Currently has none)
+ */
+struct CANdleStickyFaults {
+	/**
+	 * Device detects hardware failure
+	 */
+	bool HardwareFault;
+	/**
+	 * API error detected.  Make sure API and firmware versions are compatible.
+	 */
+	bool APIError;
+    /**
+     * Boot while receiving an enable frame 
+     */
+    bool BootDuringEnable;
+    /**
+     * VBat is under 5V
+     */
+    bool VBatTooLow;
+    /**
+     * VBat is over 30V
+     */
+    bool VBatTooHigh;
+    /**
+     * 5V Line is under 4 V
+     */
+    bool V5TooLow;
+    /**
+     * 5V Line is over 6V
+     */
+    bool V5TooHigh;
+    /**
+     * Exceeded output current of 6 amps
+     */
+    bool SoftwareFuse;
+    /**
+     * Device is over temperature
+     */
+    bool ThermalFault;
+    /**
+     * Output pin is shorted to something
+     */
+    bool ShortCircuit;
+
+    /**
+     * @return true if any faults are tripped
+     */
+    bool HasAnyFault() const {
+        return  HardwareFault |
+                APIError |
+                BootDuringEnable |
+                VBatTooLow |
+                VBatTooHigh |
+                V5TooLow |
+                V5TooHigh |
+                SoftwareFuse |
+                ThermalFault |
+                ShortCircuit;
+    }
+    /**
+     * @return Current fault list as a bit field
+     */
+    int ToBitfield() const {
+		uint64_t commonFaults = 0;
+        commonFaults |= ShortCircuit ? 1 : 0; commonFaults <<= 1;
+        commonFaults |= ThermalFault ? 1 : 0; commonFaults <<= 1;
+        commonFaults |= SoftwareFuse ? 1 : 0; commonFaults <<= 1;
+        commonFaults |= V5TooLow ? 1 : 0; commonFaults <<= 1;
+        commonFaults |= V5TooHigh ? 1 : 0; commonFaults <<= 1;
+        commonFaults |= VBatTooLow ? 1 : 0; commonFaults <<= 1;
+		commonFaults |= VBatTooHigh ? 1 : 0; commonFaults <<= 1;
+		commonFaults |= BootDuringEnable ? 1 : 0; commonFaults <<= 1;
+		commonFaults |= APIError ? 1 : 0; commonFaults <<= 1;
+		commonFaults |= HardwareFault ? 1 : 0;
+
+        return commonFaults;
+    }
+    void Update(uint64_t bits) {
+        uint64_t mask = 1;
+        HardwareFault  =    (bits & mask) ? true : false; mask <<= 1;
+        APIError =          (bits & mask) ? true : false; mask <<= 1;
+        BootDuringEnable =  (bits & mask) ? true : false; mask <<= 1;
+        VBatTooHigh =       (bits & mask) ? true : false; mask <<= 1;
+        VBatTooLow =        (bits & mask) ? true : false; mask <<= 1;
+        V5TooHigh =         (bits & mask) ? true : false; mask <<= 1;
+        V5TooLow =          (bits & mask) ? true : false; mask <<= 1;
+        SoftwareFuse =      (bits & mask) ? true : false; mask <<= 1;
+        ThermalFault =      (bits & mask) ? true : false; mask <<= 1;
+        ShortCircuit =      (bits & mask) ? true : false; mask <<= 1;
+    }
+    /**
+     * Updates current fault list with specified bit field of faults
+     * 
+     * @param bits bit field of faults to update with
+     */
+    CANdleStickyFaults(int bits) {
+        Update(bits);
+    }
+    CANdleStickyFaults() {
+        Update(0);
+    }
+};
+
+} // led
+} // phoenix
+} // ctre
+
diff --git a/include/ctre/phoenix/led/CANdleLedStripType.h b/include/ctre/phoenix/led/CANdleLedStripType.h
new file mode 100644
index 0000000..b1ea11e
--- /dev/null
+++ b/include/ctre/phoenix/led/CANdleLedStripType.h
@@ -0,0 +1,36 @@
+#pragma once
+
+namespace ctre{ namespace phoenix{ namespace led{
+    /**
+     * The various LED types that the CANdle can support
+     */
+    enum LEDStripType {
+        /**
+         * LEDs that are controlled by Green-Red-Blue values
+         */
+        GRB = 0,
+        /**
+         * LEDs that are controlled by Red-Green-Blue values
+         */
+        RGB = 1,
+        /**
+         * LEDs that are controlled by Blue-Red-Green values
+         */
+        BRG = 2,
+        /**
+         * LEDs that are controlled by Green-Red-Blue-White values
+         */
+        GRBW = 6,
+        /**
+         * LEDs that are controlled by Red-Green-Blue-White values
+         */
+        RGBW = 7,
+        /**
+         * LEDs that are controlled by Blue-Red-Green-White values
+         */
+        BRGW = 8,
+    };
+    
+} // namespace led
+} // namespace phoenix
+} // namespace ctre
diff --git a/include/ctre/phoenix/led/CANdleStatusFrame.h b/include/ctre/phoenix/led/CANdleStatusFrame.h
new file mode 100644
index 0000000..03e0cb1
--- /dev/null
+++ b/include/ctre/phoenix/led/CANdleStatusFrame.h
@@ -0,0 +1,20 @@
+#pragma once
+
+namespace ctre {
+namespace phoenix {
+namespace led {
+
+/** Enumerated type for status frame types. */
+enum CANdleStatusFrame {
+    CANdleStatusFrame_Status_1_General              = 0x041400,
+    CANdleStatusFrame_Status_2_Startup              = 0x041440,
+    CANdleStatusFrame_Status_3_FirmwareApiStatus    = 0x041480,
+    CANdleStatusFrame_Status_4_ControlTelem         = 0x0414C0,
+    CANdleStatusFrame_Status_5_PixelPulseTrain      = 0x041500,
+    CANdleStatusFrame_Status_6_BottomPixels         = 0x041540,
+    CANdleStatusFrame_Status_7_TopPixels            = 0x041580,
+};
+
+} // namespace led
+} // namespace phoenix
+} // namespace ctre
diff --git a/include/ctre/phoenix/led/ColorFlowAnimation.h b/include/ctre/phoenix/led/ColorFlowAnimation.h
new file mode 100644
index 0000000..0cca714
--- /dev/null
+++ b/include/ctre/phoenix/led/ColorFlowAnimation.h
@@ -0,0 +1,48 @@
+#pragma once
+
+#include "ctre/phoenix/led/BaseTwoSizeAnimation.h"
+
+namespace ctre {namespace phoenix {namespace led {
+    
+/**
+ * Animation that gradually lights the entire LED strip one LED at a time.
+ */
+class ColorFlowAnimation : public BaseTwoSizeAnimation {
+public:
+    /**
+     * What direction does the color go
+     */
+    enum Direction {
+        /**
+         * Color goes forward, away from CANdle
+         */
+        Forward = 0,
+        /**
+         * Color goes backward, toward CANdle
+         */
+        Backward = 1,
+    };
+
+    /**
+     * Constructor for a ColorFlowAnimation
+     * @param r How much red should the color have [0, 255]
+     * @param g How much green should the color have [0, 255]
+     * @param b How much blue should the color have [0, 255]
+     * @param w How much white should the color have [0, 255]
+     * @param speed How fast should the color travel the strip [0, 1]
+     * @param numLed How many LEDs is the CANdle controlling
+     * @param direction What direction should the color move in
+     * @param ledOffset Where to start the animation
+     */
+    ColorFlowAnimation(int r, int g, int b, int w, double speed = 1, int numLed = -1, Direction direction = Direction::Forward, int ledOffset = 0);
+
+    /**
+     * Sets the direction the color flow moves in
+     * @param direction What direction should the color move in
+     */
+    void SetDirection(Direction direction);
+};
+
+} // namespace led
+} // namespace phoenix
+} // namespace ctre
diff --git a/include/ctre/phoenix/led/FireAnimation.h b/include/ctre/phoenix/led/FireAnimation.h
new file mode 100644
index 0000000..76aec08
--- /dev/null
+++ b/include/ctre/phoenix/led/FireAnimation.h
@@ -0,0 +1,37 @@
+#pragma once
+
+#include "ctre/phoenix/led/BaseStandardAnimation.h"
+
+namespace ctre {namespace phoenix {namespace led {
+
+/**
+ * Animation that looks similarly to a flame flickering
+ */
+class FireAnimation : public BaseStandardAnimation {
+public:
+    /**
+     * Constructor for a FireAnimation
+     * @param brightness How bright should the animation be [0, 1]
+     * @param speed How fast will the flame be processed at [0, 1]
+     * @param numLed How many LEDs is the CANdle controlling
+     * @param sparking The rate at which the Fire "Sparks" [0, 1]
+     * @param cooling The rate at which the Fire "Cools" along the travel [0, 1]
+     * @param reverseDirection True to reverse the animation direction, so instead of fire going "away" from the CANdle, it will go "toward" the CANdle.
+     * @param ledOffset Where to start the animation
+     */
+    FireAnimation(double brightness = 1, double speed = 1, int numLed = -1, double sparking = 1, double cooling = 1, bool reverseDirection = false, int ledOffset = 0);
+    /**
+     * Sets the sparking value of the FireAnimation
+     * @param sparking The rate at which the Fire "Sparks" [0, 1]
+     */
+    void SetSparking(double sparking);
+    /**
+     * Sets the cooling value of the FireAnimation
+     * @param cooling The rate at which the Fire "Cools" [0, 1]
+     */
+    void SetCooling(double cooling);
+};
+
+} // namespace led
+} // namespace phoenix
+} // namespace ctre
diff --git a/include/ctre/phoenix/led/LarsonAnimation.h b/include/ctre/phoenix/led/LarsonAnimation.h
new file mode 100644
index 0000000..59e93df
--- /dev/null
+++ b/include/ctre/phoenix/led/LarsonAnimation.h
@@ -0,0 +1,58 @@
+#pragma once
+
+#include "ctre/phoenix/led/BaseTwoSizeAnimation.h"
+
+namespace ctre {namespace phoenix {namespace led {
+
+/**
+ * Animation that sends a pocket of light across the LED strip.
+ */
+class LarsonAnimation : public BaseTwoSizeAnimation {
+public:
+    /**
+     * How the pocket of light behaves when it reaches the end of the strip
+     */
+    enum BounceMode {
+        /**
+         * Bounce the pocket as soon as the first LED reaches the end of the strip
+         */
+        Front = 0,
+        /**
+         * Bounce the pocket once it is midway through the end of the strip
+         */
+        Center = 1,
+        /**
+         * Bounce the pocket once all the LEDs are off the strip
+         */
+        Back = 2,
+    };
+    /**
+     * Constructor for a LarsonAnimation
+     * @param r How much red should the color have [0, 255]
+     * @param g How much green should the color have [0, 255]
+     * @param b How much blue should the color have [0, 255]
+     * @param w How much white should the color have [0, 255]
+     * @param speed How fast should the color travel the strip [0, 1]
+     * @param numLed The number of LEDs the CANdle will control
+     * @param mode How the pocket of LEDs will behave once it reaches the end of the strip
+     * @param size How large the pocket of LEDs are [0, 7]
+     * @param ledOffset Where to start the animation
+     */
+    LarsonAnimation(int r, int g, int b, int w = 0, double speed = 1, int numLed = -1, BounceMode mode = BounceMode::Front, int size = 2, int ledOffset = 0);
+
+    /**
+     * Sets the bounce mode of the animation.
+     * @param mode How the pocket of LEDs will behave once it reaches the end of the strip
+     */
+    void SetBounceMode(BounceMode mode);
+    
+    /**
+     * Sets the size of the pocket of LEDs
+     * @param size The size of the pocket [0, 7]
+     */
+    void SetSize(int size);
+};
+
+} // namespace led
+} // namespace phoenix
+} // namespace ctre
diff --git a/include/ctre/phoenix/led/RainbowAnimation.h b/include/ctre/phoenix/led/RainbowAnimation.h
new file mode 100644
index 0000000..a30c209
--- /dev/null
+++ b/include/ctre/phoenix/led/RainbowAnimation.h
@@ -0,0 +1,25 @@
+#pragma once
+
+#include "ctre/phoenix/led/BaseStandardAnimation.h"
+
+namespace ctre {namespace phoenix {namespace led {
+
+/**
+ * Animation that creates a rainbow throughout all the LEDs
+ */
+class RainbowAnimation : public BaseStandardAnimation {
+public:
+    /**
+     * Constructor for a RainbowAnimation
+     * @param brightness The brightness of the LEDs [0, 1]
+     * @param speed How fast the rainbow travels through the leds [0, 1]
+     * @param numLed How many LEDs are controlled by the CANdle
+     * @param reverseDirection True to reverse the animation direction, so instead of going "toward" the CANdle, it will go "away" from the CANdle.
+     * @param ledOffset Where to start the animation
+     */
+    RainbowAnimation(double brightness = 1, double speed = 1, int numLed = -1, bool reverseDirection = false, int ledOffset = 0);
+};
+
+} // namespace led
+} // namespace phoenix
+} // namespace ctre
diff --git a/include/ctre/phoenix/led/RgbFadeAnimation.h b/include/ctre/phoenix/led/RgbFadeAnimation.h
new file mode 100644
index 0000000..1851798
--- /dev/null
+++ b/include/ctre/phoenix/led/RgbFadeAnimation.h
@@ -0,0 +1,24 @@
+#pragma once
+
+#include "ctre/phoenix/led/BaseStandardAnimation.h"
+
+namespace ctre {namespace phoenix {namespace led {
+
+/**
+ * Animation that fades all the LEDs of a strip simultaneously between Red, Green, and Blue
+ */
+class RgbFadeAnimation : public BaseStandardAnimation {
+public:
+    /**
+     * Constructor for an RgbFadeAnimation
+     * @param brightness How bright the LEDs are [0, 1]
+     * @param speed How fast the LEDs fade between Red, Green, and Blue [0, 1]
+     * @param numLed How many LEDs are controlled by the CANdle
+     * @param ledOffset Where to start the animation
+     */
+    RgbFadeAnimation(double brightness = 1, double speed = 1, int numLed = -1, int ledOffset = 0);
+};
+
+} // namespace led
+} // namespace phoenix
+} // namespace ctre
diff --git a/include/ctre/phoenix/led/SingleFadeAnimation.h b/include/ctre/phoenix/led/SingleFadeAnimation.h
new file mode 100644
index 0000000..f03f336
--- /dev/null
+++ b/include/ctre/phoenix/led/SingleFadeAnimation.h
@@ -0,0 +1,27 @@
+#pragma once
+
+#include "ctre/phoenix/led/BaseTwoSizeAnimation.h"
+
+namespace ctre {namespace phoenix {namespace led {
+
+/**
+ * Animation that fades into and out of a specified color
+ */
+class SingleFadeAnimation : public BaseTwoSizeAnimation {
+public:
+    /**
+     * Constructor for a SingleFadeAnimation
+     * @param r How much red should the color have [0, 255]
+     * @param g How much green should the color have [0, 255]
+     * @param b How much blue should the color have [0, 255]
+     * @param w How much white should the color have [0, 255]
+     * @param speed How fast should the color travel the strip [0, 1]
+     * @param numLed How many LEDs the CANdle controls
+     * @param ledOffset Where to start the animation
+     */
+    SingleFadeAnimation(int r, int g, int b, int w = 0, double speed = 1, int numLed = -1, int ledOffset = 0);
+};
+
+} // namespace led
+} // namespace phoenix
+} // namespace ctre
diff --git a/include/ctre/phoenix/led/StrobeAnimation.h b/include/ctre/phoenix/led/StrobeAnimation.h
new file mode 100644
index 0000000..eabbdab
--- /dev/null
+++ b/include/ctre/phoenix/led/StrobeAnimation.h
@@ -0,0 +1,27 @@
+#pragma once
+
+#include "ctre/phoenix/led/BaseTwoSizeAnimation.h"
+
+namespace ctre {namespace phoenix {namespace led {
+
+/**
+ * Animation that strobes the LEDs a specified color
+ */
+class StrobeAnimation : public BaseTwoSizeAnimation {
+public:
+    /**
+     * Constructor for a StrobeAnimation
+     * @param r How much red should the color have [0, 255]
+     * @param g How much green should the color have [0, 255]
+     * @param b How much blue should the color have [0, 255]
+     * @param w How much white should the color have [0, 255]
+     * @param speed How fast should the color travel the strip [0, 1]
+     * @param numLed How many LEDs the CANdle controls
+     * @param ledOffset Where to start the animation
+     */
+    StrobeAnimation(int r, int g, int b, int w = 0, double speed = 1, int numLed = -1, int ledOffset = 0);
+};
+
+} // namespace led
+} // namespace phoenix
+} // namespace ctre
diff --git a/include/ctre/phoenix/led/TwinkleAnimation.h b/include/ctre/phoenix/led/TwinkleAnimation.h
new file mode 100644
index 0000000..982f490
--- /dev/null
+++ b/include/ctre/phoenix/led/TwinkleAnimation.h
@@ -0,0 +1,71 @@
+#pragma once
+
+#include "ctre/phoenix/led/BaseTwoSizeAnimation.h"
+
+namespace ctre {namespace phoenix {namespace led {
+
+/**
+ * Animation that randomly turns LEDs on and off to a certain color 
+ */
+class TwinkleAnimation : public BaseTwoSizeAnimation {
+public:
+    /**
+     * The percentage of LEDs that are allowed to be on at any one point
+     */
+    enum TwinklePercent {
+        /**
+         * All the LEDs are allowed to turn on
+         */
+        Percent100 = 0,
+        /**
+         * 88% of LEDs are allowed to turn on
+         */
+        Percent88 = 1,
+        /**
+         * 76% of LEDs are allowed to turn on
+         */
+        Percent76 = 2,
+        /**
+         * 64% of LEDs are allowed to turn on
+         */
+        Percent64 = 3,
+        /**
+         * 42% of LEDs are allowed to turn on
+         */
+        Percent42 = 4,
+        /**
+         * 30% of LEDs are allowed to turn on
+         */
+        Percent30 = 5,
+        /**
+         * 18% of LEDs are allowed to turn on
+         */
+        Percent18 = 6,
+        /**
+         * 6% of LEDs are allowed to turn on
+         */
+        Percent6 = 7,
+    };
+
+    /**
+     * Constructor for a TwinkleAnimation
+     * @param r How much red should the color have [0, 255]
+     * @param g How much green should the color have [0, 255]
+     * @param b How much blue should the color have [0, 255]
+     * @param w How much white should the color have [0, 255]
+     * @param speed How fast should the color travel the strip [0, 1]
+     * @param numLed How many LEDs the CANdle controls
+     * @param divider What percentage of LEDs can be on at any point
+     * @param ledOffset Where to start the animation
+     */
+    TwinkleAnimation(int r, int g, int b, int w = 0, double speed = 1, int numLed = -1, TwinklePercent divider = TwinklePercent::Percent100, int ledOffset = 0);
+    /**
+     * Sets the percentage of LEDs that are allowed on
+     * @param divider The percentage of LEDs that are allowed on at any point
+     */
+    void SetDivider(TwinklePercent divider);
+};
+
+} // namespace led
+} // namespace phoenix
+} // namespace ctre
diff --git a/include/ctre/phoenix/led/TwinkleOffAnimation.h b/include/ctre/phoenix/led/TwinkleOffAnimation.h
new file mode 100644
index 0000000..4ed3cd8
--- /dev/null
+++ b/include/ctre/phoenix/led/TwinkleOffAnimation.h
@@ -0,0 +1,71 @@
+#pragma once
+
+#include "ctre/phoenix/led/BaseTwoSizeAnimation.h"
+
+namespace ctre {namespace phoenix {namespace led {
+
+/**
+ * Animation that randomly turns on LEDs, until it reaches the maximum count and turns them all off
+ */
+class TwinkleOffAnimation : public BaseTwoSizeAnimation {
+public:
+    /**
+     * The maximum percentage of LEDs that are allowed to turn on
+     */
+    enum TwinkleOffPercent {
+        /**
+         * All the LEDs are allowed to turn on
+         */
+        Percent100 = 0,
+        /**
+         * 88% of LEDs are allowed to turn on
+         */
+        Percent88 = 1,
+        /**
+         * 76% of LEDs are allowed to turn on
+         */
+        Percent76 = 2,
+        /**
+         * 64% of LEDs are allowed to turn on
+         */
+        Percent64 = 3,
+        /**
+         * 42% of LEDs are allowed to turn on
+         */
+        Percent42 = 4,
+        /**
+         * 30% of LEDs are allowed to turn on
+         */
+        Percent30 = 5,
+        /**
+         * 18% of LEDs are allowed to turn on
+         */
+        Percent18 = 6,
+        /**
+         * 6% of LEDs are allowed to turn on
+         */
+        Percent6 = 7,
+    };
+
+    /**
+     * Constructor for a TwinkleAnimation
+     * @param r How much red should the color have [0, 255]
+     * @param g How much green should the color have [0, 255]
+     * @param b How much blue should the color have [0, 255]
+     * @param w How much white should the color have [0, 255]
+     * @param speed How fast should the color travel the strip [0, 1]
+     * @param numLed How many LEDs the CANdle controls
+     * @param divider What percentage of LEDs can be on at any point
+     * @param ledOffset Where to start the animation
+     */
+    TwinkleOffAnimation(int r, int g, int b, int w = 0, double speed = 1, int numLed = -1, TwinkleOffPercent divider = TwinkleOffPercent::Percent100, int ledOffset = 0);
+    /**
+     * Sets the percentage of LEDs that are allowed on
+     * @param divider The percentage of LEDs that are allowed on at any point
+     */
+    void SetDivider(TwinkleOffPercent divider);
+};
+
+} // namespace led
+} // namespace phoenix
+} // namespace ctre
diff --git a/include/ctre/phoenix/led/VBatOutputMode.h b/include/ctre/phoenix/led/VBatOutputMode.h
new file mode 100644
index 0000000..2ce3019
--- /dev/null
+++ b/include/ctre/phoenix/led/VBatOutputMode.h
@@ -0,0 +1,24 @@
+#pragma once
+
+namespace ctre{ namespace phoenix{ namespace led{
+    
+    /**
+     * The various methods of managing the VBat output behavior
+     */
+    enum VBatOutputMode {
+        /**
+         * VBat output is on at full power, no modulation
+         */
+        On = 0,
+        /**
+         * VBat output is off, no modulation
+         */
+        Off = 1,
+        /**
+         * VBat output is on at the specified modulation
+         */
+        Modulated = 2,
+    };
+} // namespace led
+} // namespace phoenix
+} // namespace ctre
diff --git a/include/ctre/phoenix/motorcontrol/FeedbackDevice.h b/include/ctre/phoenix/motorcontrol/FeedbackDevice.h
index bf4c28a..04adbe9 100644
--- a/include/ctre/phoenix/motorcontrol/FeedbackDevice.h
+++ b/include/ctre/phoenix/motorcontrol/FeedbackDevice.h
@@ -29,7 +29,7 @@ namespace ctre {
 				 */
 				Tachometer = 4,
 				/**
-				 * CTRE Mag Encoder in Relative mode or
+				 * CTRE Mag Encoder in Absolute mode or
 				 * any other device that uses PWM to encode its output
 				 */
 				PulseWidthEncodedPosition = 8,
@@ -88,7 +88,7 @@ namespace ctre {
 				 */
 				Tachometer = 4,
 				/**
-				 * CTRE Mag Encoder in Relative mode or
+				 * CTRE Mag Encoder in Absolute mode or
 				 * any other device that uses PWM to encode its output
 				 */
 				PulseWidthEncodedPosition = 8,
diff --git a/include/ctre/phoenix/motorcontrol/IMotorController.h b/include/ctre/phoenix/motorcontrol/IMotorController.h
index a81636e..747e9d0 100644
--- a/include/ctre/phoenix/motorcontrol/IMotorController.h
+++ b/include/ctre/phoenix/motorcontrol/IMotorController.h
@@ -23,6 +23,11 @@ namespace ctre {
 namespace phoenix {
 namespace motorcontrol {
 
+namespace can {
+// Forward-Proto BaseTalon
+class BaseTalon; 
+}
+
 /**
  * Interface for motor controllers
  */
@@ -51,22 +56,6 @@ class IMotorController: public virtual IFollower {
 	 */
 	virtual void Set(ControlMode Mode, double demand) = 0;
 	/**
-     * @deprecated use 4 parameter set
-	 * @param Mode Sets the appropriate output on the talon, depending on the mode.
-	 * @param demand0 The output value to apply.
-	 * 	such as advanced feed forward and/or auxiliary close-looping in firmware.
-	 * In PercentOutput, the output is between -1.0 and 1.0, with 0.0 as stopped.
-	 * In Current mode, output value is in amperes.
-	 * In Velocity mode, output value is in position change / 100ms.
-	 * In Position mode, output value is in encoder ticks or an analog value,
-	 *   depending on the sensor. See
-	 * In Follower mode, the output value is the integer device ID of the talon to
-	 * duplicate.
-	 *
-	 * @param demand1 Supplemental value.  This will also be control mode specific for future features.
-	 */
-	virtual void Set(ControlMode Mode, double demand0, double demand1) = 0;
-	/**
 	 * @param mode Sets the appropriate output on the talon, depending on the mode.
 	 * @param demand0 The output value to apply.
 	 * 	such as advanced feed forward and/or auxiliary close-looping in firmware.
@@ -420,6 +409,23 @@ class IMotorController: public virtual IFollower {
 	 * @return Error Code generated by function. 0 indicates no error.
 	 */
 	virtual ErrorCode ConfigRemoteFeedbackFilter(ctre::phoenix::sensors::CANCoder &canCoderRef, int remoteOrdinal, int timeoutMs = 0)= 0;
+	/**
+	 * Select what remote device and signal to assign to Remote Sensor 0 or Remote Sensor 1.
+	 * After binding a remote device and signal to Remote Sensor X, you may select Remote Sensor X
+	 * as a PID source for closed-loop features.
+	 *
+	 * @param talonRef
+	 *            Talon device reference to use.
+	 * @param remoteOrdinal
+	 *            0 for configuring Remote Sensor 0,
+	 *            1 for configuring Remote Sensor 1
+	 * @param timeoutMs
+	 *            Timeout value in ms. If nonzero, function will wait for
+	 *            config success and report an error if it times out.
+	 *            If zero, no blocking or checking is performed.
+	 * @return Error Code generated by function. 0 indicates no error.
+	 */
+    virtual ErrorCode ConfigRemoteFeedbackFilter(ctre::phoenix::motorcontrol::can::BaseTalon &talonRef, int remoteOrdinal, int timeoutMs = 0)= 0;
 	/**
 	 * Select what sensor term should be bound to switch feedback device.
 	 * Sensor Sum = Sensor Sum Term 0 - Sensor Sum Term 1
@@ -447,7 +453,7 @@ class IMotorController: public virtual IFollower {
 	 *
 	 * @return Position of selected sensor (in raw sensor units).
 	 */
-	virtual int GetSelectedSensorPosition(int pidIdx = 0) = 0;
+	virtual double GetSelectedSensorPosition(int pidIdx = 0) = 0;
 	/**
 	 * Get the selected sensor velocity.
 	 *
@@ -456,7 +462,7 @@ class IMotorController: public virtual IFollower {
 	 * @return selected sensor (in raw sensor units) per 100ms.
 	 * See Phoenix-Documentation for how to interpret.
 	 */
-	virtual int GetSelectedSensorVelocity(int pidIdx = 0) = 0;
+	virtual double GetSelectedSensorVelocity(int pidIdx = 0) = 0;
 	/**
 	 * Sets the sensor position to the given value.
 	 *
@@ -470,7 +476,7 @@ class IMotorController: public virtual IFollower {
 	 *            If zero, no blocking or checking is performed.
 	 * @return Error Code generated by function. 0 indicates no error.
 	 */
-	virtual ErrorCode SetSelectedSensorPosition(int sensorPos, int pidIdx = 0,
+	virtual ErrorCode SetSelectedSensorPosition(double sensorPos, int pidIdx = 0,
 			int timeoutMs = 50) = 0;
 
 	//------ status frame period changes ----------//
@@ -590,7 +596,7 @@ class IMotorController: public virtual IFollower {
 	 *            If zero, no blocking or checking is performed.
 	 * @return Error Code generated by function. 0 indicates no error.
 	 */
-	virtual ErrorCode ConfigForwardSoftLimitThreshold(int forwardSensorLimit,
+	virtual ErrorCode ConfigForwardSoftLimitThreshold(double forwardSensorLimit,
 			int timeoutMs = 0) = 0;
 	/**
 	 * Configures the reverse soft limit threshold.
@@ -603,7 +609,7 @@ class IMotorController: public virtual IFollower {
 	 *            If zero, no blocking or checking is performed.
 	 * @return Error Code generated by function. 0 indicates no error.
 	 */
-	virtual ErrorCode ConfigReverseSoftLimitThreshold(int reverseSensorLimit,
+	virtual ErrorCode ConfigReverseSoftLimitThreshold(double reverseSensorLimit,
 			int timeoutMs = 0) = 0;
 	/**
 	 * Configures the forward soft limit enable.
@@ -733,7 +739,7 @@ class IMotorController: public virtual IFollower {
 	 *            blocking or checking is performed.
 	 * @return Error Code generated by function. 0 indicates no error.
 	 */
-	virtual ErrorCode Config_IntegralZone(int slotIdx, int izone,
+	virtual ErrorCode Config_IntegralZone(int slotIdx, double izone,
 			int timeoutMs = 0) = 0;
 	/**
 	 * Sets the allowable closed-loop error in the given parameter slot.
@@ -749,7 +755,7 @@ class IMotorController: public virtual IFollower {
 	 * @return Error Code generated by function. 0 indicates no error.
 	 */
 	virtual ErrorCode ConfigAllowableClosedloopError(int slotIdx,
-			int allowableCloseLoopError, int timeoutMs = 0) = 0;
+			double allowableCloseLoopError, int timeoutMs = 0) = 0;
 	/**
 	 * Sets the maximum integral accumulator in the given parameter slot.
 	 *
@@ -860,7 +866,7 @@ class IMotorController: public virtual IFollower {
 	 *            0 for Primary closed-loop. 1 for auxiliary closed-loop.
 	 * @return Closed-loop error value.
 	 */
-	virtual int GetClosedLoopError(int pidIdx = 0) = 0;
+	virtual double GetClosedLoopError(int pidIdx = 0) = 0;
 	/**
 	 * Gets the iaccum value.
 	 *
@@ -904,7 +910,7 @@ class IMotorController: public virtual IFollower {
 	 *            0 for Primary closed-loop. 1 for auxiliary closed-loop.
 	 * @return The Active Trajectory Position in sensor units.
 	 */
-	virtual int GetActiveTrajectoryPosition(int pidIdx = 0) = 0;
+	virtual double GetActiveTrajectoryPosition(int pidIdx = 0) = 0;
 	/**
 	 * Gets the active trajectory target velocity for using
 	 * MotionMagic/MotionProfile control modes.
@@ -913,7 +919,7 @@ class IMotorController: public virtual IFollower {
 	 *            0 for Primary closed-loop. 1 for auxiliary closed-loop.
 	 * @return The Active Trajectory Velocity in sensor units per 100ms.
 	 */
-	virtual int GetActiveTrajectoryVelocity(int pidIdx = 0) = 0;
+	virtual double GetActiveTrajectoryVelocity(int pidIdx = 0) = 0;
 	/**
 	 * Gets the active trajectory arbitrary feedforward using
 	 * MotionMagic/MotionProfile control modes.
@@ -924,14 +930,6 @@ class IMotorController: public virtual IFollower {
 	 * 			(where 0.01 is 1%).
 	 */
 	virtual double GetActiveTrajectoryArbFeedFwd(int pidIdx = 0) = 0;
-	/**
-	 * Gets the active trajectory target heading using
-	 * MotionMagicArc/MotionProfileArc control modes.
-	 *
-	 * @return The Active Trajectory Heading in degrees.
-	 * @deprecated Use {@link #GetActiveTrajectoryPosition(int)} with 1 passed as an argument instead.
-	 */
-	virtual double GetActiveTrajectoryHeading() = 0;
 
 	//------ Motion Profile Settings used in Motion Magic  ----------//
 	/**
@@ -946,7 +944,7 @@ class IMotorController: public virtual IFollower {
 	 *            blocking or checking is performed.
 	 * @return Error Code generated by function. 0 indicates no error.
 	 */
-	virtual ErrorCode ConfigMotionCruiseVelocity(int sensorUnitsPer100ms,
+	virtual ErrorCode ConfigMotionCruiseVelocity(double sensorUnitsPer100ms,
 			int timeoutMs = 0) = 0;
 	/**
 	 * Sets the Motion Magic Acceleration. This is the target acceleration that
@@ -961,7 +959,7 @@ class IMotorController: public virtual IFollower {
 	 *            blocking or checking is performed.
 	 * @return Error Code generated by function. 0 indicates no error.
 	 */
-	virtual ErrorCode ConfigMotionAcceleration(int sensorUnitsPer100msPerSec,
+	virtual ErrorCode ConfigMotionAcceleration(double sensorUnitsPer100msPerSec,
 			int timeoutMs = 0) = 0;
 
 	/**
diff --git a/include/ctre/phoenix/motorcontrol/IMotorControllerEnhanced.h b/include/ctre/phoenix/motorcontrol/IMotorControllerEnhanced.h
index cfef323..86c4448 100644
--- a/include/ctre/phoenix/motorcontrol/IMotorControllerEnhanced.h
+++ b/include/ctre/phoenix/motorcontrol/IMotorControllerEnhanced.h
@@ -2,18 +2,21 @@
 
 #include "ctre/phoenix/motorcontrol/ControlMode.h"
 #include "ctre/phoenix/motorcontrol/ControlFrame.h"
+#include "ctre/phoenix/motorcontrol/IMotorController.h"
+#include "ctre/phoenix/motorcontrol/IFollower.h"
 #include "ctre/phoenix/motorcontrol/NeutralMode.h"
 #include "ctre/phoenix/motorcontrol/FeedbackDevice.h"
 #include "ctre/phoenix/motorcontrol/SensorCollection.h"
+#include "ctre/phoenix/motorcontrol/SupplyCurrentLimitConfiguration.h"
 #include "ctre/phoenix/motorcontrol/StatusFrame.h"
 #include "ctre/phoenix/motorcontrol/LimitSwitchType.h"
 #include "ctre/phoenix/motorcontrol/Faults.h"
 #include "ctre/phoenix/motorcontrol/StickyFaults.h"
+#include "ctre/phoenix/motorcontrol/VelocityMeasPeriod.h"
 #include "ctre/phoenix/paramEnum.h"
 #include "ctre/phoenix/motion/TrajectoryPoint.h"
 #include "ctre/phoenix/motion/MotionProfileStatus.h"
 #include "ctre/phoenix/ErrorCode.h"
-#include "IFollower.h"
 
 namespace ctre {
 namespace phoenix {
@@ -78,6 +81,18 @@ class IMotorControllerEnhanced: public virtual IMotorController {
 	virtual ErrorCode ConfigSelectedFeedbackSensor(
 			RemoteFeedbackDevice feedbackDevice, int pidIdx = 0, int timeoutMs = 0) = 0;
 
+	//------ Current Limit ----------//
+	/**
+	 * Configures the supply-side current limit.
+	 * @param currLimitCfg  Current limit configuration
+	 * @param timeoutMs
+	 *            Timeout value in ms. If nonzero, function will wait for
+	 *            config success and report an error if it times out.
+	 *            If zero, no blocking or checking is performed.
+	 * @return Error Code generated by function. 0 indicates no error.
+	 */
+	virtual ErrorCode ConfigSupplyCurrentLimit(const SupplyCurrentLimitConfiguration& currLimitConfigs, int timeoutMs = 50) = 0;
+
 	//------- sensor status --------- //
 	/* in parent */
 
diff --git a/include/ctre/phoenix/motorcontrol/LimitSwitchType.h b/include/ctre/phoenix/motorcontrol/LimitSwitchType.h
index 8d7c3fc..85e4216 100644
--- a/include/ctre/phoenix/motorcontrol/LimitSwitchType.h
+++ b/include/ctre/phoenix/motorcontrol/LimitSwitchType.h
@@ -12,10 +12,14 @@ enum LimitSwitchSource {
 	 * Limit switch directly connected to motor controller
 	 */
 	LimitSwitchSource_FeedbackConnector = 0,
+	/**
+	 * Use Limit switch connected to Talon on CAN
+	 */
+	LimitSwitchSource_RemoteTalon = 1,
 	/**
 	 * Use Limit switch connected to TalonSRX on CAN
 	 */
-	LimitSwitchSource_RemoteTalonSRX = 1,
+	LimitSwitchSource_RemoteTalonSRX = LimitSwitchSource_RemoteTalon,
 	/**
 	 * User Limit switch connected to CANifier
 	 */
@@ -32,10 +36,14 @@ enum RemoteLimitSwitchSource {
 	 * Don't use limit switch, this is the factory default value
 	 */
 	RemoteLimitSwitchSource_FactoryDefaultOff = 0,
+	/**
+	 * Use Limit switch connected to Talon on CAN
+	 */
+	RemoteLimitSwitchSource_RemoteTalon = 1,
 	/**
 	 * Use Limit switch connected to TalonSRX on CAN
 	 */
-	RemoteLimitSwitchSource_RemoteTalonSRX = 1,
+	RemoteLimitSwitchSource_RemoteTalonSRX = RemoteLimitSwitchSource_RemoteTalon,
 	/**
 	 * User Limit switch connected to CANifier
 	 */
@@ -101,7 +109,7 @@ class LimitSwitchRoutines {
     static std::string toString(LimitSwitchSource value) {
         switch(value) {
             case LimitSwitchSource_FeedbackConnector : return "LimitSwitchSource_FeedbackConnector";
-            case LimitSwitchSource_RemoteTalonSRX : return "LimitSwitchSource_RemoteTalonSRX";
+            case LimitSwitchSource_RemoteTalon : return "LimitSwitchSource_RemoteTalon";
             case LimitSwitchSource_RemoteCANifier : return "LimitSwitchSource_RemoteCANifier";
             case LimitSwitchSource_Deactivated : return "LimitSwitchSource_Deactivated";
             default : return "InvalidValue";
@@ -115,7 +123,7 @@ class LimitSwitchRoutines {
     static std::string toString(RemoteLimitSwitchSource value) {
         switch(value) {
             case RemoteLimitSwitchSource_FactoryDefaultOff: return "None (factory default value)";
-            case RemoteLimitSwitchSource_RemoteTalonSRX : return "RemoteLimitSwitchSource_RemoteTalonSRX";
+            case RemoteLimitSwitchSource_RemoteTalon : return "RemoteLimitSwitchSource_RemoteTalon";
             case RemoteLimitSwitchSource_RemoteCANifier : return "RemoteLimitSwitchSource_RemoteCANifier";
             case RemoteLimitSwitchSource_Deactivated : return "RemoteLimitSwitchSource_Deactivated";
             default : return "InvalidValue";
diff --git a/include/ctre/phoenix/motorcontrol/SensorCollection.h b/include/ctre/phoenix/motorcontrol/SensorCollection.h
index d1401b9..b15191d 100644
--- a/include/ctre/phoenix/motorcontrol/SensorCollection.h
+++ b/include/ctre/phoenix/motorcontrol/SensorCollection.h
@@ -38,6 +38,9 @@ namespace ctre {
 				/**
 				 * Get the position of whatever is in the analog pin of the Talon, regardless of
 				 *   whether it is actually being used for feedback.
+				 * 
+				 * This method relies on the Status 4 message, which has a default period of 150ms. For more
+				 * information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html
 				 *
 				 * @return  the 24bit analog value.  The bottom ten bits is the ADC (0 - 1023)
 				 *          on the analog pin of the Talon. The upper 14 bits tracks the overflows and underflows
@@ -63,6 +66,9 @@ namespace ctre {
 				/**
 				 * Get the position of whatever is in the analog pin of the Talon, regardless of whether
 				 *   it is actually being used for feedback.
+				 * 
+				 * This method relies on the Status 4 message, which has a default period of 150ms. For more
+				 * information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html
 				 *
 				 * @return  the ADC (0 - 1023) on analog pin of the Talon.
 				 */
@@ -72,6 +78,9 @@ namespace ctre {
 				/**
 				 * Get the velocity of whatever is in the analog pin of the Talon, regardless of
 				 *   whether it is actually being used for feedback.
+				 * 
+				 * This method relies on the Status 4 message, which has a default period of 150ms. For more
+				 * information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html
 				 *
 				 * @return  the speed in units per 100ms where 1024 units is one rotation.
 				 */
@@ -81,6 +90,9 @@ namespace ctre {
 				/**
 				 * Get the quadrature position of the Talon, regardless of whether
 				 *   it is actually being used for feedback.
+				 * 
+				 * This method relies on the Status 3 message, which has a default period of 150ms. For more
+				 * information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html
 				 *
 				 * @return  the quadrature position.
 				 */
@@ -128,6 +140,9 @@ namespace ctre {
 				/**
 				 * Get the quadrature velocity, regardless of whether
 				 *   it is actually being used for feedback.
+				 * 
+				 * This method relies on the Status 3 message, which has a default period of 150ms. For more
+				 * information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html
 				 *
 				 * @return  the quadrature velocity in units per 100ms.
 				 */
@@ -137,6 +152,9 @@ namespace ctre {
 				/**
 				 * Gets pulse width position, regardless of whether
 				 *   it is actually being used for feedback.
+				 * 
+				 * This method relies on the Status 8 message, which has a default period of 150ms. For more
+				 * information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html
 				 *
 				 * @return  the pulse width position.
 				 */
@@ -159,6 +177,9 @@ namespace ctre {
 				/**
 				 * Gets pulse width velocity, regardless of whether
 				 *   it is actually being used for feedback.
+				 * 
+				 * This method relies on the Status 8 message, which has a default period of 150ms. For more
+				 * information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html
 				 *
 				 * @return  the pulse width velocity in units per 100ms (where 4096 units is 1 rotation).
 				 */
@@ -167,6 +188,9 @@ namespace ctre {
 
 				/**
 				 * Gets pulse width rise to fall time.
+				 * 
+				 * This method relies on the Status 8 message, which has a default period of 150ms. For more
+				 * information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html
 				 *
 				 * @return  the pulse width rise to fall time in microseconds.
 				 */
@@ -175,6 +199,9 @@ namespace ctre {
 
 				/**
 				 * Gets pulse width rise to rise time.
+				 * 
+				 * This method relies on the Status 8 message, which has a default period of 150ms. For more
+				 * information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html
 				 *
 				 * @return  the pulse width rise to rise time in microseconds.
 				 */
@@ -183,6 +210,9 @@ namespace ctre {
 
 				/**
 				 * Gets pin state quad a.
+				 * 
+				 * This method relies on the Status 3 message, which has a default period of 150ms. For more
+				 * information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html
 				 *
 				 * @return  the pin state of quad a (1 if asserted, 0 if not asserted).
 				 */
@@ -191,6 +221,9 @@ namespace ctre {
 
 				/**
 				 * Gets pin state quad b.
+				 * 
+				 * This method relies on the Status 3 message, which has a default period of 150ms. For more
+				 * information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html
 				 *
 				 * @return  Digital level of QUADB pin (1 if asserted, 0 if not asserted).
 				 */
@@ -199,6 +232,9 @@ namespace ctre {
 
 				/**
 				 * Gets pin state quad index.
+				 * 
+				 * This method relies on the Status 3 message, which has a default period of 150ms. For more
+				 * information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html
 				 *
 				 * @return  Digital level of QUAD Index pin (1 if asserted, 0 if not asserted).
 				 */
@@ -207,6 +243,9 @@ namespace ctre {
 
 				/**
 				 * Is forward limit switch closed.
+				 * 
+				 * This method relies on the Status 1 message, which has a default period of 10ms. For more
+				 * information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html
 				 *
 				 * @return  '1' iff forward limit switch is closed, 0 iff switch is open. This function works
 				 *          regardless if limit switch feature is enabled.  Remote limit features do not impact this routine.
@@ -216,6 +255,9 @@ namespace ctre {
 
 				/**
 				 * Is reverse limit switch closed.
+				 * 
+				 * This method relies on the Status 1 message, which has a default period of 10ms. For more
+				 * information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html
 				 *
 				 * @return  '1' iff reverse limit switch is closed, 0 iff switch is open. This function works
 				 *          regardless if limit switch feature is enabled.  Remote limit features do not impact this routine.
diff --git a/include/ctre/phoenix/motorcontrol/StatusFrame.h b/include/ctre/phoenix/motorcontrol/StatusFrame.h
index 01a2011..6a4f89d 100644
--- a/include/ctre/phoenix/motorcontrol/StatusFrame.h
+++ b/include/ctre/phoenix/motorcontrol/StatusFrame.h
@@ -58,6 +58,11 @@ enum StatusFrameEnhanced {
 	/**
 	 * Firmware & API status information
 	 */
+	Status_15_FirmwareApiStatus = 0x1780,
+	/**
+	 * Firmware & API status information
+	 * [[deprecated("Use Status_15_FirmwareApiStatus instead.")]]
+	 */
 	Status_15_FirmareApiStatus = 0x1780,
 	/** 
 	 * MotionProfile Targets for Auxiliary PID1. 
@@ -137,6 +142,11 @@ enum StatusFrame {
 	/**
 	 * Firmware & API status information
 	 */
+	Status_15_FirmwareApiStatus_ = 0x1780,
+	/**
+	 * Firmware & API status information
+	 * [[deprecated("Use Status_15_FirmwareApiStatus_ instead.")]]
+	 */
 	Status_15_FirmareApiStatus_ = 0x1780,
 	/** 
 	 * MotionProfile Targets for Auxiliary PID1. 
diff --git a/include/ctre/phoenix/motorcontrol/TalonFXSensorCollection.h b/include/ctre/phoenix/motorcontrol/TalonFXSensorCollection.h
index 2ad0160..98aff87 100644
--- a/include/ctre/phoenix/motorcontrol/TalonFXSensorCollection.h
+++ b/include/ctre/phoenix/motorcontrol/TalonFXSensorCollection.h
@@ -39,6 +39,9 @@ namespace ctre {
 				 * Get the IntegratedSensor position of the Talon FX, regardless of whether
 				 *   it is actually being used for feedback.  The units are 2048 per rotation.
 				 *	Note : Future versions of software may support scaling features (rotations, radians, degrees, etc) depending on the configuration.
+				 * 
+				 * This method relies on the Status 21 message, which has a default period of 240ms. For more
+				 * information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html
 				 *
 				 * @return  the IntegratedSensor position.
 				 */
@@ -49,6 +52,9 @@ namespace ctre {
 				 *   it is actually being used for feedback.  This will be within one rotation (2048 units).
 				 *   The signage and range will depend on the configuration.
 				 *	Note : Future versions of software may support scaling features (rotations, radians, degrees, etc) depending on the configuration.
+				 * 
+				 * This method relies on the Status 21 message, which has a default period of 240ms. For more
+				 * information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html
 				 *
 				 * @return  the IntegratedSensor absolute position.
 				 */
@@ -60,6 +66,9 @@ namespace ctre {
 				 *   One unit represents one position unit per 100ms (2048 position units per 100ms).
 				 *   The signage and range will depend on the configuration.
 				 *	Note : Future versions of software may support scaling features (rotations, radians, degrees, etc) depending on the configuration.
+				 * 
+				 * This method relies on the Status 21 message, which has a default period of 240ms. For more
+				 * information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html
 				 *
 				 * @return  the IntegratedSensor velocity.
 				 */
@@ -95,6 +104,9 @@ namespace ctre {
 
 				/**
 				 * Is forward limit switch closed.
+			 	 * 
+			 	 * This method relies on the Status 1 message, which has a default period of 10ms. For more
+				 * information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html
 				 *
 				 * @return  '1' iff forward limit switch is closed, 0 iff switch is open. This function works
 				 *          regardless if limit switch feature is enabled.  Remote limit features do not impact this routine.
@@ -104,6 +116,9 @@ namespace ctre {
 
 				/**
 				 * Is reverse limit switch closed.
+			 	 * 
+			 	 * This method relies on the Status 1 message, which has a default period of 10ms. For more
+				 * information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html
 				 *
 				 * @return  '1' iff reverse limit switch is closed, 0 iff switch is open. This function works
 				 *          regardless if limit switch feature is enabled.  Remote limit features do not impact this routine.
diff --git a/include/ctre/phoenix/motorcontrol/TalonFXSimCollection.h b/include/ctre/phoenix/motorcontrol/TalonFXSimCollection.h
new file mode 100644
index 0000000..a81a173
--- /dev/null
+++ b/include/ctre/phoenix/motorcontrol/TalonFXSimCollection.h
@@ -0,0 +1,145 @@
+#pragma once
+
+#include "ctre/phoenix/ErrorCode.h"
+
+/* forward proto's */
+namespace ctre {
+	namespace phoenix {
+		namespace motorcontrol {
+			namespace can {
+				class BaseTalon;
+			}
+		}
+	}
+}
+
+namespace ctre {
+	namespace phoenix {
+		namespace motorcontrol {
+
+			/**
+			  * Collection of simulation commands available to a TalonFX motor controller.
+			  *
+			  * Use the getSimCollection() routine inside your motor controller to create the respective sim collection.
+			  */
+			class TalonFXSimCollection {
+			public:
+				/**
+				 * Constructor for TalonFXSimCollection
+				 * @param motorController TalonFX Motor Controller to connect Collection to
+				 */
+				TalonFXSimCollection(ctre::phoenix::motorcontrol::can::BaseTalon& motorController);
+
+				/**
+				 * Gets the last error generated by this object. Not all functions return an
+				 * error code but can potentially report errors. This function can be used
+				 * to retrieve those error codes.
+				 *
+				 * @return Last Error Code generated by a function.
+				 */
+				ErrorCode GetLastError();
+
+				/**
+				 * Gets the simulated output voltage across M+ and M- for the motor.
+				 * 
+				 * @return applied voltage to the motor in volts
+				 */
+				double GetMotorOutputLeadVoltage();
+
+				/**
+				 * Sets the simulated bus voltage of the TalonFX.
+				 * 
+				 * The minimum allowed bus voltage is 4 V - values 
+				 * below this will be promoted to 4 V.
+				 * 
+				 * @param vbat the bus voltage in volts
+				 *
+				 * @return  error code
+				 */
+				ErrorCode SetBusVoltage(double vbat);
+
+				/**
+				 * Sets the simulated supply current of the TalonFX.
+				 * 
+				 * @param currA the supply current in amps
+				 *
+				 * @return  error code
+				 */
+				ErrorCode SetSupplyCurrent(double currA);
+
+				/**
+				 * Sets the simulated stator current of the TalonFX.
+				 * 
+				 * @param currA the stator current in amps
+				 *
+				 * @return  error code
+				 */
+				ErrorCode SetStatorCurrent(double currA);
+
+				/**
+				 * Sets the simulated forward limit switch of the TalonFX.
+				 * 
+				 * @param isClosed true if the limit switch is closed
+				 *
+				 * @return  error code
+				 */
+				ErrorCode SetLimitFwd(bool isClosed);
+
+				/**
+				 * Sets the simulated reverse limit switch of the TalonFX.
+				 * 
+				 * @param isClosed true if the limit switch is closed
+				 *
+				 * @return  error code
+				 */
+				ErrorCode SetLimitRev(bool isClosed);
+
+				/**
+				 * Sets the simulated raw integrated sensor position of the TalonFX. 
+				 *
+				 * The TalonFX integrates this to calculate the true reported integrated sensor 
+				 * position. 
+				 *
+				 * When using the WPI Sim GUI, you will notice a readonly 'position' and 
+				 * settable 'rawPositionInput'.  The readonly signal is the emulated position 
+				 * which will match self-test in Tuner and the hardware API.  Changes to 
+				 * 'rawPositionInput' will be integrated into the emulated position.  This way 
+				 * a simulator can modify the position without overriding your 
+				 * hardware API calls for home-ing your sensor. 
+				 *
+				 * Inputs to this function over time should be continuous, 
+				 * as user calls of SetSelectedSensorPosition() and SetIntegratedSensorPosition() 
+				 * will be accounted for in the calculation.
+				 * 
+				 * @param newPos the new raw position in native units
+				 *
+				 * @return  error code
+				 */
+				ErrorCode SetIntegratedSensorRawPosition(int newPos);
+
+				/**
+				 * Adds to the simulated integrated sensor position of the TalonFX.
+				 * 
+				 * @param dPos the change in position in native units
+				 *
+				 * @return  error code
+				 */
+				ErrorCode AddIntegratedSensorPosition(int dPos);
+
+				/**
+				 * Sets the simulated integrated sensor velocity of the TalonFX.
+				 * 
+				 * @param newVel the new velocity in native units per 100ms
+				 *
+				 * @return  error code
+				 */
+				ErrorCode SetIntegratedSensorVelocity(int newVel);
+
+			private:
+				int _id;
+
+			};
+
+		} // namespace motorcontrol
+	} // namespace phoenix
+} // namespace ctre
diff --git a/include/ctre/phoenix/motorcontrol/TalonSRXSimCollection.h b/include/ctre/phoenix/motorcontrol/TalonSRXSimCollection.h
new file mode 100644
index 0000000..ce857cc
--- /dev/null
+++ b/include/ctre/phoenix/motorcontrol/TalonSRXSimCollection.h
@@ -0,0 +1,217 @@
+#pragma once
+
+#include "ctre/phoenix/ErrorCode.h"
+
+/* forward proto's */
+namespace ctre {
+	namespace phoenix {
+		namespace motorcontrol {
+			namespace can {
+				class BaseTalon;
+			}
+		}
+	}
+}
+
+namespace ctre {
+	namespace phoenix {
+		namespace motorcontrol {
+
+			/**
+			  * Collection of simulation commands available to a TalonSRX motor controller.
+			  *
+			  * Use the getSimCollection() routine inside your motor controller to create the respective sim collection.
+			  */
+			class TalonSRXSimCollection {
+			public:
+				/**
+				 * Constructor for TalonSRXSimCollection
+				 * @param motorController TalonSRX Motor Controller to connect Collection to
+				 */
+				TalonSRXSimCollection(ctre::phoenix::motorcontrol::can::BaseTalon& motorController);
+
+				/**
+				 * Gets the last error generated by this object. Not all functions return an
+				 * error code but can potentially report errors. This function can be used
+				 * to retrieve those error codes.
+				 *
+				 * @return Last Error Code generated by a function.
+				 */
+				ErrorCode GetLastError();
+				
+				/**
+				 * Gets the simulated output voltage across M+ and M- for the motor.
+				 * 
+				 * @return applied voltage to the motor in volts
+				 */
+				double GetMotorOutputLeadVoltage();
+
+				/**
+				 * Sets the simulated bus voltage of the TalonSRX.
+				 * 
+				 * The minimum allowed bus voltage is 4 V - values 
+				 * below this will be promoted to 4 V.
+				 * 
+				 * @param vbat the bus voltage in volts
+				 *
+				 * @return  error code
+				 */
+				ErrorCode SetBusVoltage(double vbat);
+
+				/**
+				 * Sets the simulated supply current of the TalonSRX.
+				 * 
+				 * @param currA the supply current in amps
+				 *
+				 * @return  error code
+				 */
+				ErrorCode SetSupplyCurrent(double currA);
+
+				/**
+				 * Sets the simulated stator current of the TalonSRX.
+				 * 
+				 * @param currA the stator current in amps
+				 *
+				 * @return  error code
+				 */
+				ErrorCode SetStatorCurrent(double currA);
+
+				/**
+				 * Sets the simulated forward limit switch of the TalonSRX.
+				 * 
+				 * @param isClosed true if the limit switch is closed
+				 *
+				 * @return  error code
+				 */
+				ErrorCode SetLimitFwd(bool isClosed);
+
+				/**
+				 * Sets the simulated reverse limit switch of the TalonSRX.
+				 * 
+				 * @param isClosed true if the limit switch is closed
+				 *
+				 * @return  error code
+				 */
+				ErrorCode SetLimitRev(bool isClosed);
+
+				/**
+				 * Sets the simulated analog position of the TalonSRX.
+				 * 
+				 * @param newPos the new position in native units
+				 *
+				 * @return  error code
+				 */
+				ErrorCode SetAnalogPosition(int newPos);
+
+				/**
+				 * Adds to the simulated analog position of the TalonSRX.
+				 * 
+				 * @param dPos the change in position in native units
+				 *
+				 * @return  error code
+				 */
+				ErrorCode AddAnalogPosition(int dPos);
+
+				/**
+				 * Sets the simulated analog velocity of the TalonSRX.
+				 * 
+				 * @param newVel the new velocity in native units per 100ms
+				 *
+				 * @return  error code
+				 */
+				ErrorCode SetAnalogVelocity(int newVel);
+
+				/**
+				 * Sets if the simulated pulse width sensor is connected to the TalonSRX.
+				 * 
+				 * @param isConnected true if the pulse width sensor is connected
+				 * 
+				 * @return  error code
+				 */
+				ErrorCode SetPulseWidthConnected(bool isConnected);
+
+				/**
+				 * Sets the simulated pulse width rise to rise time of the TalonSRX.
+				 * 
+				 * @param periodUs the pulse width rise to rise time in microseconds
+				 * 
+				 * @return  error code
+				 */
+				ErrorCode SetPulseWidthRiseToRiseUs(double periodUs);
+
+				/**
+				 * Sets the simulated pulse width position of the TalonSRX.
+				 * 
+				 * @param newPos the new position in native units
+				 *
+				 * @return  error code
+				 */
+				ErrorCode SetPulseWidthPosition(int newPos);
+
+				/**
+				 * Adds to the simulated pulse width position of the TalonSRX.
+				 * 
+				 * @param dPos the change in position in native units
+				 *
+				 * @return  error code
+				 */
+				ErrorCode AddPulseWidthPosition(int dPos);
+
+				/**
+				 * Sets the simulated pulse width velocity of the TalonSRX.
+				 * 
+				 * @param newVel the new velocity in native units per 100ms
+				 *
+				 * @return  error code
+				 */
+				ErrorCode SetPulseWidthVelocity(int newVel);
+
+				/**
+				 * Sets the simulated raw quadrature position of the TalonSRX. 
+				 *
+				 * The TalonSRX integrates this to calculate the true reported quadrature 
+				 * position. 
+				 *
+				 * When using the WPI Sim GUI, you will notice a readonly 'position' and 
+				 * settable 'rawPositionInput'.  The readonly signal is the emulated position 
+				 * which will match self-test in Tuner and the hardware API.  Changes to 
+				 * 'rawPositionInput' will be integrated into the emulated position.  This way 
+				 * a simulator can modify the position without overriding your 
+				 * hardware API calls for home-ing your sensor. 
+				 *
+				 * Inputs to this function over time should be continuous, 
+				 * as user calls of SetSelectedSensorPosition() and SetQuadraturePosition() 
+				 * will be accounted for in the calculation.
+				 * 
+				 * @param newPos the new raw position in native units
+				 *
+				 * @return  error code
+				 */
+				ErrorCode SetQuadratureRawPosition(int newPos);
+
+				/**
+				 * Adds to the simulated quadrature position of the TalonSRX.
+				 * 
+				 * @param dPos the change in position in native units
+				 *
+				 * @return  error code
+				 */
+				ErrorCode AddQuadraturePosition(int dPos);
+
+				/**
+				 * Sets the simulated quadrature velocity of the TalonSRX.
+				 * 
+				 * @param newVel the new velocity in native units per 100ms
+				 *
+				 * @return  error code
+				 */
+				ErrorCode SetQuadratureVelocity(int newVel);
+
+			private:
+				int _id;
+
+			};
+
+		} // namespace motorcontrol
+	} // namespace phoenix
+} // namespace ctre
diff --git a/include/ctre/phoenix/motorcontrol/VictorSPXSimCollection.h b/include/ctre/phoenix/motorcontrol/VictorSPXSimCollection.h
new file mode 100644
index 0000000..72cab27
--- /dev/null
+++ b/include/ctre/phoenix/motorcontrol/VictorSPXSimCollection.h
@@ -0,0 +1,68 @@
+#pragma once
+
+#include "ctre/phoenix/ErrorCode.h"
+
+/* forward proto's */
+namespace ctre {
+	namespace phoenix {
+		namespace motorcontrol {
+			namespace can {
+				class BaseMotorController;
+			}
+		}
+	}
+}
+
+namespace ctre {
+	namespace phoenix {
+		namespace motorcontrol {
+
+			/**
+			  * Collection of simulation commands available to a VictorSPX motor controller.
+			  *
+			  * Use the getSimCollection() routine inside your motor controller to create the respective sim collection.
+			  */
+			class VictorSPXSimCollection {
+			public:
+				/**
+				 * Constructor for VictorSPXSimCollection
+				 * @param motorController VictorSPX Motor Controller to connect Collection to
+				 */
+				VictorSPXSimCollection(ctre::phoenix::motorcontrol::can::BaseMotorController& motorController);
+
+				/**
+				 * Gets the last error generated by this object. Not all functions return an
+				 * error code but can potentially report errors. This function can be used
+				 * to retrieve those error codes.
+				 *
+				 * @return Last Error Code generated by a function.
+				 */
+				ErrorCode GetLastError();
+				
+				/**
+				 * Gets the simulated output voltage across M+ and M- for the motor.
+				 * 
+				 * @return applied voltage to the motor in volts
+				 */
+				double GetMotorOutputLeadVoltage();
+
+				/**
+				 * Sets the simulated bus voltage of the VictorSPX.
+				 * 
+				 * The minimum allowed bus voltage is 4 V - values 
+				 * below this will be promoted to 4 V.
+				 * 
+				 * @param vbat the bus voltage in volts
+				 *
+				 * @return  error code
+				 */
+				ErrorCode SetBusVoltage(double vbat);
+
+			private:
+				int _id;
+
+			};
+
+		} // namespace motorcontrol
+	} // namespace phoenix
+} // namespace ctre
diff --git a/include/ctre/phoenix/motorcontrol/can/BaseMotorController.h b/include/ctre/phoenix/motorcontrol/can/BaseMotorController.h
index 8188ba0..512112b 100644
--- a/include/ctre/phoenix/motorcontrol/can/BaseMotorController.h
+++ b/include/ctre/phoenix/motorcontrol/can/BaseMotorController.h
@@ -16,6 +16,8 @@
 #include "ctre/phoenix/motion/BufferedTrajectoryPointStream.h"
 #include "ctre/phoenix/CANBusAddressable.h"
 #include "ctre/phoenix/CustomParamConfiguration.h"
+#include "ctre/phoenix/motorcontrol/VictorSPXSimCollection.h"
+#include "ctre/phoenix/sensors/SensorVelocityMeasPeriod.h"
 
 #include <string>
 
@@ -179,12 +181,12 @@ namespace ctre {
 					 * accumulator is automatically cleared. This ensures than integral wind up
 					 * events will stop after the sensor gets far enough from its target.
 					 */
-					int integralZone;
+					double integralZone;
 					/**
 					 * Allowable closed loop error to neutral (in native units)
 					 *
 					 */
-					int allowableClosedloopError;
+					double allowableClosedloopError;
 					/**
 					 * Max integral accumulator (in native units)
 					 */
@@ -203,8 +205,8 @@ namespace ctre {
 						kI(0.0),
 						kD(0.0),
 						kF(0.0),
-						integralZone(0),
-						allowableClosedloopError(0),
+						integralZone(0.0),
+						allowableClosedloopError(0.0),
 						maxIntegralAccumulator(0.0),
 						closedLoopPeakOutput(1.0),
 						closedLoopPeriod(1)
@@ -313,7 +315,7 @@ namespace ctre {
 					/**
 					 * Desired period for velocity measurement
 					 */
-					VelocityMeasPeriod velocityMeasurementPeriod;
+					ctre::phoenix::sensors::SensorVelocityMeasPeriod velocityMeasurementPeriod;
 					/**
 					 * Desired window for velocity measurement
 					 */
@@ -321,11 +323,11 @@ namespace ctre {
 					/**
 					 * Threshold for soft limits in forward direction (in raw sensor units)
 					 */
-					int forwardSoftLimitThreshold;
+					double forwardSoftLimitThreshold;
 					/**
 					 * Threshold for soft limits in reverse direction (in raw sensor units)
 					 */
-					int reverseSoftLimitThreshold;
+					double reverseSoftLimitThreshold;
 					/**
 					 * Enable forward soft limit
 					 */
@@ -373,11 +375,11 @@ namespace ctre {
 					/**
 					 * Motion Magic cruise velocity in raw sensor units per 100 ms.
 					 */
-					int motionCruiseVelocity;
+					double motionCruiseVelocity;
 					/**
 					 * Motion Magic acceleration in (raw sensor units per 100 ms) per second.
 					 */
-					int motionAcceleration;
+					double motionAcceleration;
 					/**
 					 * Zero to use trapezoidal motion during motion magic.  [1,8] for S-Curve, higher value for greater smoothing.
 					 */
@@ -440,15 +442,15 @@ namespace ctre {
 						neutralDeadband(41.0 / 1023.0),
 						voltageCompSaturation(0.0),
 						voltageMeasurementFilter(32),
-						velocityMeasurementPeriod(Period_100Ms),
+						velocityMeasurementPeriod(ctre::phoenix::sensors::SensorVelocityMeasPeriod::Period_100Ms),
 						velocityMeasurementWindow(64),
-						forwardSoftLimitThreshold(0),
-						reverseSoftLimitThreshold(0),
+						forwardSoftLimitThreshold(0.0),
+						reverseSoftLimitThreshold(0.0),
 						forwardSoftLimitEnable(false),
 						reverseSoftLimitEnable(false),
 						auxPIDPolarity(false),
-						motionCruiseVelocity(0),
-						motionAcceleration(0),
+						motionCruiseVelocity(0.0),
+						motionAcceleration(0.0),
 						motionCurveStrength(0),
 						motionProfileTrajectoryPeriod(0),
 						feedbackNotContinuous(false),
@@ -488,7 +490,7 @@ namespace ctre {
 						retstr += prependString + ".neutralDeadband = " + std::to_string(neutralDeadband) + ";\n";
 						retstr += prependString + ".voltageCompSaturation = " + std::to_string(voltageCompSaturation) + ";\n";
 						retstr += prependString + ".voltageMeasurementFilter = " + std::to_string(voltageMeasurementFilter) + ";\n";
-						retstr += prependString + ".velocityMeasurementPeriod = " + VelocityMeasPeriodRoutines::toString(velocityMeasurementPeriod) + ";\n";
+						retstr += prependString + ".velocityMeasurementPeriod = " + ctre::phoenix::sensors::SensorVelocityMeasPeriodRoutines::toString(velocityMeasurementPeriod) + ";\n";
 						retstr += prependString + ".velocityMeasurementWindow = " + std::to_string(velocityMeasurementWindow) + ";\n";
 						retstr += prependString + ".forwardSoftLimitThreshold = " + std::to_string(forwardSoftLimitThreshold) + ";\n";
 						retstr += prependString + ".reverseSoftLimitThreshold = " + std::to_string(reverseSoftLimitThreshold) + ";\n";
@@ -590,7 +592,11 @@ namespace ctre {
 
 					bool _isVcompEn = false;
 
+					ctre::phoenix::motorcontrol::VictorSPXSimCollection* _simCollSpx;
+
 				protected:
+					ctre::phoenix::motorcontrol::VictorSPXSimCollection& GetVictorSPXSimCollection() { return *_simCollSpx; }
+
 					/**
 					 * Configures all base persistant settings.
 					 *
@@ -642,10 +648,12 @@ namespace ctre {
 					 * Constructor for motor controllers.
 					 *
 					 * @param arbId Device ID [0,62]
-					 * @param model String model of device. 
+					 * @param model String model of device.
 					 * Examples: "Talon SRX", "Talon FX", "Victor SPX".
+					 * @param canbus Name of the CANbus; can be a SocketCAN interface (on Linux),
+					 *               or a CANivore device name or serial number
 					 */
-					BaseMotorController(int deviceNumber, const char* model);
+					BaseMotorController(int deviceNumber, const char* model, std::string const &canbus = "");
 					virtual ~BaseMotorController();
 					BaseMotorController() = delete;
 					BaseMotorController(BaseMotorController const&) = delete;
@@ -682,23 +690,6 @@ namespace ctre {
 					 *	_talonRght.set(ControlMode.PercentOutput, rghtJoy);
 					 */
 					virtual void Set(ControlMode mode, double value);
-					/**
-					 * @deprecated use 4 parameter set
-					 * @param mode Sets the appropriate output on the talon, depending on the mode.
-					 * @param demand0 The output value to apply.
-					 * 	such as advanced feed forward and/or auxiliary close-looping in firmware.
-					 * In PercentOutput, the output is between -1.0 and 1.0, with 0.0 as stopped.
-					 * In Current mode, output value is in amperes.
-					 * In Velocity mode, output value is in position change / 100ms.
-					 * In Position mode, output value is in encoder ticks or an analog value,
-					 *   depending on the sensor. See
-					 * In Follower mode, the output value is the integer device ID of the talon to
-					 * duplicate.
-					 *
-					 * @param demand1 Supplemental value.  This will also be control mode specific for future features.
-					 */
-					[[deprecated("Use 4-paremeter Set() instead.")]]
-					virtual void Set(ControlMode mode, double demand0, double demand1);
 					/**
 					 * @param mode Sets the appropriate output on the talon, depending on the mode.
 					 * @param demand0 The output value to apply.
@@ -750,23 +741,6 @@ namespace ctre {
 					 *            throttle is neutral (ie brake/coast)
 					 **/
 					virtual void SetNeutralMode(NeutralMode neutralMode);
-					/**
-					 * Enables a future feature called "Heading Hold".
-					 * For now this simply updates the CAN signal to the motor controller.
-					 * Future firmware updates will use this.
-					 *
-					 *	@param enable true/false enable
-					 * @deprecated This has been replaced with the 4 param Set.
-					 */
-					void EnableHeadingHold(bool enable);
-					/**
-					 * For now this simply updates the CAN signal to the motor controller.
-					 * Future firmware updates will use this to control advanced auxiliary loop behavior.
-					 *
-					 *	@param value
-					 * @deprecated This has been replaced with the 4 param Set.
-					 */
-					void SelectDemandType(bool value);
 					//------ Invert behavior ----------//
 					/**
 					 * Sets the phase of the sensor. Use when controller forward/reverse output
@@ -960,7 +934,7 @@ namespace ctre {
 					virtual void EnableVoltageCompensation(bool enable);
 					/**
 					 * Returns the enable state of Voltage Compensation that the caller has set.
-					 * 
+					 *
 					 * @return TRUE if voltage compensation is enabled.
 					 */
 					virtual bool IsVoltageCompensationEnabled();
@@ -1080,6 +1054,23 @@ namespace ctre {
 					 * @return Error Code generated by function. 0 indicates no error.
 					 */
 					virtual ErrorCode ConfigRemoteFeedbackFilter(ctre::phoenix::sensors::CANCoder &canCoderRef, int remoteOrdinal, int timeoutMs = 0);
+					/**
+					 * Select what remote device and signal to assign to Remote Sensor 0 or Remote Sensor 1.
+					 * After binding a remote device and signal to Remote Sensor X, you may select Remote Sensor X
+					 * as a PID source for closed-loop features.
+					 *
+					 * @param talonRef
+					 *            Talon device reference to use.
+					 * @param remoteOrdinal
+					 *            0 for configuring Remote Sensor 0,
+					 *            1 for configuring Remote Sensor 1
+					 * @param timeoutMs
+					 *            Timeout value in ms. If nonzero, function will wait for
+					 *            config success and report an error if it times out.
+					 *            If zero, no blocking or checking is performed.
+					 * @return Error Code generated by function. 0 indicates no error.
+					 */
+					virtual ErrorCode ConfigRemoteFeedbackFilter(ctre::phoenix::motorcontrol::can::BaseTalon &talonRef, int remoteOrdinal, int timeoutMs = 0);
 					/**
 					 * Select what sensor term should be bound to switch feedback device.
 					 * Sensor Sum = Sensor Sum Term 0 - Sensor Sum Term 1
@@ -1125,7 +1116,7 @@ namespace ctre {
 					 *
 					 * @return Position of selected sensor (in raw sensor units).
 					 */
-					virtual int GetSelectedSensorPosition(int pidIdx = 0);
+					virtual double GetSelectedSensorPosition(int pidIdx = 0);
 					/**
 					 * Get the selected sensor velocity.
 					 *
@@ -1134,7 +1125,7 @@ namespace ctre {
 					 * @return selected sensor (in raw sensor units) per 100ms.
 					 * See Phoenix-Documentation for how to interpret.
 					 */
-					virtual int GetSelectedSensorVelocity(int pidIdx = 0);
+					virtual double GetSelectedSensorVelocity(int pidIdx = 0);
 					/**
 					 * Sets the sensor position to the given value.
 					 *
@@ -1148,7 +1139,7 @@ namespace ctre {
 					 *            If zero, no blocking or checking is performed.
 					 * @return Error Code generated by function. 0 indicates no error.
 					 */
-					virtual ctre::phoenix::ErrorCode SetSelectedSensorPosition(int sensorPos, int pidIdx = 0, int timeoutMs = 50);
+					virtual ctre::phoenix::ErrorCode SetSelectedSensorPosition(double sensorPos, int pidIdx = 0, int timeoutMs = 50);
 					//------ status frame period changes ----------//
 					/**
 					 * Sets the period of the given control frame.
@@ -1232,13 +1223,17 @@ namespace ctre {
 					 *
 					 * @param period
 					 *            Desired period for the velocity measurement. @see
-					 *            #VelocityMeasPeriod
+					 *            #SensorVelocityMeasPeriod
 					 * @param timeoutMs
 					 *            Timeout value in ms. If nonzero, function will wait for
 					 *            config success and report an error if it times out.
 					 *            If zero, no blocking or checking is performed.
 					 * @return Error Code generated by function. 0 indicates no error.
 					 */
+					virtual ctre::phoenix::ErrorCode ConfigVelocityMeasurementPeriod(ctre::phoenix::sensors::SensorVelocityMeasPeriod period,
+						int timeoutMs = 0);
+
+					[[deprecated("Use the overload with SensorVelocityMeasPeriod instead.")]]
 					virtual ctre::phoenix::ErrorCode ConfigVelocityMeasurementPeriod(VelocityMeasPeriod period,
 						int timeoutMs = 0);
 					/**
@@ -1370,7 +1365,7 @@ namespace ctre {
 					 *            If zero, no blocking or checking is performed.
 					 * @return Error Code generated by function. 0 indicates no error.
 					 */
-					virtual ctre::phoenix::ErrorCode ConfigForwardSoftLimitThreshold(int forwardSensorLimit,
+					virtual ctre::phoenix::ErrorCode ConfigForwardSoftLimitThreshold(double forwardSensorLimit,
 						int timeoutMs = 0);
 					/**
 					 * Configures the reverse soft limit threshold.
@@ -1383,7 +1378,7 @@ namespace ctre {
 					 *            If zero, no blocking or checking is performed.
 					 * @return Error Code generated by function. 0 indicates no error.
 					 */
-					virtual ctre::phoenix::ErrorCode ConfigReverseSoftLimitThreshold(int reverseSensorLimit,
+					virtual ctre::phoenix::ErrorCode ConfigReverseSoftLimitThreshold(double reverseSensorLimit,
 						int timeoutMs = 0);
 					/**
 					 * Configures the forward soft limit enable.
@@ -1511,7 +1506,7 @@ namespace ctre {
 					 *            blocking or checking is performed.
 					 * @return Error Code generated by function. 0 indicates no error.
 					 */
-					virtual ctre::phoenix::ErrorCode Config_IntegralZone(int slotIdx, int izone,
+					virtual ctre::phoenix::ErrorCode Config_IntegralZone(int slotIdx, double izone,
 						int timeoutMs = 0);
 					/**
 					 * Sets the allowable closed-loop error in the given parameter slot.
@@ -1527,7 +1522,7 @@ namespace ctre {
 					 * @return Error Code generated by function. 0 indicates no error.
 					 */
 					virtual ctre::phoenix::ErrorCode ConfigAllowableClosedloopError(int slotIdx,
-						int allowableCloseLoopError, int timeoutMs = 0);
+						double allowableCloseLoopError, int timeoutMs = 0);
 					/**
 					 * Sets the maximum integral accumulator in the given parameter slot.
 					 *
@@ -1636,7 +1631,7 @@ namespace ctre {
 					 *            0 for Primary closed-loop. 1 for auxiliary closed-loop.
 					 * @return Closed-loop error value.
 					 */
-					virtual int GetClosedLoopError(int pidIdx = 0);
+					virtual double GetClosedLoopError(int pidIdx = 0);
 					/**
 					 * Gets the iaccum value.
 					 *
@@ -1677,14 +1672,14 @@ namespace ctre {
 					 * MotionMagic/MotionProfile control modes.
 					 *
 					 * @return The Active Trajectory Position in sensor units.
-					 */	virtual int GetActiveTrajectoryPosition(int pidIdx = 0);
+					 */	virtual double GetActiveTrajectoryPosition(int pidIdx = 0);
 					 /**
 					  * Gets the active trajectory target velocity using
 					  * MotionMagic/MotionProfile control modes.
 					  *
 					  * @return The Active Trajectory Velocity in sensor units per 100ms.
 					  */
-					virtual int GetActiveTrajectoryVelocity(int pidIdx = 0);	/**
+					virtual double GetActiveTrajectoryVelocity(int pidIdx = 0);	/**
 					 * Gets the active trajectory arbitrary feedforward using
 					 * MotionMagic/MotionProfile control modes.
 					 *
@@ -1692,14 +1687,8 @@ namespace ctre {
 					 *            0 for Primary closed-loop. 1 for auxiliary closed-loop.
 					 * @return The Active Trajectory ArbFeedFwd in units of percent output
 					 * 			(where 0.01 is 1%).
-					 */	virtual double GetActiveTrajectoryArbFeedFwd(int pidIdx = 0);	/**
-					 * Gets the active trajectory target heading using
-					 * MotionMagicArc/MotionProfileArc control modes.
-					 *
-					 * @return The Active Trajectory Heading in degrees.
 					 */
-					[[deprecated("Replaced by GetActiveTrajectoryPosition(1)")]]
-					virtual double GetActiveTrajectoryHeading();
+					virtual double GetActiveTrajectoryArbFeedFwd(int pidIdx = 0);
 
 					//------ Motion Profile Settings used in Motion Magic  ----------//
 					/**
@@ -1714,7 +1703,7 @@ namespace ctre {
 					 *            blocking or checking is performed.
 					 * @return Error Code generated by function. 0 indicates no error.
 					 */
-					virtual ctre::phoenix::ErrorCode ConfigMotionCruiseVelocity(int sensorUnitsPer100ms,
+					virtual ctre::phoenix::ErrorCode ConfigMotionCruiseVelocity(double sensorUnitsPer100ms,
 						int timeoutMs = 0);
 					/**
 					 * Sets the Motion Magic Acceleration. This is the target acceleration that
@@ -1729,7 +1718,7 @@ namespace ctre {
 					 *            blocking or checking is performed.
 					 * @return Error Code generated by function. 0 indicates no error.
 					 */
-					virtual ctre::phoenix::ErrorCode ConfigMotionAcceleration(int sensorUnitsPer100msPerSec,
+					virtual ctre::phoenix::ErrorCode ConfigMotionAcceleration(double sensorUnitsPer100msPerSec,
 						int timeoutMs = 0);
 					/**
 					 * Sets the Motion Magic S Curve Strength.
diff --git a/include/ctre/phoenix/motorcontrol/can/BaseTalon.h b/include/ctre/phoenix/motorcontrol/can/BaseTalon.h
index d6f4d1f..7e590e8 100644
--- a/include/ctre/phoenix/motorcontrol/can/BaseTalon.h
+++ b/include/ctre/phoenix/motorcontrol/can/BaseTalon.h
@@ -10,6 +10,8 @@
 #include "ctre/phoenix/CustomParamConfiguration.h"
 #include "ctre/phoenix/motorcontrol/SensorCollection.h"
 #include "ctre/phoenix/motorcontrol/TalonFXSensorCollection.h"
+#include "ctre/phoenix/motorcontrol/TalonSRXSimCollection.h"
+#include "ctre/phoenix/motorcontrol/TalonFXSimCollection.h"
 
 /* forward proto's */
 namespace ctre {
@@ -33,9 +35,9 @@ namespace ctre {
 					 * Feedback device for a particular PID loop.
 					 * Note the FeedbackDevice enum holds all possible sensor types.  Consult product documentation to confirm what is available.
 					 * Alternatively the product specific enum can be used instead.
-					 *	@code 
-					 *	configs.primaryPID.selectedFeedbackSensor = (FeedbackDevice)TalonSRXFeedbackDevice::QuadEncoder; 
-					 *	configs.primaryPID.selectedFeedbackSensor = (FeedbackDevice)TalonFXFeedbackDevice::IntegratedSensor; 
+					 *	@code
+					 *	configs.primaryPID.selectedFeedbackSensor = (FeedbackDevice)TalonSRXFeedbackDevice::QuadEncoder;
+					 *	configs.primaryPID.selectedFeedbackSensor = (FeedbackDevice)TalonFXFeedbackDevice::IntegratedSensor;
 					 *	@endcode
 					 */
 					FeedbackDevice selectedFeedbackSensor;
@@ -135,9 +137,9 @@ namespace ctre {
 					 * Feedback Device for Sum 0 Term
 					 * Note the FeedbackDevice enum holds all possible sensor types.  Consult product documentation to confirm what is available.
 					 * Alternatively the product specific enum can be used instead.
-					 *	@code 
-					 *	configs.sum0Term = (FeedbackDevice)TalonSRXFeedbackDevice::QuadEncoder; 
-					 *	configs.sum0Term = (FeedbackDevice)TalonFXFeedbackDevice::IntegratedSensor; 
+					 *	@code
+					 *	configs.sum0Term = (FeedbackDevice)TalonSRXFeedbackDevice::QuadEncoder;
+					 *	configs.sum0Term = (FeedbackDevice)TalonFXFeedbackDevice::IntegratedSensor;
 					 *	@endcode
 					 */
 					FeedbackDevice sum0Term;
@@ -145,9 +147,9 @@ namespace ctre {
 					 * Feedback Device for Sum 1 Term
 					 * Note the FeedbackDevice enum holds all possible sensor types.  Consult product documentation to confirm what is available.
 					 * Alternatively the product specific enum can be used instead.
-					 *	@code 
-					 *	configs.sum1Term = (FeedbackDevice)TalonSRXFeedbackDevice::QuadEncoder; 
-					 *	configs.sum1Term = (FeedbackDevice)TalonFXFeedbackDevice::IntegratedSensor; 
+					 *	@code
+					 *	configs.sum1Term = (FeedbackDevice)TalonSRXFeedbackDevice::QuadEncoder;
+					 *	configs.sum1Term = (FeedbackDevice)TalonFXFeedbackDevice::IntegratedSensor;
 					 *	@endcode
 					 */
 					FeedbackDevice sum1Term;
@@ -155,9 +157,9 @@ namespace ctre {
 					 * Feedback Device for Diff 0 Term
 					 * Note the FeedbackDevice enum holds all possible sensor types.  Consult product documentation to confirm what is available.
 					 * Alternatively the product specific enum can be used instead.
-					 *	@code 
-					 *	configs.diff0Term = (FeedbackDevice)TalonSRXFeedbackDevice::QuadEncoder; 
-					 *	configs.diff0Term = (FeedbackDevice)TalonFXFeedbackDevice::IntegratedSensor; 
+					 *	@code
+					 *	configs.diff0Term = (FeedbackDevice)TalonSRXFeedbackDevice::QuadEncoder;
+					 *	configs.diff0Term = (FeedbackDevice)TalonFXFeedbackDevice::IntegratedSensor;
 					 *	@endcode
 					 */
 					FeedbackDevice diff0Term;
@@ -165,9 +167,9 @@ namespace ctre {
 					 * Feedback Device for Diff 1 Term
 					 * Note the FeedbackDevice enum holds all possible sensor types.  Consult product documentation to confirm what is available.
 					 * Alternatively the product specific enum can be used instead.
-					 *	@code 
-					 *	configs.diff1Term = (FeedbackDevice)TalonSRXFeedbackDevice::QuadEncoder; 
-					 *	configs.diff1Term = (FeedbackDevice)TalonFXFeedbackDevice::IntegratedSensor; 
+					 *	@code
+					 *	configs.diff1Term = (FeedbackDevice)TalonSRXFeedbackDevice::QuadEncoder;
+					 *	configs.diff1Term = (FeedbackDevice)TalonFXFeedbackDevice::IntegratedSensor;
 					 *	@endcode
 					 */
 					FeedbackDevice diff1Term;
@@ -266,10 +268,16 @@ namespace ctre {
 					ctre::phoenix::motorcontrol::SensorCollection* _sensorCollSrx;
 					ctre::phoenix::motorcontrol::TalonFXSensorCollection* _sensorCollFx;
 
+					ctre::phoenix::motorcontrol::TalonSRXSimCollection* _simCollSrx;
+					ctre::phoenix::motorcontrol::TalonFXSimCollection* _simCollFx;
+
 				protected:
 					ctre::phoenix::motorcontrol::SensorCollection& GetTalonSRXSensorCollection() { return *_sensorCollSrx; }
 					ctre::phoenix::motorcontrol::TalonFXSensorCollection& GetTalonFXSensorCollection() { return *_sensorCollFx; }
 
+					ctre::phoenix::motorcontrol::TalonSRXSimCollection& GetTalonSRXSimCollection() { return *_simCollSrx; }
+					ctre::phoenix::motorcontrol::TalonFXSimCollection& GetTalonFXSimCollection() { return *_simCollFx; }
+
 					ctre::phoenix::ErrorCode ConfigurePID(const BaseTalonPIDSetConfiguration& pid, int pidIdx, int timeoutMs, bool enableOptimizations);
 
 
@@ -311,8 +319,10 @@ namespace ctre {
 					/**
 					 * Constructor for a Talon
 					 * @param deviceNumber CAN Device ID of BaseTalon
+					 * @param canbus Name of the CANbus; can be a SocketCAN interface (on Linux),
+					 *               or a CANivore device name or serial number
 					 */
-					BaseTalon(int deviceNumber, const char* model);
+					BaseTalon(int deviceNumber, const char* model, std::string const &canbus = "");
 					virtual ~BaseTalon();
 					BaseTalon() = delete;
 					BaseTalon(BaseTalon const&) = delete;
@@ -450,13 +460,17 @@ namespace ctre {
 					 *
 					 * @param period
 					 *            Desired period for the velocity measurement. @see
-					 *            #VelocityMeasPeriod
+					 *            #SensorVelocityMeasPeriod
 					 * @param timeoutMs
 					 *            Timeout value in ms. If nonzero, function will wait for
 					 *            config success and report an error if it times out.
 					 *            If zero, no blocking or checking is performed.
 					 * @return Error Code generated by function. 0 indicates no error.
 					 */
+					virtual ctre::phoenix::ErrorCode ConfigVelocityMeasurementPeriod(ctre::phoenix::sensors::SensorVelocityMeasPeriod period,
+						int timeoutMs = 0);
+
+					[[deprecated("Use the overload with SensorVelocityMeasPeriod instead.")]]
 					virtual ctre::phoenix::ErrorCode ConfigVelocityMeasurementPeriod(VelocityMeasPeriod period,
 						int timeoutMs = 0);
 					/**
@@ -581,7 +595,7 @@ namespace ctre {
 						LimitSwitchNormal normalOpenOrClose, int deviceID, int timeoutMs = 0);
 
 					//------ Current Limit ----------//
-					virtual ctre::phoenix::ErrorCode ConfigSupplyCurrentLimit(const SupplyCurrentLimitConfiguration& currLimitConfigs, int timeoutMs = 0) = 0;
+					virtual ctre::phoenix::ErrorCode ConfigSupplyCurrentLimit(const SupplyCurrentLimitConfiguration& currLimitConfigs, int timeoutMs = 50);
 
 					//------ RAW Sensor API ----------//
 					/**
diff --git a/include/ctre/phoenix/motorcontrol/can/TalonFX.h b/include/ctre/phoenix/motorcontrol/can/TalonFX.h
index 02d1708..975e751 100644
--- a/include/ctre/phoenix/motorcontrol/can/TalonFX.h
+++ b/include/ctre/phoenix/motorcontrol/can/TalonFX.h
@@ -121,6 +121,33 @@ namespace ctre {
 
 				/**
 				 * CTRE Talon FX Motor Controller when used on CAN Bus.
+				 *
+				 * <pre>
+				 * {@code
+				 * // Example usage of a TalonFX motor controller
+				 * TalonFX motor{0}; // creates a new TalonFX with ID 0
+				 *
+				 * TalonFXConfiguration config;
+				 * config.supplyCurrLimit.enable = true;
+				 * config.supplyCurrLimit.triggerThresholdCurrent = 40; // the peak supply current, in amps
+				 * config.supplyCurrLimit.triggerThresholdTime = 1.5; // the time at the peak supply current before the limit triggers, in sec
+				 * config.supplyCurrLimit.currentLimit = 30; // the current to maintain if the peak supply limit is triggered
+				 * motor.ConfigAllSettings(config); // apply the config settings; this selects the quadrature encoder
+				 *
+				 * motor.Set(TalonFXControlMode::PercentOutput, 0.5); // runs the motor at 50% power
+				 *
+				 * std::cout << motor.GetSelectedSensorPosition() << std::endl; // prints the position of the selected sensor
+				 * std::cout << motor.GetSelectedSensorVelocity() << std::endl; // prints the velocity recorded by the selected sensor
+				 * std::cout << motor.GetMotorOutputPercent() << std::endl; // prints the percent output of the motor (0.5)
+				 * std::cout << motor.GetStatorCurrent() << std::endl; // prints the output current of the motor
+				 *
+				 * ErrorCode error = motor.GetLastError(); // gets the last error generated by the motor controller
+				 * Faults faults;
+				 * ErrorCode faultsError = motor.GetFaults(faults); // fills faults with the current motor controller faults; returns the last error generated
+				 *
+				 * motor.SetStatusFramePeriod(StatusFrameEnhanced::Status_2_Feedback0, 10); // changes the period of the Status 2 frame (GetSelectedSensor*()) to 10ms
+				 * }
+				 * </pre>
 				 */
 				class TalonFX : public virtual BaseTalon
 				{
@@ -130,8 +157,10 @@ namespace ctre {
 					/**
 					 * Constructor for a Talon
 					 * @param deviceNumber CAN Device ID of TalonFX
+					 * @param canbus Name of the CANbus; can be a SocketCAN interface (on Linux),
+					 *               or a CANivore device name or serial number
 					 */
-					TalonFX(int deviceNumber);
+					TalonFX(int deviceNumber, std::string const &canbus = "");
 					~TalonFX();
 					TalonFX() = delete;
 					TalonFX(TalonFX const&) = delete;
@@ -271,6 +300,13 @@ namespace ctre {
 					 * @return object that can get/set individual RAW sensor values.
 					 */
 					ctre::phoenix::motorcontrol::TalonFXSensorCollection& GetSensorCollection();
+
+					//------ Simulation API ----------//
+					/**
+					 * @return object that can set simulation inputs.
+					 */
+					ctre::phoenix::motorcontrol::TalonFXSimCollection& GetSimCollection();
+
 					//------ All Configs ----------//
 
 					/**
diff --git a/include/ctre/phoenix/motorcontrol/can/TalonSRX.h b/include/ctre/phoenix/motorcontrol/can/TalonSRX.h
index 4aa11a4..5e78953 100644
--- a/include/ctre/phoenix/motorcontrol/can/TalonSRX.h
+++ b/include/ctre/phoenix/motorcontrol/can/TalonSRX.h
@@ -13,6 +13,7 @@ namespace ctre {
 	namespace phoenix {
 		namespace motorcontrol {
 			class SensorCollection;
+			class TalonSRXSimCollection;
 		}
 	}
 }
@@ -112,6 +113,32 @@ namespace ctre {
 
 				/**
 				 * CTRE Talon SRX Motor Controller when used on CAN Bus.
+				 *
+				 * <pre>
+				 * {@code
+				 * // Example usage of a TalonSRX motor controller
+				 * TalonSRX motor{0}; // creates a new TalonSRX with ID 0
+				 *
+				 * TalonSRXConfiguration config;
+				 * config.peakCurrentLimit = 40; // the peak current, in amps
+				 * config.peakCurrentDuration = 1500; // the time at the peak current before the limit triggers, in ms
+				 * config.continuousCurrentLimit = 30; // the current to maintain if the peak limit is triggered
+				 * motor.ConfigAllSettings(config); // apply the config settings; this selects the quadrature encoder
+				 *
+				 * motor.Set(TalonSRXControlMode::PercentOutput, 0.5); // runs the motor at 50% power
+				 *
+				 * std::cout << motor.GetSelectedSensorPosition() << std::endl; // prints the position of the selected sensor
+				 * std::cout << motor.GetSelectedSensorVelocity() << std::endl; // prints the velocity recorded by the selected sensor
+				 * std::cout << motor.GetMotorOutputPercent() << std::endl; // prints the percent output of the motor (0.5)
+				 * std::cout << motor.GetStatorCurrent() << std::endl; // prints the output current of the motor
+				 *
+				 * ErrorCode error = motor.GetLastError(); // gets the last error generated by the motor controller
+				 * Faults faults;
+				 * ErrorCode faultsError = motor.GetFaults(faults); // fills faults with the current motor controller faults; returns the last error generated
+				 *
+				 * motor.SetStatusFramePeriod(StatusFrameEnhanced::Status_2_Feedback0, 10); // changes the period of the Status 2 frame (GetSelectedSensor*()) to 10ms
+				 * }
+				 * </pre>
 				 */
 				class TalonSRX : public virtual BaseTalon
 				{
@@ -123,6 +150,16 @@ namespace ctre {
 					 * @param deviceNumber CAN Device ID of TalonSRX
 					 */
 					TalonSRX(int deviceNumber);
+
+#ifndef __FRC_ROBORIO__
+					/**
+					 * Constructor so non-FRC platforms can specify a CAN 2.0 socketcan bus
+					 * @param deviceNumber CAN Device ID of TalonSRX
+					 * @param canbus String specifying the bus
+					 */
+					TalonSRX(int deviceNumber, std::string const &canbus);
+#endif
+
 					~TalonSRX();
 					TalonSRX() = delete;
 					TalonSRX(TalonSRX const&) = delete;
@@ -334,6 +371,12 @@ namespace ctre {
 					 */
 					ctre::phoenix::motorcontrol::SensorCollection& GetSensorCollection();
 
+					//------ Simulation API ----------//
+					/**
+					 * @return object that can set simulation inputs.
+					 */
+					ctre::phoenix::motorcontrol::TalonSRXSimCollection& GetSimCollection();
+
 					//------ All Configs ----------//
 
 					/**
diff --git a/include/ctre/phoenix/motorcontrol/can/VictorSPX.h b/include/ctre/phoenix/motorcontrol/can/VictorSPX.h
index 24f5fdf..0d0ee1f 100644
--- a/include/ctre/phoenix/motorcontrol/can/VictorSPX.h
+++ b/include/ctre/phoenix/motorcontrol/can/VictorSPX.h
@@ -205,6 +205,22 @@ class VictorConfigUtil {
 
 /**
  * VEX Victor SPX Motor Controller when used on CAN Bus.
+ *
+ * <pre>
+ * {@code
+ * // Example usage of a VictorSPX motor controller
+ * VictorSPX motor{0}; // creates a new VictorSPX with ID 0
+ *
+ * motor.Set(VictorSPXControlMode::PercentOutput, 0.5); // runs the motor at 50% power
+ *
+ * std::cout << motor.GetMotorOutputPercent() << std::endl; // prints the percent output of the motor (0.5)
+ * std::cout << motor.GetBusVoltage() << std::endl; // prints the bus voltage seen by the motor controller
+ *
+ * ErrorCode error = motor.GetLastError(); // gets the last error generated by the motor controller
+ * Faults faults;
+ * ErrorCode faultsError = motor.GetFaults(faults); // fills faults with the current motor controller faults; returns the last error generated
+ * }
+ * </pre>
  */
 class VictorSPX: public virtual ctre::phoenix::motorcontrol::can::BaseMotorController,
                  public virtual ctre::phoenix::motorcontrol::IMotorController {
@@ -230,6 +246,16 @@ class VictorSPX: public virtual ctre::phoenix::motorcontrol::can::BaseMotorContr
 	 *            [0,62]
 	 */
 	VictorSPX(int deviceNumber);
+
+#ifndef __FRC_ROBORIO__
+	/**
+	 * Constructor so non-FRC platforms can specify a CAN 2.0 socketcan bus
+	 * @param deviceNumber CAN Device ID of VictorSPX
+	 * @param canbus String specifying the bus
+	 */
+	VictorSPX(int deviceNumber, std::string const &canbus);
+#endif
+
 	virtual ~VictorSPX() {
 	}
 	VictorSPX(VictorSPX const&) = delete;
@@ -293,6 +319,12 @@ class VictorSPX: public virtual ctre::phoenix::motorcontrol::can::BaseMotorContr
 	 */
 	void Set(ctre::phoenix::motorcontrol::VictorSPXControlMode mode, double demand0, ctre::phoenix::motorcontrol::DemandType demand1Type, double demand1);
 
+	//------ Simulation API ----------//
+	/**
+	 * @return object that can set simulation inputs.
+	 */
+	ctre::phoenix::motorcontrol::VictorSPXSimCollection& GetSimCollection();
+
 	//------ All Configs ----------//
     /**
      * Gets all PID set persistant settings.
diff --git a/include/ctre/phoenix/motorcontrol/can/WPI_TalonSRX.h b/include/ctre/phoenix/motorcontrol/can/WPI_TalonSRX.h
deleted file mode 100644
index c238473..0000000
--- a/include/ctre/phoenix/motorcontrol/can/WPI_TalonSRX.h
+++ /dev/null
@@ -1,128 +0,0 @@
-/**
- * WPI Compliant motor controller class.
- * WPILIB's object model requires many interfaces to be implemented to use
- * the various features.
- * This includes...
- * - Software PID loops running in the robot controller
- * - LiveWindow/Test mode features
- * - Motor Safety (auto-turn off of motor if Set stops getting called)
- * - Single Parameter set that assumes a simple motor controller.
- */
-#pragma once
-#if defined(CTR_INCLUDE_WPILIB_CLASSES) || defined(__FRC_ROBORIO__)
-#include "ctre/phoenix/MotorControl/CAN/TalonSRX.h"
-#include "SmartDashboard/SendableBase.h"
-#include "SmartDashboard/SendableBuilder.h"
-#include "SpeedController.h"
-#include "MotorSafety.h"
-#include "MotorSafetyHelper.h"
-
-namespace ctre {
-namespace phoenix {
-namespace motorcontrol {
-namespace can {
-
-
-class WPI_TalonSRX: public virtual TalonSRX,
-		public virtual frc::SpeedController,
-		public frc::SendableBase,
-		public frc::MotorSafety {
-public:
-	WPI_TalonSRX(int deviceNumber);
-	virtual ~WPI_TalonSRX();
-
-	WPI_TalonSRX() = delete;
-	WPI_TalonSRX(WPI_TalonSRX const&) = delete;
-	WPI_TalonSRX& operator=(WPI_TalonSRX const&) = delete;
-
-	//----------------------- set/get routines for WPILIB interfaces -------------------//
-	/**
-	 * Common interface for setting the speed of a simple speed controller.
-	 *
-	 * @param speed The speed to set.  Value should be between -1.0 and 1.0.
-	 * 									Value is also saved for Get().
-	 */
-	virtual void Set(double speed);
-	virtual void PIDWrite(double output);
-
-	/**
-	 * Common interface for getting the current set speed of a speed controller.
-	 *
-	 * @return The current set speed.  Value is between -1.0 and 1.0.
-	 */
-	virtual double Get() const;
-
-	//----------------------- Intercept CTRE calls for motor safety -------------------//
-	virtual void Set(ControlMode mode, double value);
-	virtual void Set(ControlMode mode, double demand0, double demand1);
-	//----------------------- Invert routines -------------------//
-	/**
-	 * Common interface for inverting direction of a speed controller.
-	 *
-	 * @param isInverted The state of inversion, true is inverted.
-	 */
-	virtual void SetInverted(bool isInverted);
-	/**
-	 * Common interface for returning the inversion state of a speed controller.
-	 *
-	 * @return isInverted The state of inversion, true is inverted.
-	 */
-	virtual bool GetInverted() const;
-	//----------------------- turn-motor-off routines-------------------//
-	/**
-	 * Common interface for disabling a motor.
-	 */
-	virtual void Disable();
-	/**
-	 * Common interface to stop the motor until Set is called again.
-	 */
-	virtual void StopMotor();
-
-	//----------------------- Motor Safety-------------------//
-
-	/**
-	 * Set the safety expiration time.
-	 *
-	 * @param timeout The timeout (in seconds) for this motor object
-	 */
-	void SetExpiration(double timeout);
-
-	/**
-	 * Return the safety expiration time.
-	 *
-	 * @return The expiration time value.
-	 */
-	double GetExpiration() const;
-
-	/**
-	 * Check if the motor is currently alive or stopped due to a timeout.
-	 *
-	 * @return a bool value that is true if the motor has NOT timed out and should
-	 *         still be running.
-	 */
-	bool IsAlive() const;
-
-	/**
-	 * Check if motor safety is enabled.
-	 *
-	 * @return True if motor safety is enforced for this object
-	 */
-	bool IsSafetyEnabled() const;
-
-	void SetSafetyEnabled(bool enabled);
-
-	void GetDescription(llvm::raw_ostream& desc) const;
-
-protected:
-	virtual void InitSendable(frc::SendableBuilder& builder);
-private:
-	double _speed = 0;
-	std::string _desc;
-	frc::MotorSafetyHelper _safetyHelper;
-};
-
-} // namespace can
-} // namespace motorcontrol
-} // namespace phoenix
-} // namespace ctre
-#endif
diff --git a/include/ctre/phoenix/motorcontrol/can/WPI_VictorSPX.h b/include/ctre/phoenix/motorcontrol/can/WPI_VictorSPX.h
deleted file mode 100644
index fdae654..0000000
--- a/include/ctre/phoenix/motorcontrol/can/WPI_VictorSPX.h
+++ /dev/null
@@ -1,128 +0,0 @@
-/**
- * WPI Compliant motor controller class.
- * WPILIB's object model requires many interfaces to be implemented to use
- * the various features.
- * This includes...
- * - Software PID loops running in the robot controller
- * - LiveWindow/Test mode features
- * - Motor Safety (auto-turn off of motor if Set stops getting called)
- * - Single Parameter set that assumes a simple motor controller.
- */
-#pragma once
-#if defined(CTR_INCLUDE_WPILIB_CLASSES) || defined(__FRC_ROBORIO__)
-#include "ctre/phoenix/MotorControl/CAN/VictorSPX.h"
-#include "SmartDashboard/SendableBase.h"
-#include "SmartDashboard/SendableBuilder.h"
-#include "SpeedController.h"
-#include "MotorSafety.h"
-#include "MotorSafetyHelper.h"
-
-namespace ctre {
-namespace phoenix {
-namespace motorcontrol {
-namespace can {
-
-
-class WPI_VictorSPX: public virtual VictorSPX,
-		public virtual frc::SpeedController,
-		public frc::SendableBase,
-		public frc::MotorSafety {
-public:
-	WPI_VictorSPX(int deviceNumber);
-	virtual ~WPI_VictorSPX();
-
-	WPI_VictorSPX() = delete;
-	WPI_VictorSPX(WPI_VictorSPX const&) = delete;
-	WPI_VictorSPX& operator=(WPI_VictorSPX const&) = delete;
-
-	//----------------------- set/get routines for WPILIB interfaces -------------------//
-	/**
-	 * Common interface for setting the speed of a simple speed controller.
-	 *
-	 * @param speed The speed to set.  Value should be between -1.0 and 1.0.
-	 * 									Value is also saved for Get().
-	 */
-	virtual void Set(double speed);
-	virtual void PIDWrite(double output);
-
-	/**
-	 * Common interface for getting the current set speed of a speed controller.
-	 *
-	 * @return The current set speed.  Value is between -1.0 and 1.0.
-	 */
-	virtual double Get() const;
-
-	//----------------------- Intercept CTRE calls for motor safety -------------------//
-	virtual void Set(ControlMode mode, double value);
-	virtual void Set(ControlMode mode, double demand0, double demand1);
-	//----------------------- Invert routines -------------------//
-	/**
-	 * Common interface for inverting direction of a speed controller.
-	 *
-	 * @param isInverted The state of inversion, true is inverted.
-	 */
-	virtual void SetInverted(bool isInverted);
-	/**
-	 * Common interface for returning the inversion state of a speed controller.
-	 *
-	 * @return isInverted The state of inversion, true is inverted.
-	 */
-	virtual bool GetInverted() const;
-	//----------------------- turn-motor-off routines-------------------//
-	/**
-	 * Common interface for disabling a motor.
-	 */
-	virtual void Disable();
-	/**
-	 * Common interface to stop the motor until Set is called again.
-	 */
-	virtual void StopMotor();
-
-	//----------------------- Motor Safety-------------------//
-
-	/**
-	 * Set the safety expiration time.
-	 *
-	 * @param timeout The timeout (in seconds) for this motor object
-	 */
-	void SetExpiration(double timeout);
-
-	/**
-	 * Return the safety expiration time.
-	 *
-	 * @return The expiration time value.
-	 */
-	double GetExpiration() const;
-
-	/**
-	 * Check if the motor is currently alive or stopped due to a timeout.
-	 *
-	 * @return a bool value that is true if the motor has NOT timed out and should
-	 *         still be running.
-	 */
-	bool IsAlive() const;
-
-	/**
-	 * Check if motor safety is enabled.
-	 *
-	 * @return True if motor safety is enforced for this object
-	 */
-	bool IsSafetyEnabled() const;
-
-	void SetSafetyEnabled(bool enabled);
-
-	void GetDescription(llvm::raw_ostream& desc) const;
-
-protected:
-	virtual void InitSendable(frc::SendableBuilder& builder);
-private:
-	double _speed = 0;
-	std::string _desc;
-	frc::MotorSafetyHelper _safetyHelper;
-};
-
-} // namespace can
-} // namespace motorcontrol
-} // namespace phoenix
-} // namespace ctre
-#endif
diff --git a/include/ctre/phoenix/music/Orchestra.h b/include/ctre/phoenix/music/Orchestra.h
index cc99355..5156531 100644
--- a/include/ctre/phoenix/music/Orchestra.h
+++ b/include/ctre/phoenix/music/Orchestra.h
@@ -58,7 +58,7 @@ namespace ctre {
 				 * 		    The path to the Chirp File.
 				 * @return Error Code generated by function. 0 indicates no error. 
 				 */
-				ErrorCode LoadMusic(std::string& filePath);
+				ErrorCode LoadMusic(const std::string& filePath);
 				/**
 				 * Plays the music file that's loaded. 
 				 * If the player is paused, this will resume.
@@ -84,6 +84,12 @@ namespace ctre {
 				 * @return True if playing, false otherwise 
 				 */
 				bool IsPlaying();
+				/**
+				 * @return The current timestamp of the music file (playing or paused) in milliseconds.
+				 * The timestamp will reset to zero whenever LoadMusic() or Stop() is called.
+				 * If IsPlaying() returns false, this routine can be used to determine if music is stopped or paused.
+				 */
+				uint32_t GetCurrentTime();
 				/**
 				 * Adds another instrument to the orchestra.
 				 * @param instrument
@@ -99,4 +105,4 @@ namespace ctre {
 			};
 		}
 	}
-}
\ No newline at end of file
+}
diff --git a/include/ctre/phoenix/paramEnum.h b/include/ctre/phoenix/paramEnum.h
index d5d000d..eae7151 100644
--- a/include/ctre/phoenix/paramEnum.h
+++ b/include/ctre/phoenix/paramEnum.h
@@ -40,19 +40,6 @@ namespace ctre {
 			eClearPositionOnLimitR = 321,
 			eClearPositionOnQuadIdx = 322,
 
-			/*
-			 *@deprecated use above
-			 */
-			eClearPosOnLimitF = eClearPositionOnLimitF,
-			/*
-			 *@deprecated use above
-			 */
-			eClearPosOnLimitR = eClearPositionOnLimitR,
-			/*
-			 *@deprecated use above
-			 */
-			eClearPositionOnIdx = eClearPositionOnQuadIdx,
-
 			eSampleVelocityPeriod = 325,
 			eSampleVelocityWindow = 326,
 
@@ -148,6 +135,49 @@ namespace ctre {
 			eMagnetOffset,
 			eSensorSync,
 			eAbsSensorRange,
+
+			/* Pigeon2 */
+			eChangeCompassUse = 800,
+			eRestartKalman,
+			eAccNoiseAmplificationGain,
+			eMagNoiseAmplificationGain,
+			eGyrNoiseAmplificationGain,
+			eMaxAccKg,
+			eMaxMagKg,
+			eGyroBias,
+			eAccelOffsets,
+			eMagCal,
+			eMagCalSlot,
+			eMagCalRunning,
+			eGyrResolution,
+			eAccelKalmanBiasGain,
+			eMagKalmanBiasGain,
+			eTempCalRunning,
+			eApplyTempCal,
+			eClearTempCal,
+			eDontRunThermComp,
+			eChangeHeatOutput,
+			eSetNoMotionCalDisable,
+			eClearMagCal,
+			eSetGyrSensitivity,
+			eSetVsenseScalar,
+			eConfigMountPoseYaw,
+			eConfigMountPosePitch,
+			eConfigMountPoseRoll,
+			eConfigAccelScalar,
+			eConfigGyroScalarX,
+			eConfigGyroScalarY,
+			eConfigGyroScalarZ,
+			eCustomParam0,
+			eCustomParam1,
+
+			/* CANdle */
+			eLEDStripType = 900,
+			eLossOfSignalBehavior,
+			eBrightnessCoefficient,
+			eStatusLedState,
+			eVBatOutput,
+			eV5Enabled,
 		};
 
 	} // namespace phoenix
diff --git a/include/ctre/phoenix/platform/BasePlatform.h b/include/ctre/phoenix/platform/BasePlatform.h
new file mode 100644
index 0000000..4104d5c
--- /dev/null
+++ b/include/ctre/phoenix/platform/BasePlatform.h
@@ -0,0 +1,92 @@
+#pragma once
+
+#include "Platform-pack.h"
+#include "canframe.h"
+#include <string>
+#include <vector>
+
+/* forward prototype, defined in platform implementation */
+class CANivoreSocket;
+
+namespace ctre {
+namespace phoenix {
+namespace platform {
+namespace can {
+
+	/* interface for CAN Platforms */
+	class BaseCANbusDispatcher {
+	public:
+		/* the CANbusDispatcher implementation will define this */
+		static BaseCANbusDispatcher &GetInstance(void);
+
+		virtual void Dispose(void);
+
+		//-------------- CANivore diagnostic interface, this is required only for the CANivore dispatchers ---------------//
+		virtual int32_t CANivoreDiagTransaction(uint8_t *data, uint32_t txDataLen, uint32_t rxDataCapacity, uint32_t &rxDataLen, uint32_t timeoutMs, char const *canbus, bool printErr);
+
+		//------------ CANBus registration interface, this is required when multiple CAN buses are possible -------------//
+		virtual int32_t RegisterCANbus(char const *canbus);
+		virtual std::string GetCANivoreDevName(char const *canbus);
+
+		//-------------------------- Low Level CANBus interface, this is required for everyone --------------------------//
+		virtual std::vector<std::string> GetCANbusList(void) = 0;
+		virtual void GetStatus(float &busUtilPerc, uint32_t &busOffCount, uint32_t &txFullCount, uint32_t &rec, uint32_t &tec, int32_t &status, char const *canbus, bool printErr) = 0;
+		virtual int32_t SendFrame(uint32_t messageID, uint8_t const *data, uint8_t dataSize, char const *canbus, bool printErr) = 0;
+
+		//----------- Mid Level CANBus interface, this is required for everyone (BusMgr for phoenix-canutil) ------------//
+		virtual void CANComm_SendMessage(uint32_t messageID, uint8_t const *data, uint8_t dataSize, int32_t periodMs, int32_t *status, char const *canbus, bool printErr) = 0;
+		virtual void CANComm_ReceiveMessage(uint32_t *messageID, uint32_t messageIDMask, uint8_t *data, uint8_t *dataSize, uint32_t *timeStamp, int32_t *status, char const *canbus, bool printErr) = 0;
+		virtual void CANComm_OpenStreamSession(uint32_t *sessionHandle, uint32_t messageID, uint32_t messageIDMask, uint32_t maxMessages, int32_t *status, char const *canbus, bool printErr) = 0;
+		virtual void CANComm_CloseStreamSession(uint32_t sessionHandle, char const *canbus, bool printErr) = 0;
+		virtual void CANComm_ReadStreamSession(uint32_t sessionHandle, canframe_t *messages, uint32_t messagesToRead, uint32_t *messagesRead, int32_t *status, char const *canbus, bool printErr) = 0;
+		virtual int32_t CANComm_GetTxSchedulerStatus(void *unusedControlWorld, char const *canbus, bool printErr) = 0; // used to be GetControlWord
+	};
+
+	/* interface for CAN Platforms using BusMgr */
+	class BaseCANDriver {
+	public:
+		/* the CANDriver implementation will define this */
+		static BaseCANDriver &GetInstance(void);
+
+		virtual void GetStatus(float &busUtilPerc, uint32_t &busOffCount, uint32_t &txFullCount, uint32_t &rec, uint32_t &tec, int32_t &status, CANivoreSocket const *socket) = 0;
+		/* When possible, implementations should NOT make this blocking */
+		virtual int32_t SendFrame(uint32_t messageID, uint8_t const *data, uint8_t dataSize, CANivoreSocket const *socket) = 0;
+		virtual uint16_t GetMinRxBufferSz(void) = 0;
+		/* Windows: This routine will block up to a fixed timeout (10ms).  This is necessary for good performance.
+		 * Linux: This routine is non-blocking to prevent mutex-blocks. Caller should have a yield to prevent high-cpu spinning. */
+		virtual int32_t ReceiveFrame(canframe_t *toFill, uint32_t frameCap, uint32_t &numFilled, CANivoreSocket const *socket) = 0;
+	};
+
+} //namespace can
+} //namespace platform
+} //namespace phoenix
+} //namespace ctre
+
+namespace ctre {
+namespace phoenix {
+namespace platform {
+
+	/** list of all supporte device types */
+	#define kDeviceTypeListInitializer	TalonSRXType, VictorSPXType, PigeonIMUType, RibbonPigeonIMUType, TalonFXType, CANCoderType
+
+	enum DeviceType {kDeviceTypeListInitializer};
+
+	/* interface for Platforms */
+	class BaseSimPlatform {
+	public:
+		/* the Platform implementation will define this */
+		static BaseSimPlatform &GetInstance(void);
+
+		virtual int32_t SimCreate(DeviceType type, int id);
+
+		virtual int32_t SimDestroy(DeviceType type, int id);
+		virtual int32_t SimDestroyAll();
+
+		virtual int32_t SimSetPhysicsInput(DeviceType type, int id, std::string const &physicsType, double value);
+		virtual int32_t SimGetPhysicsValue(DeviceType type, int id, std::string const &physicsType, double &value);
+		virtual int32_t SimGetLastError(DeviceType type, int id);
+	};
+
+} // namespace platform
+} // namespace phoenix
+} // namespace ctre
diff --git a/include/ctre/phoenix/platform/Platform-pack.h b/include/ctre/phoenix/platform/Platform-pack.h
index afa2c67..46b68d0 100644
--- a/include/ctre/phoenix/platform/Platform-pack.h
+++ b/include/ctre/phoenix/platform/Platform-pack.h
@@ -65,22 +65,6 @@
 	#define CTRE_REGISTER_SHUTDOWN_HANDLER(shutdown_handler) \
 		do{ (void)SetConsoleCtrlHandler(CTRE_Global_ConsoleHandlerRoutine, TRUE); } while(0)
 
-#elif defined(__GNUC__)
-
-	#include <sys/signal.h>		
-
-	#define CTRE_IMPLEMENT_SHUTDOWN_HANDLER(shutdown_handler)	\
-		static void shutdown_handler(int signo)	
-
-	#define CTRE_REGISTER_SHUTDOWN_HANDLER(shutdown_handler) \
-										{	\
-											struct sigaction sigact;	\
-											sigact.sa_handler = shutdown_handler;	\
-											sigemptyset(&sigact.sa_mask);	\
-											sigact.sa_flags = 0;	\
-											sigaction(SIGINT, &sigact, NULL);	\
-											sigaction(SIGTERM, &sigact, NULL);	\
-										}
 #else
 
 	#define CTRE_IMPLEMENT_SHUTDOWN_HANDLER(shutdown_handler) static void shutdown_handler(int signo)	
diff --git a/include/ctre/phoenix/platform/Platform.h b/include/ctre/phoenix/platform/Platform.h
index 5b679c5..af16213 100644
--- a/include/ctre/phoenix/platform/Platform.h
+++ b/include/ctre/phoenix/platform/Platform.h
@@ -1,53 +1,35 @@
 #pragma once
-#include "ctre/phoenix/platform/Platform-pack.h"
-#include <stdint.h>
-#include <string>
 
-/* small wrinkle for RIO platform */
-#ifdef __FRC_ROBORIO__
-	struct tCANStreamMessage;
-#endif
+#include "BasePlatform.h"
+#include "SleepUs.h"
+#include "ReportError.h"
+#include "ctre/phoenix/export.h"
+#include "ctre/phoenix/ErrorCode.h"
 
 namespace ctre {
 namespace phoenix {
 namespace platform {
 namespace can {
-	/**
-	 * "plain old data" container for holding a CAN Frame Event.
-	 * Assignment of this type resolves to a copy-by-value.
-	 */
-	typedef struct _canframe_t {
-		uint32_t arbID; //!< ArbID of the CAN frame.
-		uint32_t timeStampUs; //!< Timestamp if receive event.  Zero otherwise.
-		uint8_t data[8]; //!< Data bytes
-		uint32_t flags; //!< Zero for now.  Can be used for detecting arbID type (29bit vs 11bit).
-		uint8_t dlc; //!< Number of bytes in payload
-	} canframe_t;
 
-	//-------------- Low Level CANBus interface, this is required if using phoenix-canutil--------------------------//
-	void CANbus_GetStatus(float *busUtilPerc, uint32_t *busOffCount, uint32_t *txFullCount, uint32_t *rec, uint32_t *tec, int32_t *status);
-	int32_t CANbus_SendFrame(uint32_t messageID, const uint8_t *data, uint8_t dataSize);
-	/* assumed blocking */
-	int32_t CANbus_ReceiveFrame(canframe_t * toFill, uint32_t frameCap, uint32_t *numFilled);
-    
-	/**
-	 * Set the CAN interface to use, for example on Linux you may select "can0".
-	 * @param CANInterface CAN interface string.
-	 * @return errorcode, zero if successful.
-	 */
-    int32_t SetCANInterface(const char * CANInterface);
+	//-------------- CANivore diagnostic interface, this is only implemented by the CANivore dispatchers ---------------//
+	CTREXPORT int32_t CANivoreDiagTransaction(uint8_t *data, uint32_t txDataLen, uint32_t rxDataCapacity, uint32_t &rxDataLen, uint32_t timeoutMs, char const *canbus, bool printErr = true);
+
+	//------------ CANBus registration interface, this is implemented when multiple CAN buses are possible -------------//
+	CTREXPORT int32_t RegisterCANbus(char const *canbus);
+	CTREXPORT std::string GetCANivoreDevName(char const *canbus);
+
+	//-------------------------- Low Level CANBus interface, this is implemented by everyone ---------------------------//
+	CTREXPORT std::vector<std::string> GetCANbusList(void);
+	CTREXPORT void CANbus_GetStatus(float &busUtilPerc, uint32_t &busOffCount, uint32_t &txFullCount, uint32_t &rec, uint32_t &tec, int32_t &status, char const *canbus, bool printErr = true);
+	CTREXPORT int32_t CANbus_SendFrame(uint32_t messageID, uint8_t const *data, uint8_t dataSize, char const *canbus, bool printErr = true);
 
-	//-------------- Mid Level CANBus interface, this is required if NOT using phoenix-canutil, --------------------------//
-	void CANComm_SendMessage(uint32_t messageID, const uint8_t *data, uint8_t dataSize, int32_t periodMs, int32_t *status);
-	void CANComm_ReceiveMessage(uint32_t *messageID, uint32_t messageIDMask, uint8_t *data, uint8_t *dataSize, uint32_t *timeStamp, int32_t *status);
-	void CANComm_OpenStreamSession(uint32_t *sessionHandle, uint32_t messageID, uint32_t messageIDMask, uint32_t maxMessages, int32_t *status);
-	void CANComm_CloseStreamSession(uint32_t sessionHandle);
-#ifdef __FRC_ROBORIO__
-	void CANComm_ReadStreamSession(uint32_t sessionHandle, struct tCANStreamMessage *messages, uint32_t messagesToRead, uint32_t *messagesRead, int32_t *status);
-#else
-	void CANComm_ReadStreamSession(uint32_t sessionHandle, canframe_t *messages, uint32_t messagesToRead, uint32_t *messagesRead, int32_t *status);
-#endif
-	int32_t CANComm_GetTxSchedulerStatus(void *unusedControlWorld); // used to be GetControlWord
+	//------------ Mid Level CANBus interface, this is implemented by everyone (BusMgr for phoenix-canutil) ------------//
+	CTREXPORT void CANComm_SendMessage(uint32_t messageID, uint8_t const *data, uint8_t dataSize, int32_t periodMs, int32_t *status, char const *canbus, bool printErr = true);
+	CTREXPORT void CANComm_ReceiveMessage(uint32_t *messageID, uint32_t messageIDMask, uint8_t *data, uint8_t *dataSize, uint32_t *timeStamp, int32_t *status, char const *canbus, bool printErr = true);
+	CTREXPORT void CANComm_OpenStreamSession(uint32_t *sessionHandle, uint32_t messageID, uint32_t messageIDMask, uint32_t maxMessages, int32_t *status, char const *canbus, bool printErr = true);
+	CTREXPORT void CANComm_CloseStreamSession(uint32_t sessionHandle, char const *canbus, bool printErr = true);
+	CTREXPORT void CANComm_ReadStreamSession(uint32_t sessionHandle, canframe_t *messages, uint32_t messagesToRead, uint32_t *messagesRead, int32_t *status, char const *canbus, bool printErr = true);
+	CTREXPORT int32_t CANComm_GetTxSchedulerStatus(void *unusedControlWorld, char const *canbus, bool printErr = true); // used to be GetControlWord
 
 } //namespace can
 } //namespace platform
@@ -58,40 +40,25 @@ namespace ctre {
 namespace phoenix {
 namespace platform {
 
-    enum DeviceType {TalonSRXType, VictorSPXType, CANifierType, PigeonIMUType};
-
-	/**
-	 * @param timeUs	How long to yield current thread in microseconds (us).  
-	 *					If platform cannot honor us resolution, round to nearest
-	 *					value that platform can honor.
-	 */
-	void SleepUs(int timeUs);
-
 	/**
 	 * Get a stack trace, ignoring the first "offset" symbols.
 	 *
 	 * @param offset The number of symbols at the top of the stack to ignore
 	 */
-	std::string GetStackTrace(int offset);
-
-	void ReportError(int isError, int32_t errorCode, int isLVCode,
-		const char *details, const char *location, const char *callStack);
+	CTREXPORT std::string GetStackTrace(int offset);
 
-    int32_t SimCreate(DeviceType type, int id);
+	CTREXPORT int32_t DisposePlatform();
+	CTREXPORT int32_t StartPlatform();
 
-    int32_t SimConfigGet(DeviceType type, uint32_t param, uint32_t valueToSend, uint32_t & outValueReceived, uint32_t & outSubvalue, uint32_t ordinal, uint32_t id);
-    
-    int32_t SimConfigSet(DeviceType type, uint32_t param, uint32_t value, uint32_t subValue, uint32_t ordinal, uint32_t id);
+	CTREXPORT int32_t SimCreate(DeviceType type, int id);
 
-	int32_t SimDestroy(DeviceType type, int id);
-	int32_t SimDestroyAll();
+	CTREXPORT int32_t SimDestroy(DeviceType type, int id);
+	CTREXPORT int32_t SimDestroyAll();
 
-    int32_t DisposePlatform();
-    int32_t StartPlatform();
+	CTREXPORT int32_t SimSetPhysicsInput(DeviceType type, int id, std::string const &physicsType, double value);
+	CTREXPORT int32_t SimGetPhysicsValue(DeviceType type, int id, std::string const &physicsType, double &value);
+	CTREXPORT int32_t SimGetLastError(DeviceType type, int id);
 
-    int32_t DisposeMgr();
-    int32_t StartMgr();
-    
 } // namespace platform
 } // namespace phoenix
 } // namespace ctre
diff --git a/include/ctre/phoenix/platform/PlatformSim.h b/include/ctre/phoenix/platform/PlatformSim.h
deleted file mode 100644
index a966cbd..0000000
--- a/include/ctre/phoenix/platform/PlatformSim.h
+++ /dev/null
@@ -1,61 +0,0 @@
-#include "ctre/phoenix/platform/Platform.h"
-#include "ctre/phoenix/cci/Platform_CCI.h"
-
-namespace ctre {
-namespace phoenix {
-namespace platform {
-
-/**
- * Class for simulation as a platform
- */
-class PlatformSim {
-
-public:
-    /**
-     * Create Device
-     * @param type Device Type
-     * @param id Device ID
-     * @return ErrorCode
-     */
-    static int32_t SimCreate(DeviceType type, int id);
-    /**
-     * Destroy Device
-     * @param type Device Type
-     * @param id Device ID
-     * @return ErrorCode
-     */
-    static int32_t SimDestroy(DeviceType type, int id);
-    /**
-     * Destroy all devices in sim
-     * @return ErrorCode
-     */
-    static int32_t SimDestroyAll();
-    /**
-     * Get configs of simulated device
-     * @param type Device Type
-     * @param param Param to get 
-     * @param valueToSend subValue
-     * @param outValueReceived requested value
-     * @param outSubvalue requested subValue
-     * @param ordinal Ordinal
-     * @param id Device ID
-     * @return ErrorCode
-     */
-    static int32_t SimConfigGet(DeviceType type, uint32_t param, uint32_t valueToSend, uint32_t & outValueReceived, uint32_t & outSubvalue, uint32_t ordinal, int32_t id);
-    /**
-     * Sets configs of simulated device
-     * @param type Device Type
-     * @param param Param to send
-     * @param value Value to send
-     * @param subValue Subvalue to send
-     * @param ordinal Ordinal
-     * @param id Device ID
-     * @return ErrorCode
-     */
-    static int32_t SimConfigSet(DeviceType type, uint32_t param, uint32_t value, uint32_t subValue, uint32_t ordinal, int32_t id);
-
-};
-
-}
-}
-}
diff --git a/include/ctre/phoenix/platform/ReportError.h b/include/ctre/phoenix/platform/ReportError.h
new file mode 100644
index 0000000..4f7d217
--- /dev/null
+++ b/include/ctre/phoenix/platform/ReportError.h
@@ -0,0 +1,14 @@
+#pragma once
+
+#include <stdint.h>
+
+namespace ctre {
+namespace phoenix {
+namespace platform {
+
+	void ReportError(int isError, int32_t errorCode, int isLVCode, const char *details,
+					const char *location, const char *callStack);
+
+} // namespace platform
+} // namespace phoenix
+} // namespace ctre
\ No newline at end of file
diff --git a/include/ctre/phoenix/platform/SleepUs.h b/include/ctre/phoenix/platform/SleepUs.h
new file mode 100644
index 0000000..792b9ec
--- /dev/null
+++ b/include/ctre/phoenix/platform/SleepUs.h
@@ -0,0 +1,30 @@
+#pragma once
+
+#include <chrono>
+#include <thread>
+
+#ifdef __FRC_ROBORIO__
+#include <unistd.h>
+#endif
+
+namespace ctre {
+namespace phoenix {
+namespace platform {
+
+	/**
+	 * @param timeUs	How long to yield current thread in microseconds (us).
+	 *					If platform cannot honor us resolution, round to nearest
+	 *					value that platform can honor.
+	 */
+	static inline void SleepUs(int timeUs)
+	{
+#ifdef __FRC_ROBORIO__
+		usleep(timeUs);
+#else
+		std::this_thread::sleep_for(std::chrono::microseconds(timeUs));
+#endif
+	}
+
+} // namespace platform
+} // namespace phoenix
+} // namespace ctre
\ No newline at end of file
diff --git a/include/ctre/phoenix/platform/can/PlatformCAN.h b/include/ctre/phoenix/platform/can/PlatformCAN.h
index 5511099..4275fc7 100644
--- a/include/ctre/phoenix/platform/can/PlatformCAN.h
+++ b/include/ctre/phoenix/platform/can/PlatformCAN.h
@@ -16,9 +16,18 @@ class PlatformCAN {
      * Set CAN interface
      * @param canInterface Can interface to set. Linux example: "can0".
      * @return ErrorCode generated by function
+     * @deprecated pass the CAN interface to device constructors instead,
+     *             or call RegisterCANbus
      */
     static int32_t SetCANInterface(const char * canInterface);
 
+    /**
+     * Registers a non-compliant CANbus
+     * @param canbus CANbus to register. Linux example: "can0".
+     * @return ErrorCode generated by function
+     */
+    static int32_t RegisterCANbus(char const *canbus);
+
     /**
      * Starts all items in interface
      */
diff --git a/include/ctre/phoenix/platform/canframe.h b/include/ctre/phoenix/platform/canframe.h
new file mode 100644
index 0000000..0a13252
--- /dev/null
+++ b/include/ctre/phoenix/platform/canframe.h
@@ -0,0 +1,25 @@
+#pragma once
+
+#include <stdint.h>
+
+namespace ctre {
+namespace phoenix {
+namespace platform {
+namespace can {
+
+	/**
+	 * "plain old data" container for holding a CAN Frame Event.
+	 * Assignment of this type resolves to a copy-by-value.
+	 */
+	typedef struct _canframe_t {
+		uint32_t arbID; //!< ArbID of the CAN frame.
+		uint32_t timeStampUs; //!< Timestamp if receive event.  Zero otherwise.
+		uint8_t data[64]; //!< Data bytes
+		uint32_t flags; //!< Zero for now.  Can be used for detecting arbID type (29bit vs 11bit).
+		uint8_t len; //!< Number of bytes in payload
+	} canframe_t;
+
+} //namespace can
+} //namespace platform
+} //namespace phoenix
+} //namespace ctre
diff --git a/include/ctre/phoenix/platform/canivore_device.h b/include/ctre/phoenix/platform/canivore_device.h
new file mode 100644
index 0000000..14eb9d0
--- /dev/null
+++ b/include/ctre/phoenix/platform/canivore_device.h
@@ -0,0 +1,13 @@
+#pragma once
+
+#include <cstring>
+
+constexpr size_t kCANivoreMaxStrLen = 100;
+
+typedef struct _canivore_device_t {
+	char status[kCANivoreMaxStrLen];
+	char name[kCANivoreMaxStrLen];
+	char serial_num[kCANivoreMaxStrLen];
+	char firm_vers[16];
+	char discoveryStatus[kCANivoreMaxStrLen];
+} canivore_device_t;
diff --git a/include/ctre/phoenix/platform/ctr_assert.h b/include/ctre/phoenix/platform/ctr_assert.h
new file mode 100644
index 0000000..dff0bfb
--- /dev/null
+++ b/include/ctre/phoenix/platform/ctr_assert.h
@@ -0,0 +1,23 @@
+#ifndef ctr_assert__h_
+#define ctr_assert__h_
+
+#include "ctre/phoenix/platform/Platform-pack.h" // assert
+
+#if defined(_DEBUG) || defined(DEBUG)
+	#define CTR_DEBUGGING		(1)
+#else
+	#define CTR_DEBUGGING		(0)
+#endif
+
+#define CTR_STOP_DEBUGGER_ON_ASSERT	(0) /* turn this off before deploying the so, otherwise RIO goes into safe mode. */
+
+#define  ctr_assert(cond)																						\
+	do{																											\
+		if(CTR_DEBUGGING && !(cond)){																			\
+			if (CTR_STOP_DEBUGGER_ON_ASSERT) { CTRE_ASSERT(cond); }												\
+			printf("ctr_assert : %s : %s : %i\n",#cond,__FILE__,__LINE__);										\
+		}																										\
+	}while(0)
+
+#endif /* ctr_assert__h_ */
+
diff --git a/include/ctre/phoenix/runtime/LibLoader.h b/include/ctre/phoenix/runtime/LibLoader.h
deleted file mode 100644
index 83e3c43..0000000
--- a/include/ctre/phoenix/runtime/LibLoader.h
+++ /dev/null
@@ -1,274 +0,0 @@
-/**
- * @brief OS abstracted Library Loader class for DLLs/shared-objects.
- * @author Ozrien
- *
- * This is useful for basic plugin systems.
-
- * Example Use...
- * <pre>
- * {@code
- *     ctre::phoenix::runtime::LibLoader ldr;
- *     typedef int (*example_func_t)(...params...);
- *     try {
- *         ldr.Open("example.dll");
- *         int retval = LIBLOADER_LOOKUP(ldr, example_func_t)(...params...);
- *     } catch (const LibLoaderException & e) {}
- * }
- * </pre>
- */
-#pragma once
-
-#include "ctre/phoenix/ErrorCode.h"
-#include <stdexcept>
-#include <string>
-#include <map>
-
- /**
-  * Use preprocessor to simplifiy getting func ptr by name, then calling.
-  * Example use: LIBLOADER_LOOKUP(loader, some_func_typedef)(... some func params ...)
-  */
-#define LIBLOADER_LOOKUP(libloader, funcT) (libloader).LookupFunc<funcT>(#funcT)
-
-namespace ctre {
-	namespace phoenix {
-		namespace runtime {
-			/**
-			* LibLoaderException
-			*/
-			class LibLoaderException : public std::runtime_error {
-			public:
-
-				LibLoaderException(phoenix::ErrorCode errorCode, const std::string& BaseMessage, const std::string & libPath)
-					: std::runtime_error((BaseMessage + " " + libPath).c_str())
-				{
-					_errorCode = errorCode;
-				}
-				LibLoaderException(phoenix::ErrorCode errorCode, const std::string& BaseMessage, const std::string & libPath, const std::string & funcName)
-					: std::runtime_error((BaseMessage + " " + funcName + " in " + libPath).c_str())
-				{
-					_errorCode = errorCode;
-				}
-
-				phoenix::ErrorCode GetPhoenixErrorCode() const
-				{
-					return _errorCode;
-				}
-			private:
-				phoenix::ErrorCode _errorCode;
-			};
-		} // runtime
-	} // phoenix
-} // ctre
-
-#if defined(WIN32) || defined(_WIN32) || defined(_WIN64)
-#include <Windows.h>
-namespace ctre {
-	namespace phoenix {
-		namespace runtime {
-			/**
-			 * LibLoader
-			 */
-			class LibLoader {
-
-			public:
-				/** default c'tor */
-				LibLoader() { /* empty */ }
-
-				/* no copy c'tr */
-				LibLoader(const LibLoader&) = delete;
-
-				/** d'tor */
-				~LibLoader() { Close(); }
-
-				/**
-				 * @param libPath filePath to dll to load, passed into LoadLibrary.
-				 * Routine will throw LibLoaderException on failure.
-				 */
-				void Open(const std::string & libPath) {
-					/* if library already loaded, close it and start all over */
-					Close();
-					/* keep a copy for posterity */
-					_libPath = libPath;
-					/* attempt to load the module (dll) */
-					_handle = LoadLibraryA(_libPath.c_str());
-					/* throw if it didn't load */
-					if (_handle == NULL) { throw LibLoaderException(ErrorCode::LibraryCouldNotBeLoaded, "Could not load", _libPath); }
-				}
-                /**
-                * @return true if DLL/SO is loaded.
-                */
-                bool IsOpen() const{
-                        return (_handle != NULL);
-                }
-
-				/**
-				* Close DLL and clear func ptrs.
-				*/
-				void Close() {
-					/* dump the table, this is not necessary but good to dump bad func ptr*/
-					_mp.clear();
-					/* free the module */
-					if (_handle != NULL) {
-						FreeLibrary(_handle);
-						_handle = NULL;
-					}
-				}
-				/**
-				 * Lookup a function by name inside DLL.  If func has been found already, performance should
-				 * be fast since it is a map lookup.
-				 * @param funcName string copy of function name.
-				 * @return pointer to found function.
-				 * Routine will throw LibLoaderException on failure.
-				 */
-				template<typename T> T LookupFunc(const std::string & funcName)
-				{
-					/* make sure Open was called successfully */
-					if (_handle == NULL) { throw LibLoaderException(ErrorCode::LibraryCouldNotBeLoaded, "Could not load", _libPath); }
-
-					/* first check map, we might have it already */
-					auto iter = _mp.find(funcName);
-					if (iter != _mp.end()) { return (T)iter->second; }
-
-					/* pull func ptr out of lib */
-					T funcPtr = (T)GetProcAddress(_handle, funcName.c_str());
-
-					/* did we get it? */
-					if (funcPtr == NULL) {
-						/* couldn't find it dll, throw to caller */
-						throw LibLoaderException(ErrorCode::MissingRoutineInLibrary, "Could not find routine", _libPath, funcName);
-					}
-					/* insert into coll */
-					_mp[funcName] = (void*)funcPtr;
-
-					/* pass new ptr to caller */
-					return funcPtr;
-				}
-
-			private:
-				std::string _libPath; //!< Copy of lib path, mostly for error reporting
-				std::map<std::string, void *> _mp; //!< Coll for func ptrs we've found this far
-				HINSTANCE _handle = NULL; //!< handle to module (dll)
-			};
-		} // runtime
-	} // phoenix
-} // ctre
-#else
-#include <dlfcn.h>
-#include <iostream>
-
-namespace ctre {
-	namespace phoenix {
-		namespace runtime {
-			/**
-			 * LibLoader
-			 */
-			class LibLoader {
-
-			public:
-				/** default c'tor */
-				LibLoader() { /* empty */ }
-
-				/* no copy c'tr */
-				LibLoader(const LibLoader&) = delete;
-
-				/** d'tor */
-				~LibLoader() { Close(); }
-
-				/**
-				 * @param libPath filePath to dll to load, passed into LoadLibrary.
-				 * Routine will throw LibLoaderException on failure.
-				 */
-				void Open(const std::string & libPath) {
-                    /* if library already loaded, close it and start all over */
-                    Close();
-                    /* keep a copy for posterity */
-					_libPath = libPath;
-					/* attempt to load the module (dll) */
-
-                    _handle = dlopen(_libPath.c_str(), RTLD_NOW);
-					
-					/* throw if it didn't load */
-					if (!_handle) { 
-                        std::string baseErr = dlerror();
-                        baseErr +=  " | With path: ";
-
-                        std::cout << baseErr << _libPath << std::endl; 
-                        throw; //LibLoaderException(ErrorCode::LibraryCouldNotBeLoaded, baseErr, _libPath); 
-                    }
-				}
-                /**
-                * @return true if DLL/SO is loaded.
-                */
-                bool IsOpen() const{
-                        return (_handle != NULL);
-                }
-				
-                /**
-				* Close DLL and clear func ptrs.
-				*/
-				void Close(bool performDlclose) {
-					/* dump the table, this is not necessary but good to dump bad func ptr*/
-					_mp.clear();
-					/* free the module (fails in linux for unknown reasons). */
-                    if (_handle && performDlclose) {
-                        dlclose(_handle);
-                    }
-				}
-    
-                void Close() {
-                    Close(false);
-                }
-
-				/**
-				 * Lookup a function by name inside DLL.  If func has been found already, performance should
-				 * be fast since it is a map lookup.
-				 * @param funcName string copy of function name.
-				 * @return pointer to found function.
-				 * Routine will throw LibLoaderException on failure.
-				 */
-				template<typename T> T LookupFunc(const std::string & funcName)
-				{
-					/* make sure Open was called successfully */
-					if (!_handle) { 
-                        std::string baseErr = dlerror();
-                        baseErr +=  " | With path: ";
-
-                        std::cout << baseErr << _libPath << std::endl; 
-                        throw; //LibLoaderException(ErrorCode::LibraryCouldNotBeLoaded,baseErr, _libPath); 
-                    }
-
-					/* first check map, we might have it already */
-					auto iter = _mp.find(funcName);
-					if (iter != _mp.end()) { return (T)iter->second; }
-
-					/* pull func ptr out of lib */
-					T funcPtr = (T)dlsym(_handle, funcName.c_str());
-
-					/* did we get it? */
-					if (funcPtr == NULL) {
-						/* couldn't find it dll, throw to caller */
-                        std::string baseErr = dlerror();
-                        baseErr +=  " | For: ";	                    					
-
-                        std::cout << baseErr << funcName << " in " << _libPath << std::endl; 
-    
-                        throw;// LibLoaderException(ErrorCode::MissingRoutineInLibrary,"Could not find routine", _libPath, funcName);
-					}
-					/* insert into coll */
-					_mp[funcName] = (void*)funcPtr;
-
-					/* pass new ptr to caller */
-					return funcPtr;
-				}
-
-			private:
-				std::string _libPath; //!< Copy of lib path, mostly for error reporting
-				std::map<std::string, void *> _mp; //!< Coll for func ptrs we've found this far
-				void *_handle = NULL; //!< handle to module (dll)
-			};
-		} // runtime
-	} // phoenix
-} // ctre
-
-
-#endif
diff --git a/include/ctre/phoenix/sensors/BasePigeon.h b/include/ctre/phoenix/sensors/BasePigeon.h
new file mode 100644
index 0000000..8ded8da
--- /dev/null
+++ b/include/ctre/phoenix/sensors/BasePigeon.h
@@ -0,0 +1,548 @@
+/*
+ *  Software License Agreement
+ *
+ * Copyright (C) Cross The Road Electronics.  All rights
+ * reserved.
+ *
+ * Cross The Road Electronics (CTRE) licenses to you the right to
+ * use, publish, and distribute copies of CRF (Cross The Road) firmware files (*.crf) and Software
+ * API Libraries ONLY when in use with Cross The Road Electronics hardware products.
+ *
+ * THE SOFTWARE AND DOCUMENTATION ARE PROVIDED "AS IS" WITHOUT
+ * WARRANTY OF ANY KIND, EITHER EXPRESS OR IMPLIED, INCLUDING WITHOUT
+ * LIMITATION, ANY WARRANTY OF MERCHANTABILITY, FITNESS FOR A
+ * PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT SHALL
+ * CROSS THE ROAD ELECTRONICS BE LIABLE FOR ANY INCIDENTAL, SPECIAL,
+ * INDIRECT OR CONSEQUENTIAL DAMAGES, LOST PROFITS OR LOST DATA, COST OF
+ * PROCUREMENT OF SUBSTITUTE GOODS, TECHNOLOGY OR SERVICES, ANY CLAIMS
+ * BY THIRD PARTIES (INCLUDING BUT NOT LIMITED TO ANY DEFENSE
+ * THEREOF), ANY CLAIMS FOR INDEMNITY OR CONTRIBUTION, OR OTHER
+ * SIMILAR COSTS, WHETHER ASSERTED ON THE BASIS OF CONTRACT, TORT
+ * (INCLUDING NEGLIGENCE), BREACH OF WARRANTY, OR OTHERWISE
+ */
+
+#pragma once
+
+#include <string>
+#include "ctre/phoenix/CANBusAddressable.h"
+#include "ctre/phoenix/CustomParamConfiguration.h"
+#include "ctre/phoenix/paramEnum.h"
+#include "ctre/phoenix/ErrorCode.h"
+#include "ctre/phoenix/sensors/PigeonIMU_ControlFrame.h"
+#include "ctre/phoenix/sensors/PigeonIMU_Faults.h"
+#include "ctre/phoenix/sensors/PigeonIMU_StatusFrame.h"
+#include "ctre/phoenix/sensors/PigeonIMU_StickyFaults.h"
+#include "ctre/phoenix/sensors/BasePigeonSimCollection.h"
+
+/* forward prototype */
+namespace ctre {
+namespace phoenix {
+namespace motorcontrol {
+namespace can {
+class TalonSRX;
+}
+}
+}
+}
+
+namespace ctre {
+namespace phoenix {
+/** sensors namespace */
+namespace sensors {
+
+/**
+ * Configurables available to Pigeon
+ */
+struct BasePigeonConfiguration : CustomParamConfiguration{
+	BasePigeonConfiguration() {}
+
+    /**
+     * @return String representation of configs
+     */
+	std::string toString() {
+		return toString("");
+	}
+
+    /**
+     * @param prependString
+     *              String to prepend to configs
+     * @return String representation of configs
+     */
+    std::string toString(std::string prependString) {
+        std::string retstr = CustomParamConfiguration::toString(prependString);
+
+        return retstr;
+    }
+};// struct BasePigeon
+
+/**
+ * Util class to help with Pigeon configurations
+ */
+struct BasePigeonConfigUtils {
+private:
+	static BasePigeonConfiguration _default;
+public:
+	/**
+	 * Determine if specified value is different from default
+	 * @param settings settings to compare against
+	 * @return if specified value is different from default
+	 * @{
+	 */
+	static bool CustomParam0Different (const BasePigeonConfiguration & settings) { return (!(settings.customParam0 == _default.customParam0)) || !settings.enableOptimizations; }
+	static bool CustomParam1Different (const BasePigeonConfiguration & settings) { return (!(settings.customParam1 == _default.customParam1)) || !settings.enableOptimizations; }
+	/** @} */
+};
+
+/**
+ * Pigeon IMU Class.
+ * Class supports communicating over CANbus and over ribbon-cable (CAN Talon SRX).
+ */
+class BasePigeon: public CANBusAddressable {
+public:
+
+	/**
+	 * Create a Pigeon object that communicates with Pigeon on CAN Bus.
+	 *
+	 * @param deviceNumber
+	 *            CAN Device Id of Pigeon [0,62]
+	 * @param canbus Name of the CANbus; can be a SocketCAN interface (on Linux),
+	 *               or a CANivore device name or serial number
+	 */
+	BasePigeon(int deviceNumber, std::string const &version, std::string const &canbus = "");
+
+    ~BasePigeon();
+
+	/**
+	 * Destructs all pigeon objects
+	 */
+    static void DestroyAllBasePigeons();
+
+	/**
+	 * Sets the Yaw register to the specified value.
+	 *
+	 * @param angleDeg  Degree of Yaw  [+/- 368,640 degrees]
+	 * @param timeoutMs
+   *            Timeout value in ms. If nonzero, function will wait for
+   *            config success and report an error if it times out.
+   *            If zero, no blocking or checking is performed.
+	 * @return Error Code generated by function. 0 indicates no error.
+	 */
+	int SetYaw(double angleDeg, int timeoutMs = 0);
+	/**
+	 * Atomically add to the Yaw register.
+	 *
+	 * @param angleDeg  Degrees to add to the Yaw register.
+	 * @param timeoutMs
+   *            Timeout value in ms. If nonzero, function will wait for
+   *            config success and report an error if it times out.
+   *            If zero, no blocking or checking is performed.
+	 * @return Error Code generated by function. 0 indicates no error.
+	 */
+	int AddYaw(double angleDeg, int timeoutMs = 0);
+	/**
+	 * Sets the Yaw register to match the current compass value.
+	 *
+	 * @param timeoutMs
+   *            Timeout value in ms. If nonzero, function will wait for
+   *            config success and report an error if it times out.
+   *            If zero, no blocking or checking is performed.
+	 * @return Error Code generated by function. 0 indicates no error.
+	 */
+	int SetYawToCompass(int timeoutMs = 0);
+
+	/**
+	 * Sets the AccumZAngle.
+	 *
+	 * @param angleDeg  Degrees to set AccumZAngle to.
+	 * @param timeoutMs
+   *            Timeout value in ms. If nonzero, function will wait for
+   *            config success and report an error if it times out.
+   *            If zero, no blocking or checking is performed.
+	 * @return Error Code generated by function. 0 indicates no error.
+	 */
+	int SetAccumZAngle(double angleDeg, int timeoutMs = 0);
+	/**
+	 * Call GetLastError() generated by this object.
+	 * Not all functions return an error code but can
+	 * potentially report errors.
+	 *
+	 * This function can be used to retrieve those error codes.
+	 *
+	 * @return The last ErrorCode generated.
+	 */
+	ErrorCode GetLastError() const;
+	/**
+	 * Get 6d Quaternion data.
+	 *
+	 * @param wxyz Array to fill with quaternion data w[0], x[1], y[2], z[3]
+	 * @return The last ErrorCode generated.
+	 */
+	ErrorCode Get6dQuaternion(double wxyz[4]) const;
+	/**
+	 * Get Yaw, Pitch, and Roll data.
+	 *
+	 * @param ypr Array to fill with yaw[0], pitch[1], and roll[2] data.
+	 *					Yaw is within [-368,640, +368,640] degrees.
+	 *					Pitch is within [-90,+90] degrees.
+	 *					Roll is within [-90,+90] degrees.
+	 * @return The last ErrorCode generated.
+	 */
+	ErrorCode GetYawPitchRoll(double ypr[3]) const;
+	/**
+	 * Get the yaw from the Pigeon
+	 * @return Yaw
+	 */
+	double GetYaw() const;
+	/**
+	 * Get the pitch from the Pigeon
+	 * @return Pitch
+	 */
+	double GetPitch() const;
+	/**
+	 * Get the roll from the Pigeon
+	 * @return Roll
+	 */
+	double GetRoll() const;
+	/**
+	 * Get AccumGyro data.
+	 * AccumGyro is the integrated gyro value on each axis.
+	 *
+	 * @param xyz_deg Array to fill with x[0], y[1], and z[2] AccumGyro data
+	 * @return The last ErrorCode generated.
+	 */
+	int GetAccumGyro(double xyz_deg[3]) const;
+	/**
+	 * Get the absolute compass heading.
+	 * @return compass heading [0,360) degrees.
+	 */
+	double GetAbsoluteCompassHeading() const;
+	/**
+	 * Get the continuous compass heading.
+	 * @return continuous compass heading [-23040, 23040) degrees. Use
+	 *         SetCompassHeading to modify the wrap-around portion.
+	 */
+	double GetCompassHeading() const;
+	/**
+	 * Gets the compass' measured magnetic field strength.
+	 * @return field strength in Microteslas (uT).
+	 */
+	double GetCompassFieldStrength() const;
+	/**
+	 * Gets the temperature of the pigeon.
+	 *
+	 * @return Temperature in ('C)
+	 */
+	double GetTemp() const;
+	/**
+	 * Gets the current Pigeon uptime.
+	 *
+	 * @return How long has Pigeon been running in whole seconds. Value caps at
+	 *         255.
+	 */
+	uint32_t GetUpTime() const;
+	/**
+	 * Get Raw Magnetometer data.
+	 *
+	 * @param rm_xyz Array to fill with x[0], y[1], and z[2] data
+	 * 				Number is equal to 0.6 microTeslas per unit.
+	 * @return The last ErrorCode generated.
+	 */
+	int GetRawMagnetometer(int16_t rm_xyz[3]) const;
+
+	/**
+	 * Get Biased Magnetometer data.
+	 *
+	 * @param bm_xyz Array to fill with x[0], y[1], and z[2] data
+	 * 				Number is equal to 0.6 microTeslas per unit.
+	 * @return The last ErrorCode generated.
+	 */
+	int GetBiasedMagnetometer(int16_t bm_xyz[3]) const;
+	/**
+	 * Get Biased Accelerometer data.
+	 *
+	 * @param ba_xyz Array to fill with x[0], y[1], and z[2] data.
+	 * 			These are in fixed point notation Q2.14.  eg. 16384 = 1G
+	 * @return The last ErrorCode generated.
+	 */
+	int GetBiasedAccelerometer(int16_t ba_xyz[3]) const;
+	/**
+	 * Get Raw Gyro data.
+	 *
+	 * @param xyz_dps Array to fill with x[0], y[1], and z[2] data in degrees per second.
+	 * @return The last ErrorCode generated.
+	 */
+	int GetRawGyro(double xyz_dps[3]) const;
+	/**
+	 * @return number of times Pigeon Reset
+	 */
+	uint32_t GetResetCount() const;
+	/**
+	 * @return Reset flags for Pigeon
+	 */
+	uint32_t GetResetFlags() const;
+	/**
+	 * @return firmware version of Pigeon
+	 */
+	uint32_t GetFirmVers() const;
+
+	/**
+	 * @return true iff a reset has occurred since last call.
+	 */
+	bool HasResetOccurred() const;
+
+	/**
+	 * Sets the value of a custom parameter. This is for arbitrary use.
+	 *
+	 * Sometimes it is necessary to save calibration/declination/offset
+	 * information in the device. Particularly if the
+	 * device is part of a subsystem that can be replaced.
+	 *
+	 * @param newValue
+	 *            Value for custom parameter.
+	 * @param paramIndex
+	 *            Index of custom parameter. [0-1]
+	 * @param timeoutMs
+	 *            Timeout value in ms. If nonzero, function will wait for
+	 *            config success and report an error if it times out.
+	 *            If zero, no blocking or checking is performed.
+	 * @return Error Code generated by function. 0 indicates no error.
+	 */
+	ErrorCode ConfigSetCustomParam(int newValue, int paramIndex, int timeoutMs = 0);
+	/**
+	 * Gets the value of a custom parameter. This is for arbitrary use.
+   *
+   * Sometimes it is necessary to save calibration/declination/offset
+   * information in the device. Particularly if the
+   * device is part of a subsystem that can be replaced.
+	 *
+	 * @param paramIndex
+	 *            Index of custom parameter. [0-1]
+	 * @param timeoutMs
+ *            Timeout value in ms. If nonzero, function will wait for
+ *            config success and report an error if it times out.
+ *            If zero, no blocking or checking is performed.
+	 * @return Value of the custom param.
+	 */
+	int ConfigGetCustomParam(int paramIndex, int timeoutMs = 0);
+	/**
+	 * Sets a parameter. Generally this is not used.
+	 * This can be utilized in
+	 * - Using new features without updating API installation.
+	 * - Errata workarounds to circumvent API implementation.
+	 * - Allows for rapid testing / unit testing of firmware.
+	 *
+	 * @param param
+	 *            Parameter enumeration.
+	 * @param value
+	 *            Value of parameter.
+	 * @param subValue
+	 *            Subvalue for parameter. Maximum value of 255.
+	 * @param ordinal
+	 *            Ordinal of parameter.
+	 * @param timeoutMs
+	 *            Timeout value in ms. If nonzero, function will wait for
+ 	 *            config success and report an error if it times out.
+ 	 *            If zero, no blocking or checking is performed.
+	 * @return Error Code generated by function. 0 indicates no error.
+	 */
+	ErrorCode ConfigSetParameter(ParamEnum param, double value,
+			uint8_t subValue, int ordinal, int timeoutMs = 0);
+	/**
+	 * Gets a parameter. Generally this is not used.
+   * This can be utilized in
+   * - Using new features without updating API installation.
+   * - Errata workarounds to circumvent API implementation.
+   * - Allows for rapid testing / unit testing of firmware.
+	 *
+	 * @param param
+	 *            Parameter enumeration.
+	 * @param ordinal
+	 *            Ordinal of parameter.
+	 * @param timeoutMs
+ *            Timeout value in ms. If nonzero, function will wait for
+ *            config success and report an error if it times out.
+ *            If zero, no blocking or checking is performed.
+	 * @return Value of parameter.
+	 */
+	double ConfigGetParameter(ctre::phoenix::ParamEnum param, int ordinal, int timeoutMs = 0);
+    /**
+	 * Gets a parameter by passing an int by reference
+	 * 
+	 * @param param
+	 * 			  Parameter enumeration
+	 * @param valueToSend
+	 * 			  Value to send to parameter
+	 * @param valueReceived
+	 * 			  Reference to integer to receive
+	 * @param subValue
+	 * 			  SubValue of parameter
+	 * @param ordinal
+	 * 			  Ordinal of parameter
+	 * @param timeoutMs
+	 *            Timeout value in ms. If nonzero, function will wait for
+	 *            config success and report an error if it times out.
+	 *            If zero, no blocking or checking is performed.
+	 * @return Error Code generated by function. 0 indicates no error.
+	 */
+    ErrorCode ConfigGetParameter(ParamEnum param, int32_t valueToSend,
+            int32_t & valueReceived, uint8_t & subValue, int32_t ordinal,
+            int32_t timeoutMs);
+
+	/**
+	 * Sets the period of the given status frame.
+	 *
+	 * @param statusFrame
+	 *            Frame whose period is to be changed.
+	 * @param periodMs
+	 *            Period in ms for the given frame.
+	 * @param timeoutMs
+ *            Timeout value in ms. If nonzero, function will wait for
+ *            config success and report an error if it times out.
+ *            If zero, no blocking or checking is performed.
+	 * @return Error Code generated by function. 0 indicates no error.
+	 */
+	ErrorCode SetStatusFramePeriod(PigeonIMU_StatusFrame statusFrame, uint8_t periodMs,
+			int timeoutMs = 0);
+
+	/**
+	 * Gets the period of the given status frame.
+	 *
+	 * @param frame
+	 *            Frame to get the period of.
+	 * @param timeoutMs
+     *            Timeout value in ms. If nonzero, function will wait for
+     *            config success and report an error if it times out.
+     *            If zero, no blocking or checking is performed.
+	 * @return Period of the given status frame.
+	 */
+	int GetStatusFramePeriod(PigeonIMU_StatusFrame frame,
+			int timeoutMs = 0) ;
+	/**
+	 * Sets the period of the given control frame.
+	 *
+	 * @param frame
+	 *            Frame whose period is to be changed.
+	 * @param periodMs
+	 *            Period in ms for the given frame.
+	 * @return Error Code generated by function. 0 indicates no error.
+	 */
+	ErrorCode SetControlFramePeriod(PigeonIMU_ControlFrame frame,
+			int periodMs);
+	/**
+	 * Gets the firmware version of the device.
+	 *
+	 * @return param holds the firmware version of the device. Device must be powered
+	 * cycled at least once.
+	 */
+	int GetFirmwareVersion() ;
+	/**
+	 * Clears the Sticky Faults
+	 *
+	 * @return Error Code generated by function. 0 indicates no error.
+	 */
+	ErrorCode ClearStickyFaults(int timeoutMs = 0);
+	
+	/**
+	 * @return Pigeon resource handle.
+	 */
+	void* GetLowLevelHandle() const {
+		return _handle;
+	}
+	
+	//------ All Configs ----------//
+    /**
+     * Configures all persistent settings.
+     *
+	 * @param allConfigs        Object with all of the persistant settings
+     * @param timeoutMs
+     *              Timeout value in ms. If nonzero, function will wait for
+     *              config success and report an error if it times out.
+     *              If zero, no blocking or checking is performed.
+     *
+     * @return Error Code generated by function. 0 indicates no error. 
+     */
+    virtual ctre::phoenix::ErrorCode ConfigAllSettings(const BasePigeonConfiguration &allConfigs, int timeoutMs = 50);
+    /**
+     * Gets all persistant settings.
+     *
+	 * @param allConfigs        Object with all of the persistant settings
+     * @param timeoutMs
+     *              Timeout value in ms. If nonzero, function will wait for
+     *              config success and report an error if it times out.
+     *              If zero, no blocking or checking is performed.
+     */
+    virtual void GetAllConfigs(BasePigeonConfiguration &allConfigs, int timeoutMs = 50);
+    /**
+     * Configures all persistent settings to defaults.
+     *
+     * @param timeoutMs
+     *              Timeout value in ms. If nonzero, function will wait for
+     *              config success and report an error if it times out.
+     *              If zero, no blocking or checking is performed.
+     *
+     * @return Error Code generated by function. 0 indicates no error. 
+     */
+    virtual ErrorCode ConfigFactoryDefault(int timeoutMs = 50);
+
+	/**
+	 * @return object that can set simulation inputs.
+	 */
+	virtual BasePigeonSimCollection& GetSimCollection();
+private:
+	/** firmware state reported over CAN */
+	enum MotionDriverState {
+		Init0 = 0,
+		WaitForPowerOff = 1,
+		ConfigAg = 2,
+		SelfTestAg = 3,
+		StartDMP = 4,
+		ConfigCompass_0 = 5,
+		ConfigCompass_1 = 6,
+		ConfigCompass_2 = 7,
+		ConfigCompass_3 = 8,
+		ConfigCompass_4 = 9,
+		ConfigCompass_5 = 10,
+		SelfTestCompass = 11,
+		WaitForGyroStable = 12,
+		AdditionalAccelAdjust = 13,
+		Idle = 14,
+		Calibration = 15,
+		LedInstrum = 16,
+		Error = 31,
+	};
+	/** sub command for the various Set param enums */
+	enum TareType {
+		SetValue = 0x00, AddOffset = 0x01, MatchCompass = 0x02, SetOffset = 0xFF,
+	};
+	/** data storage for reset signals */
+	struct ResetStats {
+		int32_t resetCount;
+		int32_t resetFlags;
+		int32_t firmVers;
+		bool hasReset;
+	};
+	ResetStats _resetStats = { 0, 0, 0, false };
+
+	/** Portion of the arbID for all status and control frames. */
+	void* _handle;
+	uint32_t _deviceNumber;
+	uint32_t _usageHist = 0;
+	uint64_t _cache;
+	uint32_t _len;
+	BasePigeonSimCollection* _simCollection;
+
+	/** overall threshold for when frame data is too old */
+	const uint32_t EXPECTED_RESPONSE_TIMEOUT_MS = (200);
+
+	int PrivateSetParameter(ParamEnum paramEnum, TareType tareType,
+			double angleDeg, int timeoutMs = 0);
+
+	double GetTemp(const uint64_t & statusFrame);
+	
+protected:
+	BasePigeon(ctre::phoenix::motorcontrol::can::TalonSRX& talonSrx);
+
+};// class BasePigeon
+} // namespace signals
+} // namespace phoenix
+} // namespace ctre
diff --git a/include/ctre/phoenix/sensors/BasePigeonSimCollection.h b/include/ctre/phoenix/sensors/BasePigeonSimCollection.h
new file mode 100644
index 0000000..9b88260
--- /dev/null
+++ b/include/ctre/phoenix/sensors/BasePigeonSimCollection.h
@@ -0,0 +1,67 @@
+#pragma once
+
+#include "ctre/phoenix/ErrorCode.h"
+#include "ctre/phoenix/cci/Platform_CCI.h"
+
+/* forward proto's */
+namespace ctre {
+	namespace phoenix {
+		namespace sensors {
+			class BasePigeon;
+		}
+	}
+}
+
+namespace ctre {
+	namespace phoenix {
+		namespace sensors {
+			/**
+			  * Collection of simulation functions available to a Pigeon IMU.
+			  * Use the getSimCollection() function in your BasePigeon object to create the respective sim collection.
+			  */
+			class BasePigeonSimCollection {
+			public:
+				/** 
+				  * @param pigeon Pigeon IMU to connect so sim collection
+				  */
+				BasePigeonSimCollection(ctre::phoenix::sensors::BasePigeon& pigeon, bool isRibbonCable);
+
+				/**
+				 * Sets the simulated input heading position of the Pigeon IMU.
+				 *
+				 * The Pigeon IMU integrates the delta between each new raw heading value and uses
+				 * this to calculate the true reported yaw and fused heading.
+				 *
+				 * When using the WPI Sim GUI, you will notice a readonly 'yaw' and
+				 * settable 'RawHeading'.  The readonly signal is the emulated yaw
+				 * which will match self-test in Tuner and the hardware API.  Changes to
+				 * 'RawHeading' will be integrated into the emulated yaw.  This way
+				 * a simulator can modify the heading without overriding your
+				 * hardware API calls for home-ing your sensor.
+				 *
+				 * Inputs to this function over time should be continuous,
+				 * as user calls of setYaw() or setFusedHeading()
+				 * will be accounted for in the calculation.
+				 *
+				 * @param newHeading the new input heading in degrees
+				 *
+				 * @return  error code
+				 */
+				ErrorCode SetRawHeading(double newHeading);
+
+				/**
+				 * Adds to the simulated heading of the Pigeon IMU
+				 *
+				 * @param dHeading the change in heading in degrees
+				 *
+				 * @return error code
+				 */
+				ErrorCode AddHeading(double dHeading);
+
+			private:
+				int _id;
+				ctre::phoenix::platform::DeviceType _type;
+			};
+		}
+	}
+}
\ No newline at end of file
diff --git a/include/ctre/phoenix/sensors/CANCoder.h b/include/ctre/phoenix/sensors/CANCoder.h
index 5b695f6..e7156f8 100644
--- a/include/ctre/phoenix/sensors/CANCoder.h
+++ b/include/ctre/phoenix/sensors/CANCoder.h
@@ -6,6 +6,7 @@
 #include "ctre/phoenix/ErrorCode.h"
 #include "ctre/phoenix/paramEnum.h"
 #include "ctre/phoenix/sensors/AbsoluteSensorRange.h"
+#include "ctre/phoenix/sensors/CANCoderSimCollection.h"
 #include "ctre/phoenix/sensors/CANCoderStatusFrame.h"
 #include "ctre/phoenix/sensors/CANCoderStickyFaults.h"
 #include "ctre/phoenix/sensors/CANCoderFaults.h"
@@ -140,17 +141,40 @@ namespace ctre {
 
 
 			/**
-			 * CTRE CANCoder
+			 * CTRE CANCoder.
 			 *
-			 * Device for interfacing common devices to the CAN bus.
+			 * <pre>
+			 * {@code
+			 * // Example usage of a CANCoder
+			 * CANCoder cancoder{0}; // creates a new CANCoder with ID 0
+			 *
+			 * CANCoderConfiguration config;
+			 * // set units of the CANCoder to radians, with velocity being radians per second
+			 * config.sensorCoefficient = 2 * M_PI / 4096.0;
+			 * config.unitString = "rad";
+			 * config.sensorTimeBase = SensorTimeBase::PerSecond;
+			 * cancoder.ConfigAllSettings(config);
+			 *
+			 * std::cout << cancoder.GetPosition() << std::endl; // prints the position of the CANCoder
+			 * std::cout << cancoder.GetVelocity() << std::endl; // prints the velocity recorded by the CANCoder
+			 *
+			 * ErrorCode error = cancoder.GetLastError(); // gets the last error generated by the CANCoder
+			 * CANCoderFaults faults;
+			 * ErrorCode faultsError = cancoder.GetFaults(faults); // fills faults with the current CANCoder faults; returns the last error generated
+			 *
+			 * cancoder.SetStatusFramePeriod(CANCoderStatusFrame_SensorData, 10); // changes the period of the sensor data frame to 10ms
+			 * }
+			 * </pre>
 			 */
 			class CANCoder : public CANBusAddressable {
 			public:
 				/**
 				 * Constructor.
 				 * @param deviceNumber	The CAN Device ID of the CANCoder.
+				 * @param canbus Name of the CANbus; can be a SocketCAN interface (on Linux),
+				 *               or a CANivore device name or serial number
 				 */
-				CANCoder(int deviceNumber);
+				CANCoder(int deviceNumber, std::string const &canbus = "");
 
 				~CANCoder();
 
@@ -517,10 +541,16 @@ namespace ctre {
 				 */
 				ErrorCode ConfigFactoryDefault(int timeoutMs = 50);
 
+				/**
+				 * @return object that can set simulation inputs.
+				 */
+				CANCoderSimCollection& GetSimCollection();
+
 			private:
 				void* m_handle;
+				CANCoderSimCollection* _simCollection;
 
-			};// class CANCoder 
+			};// class CANCoder
 
 		} // namespace sensor
 	} // namespace phoenix
diff --git a/include/ctre/phoenix/sensors/CANCoderSimCollection.h b/include/ctre/phoenix/sensors/CANCoderSimCollection.h
new file mode 100644
index 0000000..13c6f7e
--- /dev/null
+++ b/include/ctre/phoenix/sensors/CANCoderSimCollection.h
@@ -0,0 +1,89 @@
+#pragma once
+
+#include "ctre/phoenix/ErrorCode.h"
+#include "ctre/phoenix/cci/Platform_CCI.h"
+
+/* forward proto's */
+namespace ctre {
+	namespace phoenix {
+		namespace sensors {
+			class CANCoder;
+		}
+	}
+}
+
+namespace ctre {
+	namespace phoenix {
+		namespace sensors {
+			/**
+			 * Collection of simulation functions available to a CANCoder.
+			 * 
+			 * Use the getSimCollection() function in your CANCoder object to create the respective sim collection.
+			 */
+			class CANCoderSimCollection {
+			public:
+				/** 
+				 * Constructor for CANCoderSimCollection
+				 * 
+				 * @param canCoder CANCoder to connect Collection to
+				 */
+				CANCoderSimCollection(ctre::phoenix::sensors::CANCoder& canCoder);
+
+				/**
+				 * Sets the simulated bus voltage of the CANCoder.
+				 * 
+				 * The minimum allowed bus voltage is 4 V - values
+				 * below this will be promoted to 4 V.
+				 * 
+				 * @param vbat the bus voltage in volts
+				 *
+				 * @return  error code
+				 */
+				ErrorCode SetBusVoltage(double vbat);
+
+				/**
+				 * Sets the simulated raw position of the CANCoder.
+				 * 
+				 * The CANCoder integrates this to calculate the true reported position.
+				 * 
+				 * When using the WPI Sim GUI, you will notice a readonly 'position' and
+				 * settable 'rawPositionInput'.  The readonly signal is the emulated position
+				 * which will match self-test in Tuner and the hardware API.  Changes to
+				 * 'rawPositionInput' will be integrated into the emulated position.  This way
+				 * a simulator can modify the position without overriding your
+				 * hardware API calls for home-ing your sensor.
+				 * 
+				 * Inputs to this function over time should be continuous, as user calls
+				 * of setPosition() will be accounted for in the calculation.
+				 * 
+				 * @param newPos the new raw position in native units
+				 *
+				 * @return  error code
+				 */
+				ErrorCode SetRawPosition(int newPos);
+
+				/**
+				 * Adds to the simulated position of the CANCoder.
+				 * 
+				 * @param dPos the change in position in native units
+				 *
+				 * @return  error code
+				 */
+				ErrorCode AddPosition(int dPos);
+
+				/**
+				 * Sets the simulated velocity of the CANCoder.
+				 * 
+				 * @param newVel the new velocity in native units per 100ms
+				 *
+				 * @return  error code
+				 */
+				ErrorCode SetVelocity(int newVel);
+
+			private:
+				int _id;
+				ctre::phoenix::platform::DeviceType _type;
+			};
+		}
+	}
+}
\ No newline at end of file
diff --git a/include/ctre/phoenix/sensors/Pigeon2.h b/include/ctre/phoenix/sensors/Pigeon2.h
new file mode 100644
index 0000000..92a3e91
--- /dev/null
+++ b/include/ctre/phoenix/sensors/Pigeon2.h
@@ -0,0 +1,349 @@
+/*
+ *  Software License Agreement
+ *
+ * Copyright (C) Cross The Road Electronics.  All rights
+ * reserved.
+ *
+ * Cross The Road Electronics (CTRE) licenses to you the right to
+ * use, publish, and distribute copies of CRF (Cross The Road) firmware files (*.crf) and Software
+ * API Libraries ONLY when in use with Cross The Road Electronics hardware products.
+ *
+ * THE SOFTWARE AND DOCUMENTATION ARE PROVIDED "AS IS" WITHOUT
+ * WARRANTY OF ANY KIND, EITHER EXPRESS OR IMPLIED, INCLUDING WITHOUT
+ * LIMITATION, ANY WARRANTY OF MERCHANTABILITY, FITNESS FOR A
+ * PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT SHALL
+ * CROSS THE ROAD ELECTRONICS BE LIABLE FOR ANY INCIDENTAL, SPECIAL,
+ * INDIRECT OR CONSEQUENTIAL DAMAGES, LOST PROFITS OR LOST DATA, COST OF
+ * PROCUREMENT OF SUBSTITUTE GOODS, TECHNOLOGY OR SERVICES, ANY CLAIMS
+ * BY THIRD PARTIES (INCLUDING BUT NOT LIMITED TO ANY DEFENSE
+ * THEREOF), ANY CLAIMS FOR INDEMNITY OR CONTRIBUTION, OR OTHER
+ * SIMILAR COSTS, WHETHER ASSERTED ON THE BASIS OF CONTRACT, TORT
+ * (INCLUDING NEGLIGENCE), BREACH OF WARRANTY, OR OTHERWISE
+ */
+
+#pragma once
+
+#include <string>
+#include "ctre/phoenix/CANBusAddressable.h"
+#include "ctre/phoenix/CustomParamConfiguration.h"
+#include "ctre/phoenix/paramEnum.h"
+#include "ctre/phoenix/ErrorCode.h"
+#include "ctre/phoenix/sensors/PigeonIMU_ControlFrame.h"
+#include "ctre/phoenix/sensors/Pigeon2_Faults.h"
+#include "ctre/phoenix/sensors/PigeonIMU_StatusFrame.h"
+#include "ctre/phoenix/sensors/Pigeon2_StickyFaults.h"
+#include "ctre/phoenix/sensors/BasePigeonSimCollection.h"
+#include "ctre/phoenix/sensors/BasePigeon.h"
+
+/* forward prototype */
+namespace ctre {
+namespace phoenix {
+namespace motorcontrol {
+namespace can {
+class TalonSRX;
+}
+}
+}
+}
+
+namespace ctre {
+namespace phoenix {
+/** sensors namespace */
+namespace sensors {
+
+/**
+ * Configurables available to Pigeon
+ */
+struct Pigeon2Configuration : CustomParamConfiguration{
+    double MountPoseYaw {0};
+    double MountPosePitch {0};
+    double MountPoseRoll {0};
+    bool EnableCompass {false};
+    bool DisableTemperatureCompensation {false};
+    bool DisableNoMotionCalibration {false};
+	double XAxisGyroError{0};
+	double YAxisGyroError{0};
+	double ZAxisGyroError{0};
+	Pigeon2Configuration() {}
+
+    /**
+     * @return String representation of configs
+     */
+	std::string toString() {
+		return toString("");
+	}
+
+    /**
+     * @param prependString
+     *              String to prepend to configs
+     * @return String representation of configs
+     */
+    std::string toString(std::string prependString) {
+        std::string retstr = CustomParamConfiguration::toString(prependString);
+
+        return retstr;
+    }
+};// struct Pigeon2
+
+/**
+ * Util class to help with Pigeon configurations
+ */
+struct Pigeon2ConfigUtils {
+private:
+	static Pigeon2Configuration _default;
+public:
+	/**
+	 * Determine if specified value is different from default
+	 * @param settings settings to compare against
+	 * @return if specified value is different from default
+	 * @{
+	 */
+    static bool MountPoseYawDifferent (const Pigeon2Configuration &  settings) { return (!(settings.MountPoseYaw == _default.MountPoseYaw)) || !settings.enableOptimizations; }
+    static bool MountPosePitchDifferent (const Pigeon2Configuration &  settings) { return (!(settings.MountPosePitch == _default.MountPosePitch)) || !settings.enableOptimizations; }
+    static bool MountPoseRollDifferent(const Pigeon2Configuration &  settings) { return (!(settings.MountPoseRoll == _default.MountPoseRoll)) || !settings.enableOptimizations; }
+    static bool EnableCompassDifferent(const Pigeon2Configuration &  settings) { return (!(settings.EnableCompass == _default.EnableCompass)) || !settings.enableOptimizations; }
+    static bool DisableTemperatureCompensationDifferent(const Pigeon2Configuration &  settings) { return (!(settings.DisableTemperatureCompensation == _default.DisableTemperatureCompensation)) || !settings.enableOptimizations; }
+    static bool DisableNoMotionCalibrationDifferent(const Pigeon2Configuration &  settings) { return (!(settings.DisableNoMotionCalibration == _default.DisableNoMotionCalibration)) || !settings.enableOptimizations; }
+    static bool XAxisGyroErrorDifferent(Pigeon2Configuration settings) { return (!(settings.XAxisGyroError == _default.XAxisGyroError)) || !settings.enableOptimizations; }
+    static bool YAxisGyroErrorDifferent(Pigeon2Configuration settings) { return (!(settings.YAxisGyroError == _default.YAxisGyroError)) || !settings.enableOptimizations; }
+    static bool ZAxisGyroErrorDifferent(Pigeon2Configuration settings) { return (!(settings.ZAxisGyroError == _default.ZAxisGyroError)) || !settings.enableOptimizations; }
+	static bool CustomParam0Different (const Pigeon2Configuration & settings) { return (!(settings.customParam0 == _default.customParam0)) || !settings.enableOptimizations; }
+	static bool CustomParam1Different (const Pigeon2Configuration & settings) { return (!(settings.customParam1 == _default.customParam1)) || !settings.enableOptimizations; }
+	/** @} */
+};
+
+/**
+ * Enumerations for what primary axis to talk about
+ * Positive indicates in n the direction, negative indicates in the opposite direction
+ */
+enum class AxisDirection {
+	PositiveZ,
+	PositiveY,
+	PositiveX,
+	NegativeZ,
+	NegativeY,
+	NegativeX,
+};
+
+/**
+ * Pigeon 2 Class. Class supports communicating over CANbus.
+ *
+ * <pre>
+ * {@code
+ * // Example usage of a Pigeon 2
+ * Pigeon2 pigeon{0}; // creates a new Pigeon2 with ID 0
+ *
+ * Pigeon2Configuration config;
+ * // set mount pose as rolled 90 degrees counter-clockwise
+ * config.MountPoseYaw = 0;
+ * config.MountPosePitch = 0;
+ * config.MountPoseRoll = 90;
+ * pigeon.ConfigAllSettings(config);
+ *
+ * std::cout << pigeon.GetYaw() << std::endl; // prints the yaw of the Pigeon
+ * std::cout << pigeon.GetPitch() << std::endl; // prints the pitch of the Pigeon
+ * std::cout << pigeon.GetRoll() << std::endl; // prints the roll of the Pigeon
+ *
+ * double gravityVec[3];
+ * pigeon.GetGravityVector(gravityVec); // gets the gravity vector of the Pigeon 2
+ *
+ * ErrorCode error = pigeon.GetLastError(); // gets the last error generated by the Pigeon
+ * Pigeon2_Faults faults;
+ * ErrorCode faultsError = pigeon.GetFaults(faults); // fills faults with the current Pigeon 2 faults; returns the last error generated
+ * }
+ * </pre>
+ */
+class Pigeon2: public BasePigeon {
+public:
+	/**
+	 * Create a Pigeon object that communicates with Pigeon on CAN Bus.
+	 *
+	 * @param deviceNumber
+	 *            CAN Device Id of Pigeon [0,62]
+	 * @param canbus Name of the CANbus; can be a SocketCAN interface (on Linux),
+	 *               or a CANivore device name or serial number
+	 */
+	Pigeon2(int deviceNumber, std::string const &canbus = "");
+	/**
+	 * Gets the fault status
+	 *
+	 * @param toFill
+	 *            Container for fault statuses.
+	 * @return Error Code generated by function. 0 indicates no error.
+	 */
+	ErrorCode GetFaults(Pigeon2_Faults & toFill) ;
+	/**
+	 * Gets the sticky fault status
+	 *
+	 * @param toFill
+	 *            Container for sticky fault statuses.
+	 * @return Error Code generated by function. 0 indicates no error.
+	 */
+	ErrorCode GetStickyFaults(Pigeon2_StickyFaults & toFill);
+
+	/**
+	 * Configure the Mount Pose using the primary axis.
+	 * This is useful if the Pigeon 2.0 is mounted straight, and you only
+	 * need to describe what axis is forward and what axis is up.
+	 * 
+	 * @param forward Axis that points forward from the robot
+	 * @param up Axis that points up from the robot
+	 * @param timeoutMs Config timeout in milliseconds.
+	 * @return OK if successful, InvalidParamValue if both forward and up are of the same primary axis, otherwise config return.
+	 */
+	ErrorCode ConfigMountPose(AxisDirection forward, AxisDirection up, int timeoutMs = 50);
+
+	/**
+	 * Configure the mounting pose of the Pigeon2.<p>
+	 * This is the Yaw-Pitch-Roll the Pigeon2 underwent to get to its current
+	 *  orientation, referenced from the robot's point of view.<p>
+	 * This is only necessary if the Pigeon2 is mounted at an exotic angle
+	 *  near the gimbal lock point or not forward. <p>
+	 * If the pigeon is relatively flat and pointed forward, this is not needed.<p>
+	 * <p>
+	 * Examples:<p>
+	 * If the Pigeon2 is pointed directly right, that corresponds to a -90 yaw,
+	 *  0 pitch, and 0 roll, as it yaw'd 90 degrees clockwise.<p>
+	 * If the Pigeon2 points upwards, that's a 0 yaw, -90 pitch, 0 roll, as it
+	 *  pitched 90 degrees clockwise. <p>
+	 * @param yaw Yaw angle needed to reach the current orientation in degrees.
+	 * @param pitch Pitch angle needed to reach the current orientation in degrees.
+	 * @param roll Roll angle needed to reach the current orientation in degrees.
+	 * @param timeoutMs Config timeout in milliseconds.
+	 * @return Worst error code of all config sets.
+	 */
+	ErrorCode ConfigMountPose(double yaw, double pitch, double roll, int timeoutMs = 0);
+	/**
+	 * Configure the mounting pose Yaw of the Pigeon2.
+	 * See {@link #configMountPose(double, double, double, int)}
+	 * 
+	 * @param yaw Yaw angle needed to reach the current orientation in degrees.
+	 * @param timeoutMs Config timeout in milliseconds.
+	 * @return ErrorCode of configSet
+	 */
+	ErrorCode ConfigMountPoseYaw(double yaw, int timeoutMs = 0);
+	/**
+	 * Configure the mounting pose Pitch of the Pigeon2.
+	 * See {@link #configMountPose(double, double, double, int)}
+	 * 
+	 * @param pitch Pitch angle needed to reach the current orientation in degrees.
+	 * @param timeoutMs Config timeout in milliseconds.
+	 * @return ErrorCode of configSet
+	 */
+	ErrorCode ConfigMountPosePitch(double pitch, int timeoutMs = 0);
+	/**
+	 * Configure the mounting pose Roll of the Pigeon2.
+	 * See {@link #configMountPose(double, double, double, int)}
+	 * 
+	 * @param roll Roll angle needed to reach the current orientation in degrees.
+	 * @param timeoutMs Config timeout in milliseconds.
+	 * @return ErrorCode of configSet
+	 */
+	ErrorCode ConfigMountPoseRoll(double roll, int timeoutMs = 0);
+	/**
+	 * Configures the X Axis Gyroscope Error for 1 rotation
+	 * @param err Degrees that Pigeon 2.0 overshot after 1 rotation (i.e. overshot 1 degree is 1; undershot by 3 degrees is -3)
+	 * @param timeoutMs Config timeout in milliseconds.
+	 * @return ErrorCode fo configSet
+	 */
+	ErrorCode ConfigXAxisGyroError(double err, int timeoutMs = 0);
+	/**
+	 * Configures the Y Axis Gyroscope Error for 1 rotation
+	 * @param err Degrees that Pigeon 2.0 overshot after 1 rotation (i.e. overshot 1 degree is 1; undershot by 3 degrees is -3)
+	 * @param timeoutMs Config timeout in milliseconds.
+	 * @return ErrorCode fo configSet
+	 */
+	ErrorCode ConfigYAxisGyroError(double err, int timeoutMs = 0);
+	/**
+	 * Configures the Z Axis Gyroscope Error for 1 rotation
+	 * @param err Degrees that Pigeon 2.0 overshot after 1 rotation (i.e. overshot 1 degree is 1; undershot by 3 degrees is -3)
+	 * @param timeoutMs Config timeout in milliseconds.
+	 * @return ErrorCode fo configSet
+	 */
+	ErrorCode ConfigZAxisGyroError(double err, int timeoutMs = 0);
+
+	/**
+	 * Enables the magnetometer fusion for Pigeon2. This is **not** recommended for FRC use
+	 * 
+	 * @param enable Boolean to enable/disable magnetometer fusion
+	 * @param timeoutMs 
+     *            Timeout value in ms. If nonzero, function will wait for
+     *            config success and report an error if it times out.
+     *            If zero, no blocking or checking is performed.
+	 * @return ErrorCode Status of the config response
+	 */
+	ErrorCode ConfigEnableCompass(bool enable, int timeoutMs = 0);
+	/**
+	 * Disables temperature compensation from Pigeon2.
+	 * 
+	 * @param disable Boolean to disable/enable temperature compensation
+	 * @param timeoutMs 
+     *            Timeout value in ms. If nonzero, function will wait for
+     *            config success and report an error if it times out.
+     *            If zero, no blocking or checking is performed.
+	 * @return ErrorCode Status of the config response
+	 */
+	ErrorCode ConfigDisableTemperatureCompensation(bool disable, int timeoutMs = 0);
+	/**
+	 * Disables the no-motion calibration from Pigeon2
+	 * 
+	 * @param disable Boolean to disable/enable no-motion calibration
+	 * @param timeoutMs 
+     *            Timeout value in ms. If nonzero, function will wait for
+     *            config success and report an error if it times out.
+     *            If zero, no blocking or checking is performed.
+	 * @return ErrorCode Status of the config response
+	 */
+	ErrorCode ConfigDisableNoMotionCalibration(bool disable, int timeoutMs = 0);
+
+	/**
+	 * Performs an offset calibration on gyro bias
+	 * 
+	 * @param timeoutMs 
+     *            Timeout value in ms. If nonzero, function will wait for
+     *            config success and report an error if it times out.
+     *            If zero, no blocking or checking is performed.
+	 * @return ErrorCode Status of the config response
+	 */
+	ErrorCode ZeroGyroBiasNow(int timeoutMs = 0);
+
+	/**
+	 * Get the Gravity Vector.
+	 * 
+	 * This provides a vector that points toward ground. This is useful for applications like
+	 *  an arm, where the z-value of the gravity vector corresponds to the feed-forward needed
+	 *  to hold the arm steady.
+	 * The gravity vector is calculated after the mount pose, so if the pigeon is where it was
+	 *  mounted, the gravity vector is {0, 0, 1}.
+	 * @param gravVector Pass in a double array of size 3 to get the gravity vector
+	 * @return Errorcode of getter
+	 */
+	ErrorCode GetGravityVector(double gravVector[3]) const;
+
+    /**
+     * Configures all persistent settings.
+     *
+     * @param allConfigs        Object with all of the persistant settings
+     * @param timeoutMs
+     *              Timeout value in ms. If nonzero, function will wait for
+     *              config success and report an error if it times out.
+     *              If zero, no blocking or checking is performed.
+     *
+     * @return Error Code generated by function. 0 indicates no error.
+     */
+	ErrorCode ConfigAllSettings(Pigeon2Configuration& settings, int timeoutMs = 50);
+	/**
+	 * Gets all persistant settings.
+	 *
+	 * @param allConfigs        Object with all of the persistant settings
+	 * @param timeoutMs
+	 *              Timeout value in ms. If nonzero, function will wait for
+	 *              config success and report an error if it times out.
+	 *              If zero, no blocking or checking is performed.
+	 */
+	void GetAllConfigs(Pigeon2Configuration& allConfigs, int timeoutMs = 50);
+
+};// class Pigeon2
+} // namespace signals
+} // namespace phoenix
+} // namespace ctre
diff --git a/include/ctre/phoenix/sensors/Pigeon2_Faults.h b/include/ctre/phoenix/sensors/Pigeon2_Faults.h
new file mode 100644
index 0000000..e7331b9
--- /dev/null
+++ b/include/ctre/phoenix/sensors/Pigeon2_Faults.h
@@ -0,0 +1,148 @@
+#pragma once
+
+#include <cstdint>
+
+namespace ctre {
+namespace phoenix {
+namespace sensors {
+
+/**
+ * Sticky faults available to Pigeon
+ */
+struct Pigeon2_Faults {
+	/**
+	 * Device detects hardware failure
+	 */
+	bool HardwareFault;
+	/**
+	 * API error detected.  Make sure API and firmware versions are compatible.
+	 */
+	bool APIError;
+	/**
+	 * Device is under 6.5V
+	 */
+	bool UnderVoltage;
+	/**
+	 * Device was powered-on or reset while robot is enabled.
+	 * Check your breakers and wiring.
+	 */
+	bool ResetDuringEn;
+	/**
+	 * The device rotated at a rate that exceeded its maximum.
+	 * Increase the range or slow the rate of rotation.
+	 */
+	bool SaturatedRotVelocity;
+	/**
+	 * The device saw an acceleration that exceeded its maximum.
+	 * Increase the range or avoid high-g events.
+	 */
+	bool SaturatedAccel;
+	/**
+	 * The device saw a magnetic field that exceeded its maximum.
+	 * Keep the device far from strong magnetic fields.
+	 */
+	bool SaturatedMag;
+	/**
+	 * The Pigeon saw motion as soon as it booted, and didn't
+	 *  attempt to self-test its features.
+	 * This isn't an issue, but to prevent this don't turn the
+	 *  robot on while moving it.
+	 */
+	bool BootIntoMotion;
+	/**
+	 * The magnetometer failed its self-test.
+	 * This is likely due to hardware damage, oftentimes from
+	 *  exposing the Pigeon to a very large magnetic field.
+	 */
+	bool MagnetometerFault;
+	/**
+	 * The gyro failed its self-test.
+	 * This is likely due to hardware damage.
+	 */
+	bool GyroFault;
+	/**
+	 * The Accelerometer failed its self-test.
+	 * This is likely due to hardware damage, oftentimes from
+	 *  exposing the Pigeon to a very large impact.
+	 */
+	bool AccelFault;
+
+	/**
+	 * @return true if any faults are tripped
+	 */
+	bool HasAnyFault() const {
+		return 	HardwareFault |
+				APIError |
+				UnderVoltage |
+				ResetDuringEn |
+				SaturatedRotVelocity |
+				SaturatedAccel |
+				SaturatedMag |
+				BootIntoMotion |
+				MagnetometerFault |
+				GyroFault |
+				AccelFault;
+	}
+	/**
+	 * @return Current fault list as a bit field
+	 */
+	uint64_t ToBitfield() const {
+		uint64_t commonFaults = 0;
+		commonFaults |= HardwareFault ? 1 : 0; commonFaults <<= 1;
+		commonFaults |= APIError ? 1 : 0; commonFaults <<= 1;
+		commonFaults |= UnderVoltage ? 1 : 0; commonFaults <<= 1;
+		commonFaults |= ResetDuringEn ? 1 : 0; commonFaults <<= 1;
+		
+		uint64_t deviceFaults = 0;
+		deviceFaults |= SaturatedRotVelocity ? 1 : 0; deviceFaults <<= 1;
+		deviceFaults |= SaturatedAccel ? 1 : 0; deviceFaults <<= 1;
+		deviceFaults |= SaturatedMag ? 1 : 0; deviceFaults <<= 1;
+		deviceFaults <<= 1; /* Unused bitfield */
+		deviceFaults <<= 1;
+		deviceFaults <<= 1;
+		deviceFaults |= BootIntoMotion ? 1 : 0; deviceFaults <<= 1;
+		deviceFaults |= MagnetometerFault ? 1 : 0; deviceFaults <<= 1;
+		deviceFaults |= GyroFault ? 1 : 0; deviceFaults <<= 1;
+		deviceFaults |= AccelFault ? 1 : 0; deviceFaults <<= 1;
+		
+		return commonFaults | (deviceFaults << 30);
+	}
+	/**
+	 * Updates current fault list with specified bit field of faults
+	 *
+	 * @param bits bit field of faults to update with
+	 */
+	void Update(uint64_t bits) {
+		uint64_t mask = 1;
+		HardwareFault = (bits & mask) ? true : false; mask <<= 1;
+		APIError = 		(bits & mask) ? true : false; mask <<= 1;
+		UnderVoltage = 	(bits & mask) ? true : false; mask <<= 1;
+		ResetDuringEn = (bits & mask) ? true : false; mask <<= 1;
+		mask <<= 30; /* 30 faults currently unused */
+		AccelFault = (bits & mask) ? true : false; mask <<= 1;
+		GyroFault = (bits & mask) ? true : false; mask <<= 1;
+		MagnetometerFault = (bits & mask) ? true : false; mask <<= 1;
+		BootIntoMotion = (bits & mask) ? true : false; mask <<= 1;
+		mask <<= 1;
+		mask <<= 1;
+		mask <<= 1; /* unused bit field */
+		SaturatedMag = (bits & mask) ? true : false; mask <<= 1;
+		SaturatedAccel = (bits & mask) ? true : false; mask <<= 1;
+		SaturatedRotVelocity = (bits & mask) ? true : false; mask <<= 1;
+	}
+	/**
+	 * Creates fault list with specified bit field of faults
+	 * 
+	 * @param bits bit field of faults to update with
+	 */
+	Pigeon2_Faults(uint64_t bits) {
+		Update(bits);
+	}
+	Pigeon2_Faults() {
+		Update(0); // Default everything to false
+	}
+};
+
+} // sensors
+} // phoenix
+} // ctre
diff --git a/include/ctre/phoenix/sensors/Pigeon2_StickyFaults.h b/include/ctre/phoenix/sensors/Pigeon2_StickyFaults.h
new file mode 100644
index 0000000..02ff46c
--- /dev/null
+++ b/include/ctre/phoenix/sensors/Pigeon2_StickyFaults.h
@@ -0,0 +1,148 @@
+#pragma once
+
+#include <cstdint>
+
+namespace ctre {
+namespace phoenix {
+namespace sensors {
+
+/**
+ * Sticky faults available to Pigeon
+ */
+struct Pigeon2_StickyFaults {
+	/**
+	 * Device detects hardware failure
+	 */
+	bool HardwareFault;
+	/**
+	 * API error detected.  Make sure API and firmware versions are compatible.
+	 */
+	bool APIError;
+	/**
+	 * Device is under 6.5V
+	 */
+	bool UnderVoltage;
+	/**
+	 * Device was powered-on or reset while robot is enabled.
+	 * Check your breakers and wiring.
+	 */
+	bool ResetDuringEn;
+	/**
+	 * The device rotated at a rate that exceeded its maximum.
+	 * Increase the range or slow the rate of rotation.
+	 */
+	bool SaturatedRotVelocity;
+	/**
+	 * The device saw an acceleration that exceeded its maximum.
+	 * Increase the range or avoid high-g events.
+	 */
+	bool SaturatedAccel;
+	/**
+	 * The device saw a magnetic field that exceeded its maximum.
+	 * Keep the device far from strong magnetic fields.
+	 */
+	bool SaturatedMag;
+	/**
+	 * The Pigeon saw motion as soon as it booted, and didn't
+	 *  attempt to self-test its features.
+	 * This isn't an issue, but to prevent this don't turn the
+	 *  robot on while moving it.
+	 */
+	bool BootIntoMotion;
+	/**
+	 * The magnetometer failed its self-test.
+	 * This is likely due to hardware damage, oftentimes from
+	 *  exposing the Pigeon to a very large magnetic field.
+	 */
+	bool MagnetometerFault;
+	/**
+	 * The gyro failed its self-test.
+	 * This is likely due to hardware damage.
+	 */
+	bool GyroFault;
+	/**
+	 * The Accelerometer failed its self-test.
+	 * This is likely due to hardware damage, oftentimes from
+	 *  exposing the Pigeon to a very large impact.
+	 */
+	bool AccelFault;
+
+	/**
+	 * @return true if any faults are tripped
+	 */
+	bool HasAnyFault() const {
+		return 	HardwareFault |
+				APIError |
+				UnderVoltage |
+				ResetDuringEn |
+				SaturatedRotVelocity |
+				SaturatedAccel |
+				SaturatedMag |
+				BootIntoMotion |
+				MagnetometerFault |
+				GyroFault |
+				AccelFault;
+	}
+	/**
+	 * @return Current fault list as a bit field
+	 */
+	uint64_t ToBitfield() const {
+		uint64_t commonFaults = 0;
+		commonFaults |= HardwareFault ? 1 : 0; commonFaults <<= 1;
+		commonFaults |= APIError ? 1 : 0; commonFaults <<= 1;
+		commonFaults |= UnderVoltage ? 1 : 0; commonFaults <<= 1;
+		commonFaults |= ResetDuringEn ? 1 : 0; commonFaults <<= 1;
+		
+		uint64_t deviceFaults = 0;
+		deviceFaults |= SaturatedRotVelocity ? 1 : 0; deviceFaults <<= 1;
+		deviceFaults |= SaturatedAccel ? 1 : 0; deviceFaults <<= 1;
+		deviceFaults |= SaturatedMag ? 1 : 0; deviceFaults <<= 1;
+		deviceFaults <<= 1; /* Unused bitfield */
+		deviceFaults <<= 1;
+		deviceFaults <<= 1;
+		deviceFaults |= BootIntoMotion ? 1 : 0; deviceFaults <<= 1;
+		deviceFaults |= MagnetometerFault ? 1 : 0; deviceFaults <<= 1;
+		deviceFaults |= GyroFault ? 1 : 0; deviceFaults <<= 1;
+		deviceFaults |= AccelFault ? 1 : 0; deviceFaults <<= 1;
+		
+		return commonFaults | (deviceFaults << 30);
+	}
+	/**
+	 * Updates current fault list with specified bit field of faults
+	 *
+	 * @param bits bit field of faults to update with
+	 */
+	void Update(uint64_t bits) {
+		uint64_t mask = 1;
+		HardwareFault = (bits & mask) ? true : false; mask <<= 1;
+		APIError = 		(bits & mask) ? true : false; mask <<= 1;
+		UnderVoltage = 	(bits & mask) ? true : false; mask <<= 1;
+		ResetDuringEn = (bits & mask) ? true : false; mask <<= 1;
+		mask <<= 30; /* 30 faults currently unused */
+		AccelFault = (bits & mask) ? true : false; mask <<= 1;
+		GyroFault = (bits & mask) ? true : false; mask <<= 1;
+		MagnetometerFault = (bits & mask) ? true : false; mask <<= 1;
+		BootIntoMotion = (bits & mask) ? true : false; mask <<= 1;
+		mask <<= 1;
+		mask <<= 1;
+		mask <<= 1; /* unused bit field */
+		SaturatedMag = (bits & mask) ? true : false; mask <<= 1;
+		SaturatedAccel = (bits & mask) ? true : false; mask <<= 1;
+		SaturatedRotVelocity = (bits & mask) ? true : false; mask <<= 1;
+	}
+	/**
+	 * Creates fault list with specified bit field of faults
+	 * 
+	 * @param bits bit field of faults to update with
+	 */
+	Pigeon2_StickyFaults(uint64_t bits) {
+		Update(bits);
+	}
+	Pigeon2_StickyFaults() {
+		Update(0); // Default everything to false
+	}
+};
+
+} // sensors
+} // phoenix
+} // ctre
diff --git a/include/ctre/phoenix/sensors/PigeonIMU.h b/include/ctre/phoenix/sensors/PigeonIMU.h
index 9cc0779..363ff4e 100644
--- a/include/ctre/phoenix/sensors/PigeonIMU.h
+++ b/include/ctre/phoenix/sensors/PigeonIMU.h
@@ -24,14 +24,7 @@
 #pragma once
 
 #include <string>
-#include "ctre/phoenix/CANBusAddressable.h"
-#include "ctre/phoenix/CustomParamConfiguration.h"
-#include "ctre/phoenix/paramEnum.h"
-#include "ctre/phoenix/ErrorCode.h"
-#include "ctre/phoenix/sensors/PigeonIMU_ControlFrame.h"
-#include "ctre/phoenix/sensors/PigeonIMU_Faults.h"
-#include "ctre/phoenix/sensors/PigeonIMU_StatusFrame.h"
-#include "ctre/phoenix/sensors/PigeonIMU_StickyFaults.h"
+#include "ctre/phoenix/sensors/BasePigeon.h"
 
 /* forward prototype */
 namespace ctre {
@@ -52,7 +45,7 @@ namespace sensors {
 /**
  * Configurables available to Pigeon
  */
-struct PigeonIMUConfiguration : CustomParamConfiguration{
+struct PigeonIMUConfiguration : public BasePigeonConfiguration{
 	PigeonIMUConfiguration() {}
 
     /**
@@ -68,7 +61,7 @@ struct PigeonIMUConfiguration : CustomParamConfiguration{
      * @return String representation of configs
      */
     std::string toString(std::string prependString) {
-        std::string retstr = CustomParamConfiguration::toString(prependString);
+        std::string retstr = BasePigeonConfiguration::toString(prependString);
 
         return retstr;
     }
@@ -77,18 +70,10 @@ struct PigeonIMUConfiguration : CustomParamConfiguration{
 /**
  * Util class to help with Pigeon configurations
  */
-struct PigeonIMUConfigUtils {
+struct PigeonIMUConfigUtils : public BasePigeonConfigUtils {
 private:
 	static PigeonIMUConfiguration _default;
 public:
-	/**
-	 * Determine if specified value is different from default
-	 * @param settings settings to compare against
-	 * @return if specified value is different from default
-	 * @{
-	 */
-	static bool CustomParam0Different (const PigeonIMUConfiguration & settings) { return (!(settings.customParam0 == _default.customParam0)) || !settings.enableOptimizations; }
-	static bool CustomParam1Different (const PigeonIMUConfiguration & settings) { return (!(settings.customParam1 == _default.customParam1)) || !settings.enableOptimizations; }
 	/** @} */
 };
 
@@ -96,7 +81,7 @@ struct PigeonIMUConfigUtils {
  * Pigeon IMU Class.
  * Class supports communicating over CANbus and over ribbon-cable (CAN Talon SRX).
  */
-class PigeonIMU: public CANBusAddressable {
+class PigeonIMU: public BasePigeon {
 public:
 	/** Data object for holding fusion information. */
 	struct FusionStatus {
@@ -261,51 +246,21 @@ class PigeonIMU: public CANBusAddressable {
 	/**
 	 * Create a Pigeon object that communciates with Pigeon through the
 	 * Gadgeteer ribbon cable connected to a Talon on CAN Bus.
+	 * 
+	 * [[deprecated("Pass in a TalonSRX reference instead.")]]
 	 *
 	 * @param talonSrx
 	 *            Object for the TalonSRX connected via ribbon cable.
 	 */
 	PigeonIMU(ctre::phoenix::motorcontrol::can::TalonSRX * talonSrx);
-
-    ~PigeonIMU();
-
-	/**
-	 * Destructs all pigeon objects
-	 */
-    static void DestroyAllPigeonIMUs();
-
-	/**
-	 * Sets the Yaw register to the specified value.
-	 *
-	 * @param angleDeg  Degree of Yaw  [+/- 368,640 degrees]
-	 * @param timeoutMs
-   *            Timeout value in ms. If nonzero, function will wait for
-   *            config success and report an error if it times out.
-   *            If zero, no blocking or checking is performed.
-	 * @return Error Code generated by function. 0 indicates no error.
-	 */
-	int SetYaw(double angleDeg, int timeoutMs = 0);
 	/**
-	 * Atomically add to the Yaw register.
-	 *
-	 * @param angleDeg  Degrees to add to the Yaw register.
-	 * @param timeoutMs
-   *            Timeout value in ms. If nonzero, function will wait for
-   *            config success and report an error if it times out.
-   *            If zero, no blocking or checking is performed.
-	 * @return Error Code generated by function. 0 indicates no error.
-	 */
-	int AddYaw(double angleDeg, int timeoutMs = 0);
-	/**
-	 * Sets the Yaw register to match the current compass value.
+	 * Create a Pigeon object that communciates with Pigeon through the
+	 * Gadgeteer ribbon cable connected to a Talon on CAN Bus.
 	 *
-	 * @param timeoutMs
-   *            Timeout value in ms. If nonzero, function will wait for
-   *            config success and report an error if it times out.
-   *            If zero, no blocking or checking is performed.
-	 * @return Error Code generated by function. 0 indicates no error.
+	 * @param talonSrx
+	 *            Object for the TalonSRX connected via ribbon cable.
 	 */
-	int SetYawToCompass(int timeoutMs = 0);
+	PigeonIMU(ctre::phoenix::motorcontrol::can::TalonSRX& talonSrx);
 
 	/**
 	 * Sets the Fused Heading to the specified value.
@@ -339,35 +294,6 @@ class PigeonIMU: public CANBusAddressable {
 	 * @return Error Code generated by function. 0 indicates no error.
 	 */
 	int SetFusedHeadingToCompass(int timeoutMs = 0);
-	/**
-	 * Sets the AccumZAngle.
-	 *
-	 * @param angleDeg  Degrees to set AccumZAngle to.
-	 * @param timeoutMs
-   *            Timeout value in ms. If nonzero, function will wait for
-   *            config success and report an error if it times out.
-   *            If zero, no blocking or checking is performed.
-	 * @return Error Code generated by function. 0 indicates no error.
-	 */
-	int SetAccumZAngle(double angleDeg, int timeoutMs = 0);
-
-	/**
-     * @deprecated use setTemperatureCompensationDisable instead 
-     * This was done to better match with the lower level API.
-     * NOTE: this isn't a persistant config, every boot temperature 
-     * compensation will be enabled
-     * This was also done so the default value for the paramter is false instead of true.
-	 * Enable/Disable Temp compensation. Pigeon defaults with this on at boot.
-	 *
- 	 * @param bTempCompEnable Set to "True" to enable temperature compensation.
-	 * @param timeoutMs
-     *          Timeout value in ms. If nonzero, function will wait for
-     *          config success and report an error if it times out.
-     *          If zero, no blocking or checking is performed.
-	 * @return Error Code generated by function. 0 indicates no error.
-	 */
-    int ConfigTemperatureCompensationEnable(bool bTempCompEnable,
-			int timeoutMs = 0);
 
     /**
      * Disable/Enable Temp compensation. Pigeon has this on/False at boot.
@@ -428,108 +354,12 @@ class PigeonIMU: public CANBusAddressable {
 	 * @return Error Code generated by function. 0 indicates no error.
 	 */
 	int GetGeneralStatus(PigeonIMU::GeneralStatus & statusToFill);
-	/**
-	 * Call GetLastError() generated by this object.
-	 * Not all functions return an error code but can
-	 * potentially report errors.
-	 *
-	 * This function can be used to retrieve those error codes.
-	 *
-	 * @return The last ErrorCode generated.
-	 */
-	ErrorCode GetLastError();
-	/**
-	 * Get 6d Quaternion data.
-	 *
-	 * @param wxyz Array to fill with quaternion data w[0], x[1], y[2], z[3]
-	 * @return The last ErrorCode generated.
-	 */
-	int Get6dQuaternion(double wxyz[4]);
-	/**
-	 * Get Yaw, Pitch, and Roll data.
-	 *
-	 * @param ypr Array to fill with yaw[0], pitch[1], and roll[2] data.
-	 *					Yaw is within [-368,640, +368,640] degrees.
-	 *					Pitch is within [-90,+90] degrees.
-	 *					Roll is within [-90,+90] degrees.
-	 * @return The last ErrorCode generated.
-	 */
-	int GetYawPitchRoll(double ypr[3]);
-	/**
-	 * Get AccumGyro data.
-	 * AccumGyro is the integrated gyro value on each axis.
-	 *
-	 * @param xyz_deg Array to fill with x[0], y[1], and z[2] AccumGyro data
-	 * @return The last ErrorCode generated.
-	 */
-	int GetAccumGyro(double xyz_deg[3]);
-	/**
-	 * Get the absolute compass heading.
-	 * @return compass heading [0,360) degrees.
-	 */
-	double GetAbsoluteCompassHeading();
-	/**
-	 * Get the continuous compass heading.
-	 * @return continuous compass heading [-23040, 23040) degrees. Use
-	 *         SetCompassHeading to modify the wrap-around portion.
-	 */
-	double GetCompassHeading();
-	/**
-	 * Gets the compass' measured magnetic field strength.
-	 * @return field strength in Microteslas (uT).
-	 */
-	double GetCompassFieldStrength();
-	/**
-	 * Gets the temperature of the pigeon.
-	 *
-	 * @return Temperature in ('C)
-	 */
-	double GetTemp();
 	/**
 	 * Gets the current Pigeon state
 	 *
 	 * @return PigeonState enum
 	 */
 	PigeonState GetState();
-	/**
-	 * Gets the current Pigeon uptime.
-	 *
-	 * @return How long has Pigeon been running in whole seconds. Value caps at
-	 *         255.
-	 */
-	uint32_t GetUpTime();
-	/**
-	 * Get Raw Magnetometer data.
-	 *
-	 * @param rm_xyz Array to fill with x[0], y[1], and z[2] data
-	 * 				Number is equal to 0.6 microTeslas per unit.
-	 * @return The last ErrorCode generated.
-	 */
-	int GetRawMagnetometer(int16_t rm_xyz[3]);
-
-	/**
-	 * Get Biased Magnetometer data.
-	 *
-	 * @param bm_xyz Array to fill with x[0], y[1], and z[2] data
-	 * 				Number is equal to 0.6 microTeslas per unit.
-	 * @return The last ErrorCode generated.
-	 */
-	int GetBiasedMagnetometer(int16_t bm_xyz[3]);
-	/**
-	 * Get Biased Accelerometer data.
-	 *
-	 * @param ba_xyz Array to fill with x[0], y[1], and z[2] data.
-	 * 			These are in fixed point notation Q2.14.  eg. 16384 = 1G
-	 * @return The last ErrorCode generated.
-	 */
-	int GetBiasedAccelerometer(int16_t ba_xyz[3]);
-	/**
-	 * Get Raw Gyro data.
-	 *
-	 * @param xyz_dps Array to fill with x[0], y[1], and z[2] data in degrees per second.
-	 * @return The last ErrorCode generated.
-	 */
-	int GetRawGyro(double xyz_dps[3]);
 	/**
 	 * Get Accelerometer tilt angles.
 	 *
@@ -550,7 +380,7 @@ class PigeonIMU: public CANBusAddressable {
 	 *
 	 * @return The fused heading in degrees.
 	 */
-	double GetFusedHeading();
+	double GetFusedHeading() const;
 	/**
 	 * @return number of times Pigeon Reset
 	 */
@@ -559,15 +389,6 @@ class PigeonIMU: public CANBusAddressable {
 	 * @return Reset flags for Pigeon
 	 */
 	uint32_t GetResetFlags();
-	/**
-	 * @return firmware version of Pigeon
-	 */
-	uint32_t GetFirmVers();
-
-	/**
-	 * @return true iff a reset has occurred since last call.
-	 */
-	bool HasResetOccurred();
 
 	/**
 	 * Gets the string representation of a PigeonState
@@ -616,69 +437,6 @@ class PigeonIMU: public CANBusAddressable {
 	 * @return Value of the custom param.
 	 */
 	int ConfigGetCustomParam(int paramIndex, int timeoutMs = 0);
-	/**
-	 * Sets a parameter. Generally this is not used.
-	 * This can be utilized in
-	 * - Using new features without updating API installation.
-	 * - Errata workarounds to circumvent API implementation.
-	 * - Allows for rapid testing / unit testing of firmware.
-	 *
-	 * @param param
-	 *            Parameter enumeration.
-	 * @param value
-	 *            Value of parameter.
-	 * @param subValue
-	 *            Subvalue for parameter. Maximum value of 255.
-	 * @param ordinal
-	 *            Ordinal of parameter.
-	 * @param timeoutMs
-	 *            Timeout value in ms. If nonzero, function will wait for
- 	 *            config success and report an error if it times out.
- 	 *            If zero, no blocking or checking is performed.
-	 * @return Error Code generated by function. 0 indicates no error.
-	 */
-	ErrorCode ConfigSetParameter(ParamEnum param, double value,
-			uint8_t subValue, int ordinal, int timeoutMs = 0);
-	/**
-	 * Gets a parameter. Generally this is not used.
-   * This can be utilized in
-   * - Using new features without updating API installation.
-   * - Errata workarounds to circumvent API implementation.
-   * - Allows for rapid testing / unit testing of firmware.
-	 *
-	 * @param param
-	 *            Parameter enumeration.
-	 * @param ordinal
-	 *            Ordinal of parameter.
-	 * @param timeoutMs
- *            Timeout value in ms. If nonzero, function will wait for
- *            config success and report an error if it times out.
- *            If zero, no blocking or checking is performed.
-	 * @return Value of parameter.
-	 */
-	double ConfigGetParameter(ctre::phoenix::ParamEnum param, int ordinal, int timeoutMs = 0);
-    /**
-	 * Gets a parameter by passing an int by reference
-	 * 
-	 * @param param
-	 * 			  Parameter enumeration
-	 * @param valueToSend
-	 * 			  Value to send to parameter
-	 * @param valueReceived
-	 * 			  Reference to integer to receive
-	 * @param subValue
-	 * 			  SubValue of parameter
-	 * @param ordinal
-	 * 			  Ordinal of parameter
-	 * @param timeoutMs
-	 *            Timeout value in ms. If nonzero, function will wait for
-	 *            config success and report an error if it times out.
-	 *            If zero, no blocking or checking is performed.
-	 * @return Error Code generated by function. 0 indicates no error.
-	 */
-    ErrorCode ConfigGetParameter(ParamEnum param, int32_t valueToSend,
-            int32_t & valueReceived, uint8_t & subValue, int32_t ordinal,
-            int32_t timeoutMs);
 
 	/**
 	 * Sets the period of the given status frame.
@@ -750,13 +508,6 @@ class PigeonIMU: public CANBusAddressable {
 	 */
 	ErrorCode ClearStickyFaults(int timeoutMs = 0);
 	
-	/**
-	 * @return Pigeon resource handle.
-	 */
-	void* GetLowLevelHandle() {
-		return _handle;
-	}
-	
 	//------ All Configs ----------//
     /**
      * Configures all persistent settings.
@@ -827,8 +578,6 @@ class PigeonIMU: public CANBusAddressable {
 	ResetStats _resetStats = { 0, 0, 0, false };
 
 	/** Portion of the arbID for all status and control frames. */
-	void* _handle;
-	uint32_t _deviceNumber;
 	uint32_t _usageHist = 0;
 	uint64_t _cache;
 	uint32_t _len;
diff --git a/include/ctre/phoenix/sensors/PigeonIMU_Faults.h b/include/ctre/phoenix/sensors/PigeonIMU_Faults.h
index 0a86055..f4f0c78 100644
--- a/include/ctre/phoenix/sensors/PigeonIMU_Faults.h
+++ b/include/ctre/phoenix/sensors/PigeonIMU_Faults.h
@@ -1,39 +1,49 @@
 #pragma once
 
+#include <cstdint>
+
 namespace ctre {
 namespace phoenix {
 namespace sensors {
 
 /**
- * Faults available to Pigeon (Currently has none)
+ * Sticky faults available to Pigeon
  */
 struct PigeonIMU_Faults {
+
 	/**
 	 * @return true if any faults are tripped
 	 */
 	bool HasAnyFault() const {
-		return false;
+		return 	false;
 	}
 	/**
 	 * @return Current fault list as a bit field
 	 */
-	int ToBitfield() const {
-		int retval = 0;
-		return retval;
+	uint64_t ToBitfield() const {
+		return 0;
 	}
 	/**
 	 * Updates current fault list with specified bit field of faults
+	 *
+	 * @param bits bit field of faults to update with
+	 */
+	void Update(uint64_t bits) {
+        (void)bits;
+	}
+	/**
+	 * Creates fault list with specified bit field of faults
 	 * 
 	 * @param bits bit field of faults to update with
 	 */
-	PigeonIMU_Faults(int bits) {
-		(void)bits;
+	PigeonIMU_Faults(uint64_t bits) {
+		Update(bits);
 	}
 	PigeonIMU_Faults() {
+		Update(0); // Default everything to false
 	}
 };
 
 } // sensors
 } // phoenix
 } // ctre
-
diff --git a/include/ctre/phoenix/sensors/PigeonIMU_StickyFaults.h b/include/ctre/phoenix/sensors/PigeonIMU_StickyFaults.h
index 79f53b4..f3da588 100644
--- a/include/ctre/phoenix/sensors/PigeonIMU_StickyFaults.h
+++ b/include/ctre/phoenix/sensors/PigeonIMU_StickyFaults.h
@@ -1,5 +1,7 @@
 #pragma once
 
+#include <cstdint>
+
 namespace ctre {
 namespace phoenix {
 namespace sensors {
@@ -8,28 +10,36 @@ namespace sensors {
  * Sticky faults available to Pigeon
  */
 struct PigeonIMU_StickyFaults {
+
 	/**
 	 * @return true if any faults are tripped
 	 */
 	bool HasAnyFault() const {
-		return false;
+		return 	false;
 	}
 	/**
 	 * @return Current fault list as a bit field
 	 */
-	int ToBitfield() const {
-		int retval = 0;
-		return retval;
+	uint64_t ToBitfield() const {
+        return 0;
+	}
+	/**
+	 * Updates current fault list with specified bit field of faults
+	 *
+	 * @param bits bit field of faults to update with
+	 */
+	void Update(uint64_t bits) {
 	}
 	/**
 	 * Creates fault list with specified bit field of faults
 	 * 
 	 * @param bits bit field of faults to update with
 	 */
-	PigeonIMU_StickyFaults(int bits) {
-		(void)bits;
+	PigeonIMU_StickyFaults(uint64_t bits) {
+		Update(bits);
 	}
 	PigeonIMU_StickyFaults() {
+		Update(0); // Default everything to false
 	}
 };
 
diff --git a/include/ctre/phoenix/string_util/string_util.h b/include/ctre/phoenix/string_util/string_util.h
index a92cd24..0f44efa 100644
--- a/include/ctre/phoenix/string_util/string_util.h
+++ b/include/ctre/phoenix/string_util/string_util.h
@@ -1,4 +1,5 @@
 #pragma once
+#include "ctre/phoenix/export.h"
 #include <stdint.h>
 #include <sstream>
 #include <deque>
@@ -7,15 +8,16 @@
 namespace ctre {
 	namespace phoenix {
 		namespace string_util {
-			std::deque<std::string> string_split(const std::string& input, char delimiter);
-			std::string toLower(const std::string& input);
-			int strcmp_nocase(char const* a, char const* b);
-			uint32_t safe_memcpy_(uint8_t* dest, const uint8_t* src, uint32_t numBytesToCopy, uint32_t capacity);
-			uint32_t safe_memcpy_(uint8_t* dest, const uint8_t* src, int32_t numBytesToCopy, int32_t capacity);
-			uint32_t safe_copyDoubles(double* dest, const double* src, int32_t numDoubles, int32_t capacityDoubles);
-			uint32_t safe_copyDoubles(double* dest, const std::vector<double>& src, int32_t capacityDoubles);
-			uint32_t safe_strlen(const char* s, int32_t maxsize);
-			void safe_strcopy(std::string& dest, const char* src);
+			CTREXPORT std::deque<std::string> string_split(const std::string& input, char delimiter);
+			CTREXPORT std::string toLower(const std::string& input);
+			CTREXPORT int strcmp_nocase(char const* a, char const* b);
+			CTREXPORT uint32_t safe_memcpy_(uint8_t* dest, const uint8_t* src, uint32_t numBytesToCopy, uint32_t capacity);
+			CTREXPORT uint32_t safe_memcpy_(uint8_t* dest, const uint8_t* src, int32_t numBytesToCopy, int32_t capacity);
+			CTREXPORT uint32_t safe_copyDoubles(double* dest, const double* src, int32_t numDoubles, int32_t capacityDoubles);
+			CTREXPORT uint32_t safe_copyDoubles(double* dest, const std::vector<double>& src, int32_t capacityDoubles);
+			CTREXPORT uint32_t safe_strlen(const char* s, int32_t maxsize);
+			CTREXPORT void safe_strcopy(std::string& dest, const char* src);
+			CTREXPORT char *strtok_next(char **str_ptr, char const *delimiters);
 		} // namespace string_util
 	} // namespace phoenix
 } // namespace ctre
diff --git a/include/ctre/phoenix/tasking/ButtonMonitor.h b/include/ctre/phoenix/tasking/ButtonMonitor.h
deleted file mode 100644
index ff8878e..0000000
--- a/include/ctre/phoenix/tasking/ButtonMonitor.h
+++ /dev/null
@@ -1,49 +0,0 @@
-#pragma once
-
-#include "ctre/phoenix/Tasking/ILoopable.h"
-#include "ctre/phoenix/Tasking/IProcessable.h"
-#include <functional>
-
-#if defined(CTR_INCLUDE_WPILIB_CLASSES) || defined(__FRC_ROBORIO__)
-
-/* forward proto's */
-namespace frc {
-	class GenericHID;
-}
-
-namespace ctre {
-namespace phoenix {
-namespace tasking {
-
-class ButtonMonitor: public IProcessable, public ILoopable {
-public:
-
-	class IButtonPressEventHandler {
-		public:
-			virtual ~IButtonPressEventHandler(){}
-			virtual void OnButtonPress(int idx, bool isDown) = 0;
-	};
-
-	ButtonMonitor(frc::GenericHID * controller, int buttonIndex, IButtonPressEventHandler * ButtonPressEventHandler);
-	ButtonMonitor(const ButtonMonitor & rhs);
-	virtual ~ButtonMonitor() {	}
-
-	/* IProcessable */
-	virtual void Process();
-
-	/* ILoopable */
-	virtual void OnStart();
-	virtual void OnLoop();
-	virtual bool IsDone();
-	virtual void OnStop();
-
-private:
-	frc::GenericHID * _gameCntrlr;
-	int _btnIdx;
-	IButtonPressEventHandler * _handler;
-	bool _isDown = false;
-};
-}
-}
-}
-#endif // CTR_INCLUDE_WPILIB_CLASSES or __FRC_ROBORIO__
diff --git a/include/ctre/phoenix/tasking/Schedulers/ConcurrentScheduler(1).h b/include/ctre/phoenix/tasking/Schedulers/ConcurrentScheduler(1).h
deleted file mode 100644
index 676c8b8..0000000
--- a/include/ctre/phoenix/tasking/Schedulers/ConcurrentScheduler(1).h
+++ /dev/null
@@ -1,88 +0,0 @@
-#pragma once
-
-#include <vector>
-#include "ctre/phoenix/tasking/ILoopable.h"
-#include "ctre/phoenix/tasking/IProcessable.h"
-
-namespace ctre {
-namespace phoenix {
-/** tasking namespace */
-namespace tasking {
-/** schedulers namespace */
-namespace schedulers {
-
-/**
- * Scheduler that wil run its ILoopables in concurrency
- */
-class ConcurrentScheduler: public ILoopable, public IProcessable {
-public:
-	/** Should be private */
-	std::vector<ILoopable*> _loops;
-	/** Should be private */
-	std::vector<bool> _enabs;
-
-	ConcurrentScheduler();
-	virtual ~ConcurrentScheduler();
-	/**
-	 * Add ILoopable to schedule
-	 * @param aLoop ILoopable to add to schedule
-	 * @param enable Whether to enable ILoopable
-	 */
-	void Add(ILoopable *aLoop, bool enable = true);
-	/**
-	 * Remove all ILoopables from scheduler
-	 */
-	void RemoveAll();
-	/**
-	 * Start an ILoopable
-	 * @param toStart ILoopable to start
-	 */
-	void Start(ILoopable *toStart);
-	/**
-	 * Stop an ILoopable
-	 * @param toStop ILoopable to stop
-	 */
-	void Stop(ILoopable *toStop);
-	/**
-	 * Start all ILoopables
-	 */
-	void StartAll();
-	/**
-	 * Stop all ILoopables
-	 */
-	void StopAll();
-
-	//IProcessable
-	/**
-	 * Process every ILoopable
-	 * 
-	 * Call this every loop
-	 */
-	void Process();
-
-	//ILoopable
-	/**
-	 * @return false, this never iterates
-	 */
-	bool Iterated();
-	/**
-	 * Start all ILoopables
-	 */
-	void OnStart();
-	/**
-	 * Process all ILoopables
-	 */
-	void OnLoop();
-	/**
-	 * Stop all ILoopables
-	 */
-	void OnStop();
-	/**
-	 * @return false, this is never done
-	 */
-	bool IsDone();
-};
-}
-}
-}
-}
diff --git a/include/ctre/phoenix/tasking/Schedulers/SequentialScheduler(1).h b/include/ctre/phoenix/tasking/Schedulers/SequentialScheduler(1).h
deleted file mode 100644
index edaa92c..0000000
--- a/include/ctre/phoenix/tasking/Schedulers/SequentialScheduler(1).h
+++ /dev/null
@@ -1,75 +0,0 @@
-#pragma once
-
-#include <vector>
-#include "ctre/phoenix/tasking/ILoopable.h"
-#include "ctre/phoenix/tasking/IProcessable.h"
-
-namespace ctre { namespace phoenix { namespace tasking { namespace schedulers {
-
-/**
- * Scheduler that will run its ILoopables in sequence
- */
-class SequentialScheduler: public ILoopable, public IProcessable{
-public:
-	/** should be private */
-	bool _running = false;
-	/** should be private */
-	std::vector<ILoopable*> _loops;
-	/** should be private */
-	unsigned int _idx = 0;
-	/** should be private */
-	bool _iterated = false;
-
-	SequentialScheduler();
-	virtual ~SequentialScheduler();
-
-	/**
-	 * Add ILoopable to scheduler
-	 * @param aLoop ILoopable to add
-	 */
-	void Add(ILoopable *aLoop);
-	/**
-	 * Get the currently running ILoopable
-	 * @return null, not implemented
-	 */
-	ILoopable * GetCurrent();
-	/**
-	 * Remove all ILoopables
-	 */
-	void RemoveAll();
-	/**
-	 * Start next ILoopable
-	 */
-	void Start();
-	/**
-	 * Stop every ILoopable
-	 */
-	void Stop();
-
-	//IProcessable
-	/**
-	 * Process the currently active ILoopable
-	 * 
-	 * Call this every loop
-	 */
-	void Process();
-
-	//ILoopable
-	/**
-	 * Start next ILoopable
-	 */
-	void OnStart();
-	/**
-	 * Process currently active ILoopable
-	 */
-	void OnLoop();
-	/**
-	 * Stop all ILoopables
-	 */
-	void OnStop();
-	/**
-	 * @return true when no longer running
-	 */
-	bool IsDone();
-};
-}}}}
diff --git a/include/ctre/phoenix/unmanaged/Unmanaged.h b/include/ctre/phoenix/unmanaged/Unmanaged.h
index 0eaa195..9cc668e 100644
--- a/include/ctre/phoenix/unmanaged/Unmanaged.h
+++ b/include/ctre/phoenix/unmanaged/Unmanaged.h
@@ -1,37 +1,59 @@
 #pragma once
+namespace ctre {
+namespace phoenix {
+/** unmanaged namespace */
+namespace unmanaged {
 
-#include <cstdint>
+/**
+ * Handles enabling when used in a non-FRC manner
+ */
+class Unmanaged {
+public:
+    /**
+     * Feed the enable frame.
+     * This function does nothing on a roborio during FRC use.
+     * 
+     * If running an application in simulation, creating a WPI_*
+     * object automatically enables actuators.
+     * Otherwise, call this to enable actuators.
+     * 
+     * @param timeoutMs Timeout before disabling
+     */
+    static void FeedEnable(int timeoutMs);
+    /**
+     * @return true if enabled
+     */
+    static bool GetEnableState();
+    /**
+     * @return Phoenix version
+     */
+    static int GetPhoenixVersion();
+    /**
+     * Calling this function will load and start
+     * the Phoenix background tasks.
+     * 
+     * This can be useful if you need the
+     * Enable/Disable functionality for CAN devices
+     * but aren't using any of the CAN device classes.
+     * 
+     * This function does NOT need to be called if
+     * you are using any of the Phoenix CAN device classes.
+     */
+    static void LoadPhoenix();
 
-namespace ctre {
-	namespace phoenix {
-		namespace unmanaged {
-			/**
-			 * Feed the robot enable.
-			 * This function does nothing on a roborio during FRC use.
-			 * @param timeoutMs Timeout before disabling
-			 */
-			void FeedEnable(int timeoutMs);
-			/**
-			 * @return true if enabled
-			 */
-			bool GetEnableState();
-			/**
-			 * Sets whether to enable transmitting
-			 * This function does nothing on a roborio during FRC use.
-			 * @param en True enables transmitting
-			 */
-			void SetTransmitEnable(bool en);
-			/**
-			 * @return true if transmitting is enabled
-			 */
-			bool GetTransmitEnable();
-			/**
-			 * @return Phoenix version
-			 */
-			int GetPhoenixVersion();
-			void LoadPhoenix();
+    /**
+     * Sets the duration of the delay before starting 
+     * the Phoenix diagnostics server.
+     * 
+     * @param startTime Magnitude of the delay (in seconds) before
+     *                  starting the server.
+     *                  A value of 0 will start the server immediately.
+     *                  A negative value will signal the server 
+     *                      to shutdown or never start.
+     */
+    static void SetPhoenixDiagnosticsStartTime(int startTimeSeconds);
+};
 
-			int IoControl(uint32_t ioControlCode, uint64_t ioControlParam, char* inValue = 0, int inValueSize = 0, char* outValue = 0, int outValueSize = 0);
-		}
-	}
+}
+}
 }
diff --git a/launch/ros_control_test.launch b/launch/ros_control_test.launch
index 06a4d58..5b82473 100644
--- a/launch/ros_control_test.launch
+++ b/launch/ros_control_test.launch
@@ -3,8 +3,8 @@
 <launch>
     <!-- TODO (Ben Nowotny) we should not condition on this variable in here, should be in a
     separate package-->
-    <node pkg="wrevolution" type="RosControlTest" name="RosControlTests" output="screen"
+    <node pkg="wrevolution" type="RosPhoenix" name="RosPhoenix" output="screen"
         if="$(eval env('WROVER_HW') == 'REAL')" />
     <node pkg="wrevolution" type="MockMotors" name="RosControlTests-Mock" output="screen"
         unless="$(eval env('WROVER_HW') == 'REAL')" />
-</launch>
\ No newline at end of file
+</launch>
diff --git a/lib/jetsontx/libCTRE_Phoenix.a b/lib/jetsontx/libCTRE_Phoenix.a
deleted file mode 100644
index 7bb7701..0000000
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new file mode 100644
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deleted file mode 100644
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deleted file mode 100644
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deleted file mode 100644
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diff --git a/lib/raspberry/libCTRE_Phoenix.a b/lib/raspberry/libCTRE_Phoenix.a
deleted file mode 100644
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deleted file mode 100644
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diff --git a/lib/raspberry/libCTRE_PhoenixCanutils.a b/lib/raspberry/libCTRE_PhoenixCanutils.a
deleted file mode 100644
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diff --git a/lib/raspberry/libCTRE_PhoenixCore.a b/lib/raspberry/libCTRE_PhoenixCore.a
deleted file mode 100644
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diff --git a/lib/raspberry/libCTRE_PhoenixDiagnostics.a b/lib/raspberry/libCTRE_PhoenixDiagnostics.a
deleted file mode 100644
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deleted file mode 100644
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diff --git a/lib/x86-64/libCTRE_Phoenix.a b/lib/x86-64/libCTRE_Phoenix.a
deleted file mode 100644
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diff --git a/lib/x86-64/libCTRE_PhoenixCanutils.a b/lib/x86-64/libCTRE_PhoenixCanutils.a
deleted file mode 100644
index 0c46f43..0000000
Binary files a/lib/x86-64/libCTRE_PhoenixCanutils.a and /dev/null differ
diff --git a/lib/x86-64/libCTRE_PhoenixCore.a b/lib/x86-64/libCTRE_PhoenixCore.a
deleted file mode 100644
index 2e1dbf7..0000000
Binary files a/lib/x86-64/libCTRE_PhoenixCore.a and /dev/null differ
diff --git a/lib/x86-64/libCTRE_PhoenixDiagnostics.a b/lib/x86-64/libCTRE_PhoenixDiagnostics.a
deleted file mode 100644
index e60caf5..0000000
Binary files a/lib/x86-64/libCTRE_PhoenixDiagnostics.a and /dev/null differ
diff --git a/lib/x86-64/libCTRE_PhoenixPlatform_socketcan.a b/lib/x86-64/libCTRE_PhoenixPlatform_socketcan.a
deleted file mode 100644
index 5709ca3..0000000
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diff --git a/src/app/CMakeLists.txt b/src/app/CMakeLists.txt
index b460308..f7e4f95 100644
--- a/src/app/CMakeLists.txt
+++ b/src/app/CMakeLists.txt
@@ -1,3 +1,4 @@
+add_subdirectory(CalibrateMagnetometer)
 add_subdirectory(RawTalonTest)
-add_subdirectory(RosControlTest)
-add_subdirectory(MockMotors)
\ No newline at end of file
+add_subdirectory(RosPhoenix)
+add_subdirectory(MockMotors)
diff --git a/src/app/CalibrateMagnetometer/CMakeLists.txt b/src/app/CalibrateMagnetometer/CMakeLists.txt
new file mode 100644
index 0000000..7c01563
--- /dev/null
+++ b/src/app/CalibrateMagnetometer/CMakeLists.txt
@@ -0,0 +1,7 @@
+add_executable(CalibrateMagnetometer)
+
+target_sources(CalibrateMagnetometer PRIVATE main.cpp)
+
+target_link_libraries(CalibrateMagnetometer PRIVATE hardware)
+
+MakeTalonTarget(CalibrateMagnetometer)
diff --git a/src/app/CalibrateMagnetometer/main.cpp b/src/app/CalibrateMagnetometer/main.cpp
new file mode 100644
index 0000000..db1b531
--- /dev/null
+++ b/src/app/CalibrateMagnetometer/main.cpp
@@ -0,0 +1,33 @@
+#include "PigeonIMU.h"
+#include "ctre/phoenix/platform/can/PlatformCAN.h"
+#include <chrono>
+#include <iostream>
+#include <memory>
+#include <string>
+#include <thread>
+
+using Hardware::PigeonIMU;
+using std::this_thread::sleep_for;
+
+constexpr int32_t PIGEON_CAN_ID{10};
+constexpr std::chrono::seconds LONG_WAIT{60};
+
+auto main() -> int32_t {
+
+    ctre::phoenix::platform::can::PlatformCAN::SetCANInterface("can0");
+    std::cout << "Hardware setup" << std::endl;
+
+    auto pigeon{std::make_shared<Hardware::PigeonIMU>(PIGEON_CAN_ID, "pigeon")};
+    pigeon->enableCompass(false);
+
+    std::cout << "Starting calibration" << std::endl;
+
+    pigeon->startMagCal();
+
+    sleep_for(LONG_WAIT);
+
+    std::cout << "Saving calibration" << std::endl;
+
+    pigeon->endMagCal(true);
+
+}
diff --git a/src/app/RawTalonTest/test.cpp b/src/app/RawTalonTest/test.cpp
index 467785e..89bdac7 100644
--- a/src/app/RawTalonTest/test.cpp
+++ b/src/app/RawTalonTest/test.cpp
@@ -2,6 +2,7 @@
 #include "Group.h"
 #include "Motor.h"
 #include "ctre/phoenix/platform/Platform.h"
+#include "ctre/phoenix/platform/can/PlatformCAN.h"
 #include "ctre/phoenix/unmanaged/Unmanaged.h"
 #include <chrono>
 #include <iostream>
@@ -26,9 +27,9 @@ auto main() -> int32_t {
 
     short int some_num = 0;
 
-    ctre::phoenix::platform::can::SetCANInterface("can0");
+    ctre::phoenix::platform::can::PlatformCAN::SetCANInterface("can0");
     std::cout << "Starting motor" << std::endl;
-    ctre::phoenix::unmanaged::FeedEnable(FEED_ENABLE_TIMEOUT_MILLISECONDS);
+    ctre::phoenix::unmanaged::Unmanaged::FeedEnable(FEED_ENABLE_TIMEOUT_MILLISECONDS);
 
     TalonFX mtr{1};
     // mtr.Set(ctre::phoenix::motorcontrol::ControlMode::PercentOutput, 0.2);
@@ -39,7 +40,7 @@ auto main() -> int32_t {
     std::shared_ptr<Motor> testMotor2 = std::make_shared<Motor>(MOTOR_2_ID, "MOTOR2");
     Group testGroup1{"testGroup1"};
     
-    std::cout << "Enable state: " << ctre::phoenix::unmanaged::GetEnableState() << std::endl;
+    std::cout << "Enable state: " << ctre::phoenix::unmanaged::Unmanaged::GetEnableState() << std::endl;
 
     testMotor1->setPower(0.5);
     testGroup1.addControlGroup(testMotor1);
@@ -73,7 +74,7 @@ auto main() -> int32_t {
 
     testGroup1.clearGroup();
     printControlGroup(testGroup1);
-};
+}
 
 void printControlGroup(const ControlGroup &obj) {
     std::cout << "Motor Name:  " << obj.getName() << std::endl;
diff --git a/src/app/RosControlTest/CMakeLists.txt b/src/app/RosControlTest/CMakeLists.txt
deleted file mode 100644
index a9831e3..0000000
--- a/src/app/RosControlTest/CMakeLists.txt
+++ /dev/null
@@ -1,9 +0,0 @@
-add_executable(RosControlTest)
-
-target_sources(RosControlTest PRIVATE main.cpp)
-
-target_link_libraries(RosControlTest PRIVATE hardware ros-handler)
-
-MakeROSTarget(RosControlTest)
-
-MakeTalonTarget(RosControlTest)
\ No newline at end of file
diff --git a/src/app/RosPhoenix/CMakeLists.txt b/src/app/RosPhoenix/CMakeLists.txt
new file mode 100644
index 0000000..35c3a6b
--- /dev/null
+++ b/src/app/RosPhoenix/CMakeLists.txt
@@ -0,0 +1,9 @@
+add_executable(RosPhoenix)
+
+target_sources(RosPhoenix PRIVATE main.cpp)
+
+target_link_libraries(RosPhoenix PRIVATE hardware ros-handler)
+
+MakeROSTarget(RosPhoenix)
+
+MakeTalonTarget(RosPhoenix)
diff --git a/src/app/RosControlTest/main.cpp b/src/app/RosPhoenix/main.cpp
similarity index 76%
rename from src/app/RosControlTest/main.cpp
rename to src/app/RosPhoenix/main.cpp
index 83a720b..4c936d5 100644
--- a/src/app/RosControlTest/main.cpp
+++ b/src/app/RosPhoenix/main.cpp
@@ -2,6 +2,8 @@
 #include "ControlGroupRosHandler.h"
 #include "Group.h"
 #include "Motor.h"
+#include "PigeonIMU.h"
+#include "PigeonRosHandler.h"
 #include "ros/node_handle.h"
 #include <cstdint>
 #include <iostream>
@@ -10,12 +12,13 @@
 
 
 #include "ctre/phoenix/platform/Platform.h"
+#include "ctre/phoenix/platform/can/PlatformCAN.h"
 #include "ctre/phoenix/unmanaged/Unmanaged.h"
 
 auto main(int32_t argc, char **argv) -> int32_t {
 
     // TODO (@Tzanccc): currently a magic string, consider changing it use command line arguments or some other equivalent
-    ctre::phoenix::platform::can::SetCANInterface("can0");
+    ctre::phoenix::platform::can::PlatformCAN::SetCANInterface("can0");
 
     std::cout << "wrevolution ROS test start..." << std::endl;
 
@@ -39,6 +42,13 @@ auto main(int32_t argc, char **argv) -> int32_t {
     rightGroup->addControlGroup(motor5);
     rightGroup->addControlGroup(motor6);
 
+    leftGroup->setZeroPowerBehavior(Hardware::ZeroPowerBehavior::COAST);
+    rightGroup->setZeroPowerBehavior(Hardware::ZeroPowerBehavior::COAST);
+
+    auto pigeonIMU{std::make_shared<Hardware::PigeonIMU>(10, "pigeon")};
+    pigeonIMU->setOrientation(AxisDirection::NegativeX, AxisDirection::PositiveZ);
+    pigeonIMU->enableCompass(false);
+
     std::cout << "Motor setup complete!" << std::endl;
 
     // Setup ROS Interface
@@ -50,6 +60,7 @@ auto main(int32_t argc, char **argv) -> int32_t {
 
     auto leftHandler{std::make_unique<RosHandler::ControlGroupRosHandler>(node, leftGroup)};
     auto rightHandler{std::make_unique<RosHandler::ControlGroupRosHandler>(node, rightGroup)};
+    auto pigeonHandler{std::make_shared<RosHandler::PigeonRosHandler>(node, pigeonIMU)};
 
     std::cout << "ROS Setup complete!" << std::endl;
 
diff --git a/src/app/RosControlTest/test_sinusoidal_power.py b/src/app/RosPhoenix/test_sinusoidal_power.py
similarity index 85%
rename from src/app/RosControlTest/test_sinusoidal_power.py
rename to src/app/RosPhoenix/test_sinusoidal_power.py
index beca755..53d409c 100755
--- a/src/app/RosControlTest/test_sinusoidal_power.py
+++ b/src/app/RosPhoenix/test_sinusoidal_power.py
@@ -1,14 +1,15 @@
 #!/usr/bin/env python3
 import rospy
 import std_msgs
+
 rospy.init_node("temp_node")
 import math
+
 pub = rospy.Publisher("/MOTOR_1/power", std_msgs.msg.Float64, queue_size=10)
 rate = rospy.Rate(20)
 t = 0
 while not rospy.is_shutdown():
-    p = math.sin(2*math.pi*t/(20*10))
+    p = math.sin(2 * math.pi * t / (20 * 10))
     t += 1
     pub.publish(p)
     rate.sleep()
-
diff --git a/src/hardware/CMakeLists.txt b/src/hardware/CMakeLists.txt
index 01abb9c..b77678b 100644
--- a/src/hardware/CMakeLists.txt
+++ b/src/hardware/CMakeLists.txt
@@ -5,10 +5,11 @@ target_sources(hardware
     src/Group.cpp
     src/Motor.cpp
     src/MockMotor.cpp
+    src/PigeonIMU.cpp
 )
 
 target_include_directories(hardware PUBLIC include)
 
 MakeTalonTarget(hardware)
 # TODO (@bennowotny ): hardware should not depend on ROS
-MakeROSTarget(hardware)
\ No newline at end of file
+MakeROSTarget(hardware)
diff --git a/src/hardware/include/PigeonIMU.h b/src/hardware/include/PigeonIMU.h
new file mode 100644
index 0000000..ad5d51d
--- /dev/null
+++ b/src/hardware/include/PigeonIMU.h
@@ -0,0 +1,33 @@
+#ifndef PIGEON_H
+#define PIGEON_H
+
+#include <mutex>
+#include <optional>
+
+#define Phoenix_No_WPI
+#include "ctre/phoenix/sensors/Pigeon2.h"
+
+using ctre::phoenix::sensors::Pigeon2;
+using ctre::phoenix::sensors::AxisDirection;
+
+namespace Hardware {
+class PigeonIMU {
+public:
+    explicit PigeonIMU(uint8_t canID, std::string friendlyName);
+    auto getName() const -> std::string;
+    [[nodiscard]] auto getYaw() const -> std::optional<double>;
+    void setOrientation(AxisDirection forward, AxisDirection up);
+    void setYaw(double angleDeg);
+    void startMagCal();
+    void endMagCal(bool saveMagCal);
+    void enableCompass(bool enable);
+
+private:
+    mutable std::mutex mutex;
+    std::unique_ptr<Pigeon2> imu;
+    uint8_t deviceID;
+    const std::string friendlyName;
+};
+} // namespace Hardware
+
+#endif
diff --git a/src/hardware/src/Motor.cpp b/src/hardware/src/Motor.cpp
index 224eb47..cc752ed 100644
--- a/src/hardware/src/Motor.cpp
+++ b/src/hardware/src/Motor.cpp
@@ -36,7 +36,7 @@ Motor::Motor(uint8_t motorID, std::string friendlyName)
 
 void Motor::setPower(double power) {
     const std::lock_guard lock{mutex};
-    ctre::phoenix::unmanaged::FeedEnable(5000);
+    ctre::phoenix::unmanaged::Unmanaged::FeedEnable(5000);
     motor->Set(ControlMode::PercentOutput, power);
     const auto err{motor->GetLastError()};
     using std::string_literals::operator""s;
diff --git a/src/hardware/src/PigeonIMU.cpp b/src/hardware/src/PigeonIMU.cpp
new file mode 100644
index 0000000..a7a6407
--- /dev/null
+++ b/src/hardware/src/PigeonIMU.cpp
@@ -0,0 +1,61 @@
+#include <cmath>
+#include <memory>
+#include <optional>
+#include <string>
+
+#include "PigeonIMU.h"
+#include "ctre/phoenix/paramEnum.h"
+
+#define Phoenix_No_WPI
+#include "ctre/phoenix/sensors/Pigeon2.h"
+
+namespace Hardware {
+
+PigeonIMU::PigeonIMU(uint8_t canID, std::string friendlyName) :
+    imu{std::make_unique<Pigeon2>(canID)},
+    deviceID{canID},
+    friendlyName{std::move(friendlyName)} {
+
+    }
+
+auto PigeonIMU::getName() const -> std::string{
+    const std::lock_guard lock{mutex};
+    return friendlyName;
+}
+
+void PigeonIMU::setOrientation(AxisDirection forward, AxisDirection up) {
+    imu->ConfigMountPose(forward, up);
+}
+
+auto PigeonIMU::getYaw() const -> std::optional<double> {
+    const std::lock_guard lock{mutex};
+    double angle = std::fmod(imu->GetYaw(), 360);
+    angle = angle >= 0 ? angle : angle + 360;
+    return std::make_optional(angle);
+}
+
+void PigeonIMU::setYaw(double angleDeg) {
+    const std::lock_guard lock{mutex};
+    imu->SetYaw(angleDeg);
+}
+
+void PigeonIMU::startMagCal() {
+    imu->ConfigSetParameter(ctre::phoenix::eMagCalRunning, 1, 0, 0);
+}
+
+void PigeonIMU::endMagCal(bool saveMagCal) {
+    // Apply calibration
+    if (saveMagCal) {
+        imu->ConfigSetParameter(ctre::phoenix::eMagCal, 0, 0, 0);
+    }
+    imu->ConfigSetParameter(ctre::phoenix::eMagCalRunning, 0, 0, 0);
+}
+
+void PigeonIMU::enableCompass(bool enable) {
+    imu->ConfigEnableCompass(enable);
+    if (enable) {
+        imu->SetYawToCompass();
+    }
+}
+
+}
diff --git a/src/ros-handler/CMakeLists.txt b/src/ros-handler/CMakeLists.txt
index 6552106..8f8b347 100644
--- a/src/ros-handler/CMakeLists.txt
+++ b/src/ros-handler/CMakeLists.txt
@@ -4,6 +4,7 @@ target_sources(ros-handler
     PRIVATE
     src/ros-handler-core/RosTimedAction.cpp
     src/ros-handler-core/ControlGroupRosTimedAction.cpp
+    src/ros-handler-core/PigeonRosTimedAction.cpp
     src/EncoderTimedAction.cpp
     src/ZeroPowerBehaviorServiceAction.cpp
     src/PowerSubscribedAction.cpp
@@ -11,6 +12,9 @@ target_sources(ros-handler
     src/ResetSettingsServiceAction.cpp
     src/ResetEncoderServiceAction.cpp
     src/ReverseServiceAction.cpp
+    src/PigeonRosHandler.cpp
+    src/HeadingTimedAction.cpp
+    src/SetHeadingServiceAction.cpp
 )
 
 target_link_libraries(ros-handler PRIVATE hardware)
diff --git a/src/ros-handler/include/EncoderTimedAction.h b/src/ros-handler/include/EncoderTimedAction.h
index 6ecfe18..34c0bf5 100644
--- a/src/ros-handler/include/EncoderTimedAction.h
+++ b/src/ros-handler/include/EncoderTimedAction.h
@@ -18,10 +18,10 @@ class EncoderTimedAction : public ControlGroupRosTimedAction {
     void onTimerEvent(const ros::TimerEvent &event) override;
 
     const ros::Publisher publisher;
-    static constexpr double ENCODER_PUBLISHING_RATE_HZ{50};
-    static constexpr uint32_t ENCODER_PUBLISHING_BUFFER_SIZE{1};
+    static constexpr double ENCODER_PUBLISHER_RATE_HZ{50};
+    static constexpr uint32_t ENCODER_PUBLISHER_BUFFER_SIZE{1};
 };
 
 } // namespace RosHandler
 
-#endif
\ No newline at end of file
+#endif
diff --git a/src/ros-handler/include/HeadingTimedAction.h b/src/ros-handler/include/HeadingTimedAction.h
new file mode 100644
index 0000000..2d1fc8d
--- /dev/null
+++ b/src/ros-handler/include/HeadingTimedAction.h
@@ -0,0 +1,27 @@
+#ifndef HEADING_TIMED_ACTION_H
+#define HEADING_TIMED_ACTION_H
+
+#include "PigeonIMU.h"
+#include "ros-handler-core/PigeonRosTimedAction.h"
+#include "ros-handler-core/RosTimedAction.h"
+
+namespace RosHandler {
+
+using Hardware::PigeonIMU;
+using RosHandlerCore::PigeonRosTimedAction;
+
+class HeadingTimedAction : public PigeonRosTimedAction {
+public:
+    HeadingTimedAction(ros::NodeHandle &node, const std::shared_ptr<PigeonIMU> &pigeon);
+
+private:
+    void onTimerEvent(const ros::TimerEvent &event) override;
+
+    const ros::Publisher publisher;
+    static constexpr double HEADING_PUBLISHER_RATE_HZ{50};
+    static constexpr uint32_t HEADING_PUBLISHER_BUFFER_SIZE{1};
+};
+
+} // namespace RosHandler
+
+#endif
diff --git a/src/ros-handler/include/PigeonRosHandler.h b/src/ros-handler/include/PigeonRosHandler.h
new file mode 100644
index 0000000..0d85a05
--- /dev/null
+++ b/src/ros-handler/include/PigeonRosHandler.h
@@ -0,0 +1,22 @@
+#ifndef PIGEON_ROS_HANDLER_H
+#define PIGEON_ROS_HANDLER_H
+
+#include "HeadingTimedAction.h"
+#include "PigeonIMU.h"
+#include "SetHeadingServiceAction.h"
+#include "ros/node_handle.h"
+
+namespace RosHandler {
+
+class PigeonRosHandler {
+public:
+    PigeonRosHandler(ros::NodeHandle &node, const std::shared_ptr<Hardware::PigeonIMU> &pigeon);
+
+private:
+    const std::unique_ptr<HeadingTimedAction> headingAction;
+    const std::unique_ptr<SetHeadingServiceAction> setHeadingAction;
+};
+
+} // namespace RosHandler
+
+#endif
diff --git a/src/ros-handler/include/SetHeadingServiceAction.h b/src/ros-handler/include/SetHeadingServiceAction.h
new file mode 100644
index 0000000..e6403f1
--- /dev/null
+++ b/src/ros-handler/include/SetHeadingServiceAction.h
@@ -0,0 +1,25 @@
+#ifndef SET_HEADING_SERVICE_ACTION_H
+#define SET_HEADING_SERVICE_ACTION_H
+
+#include "PigeonIMU.h"
+#include "ros-handler-core/PigeonRosServiceAction.h"
+#include "wrevolution/SetHeading.h"
+
+namespace RosHandler {
+
+using Hardware::PigeonIMU;
+using RosHandlerCore::PigeonRosServiceAction;
+
+class SetHeadingServiceAction : public PigeonRosServiceAction<wrevolution::SetHeading> {
+public:
+    SetHeadingServiceAction(ros::NodeHandle &node, const std::shared_ptr<PigeonIMU> &pigeon);
+
+private:
+    auto onServiceRequest(const wrevolution::SetHeading::Request &req, wrevolution::SetHeading::Response &resp) -> bool override;
+
+    static constexpr double SET_HEADING_MAX_RESPONSE_DELAY_SECONDS{0.5};
+};
+
+} // namespace RosHandler
+
+#endif
diff --git a/src/ros-handler/include/ros-handler-core/PigeonRosServiceAction.h b/src/ros-handler/include/ros-handler-core/PigeonRosServiceAction.h
new file mode 100644
index 0000000..49f3410
--- /dev/null
+++ b/src/ros-handler/include/ros-handler-core/PigeonRosServiceAction.h
@@ -0,0 +1,29 @@
+#ifndef PIGEON_ROS_SERVICE_ACTION_H
+#define PIGEON_ROS_SERVICE_ACTION_H
+
+#include "PigeonIMU.h"
+#include "RosConcepts.h" // IWYU pragma: keep; required concepts
+#include "ros-handler-core/RosServiceAction.h"
+
+namespace RosHandler::RosHandlerCore {
+
+using Hardware::PigeonIMU;
+
+template <RosService T>
+class PigeonRosServiceAction : public RosServiceAction<T> {
+public:
+    PigeonRosServiceAction(
+        ros::NodeHandle &node,
+        const std::shared_ptr<PigeonIMU> &pigeon,
+        const std::string &serviceName,
+        const ros::Duration &maxResponseTime)
+        : RosServiceAction<T>{node, pigeon->getName() + "/" + serviceName, maxResponseTime},
+          pigeon{pigeon} {}
+
+protected:
+    const std::shared_ptr<PigeonIMU> pigeon;
+};
+
+} // namespace RosHandler::RosHandlerCore
+
+#endif
diff --git a/src/ros-handler/include/ros-handler-core/PigeonRosTimedAction.h b/src/ros-handler/include/ros-handler-core/PigeonRosTimedAction.h
new file mode 100644
index 0000000..6f7de94
--- /dev/null
+++ b/src/ros-handler/include/ros-handler-core/PigeonRosTimedAction.h
@@ -0,0 +1,26 @@
+#ifndef PIGEON_ROS_TIMED_ACTION_H
+#define PIGEON_ROS_TIMED_ACTION_H
+
+#include <memory>
+#include "PigeonIMU.h"
+#include "RosTimedAction.h"
+
+namespace RosHandler::RosHandlerCore {
+
+using Hardware::PigeonIMU;
+
+class PigeonRosTimedAction : public RosTimedAction {
+public:
+    PigeonRosTimedAction(
+        const ros::NodeHandle &node,
+        const std::shared_ptr<PigeonIMU> &pigeon,
+        const std::string &actionDescription,
+        const ros::Rate &rate);
+
+protected:
+    const std::shared_ptr<PigeonIMU> pigeon;
+};
+
+} // namespace RosHandler::RosHandlerCore
+
+#endif
diff --git a/src/ros-handler/src/EncoderTimedAction.cpp b/src/ros-handler/src/EncoderTimedAction.cpp
index 5e333f2..acbba08 100644
--- a/src/ros-handler/src/EncoderTimedAction.cpp
+++ b/src/ros-handler/src/EncoderTimedAction.cpp
@@ -10,8 +10,8 @@ EncoderTimedAction::EncoderTimedAction(ros::NodeHandle &node, const std::shared_
     : ControlGroupRosTimedAction(node,
                                  controlGroup,
                                  "Encoder Publisher",
-                                 ros::Rate{ENCODER_PUBLISHING_RATE_HZ}),
-      publisher{node.advertise<std_msgs::Float64>(controlGroup->getName() + "/encoder", ENCODER_PUBLISHING_BUFFER_SIZE)} {}
+                                 ros::Rate{ENCODER_PUBLISHER_RATE_HZ}),
+      publisher{node.advertise<std_msgs::Float64>(controlGroup->getName() + "/encoder", ENCODER_PUBLISHER_BUFFER_SIZE)} {}
 
 void EncoderTimedAction::onTimerEvent(const ros::TimerEvent &event) {
     std_msgs::Float64 msg;
@@ -22,4 +22,4 @@ void EncoderTimedAction::onTimerEvent(const ros::TimerEvent &event) {
     }
 }
 
-} // namespace RosHandler
\ No newline at end of file
+} // namespace RosHandler
diff --git a/src/ros-handler/src/HeadingTimedAction.cpp b/src/ros-handler/src/HeadingTimedAction.cpp
new file mode 100644
index 0000000..287bef0
--- /dev/null
+++ b/src/ros-handler/src/HeadingTimedAction.cpp
@@ -0,0 +1,25 @@
+#include "HeadingTimedAction.h"
+#include "ros/forwards.h"
+#include "std_msgs/Float64.h"
+
+namespace RosHandler {
+using Hardware::PigeonIMU;
+
+HeadingTimedAction::HeadingTimedAction(ros::NodeHandle &node, const std::shared_ptr<PigeonIMU> &pigeon)
+    : PigeonRosTimedAction(node,
+                           pigeon,
+                           "Heading Publisher",
+                           ros::Rate{HEADING_PUBLISHER_RATE_HZ}),
+      publisher{node.advertise<std_msgs::Float64>("/heading", HEADING_PUBLISHER_BUFFER_SIZE)} {}
+
+
+void HeadingTimedAction::onTimerEvent(const ros::TimerEvent &event) {
+    std_msgs::Float64 msg;
+    auto yaw = pigeon->getYaw();
+    if (yaw.has_value()) {
+        msg.data = *yaw;
+        publisher.publish(msg);
+    }
+}
+
+} // namespace RosHandler
diff --git a/src/ros-handler/src/PigeonRosHandler.cpp b/src/ros-handler/src/PigeonRosHandler.cpp
new file mode 100644
index 0000000..9442000
--- /dev/null
+++ b/src/ros-handler/src/PigeonRosHandler.cpp
@@ -0,0 +1,13 @@
+#include "PigeonRosHandler.h"
+#include "HeadingTimedAction.h"
+#include "PigeonIMU.h"
+#include "SetHeadingServiceAction.h"
+#include <memory>
+
+namespace RosHandler {
+
+PigeonRosHandler::PigeonRosHandler(ros::NodeHandle &node, const std::shared_ptr<Hardware::PigeonIMU> &pigeon)
+    : headingAction{std::make_unique<HeadingTimedAction>(node, pigeon)},
+      setHeadingAction{std::make_unique<SetHeadingServiceAction>(node, pigeon)} {}
+
+} // namespace RosHandler
diff --git a/src/ros-handler/src/SetHeadingServiceAction.cpp b/src/ros-handler/src/SetHeadingServiceAction.cpp
new file mode 100644
index 0000000..754b528
--- /dev/null
+++ b/src/ros-handler/src/SetHeadingServiceAction.cpp
@@ -0,0 +1,24 @@
+#include "SetHeadingServiceAction.h"
+#include "PigeonIMU.h"
+#include "ros-handler-core/PigeonRosServiceAction.h"
+#include "wrevolution/SetHeading.h"
+
+namespace RosHandler {
+
+using Hardware::PigeonIMU;
+using RosHandlerCore::PigeonRosServiceAction;
+using wrevolution::SetHeading;
+
+SetHeadingServiceAction::SetHeadingServiceAction(ros::NodeHandle &node, const std::shared_ptr<PigeonIMU> &pigeon)
+    : PigeonRosServiceAction<SetHeading>(node,
+                                         pigeon,
+                                         "set_heading",
+                                         ros::Duration{SET_HEADING_MAX_RESPONSE_DELAY_SECONDS}) {}
+
+auto SetHeadingServiceAction::onServiceRequest(const SetHeading::Request &req,
+                                               SetHeading::Response &resp) -> bool {
+    pigeon->setYaw(req.heading);
+    return true;
+}
+
+} // namespace RosHandler
diff --git a/src/ros-handler/src/ros-handler-core/PigeonRosTimedAction.cpp b/src/ros-handler/src/ros-handler-core/PigeonRosTimedAction.cpp
new file mode 100644
index 0000000..ed9acfa
--- /dev/null
+++ b/src/ros-handler/src/ros-handler-core/PigeonRosTimedAction.cpp
@@ -0,0 +1,14 @@
+#include "ros-handler-core/PigeonRosTimedAction.h"
+#include "ros-handler-core/RosTimedAction.h"
+
+namespace RosHandler::RosHandlerCore {
+
+PigeonRosTimedAction::PigeonRosTimedAction(
+    const ros::NodeHandle &node,
+    const std::shared_ptr<PigeonIMU> &pigeon,
+    const std::string &actionDescription,
+    const ros::Rate &rate)
+    : RosTimedAction(rate, node, "'" + pigeon->getName() + "' - " + actionDescription),
+      pigeon{pigeon} {}
+
+} // namespace RosHandler::RosHandlerCore
diff --git a/srv/SetHeading.srv b/srv/SetHeading.srv
new file mode 100644
index 0000000..7cd76e6
--- /dev/null
+++ b/srv/SetHeading.srv
@@ -0,0 +1,2 @@
+float64 heading
+---