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diff --git a/docs/allclasses-index.html b/docs/allclasses-index.html
@@ -1,11 +1,11 @@
 <!DOCTYPE HTML>
 <html lang="en">
 <head>
-<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
+<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
 <title>All Classes and Interfaces</title>
 <meta name="viewport" content="width=device-width, initial-scale=1">
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2024-09-03">
+<meta name="dc.created" content="2024-10-14">
 <meta name="description" content="class index">
 <meta name="generator" content="javadoc/AllClassesIndexWriter">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
@@ -128,6 +128,15 @@ <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">Drive motor composite JSON parse class.</div>
 </div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/math/IMULinearMovingAverageFilter.html" title="class in swervelib.math">IMULinearMovingAverageFilter</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
+<div class="block">A linear filter that does not calculate() each time a value is added to
+ the DoubleCircularBuffer.</div>
+</div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/imu/IMUVelocity.html" title="class in swervelib.imu">IMUVelocity</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
+<div class="block">Generic IMU Velocity filter.</div>
+</div>
 <div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/parser/json/modules/LocationJson.html" title="class in swervelib.parser.json.modules">LocationJson</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Location JSON parsed class.</div>

diff --git a/docs/allpackages-index.html b/docs/allpackages-index.html
@@ -1,11 +1,11 @@
 <!DOCTYPE HTML>
 <html lang="en">
 <head>
-<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
+<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
 <title>All Packages</title>
 <meta name="viewport" content="width=device-width, initial-scale=1">
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diff --git a/docs/constant-values.html b/docs/constant-values.html
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 <!DOCTYPE HTML>
 <html lang="en">
 <head>
-<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
+<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
 <title>Constant Field Values</title>
 <meta name="viewport" content="width=device-width, initial-scale=1">
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2024-09-03">
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diff --git a/docs/help-doc.html b/docs/help-doc.html
@@ -1,11 +1,11 @@
 <!DOCTYPE HTML>
 <html lang="en">
 <head>
-<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
+<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
 <title>API Help</title>
 <meta name="viewport" content="width=device-width, initial-scale=1">
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-<meta name="dc.created" content="2024-09-03">
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diff --git a/docs/index-files/index-1.html b/docs/index-files/index-1.html
@@ -1,11 +1,11 @@
 <!DOCTYPE HTML>
 <html lang="en">
 <head>
-<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
+<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
 <title>A-Index</title>
 <meta name="viewport" content="width=device-width, initial-scale=1">
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2024-09-03">
+<meta name="dc.created" content="2024-10-14">
 <meta name="description" content="index: A">
 <meta name="generator" content="javadoc/IndexWriter">
 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -117,6 +117,10 @@ <h2 class="title" id="I:A">A</h2>
 <dd>
 <div class="block">Add slew rate limiters to all controls.</div>
 </dd>
+<dt><a href="../swervelib/math/IMULinearMovingAverageFilter.html#addValue(double)" class="member-name-link">addValue(double)</a> - Method in class swervelib.math.<a href="../swervelib/math/IMULinearMovingAverageFilter.html" title="class in swervelib.math">IMULinearMovingAverageFilter</a></dt>
+<dd>
+<div class="block">Add a value to the DoubleCircularBuffer</div>
+</dd>
 <dt><a href="../swervelib/SwerveDrive.html#addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double)" class="member-name-link">addVisionMeasurement(Pose2d, double)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
 <dd>
 <div class="block">Add a vision measurement to the <code>SwerveDrivePoseEstimator</code> and update the <a href="../swervelib/imu/SwerveIMU.html" title="class in swervelib.imu"><code>SwerveIMU</code></a> gyro reading with
@@ -283,6 +287,18 @@ <h2 class="title" id="I:A">A</h2>
 <dd>
 <div class="block">PIDF configuration options for the angle motor closed-loop PID controller.</div>
 </dd>
+<dt><a href="../swervelib/SwerveDrive.html#angularVelocityCoefficient" class="member-name-link">angularVelocityCoefficient</a> - Variable in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
+<dd>
+<div class="block">Angular Velocity Correction Coefficent (expected values between -0.15 and 0.15).</div>
+</dd>
+<dt><a href="../swervelib/SwerveDrive.html#angularVelocityCorrection" class="member-name-link">angularVelocityCorrection</a> - Variable in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
+<dd>
+<div class="block">Correct for skew that scales with angular velocity in <a href="../swervelib/SwerveDrive.html#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)"><code>SwerveDrive.drive(Translation2d, double, boolean, boolean)</code></a></div>
+</dd>
+<dt><a href="../swervelib/SwerveDrive.html#angularVelocitySkewCorrection(edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">angularVelocitySkewCorrection(ChassisSpeeds)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
+<dd>
+<div class="block">Correct for skew that worsens as angular velocity increases</div>
+</dd>
 <dt><a href="../swervelib/math/SwerveMath.html#antiJitter(edu.wpi.first.math.kinematics.SwerveModuleState,edu.wpi.first.math.kinematics.SwerveModuleState,double)" class="member-name-link">antiJitter(SwerveModuleState, SwerveModuleState, double)</a> - Static method in class swervelib.math.<a href="../swervelib/math/SwerveMath.html" title="class in swervelib.math">SwerveMath</a></dt>
 <dd>
 <div class="block">Perform anti-jitter within modules if the speed requested is too low.</div>
@@ -303,6 +319,16 @@ <h2 class="title" id="I:A">A</h2>
 <dd>
 <div class="block">The absolute max speed that your robot can reach while translating in meters per second.</div>
 </dd>
+<dt><a href="../swervelib/SwerveDrive.html#autonomousAngularVelocityCorrection" class="member-name-link">autonomousAngularVelocityCorrection</a> - Variable in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
+<dd>
+<div class="block">Correct for skew that scales with angular velocity in <a href="../swervelib/SwerveDrive.html#setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)"><code>SwerveDrive.setChassisSpeeds(ChassisSpeeds chassisSpeeds)</code></a>
+ during auto.</div>
+</dd>
+<dt><a href="../swervelib/SwerveDrive.html#autonomousChassisVelocityCorrection" class="member-name-link">autonomousChassisVelocityCorrection</a> - Variable in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
+<dd>
+<div class="block">Correct chassis velocity in <a href="../swervelib/SwerveDrive.html#setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)"><code>SwerveDrive.setChassisSpeeds(ChassisSpeeds chassisSpeeds)</code></a> (auto) using 254's
+ correction during auto.</div>
+</dd>
 </dl>
 <a href="index-1.html">A</a>&nbsp;<a href="index-2.html">B</a>&nbsp;<a href="index-3.html">C</a>&nbsp;<a href="index-4.html">D</a>&nbsp;<a href="index-5.html">E</a>&nbsp;<a href="index-6.html">F</a>&nbsp;<a href="index-7.html">G</a>&nbsp;<a href="index-8.html">H</a>&nbsp;<a href="index-9.html">I</a>&nbsp;<a href="index-10.html">K</a>&nbsp;<a href="index-11.html">L</a>&nbsp;<a href="index-12.html">M</a>&nbsp;<a href="index-13.html">N</a>&nbsp;<a href="index-14.html">O</a>&nbsp;<a href="index-15.html">P</a>&nbsp;<a href="index-16.html">Q</a>&nbsp;<a href="index-17.html">R</a>&nbsp;<a href="index-18.html">S</a>&nbsp;<a href="index-19.html">T</a>&nbsp;<a href="index-20.html">U</a>&nbsp;<a href="index-21.html">V</a>&nbsp;<a href="index-22.html">W</a>&nbsp;<a href="index-23.html">X</a>&nbsp;<a href="index-24.html">Y</a>&nbsp;<a href="index-25.html">Z</a>&nbsp;<br><a href="../allclasses-index.html">All&nbsp;Classes&nbsp;and&nbsp;Interfaces</a><span class="vertical-separator">|</span><a href="../allpackages-index.html">All&nbsp;Packages</a><span class="vertical-separator">|</span><a href="../constant-values.html">Constant&nbsp;Field&nbsp;Values</a></main>
 </div>

diff --git a/docs/index-files/index-10.html b/docs/index-files/index-10.html
@@ -1,11 +1,11 @@
 <!DOCTYPE HTML>
 <html lang="en">
 <head>
-<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
+<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
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 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2024-09-03">
+<meta name="dc.created" content="2024-10-14">
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diff --git a/docs/index-files/index-11.html b/docs/index-files/index-11.html
@@ -1,11 +1,11 @@
 <!DOCTYPE HTML>
 <html lang="en">
 <head>
-<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
+<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
 <title>L-Index</title>
 <meta name="viewport" content="width=device-width, initial-scale=1">
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2024-09-03">
+<meta name="dc.created" content="2024-10-14">
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diff --git a/docs/index-files/index-12.html b/docs/index-files/index-12.html
@@ -1,11 +1,11 @@
 <!DOCTYPE HTML>
 <html lang="en">
 <head>
-<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
+<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
 <title>M-Index</title>
 <meta name="viewport" content="width=device-width, initial-scale=1">
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2024-09-03">
+<meta name="dc.created" content="2024-10-14">
 <meta name="description" content="index: M">
 <meta name="generator" content="javadoc/IndexWriter">
 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -73,6 +73,14 @@ <h2 class="title" id="I:M">M</h2>
 <dd>
 <div class="block">Tracks the distance travelled of a position motor</div>
 </dd>
+<dt><a href="../swervelib/math/IMULinearMovingAverageFilter.html#m_inputGain" class="member-name-link">m_inputGain</a> - Variable in class swervelib.math.<a href="../swervelib/math/IMULinearMovingAverageFilter.html" title="class in swervelib.math">IMULinearMovingAverageFilter</a></dt>
+<dd>
+<div class="block">Gain on each reading.</div>
+</dd>
+<dt><a href="../swervelib/math/IMULinearMovingAverageFilter.html#m_inputs" class="member-name-link">m_inputs</a> - Variable in class swervelib.math.<a href="../swervelib/math/IMULinearMovingAverageFilter.html" title="class in swervelib.math">IMULinearMovingAverageFilter</a></dt>
+<dd>
+<div class="block">Circular buffer storing the current IMU readings</div>
+</dd>
 <dt><a href="../swervelib/SwerveDriveTest.html#m_velocity" class="member-name-link">m_velocity</a> - Static variable in class swervelib.<a href="../swervelib/SwerveDriveTest.html" title="class in swervelib">SwerveDriveTest</a></dt>
 <dd>
 <div class="block">Tracks the velocity of a positional motor</div>
@@ -239,6 +247,10 @@ <h2 class="title" id="I:M">M</h2>
 <dd>
 <div class="block">Default constructor with values.</div>
 </dd>
+<dt><a href="../swervelib/SwerveDrive.html#movementOptimizations(edu.wpi.first.math.kinematics.ChassisSpeeds,boolean,boolean)" class="member-name-link">movementOptimizations(ChassisSpeeds, boolean, boolean)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
+<dd>
+<div class="block">Enable desired drive corrections</div>
+</dd>
 </dl>
 <a href="index-1.html">A</a>&nbsp;<a href="index-2.html">B</a>&nbsp;<a href="index-3.html">C</a>&nbsp;<a href="index-4.html">D</a>&nbsp;<a href="index-5.html">E</a>&nbsp;<a href="index-6.html">F</a>&nbsp;<a href="index-7.html">G</a>&nbsp;<a href="index-8.html">H</a>&nbsp;<a href="index-9.html">I</a>&nbsp;<a href="index-10.html">K</a>&nbsp;<a href="index-11.html">L</a>&nbsp;<a href="index-12.html">M</a>&nbsp;<a href="index-13.html">N</a>&nbsp;<a href="index-14.html">O</a>&nbsp;<a href="index-15.html">P</a>&nbsp;<a href="index-16.html">Q</a>&nbsp;<a href="index-17.html">R</a>&nbsp;<a href="index-18.html">S</a>&nbsp;<a href="index-19.html">T</a>&nbsp;<a href="index-20.html">U</a>&nbsp;<a href="index-21.html">V</a>&nbsp;<a href="index-22.html">W</a>&nbsp;<a href="index-23.html">X</a>&nbsp;<a href="index-24.html">Y</a>&nbsp;<a href="index-25.html">Z</a>&nbsp;<br><a href="../allclasses-index.html">All&nbsp;Classes&nbsp;and&nbsp;Interfaces</a><span class="vertical-separator">|</span><a href="../allpackages-index.html">All&nbsp;Packages</a><span class="vertical-separator">|</span><a href="../constant-values.html">Constant&nbsp;Field&nbsp;Values</a></main>
 </div>

diff --git a/docs/index-files/index-13.html b/docs/index-files/index-13.html
@@ -1,11 +1,11 @@
 <!DOCTYPE HTML>
 <html lang="en">
 <head>
-<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
+<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
 <title>N-Index</title>
 <meta name="viewport" content="width=device-width, initial-scale=1">
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2024-09-03">
+<meta name="dc.created" content="2024-10-14">
 <meta name="description" content="index: N">
 <meta name="generator" content="javadoc/IndexWriter">
 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -101,6 +101,10 @@ <h2 class="title" id="I:N">N</h2>
 <dd>
 <div class="block">Normalize an angle to be within 0 to 360.</div>
 </dd>
+<dt><a href="../swervelib/imu/IMUVelocity.html#notifier" class="member-name-link">notifier</a> - Variable in class swervelib.imu.<a href="../swervelib/imu/IMUVelocity.html" title="class in swervelib.imu">IMUVelocity</a></dt>
+<dd>
+<div class="block">WPILib <code>Notifier</code> to keep IMU velocity up to date.</div>
+</dd>
 </dl>
 <a href="index-1.html">A</a>&nbsp;<a href="index-2.html">B</a>&nbsp;<a href="index-3.html">C</a>&nbsp;<a href="index-4.html">D</a>&nbsp;<a href="index-5.html">E</a>&nbsp;<a href="index-6.html">F</a>&nbsp;<a href="index-7.html">G</a>&nbsp;<a href="index-8.html">H</a>&nbsp;<a href="index-9.html">I</a>&nbsp;<a href="index-10.html">K</a>&nbsp;<a href="index-11.html">L</a>&nbsp;<a href="index-12.html">M</a>&nbsp;<a href="index-13.html">N</a>&nbsp;<a href="index-14.html">O</a>&nbsp;<a href="index-15.html">P</a>&nbsp;<a href="index-16.html">Q</a>&nbsp;<a href="index-17.html">R</a>&nbsp;<a href="index-18.html">S</a>&nbsp;<a href="index-19.html">T</a>&nbsp;<a href="index-20.html">U</a>&nbsp;<a href="index-21.html">V</a>&nbsp;<a href="index-22.html">W</a>&nbsp;<a href="index-23.html">X</a>&nbsp;<a href="index-24.html">Y</a>&nbsp;<a href="index-25.html">Z</a>&nbsp;<br><a href="../allclasses-index.html">All&nbsp;Classes&nbsp;and&nbsp;Interfaces</a><span class="vertical-separator">|</span><a href="../allpackages-index.html">All&nbsp;Packages</a><span class="vertical-separator">|</span><a href="../constant-values.html">Constant&nbsp;Field&nbsp;Values</a></main>
 </div>

diff --git a/docs/index-files/index-14.html b/docs/index-files/index-14.html
@@ -1,11 +1,11 @@
 <!DOCTYPE HTML>
 <html lang="en">
 <head>
-<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
+<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
 <title>O-Index</title>
 <meta name="viewport" content="width=device-width, initial-scale=1">
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2024-09-03">
+<meta name="dc.created" content="2024-10-14">
 <meta name="description" content="index: O">
 <meta name="generator" content="javadoc/IndexWriter">
 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">

diff --git a/docs/index-files/index-15.html b/docs/index-files/index-15.html
@@ -1,11 +1,11 @@
 <!DOCTYPE HTML>
 <html lang="en">
 <head>
-<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
+<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
 <title>P-Index</title>
 <meta name="viewport" content="width=device-width, initial-scale=1">
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2024-09-03">
+<meta name="dc.created" content="2024-10-14">
 <meta name="description" content="index: P">
 <meta name="generator" content="javadoc/IndexWriter">
 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -159,6 +159,10 @@ <h2 class="title" id="I:P">P</h2>
 <dd>
 <div class="block">Logical inverse of the Pose exponential from 254.</div>
 </dd>
+<dt><a href="../swervelib/imu/IMUVelocity.html#position" class="member-name-link">position</a> - Variable in class swervelib.imu.<a href="../swervelib/imu/IMUVelocity.html" title="class in swervelib.imu">IMUVelocity</a></dt>
+<dd>
+<div class="block">Tracks the previous loop's position as a Rotation2d.</div>
+</dd>
 <dt><a href="../swervelib/math/Matter.html#position" class="member-name-link">position</a> - Variable in class swervelib.math.<a href="../swervelib/math/Matter.html" title="class in swervelib.math">Matter</a></dt>
 <dd>
 <div class="block">Position in meters from robot center in 3d space.</div>

diff --git a/docs/index-files/index-16.html b/docs/index-files/index-16.html
@@ -1,11 +1,11 @@
 <!DOCTYPE HTML>
 <html lang="en">
 <head>
-<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
+<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
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+<meta name="dc.created" content="2024-10-14">
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diff --git a/docs/index-files/index-17.html b/docs/index-files/index-17.html
@@ -1,11 +1,11 @@
 <!DOCTYPE HTML>
 <html lang="en">
 <head>
-<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
+<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
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 <meta name="viewport" content="width=device-width, initial-scale=1">
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+<meta name="dc.created" content="2024-10-14">
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