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diff --git a/javadoc/allclasses-index.html b/javadoc/allclasses-index.html
@@ -169,91 +169,87 @@ <h1 title="All Classes and Interfaces" class="title">All Classes and Interfaces<
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Drives the robot field robot autonomously.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/drive/DriveFieldOriented.html" title="class in frc.robot.commands.drive">DriveFieldOriented</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/drive/DriveFieldOrientedHeadingSnapping.html" title="class in frc.robot.commands.drive">DriveFieldOrientedHeadingSnapping</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
-<div class="block">Drives the robot in field-oriented mode.</div>
-</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/drive/DriveFieldOrientedHeadingSnapping.html" title="class in frc.robot.commands.drive">DriveFieldOrientedHeadingSnapping</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Drives robot in field oriented mode with shortcuts to snap to field relative angles in increments
  of 90º using dpad</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/drive/DriveRobotOriented.html" title="class in frc.robot.commands.drive">DriveRobotOriented</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
-<div class="block">Drives the robot in robot-oriented mode.</div>
-</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/EnterXMode.html" title="class in frc.robot.commands">EnterXMode</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/drive/DriveRobot.html" title="class in frc.robot.commands.drive">DriveRobot</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">
-<div class="block">Points the wheels toward the inside and stops the wheels from moving in any direction.</div>
+<div class="block">Drives the robot.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/mailbox/FireNoteRoutine.html" title="class in frc.robot.commands.mailbox">FireNoteRoutine</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/EnterXMode.html" title="class in frc.robot.commands">EnterXMode</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
-<div class="block">Scores the note into the amp.</div>
+<div class="block">Points the wheels toward the inside and stops the wheels from moving in any direction.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/mailbox/FireNoteRoutineNoLimitSwitch.html" title="class in frc.robot.commands.mailbox">FireNoteRoutineNoLimitSwitch</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/mailbox/FireNoteRoutine.html" title="class in frc.robot.commands.mailbox">FireNoteRoutine</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Scores the note into the amp.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/Intake.html" title="class in frc.robot.subsystems">Intake</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/mailbox/FireNoteRoutineNoLimitSwitch.html" title="class in frc.robot.commands.mailbox">FireNoteRoutineNoLimitSwitch</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
-<div class="block">The intake of the robot.</div>
+<div class="block">Scores the note into the amp.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/Limelight.html" title="class in frc.robot.subsystems">Limelight</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/Intake.html" title="class in frc.robot.subsystems">Intake</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">
-<div class="block">Subsystem for the Limelight 2+ that we use for vision.</div>
+<div class="block">The intake of the robot.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/mailbox/Mailbox.html" title="class in frc.robot.subsystems.mailbox">Mailbox</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/Limelight.html" title="class in frc.robot.subsystems">Limelight</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
-<div class="block">Subsystem for the mailbox that outputs game pieces from our robot.</div>
+<div class="block">Subsystem for the Limelight 2+ that we use for vision.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/mailbox/MailboxBelts.html" title="class in frc.robot.subsystems.mailbox">MailboxBelts</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/mailbox/Mailbox.html" title="class in frc.robot.subsystems.mailbox">Mailbox</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">
-<div class="block">Subsystem for the mailbox belt.</div>
+<div class="block">Subsystem for the mailbox that outputs game pieces from our robot.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/mailbox/MailboxPneumatics.html" title="class in frc.robot.subsystems.mailbox">MailboxPneumatics</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/mailbox/MailboxBelts.html" title="class in frc.robot.subsystems.mailbox">MailboxBelts</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
+<div class="block">Subsystem for the mailbox belt.</div>
+</div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/mailbox/MailboxPneumatics.html" title="class in frc.robot.subsystems.mailbox">MailboxPneumatics</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Represents the pistons that raise the Mailbox, which is the system that outputs gamepieces from
  our robot</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/Main.html" title="class in frc.robot">Main</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/auto/MoveAwayFromAmp.html" title="class in frc.robot.commands.auto">MoveAwayFromAmp</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/Main.html" title="class in frc.robot">Main</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/auto/MoveAwayFromAmp.html" title="class in frc.robot.commands.auto">MoveAwayFromAmp</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Moves the robot away from the Amp, then slams us towards the opposing alliance wall to taxi and
  get out of the way of the Amp.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/auto/OnePieceAuto.html" title="class in frc.robot.commands.auto">OnePieceAuto</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/auto/OnePieceAuto.html" title="class in frc.robot.commands.auto">OnePieceAuto</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Auto that deposits a preloaded Note into the Amp.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/Robot.html" title="class in frc.robot">Robot</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/RobotContainer.html" title="class in frc.robot">RobotContainer</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/Robot.html" title="class in frc.robot">Robot</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/mailbox/RunBelts.html" title="class in frc.robot.commands.mailbox">RunBelts</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/RobotContainer.html" title="class in frc.robot">RobotContainer</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/mailbox/RunBelts.html" title="class in frc.robot.commands.mailbox">RunBelts</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Command that activates belts when started, and deactivates belts when ended.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/RunIntake.html" title="class in frc.robot.commands">RunIntake</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/RunIntake.html" title="class in frc.robot.commands">RunIntake</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Command that runs the intake on the robot.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/RunIntakeReverse.html" title="class in frc.robot.commands">RunIntakeReverse</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/RunIntakeReverse.html" title="class in frc.robot.commands">RunIntakeReverse</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Command that runs the intake in the opposite direction on the robot.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/SeekTargetWithLimelight.html" title="class in frc.robot.commands">SeekTargetWithLimelight</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/SeekTargetWithLimelight.html" title="class in frc.robot.commands">SeekTargetWithLimelight</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Seeks an unseen target with the Limelight by spinning the robot in a circle until the Limelight
  sees a valid target.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/auto/TaxiAuto.html" title="class in frc.robot.commands.auto">TaxiAuto</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/auto/TaxiAuto.html" title="class in frc.robot.commands.auto">TaxiAuto</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Auto that just taxis (or more accurately, moves us out of the auto starting box.) Taxi time and
  velocity can be tuned in Constants.Drive.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/UrMom.html" title="class in frc.robot.subsystems">UrMom</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/UrMom.html" title="class in frc.robot.subsystems">UrMom</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Subsystem for printing "your mom"</div>
 </div>
 </div>

diff --git a/javadoc/constant-values.html b/javadoc/constant-values.html
@@ -102,6 +102,20 @@ <h2 title="frc.robot">frc.robot.*</h2>
 </div>
 </li>
 <li>
+<div class="caption"><span>frc.robot.<a href="frc/robot/Constants.Drive.html" title="class in frc.robot">Constants.Drive</a></span></div>
+<div class="summary-table three-column-summary">
+<div class="table-header col-first">Modifier and Type</div>
+<div class="table-header col-second">Constant Field</div>
+<div class="table-header col-last">Value</div>
+<div class="col-first even-row-color"><code id="frc.robot.Constants.Drive.MAX_NORMAL_ANGULAR_SPEED">public&nbsp;static&nbsp;final&nbsp;double</code></div>
+<div class="col-second even-row-color"><code><a href="frc/robot/Constants.Drive.html#MAX_NORMAL_ANGULAR_SPEED">MAX_NORMAL_ANGULAR_SPEED</a></code></div>
+<div class="col-last even-row-color"><code>3.141592653589793</code></div>
+<div class="col-first odd-row-color"><code id="frc.robot.Constants.Drive.MAX_NORMAL_SPEED">public&nbsp;static&nbsp;final&nbsp;double</code></div>
+<div class="col-second odd-row-color"><code><a href="frc/robot/Constants.Drive.html#MAX_NORMAL_SPEED">MAX_NORMAL_SPEED</a></code></div>
+<div class="col-last odd-row-color"><code>1.0</code></div>
+</div>
+</li>
+<li>
 <div class="caption"><span>frc.robot.<a href="frc/robot/Constants.Intake.html" title="class in frc.robot">Constants.Intake</a></span></div>
 <div class="summary-table three-column-summary">
 <div class="table-header col-first">Modifier and Type</div>

diff --git a/javadoc/frc/robot/Constants.Drive.html b/javadoc/frc/robot/Constants.Drive.html
@@ -106,6 +106,16 @@ <h2>Field Summary</h2>
 <div class="col-last even-row-color">
 <div class="block">The max speed the robot can rotate</div>
 </div>
+<div class="col-first odd-row-color"><code>static final double</code></div>
+<div class="col-second odd-row-color"><code><a href="#MAX_NORMAL_ANGULAR_SPEED" class="member-name-link">MAX_NORMAL_ANGULAR_SPEED</a></code></div>
+<div class="col-last odd-row-color">
+<div class="block">The max angular speed (in randians) for the robot when not sprinting</div>
+</div>
+<div class="col-first even-row-color"><code>static final double</code></div>
+<div class="col-second even-row-color"><code><a href="#MAX_NORMAL_SPEED" class="member-name-link">MAX_NORMAL_SPEED</a></code></div>
+<div class="col-last even-row-color">
+<div class="block">The max speed for the robot when not sprinting (in m/s)</div>
+</div>
 <div class="col-first odd-row-color"><code>static double</code></div>
 <div class="col-second odd-row-color"><code><a href="#MAX_SPEED" class="member-name-link">MAX_SPEED</a></code></div>
 <div class="col-last odd-row-color">
@@ -184,6 +194,36 @@ <h3>DISTANCE_ROBOT_CENTER_TO_SWERVE_MODULE</h3>
 </section>
 </li>
 <li>
+<section class="detail" id="MAX_NORMAL_SPEED">
+<h3>MAX_NORMAL_SPEED</h3>
+<div class="member-signature"><span class="modifiers">public static final</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">MAX_NORMAL_SPEED</span></div>
+<div class="block">The max speed for the robot when not sprinting (in m/s)</div>
+<dl class="notes">
+<dt>See Also:</dt>
+<dd>
+<ul class="see-list">
+<li><a href="../../constant-values.html#frc.robot.Constants.Drive.MAX_NORMAL_SPEED">Constant Field Values</a></li>
+</ul>
+</dd>
+</dl>
+</section>
+</li>
+<li>
+<section class="detail" id="MAX_NORMAL_ANGULAR_SPEED">
+<h3>MAX_NORMAL_ANGULAR_SPEED</h3>
+<div class="member-signature"><span class="modifiers">public static final</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">MAX_NORMAL_ANGULAR_SPEED</span></div>
+<div class="block">The max angular speed (in randians) for the robot when not sprinting</div>
+<dl class="notes">
+<dt>See Also:</dt>
+<dd>
+<ul class="see-list">
+<li><a href="../../constant-values.html#frc.robot.Constants.Drive.MAX_NORMAL_ANGULAR_SPEED">Constant Field Values</a></li>
+</ul>
+</dd>
+</dl>
+</section>
+</li>
+<li>
 <section class="detail" id="TRANSLATION_DRIVE_PID">
 <h3>TRANSLATION_DRIVE_PID</h3>
 <div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">com.pathplanner.lib.util.PIDConstants</span>&nbsp;<span class="element-name">TRANSLATION_DRIVE_PID</span></div>