diff --git a/docs/maniplib/ManipArm.html b/docs/maniplib/ManipArm.html
index 544ae3a..708162a 100644
--- a/docs/maniplib/ManipArm.html
+++ b/docs/maniplib/ManipArm.html
@@ -123,7 +123,7 @@ <h2>Method Summary</h2>
 <div class="table-header col-second">Method</div>
 <div class="table-header col-last">Description</div>
 <div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#addAbsoluteEncoderValue(double)" class="member-name-link">addAbsoluteEncoderValue</a><wbr>(double&nbsp;absEncoderDegrees)</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#addAbsoluteEncoderValue(double)" class="member-name-link">addAbsoluteEncoderValue</a><wbr>(double&nbsp;absEncoderRotations)</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Adds an absolute encoder to sync to on init.</div>
 </div>
@@ -342,10 +342,10 @@ <h3>addFollower</h3>
 <li>
 <section class="detail" id="addAbsoluteEncoderValue(double)">
 <h3>addAbsoluteEncoderValue</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">addAbsoluteEncoderValue</span><wbr><span class="parameters">(double&nbsp;absEncoderDegrees)</span></div>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">addAbsoluteEncoderValue</span><wbr><span class="parameters">(double&nbsp;absEncoderRotations)</span></div>
 <div class="block">Adds an absolute encoder to sync to on init. This is not used for actual control
  but recommended to keep arm position on boot. Can be called in init.
- Value must be in 0-360.</div>
+ Value must be in rotations 0-1.</div>
 </section>
 </li>
 <li>
diff --git a/maniplib/maniplib.json b/maniplib/maniplib.json
index ec2fc29..8f268aa 100644
--- a/maniplib/maniplib.json
+++ b/maniplib/maniplib.json
@@ -1,7 +1,7 @@
 {
-  "fileName": "maniplib-2025.0.0-beta0.5.5.json",
+  "fileName": "maniplib-2025.0.0-beta0.5.6.json",
   "name": "ManipLib",
-  "version": "2025.0.0-beta0.5.5",
+  "version": "2025.0.0-beta0.5.6",
   "frcYear": "2025",
   "uuid": "67953b3f-32a5-41cf-84d7-2f6989d3d38d",
   "mavenUrls": [
@@ -12,7 +12,7 @@
     {
       "groupId": "maniplib",
       "artifactId": "ManipLib-java",
-      "version": "2025.0.0-beta0.5.5"
+      "version": "2025.0.0-beta0.5.6"
     }
   ],
   "requires": [
diff --git a/maniplib/repos/maniplib/ManipLib-cpp/2025.0.0-beta0.5.6/ManipLib-cpp-2025.0.0-beta0.5.6-headers.zip b/maniplib/repos/maniplib/ManipLib-cpp/2025.0.0-beta0.5.6/ManipLib-cpp-2025.0.0-beta0.5.6-headers.zip
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new file mode 100644
index 0000000..5ed6adb
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+++ b/maniplib/repos/maniplib/ManipLib-cpp/2025.0.0-beta0.5.6/ManipLib-cpp-2025.0.0-beta0.5.6-headers.zip.sha1
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new file mode 100644
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new file mode 100644
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new file mode 100644
index 0000000..652194a
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new file mode 100644
index 0000000..5ed6adb
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new file mode 100644
index 0000000..bbfa2c5
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new file mode 100644
index 0000000..5f879e1
--- /dev/null
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@@ -0,0 +1 @@
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new file mode 100644
index 0000000..c7dc433
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+++ b/maniplib/repos/maniplib/ManipLib-cpp/2025.0.0-beta0.5.6/ManipLib-cpp-2025.0.0-beta0.5.6.pom
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 https://maven.apache.org/xsd/maven-4.0.0.xsd" xmlns="http://maven.apache.org/POM/4.0.0"
+    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <modelVersion>4.0.0</modelVersion>
+  <groupId>maniplib</groupId>
+  <artifactId>ManipLib-cpp</artifactId>
+  <version>2025.0.0-beta0.5.6</version>
+  <packaging>pom</packaging>
+</project>
diff --git a/maniplib/repos/maniplib/ManipLib-cpp/2025.0.0-beta0.5.6/ManipLib-cpp-2025.0.0-beta0.5.6.pom.md5 b/maniplib/repos/maniplib/ManipLib-cpp/2025.0.0-beta0.5.6/ManipLib-cpp-2025.0.0-beta0.5.6.pom.md5
new file mode 100644
index 0000000..ddf2c1c
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new file mode 100644
index 0000000..83a71cf
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new file mode 100644
index 0000000..18d44c6
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new file mode 100644
index 0000000..5344e9d
--- /dev/null
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@@ -0,0 +1 @@
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diff --git a/maniplib/repos/maniplib/ManipLib-cpp/maven-metadata.xml b/maniplib/repos/maniplib/ManipLib-cpp/maven-metadata.xml
index 5f10882..1b0b43a 100644
--- a/maniplib/repos/maniplib/ManipLib-cpp/maven-metadata.xml
+++ b/maniplib/repos/maniplib/ManipLib-cpp/maven-metadata.xml
@@ -3,8 +3,8 @@
   <groupId>maniplib</groupId>
   <artifactId>ManipLib-cpp</artifactId>
   <versioning>
-    <latest>2025.0.0-beta0.5.5</latest>
-    <release>2025.0.0-beta0.5.5</release>
+    <latest>2025.0.0-beta0.5.6</latest>
+    <release>2025.0.0-beta0.5.6</release>
     <versions>
       <version>test</version>
       <version>2025.0.0-beta0</version>
@@ -18,7 +18,8 @@
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       <version>2025.0.0-beta0.5.4</version>
       <version>2025.0.0-beta0.5.5</version>
+      <version>2025.0.0-beta0.5.6</version>
     </versions>
-    <lastUpdated>20250302150604</lastUpdated>
+    <lastUpdated>20250302152817</lastUpdated>
   </versioning>
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+++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6-sources.jar.md5
@@ -0,0 +1 @@
+0e5b93cd75c446ee7dfdbe24ff40fe03
\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6-sources.jar.sha1 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6-sources.jar.sha1
new file mode 100644
index 0000000..94747b7
--- /dev/null
+++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6-sources.jar.sha1
@@ -0,0 +1 @@
+350ae875bfabe0ae977e46d4ad03a20b1e518a07
\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6-sources.jar.sha256 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6-sources.jar.sha256
new file mode 100644
index 0000000..49a0bd5
--- /dev/null
+++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6-sources.jar.sha256
@@ -0,0 +1 @@
+0e2e230b0ad4158b2fc6d8160aafd63862dfbb1e367b35de064861ddfff80717
\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6-sources.jar.sha512 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6-sources.jar.sha512
new file mode 100644
index 0000000..ee2cdd6
--- /dev/null
+++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6-sources.jar.sha512
@@ -0,0 +1 @@
+27149d9419bccbe7356589713db6e3ce5a1fced1adb5c7b220177ae1bd1751d1dc4a0d01d2cdf084eef580e47c73104f7f77eb6dc0a55350f9452642197aed18
\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6.jar b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6.jar
new file mode 100644
index 0000000..31c9956
Binary files /dev/null and b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6.jar differ
diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6.jar.md5 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6.jar.md5
new file mode 100644
index 0000000..258de89
--- /dev/null
+++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6.jar.md5
@@ -0,0 +1 @@
+4c9026087a3fe7248bd883b306cac3d7
\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6.jar.sha1 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6.jar.sha1
new file mode 100644
index 0000000..b307a8a
--- /dev/null
+++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6.jar.sha1
@@ -0,0 +1 @@
+831835ab752580db5391224c128aad13bb2ac675
\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6.jar.sha256 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6.jar.sha256
new file mode 100644
index 0000000..baa8eee
--- /dev/null
+++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6.jar.sha256
@@ -0,0 +1 @@
+cbdd56ff9229318e530ffb6fb31405776c28ce28a56494e24926186d9fb0bda8
\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6.jar.sha512 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6.jar.sha512
new file mode 100644
index 0000000..b33f40b
--- /dev/null
+++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6.jar.sha512
@@ -0,0 +1 @@
+c48fd33828f3b51aaf6a216614b4dd7d53ec446f94e0562df08f4a6e0a27c7ad70b4e671a9c4e3ac884d144104b3a789981c608c47b4055a286e3ac770a7d815
\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6.pom b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6.pom
new file mode 100644
index 0000000..a156dc9
--- /dev/null
+++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6.pom
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 https://maven.apache.org/xsd/maven-4.0.0.xsd" xmlns="http://maven.apache.org/POM/4.0.0"
+    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <modelVersion>4.0.0</modelVersion>
+  <groupId>maniplib</groupId>
+  <artifactId>ManipLib-java</artifactId>
+  <version>2025.0.0-beta0.5.6</version>
+</project>
diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6.pom.md5 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6.pom.md5
new file mode 100644
index 0000000..a1b90ac
--- /dev/null
+++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6.pom.md5
@@ -0,0 +1 @@
+a978eb54b1575e9ee08b8868c8c3b5a6
\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6.pom.sha1 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6.pom.sha1
new file mode 100644
index 0000000..dbf1869
--- /dev/null
+++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6.pom.sha1
@@ -0,0 +1 @@
+03510ceec3c9f4e703821b4d790fa5052d2dd232
\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6.pom.sha256 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6.pom.sha256
new file mode 100644
index 0000000..db14681
--- /dev/null
+++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6.pom.sha256
@@ -0,0 +1 @@
+6810f3327298f222a5b5419accd4fef20d87a2f601719fe21c504a3fb3293f06
\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6.pom.sha512 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6.pom.sha512
new file mode 100644
index 0000000..0133cb1
--- /dev/null
+++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.6/ManipLib-java-2025.0.0-beta0.5.6.pom.sha512
@@ -0,0 +1 @@
+b8ce2d4da94b326c72e4b982ef66409404af3b86f520e94d144427c982b19d769cd08561325ca784080f6036cb22016d2cb6fd83aa2a9b74b174ee8de2eb831b
\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml
index 8ff007b..5153536 100644
--- a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml
+++ b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml
@@ -3,8 +3,8 @@
   <groupId>maniplib</groupId>
   <artifactId>ManipLib-java</artifactId>
   <versioning>
-    <latest>2025.0.0-beta0.5.5</latest>
-    <release>2025.0.0-beta0.5.5</release>
+    <latest>2025.0.0-beta0.5.6</latest>
+    <release>2025.0.0-beta0.5.6</release>
     <versions>
       <version>2025.0.0-unreleased</version>
       <version>test</version>
@@ -19,7 +19,8 @@
       <version>2025.0.0-beta0.5.3</version>
       <version>2025.0.0-beta0.5.4</version>
       <version>2025.0.0-beta0.5.5</version>
+      <version>2025.0.0-beta0.5.6</version>
     </versions>
-    <lastUpdated>20250302150604</lastUpdated>
+    <lastUpdated>20250302152821</lastUpdated>
   </versioning>
 </metadata>
diff --git a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.md5 b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.md5
index 9a8b74f..8f5448e 100644
--- a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.md5
+++ b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.md5
@@ -1 +1 @@
-ee74021674753697e52729e0ff8ab3dc
\ No newline at end of file
+f1c4d1a8bca76fc3bdfebac5c3dd27c2
\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha1 b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha1
index f37657d..46e95cc 100644
--- a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha1
+++ b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha1
@@ -1 +1 @@
-f1d672b8a10b523664e890f323467013bc99492a
\ No newline at end of file
+20f165b6e8980fcbf5767b104079adf6d98d926e
\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha256 b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha256
index 4b7cbcd..f0b3754 100644
--- a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha256
+++ b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha256
@@ -1 +1 @@
-46ddc9a267c34755e76f679d0080b92eef4c81c6e2c2c7801c1dd2873105bdc0
\ No newline at end of file
+33e046bf659249a6ccb96285dd3998a81ce24a19770422c41a3d13ec9658f373
\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha512 b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha512
index cb873c3..ccbcd85 100644
--- a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha512
+++ b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha512
@@ -1 +1 @@
-92233c7aeaf62f38eed214bb0e15d4709283b5b97abf9bae80d79c101788f6f91abf08707ebe9909509a75b964aba4a76f41d620f048e603b53a8379f849dbb6
\ No newline at end of file
+c81206ee23af5981e94a47d422d6317addf7cb23f8cbb73d75b5d7bbddaee827e95be738d42fd5030dbef8b00fb19c16f921bfedef2369d29e81962385e0844a
\ No newline at end of file
diff --git a/publish.gradle b/publish.gradle
index 3cb183b..a31f7bd 100644
--- a/publish.gradle
+++ b/publish.gradle
@@ -2,7 +2,7 @@ apply plugin: 'maven-publish'
 
 ext.licenseFile = files("$rootDir/LICENSE.txt")
 
-def pubVersion = System.getenv("releaseVersion") ?: "2025.0.0-beta0.5.5"
+def pubVersion = System.getenv("releaseVersion") ?: "2025.0.0-beta0.5.6"
 
 def releasesRepoUrl = "maniplib/repos/"
 
diff --git a/src/main/java/maniplib/ManipArm.java b/src/main/java/maniplib/ManipArm.java
index 631abff..c6e86fb 100644
--- a/src/main/java/maniplib/ManipArm.java
+++ b/src/main/java/maniplib/ManipArm.java
@@ -270,10 +270,10 @@ public void addFollower(ManipMotor followerMotor, boolean isInverted) {
     /**
      * Adds an absolute encoder to sync to on init. This is not used for actual control
      * but recommended to keep arm position on boot. Can be called in init.
-     * Value must be in 0-360. 
+     * Value must be in rotations 0-1.
      */
-    public void addAbsoluteEncoderValue(double absEncoderDegrees) {
-        absEncoderAngle.mut_replace(absEncoderDegrees, Degrees);
+    public void addAbsoluteEncoderValue(double absEncoderRotations) {
+        absEncoderAngle.mut_replace(absEncoderRotations, Rotations);
         this.absSetup = true;
     }
 
@@ -295,7 +295,7 @@ public void setSyncAbsEncoderInit(boolean syncAbsEncoderInit) {
      */
     public void synchronizeAbsoluteEncoder() {
         motor.setPosition(
-                Rotations.of(absEncoderAngle.in(Degrees))
+                Degrees.of(absEncoderAngle.in(Rotations))
                         .minus(armConstants.kArmOffsetToHorizantalZero)
                         .in(Rotations));
     }