diff --git a/.gitattributes b/.gitattributes
deleted file mode 100644
index f91f646..0000000
--- a/.gitattributes
+++ /dev/null
@@ -1,12 +0,0 @@
-#
-# https://help.github.com/articles/dealing-with-line-endings/
-#
-# Linux start script should use lf
-/gradlew        text eol=lf
-
-# These are Windows script files and should use crlf
-*.bat           text eol=crlf
-
-# Binary files should be left untouched
-*.jar           binary
-
diff --git a/.github/workflows/deploy-release.yml b/.github/workflows/deploy-release.yml
new file mode 100644
index 0000000..5ede354
--- /dev/null
+++ b/.github/workflows/deploy-release.yml
@@ -0,0 +1,30 @@
+name: Deploy Release
+
+on:
+  release:
+    types: [released, prereleased]
+
+jobs:
+  deploy-release:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+    steps:
+      - uses: actions/checkout@v4
+      - name: Set up JDK 17
+        uses: actions/setup-java@v4
+        with:
+          java-version: '17'
+          distribution: 'temurin'
+      - name: Grant execute permission
+        run: chmod +x gradlew
+      - name: Extract version (strip leading v)
+        run: echo "VERSION=${GITHUB_REF_NAME#v}" >> $GITHUB_ENV
+      - name: Deploy to Maven Central
+        run: ./gradlew deployCentralPortal -Pversion=$VERSION
+        env:
+          MVN_GPG_KEY: ${{ secrets.MVN_GPG_KEY }}
+          MVN_GPG_PASSWORD: ${{ secrets.MVN_GPG_PASSWORD }}
+          SONATYPE_USERNAME: ${{ secrets.SONATYPE_USERNAME }}
+          SONATYPE_PASSWORD: ${{ secrets.SONATYPE_PASSWORD }}
+          VERSION: ${{ env.VERSION }}
\ No newline at end of file
diff --git a/.github/workflows/deploy-snapshot.yml b/.github/workflows/deploy-snapshot.yml
new file mode 100644
index 0000000..46eaa32
--- /dev/null
+++ b/.github/workflows/deploy-snapshot.yml
@@ -0,0 +1,27 @@
+name: Deploy Snapshot
+
+on:
+  push:
+    branches: [develop]
+
+jobs:
+  deploy-snapshot:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+    steps:
+      - uses: actions/checkout@v4
+      - name: Set up JDK 17
+        uses: actions/setup-java@v4
+        with:
+          java-version: '17'
+          distribution: 'temurin'
+      - name: Grant execute permission
+        run: chmod +x gradlew
+      - name: Deploy Snapshot
+        run: ./gradlew deployNexusSnapshot -Pversion=$VERSION-SNAPSHOT
+        env:
+          MVN_GPG_KEY: ${{ secrets.MVN_GPG_KEY }}
+          MVN_GPG_PASSWORD: ${{ secrets.MVN_GPG_PASSWORD }}
+          SONATYPE_USERNAME: ${{ secrets.SONATYPE_USERNAME }}
+          SONATYPE_PASSWORD: ${{ secrets.SONATYPE_PASSWORD }}
\ No newline at end of file
diff --git a/.gitignore b/.gitignore
index a7c6327..d81b0c8 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,6 +1,48 @@
-# Ignore Gradle project-specific cache directory
 .gradle
+build/
+!gradle/wrapper/gradle-wrapper.jar
+!**/src/main/**/build/
+!**/src/test/**/build/
 
-# Ignore Gradle build output directory
-build
-/local.properties
+### IntelliJ IDEA ###
+.idea/modules.xml
+.idea/jarRepositories.xml
+.idea/compiler.xml
+.idea/libraries/
+*.iws
+*.iml
+*.ipr
+out/
+!**/src/main/**/out/
+!**/src/test/**/out/
+
+### Kotlin ###
+.kotlin
+
+### Eclipse ###
+.apt_generated
+.classpath
+.factorypath
+.project
+.settings
+.springBeans
+.sts4-cache
+bin/
+!**/src/main/**/bin/
+!**/src/test/**/bin/
+
+### NetBeans ###
+/nbproject/private/
+/nbbuild/
+/dist/
+/nbdist/
+/.nb-gradle/
+
+### VS Code ###
+.vscode/
+
+### Mac OS ###
+.DS_Store
+
+### Junie
+/.junie/
\ No newline at end of file
diff --git a/.idea/.gitignore b/.idea/.gitignore
index 13566b8..7bc07ec 100644
--- a/.idea/.gitignore
+++ b/.idea/.gitignore
@@ -3,6 +3,8 @@
 /workspace.xml
 # Editor-based HTTP Client requests
 /httpRequests/
+# Environment-dependent path to Maven home directory
+/mavenHomeManager.xml
 # Datasource local storage ignored files
 /dataSources/
 /dataSources.local.xml
diff --git a/.idea/.name b/.idea/.name
new file mode 100644
index 0000000..d36af14
--- /dev/null
+++ b/.idea/.name
@@ -0,0 +1 @@
+control
\ No newline at end of file
diff --git a/.idea/AndroidProjectSystem.xml b/.idea/AndroidProjectSystem.xml
new file mode 100644
index 0000000..4a53bee
--- /dev/null
+++ b/.idea/AndroidProjectSystem.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="AndroidProjectSystem">
+    <option name="providerId" value="com.android.tools.idea.GradleProjectSystem" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/.idea/compiler.xml b/.idea/compiler.xml
deleted file mode 100644
index 61a9130..0000000
--- a/.idea/compiler.xml
+++ /dev/null
@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="CompilerConfiguration">
-    <bytecodeTargetLevel target="1.8" />
-  </component>
-</project>
\ No newline at end of file
diff --git a/.idea/copyright/NextFTC_Copyright.xml b/.idea/copyright/NextFTC_Copyright.xml
deleted file mode 100644
index 3482a61..0000000
--- a/.idea/copyright/NextFTC_Copyright.xml
+++ /dev/null
@@ -1,6 +0,0 @@
-<component name="CopyrightManager">
-  <copyright>
-    <option name="notice" value="NextFTC: a user-friendly control library for FIRST Tech Challenge&#10;Copyright (C) &amp;#36;today.year Rowan McAlpin&#10; &#10;This program is free software: you can redistribute it and/or modify&#10;it under the terms of the GNU General Public License as published by&#10;the Free Software Foundation, either version 3 of the License, or&#10;(at your option) any later version.&#10;&#10;This program is distributed in the hope that it will be useful,&#10;but WITHOUT ANY WARRANTY; without even the implied warranty of&#10;MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the&#10;GNU General Public License for more details.&#10;&#10;You should have received a copy of the GNU General Public License&#10;along with this program.  If not, see &lt;https://www.gnu.org/licenses/&gt;." />
-    <option name="myName" value="NextFTC Copyright" />
-  </copyright>
-</component>
\ No newline at end of file
diff --git a/.idea/copyright/profiles_settings.xml b/.idea/copyright/profiles_settings.xml
deleted file mode 100644
index 3732b80..0000000
--- a/.idea/copyright/profiles_settings.xml
+++ /dev/null
@@ -1,7 +0,0 @@
-<component name="CopyrightManager">
-  <settings>
-    <module2copyright>
-      <element module="All" copyright="NextFTC Copyright" />
-    </module2copyright>
-  </settings>
-</component>
\ No newline at end of file
diff --git a/.idea/gradle.xml b/.idea/gradle.xml
index 68b8616..2a65317 100644
--- a/.idea/gradle.xml
+++ b/.idea/gradle.xml
@@ -4,13 +4,11 @@
   <component name="GradleSettings">
     <option name="linkedExternalProjectsSettings">
       <GradleProjectSettings>
-        <option name="testRunner" value="CHOOSE_PER_TEST" />
         <option name="externalProjectPath" value="$PROJECT_DIR$" />
-        <option name="gradleJvm" value="#JAVA_HOME" />
+        <option name="gradleHome" value="" />
         <option name="modules">
           <set>
             <option value="$PROJECT_DIR$" />
-            <option value="$PROJECT_DIR$/nextcontrol" />
           </set>
         </option>
       </GradleProjectSettings>
diff --git a/.idea/kotlin-statistics.xml b/.idea/kotlin-statistics.xml
deleted file mode 100644
index fffc9e8..0000000
--- a/.idea/kotlin-statistics.xml
+++ /dev/null
@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="Project">
-    <option name="lastProjectScan" value="1741214773" />
-  </component>
-</project>
\ No newline at end of file
diff --git a/.idea/kotlinc.xml b/.idea/kotlinc.xml
index c224ad5..131e44d 100644
--- a/.idea/kotlinc.xml
+++ b/.idea/kotlinc.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
   <component name="KotlinJpsPluginSettings">
-    <option name="version" value="2.0.21" />
+    <option name="version" value="2.1.20" />
   </component>
 </project>
\ No newline at end of file
diff --git a/.idea/misc.xml b/.idea/misc.xml
index 5c1fe43..5304681 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -1,8 +1,9 @@
-<?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
   <component name="ExternalStorageConfigurationManager" enabled="true" />
   <component name="FrameworkDetectionExcludesConfiguration">
     <file type="web" url="file://$PROJECT_DIR$" />
   </component>
-  <component name="ProjectRootManager" version="2" languageLevel="JDK_1_8" project-jdk-name="jbr-17" project-jdk-type="JavaSDK" />
+  <component name="ProjectRootManager" version="2" languageLevel="JDK_17" default="true" project-jdk-name="jbr-17" project-jdk-type="JavaSDK">
+    <output url="file://$PROJECT_DIR$/out" />
+  </component>
 </project>
\ No newline at end of file
diff --git a/.idea/runConfigurations.xml b/.idea/runConfigurations.xml
deleted file mode 100644
index 16660f1..0000000
--- a/.idea/runConfigurations.xml
+++ /dev/null
@@ -1,17 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="RunConfigurationProducerService">
-    <option name="ignoredProducers">
-      <set>
-        <option value="com.intellij.execution.junit.AbstractAllInDirectoryConfigurationProducer" />
-        <option value="com.intellij.execution.junit.AllInPackageConfigurationProducer" />
-        <option value="com.intellij.execution.junit.PatternConfigurationProducer" />
-        <option value="com.intellij.execution.junit.TestInClassConfigurationProducer" />
-        <option value="com.intellij.execution.junit.UniqueIdConfigurationProducer" />
-        <option value="com.intellij.execution.junit.testDiscovery.JUnitTestDiscoveryConfigurationProducer" />
-        <option value="org.jetbrains.kotlin.idea.junit.KotlinJUnitRunConfigurationProducer" />
-        <option value="org.jetbrains.kotlin.idea.junit.KotlinPatternConfigurationProducer" />
-      </set>
-    </option>
-  </component>
-</project>
\ No newline at end of file
diff --git a/.kotlin/sessions/kotlin-compiler-4566496875608200174.salive b/.kotlin/sessions/kotlin-compiler-4566496875608200174.salive
deleted file mode 100644
index e69de29..0000000
diff --git a/LICENSE b/LICENSE
index f288702..e72bfdd 100644
--- a/LICENSE
+++ b/LICENSE
@@ -671,4 +671,4 @@ into proprietary programs.  If your program is a subroutine library, you
 may consider it more useful to permit linking proprietary applications with
 the library.  If this is what you want to do, use the GNU Lesser General
 Public License instead of this License.  But first, please read
-<https://www.gnu.org/licenses/why-not-lgpl.html>.
+<https://www.gnu.org/licenses/why-not-lgpl.html>.
\ No newline at end of file
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..5447964
--- /dev/null
+++ b/README.md
@@ -0,0 +1,108 @@
+# NextControl
+
+![GitHub Release](https://img.shields.io/github/v/release/NextFTC/NextControl?sort=semver&label=version)
+![GitHub Repo stars](https://img.shields.io/github/stars/NextFTC/NextControl?style=flat)
+![GitHub last commit](https://img.shields.io/github/last-commit/NextFTC/NextControl)
+
+NextControl is an open-source control library for
+the [FIRST Tech Challenge](https://www.firstinspires.org/robotics/ftc). It provides a robust system for creating any
+controller imaginable.
+
+The docs are at [nextftc.dev/control](https://nextftc.dev/control).
+
+## Getting Started
+
+### Prerequisites
+
+Ensure you have a copy of [FtcRobotController](https://github.com/FIRST-Tech-Challenge/FtcRobotController).
+
+### Installing
+
+In `build.dependencies.gradle`, add the dependency:
+
+```groovy
+implementation 'dev.nextftc:control:VERSION'
+```
+
+Replace `VERSION` with the latest version (shown at the top of this README).
+
+## Basic Usage
+
+Create a PID controller:
+
+*Kotlin:*
+
+```kotlin
+val controlSystem = controlSystem {
+    posPid(0.005, 0.0, 0.0)
+}
+```
+
+*Java:*
+
+```java
+ControlSystem controlSystem = ControlSystem.builder()
+        .posPid(0.005, 0, 0)
+        .build();
+```
+
+Then every loop set your motor power:
+
+*Kotlin:*
+
+```kotlin
+motor.power = controlSystem.calculate(
+    KineticState(motor.position, motor.velocity)
+)
+```
+
+*Java:*
+
+```java
+motor.setPower(
+        controlSystem.calculate(
+                KineticState(motor.getPosition(),motor.
+
+getVelocity())
+        )
+        );
+```
+
+For more in-depth usage, read the [docs](https://nextftc.dev/control).
+
+## Built With
+
+- [Kotlin](https://kotlinlang.org/) - A modern, expressive, statically typed, general-purpose programming language for
+  the JVM developed by JetBrains and sponsored by Google.
+- [Gradle](https://gradle.org/) – Powerful build system for automating compilation, testing, and publishing
+- [Kotest](https://kotest.io/) – Flexible and expressive testing framework for Kotlin
+- [MockK](https://mockk.io/) – Mocking library for Kotlin
+
+## Contributing
+
+Please read our [contributing page](https://nextftc.dev/contributing) for details on our code
+of conduct, and the process for submitting pull requests to us.
+
+## Versioning
+
+We use [Semantic Versioning](http://semver.org/) for versioning. For the versions available, see the [releases on this
+repository](https://github.com/NextFTC/NextControl/releases).
+
+## Authors
+
+- [Davis Luxenberg](https://github.com/beepbot99)
+- [Zach Harel](https://github.com/zachwaffle4)
+- [Rowan McAlpin](https://rowanmcalpin.com)
+
+See also the list of
+[contributors](https://github.com/NextFTC/NextControl/contributors)
+who participated in this project.
+
+## License
+
+This project is licensed under the [GNU General Public License v3.0](https://www.gnu.org/licenses/gpl-3.0.html)
+
+You are free to use, modify, and distribute this software under the terms of the GPLv3. Any derivative work must also be
+distributed under the same license.
+
+See the [LICENSE](LICENSE) for more information.
diff --git a/build.gradle.kts b/build.gradle.kts
new file mode 100644
index 0000000..2de661d
--- /dev/null
+++ b/build.gradle.kts
@@ -0,0 +1,78 @@
+plugins {
+    kotlin("jvm") version libs.versions.kotlin.get()
+    `java-library`
+    alias(libs.plugins.deployer)
+    alias(libs.plugins.dokka)
+}
+
+group = "dev.nextftc"
+version = property("version") as String
+
+repositories {
+    mavenCentral()
+}
+
+dependencies {
+    testImplementation(libs.bundles.kotest)
+    testImplementation(libs.mockk)
+    api(libs.functional.interfaces)
+}
+
+tasks.test {
+    useJUnitPlatform()
+}
+
+kotlin {
+    jvmToolchain(8)
+}
+
+val dokkaJar = tasks.register<Jar>("dokkaJar") {
+    dependsOn(tasks.named("dokkaGenerate"))
+    from(dokka.basePublicationsDirectory.dir("html"))
+    archiveClassifier = "html-docs"
+}
+
+deployer {
+    projectInfo {
+        name = "NextControl"
+        description = "A user-friendly control library for the FIRST Tech Challenge"
+        url = "https://nextftc.dev/control"
+        scm {
+            fromGithub("NextFTC", "NextControl")
+        }
+        license("GNU General Public License, version 3", "https://www.gnu.org/licenses/gpl-3.0.html")
+        developer("Davis Luxenberg", "davis.luxenberg@outlook.com", url = "https://github.com/BeepBot99")
+        developer("Zach Harel", "ftc@zharel.me", url = "https://github.com/zachwaffle4")
+        developer("Rowan McAlpin", "rowan@nextftc.dev", url = "https://rowanmcalpin.com")
+    }
+
+    signing {
+        key = secret("MVN_GPG_KEY")
+        password = secret("MVN_GPG_PASSWORD")
+    }
+
+    content {
+        kotlinComponents {
+            kotlinSources()
+            docs(dokkaJar)
+        }
+    }
+
+    localSpec()
+
+    nexusSpec("snapshot") {
+        repositoryUrl = "https://central.sonatype.com/repository/maven-snapshots/"
+        auth {
+            user = secret("SONATYPE_USERNAME")
+            password = secret("SONATYPE_PASSWORD")
+        }
+    }
+
+    centralPortalSpec {
+        auth {
+            user = secret("SONATYPE_USERNAME")
+            password = secret("SONATYPE_PASSWORD")
+        }
+        allowMavenCentralSync = (property("automaticMavenCentralSync") as String).toBoolean()
+    }
+}
diff --git a/gradle.properties b/gradle.properties
index 84cdb3a..f2c995c 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -1,23 +1,6 @@
-#
-# NextFTC: a user-friendly control library for FIRST Tech Challenge
-# Copyright (C) 2025 Rowan McAlpin
-#
-# This program is free software: you can redistribute it and/or modify
-# it under the terms of the GNU General Public License as published by
-# the Free Software Foundation, either version 3 of the License, or
-# (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-# GNU General Public License for more details.
-#
-# You should have received a copy of the GNU General Public License
-# along with this program.  If not, see <https://www.gnu.org/licenses/>.
-#
-
-# This file was generated by the Gradle 'init' task.
-# https://docs.gradle.org/current/userguide/build_environment.html#sec:gradle_configuration_properties
-
-org.gradle.configuration-cache=true
+kotlin.code.style=official
+org.jetbrains.dokka.experimental.gradle.pluginMode=V2Enabled
+org.jetbrains.dokka.experimental.gradle.pluginMode.noWarn=true
 
+version=1.0.0
+automaticMavenCentralSync=true
\ No newline at end of file
diff --git a/gradle/libs.versions.toml b/gradle/libs.versions.toml
index aad6d7f..780a4d4 100644
--- a/gradle/libs.versions.toml
+++ b/gradle/libs.versions.toml
@@ -1,13 +1,18 @@
-# This file was generated by the Gradle 'init' task.
-# https://docs.gradle.org/current/userguide/platforms.html#sub::toml-dependencies-format
-
 [versions]
-commons-math3 = "3.6.1"
-
-nextcontrol = "0.0.0-alpha6"
+kotlin = "2.0.0"
+kotest = "5.9.1"
 
 [libraries]
-commons-math3 = { module = "org.apache.commons:commons-math3", version.ref = "commons-math3" }
+kotest-runner = { module = "io.kotest:kotest-runner-junit5", version.ref = "kotest" }
+kotest-assertations = { module = "io.kotest:kotest-assertions-core", version.ref = "kotest" }
+kotest-property = { module = "io.kotest:kotest-property", version.ref = "kotest" }
+kotest-data-driven = { module = "io.kotest:kotest-framework-datatest", version.ref = "kotest" }
+mockk = { module = "io.mockk:mockk", version = "1.14.2" }
+functional-interfaces = { module = "dev.nextftc:functional-interfaces", version = "1.0.1" }
+
+[bundles]
+kotest = ["kotest-runner", "kotest-assertations", "kotest-property", "kotest-data-driven"]
 
 [plugins]
-kotlin-jvm = { id = "org.jetbrains.kotlin.jvm", version = "2.0.21" }
+deployer = { id = "io.deepmedia.tools.deployer", version = "0.18.0" }
+dokka = { id = "org.jetbrains.dokka", version = "2.0.0" }
diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar
index a4b76b9..249e583 100644
Binary files a/gradle/wrapper/gradle-wrapper.jar and b/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
index 57ee868..965e2b5 100644
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,25 +1,6 @@
-#
-# NextFTC: a user-friendly control library for FIRST Tech Challenge
-# Copyright (C) 2025 Rowan McAlpin
-#
-# This program is free software: you can redistribute it and/or modify
-# it under the terms of the GNU General Public License as published by
-# the Free Software Foundation, either version 3 of the License, or
-# (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-# GNU General Public License for more details.
-#
-# You should have received a copy of the GNU General Public License
-# along with this program.  If not, see <https://www.gnu.org/licenses/>.
-#
-
+#Sun Jun 08 22:33:05 CDT 2025
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.12-bin.zip
-networkTimeout=10000
-validateDistributionUrl=true
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.10.2-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
diff --git a/gradlew b/gradlew
old mode 100755
new mode 100644
index 5eca91c..1b6c787
--- a/gradlew
+++ b/gradlew
@@ -1,21 +1,19 @@
 #!/bin/sh
 
 #
-# NextFTC: a user-friendly control library for FIRST Tech Challenge
-# Copyright (C) 2025 Rowan McAlpin
+# Copyright © 2015-2021 the original authors.
 #
-# This program is free software: you can redistribute it and/or modify
-# it under the terms of the GNU General Public License as published by
-# the Free Software Foundation, either version 3 of the License, or
-# (at your option) any later version.
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
 #
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-# GNU General Public License for more details.
+#      https://www.apache.org/licenses/LICENSE-2.0
 #
-# You should have received a copy of the GNU General Public License
-# along with this program.  If not, see <https://www.gnu.org/licenses/>.
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
 #
 
 ##############################################################################
@@ -57,7 +55,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -82,11 +80,13 @@ do
     esac
 done
 
-# This is normally unused
-# shellcheck disable=SC2034
+APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
+
+APP_NAME="Gradle"
 APP_BASE_NAME=${0##*/}
-# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
-APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s\n' "$PWD" ) || exit
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -133,29 +133,22 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    if ! command -v java >/dev/null 2>&1
-    then
-        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
-    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
-        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
-        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
-        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
-        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -200,15 +193,11 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-
-# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
-
-# Collect all arguments for the java command:
-#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
-#     and any embedded shellness will be escaped.
-#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
-#     treated as '${Hostname}' itself on the command line.
+# Collect all arguments for the java command;
+#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
+#     shell script including quotes and variable substitutions, so put them in
+#     double quotes to make sure that they get re-expanded; and
+#   * put everything else in single quotes, so that it's not re-expanded.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
@@ -216,12 +205,6 @@ set -- \
         org.gradle.wrapper.GradleWrapperMain \
         "$@"
 
-# Stop when "xargs" is not available.
-if ! command -v xargs >/dev/null 2>&1
-then
-    die "xargs is not available"
-fi
-
 # Use "xargs" to parse quoted args.
 #
 # With -n1 it outputs one arg per line, with the quotes and backslashes removed.
diff --git a/gradlew.bat b/gradlew.bat
index 9d21a21..107acd3 100644
--- a/gradlew.bat
+++ b/gradlew.bat
@@ -13,10 +13,8 @@
 @rem See the License for the specific language governing permissions and
 @rem limitations under the License.
 @rem
-@rem SPDX-License-Identifier: Apache-2.0
-@rem
 
-@if "%DEBUG%"=="" @echo off
+@if "%DEBUG%" == "" @echo off
 @rem ##########################################################################
 @rem
 @rem  Gradle startup script for Windows
@@ -27,8 +25,7 @@
 if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
-if "%DIRNAME%"=="" set DIRNAME=.
-@rem This is normally unused
+if "%DIRNAME%" == "" set DIRNAME=.
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
@@ -43,13 +40,13 @@ if defined JAVA_HOME goto findJavaFromJavaHome
 
 set JAVA_EXE=java.exe
 %JAVA_EXE% -version >NUL 2>&1
-if %ERRORLEVEL% equ 0 goto execute
+if "%ERRORLEVEL%" == "0" goto execute
 
-echo. 1>&2
-echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2
-echo. 1>&2
-echo Please set the JAVA_HOME variable in your environment to match the 1>&2
-echo location of your Java installation. 1>&2
+echo.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
 
 goto fail
 
@@ -59,11 +56,11 @@ set JAVA_EXE=%JAVA_HOME%/bin/java.exe
 
 if exist "%JAVA_EXE%" goto execute
 
-echo. 1>&2
-echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
-echo. 1>&2
-echo Please set the JAVA_HOME variable in your environment to match the 1>&2
-echo location of your Java installation. 1>&2
+echo.
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
 
 goto fail
 
@@ -78,15 +75,13 @@ set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
 
 :end
 @rem End local scope for the variables with windows NT shell
-if %ERRORLEVEL% equ 0 goto mainEnd
+if "%ERRORLEVEL%"=="0" goto mainEnd
 
 :fail
 rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
 rem the _cmd.exe /c_ return code!
-set EXIT_CODE=%ERRORLEVEL%
-if %EXIT_CODE% equ 0 set EXIT_CODE=1
-if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE%
-exit /b %EXIT_CODE%
+if  not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
+exit /b 1
 
 :mainEnd
 if "%OS%"=="Windows_NT" endlocal
diff --git a/nextcontrol/build.gradle.kts b/nextcontrol/build.gradle.kts
deleted file mode 100644
index c766a35..0000000
--- a/nextcontrol/build.gradle.kts
+++ /dev/null
@@ -1,75 +0,0 @@
-/*
- * NextFTC: a user-friendly control library for FIRST Tech Challenge
- * Copyright (C) 2025 Rowan McAlpin
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- */
-
-/*
- * This file was generated by the Gradle 'init' task.
- *
- * This generated file contains a sample Kotlin library project to get you started.
- * For more details on building Java & JVM projects, please refer to https://docs.gradle.org/8.12/userguide/building_java_projects.html in the Gradle documentation.
- */
-
-plugins {
-    // Apply the org.jetbrains.kotlin.jvm Plugin to add support for Kotlin.
-    alias(libs.plugins.kotlin.jvm)
-
-    // Apply the java-library plugin for API and implementation separation.
-    `java-library`
-
-    `maven-publish`
-}
-
-repositories {
-    // Use Maven Central for resolving dependencies.
-    mavenCentral()
-}
-
-dependencies {
-    // This dependency is exported to consumers, that is to say found on their compile classpath.
-    api(libs.commons.math3)
-
-    testImplementation("org.jetbrains.kotlin:kotlin-test")
-    testImplementation("io.mockk:mockk:1.13.17")
-}
-
-// Apply a specific Java toolchain to ease working on different environments.
-java {
-    toolchain {
-        languageVersion = JavaLanguageVersion.of(8)
-    }
-}
-
-publishing {
-    publications {
-        register<MavenPublication>("release") {
-            groupId = "dev.nextftc"
-            artifactId = "nextcontrol"
-            version = libs.versions.nextcontrol.get()
-
-            afterEvaluate {
-                from(components["java"])
-            }
-        }
-    }
-
-    repositories {
-        maven {
-            name = "publishing"
-            url = uri("../../maven.rowanmcalpin.com")
-        }
-    }
-}
\ No newline at end of file
diff --git a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/utils/TimeUtil.kt b/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/utils/TimeUtil.kt
deleted file mode 100644
index 60289ae..0000000
--- a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/utils/TimeUtil.kt
+++ /dev/null
@@ -1,23 +0,0 @@
-/*
- * NextFTC: a user-friendly control library for FIRST Tech Challenge
- * Copyright (C) 2025 Rowan McAlpin
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- */
-
-package dev.nextftc.nextcontrol.utils
-
-object TimeUtil {
-    fun nanoTime(): Long = System.nanoTime()
-}
\ No newline at end of file
diff --git a/nextcontrol/src/test/java/dev/nextftc/nextcontrol/feedback/AngularFeedbackTest.kt b/nextcontrol/src/test/java/dev/nextftc/nextcontrol/feedback/AngularFeedbackTest.kt
deleted file mode 100644
index 6d2d867..0000000
--- a/nextcontrol/src/test/java/dev/nextftc/nextcontrol/feedback/AngularFeedbackTest.kt
+++ /dev/null
@@ -1,87 +0,0 @@
-package dev.nextftc.nextcontrol.feedback
-
-import dev.nextftc.nextcontrol.KineticState
-import io.mockk.every
-import io.mockk.mockk
-import io.mockk.verify
-import org.junit.runner.RunWith
-import org.junit.runners.Parameterized
-import kotlin.math.PI
-import kotlin.test.Test
-import kotlin.test.assertEquals
-
-@RunWith(Parameterized::class)
-class AngularFeedbackTest(
-    private val unnormalized: Double,
-    private val normalized: Double,
-    private val type: AngleType
-) {
-
-    companion object {
-
-        @JvmStatic
-        @Parameterized.Parameters
-        fun data(): Collection<Array<Any>> {
-            return listOf(
-                arrayOf(359.0, -1.0, AngleType.DEGREES),
-                arrayOf(170.0, 170.0, AngleType.DEGREES),
-                arrayOf(-182.0, 178.0, AngleType.DEGREES),
-                arrayOf(0.0, 0.0, AngleType.DEGREES),
-                arrayOf(5 * PI / 4, -3 * PI / 4, AngleType.RADIANS),
-                arrayOf(PI / 4, PI / 4, AngleType.RADIANS),
-                arrayOf(-2 * PI, 0.0, AngleType.RADIANS),
-                arrayOf(0.0, 0.0, AngleType.RADIANS),
-                arrayOf(1.25, 0.25, AngleType.REVOLUTIONS),
-                arrayOf(-0.25, -0.25, AngleType.REVOLUTIONS),
-                arrayOf(-0.75, 0.25, AngleType.REVOLUTIONS),
-                arrayOf(0.0, 0.0, AngleType.REVOLUTIONS)
-            )
-        }
-    }
-
-    @Test
-    fun `correctly normalizes angle and returns feedbackElement output`() {
-        // Arrange
-        val feedbackElement = mockk<FeedbackElement>()
-        every { feedbackElement.calculate(any()) } returns 15.0
-        val angularFeedback = AngularFeedback(type, feedbackElement)
-        val expectedOutput = 15.0
-
-        // Act
-        val output = angularFeedback.calculate(KineticState(unnormalized))
-
-        // Assert
-        assertEquals(expectedOutput, output, 0.0)
-        verify(exactly = 1) {
-            feedbackElement.calculate(
-                withArg {
-                    assertEquals(normalized, it.position, 1e-6)
-                }
-            )
-        }
-    }
-
-    @Test
-    fun `velocity and acceleration are not affected by angle normalization`() {
-        // Arrange
-        val error = KineticState(unnormalized, 10.0, 20.0)
-        val expected = KineticState(normalized, 10.0, 20.0)
-        val feedbackElement = mockk<FeedbackElement>()
-        every { feedbackElement.calculate(any()) } returns 0.0
-        val angularFeedback = AngularFeedback(type, feedbackElement)
-
-        // Act
-        angularFeedback.calculate(error)
-
-        // Assert
-        verify(exactly = 1) {
-            feedbackElement.calculate(
-                withArg {
-                    assertEquals(expected.position, it.position, 1e-6)
-                    assertEquals(expected.velocity, it.velocity, 0.0)
-                    assertEquals(expected.acceleration, it.acceleration, 0.0)
-                }
-            )
-        }
-    }
-}
\ No newline at end of file
diff --git a/settings.gradle.kts b/settings.gradle.kts
index 253b083..c33e1bf 100644
--- a/settings.gradle.kts
+++ b/settings.gradle.kts
@@ -1,32 +1,4 @@
-/*
- * NextFTC: a user-friendly control library for FIRST Tech Challenge
- * Copyright (C) 2025 Rowan McAlpin
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- */
-
-/*
- * This file was generated by the Gradle 'init' task.
- *
- * The settings file is used to specify which projects to include in your build.
- * For more detailed information on multi-project builds, please refer to https://docs.gradle.org/8.12/userguide/multi_project_builds.html in the Gradle documentation.
- */
-
 plugins {
-    // Apply the foojay-resolver plugin to allow automatic download of JDKs
     id("org.gradle.toolchains.foojay-resolver-convention") version "0.8.0"
 }
-
-rootProject.name = "NextControl"
-include("nextcontrol")
+rootProject.name = "control"
\ No newline at end of file
diff --git a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/ControlSystem.kt b/src/main/kotlin/dev/nextftc/control/ControlSystem.kt
similarity index 91%
rename from nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/ControlSystem.kt
rename to src/main/kotlin/dev/nextftc/control/ControlSystem.kt
index 106c8fc..fbd9dcc 100644
--- a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/ControlSystem.kt
+++ b/src/main/kotlin/dev/nextftc/control/ControlSystem.kt
@@ -16,13 +16,13 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-package dev.nextftc.nextcontrol
+package dev.nextftc.control
 
-import dev.nextftc.nextcontrol.builder.ControlSystemBuilder
-import dev.nextftc.nextcontrol.feedback.FeedbackElement
-import dev.nextftc.nextcontrol.feedforward.FeedforwardElement
-import dev.nextftc.nextcontrol.filters.FilterElement
-import dev.nextftc.nextcontrol.interpolators.InterpolatorElement
+import dev.nextftc.control.builder.ControlSystemBuilder
+import dev.nextftc.control.feedback.FeedbackElement
+import dev.nextftc.control.feedforward.FeedforwardElement
+import dev.nextftc.control.filters.FilterElement
+import dev.nextftc.control.interpolators.InterpolatorElement
 import kotlin.math.abs
 
 /**
@@ -79,7 +79,7 @@ class ControlSystem(
     fun calculate(sensorMeasurement: KineticState = KineticState()): Double {
         val filteredMeasurement = filter.filter(sensorMeasurement)
 
-        lastMeasurement = filteredMeasurement;
+        lastMeasurement = filteredMeasurement
 
         val error = interpolator.currentReference - filteredMeasurement
 
diff --git a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/KineticState.kt b/src/main/kotlin/dev/nextftc/control/KineticState.kt
similarity index 98%
rename from nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/KineticState.kt
rename to src/main/kotlin/dev/nextftc/control/KineticState.kt
index f5d1872..ddd6e24 100644
--- a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/KineticState.kt
+++ b/src/main/kotlin/dev/nextftc/control/KineticState.kt
@@ -16,7 +16,7 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-package dev.nextftc.nextcontrol
+package dev.nextftc.control
 
 /**
  * Holds a state of a kinetic system.
diff --git a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/builder/ControlSystemBuilder.kt b/src/main/kotlin/dev/nextftc/control/builder/ControlSystemBuilder.kt
similarity index 70%
rename from nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/builder/ControlSystemBuilder.kt
rename to src/main/kotlin/dev/nextftc/control/builder/ControlSystemBuilder.kt
index 36676a0..0500f43 100644
--- a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/builder/ControlSystemBuilder.kt
+++ b/src/main/kotlin/dev/nextftc/control/builder/ControlSystemBuilder.kt
@@ -1,16 +1,17 @@
-package dev.nextftc.nextcontrol.builder
-
-import dev.nextftc.nextcontrol.ControlSystem
-import dev.nextftc.nextcontrol.feedback.AngleType
-import dev.nextftc.nextcontrol.feedback.FeedbackElement
-import dev.nextftc.nextcontrol.feedback.PIDCoefficients
-import dev.nextftc.nextcontrol.feedforward.*
-import dev.nextftc.nextcontrol.filters.FilterElement
-import dev.nextftc.nextcontrol.interpolators.ConstantInterpolator
-import dev.nextftc.nextcontrol.interpolators.FirstOrderEMAInterpolator
-import dev.nextftc.nextcontrol.interpolators.FirstOrderEMAParameters
-import dev.nextftc.nextcontrol.interpolators.InterpolatorElement
-import dev.nextftc.nextcontrol.KineticState
+package dev.nextftc.control.builder
+
+import dev.nextftc.control.ControlSystem
+import dev.nextftc.control.feedback.AngleType
+import dev.nextftc.control.feedback.FeedbackElement
+import dev.nextftc.control.feedback.PIDCoefficients
+import dev.nextftc.control.feedforward.*
+import dev.nextftc.control.filters.FilterElement
+import dev.nextftc.control.interpolators.ConstantInterpolator
+import dev.nextftc.control.interpolators.FirstOrderEMAInterpolator
+import dev.nextftc.control.interpolators.FirstOrderEMAParameters
+import dev.nextftc.control.interpolators.InterpolatorElement
+import dev.nextftc.control.KineticState
+import dev.nextftc.functionalInterfaces.Configurator
 
 class ControlSystemBuilder {
 
@@ -52,8 +53,8 @@ class ControlSystemBuilder {
     fun velSquID(kP: Double, kI: Double = 0.0, kD: Double = 0.0) =
         apply { feedbackBuilder.velSquID(kP, kI, kD) }
 
-    fun angular(type: AngleType, factory: FeedbackElementBuilder.() -> Any) =
-        apply { feedbackBuilder.angular(type, factory) }
+    fun angular(type: AngleType, configurator: Configurator<FeedbackElementBuilder>) =
+        apply { feedbackBuilder.angular(type, configurator) }
 
     fun feedforward(feedforward: FeedforwardElement) =
         apply { this.feedforward = feedforward }
@@ -79,14 +80,14 @@ class ControlSystemBuilder {
     fun armFF(kG: Double = 0.0, kV: Double = 0.0, kA: Double = 0.0, kS: Double = 0.0) =
         armFF(GravityFeedforwardParameters(kG, kV, kA, kS))
 
-    fun posFilter(factory: FilterBuilder.() -> Any) =
-        apply { posFilterBuilder.factory() }
+    fun posFilter(configurator: Configurator<FilterBuilder>) =
+        apply { configurator.configure(posFilterBuilder) }
 
-    fun velFilter(factory: FilterBuilder.() -> Any) =
-        apply { velFilterBuilder.factory() }
+    fun velFilter(configurator: Configurator<FilterBuilder>) =
+        apply { configurator.configure(velFilterBuilder) }
 
-    fun accelFilter(factory: FilterBuilder.() -> Any) =
-        apply { accelFilterBuilder.factory() }
+    fun accelFilter(configurator: Configurator<FilterBuilder>) =
+        apply { configurator.configure(accelFilterBuilder) }
 
     fun interpolator(interpolator: InterpolatorElement) =
         apply { this.interpolator = interpolator }
@@ -101,8 +102,5 @@ class ControlSystemBuilder {
     )
 }
 
-fun controlSystem(init: ControlSystemBuilder.() -> Unit): ControlSystem {
-    val builder = ControlSystemBuilder()
-    builder.init()
-    return builder.build()
-}
\ No newline at end of file
+fun controlSystem(init: ControlSystemBuilder.() -> Unit): ControlSystem =
+    ControlSystemBuilder().apply(init).build()
\ No newline at end of file
diff --git a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/builder/ElementBuilders.kt b/src/main/kotlin/dev/nextftc/control/builder/ElementBuilders.kt
similarity index 81%
rename from nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/builder/ElementBuilders.kt
rename to src/main/kotlin/dev/nextftc/control/builder/ElementBuilders.kt
index ae3f846..65d107c 100644
--- a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/builder/ElementBuilders.kt
+++ b/src/main/kotlin/dev/nextftc/control/builder/ElementBuilders.kt
@@ -1,10 +1,11 @@
-package dev.nextftc.nextcontrol.builder
+package dev.nextftc.control.builder
 
-import dev.nextftc.nextcontrol.feedback.*
-import dev.nextftc.nextcontrol.filters.ChainedFilter
-import dev.nextftc.nextcontrol.filters.Filter
-import dev.nextftc.nextcontrol.filters.LowPassFilter
-import dev.nextftc.nextcontrol.filters.LowPassParameters
+import dev.nextftc.control.feedback.*
+import dev.nextftc.control.filters.ChainedFilter
+import dev.nextftc.control.filters.Filter
+import dev.nextftc.control.filters.LowPassFilter
+import dev.nextftc.control.filters.LowPassParameters
+import dev.nextftc.functionalInterfaces.Configurator
 
 @DslMarker
 annotation class ControlSystemMarker
@@ -47,9 +48,9 @@ class FeedbackElementBuilder {
         velSquID(PIDCoefficients(kP, kI, kD))
 
 
-    fun angular(type: AngleType, factory: FeedbackElementBuilder.() -> Any) = apply {
+    fun angular(type: AngleType, configurator: Configurator<FeedbackElementBuilder>) = apply {
         val builder = FeedbackElementBuilder()
-        builder.factory()
+        configurator.configure(builder)
         feedbackElement = AngularFeedback(type, builder.feedbackElement)
     }
 }
diff --git a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/feedback/AngularFeedback.kt b/src/main/kotlin/dev/nextftc/control/feedback/AngularFeedback.kt
similarity index 63%
rename from nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/feedback/AngularFeedback.kt
rename to src/main/kotlin/dev/nextftc/control/feedback/AngularFeedback.kt
index 0a18e4f..30cd627 100644
--- a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/feedback/AngularFeedback.kt
+++ b/src/main/kotlin/dev/nextftc/control/feedback/AngularFeedback.kt
@@ -16,19 +16,29 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-package dev.nextftc.nextcontrol.feedback
+package dev.nextftc.control.feedback
 
-import dev.nextftc.nextcontrol.KineticState
+import dev.nextftc.control.KineticState
 import kotlin.math.PI
 
-enum class AngleType(val halfRevolution: Double) {
-    RADIANS(PI),
-    DEGREES(180.0),
-    REVOLUTIONS(0.5)
+enum class AngleType(val halfRevolution: Double, val toRadians: Double) {
+    RADIANS(PI, 1.0),
+    DEGREES(180.0, PI / 180.0),
+    REVOLUTIONS(0.5, 2 * PI);
+
+    /**
+     * Normalizes [angle] to the range [[halfRevolution], [halfRevolution]].
+     *
+     */
+    fun normalize(angle: Double) =
+        ((angle + halfRevolution) % (2 * halfRevolution) + 2 *
+                halfRevolution) % (2 *
+                halfRevolution) -
+                halfRevolution
 }
 
 /**
- * A [FeedbackElement] that wraps another [FeedbackElement]
+ * A [FeedbackElement] that wraps another [FeedbackElement] for angular positions.
  */
 class AngularFeedback(private val type: AngleType, private val feedbackElement: FeedbackElement) :
     FeedbackElement {
@@ -41,12 +51,7 @@ class AngularFeedback(private val type: AngleType, private val feedbackElement:
      */
     override fun calculate(error: KineticState): Double {
         return feedbackElement.calculate(
-            error.copy(
-                position = ((error.position + type.halfRevolution) % (2 * type.halfRevolution) + 2 *
-                        type.halfRevolution) % (2 *
-                        type.halfRevolution) -
-                        type.halfRevolution
-            )
+            error.copy(position = type.normalize(error.position))
         )
     }
 }
\ No newline at end of file
diff --git a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/feedback/BangBangElement.kt b/src/main/kotlin/dev/nextftc/control/feedback/BangBangElement.kt
similarity index 94%
rename from nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/feedback/BangBangElement.kt
rename to src/main/kotlin/dev/nextftc/control/feedback/BangBangElement.kt
index a5d3566..a6c252d 100644
--- a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/feedback/BangBangElement.kt
+++ b/src/main/kotlin/dev/nextftc/control/feedback/BangBangElement.kt
@@ -16,10 +16,9 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-package dev.nextftc.nextcontrol.feedback
+package dev.nextftc.control.feedback
 
-import dev.nextftc.nextcontrol.KineticState
-import kotlin.math.sign
+import dev.nextftc.control.KineticState
 
 /**
  * Parameters for a [BangBangElement]
diff --git a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/feedback/FeedbackElement.kt b/src/main/kotlin/dev/nextftc/control/feedback/FeedbackElement.kt
similarity index 94%
rename from nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/feedback/FeedbackElement.kt
rename to src/main/kotlin/dev/nextftc/control/feedback/FeedbackElement.kt
index 23498cd..3829ab9 100644
--- a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/feedback/FeedbackElement.kt
+++ b/src/main/kotlin/dev/nextftc/control/feedback/FeedbackElement.kt
@@ -16,9 +16,9 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-package dev.nextftc.nextcontrol.feedback
+package dev.nextftc.control.feedback
 
-import dev.nextftc.nextcontrol.KineticState
+import dev.nextftc.control.KineticState
 
 /**
  * An element of a feedback controller.
diff --git a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/feedback/PIDElement.kt b/src/main/kotlin/dev/nextftc/control/feedback/PIDElement.kt
similarity index 74%
rename from nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/feedback/PIDElement.kt
rename to src/main/kotlin/dev/nextftc/control/feedback/PIDElement.kt
index 72ad61b..67fdb29 100644
--- a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/feedback/PIDElement.kt
+++ b/src/main/kotlin/dev/nextftc/control/feedback/PIDElement.kt
@@ -16,12 +16,14 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-package dev.nextftc.nextcontrol.feedback
+package dev.nextftc.control.feedback
 
-import dev.nextftc.nextcontrol.ControlSystem
-import dev.nextftc.nextcontrol.KineticState
-import dev.nextftc.nextcontrol.utils.TimeUtil
+import dev.nextftc.control.ControlSystem
+import dev.nextftc.control.KineticState
 import kotlin.math.sign
+import kotlin.time.ComparableTimeMark
+import kotlin.time.DurationUnit
+import kotlin.time.TimeSource
 
 /**
  * Coefficients for a [PIDElement].
@@ -43,16 +45,19 @@ data class PIDCoefficients @JvmOverloads constructor(
  *
  * @author Zach.Waffle, rowan-mcalpin
  */
-internal class PIDController @JvmOverloads constructor(val coefficients: PIDCoefficients, val resetIntegralOnZeroCrossover: Boolean = true) {
+internal class PIDController @JvmOverloads constructor(
+    val coefficients: PIDCoefficients,
+    val resetIntegralOnZeroCrossover: Boolean = true
+) {
 
     private var lastError: Double = 0.0
     private var errorSum = 0.0
-    private var lastTimestamp = 0L
+    private var lastTimestamp: ComparableTimeMark? = null
 
     /**
      * Calculates the PID output
      *
-     * @param timestamp the current time, in nanoseconds
+     * @param timestamp the current time
      * @param positionError the error in position; the difference between the desired
      *  position and the current position
      * @param velocityError the error in velocity; the difference between the desired velocity
@@ -61,12 +66,12 @@ internal class PIDController @JvmOverloads constructor(val coefficients: PIDCoef
      * @return the PID output
      */
     fun calculate(
-        timestamp: Long,
+        timestamp: ComparableTimeMark,
         positionError: Double,
         velocityError: Double
     ): Double {
 
-        if (lastTimestamp == 0L) {
+        if (lastTimestamp == null) {
             lastError = positionError
             lastTimestamp = timestamp
         }
@@ -75,7 +80,7 @@ internal class PIDController @JvmOverloads constructor(val coefficients: PIDCoef
             errorSum = 0.0
         }
 
-        val deltaT = (timestamp - lastTimestamp).toDouble()
+        val deltaT = (timestamp - lastTimestamp!!).toDouble(DurationUnit.NANOSECONDS)
         errorSum += positionError * deltaT
 
         lastError = positionError
@@ -91,7 +96,7 @@ internal class PIDController @JvmOverloads constructor(val coefficients: PIDCoef
     fun reset() {
         errorSum = 0.0
         lastError = 0.0
-        lastTimestamp = 0
+        lastTimestamp = null
     }
 }
 
@@ -105,7 +110,8 @@ internal class PIDController @JvmOverloads constructor(val coefficients: PIDCoef
 class PIDElement @JvmOverloads constructor(
     private val pidType: FeedbackType,
     coefficients: PIDCoefficients,
-    resetIntegralOnZeroCrossover: Boolean = true
+    resetIntegralOnZeroCrossover: Boolean = true,
+    private val timeSource: TimeSource.WithComparableMarks = TimeSource.Monotonic
 ) : FeedbackElement {
 
     @JvmOverloads
@@ -115,14 +121,11 @@ class PIDElement @JvmOverloads constructor(
     private val controller = PIDController(coefficients, resetIntegralOnZeroCrossover)
 
     val coefficients by controller::coefficients
-
-    fun calculate(timestamp: Long, error: KineticState) = when (pidType) {
-        FeedbackType.POSITION -> controller.calculate(timestamp, error.position, error.velocity)
-        FeedbackType.VELOCITY -> controller.calculate(timestamp, error.velocity, error.acceleration)
+    override fun calculate(error: KineticState) = when (pidType) {
+        FeedbackType.POSITION -> controller.calculate(timeSource.markNow(), error.position, error.velocity)
+        FeedbackType.VELOCITY -> controller.calculate(timeSource.markNow(), error.velocity, error.acceleration)
     }
 
-    override fun calculate(error: KineticState) = calculate(TimeUtil.nanoTime(), error)
-
     override fun reset() {
         controller.reset()
     }
diff --git a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/feedback/SquIDElement.kt b/src/main/kotlin/dev/nextftc/control/feedback/SquIDElement.kt
similarity index 72%
rename from nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/feedback/SquIDElement.kt
rename to src/main/kotlin/dev/nextftc/control/feedback/SquIDElement.kt
index 3d7919e..721fd14 100644
--- a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/feedback/SquIDElement.kt
+++ b/src/main/kotlin/dev/nextftc/control/feedback/SquIDElement.kt
@@ -16,14 +16,16 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-package dev.nextftc.nextcontrol.feedback
+package dev.nextftc.control.feedback
 
-import dev.nextftc.nextcontrol.ControlSystem
-import dev.nextftc.nextcontrol.KineticState
-import dev.nextftc.nextcontrol.utils.TimeUtil
+import dev.nextftc.control.ControlSystem
+import dev.nextftc.control.KineticState
 import kotlin.math.abs
 import kotlin.math.sign
 import kotlin.math.sqrt
+import kotlin.time.ComparableTimeMark
+import kotlin.time.DurationUnit
+import kotlin.time.TimeSource
 
 /**
  * Square-root P + ID (aka SquID) controller.
@@ -36,12 +38,12 @@ internal class SquIDController(val coefficients: PIDCoefficients) {
 
     private var lastError: Double = 0.0
     private var errorSum = 0.0
-    private var lastTimestamp = 0L
+    private var lastTimestamp: ComparableTimeMark? = null
 
     /**
      * Calculates the SquID output
      *
-     * @param timestamp the current time, in nanoseconds
+     * @param timestamp the current time
      * @param positionError the error in position; the difference between the desired
      *  position and the current position
      * @param velocityError the error in velocity; the difference between the desired velocity
@@ -50,16 +52,16 @@ internal class SquIDController(val coefficients: PIDCoefficients) {
      * @return the SquID output
      */
     fun calculate(
-        timestamp: Long,
+        timestamp: ComparableTimeMark,
         positionError: Double,
-        velocityError: Double
+        velocityError: Double,
     ): Double {
-        if (lastTimestamp == 0L) {
+        if (lastTimestamp == null) {
             lastError = positionError
             lastTimestamp = timestamp
         }
 
-        val deltaT = (timestamp - lastTimestamp).toDouble()
+        val deltaT = (timestamp - lastTimestamp!!).toDouble(DurationUnit.NANOSECONDS)
         errorSum += (positionError) * deltaT
 
         lastError = positionError
@@ -75,7 +77,7 @@ internal class SquIDController(val coefficients: PIDCoefficients) {
     fun reset() {
         errorSum = 0.0
         lastError = 0.0
-        lastTimestamp = 0
+        lastTimestamp = null
     }
 }
 
@@ -86,9 +88,10 @@ internal class SquIDController(val coefficients: PIDCoefficients) {
  *
  * @author Zach.Waffle, rowan-mcalpin
  */
-class SquIDElement(
+class SquIDElement @JvmOverloads constructor(
     private val pidType: FeedbackType,
-    coefficients: PIDCoefficients
+    coefficients: PIDCoefficients,
+    private val timeSource: TimeSource.WithComparableMarks = TimeSource.Monotonic
 ) : FeedbackElement {
 
     @JvmOverloads
@@ -99,13 +102,11 @@ class SquIDElement(
 
     val coefficients by controller::coefficients
 
-    fun calculate(timestamp: Long, error: KineticState) = when (pidType) {
-        FeedbackType.POSITION -> controller.calculate(timestamp, error.position, error.velocity)
-        FeedbackType.VELOCITY -> controller.calculate(timestamp, error.velocity, error.acceleration)
+    override fun calculate( error: KineticState) = when (pidType) {
+        FeedbackType.POSITION -> controller.calculate(timeSource.markNow(), error.position, error.velocity)
+        FeedbackType.VELOCITY -> controller.calculate(timeSource.markNow(), error.velocity, error.acceleration)
     }
 
-    override fun calculate(error: KineticState) = this.calculate(TimeUtil.nanoTime(), error)
-
     override fun reset() {
         controller.reset()
     }
diff --git a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/feedforward/BasicFeedforward.kt b/src/main/kotlin/dev/nextftc/control/feedforward/BasicFeedforward.kt
similarity index 96%
rename from nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/feedforward/BasicFeedforward.kt
rename to src/main/kotlin/dev/nextftc/control/feedforward/BasicFeedforward.kt
index 5637f06..b1ddfe6 100644
--- a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/feedforward/BasicFeedforward.kt
+++ b/src/main/kotlin/dev/nextftc/control/feedforward/BasicFeedforward.kt
@@ -16,9 +16,9 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-package dev.nextftc.nextcontrol.feedforward
+package dev.nextftc.control.feedforward
 
-import dev.nextftc.nextcontrol.KineticState
+import dev.nextftc.control.KineticState
 import kotlin.math.sign
 
 /**
diff --git a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/feedforward/FeedforwardElement.kt b/src/main/kotlin/dev/nextftc/control/feedforward/FeedforwardElement.kt
similarity index 94%
rename from nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/feedforward/FeedforwardElement.kt
rename to src/main/kotlin/dev/nextftc/control/feedforward/FeedforwardElement.kt
index d05b161..5832f2b 100644
--- a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/feedforward/FeedforwardElement.kt
+++ b/src/main/kotlin/dev/nextftc/control/feedforward/FeedforwardElement.kt
@@ -16,9 +16,9 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-package dev.nextftc.nextcontrol.feedforward
+package dev.nextftc.control.feedforward
 
-import dev.nextftc.nextcontrol.KineticState
+import dev.nextftc.control.KineticState
 
 /**
  * An element of a feedforward controller.
diff --git a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/feedforward/GravityFeedforwardElements.kt b/src/main/kotlin/dev/nextftc/control/feedforward/GravityFeedforwardElements.kt
similarity index 97%
rename from nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/feedforward/GravityFeedforwardElements.kt
rename to src/main/kotlin/dev/nextftc/control/feedforward/GravityFeedforwardElements.kt
index 1799b06..9074c9e 100644
--- a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/feedforward/GravityFeedforwardElements.kt
+++ b/src/main/kotlin/dev/nextftc/control/feedforward/GravityFeedforwardElements.kt
@@ -16,9 +16,9 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-package dev.nextftc.nextcontrol.feedforward
+package dev.nextftc.control.feedforward
 
-import dev.nextftc.nextcontrol.KineticState
+import dev.nextftc.control.KineticState
 import kotlin.math.cos
 import kotlin.math.sign
 
diff --git a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/filters/ChainedFilter.kt b/src/main/kotlin/dev/nextftc/control/filters/ChainedFilter.kt
similarity index 97%
rename from nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/filters/ChainedFilter.kt
rename to src/main/kotlin/dev/nextftc/control/filters/ChainedFilter.kt
index d07e865..9a7b68c 100644
--- a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/filters/ChainedFilter.kt
+++ b/src/main/kotlin/dev/nextftc/control/filters/ChainedFilter.kt
@@ -16,7 +16,7 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-package dev.nextftc.nextcontrol.filters
+package dev.nextftc.control.filters
 
 /**
  * A filter that chains multiple filters together.
diff --git a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/filters/Filter.kt b/src/main/kotlin/dev/nextftc/control/filters/Filter.kt
similarity index 96%
rename from nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/filters/Filter.kt
rename to src/main/kotlin/dev/nextftc/control/filters/Filter.kt
index fc0a68a..18e7656 100644
--- a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/filters/Filter.kt
+++ b/src/main/kotlin/dev/nextftc/control/filters/Filter.kt
@@ -16,7 +16,7 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-package dev.nextftc.nextcontrol.filters
+package dev.nextftc.control.filters
 
 /**
  * A filter that can be applied to a sensor measurement.
diff --git a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/filters/FilterElement.kt b/src/main/kotlin/dev/nextftc/control/filters/FilterElement.kt
similarity index 95%
rename from nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/filters/FilterElement.kt
rename to src/main/kotlin/dev/nextftc/control/filters/FilterElement.kt
index 1494de9..31669b1 100644
--- a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/filters/FilterElement.kt
+++ b/src/main/kotlin/dev/nextftc/control/filters/FilterElement.kt
@@ -16,9 +16,9 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-package dev.nextftc.nextcontrol.filters
+package dev.nextftc.control.filters
 
-import dev.nextftc.nextcontrol.KineticState
+import dev.nextftc.control.KineticState
 
 /**
  * An element that filters the position, velocity, and acceleration of a [KineticState].
diff --git a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/filters/LowPassFilter.kt b/src/main/kotlin/dev/nextftc/control/filters/LowPassFilter.kt
similarity index 98%
rename from nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/filters/LowPassFilter.kt
rename to src/main/kotlin/dev/nextftc/control/filters/LowPassFilter.kt
index d7fc964..661c28e 100644
--- a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/filters/LowPassFilter.kt
+++ b/src/main/kotlin/dev/nextftc/control/filters/LowPassFilter.kt
@@ -16,7 +16,7 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-package dev.nextftc.nextcontrol.filters
+package dev.nextftc.control.filters
 
 data class LowPassParameters @JvmOverloads constructor(
     @JvmField var alpha: Double,
diff --git a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/interpolators/FirstOrderEMAParameters.kt b/src/main/kotlin/dev/nextftc/control/interpolators/FirstOrderEMAParameters.kt
similarity index 95%
rename from nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/interpolators/FirstOrderEMAParameters.kt
rename to src/main/kotlin/dev/nextftc/control/interpolators/FirstOrderEMAParameters.kt
index 85133ab..31c59af 100644
--- a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/interpolators/FirstOrderEMAParameters.kt
+++ b/src/main/kotlin/dev/nextftc/control/interpolators/FirstOrderEMAParameters.kt
@@ -16,9 +16,9 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-package dev.nextftc.nextcontrol.interpolators
+package dev.nextftc.control.interpolators
 
-import dev.nextftc.nextcontrol.KineticState
+import dev.nextftc.control.KineticState
 
 data class FirstOrderEMAParameters @JvmOverloads constructor(
     @JvmField var alpha: Double,
diff --git a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/interpolators/InterpolatorElement.kt b/src/main/kotlin/dev/nextftc/control/interpolators/InterpolatorElement.kt
similarity index 94%
rename from nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/interpolators/InterpolatorElement.kt
rename to src/main/kotlin/dev/nextftc/control/interpolators/InterpolatorElement.kt
index 943936d..2972897 100644
--- a/nextcontrol/src/main/kotlin/dev/nextftc/nextcontrol/interpolators/InterpolatorElement.kt
+++ b/src/main/kotlin/dev/nextftc/control/interpolators/InterpolatorElement.kt
@@ -16,9 +16,9 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-package dev.nextftc.nextcontrol.interpolators
+package dev.nextftc.control.interpolators
 
-import dev.nextftc.nextcontrol.KineticState
+import dev.nextftc.control.KineticState
 
 /**
  * An element of a setpoint interpolator.
diff --git a/nextcontrol/src/test/java/dev/nextftc/nextcontrol/ControlSystemTest.kt b/src/test/kotlin/ControlSystemTest.kt
similarity index 90%
rename from nextcontrol/src/test/java/dev/nextftc/nextcontrol/ControlSystemTest.kt
rename to src/test/kotlin/ControlSystemTest.kt
index 3204ee9..04d5e9e 100644
--- a/nextcontrol/src/test/java/dev/nextftc/nextcontrol/ControlSystemTest.kt
+++ b/src/test/kotlin/ControlSystemTest.kt
@@ -18,17 +18,19 @@
 
 package dev.nextftc.nextcontrol
 
-import dev.nextftc.nextcontrol.feedback.FeedbackElement
-import dev.nextftc.nextcontrol.feedforward.FeedforwardElement
-import dev.nextftc.nextcontrol.filters.FilterElement
-import dev.nextftc.nextcontrol.interpolators.InterpolatorElement
+import dev.nextftc.control.ControlSystem
+import dev.nextftc.control.KineticState
+import dev.nextftc.control.feedback.FeedbackElement
+import dev.nextftc.control.feedforward.FeedforwardElement
+import dev.nextftc.control.filters.FilterElement
+import dev.nextftc.control.interpolators.InterpolatorElement
+import io.kotest.core.spec.style.AnnotationSpec
+import io.kotest.matchers.shouldBe
 import io.mockk.every
 import io.mockk.mockk
 import io.mockk.verify
-import kotlin.test.Test
-import kotlin.test.assertEquals
 
-class ControlSystemTest {
+class ControlSystemTest : AnnotationSpec() {
 
     @Test
     fun `delegates goal getter to interpolator`() {
@@ -44,7 +46,7 @@ class ControlSystemTest {
         val actual = controlSystem.goal
 
         // Assert
-        assertEquals(expected, actual)
+        expected shouldBe actual
         verify(exactly = 1) { interpolator.goal }
     }
 
@@ -148,7 +150,7 @@ class ControlSystemTest {
         val result = controlSystem.calculate()
 
         // Assert
-        assertEquals(5.0, result, 0.0)
+        result shouldBe 5.0
     }
 
     @Test
diff --git a/src/test/kotlin/KineticStateTest.kt b/src/test/kotlin/KineticStateTest.kt
new file mode 100644
index 0000000..4949406
--- /dev/null
+++ b/src/test/kotlin/KineticStateTest.kt
@@ -0,0 +1,142 @@
+/*
+ * NextFTC: a user-friendly control library for FIRST Tech Challenge
+ * Copyright (C) 2025 Rowan McAlpin
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package dev.nextftc.nextcontrol
+
+import dev.nextftc.control.KineticState
+import io.kotest.core.spec.style.FunSpec
+import io.kotest.matchers.Matcher
+import io.kotest.matchers.MatcherResult
+import io.kotest.matchers.compose.any
+import io.kotest.matchers.doubles.beNaN
+import io.kotest.matchers.doubles.plusOrMinus
+import io.kotest.matchers.shouldBe
+import io.kotest.matchers.shouldNot
+import io.kotest.property.assume
+import io.kotest.property.checkAll
+
+class KineticStateTest : FunSpec({
+
+    context("KineticState constructor") {
+        test("default values should be zeros") {
+            val state = KineticState()
+            state.position shouldBe 0.0
+            state.velocity shouldBe 0.0
+            state.acceleration shouldBe 0.0
+        }
+
+        test("constructor should set values correctly") {
+            val state = KineticState(1.0, 2.0, 3.0)
+            state.position shouldBe 1.0
+            state.velocity shouldBe 2.0
+            state.acceleration shouldBe 3.0
+        }
+
+        test("partial constructor should set provided values and default others") {
+            val state = KineticState(position = 1.0)
+            state.position shouldBe 1.0
+            state.velocity shouldBe 0.0
+            state.acceleration shouldBe 0.0
+
+            val state2 = KineticState(position = 1.0, velocity = 2.0)
+            state2.position shouldBe 1.0
+            state2.velocity shouldBe 2.0
+            state2.acceleration shouldBe 0.0
+        }
+    }
+
+    context("KineticState operators") {
+        test("plus operator should add components") {
+            val state1 = KineticState(1.0, 2.0, 3.0)
+            val state2 = KineticState(4.0, 5.0, 6.0)
+            val result = state1 + state2
+
+            result.position shouldBe 5.0
+            result.velocity shouldBe 7.0
+            result.acceleration shouldBe 9.0
+        }
+
+        test("minus operator should subtract components") {
+            val state1 = KineticState(5.0, 7.0, 9.0)
+            val state2 = KineticState(1.0, 2.0, 3.0)
+            val result = state1 - state2
+
+            result.position shouldBe 4.0
+            result.velocity shouldBe 5.0
+            result.acceleration shouldBe 6.0
+        }
+
+        test("times operator should multiply by scalar") {
+            val state = KineticState(1.0, 2.0, 3.0)
+            val scalar = 2.0
+            val result = state * scalar
+
+            result.position shouldBe 2.0
+            result.velocity shouldBe 4.0
+            result.acceleration shouldBe 6.0
+        }
+    }
+
+    context("Property-based testing") {
+        test("plus is commutative") {
+            checkAll<KineticState, KineticState> { a, b ->
+                val result1 = a + b
+                val result2 = b + a
+
+                result1.position shouldBe result2.position
+                result1.velocity shouldBe result2.velocity
+                result1.acceleration shouldBe result2.acceleration
+            }
+        }
+
+        test("multiplying by 1 doesn't change the state") {
+            checkAll<KineticState> { state ->
+                val result = state * 1.0
+
+                result.position shouldBe state.position
+                result.velocity shouldBe state.velocity
+                result.acceleration shouldBe state.acceleration
+            }
+        }
+
+        test("multiplying by 0 results in all zeros") {
+            checkAll<KineticState> { state ->
+                assume {
+                    state.position shouldNot beInfiniteOrNaN()
+                    state.velocity shouldNot beInfiniteOrNaN()
+                    state.acceleration shouldNot beInfiniteOrNaN()
+                }
+                val result = state * 0.0
+
+                result.position shouldBe (0.0 plusOrMinus 1e-12)
+                result.velocity shouldBe (0.0 plusOrMinus 1e-12)
+                result.acceleration shouldBe (0.0 plusOrMinus 1e-12)
+            }
+        }
+    }
+})
+
+fun beInfinite() = Matcher<Double> { value ->
+    MatcherResult(
+        value.isInfinite(),
+        { "$value should be infinite" },
+        { "$value should not be infinite" }
+    )
+}
+
+fun beInfiniteOrNaN() = Matcher.any(beInfinite(), beNaN())
\ No newline at end of file
diff --git a/src/test/kotlin/feedback/AngularFeedbackTest.kt b/src/test/kotlin/feedback/AngularFeedbackTest.kt
new file mode 100644
index 0000000..87eefee
--- /dev/null
+++ b/src/test/kotlin/feedback/AngularFeedbackTest.kt
@@ -0,0 +1,85 @@
+package dev.nextftc.nextcontrol.feedback
+
+import dev.nextftc.control.KineticState
+import dev.nextftc.control.feedback.AngleType
+import dev.nextftc.control.feedback.AngularFeedback
+import dev.nextftc.control.feedback.FeedbackElement
+import io.kotest.core.spec.style.FunSpec
+import io.kotest.datatest.withData
+import io.kotest.matchers.doubles.plusOrMinus
+import io.kotest.matchers.shouldBe
+import io.mockk.every
+import io.mockk.mockk
+import io.mockk.verify
+import kotlin.math.PI
+
+data class Angle(val unnormalized: Double, val normalized: Double, val type: AngleType)
+
+class AngularFeedbackTest : FunSpec() {
+
+    init {
+
+        val data = listOf(
+            Angle(359.0, -1.0, AngleType.DEGREES),
+            Angle(170.0, 170.0, AngleType.DEGREES),
+            Angle(-182.0, 178.0, AngleType.DEGREES),
+            Angle(0.0, 0.0, AngleType.DEGREES),
+            Angle(5 * PI / 4, -3 * PI / 4, AngleType.RADIANS),
+            Angle(PI / 4, PI / 4, AngleType.RADIANS),
+            Angle(-2 * PI, 0.0, AngleType.RADIANS),
+            Angle(0.0, 0.0, AngleType.RADIANS),
+            Angle(1.25, 0.25, AngleType.REVOLUTIONS),
+            Angle(-0.25, -0.25, AngleType.REVOLUTIONS),
+            Angle(-0.75, 0.25, AngleType.REVOLUTIONS),
+            Angle(0.0, 0.0, AngleType.REVOLUTIONS)
+        )
+
+        context("correctly normalizes angle and returns feedbackElement output") {
+            withData(data) { (unnormalized, normalized, type) ->
+                // Arrange
+                val feedbackElement = mockk<FeedbackElement>()
+                every { feedbackElement.calculate(any()) } returns 15.0
+                val angularFeedback = AngularFeedback(type, feedbackElement)
+                val expectedOutput = 15.0
+
+                // Act
+                val output = angularFeedback.calculate(KineticState(unnormalized))
+
+                // Assert
+                output shouldBe expectedOutput
+                verify(exactly = 1) {
+                    feedbackElement.calculate(
+                        withArg {
+                            it.position shouldBe (normalized plusOrMinus 1e-6)
+                        }
+                    )
+                }
+            }
+        }
+
+        context("velocity and acceleration are not affected by angle normalization") {
+            withData(data) { (unnormalized, normalized, type) ->
+                // Arrange
+                val error = KineticState(unnormalized, 10.0, 20.0)
+                val expected = KineticState(normalized, 10.0, 20.0)
+                val feedbackElement = mockk<FeedbackElement>()
+                every { feedbackElement.calculate(any()) } returns 0.0
+                val angularFeedback = AngularFeedback(type, feedbackElement)
+
+                // Act
+                angularFeedback.calculate(error)
+
+                // Assert
+                verify(exactly = 1) {
+                    feedbackElement.calculate(
+                        withArg {
+                            it.position shouldBe (expected.position plusOrMinus 1e-6)
+                            it.velocity shouldBe expected.velocity
+                            it.acceleration shouldBe expected.acceleration
+                        }
+                    )
+                }
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/nextcontrol/src/test/java/dev/nextftc/nextcontrol/feedback/NullFeedbackTest.kt b/src/test/kotlin/feedback/NullFeedbackTest.kt
similarity index 83%
rename from nextcontrol/src/test/java/dev/nextftc/nextcontrol/feedback/NullFeedbackTest.kt
rename to src/test/kotlin/feedback/NullFeedbackTest.kt
index dfec3f6..3960e9c 100644
--- a/nextcontrol/src/test/java/dev/nextftc/nextcontrol/feedback/NullFeedbackTest.kt
+++ b/src/test/kotlin/feedback/NullFeedbackTest.kt
@@ -18,11 +18,12 @@
 
 package dev.nextftc.nextcontrol.feedback
 
-import dev.nextftc.nextcontrol.KineticState
-import kotlin.test.assertEquals
-import kotlin.test.Test
+import dev.nextftc.control.KineticState
+import dev.nextftc.control.feedback.FeedbackElement
+import io.kotest.core.spec.style.AnnotationSpec
+import io.kotest.matchers.shouldBe
 
-class NullFeedbackTest {
+class NullFeedbackTest : AnnotationSpec() {
     @Test
     fun `calculate returns 0 feedback`() {
         // Arrange
@@ -33,7 +34,7 @@ class NullFeedbackTest {
         val actual = feedback.calculate(error)
 
         // Assert
-        assertEquals(0.0, actual, 0.0)
+        actual shouldBe 0.0
     }
 
     @Test
@@ -46,6 +47,6 @@ class NullFeedbackTest {
         val actual = feedback.calculate(error)
 
         // Assert
-        assertEquals(0.0, actual, 0.0)
+        actual shouldBe 0.0
     }
-}
\ No newline at end of file
+}
diff --git a/nextcontrol/src/test/java/dev/nextftc/nextcontrol/feedback/PIDElementTest.kt b/src/test/kotlin/feedback/PIDElementTest.kt
similarity index 74%
rename from nextcontrol/src/test/java/dev/nextftc/nextcontrol/feedback/PIDElementTest.kt
rename to src/test/kotlin/feedback/PIDElementTest.kt
index 8c800c3..c892538 100644
--- a/nextcontrol/src/test/java/dev/nextftc/nextcontrol/feedback/PIDElementTest.kt
+++ b/src/test/kotlin/feedback/PIDElementTest.kt
@@ -18,16 +18,16 @@
 
 package dev.nextftc.nextcontrol.feedback
 
-import dev.nextftc.nextcontrol.KineticState
-import dev.nextftc.nextcontrol.utils.TimeUtil
-import io.mockk.every
-import io.mockk.mockkObject
-import io.mockk.unmockkAll
-import io.mockk.verify
-import kotlin.test.assertEquals
-import kotlin.test.Test
+import dev.nextftc.control.KineticState
+import dev.nextftc.control.feedback.FeedbackType
+import dev.nextftc.control.feedback.PIDCoefficients
+import dev.nextftc.control.feedback.PIDElement
+import io.kotest.core.spec.style.AnnotationSpec
+import io.kotest.matchers.shouldBe
+import kotlin.time.Duration.Companion.milliseconds
+import kotlin.time.TestTimeSource
 
-class PIDElementTest {
+class PIDElementTest : AnnotationSpec() {
 
     @Test
     fun `passing individual values creates a PIDCoefficients instance with the proper values`() {
@@ -42,7 +42,7 @@ class PIDElementTest {
         val actual = pidElement.coefficients
 
         // Assert
-        assertEquals(expected, actual)
+        actual shouldBe expected
     }
 
     @Test
@@ -59,8 +59,8 @@ class PIDElementTest {
         val velocityActual = velocityPID.calculate(input)
 
         // Assert
-        assertEquals(expected, positionActual, 0.0)
-        assertEquals(expected, velocityActual, 0.0)
+        positionActual shouldBe expected
+        velocityActual shouldBe expected
     }
 
     @Test
@@ -79,10 +79,10 @@ class PIDElementTest {
         val secondVelocityActual = velocityPID.calculate(input)
 
         // Assert
-        assertEquals(expected, firstPositionActual, 0.0)
-        assertEquals(expected, secondPositionActual, 0.0)
-        assertEquals(expected, firstVelocityActual, 0.0)
-        assertEquals(expected, secondVelocityActual, 0.0)
+        firstPositionActual shouldBe expected
+        secondPositionActual shouldBe expected
+        firstVelocityActual shouldBe expected
+        secondVelocityActual shouldBe expected
     }
 
     @Test
@@ -99,50 +99,48 @@ class PIDElementTest {
         val velocityActual = velocityPID.calculate(velocityInput)
 
         // Assert
-        assertEquals(error, positionActual, 0.0)
-        assertEquals(error, velocityActual, 0.0)
+        positionActual shouldBe error
+        velocityActual shouldBe error
     }
 
     @Test
     fun `returns sum of all past errors times deltaT when kI is one and kP and kD are zero`() {
         // Arrange
         val coefficients = PIDCoefficients(0.0, 1.0, 0.0)
-        val positionPID = PIDElement(FeedbackType.POSITION, coefficients)
-        val velocityPID = PIDElement(FeedbackType.VELOCITY, coefficients)
 
-        mockkObject(TimeUtil)
+        val timeSource = TestTimeSource()
+
+        val positionPID = PIDElement(FeedbackType.POSITION, coefficients, timeSource = timeSource)
+        val velocityPID = PIDElement(FeedbackType.VELOCITY, coefficients, timeSource = timeSource)
 
         val firstError = 10.0
-        val firstTimespan = 1000L
+        val firstTimespan = 1000.milliseconds
         val secondError = 20.0
-        val secondTimespan = 2000L
+        val secondTimespan = 2000.milliseconds
         val thirdError = 30.0
-        val thirdTimespan = 3000L
+        val thirdTimespan = 3000.milliseconds
 
         // Since integral is estimated as a Riemann sum with right endpoints, the first error
         // does not contribute to the integral
-        val expected = secondError * secondTimespan + thirdError *
-                thirdTimespan
+        val expected = secondError * secondTimespan.inWholeNanoseconds + thirdError *
+                thirdTimespan.inWholeNanoseconds
 
         // Act
-        every { TimeUtil.nanoTime() } returns firstTimespan
+        timeSource += firstTimespan
         positionPID.calculate(KineticState(firstError, 5.0, 25.0))
         velocityPID.calculate(KineticState(5.0, firstError, 25.0))
 
-        every { TimeUtil.nanoTime() } returns firstTimespan + secondTimespan
+        timeSource += secondTimespan
         positionPID.calculate(KineticState(secondError, 5.0, 25.0))
         velocityPID.calculate(KineticState(5.0, secondError, 25.0))
 
-        every { TimeUtil.nanoTime() } returns firstTimespan + secondTimespan + thirdTimespan
+        timeSource += thirdTimespan
         val positionActual = positionPID.calculate(KineticState(thirdError, 5.0, 25.0))
         val velocityActual = velocityPID.calculate(KineticState(5.0, thirdError, 25.0))
 
         // Assert
-        assertEquals(expected, positionActual, 0.0)
-        assertEquals(expected, velocityActual, 0.0)
-        verify(exactly = 6) { TimeUtil.nanoTime() }
-
-        unmockkAll()
+        positionActual shouldBe expected
+        velocityActual shouldBe expected
     }
 
     @Test
@@ -161,8 +159,8 @@ class PIDElementTest {
         val velocityActual = velocityPID.calculate(velocityPIDError)
 
         // Assert
-        assertEquals(expected, positionActual, 0.0)
-        assertEquals(expected, velocityActual, 0.0)
+        positionActual shouldBe expected
+        velocityActual shouldBe expected
     }
 
     @Test
@@ -172,77 +170,75 @@ class PIDElementTest {
         val kI = 6.0
         val kD = 7.0
         val coefficients = PIDCoefficients(kP, kI, kD)
-        val positionPID = PIDElement(FeedbackType.POSITION, coefficients)
-        val velocityPID = PIDElement(FeedbackType.VELOCITY, coefficients)
 
-        mockkObject(TimeUtil)
+        val timeSource = TestTimeSource()
+
+        val positionPID = PIDElement(FeedbackType.POSITION, coefficients, timeSource = timeSource)
+        val velocityPID = PIDElement(FeedbackType.VELOCITY, coefficients, timeSource = timeSource)
 
         val firstError = 20.0
-        val firstTimespan = 1000L
+        val firstTimespan = 1000.milliseconds
         val secondError = 10.0
-        val secondTimespan = 1500L
+        val secondTimespan = 1500.milliseconds
         val derivativeError = 10.0
         // Since integral is estimated as a Riemann sum with right endpoints, the first error
         // does not contribute to the integral
-        val expectedIntegral = secondError * secondTimespan
+        val expectedIntegral = secondError * secondTimespan.inWholeNanoseconds
         val expected = kP * secondError + kI * expectedIntegral + kD * derivativeError
 
         // Act
-        every { TimeUtil.nanoTime() } returns firstTimespan
+        timeSource += firstTimespan
         positionPID.calculate(KineticState(firstError, 0.0, 25.0))
         velocityPID.calculate(KineticState(25.0, firstError, 0.0))
 
-        every { TimeUtil.nanoTime() } returns firstTimespan + secondTimespan
+        timeSource += secondTimespan
         val positionActual = positionPID.calculate(KineticState(secondError, derivativeError, 25.0))
         val velocityActual = velocityPID.calculate(KineticState(25.0, secondError, derivativeError))
 
         // Assert
-        assertEquals(expected, positionActual, 0.0)
-        assertEquals(expected, velocityActual, 0.0)
-        verify(exactly = 4) { TimeUtil.nanoTime() }
-
-        unmockkAll()
+        positionActual shouldBe expected
+        velocityActual shouldBe expected
     }
 
     @Test
     fun `acceleration error does not affect position pid`() {
         // Arrange
         val coefficients = PIDCoefficients(1.0, 2.0, 3.0)
-        val firstController = PIDElement(FeedbackType.POSITION, coefficients)
-        val secondController = PIDElement(FeedbackType.POSITION, coefficients)
+
+        val timeSource = TestTimeSource()
+        timeSource += 1000.milliseconds
+
+        val firstController = PIDElement(FeedbackType.POSITION, coefficients, timeSource = timeSource)
+        val secondController = PIDElement(FeedbackType.POSITION, coefficients, timeSource = timeSource)
         val firstError = KineticState(10.0, 20.0, 30.0)
         val secondError = KineticState(10.0, 20.0, 40.0)
-        mockkObject(TimeUtil)
-        every { TimeUtil.nanoTime() } returns 1000L
 
         // Act
         val firstActual = firstController.calculate(firstError)
         val secondActual = secondController.calculate(secondError)
 
         // Assert
-        assertEquals(firstActual, secondActual, 0.0)
-
-        unmockkAll()
+        secondActual shouldBe firstActual
     }
 
     @Test
     fun `position error does not affect velocity pid`() {
         // Arrange
         val coefficients = PIDCoefficients(1.0, 2.0, 3.0)
-        val firstController = PIDElement(FeedbackType.VELOCITY, coefficients)
-        val secondController = PIDElement(FeedbackType.VELOCITY, coefficients)
+
+        val timeSource = TestTimeSource()
+        timeSource += 1000.milliseconds
+
+        val firstController = PIDElement(FeedbackType.VELOCITY, coefficients, timeSource = timeSource)
+        val secondController = PIDElement(FeedbackType.VELOCITY, coefficients, timeSource = timeSource)
         val firstError = KineticState(10.0, 20.0, 30.0)
         val secondError = KineticState(15.0, 20.0, 30.0)
-        mockkObject(TimeUtil)
-        every { TimeUtil.nanoTime() } returns 1000L
 
         // Act
         val firstActual = firstController.calculate(firstError)
         val secondActual = secondController.calculate(secondError)
 
         // Assert
-        assertEquals(firstActual, secondActual, 0.0)
-
-        unmockkAll()
+        secondActual shouldBe firstActual
     }
 }
diff --git a/nextcontrol/src/test/java/dev/nextftc/nextcontrol/feedback/SquIDElementTest.kt b/src/test/kotlin/feedback/SquIDElementTest.kt
similarity index 74%
rename from nextcontrol/src/test/java/dev/nextftc/nextcontrol/feedback/SquIDElementTest.kt
rename to src/test/kotlin/feedback/SquIDElementTest.kt
index c0f64cf..09f22e4 100644
--- a/nextcontrol/src/test/java/dev/nextftc/nextcontrol/feedback/SquIDElementTest.kt
+++ b/src/test/kotlin/feedback/SquIDElementTest.kt
@@ -18,17 +18,17 @@
 
 package dev.nextftc.nextcontrol.feedback
 
-import dev.nextftc.nextcontrol.KineticState
-import dev.nextftc.nextcontrol.utils.TimeUtil
-import io.mockk.every
-import io.mockk.mockkObject
-import io.mockk.unmockkAll
-import io.mockk.verify
-import kotlin.test.assertEquals
+import dev.nextftc.control.KineticState
+import dev.nextftc.control.feedback.FeedbackType
+import dev.nextftc.control.feedback.PIDCoefficients
+import dev.nextftc.control.feedback.SquIDElement
+import io.kotest.core.spec.style.AnnotationSpec
+import io.kotest.matchers.shouldBe
 import kotlin.math.sqrt
-import kotlin.test.Test
+import kotlin.time.Duration.Companion.milliseconds
+import kotlin.time.TestTimeSource
 
-class SquIDElementTest {
+class SquIDElementTest : AnnotationSpec() {
 
     @Test
     fun `passing individual values creates a PIDCoefficients instance with the proper values`() {
@@ -43,7 +43,7 @@ class SquIDElementTest {
         val actual = squidElement.coefficients
 
         // Assert
-        assertEquals(expected, actual)
+        actual shouldBe expected
     }
 
     @Test
@@ -60,8 +60,8 @@ class SquIDElementTest {
         val velocityActual = velocitySquID.calculate(input)
 
         // Assert
-        assertEquals(expected, positionActual, 0.0)
-        assertEquals(expected, velocityActual, 0.0)
+        positionActual shouldBe expected
+        velocityActual shouldBe expected
     }
 
     @Test
@@ -80,10 +80,10 @@ class SquIDElementTest {
         val secondVelocityActual = velocitySquID.calculate(input)
 
         // Assert
-        assertEquals(expected, firstPositionActual, 0.0)
-        assertEquals(expected, secondPositionActual, 0.0)
-        assertEquals(expected, firstVelocityActual, 0.0)
-        assertEquals(expected, secondVelocityActual, 0.0)
+        firstPositionActual shouldBe expected
+        secondPositionActual shouldBe expected
+        firstVelocityActual shouldBe expected
+        secondVelocityActual shouldBe expected
     }
 
     @Test
@@ -101,50 +101,48 @@ class SquIDElementTest {
         val velocityActual = velocitySquID.calculate(velocityInput)
 
         // Assert
-        assertEquals(expected, positionActual, 0.0)
-        assertEquals(expected, velocityActual, 0.0)
+        positionActual shouldBe expected
+        velocityActual shouldBe expected
     }
 
     @Test
     fun `returns sum of all past errors times deltaT when kI is one and kP and kD are zero`() {
         // Arrange
         val coefficients = PIDCoefficients(0.0, 1.0, 0.0)
-        val positionSquID = SquIDElement(FeedbackType.POSITION, coefficients)
-        val velocitySquID = SquIDElement(FeedbackType.VELOCITY, coefficients)
 
-        mockkObject(TimeUtil)
+        val timeSource = TestTimeSource()
+
+        val positionSquID = SquIDElement(FeedbackType.POSITION, coefficients, timeSource = timeSource)
+        val velocitySquID = SquIDElement(FeedbackType.VELOCITY, coefficients, timeSource = timeSource)
 
         val firstError = 10.0
-        val firstTimespan = 1000L
+        val firstTimespan = 1000.milliseconds
         val secondError = 20.0
-        val secondTimespan = 2000L
+        val secondTimespan = 2000.milliseconds
         val thirdError = 30.0
-        val thirdTimespan = 3000L
+        val thirdTimespan = 3000.milliseconds
 
         // Since integral is estimated as a Riemann sum with right endpoints, the first error
         // does not contribute to the integral
-        val expected = secondError * secondTimespan + thirdError *
-                thirdTimespan
+        val expected = secondError * secondTimespan.inWholeNanoseconds + thirdError *
+                thirdTimespan.inWholeNanoseconds
 
         // Act
-        every { TimeUtil.nanoTime() } returns firstTimespan
+        timeSource += firstTimespan
         positionSquID.calculate(KineticState(firstError, 5.0, 25.0))
         velocitySquID.calculate(KineticState(5.0, firstError, 25.0))
 
-        every { TimeUtil.nanoTime() } returns firstTimespan + secondTimespan
+        timeSource += secondTimespan
         positionSquID.calculate(KineticState(secondError, 5.0, 25.0))
         velocitySquID.calculate(KineticState(5.0, secondError, 25.0))
 
-        every { TimeUtil.nanoTime() } returns firstTimespan + secondTimespan + thirdTimespan
+        timeSource += thirdTimespan
         val positionActual = positionSquID.calculate(KineticState(thirdError, 5.0, 25.0))
         val velocityActual = velocitySquID.calculate(KineticState(5.0, thirdError, 25.0))
 
         // Assert
-        assertEquals(expected, positionActual, 0.0)
-        assertEquals(expected, velocityActual, 0.0)
-        verify(exactly = 6) { TimeUtil.nanoTime() }
-
-        unmockkAll()
+        positionActual shouldBe expected
+        velocityActual shouldBe expected
     }
 
     @Test
@@ -163,8 +161,8 @@ class SquIDElementTest {
         val velocityActual = velocitySquID.calculate(velocitySquIDError)
 
         // Assert
-        assertEquals(expected, positionActual, 0.0)
-        assertEquals(expected, velocityActual, 0.0)
+        positionActual shouldBe expected
+        velocityActual shouldBe expected
     }
 
     @Test
@@ -174,79 +172,77 @@ class SquIDElementTest {
         val kI = 6.0
         val kD = 7.0
         val coefficients = PIDCoefficients(kP, kI, kD)
-        val positionSquID = SquIDElement(FeedbackType.POSITION, coefficients)
-        val velocitySquID = SquIDElement(FeedbackType.VELOCITY, coefficients)
 
-        mockkObject(TimeUtil)
+        val timeSource = TestTimeSource()
+
+        val positionSquID = SquIDElement(FeedbackType.POSITION, coefficients, timeSource = timeSource)
+        val velocitySquID = SquIDElement(FeedbackType.VELOCITY, coefficients, timeSource = timeSource)
 
         val firstError = 20.0
-        val firstTimespan = 1000L
+        val firstTimespan = 1000.milliseconds
         val secondError = 10.0
-        val secondTimespan = 1500L
+        val secondTimespan = 1500.milliseconds
         val derivativeError = 10.0
         // Since integral is estimated as a Riemann sum with right endpoints, the first error
         // does not contribute to the integral
-        val expectedIntegral = secondError * secondTimespan
+        val expectedIntegral = secondError * secondTimespan.inWholeNanoseconds
         val expected = sqrt(kP * secondError) + kI * expectedIntegral + kD * derivativeError
 
         // Act
-        every { TimeUtil.nanoTime() } returns firstTimespan
+        timeSource += firstTimespan
         positionSquID.calculate(KineticState(firstError, 0.0, 25.0))
         velocitySquID.calculate(KineticState(25.0, firstError, 0.0))
 
-        every { TimeUtil.nanoTime() } returns firstTimespan + secondTimespan
+        timeSource += secondTimespan
         val positionActual =
             positionSquID.calculate(KineticState(secondError, derivativeError, 25.0))
         val velocityActual =
             velocitySquID.calculate(KineticState(25.0, secondError, derivativeError))
 
         // Assert
-        assertEquals(expected, positionActual, 0.0)
-        assertEquals(expected, velocityActual, 0.0)
-        verify(exactly = 4) { TimeUtil.nanoTime() }
-
-        unmockkAll()
+        positionActual shouldBe expected
+        velocityActual shouldBe expected
     }
 
     @Test
     fun `acceleration error does not affect position squid`() {
         // Arrange
         val coefficients = PIDCoefficients(1.0, 2.0, 3.0)
-        val firstController = SquIDElement(FeedbackType.POSITION, coefficients)
-        val secondController = SquIDElement(FeedbackType.POSITION, coefficients)
+
+        val timeSource = TestTimeSource()
+        timeSource += 1000.milliseconds
+
+        val firstController = SquIDElement(FeedbackType.POSITION, coefficients, timeSource = timeSource)
+        val secondController = SquIDElement(FeedbackType.POSITION, coefficients, timeSource = timeSource)
         val firstError = KineticState(10.0, 20.0, 30.0)
         val secondError = KineticState(10.0, 20.0, 40.0)
-        mockkObject(TimeUtil)
-        every { TimeUtil.nanoTime() } returns 1000L
 
         // Act
         val firstActual = firstController.calculate(firstError)
         val secondActual = secondController.calculate(secondError)
 
         // Assert
-        assertEquals(firstActual, secondActual, 0.0)
-
-        unmockkAll()
+        firstActual shouldBe secondActual
     }
 
     @Test
     fun `position error does not affect velocity squid`() {
         // Arrange
         val coefficients = PIDCoefficients(1.0, 2.0, 3.0)
-        val firstController = SquIDElement(FeedbackType.VELOCITY, coefficients)
-        val secondController = SquIDElement(FeedbackType.VELOCITY, coefficients)
+
+        val timeSource = TestTimeSource()
+        timeSource += 1000.milliseconds
+
+        val firstController = SquIDElement(FeedbackType.VELOCITY, coefficients, timeSource = timeSource)
+        val secondController = SquIDElement(FeedbackType.VELOCITY, coefficients, timeSource = timeSource)
         val firstError = KineticState(10.0, 20.0, 30.0)
         val secondError = KineticState(15.0, 20.0, 30.0)
-        mockkObject(TimeUtil)
-        every { TimeUtil.nanoTime() } returns 1000L
 
         // Act
         val firstActual = firstController.calculate(firstError)
         val secondActual = secondController.calculate(secondError)
 
         // Assert
-        assertEquals(firstActual, secondActual, 0.0)
-
-        unmockkAll()
+        firstActual shouldBe secondActual
     }
 }
\ No newline at end of file
diff --git a/nextcontrol/src/test/java/dev/nextftc/nextcontrol/feedforward/ArmFeedforwardTest.kt b/src/test/kotlin/feedforward/ArmFeedforwardTest.kt
similarity index 83%
rename from nextcontrol/src/test/java/dev/nextftc/nextcontrol/feedforward/ArmFeedforwardTest.kt
rename to src/test/kotlin/feedforward/ArmFeedforwardTest.kt
index 71b0b26..aee4150 100644
--- a/nextcontrol/src/test/java/dev/nextftc/nextcontrol/feedforward/ArmFeedforwardTest.kt
+++ b/src/test/kotlin/feedforward/ArmFeedforwardTest.kt
@@ -18,14 +18,17 @@
 
 package dev.nextftc.nextcontrol.feedforward
 
-import dev.nextftc.nextcontrol.KineticState
+import dev.nextftc.control.KineticState
+import dev.nextftc.control.feedforward.ArmFeedforward
+import dev.nextftc.control.feedforward.GravityFeedforwardParameters
+import io.kotest.core.spec.style.AnnotationSpec
+import io.kotest.matchers.doubles.plusOrMinus
+import io.kotest.matchers.shouldBe
 import kotlin.math.PI
 import kotlin.math.cos
 import kotlin.math.sign
-import kotlin.test.Test
-import kotlin.test.assertEquals
 
-class ArmFeedforwardTest {
+class ArmFeedforwardTest : AnnotationSpec() {
 
     @Test
     fun `returns zero when all parameters are zero`() {
@@ -39,7 +42,7 @@ class ArmFeedforwardTest {
         val actual = feedforward.calculate(reference)
 
         // Assert
-        assertEquals(expected, actual, 0.0)
+        actual shouldBe expected
     }
 
     @Test
@@ -61,8 +64,8 @@ class ArmFeedforwardTest {
         val actual2 = feedforward.calculate(reference)
 
         // Assert
-        assertEquals(expected1, actual1, 1e-6)
-        assertEquals(expected2, actual2, 1e-6)
+        actual1 shouldBe expected1 plusOrMinus 1e-6
+        actual2 shouldBe expected2 plusOrMinus 1e-6
     }
 
     @Test
@@ -80,8 +83,8 @@ class ArmFeedforwardTest {
         val actual2 = feedforward.calculate(reference2)
 
         // Assert
-        assertEquals(expected1, actual1, 0.0)
-        assertEquals(expected2, actual2, 0.0)
+        actual1 shouldBe expected1
+        actual2 shouldBe expected2
     }
 
     @Test
@@ -99,8 +102,8 @@ class ArmFeedforwardTest {
         val actual2 = feedforward.calculate(reference2)
 
         // Assert
-        assertEquals(expected1, actual1, 1e-6)
-        assertEquals(expected2, actual2, 1e-6)
+        actual1 shouldBe expected1 plusOrMinus 1e-6
+        actual2 shouldBe expected2 plusOrMinus 1e-6
     }
 
     @Test
@@ -116,6 +119,6 @@ class ArmFeedforwardTest {
         val actual = feedforwardElement.calculate(reference)
 
         // Assert
-        assertEquals(expected, actual, 1e-6)
+        actual shouldBe expected plusOrMinus 1e-6
     }
 }
\ No newline at end of file
diff --git a/nextcontrol/src/test/java/dev/nextftc/nextcontrol/feedforward/BasicFeedforwardTest.kt b/src/test/kotlin/feedforward/BasicFeedforwardTest.kt
similarity index 84%
rename from nextcontrol/src/test/java/dev/nextftc/nextcontrol/feedforward/BasicFeedforwardTest.kt
rename to src/test/kotlin/feedforward/BasicFeedforwardTest.kt
index 9ec8067..61ededa 100644
--- a/nextcontrol/src/test/java/dev/nextftc/nextcontrol/feedforward/BasicFeedforwardTest.kt
+++ b/src/test/kotlin/feedforward/BasicFeedforwardTest.kt
@@ -18,11 +18,13 @@
 
 package dev.nextftc.nextcontrol.feedforward
 
-import dev.nextftc.nextcontrol.KineticState
-import kotlin.test.Test
-import kotlin.test.assertEquals
+import dev.nextftc.control.KineticState
+import dev.nextftc.control.feedforward.BasicFeedforward
+import dev.nextftc.control.feedforward.BasicFeedforwardParameters
+import io.kotest.core.spec.style.AnnotationSpec
+import io.kotest.matchers.shouldBe
 
-class BasicFeedforwardTest {
+class BasicFeedforwardTest : AnnotationSpec() {
 
     @Test
     fun `returns zero when all parameters are zero`() {
@@ -36,7 +38,7 @@ class BasicFeedforwardTest {
         val actual = feedforward.calculate(reference)
 
         // Assert
-        assertEquals(expected, actual, 0.0)
+        actual shouldBe expected
     }
 
     @Test
@@ -54,8 +56,8 @@ class BasicFeedforwardTest {
         val actual2 = feedforward.calculate(reference)
 
         // Assert
-        assertEquals(3.0, actual1, 0.0)
-        assertEquals(6.0, actual2, 0.0)
+        actual1 shouldBe 3.0
+        actual2 shouldBe 6.0
     }
 
     @Test
@@ -73,8 +75,8 @@ class BasicFeedforwardTest {
         val actual2 = feedforward.calculate(reference2)
 
         // Assert
-        assertEquals(expected1, actual1, 0.0)
-        assertEquals(expected2, actual2, 0.0)
+        actual1 shouldBe expected1
+        actual2 shouldBe expected2
     }
 
     @Test
@@ -88,6 +90,6 @@ class BasicFeedforwardTest {
         val actual = feedforward.calculate(reference)
 
         // Assert
-        assertEquals(6.0, actual, 0.0)
+        actual shouldBe 6.0
     }
-}
\ No newline at end of file
+}
diff --git a/nextcontrol/src/test/java/dev/nextftc/nextcontrol/feedforward/ElevatorFeedforwardTest.kt b/src/test/kotlin/feedforward/ElevatorFeedforwardTest.kt
similarity index 85%
rename from nextcontrol/src/test/java/dev/nextftc/nextcontrol/feedforward/ElevatorFeedforwardTest.kt
rename to src/test/kotlin/feedforward/ElevatorFeedforwardTest.kt
index a2d5c5a..6c88bb3 100644
--- a/nextcontrol/src/test/java/dev/nextftc/nextcontrol/feedforward/ElevatorFeedforwardTest.kt
+++ b/src/test/kotlin/feedforward/ElevatorFeedforwardTest.kt
@@ -18,11 +18,13 @@
 
 package dev.nextftc.nextcontrol.feedforward
 
-import dev.nextftc.nextcontrol.KineticState
-import kotlin.test.assertEquals
-import kotlin.test.Test
+import dev.nextftc.control.KineticState
+import dev.nextftc.control.feedforward.ElevatorFeedforward
+import dev.nextftc.control.feedforward.GravityFeedforwardParameters
+import io.kotest.core.spec.style.AnnotationSpec
+import io.kotest.matchers.shouldBe
 
-class ElevatorFeedforwardTest {
+class ElevatorFeedforwardTest : AnnotationSpec() {
     @Test
     fun `calculate returns 0 feedforward when parameters are 0`() {
         // Arrange
@@ -34,7 +36,7 @@ class ElevatorFeedforwardTest {
         val actual = feedforward.calculate(reference)
 
         // Assert
-        assertEquals(0.0, actual, 0.0)
+        actual shouldBe 0.0
     }
 
     @Test
@@ -48,7 +50,7 @@ class ElevatorFeedforwardTest {
         val actual = feedforward.calculate(reference)
 
         // Assert
-        assertEquals(7.0, actual, 0.0)
+        actual shouldBe 7.0
     }
 
     @Test
@@ -67,8 +69,8 @@ class ElevatorFeedforwardTest {
         val actual2 = feedforward.calculate(reference)
 
         // Assert
-        assertEquals(4.0, actual1, 0.0)
-        assertEquals(8.0, actual2, 0.0)
+        actual1 shouldBe 4.0
+        actual2 shouldBe 8.0
     }
 
     @Test
@@ -82,7 +84,7 @@ class ElevatorFeedforwardTest {
         val actual = feedforward.calculate(reference)
 
         // Assert
-        assertEquals(-1.0, actual, 0.0)
+        actual shouldBe -1.0
     }
 
     @Test
@@ -96,6 +98,6 @@ class ElevatorFeedforwardTest {
         val actual = feedforward.calculate(reference)
 
         // Assert
-        assertEquals(1.0, actual, 0.0)
+        actual shouldBe 1.0
     }
 }
\ No newline at end of file
diff --git a/nextcontrol/src/test/java/dev/nextftc/nextcontrol/feedforward/NullFeedforwardTest.kt b/src/test/kotlin/feedforward/NullFeedforwardTest.kt
similarity index 83%
rename from nextcontrol/src/test/java/dev/nextftc/nextcontrol/feedforward/NullFeedforwardTest.kt
rename to src/test/kotlin/feedforward/NullFeedforwardTest.kt
index bf75df5..4b940d9 100644
--- a/nextcontrol/src/test/java/dev/nextftc/nextcontrol/feedforward/NullFeedforwardTest.kt
+++ b/src/test/kotlin/feedforward/NullFeedforwardTest.kt
@@ -18,11 +18,12 @@
 
 package dev.nextftc.nextcontrol.feedforward
 
-import dev.nextftc.nextcontrol.KineticState
-import kotlin.test.Test
-import kotlin.test.assertEquals
+import dev.nextftc.control.KineticState
+import dev.nextftc.control.feedforward.FeedforwardElement
+import io.kotest.core.spec.style.AnnotationSpec
+import io.kotest.matchers.shouldBe
 
-class NullFeedforwardTest {
+class NullFeedforwardTest : AnnotationSpec() {
 
     @Test
     fun `calculate returns 0 feedforward`() {
@@ -34,7 +35,7 @@ class NullFeedforwardTest {
         val actual = feedforward.calculate(reference)
 
         // Assert
-        assertEquals(0.0, actual, 0.0)
+        actual shouldBe 0.0
     }
 
     @Test
@@ -49,6 +50,6 @@ class NullFeedforwardTest {
         val actual = feedforward.calculate(reference)
 
         // Assert
-        assertEquals(0.0, actual, 0.0)
+        actual shouldBe 0.0
     }
 }
\ No newline at end of file
diff --git a/nextcontrol/src/test/java/dev/nextftc/nextcontrol/filters/ChainedFilterTest.kt b/src/test/kotlin/filters/ChainedFilterTest.kt
similarity index 81%
rename from nextcontrol/src/test/java/dev/nextftc/nextcontrol/filters/ChainedFilterTest.kt
rename to src/test/kotlin/filters/ChainedFilterTest.kt
index b91b381..0206faa 100644
--- a/nextcontrol/src/test/java/dev/nextftc/nextcontrol/filters/ChainedFilterTest.kt
+++ b/src/test/kotlin/filters/ChainedFilterTest.kt
@@ -1,13 +1,15 @@
 package dev.nextftc.nextcontrol.filters
 
+import dev.nextftc.control.filters.ChainedFilter
+import dev.nextftc.control.filters.Filter
+import io.kotest.assertions.throwables.shouldThrow
+import io.kotest.core.spec.style.AnnotationSpec
+import io.kotest.matchers.shouldBe
 import io.mockk.every
 import io.mockk.mockk
 import io.mockk.verify
-import kotlin.test.assertEquals
-import kotlin.test.assertFailsWith
-import kotlin.test.Test
 
-class ChainedFilterTest {
+class ChainedFilterTest : AnnotationSpec() {
 
     @Test
     fun `filters through filters in the order they were passed in the constructor`() {
@@ -25,7 +27,7 @@ class ChainedFilterTest {
         val actual = chainedFilter.filter(0.0)
 
         // Assert
-        assertEquals(expected, actual, 0.0)
+        actual shouldBe expected
         verify(exactly = 1) { filter1.filter(0.0) }
         verify(exactly = 1) { filter2.filter(1.0) }
     }
@@ -33,9 +35,7 @@ class ChainedFilterTest {
     @Test
     fun `throws exception when no filters are given`() {
         // Assert
-        assertFailsWith<IllegalArgumentException> {
-            ChainedFilter()
-        }
+        shouldThrow<IllegalArgumentException> { ChainedFilter() }
     }
 
     @Test
@@ -63,7 +63,7 @@ class ChainedFilterTest {
         val actual = chainedFilter.filter(0.0)
 
         // Assert
-        assertEquals(expected, actual, 0.0)
+        actual shouldBe expected
         verify(exactly = 1) { filter1.filter(0.0) }
         verify(exactly = 1) { filter2.filter(1.0) }
         verify(exactly = 1) { filter3.filter(2.0) }
diff --git a/nextcontrol/src/test/java/dev/nextftc/nextcontrol/filters/FilterElementTest.kt b/src/test/kotlin/filters/FilterElementTest.kt
similarity index 80%
rename from nextcontrol/src/test/java/dev/nextftc/nextcontrol/filters/FilterElementTest.kt
rename to src/test/kotlin/filters/FilterElementTest.kt
index 0e0890a..1be1c9f 100644
--- a/nextcontrol/src/test/java/dev/nextftc/nextcontrol/filters/FilterElementTest.kt
+++ b/src/test/kotlin/filters/FilterElementTest.kt
@@ -18,15 +18,16 @@
 
 package dev.nextftc.nextcontrol.filters
 
-import dev.nextftc.nextcontrol.KineticState
+import dev.nextftc.control.KineticState
+import dev.nextftc.control.filters.Filter
+import dev.nextftc.control.filters.FilterElement
+import io.kotest.core.spec.style.AnnotationSpec
+import io.kotest.matchers.shouldBe
 import io.mockk.every
 import io.mockk.mockk
 import io.mockk.verify
-import kotlin.test.assertEquals
 
-import kotlin.test.Test
-
-class FilterElementTest {
+class FilterElementTest : AnnotationSpec() {
 
     @Test
     fun `uses PassThroughFilter by default`() {
@@ -38,7 +39,7 @@ class FilterElementTest {
         val actual = filterElement.filter(input)
 
         // Assert
-        assertEquals(input, actual)
+        actual shouldBe input
     }
 
     @Test
@@ -56,8 +57,8 @@ class FilterElementTest {
         val actual = filterElement.filter(input)
 
         // Assert
-        assertEquals(expected, actual)
-        verify (exactly = 1) { positionFilter.filter(10.0) }
+        actual shouldBe expected
+        verify(exactly = 1) { positionFilter.filter(10.0) }
     }
 
     @Test
@@ -75,8 +76,8 @@ class FilterElementTest {
         val actual = filterElement.filter(input)
 
         // Assert
-        assertEquals(expected, actual)
-        verify (exactly = 1) { velocityFilter.filter(20.0) }
+        actual shouldBe expected
+        verify(exactly = 1) { velocityFilter.filter(20.0) }
     }
 
     @Test
@@ -94,8 +95,8 @@ class FilterElementTest {
         val actual = filterElement.filter(input)
 
         // Assert
-        assertEquals(expected, actual)
-        verify (exactly = 1) { accelerationFilter.filter(30.0) }
+        actual shouldBe expected
+        verify(exactly = 1) { accelerationFilter.filter(30.0) }
     }
 
     @Test
@@ -121,9 +122,9 @@ class FilterElementTest {
         val actual = filterElement.filter(input)
 
         // Assert
-        assertEquals(expected, actual)
-        verify (exactly = 1) { positionFilter.filter(10.0) }
-        verify (exactly = 1) { velocityFilter.filter(20.0) }
-        verify (exactly = 1) { accelerationFilter.filter(30.0) }
+        actual shouldBe expected
+        verify(exactly = 1) { positionFilter.filter(10.0) }
+        verify(exactly = 1) { velocityFilter.filter(20.0) }
+        verify(exactly = 1) { accelerationFilter.filter(30.0) }
     }
 }
\ No newline at end of file
diff --git a/nextcontrol/src/test/java/dev/nextftc/nextcontrol/filters/LowPassFilterTest.kt b/src/test/kotlin/filters/LowPassFilterTest.kt
similarity index 76%
rename from nextcontrol/src/test/java/dev/nextftc/nextcontrol/filters/LowPassFilterTest.kt
rename to src/test/kotlin/filters/LowPassFilterTest.kt
index c5d0e0a..1db144f 100644
--- a/nextcontrol/src/test/java/dev/nextftc/nextcontrol/filters/LowPassFilterTest.kt
+++ b/src/test/kotlin/filters/LowPassFilterTest.kt
@@ -1,10 +1,13 @@
 package dev.nextftc.nextcontrol.filters
 
-import kotlin.test.Test
-import kotlin.test.assertEquals
-import kotlin.test.assertFailsWith
+import dev.nextftc.control.filters.LowPassFilter
+import dev.nextftc.control.filters.LowPassParameters
+import io.kotest.assertions.throwables.shouldThrow
+import io.kotest.core.spec.style.AnnotationSpec
+import io.kotest.matchers.shouldBe
 
-class LowPassFilterTest {
+
+class LowPassFilterTest : AnnotationSpec() {
 
     @Test
     fun `parameters passed in constructor are put in parameters object`() {
@@ -17,8 +20,8 @@ class LowPassFilterTest {
         val parameters = lowPassFilter.parameters
 
         // Assert
-        assertEquals(alpha, parameters.alpha, 0.0)
-        assertEquals(initialEstimate, parameters.startingEstimate, 0.0)
+        parameters.alpha shouldBe alpha
+        parameters.startingEstimate shouldBe initialEstimate
     }
 
     @Test
@@ -31,10 +34,10 @@ class LowPassFilterTest {
         val tooLowAlphaParameters = LowPassParameters(tooLowAlpha)
 
         // Assert
-        assertFailsWith<IllegalArgumentException> {
+        shouldThrow<IllegalArgumentException> {
             LowPassFilter(tooLowAlphaParameters)
         }
-        assertFailsWith<IllegalArgumentException> {
+        shouldThrow<IllegalArgumentException> {
             LowPassFilter(tooHighAlphaParameters)
         }
     }
@@ -52,8 +55,8 @@ class LowPassFilterTest {
         val secondEstimate = lowPassFilter.filter(secondSensorMeasurement)
 
         // Assert
-        assertEquals(firstSensorMeasurement, firstEstimate, 0.0)
-        assertEquals(secondSensorMeasurement, secondEstimate, 0.0)
+        firstEstimate shouldBe firstSensorMeasurement
+        secondEstimate shouldBe secondSensorMeasurement
     }
 
     @Test
@@ -71,8 +74,8 @@ class LowPassFilterTest {
         val secondEstimate = lowPassFilter.filter(secondSensorMeasurement)
 
         // Assert
-        assertEquals(initialEstimate, firstEstimate, 0.0)
-        assertEquals(initialEstimate, secondEstimate, 0.0)
+        firstEstimate shouldBe initialEstimate
+        secondEstimate shouldBe initialEstimate
     }
 
     @Test
@@ -85,8 +88,8 @@ class LowPassFilterTest {
         val nonZeroLowPassFilter = LowPassFilter(nonZeroParameters)
 
         // Assert
-        assertEquals(0.0, lowPassFilter.previousEstimate, 0.0)
-        assertEquals(10.0, nonZeroLowPassFilter.previousEstimate, 0.0)
+        lowPassFilter.previousEstimate shouldBe 0.0
+        nonZeroLowPassFilter.previousEstimate shouldBe 10.0
     }
 
     @Test
@@ -103,8 +106,8 @@ class LowPassFilterTest {
         val secondEstimate = lowPassFilter.filter(secondSensorMeasurement)
 
         // Assert
-        assertEquals(expectedEstimate, firstEstimate, 0.0)
-        assertEquals(expectedEstimate, secondEstimate, 0.0)
+        firstEstimate shouldBe expectedEstimate
+        secondEstimate shouldBe expectedEstimate
     }
 
     @Test
@@ -124,9 +127,9 @@ class LowPassFilterTest {
         val thirdEstimate = lowPassFilter.filter(thirdSensorMeasurement)
 
         // Assert
-        assertEquals(expectedFirstEstimate, firstEstimate, 0.0)
-        assertEquals(expectedSecondEstimate, secondEstimate, 0.0)
-        assertEquals(expectedThirdEstimate, thirdEstimate, 0.0)
+        firstEstimate shouldBe expectedFirstEstimate
+        secondEstimate shouldBe expectedSecondEstimate
+        thirdEstimate shouldBe expectedThirdEstimate
     }
 
     @Test
@@ -155,9 +158,9 @@ class LowPassFilterTest {
         val fourthEstimate = filter.filter(fourthSensorMeasurement)
 
         // Assert
-        assertEquals(expectedFirstEstimate, firstEstimate, 0.0)
-        assertEquals(expectedSecondEstimate, secondEstimate, 0.0)
-        assertEquals(expectedThirdEstimate, thirdEstimate, 0.0)
-        assertEquals(expectedFourthEstimate, fourthEstimate, 0.0)
+        firstEstimate shouldBe expectedFirstEstimate
+        secondEstimate shouldBe expectedSecondEstimate
+        thirdEstimate shouldBe expectedThirdEstimate
+        fourthEstimate shouldBe expectedFourthEstimate
     }
 }
\ No newline at end of file
diff --git a/nextcontrol/src/test/java/dev/nextftc/nextcontrol/filters/NullFilterTest.kt b/src/test/kotlin/filters/NullFilterTest.kt
similarity index 83%
rename from nextcontrol/src/test/java/dev/nextftc/nextcontrol/filters/NullFilterTest.kt
rename to src/test/kotlin/filters/NullFilterTest.kt
index d3757e9..529706c 100644
--- a/nextcontrol/src/test/java/dev/nextftc/nextcontrol/filters/NullFilterTest.kt
+++ b/src/test/kotlin/filters/NullFilterTest.kt
@@ -18,11 +18,11 @@
 
 package dev.nextftc.nextcontrol.filters
 
-import kotlin.test.assertEquals
+import dev.nextftc.control.filters.Filter
+import io.kotest.core.spec.style.AnnotationSpec
+import io.kotest.matchers.shouldBe
 
-import kotlin.test.Test
-
-class NullFilterTest {
+class NullFilterTest : AnnotationSpec() {
 
     @Test
     fun `returns value passed in`() {
@@ -35,6 +35,6 @@ class NullFilterTest {
         val actual = filter.filter(input)
 
         // Assert
-        assertEquals(input, actual, 0.0)
+        actual shouldBe input
     }
 }
\ No newline at end of file
diff --git a/nextcontrol/src/test/java/dev/nextftc/nextcontrol/interpolators/ConstantInterpolatorTest.kt b/src/test/kotlin/interpolators/ConstantInterpolatorTest.kt
similarity index 80%
rename from nextcontrol/src/test/java/dev/nextftc/nextcontrol/interpolators/ConstantInterpolatorTest.kt
rename to src/test/kotlin/interpolators/ConstantInterpolatorTest.kt
index 4270dc7..fa57792 100644
--- a/nextcontrol/src/test/java/dev/nextftc/nextcontrol/interpolators/ConstantInterpolatorTest.kt
+++ b/src/test/kotlin/interpolators/ConstantInterpolatorTest.kt
@@ -18,11 +18,12 @@
 
 package dev.nextftc.nextcontrol.interpolators
 
-import dev.nextftc.nextcontrol.KineticState
-import kotlin.test.assertEquals
-import kotlin.test.Test
+import dev.nextftc.control.KineticState
+import dev.nextftc.control.interpolators.ConstantInterpolator
+import io.kotest.core.spec.style.AnnotationSpec
+import io.kotest.matchers.shouldBe
 
-class ConstantInterpolatorTest {
+class ConstantInterpolatorTest : AnnotationSpec() {
 
     @Test
     fun `constructor parameter is set as goal`() {
@@ -33,7 +34,7 @@ class ConstantInterpolatorTest {
         val interpolator = ConstantInterpolator(expected)
 
         // Assert
-        assertEquals(expected, interpolator.goal)
+        interpolator.goal shouldBe expected
     }
 
     @Test
@@ -52,7 +53,7 @@ class ConstantInterpolatorTest {
         val secondReference = interpolator.currentReference
 
         // Assert
-        assertEquals(firstGoal, firstReference)
-        assertEquals(secondGoal, secondReference)
+        firstReference shouldBe firstGoal
+        secondReference shouldBe secondGoal
     }
 }
\ No newline at end of file
diff --git a/nextcontrol/src/test/java/dev/nextftc/nextcontrol/interpolators/FirstOrderEMAInterpolatorTest.kt b/src/test/kotlin/interpolators/FirstOrderEMAInterpolatorTest.kt
similarity index 78%
rename from nextcontrol/src/test/java/dev/nextftc/nextcontrol/interpolators/FirstOrderEMAInterpolatorTest.kt
rename to src/test/kotlin/interpolators/FirstOrderEMAInterpolatorTest.kt
index 6fc6cda..6e92b52 100644
--- a/nextcontrol/src/test/java/dev/nextftc/nextcontrol/interpolators/FirstOrderEMAInterpolatorTest.kt
+++ b/src/test/kotlin/interpolators/FirstOrderEMAInterpolatorTest.kt
@@ -18,11 +18,13 @@
 
 package dev.nextftc.nextcontrol.interpolators
 
-import dev.nextftc.nextcontrol.KineticState
-import kotlin.test.Test
-import kotlin.test.assertEquals
+import dev.nextftc.control.KineticState
+import dev.nextftc.control.interpolators.FirstOrderEMAInterpolator
+import dev.nextftc.control.interpolators.FirstOrderEMAParameters
+import io.kotest.core.spec.style.AnnotationSpec
+import io.kotest.matchers.shouldBe
 
-class FirstOrderEMAInterpolatorTest {
+class FirstOrderEMAInterpolatorTest : AnnotationSpec() {
 
     @Test
     fun `smoothly interpolates from zero to five`() {
@@ -39,11 +41,11 @@ class FirstOrderEMAInterpolatorTest {
         val c5 = interpolator.currentReference.position
 
         // Assert
-        assertEquals(2.5, c1, 0.0)
-        assertEquals(3.75, c2, 0.0)
-        assertEquals(4.375, c3, 0.0)
-        assertEquals(4.6875, c4, 0.0)
-        assertEquals(4.84375, c5, 0.0)
+        c1 shouldBe 2.5
+        c2 shouldBe 3.75
+        c3 shouldBe 4.375
+        c4 shouldBe 4.6875
+        c5 shouldBe 4.84375
     }
 
     @Test
@@ -68,10 +70,10 @@ class FirstOrderEMAInterpolatorTest {
         val c4 = interpolator.currentReference.position
         val c5 = interpolator.currentReference.position
 
-        assertEquals(2.421875, c1, 0.0)
-        assertEquals(1.2109375, c2, 0.0)
-        assertEquals(0.60546875, c3, 0.0)
-        assertEquals(0.302734375, c4, 0.0)
-        assertEquals(0.1513671875, c5, 0.0)
+        c1 shouldBe 2.421875
+        c2 shouldBe 1.2109375
+        c3 shouldBe 0.60546875
+        c4 shouldBe 0.302734375
+        c5 shouldBe 0.1513671875
     }
-}
\ No newline at end of file
+}