diff --git a/docs/assets/js/v2.js b/docs/assets/js/v2.js
index dd5b9a6d..994c9a3c 100644
--- a/docs/assets/js/v2.js
+++ b/docs/assets/js/v2.js
@@ -1,6 +1,3 @@
-
-
-
 function getFreeSpeedFromMotors() {
   let motor_count = {}
   let modules = ['frontright', 'frontleft', 'backright', 'backleft'];
@@ -52,14 +49,31 @@ function jsonify(name) {
   let formdata = $(`#${name}-form`).serializeArray();
   formdata.forEach((val) => {
     if (val.name.includes('_')) {
-      let struct = val.name.substring(0, val.name.indexOf('_'));
+      let structStart = val.name.indexOf('_')
+      let struct = val.name.substring(0, structStart);
+      let subStruct = null;
       if (data[struct] === undefined) {
         data[struct] = {};
       }
-      data[struct][val.name.substring(val.name.indexOf('_') + 1)] =
-          isNumeric(val.value) ?
-              parseFloat(val.value) :
-              (val.value === "" ? null : val.value);
+      let subStructStart = val.name.indexOf('_', structStart + 1);
+      if (subStructStart !== -1) {
+        subStruct = val.name.substring(structStart + 1, subStructStart)
+        if (data[struct][subStruct] === undefined) {
+          data[struct][subStruct] = {}
+        }
+      }
+      if (subStruct == null) {
+        data[struct][val.name.substring(val.name.lastIndexOf('_') + 1)] =
+            isNumeric(val.value) ?
+                parseFloat(val.value) :
+                (val.value === "" ? null : val.value);
+      } else {
+        data[struct][subStruct][val.name.substring(
+            val.name.lastIndexOf('_') + 1)] =
+            isNumeric(val.value) ?
+                parseFloat(val.value) :
+                (val.value === "" ? null : val.value);
+      }
     } else {
       data[val.name] = isNumeric(val.value) ?
           parseFloat(val.value) :
@@ -103,7 +117,6 @@ function copyText(name) {
   navigator.clipboard.writeText(text);
 }
 
-
 function getText(name) {
   let text = $(`#${name}-json`).text();
   return text;
@@ -123,18 +136,21 @@ const saveAs = (blob, name) => {
 
 function zipDownload() {
   const zip = new JSZip();
-    let swf = zip.folder("swerve")
-      let cp = swf.file("controllerproperties.json", getText("controllerproperties"));
-      let sd = swf.file("swervedrive.json", getText("swervedrive"));
-      let mod = swf.folder("modules")
-        let pp = mod.file("physicalproperties.json", getText("physicalproperties"));
-        let fl = mod.file("frontleft.json", getText("frontleft"));
-        let fr = mod.file("frontright.json", getText("frontright"));
-        let bl = mod.file("backleft.json", getText("backleft"));
-        let br = mod.file("backright.json", getText("backright"));
-        let pidf = mod.file("pidfproperties.json", getText("pidfproperties"));
-
-  zip.generateAsync({type:"blob"}).then(function (blob) {saveAs(blob, "YAGSL Config.zip")});
+  let swf = zip.folder("swerve")
+  let cp = swf.file("controllerproperties.json",
+      getText("controllerproperties"));
+  let sd = swf.file("swervedrive.json", getText("swervedrive"));
+  let mod = swf.folder("modules")
+  let pp = mod.file("physicalproperties.json", getText("physicalproperties"));
+  let fl = mod.file("frontleft.json", getText("frontleft"));
+  let fr = mod.file("frontright.json", getText("frontright"));
+  let bl = mod.file("backleft.json", getText("backleft"));
+  let br = mod.file("backright.json", getText("backright"));
+  let pidf = mod.file("pidfproperties.json", getText("pidfproperties"));
+
+  zip.generateAsync({type: "blob"}).then(function (blob) {
+    saveAs(blob, "YAGSL Config.zip")
+  });
   console.log("Downloaded YAGSL Config zip");
 }
 
diff --git a/docs/index.html b/docs/index.html
index 1838c409..795f6288 100644
--- a/docs/index.html
+++ b/docs/index.html
@@ -120,50 +120,40 @@ <h1 class="d-inline display-6">Module Properties</h1>
                      placeholder="20" type="number" value="20">
               <label class="form-label" for="currentLimit_angle-input">Current Limit Angle</label>
             </div>
-            <hr/>
-            <div class="alert alert-secondary" role="alert">
-              The formula for the conversion factors is described in depth <a
-                href="https://yagsl.gitbook.io/yagsl/fundamentals/swerve-modules#conversion-factor">here</a>.
-              <br/>
-              IF you are using an absolute encoder attached to your SparkMAX this should be <code>360</code>
-              for the angle motor conversion factor.
-              You can also generate these by using <br/>
-              <code>SwerveMath.calculateMetersPerRotation</code>
-              <br/>
-              As in this example bellow. <br/>
-              <pre><code>
-// Angle conversion factor is 360 / (GEAR RATIO * ENCODER RESOLUTION)
-//  In this case the gear ratio is 12.8 motor revolutions per wheel rotation.
-//  The encoder resolution per motor revolution is 1 per motor revolution.
-double <var>angleConversionFactor</var> = SwerveMath.calculateDegreesPerSteeringRotation(<var>12.8</var>, <var>1</var>);
-
-// Motor conversion factor is (PI * WHEEL DIAMETER IN METERS) / (GEAR RATIO * ENCODER RESOLUTION).
-//  In this case the wheel diameter is 4 inches, which must be converted to meters to get meters/second.
-//  The gear ratio is 6.75 motor revolutions per wheel rotation.
-//  The encoder resolution per motor revolution is 1 per motor revolution.
-double <var>driveConversionFactor</var> = SwerveMath.calculateMetersPerRotation(<var>Units.inchesToMeters(4)</var>, <var>6.75</var>, <var>1</var>);
+            <div class="form-floating mb-3">
 
-// If you did not want to specify conversion factors in these JSON files you can place them as parameters for <var>createSwerveDrive</var>. <br/>
-SwerveDrive swerveDrive = new SwerveParser(directory).createSwerveDrive(maximumSpeed, angleConversionFactor, driveConversionFactor);
-                </code></pre>
-              These conversion factor is applied to the PID on the motor controller.
+              <input class="form-control" id="swervedriveconversion_angle-input"
+                     name="conversionFactor_angle_gearRatio" placeholder=""
+                     type="number" value="0">
+              <label class="form-label" for="swervedriveconversion_angle-input">Angle/Steering/Azimuth Gear Ratio</label>
             </div>
-            <hr/>
             <div class="form-floating mb-3">
 
-              <input class="form-control" id="swervedriveconversion_angle-input"
-                     name="conversionFactor_angle" placeholder=""
+              <input class="form-control" id="swervedriveconversion_angle_factor-input"
+                     name="conversionFactor_angle_factor" placeholder=""
                      type="number" value="0">
-              <label class="form-label" for="swervedriveconversion_angle-input">Angle Motor
-                Conversion Factor</label>
+              <label class="form-label" for="swervedriveconversion_angle_factor-input">Angle/Steering/Azimuth Conversion Factor (optional)</label>
             </div>
             <div class="form-floating mb-3">
               <input class="form-control" id="swervedriveconversion_drive-input"
-                     name="conversionFactor_drive"
-                     placeholder="(Math.PI * wheelDiameterInMeters) / (driveGearRatio)"
+                     name="conversionFactor_drive_diameter"
+                     placeholder="0in"
                      type="number" value="0">
-              <label class="form-label" for="swervedriveconversion_drive-input">Drive Motor
-                Conversion Factor</label>
+              <label class="form-label" for="swervedriveconversion_drive-input">Wheel Diameter (in)</label>
+            </div>
+            <div class="form-floating mb-3">
+              <input class="form-control" id="swervedriveconversion_drive_gearRatio-input"
+                     name="conversionFactor_drive_gearRatio"
+                     placeholder="0"
+                     type="number" value="0">
+              <label class="form-label" for="swervedriveconversion_drive_gearRatio-input">Drive Gear Ratio</label>
+            </div>
+            <div class="form-floating mb-3">
+              <input class="form-control" id="swervedriveconversion_drive_factor-input"
+                     name="conversionFactor_drive_factor"
+                     placeholder="0"
+                     type="number" value="0">
+              <label class="form-label" for="swervedriveconversion_drive_factor-input">Drive Conversion Factor (optional)</label>
             </div>
             <hr/>
             <div class="form-floating mb-3">