diff --git a/README.md b/README.md
index 1d0ec95..737c18e 100644
--- a/README.md
+++ b/README.md
@@ -33,18 +33,28 @@ git submodule add -b master https://github.com/Armada2508/Library library
 ```
 Of course if you want to track commits from a different branch then replace master with a branch of your choice.
 
-Add `implementation ':library'` to your dependencies block in build.gradle. <br>
-Add `includeBuild 'library'` to the end of your settings.gradle.
+Add this block to your build.gradle.
+```groovy
+sourceSets {
+    main {
+        java {
+            srcDirs 'library/src/main/java/'
+        }
+    }
+    test {
+        java {
+            srcDirs 'library/src/test/java'
+        }
+    }
+}
+```
+Add `ignoreFailures = true` to the test block in your build.gradle. Otherwise failing tests could stop a build/deploy.
 
 Make sure source and target compatibility in build.gradle match that of the library, right now it's Java 17. <br>
 Make sure GradleRIO version matches. <br>
 Make sure you have all vendor deps installed for the library to work and that they're all up to date. Currently only CTRE Phoenix 6. <br>
 
-#### Tests
-If you want the tests within the library to be checked/ran when you build the project you must add this to your test block in the build.gradle.
-```
-dependsOn gradle.includedBuilds*.task(":test")
-```
+
 **Important** - I would run `./gradlew build` before continuing. <br>
 ### Updating your submodules
 If you're at the root directory and you want to update the commit that the submodule points to on the branch specified in .gitmodules. (Pull from upstream)<br>
diff --git a/build.gradle b/build.gradle
index d4bd3c0..9a88626 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.3.1"
+    id "edu.wpi.first.GradleRIO" version "2025.3.2"
     id 'com.diffplug.spotless' version '6.25.0'
 }
 
diff --git a/src/main/java/frc/robot/lib/util/RangeTransformer.java b/src/main/java/frc/robot/lib/util/RangeTransformer.java
new file mode 100644
index 0000000..1a6090e
--- /dev/null
+++ b/src/main/java/frc/robot/lib/util/RangeTransformer.java
@@ -0,0 +1,36 @@
+package frc.robot.lib.util;
+
+import edu.wpi.first.math.MathUtil;
+
+/**
+ * Helper class for mapping the range [a,b] onto the range [c,d]
+ */
+public class RangeTransformer {
+
+    public final double a;
+    public final double b;
+    public final double c;
+    public final double d;
+    public final boolean clamp;
+        
+        public RangeTransformer(double a, double b, double c, double d, boolean clamp) {
+        if (a == b) throw new IllegalArgumentException("A != B");
+        this.a = a;
+        this.b = b;
+        this.c = c;
+        this.d = d;
+        this.clamp = clamp;
+    }
+
+    /**
+     * Takes a number in the range [a,b] and puts it in the range [c,d]
+     * @param x number in the range [a,b]
+     * @return number in the range [c,d]
+     */
+    public double calculate(double x) {
+        double result = (c + ((d - c)/(b - a)) * (x - a));
+        if (clamp) return MathUtil.clamp(result, Math.min(c, d), Math.max(c, d));
+        return result;
+    }
+
+}
diff --git a/vendordeps/Phoenix6-frc2025-latest.json b/vendordeps/Phoenix6-frc2025-latest.json
index a93cd12..d7bea57 100644
--- a/vendordeps/Phoenix6-frc2025-latest.json
+++ b/vendordeps/Phoenix6-frc2025-latest.json
@@ -1,7 +1,7 @@
 {
     "fileName": "Phoenix6-frc2025-latest.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "25.3.1",
+    "version": "25.3.2",
     "frcYear": "2025",
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
@@ -19,14 +19,14 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "25.3.1"
+            "version": "25.3.2"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "api-cpp",
-            "version": "25.3.1",
+            "version": "25.3.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -40,7 +40,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "25.3.1",
+            "version": "25.3.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -54,7 +54,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "api-cpp-sim",
-            "version": "25.3.1",
+            "version": "25.3.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -68,7 +68,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "25.3.1",
+            "version": "25.3.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -82,7 +82,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "25.3.1",
+            "version": "25.3.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -96,7 +96,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "25.3.1",
+            "version": "25.3.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +110,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "25.3.1",
+            "version": "25.3.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -124,7 +124,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "25.3.1",
+            "version": "25.3.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -138,7 +138,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "25.3.1",
+            "version": "25.3.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -152,7 +152,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFXS",
-            "version": "25.3.1",
+            "version": "25.3.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -166,7 +166,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "25.3.1",
+            "version": "25.3.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -180,7 +180,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "25.3.1",
+            "version": "25.3.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -194,7 +194,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "25.3.1",
+            "version": "25.3.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -208,7 +208,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdi",
-            "version": "25.3.1",
+            "version": "25.3.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -224,7 +224,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "25.3.1",
+            "version": "25.3.2",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -240,7 +240,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "25.3.1",
+            "version": "25.3.2",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -256,7 +256,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "25.3.1",
+            "version": "25.3.2",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -272,7 +272,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "25.3.1",
+            "version": "25.3.2",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -288,7 +288,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "25.3.1",
+            "version": "25.3.2",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -304,7 +304,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "25.3.1",
+            "version": "25.3.2",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -320,7 +320,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "25.3.1",
+            "version": "25.3.2",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -336,7 +336,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "25.3.1",
+            "version": "25.3.2",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -352,7 +352,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "25.3.1",
+            "version": "25.3.2",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -368,7 +368,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFXS",
-            "version": "25.3.1",
+            "version": "25.3.2",
             "libName": "CTRE_SimProTalonFXS",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -384,7 +384,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "25.3.1",
+            "version": "25.3.2",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -400,7 +400,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "25.3.1",
+            "version": "25.3.2",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -416,7 +416,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "25.3.1",
+            "version": "25.3.2",
             "libName": "CTRE_SimProCANrange",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -432,7 +432,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdi",
-            "version": "25.3.1",
+            "version": "25.3.2",
             "libName": "CTRE_SimProCANdi",
             "headerClassifier": "headers",
             "sharedLibrary": true,