diff --git a/.run/Build Robot.run.xml b/.run/Build Robot.run.xml
new file mode 100644
index 000000000..21ee0a051
--- /dev/null
+++ b/.run/Build Robot.run.xml	
@@ -0,0 +1,24 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Build Robot" type="GradleRunConfiguration" factoryName="Gradle">
+    <ExternalSystemSettings>
+      <option name="executionName" />
+      <option name="externalProjectPath" value="$PROJECT_DIR$" />
+      <option name="externalSystemIdString" value="GRADLE" />
+      <option name="scriptParameters" value="" />
+      <option name="taskDescriptions">
+        <list />
+      </option>
+      <option name="taskNames">
+        <list>
+          <option value="build" />
+        </list>
+      </option>
+      <option name="vmOptions" />
+    </ExternalSystemSettings>
+    <ExternalSystemDebugServerProcess>true</ExternalSystemDebugServerProcess>
+    <ExternalSystemReattachDebugProcess>true</ExternalSystemReattachDebugProcess>
+    <DebugAllEnabled>false</DebugAllEnabled>
+    <RunAsTest>false</RunAsTest>
+    <method v="2" />
+  </configuration>
+</component>
\ No newline at end of file
diff --git a/src/main/java/xbot/common/command/BaseRobot.java b/src/main/java/xbot/common/command/BaseRobot.java
index 97caa33b7..4055a1c54 100644
--- a/src/main/java/xbot/common/command/BaseRobot.java
+++ b/src/main/java/xbot/common/command/BaseRobot.java
@@ -261,9 +261,10 @@ protected void sharedPeriodic() {
 
         // Then, refresh any Subsystem or other components that implement DataFrameRefreshable.
         double dataFrameStart = getPerformanceTimestampInMs();
-        for (DataFrameRefreshable refreshable : dataFrameRefreshables) {
-            refreshable.refreshDataFrame();
-        }
+        refreshAllSubsystems();
+//        for (DataFrameRefreshable refreshable : dataFrameRefreshables) {
+//            refreshable.refreshDataFrame();
+//        }
         double dataFrameEnd = getPerformanceTimestampInMs();
         Logger.recordOutput("RefreshDevicesMs", dataFrameEnd - dataFrameStart);
 
@@ -275,6 +276,11 @@ protected void sharedPeriodic() {
         outsidePeriodicStart = getPerformanceTimestampInMs();
     }
 
+    public void refreshAllSubsystems() {
+        for (BaseSubsystem subsystem : DataFrameRegistry.getAllSubsystems()) {
+            subsystem.refreshDataFrame();
+        }
+    }
 
     @Override
     public void simulationInit() {
diff --git a/src/main/java/xbot/common/command/BaseSubsystem.java b/src/main/java/xbot/common/command/BaseSubsystem.java
index 74d4d3bea..00b570b1f 100644
--- a/src/main/java/xbot/common/command/BaseSubsystem.java
+++ b/src/main/java/xbot/common/command/BaseSubsystem.java
@@ -1,8 +1,5 @@
 package xbot.common.command;
 
-import java.util.ArrayList;
-import java.util.List;
-
 import org.apache.logging.log4j.LogManager;
 import org.apache.logging.log4j.Logger;
 
@@ -15,20 +12,23 @@ public abstract class BaseSubsystem extends SubsystemBase implements IPropertySu
 
     protected final Logger log;
     protected final AKitLogger aKitLog;
-    protected final List<DataFrameRefreshable> dataFrameRefreshables = new ArrayList<>();
+//    protected final List<DataFrameRefreshable> dataFrameRefreshables = new ArrayList<>();
 
     public BaseSubsystem() {
+        super();
         log = LogManager.getLogger(this.getName());
         aKitLog = new AKitLogger(this);
+
+        DataFrameRegistry.registerSubsystem(this);
     }
 
     public String getPrefix() {
         return this.getName() + "/";
     }
 
-    protected void registerDataFrameRefreshable(DataFrameRefreshable refreshable) {
-        dataFrameRefreshables.add(refreshable);
-    }
+//    protected void registerDataFrameRefreshable(DataFrameRefreshable refreshable) {
+//        dataFrameRefreshables.add(refreshable);
+//    }
 
     /**
      * This method is called on each {@link edu.wpi.first.wpilibj2.command.CommandScheduler} loop.
@@ -43,8 +43,5 @@ public void periodic() {
 
     @Override
     public void refreshDataFrame() {
-        for (DataFrameRefreshable refreshable : dataFrameRefreshables) {
-            refreshable.refreshDataFrame();
-        }
     }
 }
diff --git a/src/main/java/xbot/common/command/DataFrameRegistry.java b/src/main/java/xbot/common/command/DataFrameRegistry.java
new file mode 100644
index 000000000..2d7937306
--- /dev/null
+++ b/src/main/java/xbot/common/command/DataFrameRegistry.java
@@ -0,0 +1,14 @@
+package xbot.common.command;
+
+import java.util.ArrayList;
+import java.util.List;
+
+public final class DataFrameRegistry {
+    private static final List<BaseSubsystem> subsystems = new ArrayList<>();
+    public static void registerSubsystem(BaseSubsystem s) {
+        subsystems.add(s);
+    }
+    public static List<BaseSubsystem> getAllSubsystems() {
+        return subsystems;
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/xbot/common/properties/IPropertySupport.java b/src/main/java/xbot/common/properties/IPropertySupport.java
index cdabbcf7e..c231e9373 100644
--- a/src/main/java/xbot/common/properties/IPropertySupport.java
+++ b/src/main/java/xbot/common/properties/IPropertySupport.java
@@ -2,4 +2,6 @@
 
 public interface IPropertySupport {
     public String getPrefix();
+
+//    void refreshDataFrame();
 }
\ No newline at end of file