From c5d933091befe90001a6f05349083d67d38c4e7d Mon Sep 17 00:00:00 2001
From: Maggie Liang <63507305+mliang321cba@users.noreply.github.com>
Date: Mon, 24 Jun 2024 17:27:43 -0700
Subject: [PATCH] prepare for release 1.7.9

renamed unit test to systemstest due to improper definition (mike brown)
---
 3128-Common.json                              |   4 +-
 3128-common.json                              |   4 +-
 doc/allclasses-index.html                     | 214 +++++++++---------
 .../core/subsystems/ManipulatorTemplate.html  |   6 +-
 .../NAR_PIDSubsystem.SetpointTest.html        |  18 +-
 .../core/subsystems/NAR_PIDSubsystem.html     |   2 +-
 doc/common/core/subsystems/package-tree.html  |   2 +-
 doc/common/utility/tester/CurrentTest.html    |  18 +-
 doc/common/utility/tester/IntakeTest.html     | 163 +++++++++++++
 doc/common/utility/tester/PlateauTest.html    |  16 +-
 ....UnitTest.html => Tester.SystemsTest.html} |  32 +--
 doc/common/utility/tester/Tester.Test.html    |  16 +-
 doc/common/utility/tester/Tester.html         |  44 ++--
 doc/common/utility/tester/ThresholdTest.html  |  16 +-
 .../utility/tester/package-summary.html       |  22 +-
 doc/common/utility/tester/package-tree.html   |   5 +-
 doc/index-all.html                            |  74 +++---
 doc/index.html                                |   2 +-
 doc/member-search-index.js                    |   2 +-
 doc/overview-tree.html                        |   5 +-
 doc/type-search-index.js                      |   2 +-
 gradle.properties                             |   2 +-
 .../core/subsystems/ManipulatorTemplate.java  |   4 +-
 .../core/subsystems/NAR_PIDSubsystem.java     |   8 +-
 .../common/utility/tester/CurrentTest.java    |   6 +-
 .../common/utility/tester/PlateauTest.java    |   6 +-
 .../java/common/utility/tester/Tester.java    |  54 ++---
 .../common/utility/tester/ThresholdTest.java  |   4 +-
 src/main/resources/overview.html              |   2 +-
 29 files changed, 463 insertions(+), 290 deletions(-)
 create mode 100644 doc/common/utility/tester/IntakeTest.html
 rename doc/common/utility/tester/{Tester.UnitTest.html => Tester.SystemsTest.html} (90%)

diff --git a/3128-Common.json b/3128-Common.json
index 3f0898a..1a8eca9 100644
--- a/3128-Common.json
+++ b/3128-Common.json
@@ -1,6 +1,6 @@
 {
   "name": "3128-common",
-  "version": "1.7.8",
+  "version": "1.7.9",
   "uuid": "ae3fa5a2-78d9-47e8-921a-dba45b889445",
   "frcYear": "2024",
   "mavenUrls": [
@@ -12,7 +12,7 @@
     {
       "groupId": "com.github.Team3128",
       "artifactId": "3128-common",
-      "version": "1.7.8"
+      "version": "1.7.9"
     }
   ],
   "jniDependencies": [],
diff --git a/3128-common.json b/3128-common.json
index 3f0898a..1a8eca9 100644
--- a/3128-common.json
+++ b/3128-common.json
@@ -1,6 +1,6 @@
 {
   "name": "3128-common",
-  "version": "1.7.8",
+  "version": "1.7.9",
   "uuid": "ae3fa5a2-78d9-47e8-921a-dba45b889445",
   "frcYear": "2024",
   "mavenUrls": [
@@ -12,7 +12,7 @@
     {
       "groupId": "com.github.Team3128",
       "artifactId": "3128-common",
-      "version": "1.7.8"
+      "version": "1.7.9"
     }
   ],
   "jniDependencies": [],
diff --git a/doc/allclasses-index.html b/doc/allclasses-index.html
index 4457381..665226b 100644
--- a/doc/allclasses-index.html
+++ b/doc/allclasses-index.html
@@ -89,7 +89,7 @@ <h1 title="All Classes and Interfaces" class="title">All Classes and Interfaces<
 <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="common/utility/tester/CurrentTest.html" title="class in common.utility.tester">CurrentTest</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">
-<div class="block">UnitTests specifically for checking stall current.</div>
+<div class="block">SystemsTests specifically for checking stall current.</div>
 </div>
 <div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="common/core/subsystems/ElevatorTemplate.html" title="class in common.core.subsystems">ElevatorTemplate</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
@@ -99,171 +99,177 @@ <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">Team 3128's wrapper class to store feedforward constants data.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab3"><a href="common/hardware/limelight/LEDMode.html" title="enum class in common.hardware.limelight">LEDMode</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="common/hardware/limelight/Limelight.html" title="class in common.hardware.limelight">Limelight</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="common/utility/tester/IntakeTest.html" title="class in common.utility.tester">IntakeTest</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-tab3"><a href="common/hardware/limelight/LEDMode.html" title="enum class in common.hardware.limelight">LEDMode</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="common/hardware/limelight/Limelight.html" title="class in common.hardware.limelight">Limelight</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Software wrapper to obtain data from and send data to the physical Limelight.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="common/hardware/limelight/LimelightConstants.html" title="class in common.hardware.limelight">LimelightConstants</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="common/hardware/limelight/LimelightData.html" title="class in common.hardware.limelight">LimelightData</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="common/hardware/limelight/LimelightConstants.html" title="class in common.hardware.limelight">LimelightConstants</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-tab3"><a href="common/hardware/limelight/LimelightKey.html" title="enum class in common.hardware.limelight">LimelightKey</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="common/utility/Log.html" title="class in common.utility">Log</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="common/core/subsystems/ManipulatorTemplate.html" title="class in common.core.subsystems">ManipulatorTemplate</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="common/hardware/limelight/LimelightData.html" title="class in common.hardware.limelight">LimelightData</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-tab3"><a href="common/hardware/limelight/LimelightKey.html" title="enum class in common.hardware.limelight">LimelightKey</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="common/utility/Log.html" title="class in common.utility">Log</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="common/core/subsystems/ManipulatorTemplate.html" title="class in common.core.subsystems">ManipulatorTemplate</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Team 3128's Manipulator Template class.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="common/hardware/motorcontroller/MotorControllerConstants.html" title="class in common.hardware.motorcontroller">MotorControllerConstants</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="common/hardware/motorcontroller/MotorControllerConstants.html" title="class in common.hardware.motorcontroller">MotorControllerConstants</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Constants for motor control / conversion.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="common/hardware/input/NAR_ButtonBoard.html" title="class in common.hardware.input">NAR_ButtonBoard</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="common/hardware/input/NAR_ButtonBoard.html" title="class in common.hardware.input">NAR_ButtonBoard</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Custom GenericHID class for team 3128's button board setup</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="common/hardware/motorcontroller/NAR_CANSpark.html" title="class in common.hardware.motorcontroller">NAR_CANSpark</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="common/hardware/motorcontroller/NAR_CANSpark.html" title="class in common.hardware.motorcontroller">NAR_CANSpark</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Team 3128's streamlined <code>CANSparkBase</code> class.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab3"><a href="common/hardware/motorcontroller/NAR_CANSpark.ControllerType.html" title="enum class in common.hardware.motorcontroller">NAR_CANSpark.ControllerType</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab3">
+<div class="col-first even-row-color all-classes-table all-classes-table-tab3"><a href="common/hardware/motorcontroller/NAR_CANSpark.ControllerType.html" title="enum class in common.hardware.motorcontroller">NAR_CANSpark.ControllerType</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab3">
 <div class="block">Type of controller used</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab3"><a href="common/hardware/motorcontroller/NAR_CANSpark.EncoderType.html" title="enum class in common.hardware.motorcontroller">NAR_CANSpark.EncoderType</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab3">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab3"><a href="common/hardware/motorcontroller/NAR_CANSpark.EncoderType.html" title="enum class in common.hardware.motorcontroller">NAR_CANSpark.EncoderType</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab3">
 <div class="block">Type of encoder used</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab3"><a href="common/hardware/motorcontroller/NAR_CANSpark.SparkMaxConfig.html" title="enum class in common.hardware.motorcontroller">NAR_CANSpark.SparkMaxConfig</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab3">
+<div class="col-first even-row-color all-classes-table all-classes-table-tab3"><a href="common/hardware/motorcontroller/NAR_CANSpark.SparkMaxConfig.html" title="enum class in common.hardware.motorcontroller">NAR_CANSpark.SparkMaxConfig</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab3">
 <div class="block">Team 3128's status frames</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="common/hardware/input/NAR_Joystick.html" title="class in common.hardware.input">NAR_Joystick</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="common/hardware/input/NAR_Joystick.html" title="class in common.hardware.input">NAR_Joystick</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Wrapper for the WPILib <code>Joystick</code> class.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="common/hardware/motorcontroller/NAR_Motor.html" title="class in common.hardware.motorcontroller">NAR_Motor</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="common/hardware/motorcontroller/NAR_Motor.html" title="class in common.hardware.motorcontroller">NAR_Motor</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Team 3128's motor class replacement for <code>MotorController</code></div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab3"><a href="common/hardware/motorcontroller/NAR_Motor.Control.html" title="enum class in common.hardware.motorcontroller">NAR_Motor.Control</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab3">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab3"><a href="common/hardware/motorcontroller/NAR_Motor.Control.html" title="enum class in common.hardware.motorcontroller">NAR_Motor.Control</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab3">
 <div class="block">Motor control modes</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="common/hardware/motorcontroller/NAR_Motor.MotorConfig.html" title="class in common.hardware.motorcontroller">NAR_Motor.MotorConfig</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="common/hardware/motorcontroller/NAR_Motor.MotorConfig.html" title="class in common.hardware.motorcontroller">NAR_Motor.MotorConfig</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Store conversion factors for motor</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="common/hardware/motorcontroller/NAR_Motor.NAR_MotorIO.html" title="class in common.hardware.motorcontroller">NAR_Motor.NAR_MotorIO</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-tab3"><a href="common/hardware/motorcontroller/NAR_Motor.Neutral.html" title="enum class in common.hardware.motorcontroller">NAR_Motor.Neutral</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab3">
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="common/hardware/motorcontroller/NAR_Motor.NAR_MotorIO.html" title="class in common.hardware.motorcontroller">NAR_Motor.NAR_MotorIO</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-tab3"><a href="common/hardware/motorcontroller/NAR_Motor.Neutral.html" title="enum class in common.hardware.motorcontroller">NAR_Motor.Neutral</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab3">
 <div class="block">Motor states when no voltage is applied</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="common/core/commands/NAR_PIDCommand.html" title="class in common.core.commands">NAR_PIDCommand</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="common/core/commands/NAR_PIDCommand.html" title="class in common.core.commands">NAR_PIDCommand</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Team 3128's PIDCommand that uses a ControllerBase to control an output.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="common/core/subsystems/NAR_PIDSubsystem.html" title="class in common.core.subsystems">NAR_PIDSubsystem</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="common/core/subsystems/NAR_PIDSubsystem.html" title="class in common.core.subsystems">NAR_PIDSubsystem</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">A subsystem based off of <code>PIDSubsystem</code></div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="common/core/misc/NAR_Robot.html" title="class in common.core.misc">NAR_Robot</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="common/core/misc/NAR_Robot.html" title="class in common.core.misc">NAR_Robot</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Team 3128's Robot class that includes advantageScope and addPeriodic</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab3"><a href="common/core/misc/NAR_Robot.LoggingState.html" title="enum class in common.core.misc">NAR_Robot.LoggingState</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="common/core/misc/NAR_Robot2.html" title="class in common.core.misc">NAR_Robot2</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first even-row-color all-classes-table all-classes-table-tab3"><a href="common/core/misc/NAR_Robot.LoggingState.html" title="enum class in common.core.misc">NAR_Robot.LoggingState</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="common/core/misc/NAR_Robot2.html" title="class in common.core.misc">NAR_Robot2</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
 <div class="block">TimedRobot implements the IterativeRobotBase robot program framework.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="common/utility/shuffleboard/NAR_Shuffleboard.html" title="class in common.utility.shuffleboard">NAR_Shuffleboard</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="common/utility/shuffleboard/NAR_Shuffleboard.html" title="class in common.utility.shuffleboard">NAR_Shuffleboard</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Team 3128's Wrapper class for <code>Shuffleboard</code></div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="common/hardware/motorcontroller/NAR_TalonFX.html" title="class in common.hardware.motorcontroller">NAR_TalonFX</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="common/hardware/motorcontroller/NAR_TalonSRX.html" title="class in common.hardware.motorcontroller">NAR_TalonSRX</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="common/hardware/motorcontroller/NAR_TalonFX.html" title="class in common.hardware.motorcontroller">NAR_TalonFX</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="common/hardware/motorcontroller/NAR_TalonSRX.html" title="class in common.hardware.motorcontroller">NAR_TalonSRX</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Team 3128's streamlined <code>WPI_TalonSRX</code> class.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="common/hardware/input/NAR_XboxController.html" title="class in common.hardware.input">NAR_XboxController</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="common/hardware/input/NAR_XboxController.html" title="class in common.hardware.input">NAR_XboxController</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Wrapper for the WPILib XboxController class.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab3"><a href="common/hardware/input/NAR_XboxController.XboxButton.html" title="enum class in common.hardware.input">NAR_XboxController.XboxButton</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab3">
+<div class="col-first even-row-color all-classes-table all-classes-table-tab3"><a href="common/hardware/input/NAR_XboxController.XboxButton.html" title="enum class in common.hardware.input">NAR_XboxController.XboxButton</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab3">
 <div class="block">Enum to represent buttons</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab7"><a href="common/utility/annotations/NARUpdateable.html" title="annotation interface in common.utility.annotations">NARUpdateable</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab7">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="common/utility/narwhaldashboard/NarwhalDashboard.html" title="class in common.utility.narwhaldashboard">NarwhalDashboard</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-tab7"><a href="common/utility/annotations/NARUpdateable.html" title="annotation interface in common.utility.annotations">NARUpdateable</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab7">&nbsp;</div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="common/utility/narwhaldashboard/NarwhalDashboard.html" title="class in common.utility.narwhaldashboard">NarwhalDashboard</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Team 3128's <code>WebSocketServer</code> class, used to log robot data and select autos</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab3"><a href="common/utility/narwhaldashboard/NarwhalDashboard.State.html" title="enum class in common.utility.narwhaldashboard">NarwhalDashboard.State</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="common/hardware/camera/OffseasonAprilTags.html" title="class in common.hardware.camera">OffseasonAprilTags</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="common/hardware/camera/ParseJson.html" title="class in common.hardware.camera">ParseJson</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab3"><a href="common/utility/narwhaldashboard/NarwhalDashboard.State.html" title="enum class in common.utility.narwhaldashboard">NarwhalDashboard.State</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="common/hardware/camera/OffseasonAprilTags.html" title="class in common.hardware.camera">OffseasonAprilTags</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="common/core/controllers/PIDFFConfig.html" title="class in common.core.controllers">PIDFFConfig</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="common/hardware/camera/ParseJson.html" title="class in common.hardware.camera">ParseJson</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="common/core/controllers/PIDFFConfig.html" title="class in common.core.controllers">PIDFFConfig</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Stores PID and feedforward constants.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab3"><a href="common/hardware/limelight/Pipeline.html" title="enum class in common.hardware.limelight">Pipeline</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="common/core/subsystems/PivotTemplate.html" title="class in common.core.subsystems">PivotTemplate</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-tab3"><a href="common/hardware/limelight/Pipeline.html" title="enum class in common.hardware.limelight">Pipeline</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="common/core/subsystems/PivotTemplate.html" title="class in common.core.subsystems">PivotTemplate</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Team 3128's Pivot Template class.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="common/utility/tester/PlateauTest.html" title="class in common.utility.tester">PlateauTest</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="common/utility/sysid/PolynomialDerivative.html" title="class in common.utility.sysid">PolynomialDerivative</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="common/utility/tester/PlateauTest.html" title="class in common.utility.tester">PlateauTest</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="common/utility/sysid/PolynomialDerivative.html" title="class in common.utility.sysid">PolynomialDerivative</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Team 3128's class to take the derivative of a Polynomial Regression function.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="common/utility/sysid/PolynomialRegression.html" title="class in common.utility.sysid">PolynomialRegression</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="common/utility/sysid/PolynomialRegression.html" title="class in common.utility.sysid">PolynomialRegression</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
 <div class="block">The <code>PolynomialRegression</code> class performs a polynomial regression on an set of <em>N</em>
  data points (<em>y<sub>i</sub></em>, <em>x<sub>i</sub></em>).</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="common/core/subsystems/ShooterTemplate.html" title="class in common.core.subsystems">ShooterTemplate</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="common/core/subsystems/ShooterTemplate.html" title="class in common.core.subsystems">ShooterTemplate</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Team 3128's Shooter Template class.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab7"><a href="common/utility/annotations/ShuffleboardData.html" title="annotation interface in common.utility.annotations">ShuffleboardData</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab7">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab3"><a href="common/hardware/limelight/StreamMode.html" title="enum class in common.hardware.limelight">StreamMode</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="common/core/swerve/SwerveBase.html" title="class in common.core.swerve">SwerveBase</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-tab7"><a href="common/utility/annotations/ShuffleboardData.html" title="annotation interface in common.utility.annotations">ShuffleboardData</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab7">&nbsp;</div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab3"><a href="common/hardware/limelight/StreamMode.html" title="enum class in common.hardware.limelight">StreamMode</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="common/core/swerve/SwerveBase.html" title="class in common.core.swerve">SwerveBase</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
 <div class="block">To do fix this garbage</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="common/core/swerve/SwerveConversions.html" title="class in common.core.swerve">SwerveConversions</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="common/core/swerve/SwerveConversions.html" title="class in common.core.swerve">SwerveConversions</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Team 3128's conversion class for Swerve</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="common/core/swerve/SwerveModule.html" title="class in common.core.swerve">SwerveModule</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="common/core/swerve/SwerveModule.html" title="class in common.core.swerve">SwerveModule</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Team 3128's Swerve Module class</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="common/core/swerve/SwerveModuleConfig.html" title="class in common.core.swerve">SwerveModuleConfig</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="common/core/swerve/SwerveModuleConfig.html" title="class in common.core.swerve">SwerveModuleConfig</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Swerve Module configuration class which is used to configure <a href="common/core/swerve/SwerveModule.html" title="class in common.core.swerve"><code>SwerveModule</code></a>.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="common/core/swerve/SwerveModuleConfig.SwerveMotorConfig.html" title="class in common.core.swerve">SwerveModuleConfig.SwerveMotorConfig</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="common/core/swerve/SwerveModuleConstants.html" title="class in common.core.swerve">SwerveModuleConstants</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="common/core/swerve/SwerveModuleConfig.SwerveMotorConfig.html" title="class in common.core.swerve">SwerveModuleConfig.SwerveMotorConfig</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="common/utility/tester/Tester.html" title="class in common.utility.tester">Tester</a></div>
-<div class="col-last even-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="common/core/swerve/SwerveModuleConstants.html" title="class in common.core.swerve">SwerveModuleConstants</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="common/utility/tester/Tester.html" title="class in common.utility.tester">Tester</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Team 3128's Tester utility class used to run system checks at competitions.</div>
 </div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="common/utility/tester/Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
+<div class="block">System test</div>
+</div>
 <div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="common/utility/tester/Tester.Test.html" title="class in common.utility.tester">Tester.Test</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Collection of tests to be run for a system</div>
@@ -272,14 +278,10 @@ <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-tab3">
 <div class="block">Enum representing test states</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="common/utility/tester/Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
-<div class="block">System test</div>
-</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="common/utility/tester/ThresholdTest.html" title="class in common.utility.tester">ThresholdTest</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="common/core/controllers/TrapController.html" title="class in common.core.controllers">TrapController</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="common/utility/tester/ThresholdTest.html" title="class in common.utility.tester">ThresholdTest</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="common/core/controllers/TrapController.html" title="class in common.core.controllers">TrapController</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Team 3128's streamlined <code>ProfiledPIDController</code> class.</div>
 </div>
 </div>
diff --git a/doc/common/core/subsystems/ManipulatorTemplate.html b/doc/common/core/subsystems/ManipulatorTemplate.html
index e69f4b8..20f5044 100644
--- a/doc/common/core/subsystems/ManipulatorTemplate.html
+++ b/doc/common/core/subsystems/ManipulatorTemplate.html
@@ -121,7 +121,7 @@ <h2>Constructor Summary</h2>
  double&nbsp;lagSeconds,
  <a href="../../hardware/motorcontroller/NAR_Motor.html" title="class in common.hardware.motorcontroller">NAR_Motor</a>...&nbsp;motors)</code></div>
 <div class="col-last even-row-color">
-<div class="block">Creates an Elevator object.</div>
+<div class="block">Creates an Manipulator object.</div>
 </div>
 </div>
 </section>
@@ -223,7 +223,7 @@ <h3>ManipulatorTemplate</h3>
  double&nbsp;stallPower,
  double&nbsp;lagSeconds,
  <a href="../../hardware/motorcontroller/NAR_Motor.html" title="class in common.hardware.motorcontroller">NAR_Motor</a>...&nbsp;motors)</span></div>
-<div class="block">Creates an Elevator object.</div>
+<div class="block">Creates an Manipulator object.</div>
 <dl class="notes">
 <dt>Parameters:</dt>
 <dd><code>currentThreshold</code> - Current when object is intook.</dd>
@@ -231,7 +231,7 @@ <h3>ManipulatorTemplate</h3>
 <dd><code>outtakePower</code> - Outtake power.</dd>
 <dd><code>stallPower</code> - Stall Power, run when Manipulator has a game piece.</dd>
 <dd><code>lagSeconds</code> - Time before current check is run.</dd>
-<dd><code>motors</code> - Elevator motors.</dd>
+<dd><code>motors</code> - Manipulator motors.</dd>
 </dl>
 </section>
 </li>
diff --git a/doc/common/core/subsystems/NAR_PIDSubsystem.SetpointTest.html b/doc/common/core/subsystems/NAR_PIDSubsystem.SetpointTest.html
index 5dc2ef1..66873b0 100644
--- a/doc/common/core/subsystems/NAR_PIDSubsystem.SetpointTest.html
+++ b/doc/common/core/subsystems/NAR_PIDSubsystem.SetpointTest.html
@@ -72,7 +72,7 @@ <h1 title="Class NAR_PIDSubsystem.SetpointTest" class="title">Class NAR_PIDSubsy
 </div>
 <div class="inheritance" title="Inheritance Tree"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">java.lang.Object</a>
 <div class="inheritance">edu.wpi.first.wpilibj2.command.Command
-<div class="inheritance"><a href="../../utility/tester/Tester.UnitTest.html" title="class in common.utility.tester">common.utility.tester.Tester.UnitTest</a>
+<div class="inheritance"><a href="../../utility/tester/Tester.SystemsTest.html" title="class in common.utility.tester">common.utility.tester.Tester.SystemsTest</a>
 <div class="inheritance">common.core.subsystems.NAR_PIDSubsystem.SetpointTest</div>
 </div>
 </div>
@@ -88,8 +88,8 @@ <h1 title="Class NAR_PIDSubsystem.SetpointTest" class="title">Class NAR_PIDSubsy
 </dl>
 <hr>
 <div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">NAR_PIDSubsystem.SetpointTest</span>
-<span class="extends-implements">extends <a href="../../utility/tester/Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></span></div>
-<div class="block">UnitTest specifically for PIDSubsystems.</div>
+<span class="extends-implements">extends <a href="../../utility/tester/Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></span></div>
+<div class="block">SystemsTest specifically for PIDSubsystems.</div>
 </section>
 <section class="summary">
 <ul class="summary-list">
@@ -107,8 +107,8 @@ <h2 id="nested-classes-inherited-from-class-edu.wpi.first.wpilibj2.command.Comma
 <section class="field-summary" id="field-summary">
 <h2>Field Summary</h2>
 <div class="inherited-list">
-<h3 id="fields-inherited-from-class-common.utility.tester.Tester.UnitTest">Fields inherited from class&nbsp;common.utility.tester.<a href="../../utility/tester/Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></h3>
-<code><a href="../../utility/tester/Tester.UnitTest.html#command">command</a>, <a href="../../utility/tester/Tester.UnitTest.html#passCondition">passCondition</a>, <a href="../../utility/tester/Tester.UnitTest.html#testName">testName</a>, <a href="../../utility/tester/Tester.UnitTest.html#testState">testState</a></code></div>
+<h3 id="fields-inherited-from-class-common.utility.tester.Tester.SystemsTest">Fields inherited from class&nbsp;common.utility.tester.<a href="../../utility/tester/Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></h3>
+<code><a href="../../utility/tester/Tester.SystemsTest.html#command">command</a>, <a href="../../utility/tester/Tester.SystemsTest.html#passCondition">passCondition</a>, <a href="../../utility/tester/Tester.SystemsTest.html#testName">testName</a>, <a href="../../utility/tester/Tester.SystemsTest.html#testState">testState</a></code></div>
 <div class="inherited-list">
 <h3 id="fields-inherited-from-class-edu.wpi.first.wpilibj2.command.Command">Fields inherited from class&nbsp;edu.wpi.first.wpilibj2.command.Command</h3>
 <code>m_requirements</code></div>
@@ -211,7 +211,7 @@ <h3>initialize</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">initialize</span>()</div>
 <dl class="notes">
 <dt>Overrides:</dt>
-<dd><code><a href="../../utility/tester/Tester.UnitTest.html#initialize()">initialize</a></code>&nbsp;in class&nbsp;<code><a href="../../utility/tester/Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></code></dd>
+<dd><code><a href="../../utility/tester/Tester.SystemsTest.html#initialize()">initialize</a></code>&nbsp;in class&nbsp;<code><a href="../../utility/tester/Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></code></dd>
 </dl>
 </section>
 </li>
@@ -221,7 +221,7 @@ <h3>execute</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">execute</span>()</div>
 <dl class="notes">
 <dt>Overrides:</dt>
-<dd><code><a href="../../utility/tester/Tester.UnitTest.html#execute()">execute</a></code>&nbsp;in class&nbsp;<code><a href="../../utility/tester/Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></code></dd>
+<dd><code><a href="../../utility/tester/Tester.SystemsTest.html#execute()">execute</a></code>&nbsp;in class&nbsp;<code><a href="../../utility/tester/Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></code></dd>
 </dl>
 </section>
 </li>
@@ -231,7 +231,7 @@ <h3>end</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">end</span><wbr><span class="parameters">(boolean&nbsp;interrupted)</span></div>
 <dl class="notes">
 <dt>Overrides:</dt>
-<dd><code><a href="../../utility/tester/Tester.UnitTest.html#end(boolean)">end</a></code>&nbsp;in class&nbsp;<code><a href="../../utility/tester/Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></code></dd>
+<dd><code><a href="../../utility/tester/Tester.SystemsTest.html#end(boolean)">end</a></code>&nbsp;in class&nbsp;<code><a href="../../utility/tester/Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></code></dd>
 </dl>
 </section>
 </li>
@@ -241,7 +241,7 @@ <h3>isFinished</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">isFinished</span>()</div>
 <dl class="notes">
 <dt>Overrides:</dt>
-<dd><code><a href="../../utility/tester/Tester.UnitTest.html#isFinished()">isFinished</a></code>&nbsp;in class&nbsp;<code><a href="../../utility/tester/Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></code></dd>
+<dd><code><a href="../../utility/tester/Tester.SystemsTest.html#isFinished()">isFinished</a></code>&nbsp;in class&nbsp;<code><a href="../../utility/tester/Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></code></dd>
 </dl>
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 </li>
diff --git a/doc/common/core/subsystems/NAR_PIDSubsystem.html b/doc/common/core/subsystems/NAR_PIDSubsystem.html
index 50ad080..33ab958 100644
--- a/doc/common/core/subsystems/NAR_PIDSubsystem.html
+++ b/doc/common/core/subsystems/NAR_PIDSubsystem.html
@@ -107,7 +107,7 @@ <h2>Nested Class Summary</h2>
 <div class="col-first even-row-color"><code>class&nbsp;</code></div>
 <div class="col-second even-row-color"><code><a href="NAR_PIDSubsystem.SetpointTest.html" class="type-name-link" title="class in common.core.subsystems">NAR_PIDSubsystem.SetpointTest</a></code></div>
 <div class="col-last even-row-color">
-<div class="block">UnitTest specifically for PIDSubsystems.</div>
+<div class="block">SystemsTest specifically for PIDSubsystems.</div>
 </div>
 </div>
 </section>
diff --git a/doc/common/core/subsystems/package-tree.html b/doc/common/core/subsystems/package-tree.html
index b7cbdc8..5755895 100644
--- a/doc/common/core/subsystems/package-tree.html
+++ b/doc/common/core/subsystems/package-tree.html
@@ -60,7 +60,7 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 <ul>
 <li class="circle">edu.wpi.first.wpilibj2.command.Command (implements edu.wpi.first.util.sendable.Sendable)
 <ul>
-<li class="circle">common.utility.tester.<a href="../../utility/tester/Tester.UnitTest.html" class="type-name-link" title="class in common.utility.tester">Tester.UnitTest</a>
+<li class="circle">common.utility.tester.<a href="../../utility/tester/Tester.SystemsTest.html" class="type-name-link" title="class in common.utility.tester">Tester.SystemsTest</a>
 <ul>
 <li class="circle">common.core.subsystems.<a href="NAR_PIDSubsystem.SetpointTest.html" class="type-name-link" title="class in common.core.subsystems">NAR_PIDSubsystem.SetpointTest</a></li>
 </ul>
diff --git a/doc/common/utility/tester/CurrentTest.html b/doc/common/utility/tester/CurrentTest.html
index c295540..2959b57 100644
--- a/doc/common/utility/tester/CurrentTest.html
+++ b/doc/common/utility/tester/CurrentTest.html
@@ -72,7 +72,7 @@ <h1 title="Class CurrentTest" class="title">Class CurrentTest</h1>
 </div>
 <div class="inheritance" title="Inheritance Tree"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">java.lang.Object</a>
 <div class="inheritance">edu.wpi.first.wpilibj2.command.Command
-<div class="inheritance"><a href="Tester.UnitTest.html" title="class in common.utility.tester">common.utility.tester.Tester.UnitTest</a>
+<div class="inheritance"><a href="Tester.SystemsTest.html" title="class in common.utility.tester">common.utility.tester.Tester.SystemsTest</a>
 <div class="inheritance">common.utility.tester.CurrentTest</div>
 </div>
 </div>
@@ -84,8 +84,8 @@ <h1 title="Class CurrentTest" class="title">Class CurrentTest</h1>
 </dl>
 <hr>
 <div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">CurrentTest</span>
-<span class="extends-implements">extends <a href="Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></span></div>
-<div class="block">UnitTests specifically for checking stall current.</div>
+<span class="extends-implements">extends <a href="Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></span></div>
+<div class="block">SystemsTests specifically for checking stall current.</div>
 </section>
 <section class="summary">
 <ul class="summary-list">
@@ -103,8 +103,8 @@ <h2 id="nested-classes-inherited-from-class-edu.wpi.first.wpilibj2.command.Comma
 <section class="field-summary" id="field-summary">
 <h2>Field Summary</h2>
 <div class="inherited-list">
-<h3 id="fields-inherited-from-class-common.utility.tester.Tester.UnitTest">Fields inherited from class&nbsp;common.utility.tester.<a href="Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></h3>
-<code><a href="Tester.UnitTest.html#command">command</a>, <a href="Tester.UnitTest.html#passCondition">passCondition</a>, <a href="Tester.UnitTest.html#testName">testName</a>, <a href="Tester.UnitTest.html#testState">testState</a></code></div>
+<h3 id="fields-inherited-from-class-common.utility.tester.Tester.SystemsTest">Fields inherited from class&nbsp;common.utility.tester.<a href="Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></h3>
+<code><a href="Tester.SystemsTest.html#command">command</a>, <a href="Tester.SystemsTest.html#passCondition">passCondition</a>, <a href="Tester.SystemsTest.html#testName">testName</a>, <a href="Tester.SystemsTest.html#testState">testState</a></code></div>
 <div class="inherited-list">
 <h3 id="fields-inherited-from-class-edu.wpi.first.wpilibj2.command.Command">Fields inherited from class&nbsp;edu.wpi.first.wpilibj2.command.Command</h3>
 <code>m_requirements</code></div>
@@ -280,7 +280,7 @@ <h3>initialize</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">initialize</span>()</div>
 <dl class="notes">
 <dt>Overrides:</dt>
-<dd><code><a href="Tester.UnitTest.html#initialize()">initialize</a></code>&nbsp;in class&nbsp;<code><a href="Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></code></dd>
+<dd><code><a href="Tester.SystemsTest.html#initialize()">initialize</a></code>&nbsp;in class&nbsp;<code><a href="Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></code></dd>
 </dl>
 </section>
 </li>
@@ -290,7 +290,7 @@ <h3>execute</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">execute</span>()</div>
 <dl class="notes">
 <dt>Overrides:</dt>
-<dd><code><a href="Tester.UnitTest.html#execute()">execute</a></code>&nbsp;in class&nbsp;<code><a href="Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></code></dd>
+<dd><code><a href="Tester.SystemsTest.html#execute()">execute</a></code>&nbsp;in class&nbsp;<code><a href="Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></code></dd>
 </dl>
 </section>
 </li>
@@ -300,7 +300,7 @@ <h3>end</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">end</span><wbr><span class="parameters">(boolean&nbsp;interrupted)</span></div>
 <dl class="notes">
 <dt>Overrides:</dt>
-<dd><code><a href="Tester.UnitTest.html#end(boolean)">end</a></code>&nbsp;in class&nbsp;<code><a href="Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></code></dd>
+<dd><code><a href="Tester.SystemsTest.html#end(boolean)">end</a></code>&nbsp;in class&nbsp;<code><a href="Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></code></dd>
 </dl>
 </section>
 </li>
@@ -310,7 +310,7 @@ <h3>isFinished</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">isFinished</span>()</div>
 <dl class="notes">
 <dt>Overrides:</dt>
-<dd><code><a href="Tester.UnitTest.html#isFinished()">isFinished</a></code>&nbsp;in class&nbsp;<code><a href="Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></code></dd>
+<dd><code><a href="Tester.SystemsTest.html#isFinished()">isFinished</a></code>&nbsp;in class&nbsp;<code><a href="Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></code></dd>
 </dl>
 </section>
 </li>
diff --git a/doc/common/utility/tester/IntakeTest.html b/doc/common/utility/tester/IntakeTest.html
new file mode 100644
index 0000000..2d85012
--- /dev/null
+++ b/doc/common/utility/tester/IntakeTest.html
@@ -0,0 +1,163 @@
+<!DOCTYPE HTML>
+<html lang="en">
+<head>
+<!-- Generated by javadoc (17) -->
+<title>IntakeTest (3128-common)</title>
+<meta name="viewport" content="width=device-width, initial-scale=1">
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<meta name="description" content="declaration: package: common.utility.tester, class: IntakeTest">
+<meta name="generator" content="javadoc/ClassWriterImpl">
+<link rel="stylesheet" type="text/css" href="../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../script-dir/jquery-ui.min.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../jquery-ui.overrides.css" title="Style">
+<script type="text/javascript" src="../../../script.js"></script>
+<script type="text/javascript" src="../../../script-dir/jquery-3.6.1.min.js"></script>
+<script type="text/javascript" src="../../../script-dir/jquery-ui.min.js"></script>
+</head>
+<body class="class-declaration-page">
+<script type="text/javascript">var pathtoroot = "../../../";
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<div class="flex-box">
+<header role="banner" class="flex-header">
+<nav role="navigation">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="top-nav" id="navbar-top">
+<div class="skip-nav"><a href="#skip-navbar-top" title="Skip navigation links">Skip navigation links</a></div>
+<ul id="navbar-top-firstrow" class="nav-list" title="Navigation">
+<li><a href="../../../index.html">Overview</a></li>
+<li><a href="package-summary.html">Package</a></li>
+<li class="nav-bar-cell1-rev">Class</li>
+<li><a href="package-tree.html">Tree</a></li>
+<li><a href="../../../index-all.html">Index</a></li>
+<li><a href="../../../help-doc.html#class">Help</a></li>
+</ul>
+</div>
+<div class="sub-nav">
+<div>
+<ul class="sub-nav-list">
+<li>Summary:&nbsp;</li>
+<li><a href="#nested-class-summary">Nested</a>&nbsp;|&nbsp;</li>
+<li><a href="#field-summary">Field</a>&nbsp;|&nbsp;</li>
+<li><a href="#constructor-summary">Constr</a>&nbsp;|&nbsp;</li>
+<li><a href="#method-summary">Method</a></li>
+</ul>
+<ul class="sub-nav-list">
+<li>Detail:&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
+<li><a href="#constructor-detail">Constr</a>&nbsp;|&nbsp;</li>
+<li>Method</li>
+</ul>
+</div>
+<div class="nav-list-search"><label for="search-input">SEARCH:</label>
+<input type="text" id="search-input" value="search" disabled="disabled">
+<input type="reset" id="reset-button" value="reset" disabled="disabled">
+</div>
+</div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+<span class="skip-nav" id="skip-navbar-top"></span></nav>
+</header>
+<div class="flex-content">
+<main role="main">
+<!-- ======== START OF CLASS DATA ======== -->
+<div class="header">
+<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">common.utility.tester</a></div>
+<h1 title="Class IntakeTest" class="title">Class IntakeTest</h1>
+</div>
+<div class="inheritance" title="Inheritance Tree"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">java.lang.Object</a>
+<div class="inheritance">edu.wpi.first.wpilibj2.command.Command
+<div class="inheritance"><a href="Tester.SystemsTest.html" title="class in common.utility.tester">common.utility.tester.Tester.SystemsTest</a>
+<div class="inheritance">common.utility.tester.IntakeTest</div>
+</div>
+</div>
+</div>
+<section class="class-description" id="class-description">
+<dl class="notes">
+<dt>All Implemented Interfaces:</dt>
+<dd><code>edu.wpi.first.util.sendable.Sendable</code></dd>
+</dl>
+<hr>
+<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">IntakeTest</span>
+<span class="extends-implements">extends <a href="Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></span></div>
+</section>
+<section class="summary">
+<ul class="summary-list">
+<!-- ======== NESTED CLASS SUMMARY ======== -->
+<li>
+<section class="nested-class-summary" id="nested-class-summary">
+<h2>Nested Class Summary</h2>
+<div class="inherited-list">
+<h2 id="nested-classes-inherited-from-class-edu.wpi.first.wpilibj2.command.Command">Nested classes/interfaces inherited from class&nbsp;edu.wpi.first.wpilibj2.command.Command</h2>
+<code>edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior</code></div>
+</section>
+</li>
+<!-- =========== FIELD SUMMARY =========== -->
+<li>
+<section class="field-summary" id="field-summary">
+<h2>Field Summary</h2>
+<div class="inherited-list">
+<h3 id="fields-inherited-from-class-common.utility.tester.Tester.SystemsTest">Fields inherited from class&nbsp;common.utility.tester.<a href="Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></h3>
+<code><a href="Tester.SystemsTest.html#command">command</a>, <a href="Tester.SystemsTest.html#passCondition">passCondition</a>, <a href="Tester.SystemsTest.html#testName">testName</a>, <a href="Tester.SystemsTest.html#testState">testState</a></code></div>
+<div class="inherited-list">
+<h3 id="fields-inherited-from-class-edu.wpi.first.wpilibj2.command.Command">Fields inherited from class&nbsp;edu.wpi.first.wpilibj2.command.Command</h3>
+<code>m_requirements</code></div>
+</section>
+</li>
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<li>
+<section class="constructor-summary" id="constructor-summary">
+<h2>Constructor Summary</h2>
+<div class="caption"><span>Constructors</span></div>
+<div class="summary-table two-column-summary">
+<div class="table-header col-first">Constructor</div>
+<div class="table-header col-last">Description</div>
+<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(java.lang.String,edu.wpi.first.wpilibj2.command.Command)" class="member-name-link">IntakeTest</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;testName,
+ edu.wpi.first.wpilibj2.command.Command&nbsp;command)</code></div>
+<div class="col-last even-row-color">&nbsp;</div>
+</div>
+</section>
+</li>
+<!-- ========== METHOD SUMMARY =========== -->
+<li>
+<section class="method-summary" id="method-summary">
+<h2>Method Summary</h2>
+<div class="inherited-list">
+<h3 id="methods-inherited-from-class-common.utility.tester.Tester.SystemsTest">Methods inherited from class&nbsp;common.utility.tester.<a href="Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></h3>
+<code><a href="Tester.SystemsTest.html#end(boolean)">end</a>, <a href="Tester.SystemsTest.html#execute()">execute</a>, <a href="Tester.SystemsTest.html#initialize()">initialize</a>, <a href="Tester.SystemsTest.html#isFinished()">isFinished</a></code></div>
+<div class="inherited-list">
+<h3 id="methods-inherited-from-class-edu.wpi.first.wpilibj2.command.Command">Methods inherited from class&nbsp;edu.wpi.first.wpilibj2.command.Command</h3>
+<code>addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineWith, finallyDo, finallyDo, getInterruptionBehavior, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, initSendable, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, runsWhenDisabled, schedule, setName, setSubsystem, unless, until, withInterruptBehavior, withName, withTimeout</code></div>
+<div class="inherited-list">
+<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
+<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
+</section>
+</li>
+</ul>
+</section>
+<section class="details">
+<ul class="details-list">
+<!-- ========= CONSTRUCTOR DETAIL ======== -->
+<li>
+<section class="constructor-details" id="constructor-detail">
+<h2>Constructor Details</h2>
+<ul class="member-list">
+<li>
+<section class="detail" id="&lt;init&gt;(java.lang.String,edu.wpi.first.wpilibj2.command.Command)">
+<h3>IntakeTest</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">IntakeTest</span><wbr><span class="parameters">(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;testName,
+ edu.wpi.first.wpilibj2.command.Command&nbsp;command)</span></div>
+</section>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</section>
+<!-- ========= END OF CLASS DATA ========= -->
+</main>
+</div>
+</div>
+</body>
+</html>
diff --git a/doc/common/utility/tester/PlateauTest.html b/doc/common/utility/tester/PlateauTest.html
index 627b473..3b38872 100644
--- a/doc/common/utility/tester/PlateauTest.html
+++ b/doc/common/utility/tester/PlateauTest.html
@@ -72,7 +72,7 @@ <h1 title="Class PlateauTest" class="title">Class PlateauTest</h1>
 </div>
 <div class="inheritance" title="Inheritance Tree"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">java.lang.Object</a>
 <div class="inheritance">edu.wpi.first.wpilibj2.command.Command
-<div class="inheritance"><a href="Tester.UnitTest.html" title="class in common.utility.tester">common.utility.tester.Tester.UnitTest</a>
+<div class="inheritance"><a href="Tester.SystemsTest.html" title="class in common.utility.tester">common.utility.tester.Tester.SystemsTest</a>
 <div class="inheritance">common.utility.tester.PlateauTest</div>
 </div>
 </div>
@@ -84,7 +84,7 @@ <h1 title="Class PlateauTest" class="title">Class PlateauTest</h1>
 </dl>
 <hr>
 <div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">PlateauTest</span>
-<span class="extends-implements">extends <a href="Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></span></div>
+<span class="extends-implements">extends <a href="Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></span></div>
 </section>
 <section class="summary">
 <ul class="summary-list">
@@ -102,8 +102,8 @@ <h2 id="nested-classes-inherited-from-class-edu.wpi.first.wpilibj2.command.Comma
 <section class="field-summary" id="field-summary">
 <h2>Field Summary</h2>
 <div class="inherited-list">
-<h3 id="fields-inherited-from-class-common.utility.tester.Tester.UnitTest">Fields inherited from class&nbsp;common.utility.tester.<a href="Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></h3>
-<code><a href="Tester.UnitTest.html#command">command</a>, <a href="Tester.UnitTest.html#passCondition">passCondition</a>, <a href="Tester.UnitTest.html#testName">testName</a>, <a href="Tester.UnitTest.html#testState">testState</a></code></div>
+<h3 id="fields-inherited-from-class-common.utility.tester.Tester.SystemsTest">Fields inherited from class&nbsp;common.utility.tester.<a href="Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></h3>
+<code><a href="Tester.SystemsTest.html#command">command</a>, <a href="Tester.SystemsTest.html#passCondition">passCondition</a>, <a href="Tester.SystemsTest.html#testName">testName</a>, <a href="Tester.SystemsTest.html#testState">testState</a></code></div>
 <div class="inherited-list">
 <h3 id="fields-inherited-from-class-edu.wpi.first.wpilibj2.command.Command">Fields inherited from class&nbsp;edu.wpi.first.wpilibj2.command.Command</h3>
 <code>m_requirements</code></div>
@@ -285,7 +285,7 @@ <h3>initialize</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">initialize</span>()</div>
 <dl class="notes">
 <dt>Overrides:</dt>
-<dd><code><a href="Tester.UnitTest.html#initialize()">initialize</a></code>&nbsp;in class&nbsp;<code><a href="Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></code></dd>
+<dd><code><a href="Tester.SystemsTest.html#initialize()">initialize</a></code>&nbsp;in class&nbsp;<code><a href="Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></code></dd>
 </dl>
 </section>
 </li>
@@ -295,7 +295,7 @@ <h3>execute</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">execute</span>()</div>
 <dl class="notes">
 <dt>Overrides:</dt>
-<dd><code><a href="Tester.UnitTest.html#execute()">execute</a></code>&nbsp;in class&nbsp;<code><a href="Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></code></dd>
+<dd><code><a href="Tester.SystemsTest.html#execute()">execute</a></code>&nbsp;in class&nbsp;<code><a href="Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></code></dd>
 </dl>
 </section>
 </li>
@@ -305,7 +305,7 @@ <h3>end</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">end</span><wbr><span class="parameters">(boolean&nbsp;interrupted)</span></div>
 <dl class="notes">
 <dt>Overrides:</dt>
-<dd><code><a href="Tester.UnitTest.html#end(boolean)">end</a></code>&nbsp;in class&nbsp;<code><a href="Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></code></dd>
+<dd><code><a href="Tester.SystemsTest.html#end(boolean)">end</a></code>&nbsp;in class&nbsp;<code><a href="Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></code></dd>
 </dl>
 </section>
 </li>
@@ -315,7 +315,7 @@ <h3>isFinished</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">isFinished</span>()</div>
 <dl class="notes">
 <dt>Overrides:</dt>
-<dd><code><a href="Tester.UnitTest.html#isFinished()">isFinished</a></code>&nbsp;in class&nbsp;<code><a href="Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></code></dd>
+<dd><code><a href="Tester.SystemsTest.html#isFinished()">isFinished</a></code>&nbsp;in class&nbsp;<code><a href="Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></code></dd>
 </dl>
 </section>
 </li>
diff --git a/doc/common/utility/tester/Tester.UnitTest.html b/doc/common/utility/tester/Tester.SystemsTest.html
similarity index 90%
rename from doc/common/utility/tester/Tester.UnitTest.html
rename to doc/common/utility/tester/Tester.SystemsTest.html
index 67ff5f8..b1f70b1 100644
--- a/doc/common/utility/tester/Tester.UnitTest.html
+++ b/doc/common/utility/tester/Tester.SystemsTest.html
@@ -2,10 +2,10 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc (17) -->
-<title>Tester.UnitTest (3128-common)</title>
+<title>Tester.SystemsTest (3128-common)</title>
 <meta name="viewport" content="width=device-width, initial-scale=1">
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="description" content="declaration: package: common.utility.tester, class: Tester, class: UnitTest">
+<meta name="description" content="declaration: package: common.utility.tester, class: Tester, class: SystemsTest">
 <meta name="generator" content="javadoc/ClassWriterImpl">
 <link rel="stylesheet" type="text/css" href="../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../script-dir/jquery-ui.min.css" title="Style">
@@ -68,11 +68,11 @@
 <!-- ======== START OF CLASS DATA ======== -->
 <div class="header">
 <div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">common.utility.tester</a></div>
-<h1 title="Class Tester.UnitTest" class="title">Class Tester.UnitTest</h1>
+<h1 title="Class Tester.SystemsTest" class="title">Class Tester.SystemsTest</h1>
 </div>
 <div class="inheritance" title="Inheritance Tree"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">java.lang.Object</a>
 <div class="inheritance">edu.wpi.first.wpilibj2.command.Command
-<div class="inheritance">common.utility.tester.Tester.UnitTest</div>
+<div class="inheritance">common.utility.tester.Tester.SystemsTest</div>
 </div>
 </div>
 <section class="class-description" id="class-description">
@@ -82,14 +82,14 @@ <h1 title="Class Tester.UnitTest" class="title">Class Tester.UnitTest</h1>
 </dl>
 <dl class="notes">
 <dt>Direct Known Subclasses:</dt>
-<dd><code><a href="CurrentTest.html" title="class in common.utility.tester">CurrentTest</a></code>, <code><a href="../../core/subsystems/NAR_PIDSubsystem.SetpointTest.html" title="class in common.core.subsystems">NAR_PIDSubsystem.SetpointTest</a></code>, <code><a href="PlateauTest.html" title="class in common.utility.tester">PlateauTest</a></code>, <code><a href="ThresholdTest.html" title="class in common.utility.tester">ThresholdTest</a></code></dd>
+<dd><code><a href="CurrentTest.html" title="class in common.utility.tester">CurrentTest</a></code>, <code><a href="IntakeTest.html" title="class in common.utility.tester">IntakeTest</a></code>, <code><a href="../../core/subsystems/NAR_PIDSubsystem.SetpointTest.html" title="class in common.core.subsystems">NAR_PIDSubsystem.SetpointTest</a></code>, <code><a href="PlateauTest.html" title="class in common.utility.tester">PlateauTest</a></code>, <code><a href="ThresholdTest.html" title="class in common.utility.tester">ThresholdTest</a></code></dd>
 </dl>
 <dl class="notes">
 <dt>Enclosing class:</dt>
 <dd><a href="Tester.html" title="class in common.utility.tester">Tester</a></dd>
 </dl>
 <hr>
-<div class="type-signature"><span class="modifiers">public static class </span><span class="element-name type-name-label">Tester.UnitTest</span>
+<div class="type-signature"><span class="modifiers">public static class </span><span class="element-name type-name-label">Tester.SystemsTest</span>
 <span class="extends-implements">extends edu.wpi.first.wpilibj2.command.Command</span></div>
 <div class="block">System test</div>
 </section>
@@ -139,16 +139,16 @@ <h2>Constructor Summary</h2>
 <div class="summary-table two-column-summary">
 <div class="table-header col-first">Constructor</div>
 <div class="table-header col-last">Description</div>
-<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(java.lang.String,edu.wpi.first.wpilibj2.command.Command)" class="member-name-link">UnitTest</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;testName,
+<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(java.lang.String,edu.wpi.first.wpilibj2.command.Command)" class="member-name-link">SystemsTest</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;testName,
  edu.wpi.first.wpilibj2.command.Command&nbsp;command)</code></div>
 <div class="col-last even-row-color">
-<div class="block">Creates a new Unit Test.</div>
+<div class="block">Creates a new System Test.</div>
 </div>
-<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(java.lang.String,edu.wpi.first.wpilibj2.command.Command,java.util.function.BooleanSupplier)" class="member-name-link">UnitTest</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;testName,
+<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(java.lang.String,edu.wpi.first.wpilibj2.command.Command,java.util.function.BooleanSupplier)" class="member-name-link">SystemsTest</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;testName,
  edu.wpi.first.wpilibj2.command.Command&nbsp;command,
  <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/BooleanSupplier.html" title="class or interface in java.util.function" class="external-link">BooleanSupplier</a>&nbsp;passCondition)</code></div>
 <div class="col-last odd-row-color">
-<div class="block">Creates a new Unit Test.</div>
+<div class="block">Creates a new System Test.</div>
 </div>
 </div>
 </section>
@@ -230,10 +230,10 @@ <h2>Constructor Details</h2>
 <ul class="member-list">
 <li>
 <section class="detail" id="&lt;init&gt;(java.lang.String,edu.wpi.first.wpilibj2.command.Command)">
-<h3>UnitTest</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">UnitTest</span><wbr><span class="parameters">(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;testName,
+<h3>SystemsTest</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SystemsTest</span><wbr><span class="parameters">(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;testName,
  edu.wpi.first.wpilibj2.command.Command&nbsp;command)</span></div>
-<div class="block">Creates a new Unit Test.</div>
+<div class="block">Creates a new System Test.</div>
 <dl class="notes">
 <dt>Parameters:</dt>
 <dd><code>testName</code> - Name of the test.</dd>
@@ -243,11 +243,11 @@ <h3>UnitTest</h3>
 </li>
 <li>
 <section class="detail" id="&lt;init&gt;(java.lang.String,edu.wpi.first.wpilibj2.command.Command,java.util.function.BooleanSupplier)">
-<h3>UnitTest</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">UnitTest</span><wbr><span class="parameters">(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;testName,
+<h3>SystemsTest</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SystemsTest</span><wbr><span class="parameters">(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;testName,
  edu.wpi.first.wpilibj2.command.Command&nbsp;command,
  <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/BooleanSupplier.html" title="class or interface in java.util.function" class="external-link">BooleanSupplier</a>&nbsp;passCondition)</span></div>
-<div class="block">Creates a new Unit Test.</div>
+<div class="block">Creates a new System Test.</div>
 <dl class="notes">
 <dt>Parameters:</dt>
 <dd><code>testName</code> - Name of the test.</dd>
diff --git a/doc/common/utility/tester/Tester.Test.html b/doc/common/utility/tester/Tester.Test.html
index 6889242..3964c45 100644
--- a/doc/common/utility/tester/Tester.Test.html
+++ b/doc/common/utility/tester/Tester.Test.html
@@ -121,14 +121,14 @@ <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="#addTest(common.utility.tester.Tester.Test)" class="member-name-link">addTest</a><wbr>(<a href="Tester.Test.html" title="class in common.utility.tester">Tester.Test</a>&nbsp;test)</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#addTest(common.utility.tester.Tester.SystemsTest)" class="member-name-link">addTest</a><wbr>(<a href="Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a>&nbsp;test)</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
-<div class="block">Adds a larger system test to be run.</div>
+<div class="block">Adds a System test to be run.</div>
 </div>
 <div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#addTest(common.utility.tester.Tester.UnitTest)" class="member-name-link">addTest</a><wbr>(<a href="Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a>&nbsp;test)</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#addTest(common.utility.tester.Tester.Test)" class="member-name-link">addTest</a><wbr>(<a href="Tester.Test.html" title="class in common.utility.tester">Tester.Test</a>&nbsp;test)</code></div>
 <div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
-<div class="block">Adds a unit test to be run.</div>
+<div class="block">Adds a larger system test to be run.</div>
 </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="#end(boolean)" class="member-name-link">end</a><wbr>(boolean&nbsp;interrupted)</code></div>
@@ -184,13 +184,13 @@ <h3>addTest</h3>
 </section>
 </li>
 <li>
-<section class="detail" id="addTest(common.utility.tester.Tester.UnitTest)">
+<section class="detail" id="addTest(common.utility.tester.Tester.SystemsTest)">
 <h3>addTest</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">addTest</span><wbr><span class="parameters">(<a href="Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a>&nbsp;test)</span></div>
-<div class="block">Adds a unit test to be run.</div>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">addTest</span><wbr><span class="parameters">(<a href="Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a>&nbsp;test)</span></div>
+<div class="block">Adds a System test to be run.</div>
 <dl class="notes">
 <dt>Parameters:</dt>
-<dd><code>test</code> - A unit test for the system.</dd>
+<dd><code>test</code> - A System test for the system.</dd>
 </dl>
 </section>
 </li>
diff --git a/doc/common/utility/tester/Tester.html b/doc/common/utility/tester/Tester.html
index c41e832..5143d4a 100644
--- a/doc/common/utility/tester/Tester.html
+++ b/doc/common/utility/tester/Tester.html
@@ -91,19 +91,19 @@ <h2>Nested Class Summary</h2>
 <div class="table-header col-second">Class</div>
 <div class="table-header col-last">Description</div>
 <div class="col-first even-row-color"><code>static class&nbsp;</code></div>
-<div class="col-second even-row-color"><code><a href="Tester.Test.html" class="type-name-link" title="class in common.utility.tester">Tester.Test</a></code></div>
+<div class="col-second even-row-color"><code><a href="Tester.SystemsTest.html" class="type-name-link" title="class in common.utility.tester">Tester.SystemsTest</a></code></div>
 <div class="col-last even-row-color">
-<div class="block">Collection of tests to be run for a system</div>
+<div class="block">System test</div>
 </div>
-<div class="col-first odd-row-color"><code>static enum&nbsp;</code></div>
-<div class="col-second odd-row-color"><code><a href="Tester.TestState.html" class="type-name-link" title="enum class in common.utility.tester">Tester.TestState</a></code></div>
+<div class="col-first odd-row-color"><code>static class&nbsp;</code></div>
+<div class="col-second odd-row-color"><code><a href="Tester.Test.html" class="type-name-link" title="class in common.utility.tester">Tester.Test</a></code></div>
 <div class="col-last odd-row-color">
-<div class="block">Enum representing test states</div>
+<div class="block">Collection of tests to be run for a system</div>
 </div>
-<div class="col-first even-row-color"><code>static class&nbsp;</code></div>
-<div class="col-second even-row-color"><code><a href="Tester.UnitTest.html" class="type-name-link" title="class in common.utility.tester">Tester.UnitTest</a></code></div>
+<div class="col-first even-row-color"><code>static enum&nbsp;</code></div>
+<div class="col-second even-row-color"><code><a href="Tester.TestState.html" class="type-name-link" title="enum class in common.utility.tester">Tester.TestState</a></code></div>
 <div class="col-last even-row-color">
-<div class="block">System test</div>
+<div class="block">Enum representing test states</div>
 </div>
 </div>
 </section>
@@ -120,16 +120,16 @@ <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="#addTest(java.lang.String,common.utility.tester.Tester.Test)" class="member-name-link">addTest</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name,
- <a href="Tester.Test.html" title="class in common.utility.tester">Tester.Test</a>&nbsp;test)</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#addTest(java.lang.String,common.utility.tester.Tester.SystemsTest)" class="member-name-link">addTest</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name,
+ <a href="Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a>&nbsp;test)</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
-<div class="block">Adds a unit test to be run for a system.</div>
+<div class="block">Adds a Systems test to be run for a system.</div>
 </div>
 <div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#addTest(java.lang.String,common.utility.tester.Tester.UnitTest)" class="member-name-link">addTest</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name,
- <a href="Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a>&nbsp;test)</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#addTest(java.lang.String,common.utility.tester.Tester.Test)" class="member-name-link">addTest</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name,
+ <a href="Tester.Test.html" title="class in common.utility.tester">Tester.Test</a>&nbsp;test)</code></div>
 <div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
-<div class="block">Adds a unit test to be run for a system.</div>
+<div class="block">Adds a Systems test to be run for a system.</div>
 </div>
 <div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static <a href="Tester.html" title="class in common.utility.tester">Tester</a></code></div>
 <div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#getInstance()" class="member-name-link">getInstance</a>()</code></div>
@@ -142,7 +142,7 @@ <h2>Method Summary</h2>
 <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="#runTest(java.lang.String)" class="member-name-link">runTest</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name)</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
-<div class="block">Runs the unit tests for a system.</div>
+<div class="block">Runs the Systems tests for a system.</div>
 </div>
 </div>
 </div>
@@ -168,15 +168,15 @@ <h3>getInstance</h3>
 </section>
 </li>
 <li>
-<section class="detail" id="addTest(java.lang.String,common.utility.tester.Tester.UnitTest)">
+<section class="detail" id="addTest(java.lang.String,common.utility.tester.Tester.SystemsTest)">
 <h3>addTest</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">addTest</span><wbr><span class="parameters">(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name,
- <a href="Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a>&nbsp;test)</span></div>
-<div class="block">Adds a unit test to be run for a system.</div>
+ <a href="Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a>&nbsp;test)</span></div>
+<div class="block">Adds a Systems test to be run for a system.</div>
 <dl class="notes">
 <dt>Parameters:</dt>
 <dd><code>name</code> - Name of the test or system.</dd>
-<dd><code>test</code> - Unit test to be added.</dd>
+<dd><code>test</code> - Systems test to be added.</dd>
 </dl>
 </section>
 </li>
@@ -185,11 +185,11 @@ <h3>addTest</h3>
 <h3>addTest</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">addTest</span><wbr><span class="parameters">(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name,
  <a href="Tester.Test.html" title="class in common.utility.tester">Tester.Test</a>&nbsp;test)</span></div>
-<div class="block">Adds a unit test to be run for a system.</div>
+<div class="block">Adds a Systems test to be run for a system.</div>
 <dl class="notes">
 <dt>Parameters:</dt>
 <dd><code>name</code> - Name of the test or system.</dd>
-<dd><code>test</code> - Unit test to be added.</dd>
+<dd><code>test</code> - Systems test to be added.</dd>
 </dl>
 </section>
 </li>
@@ -210,7 +210,7 @@ <h3>getTest</h3>
 <section class="detail" id="runTest(java.lang.String)">
 <h3>runTest</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">runTest</span><wbr><span class="parameters">(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name)</span></div>
-<div class="block">Runs the unit tests for a system.</div>
+<div class="block">Runs the Systems tests for a system.</div>
 <dl class="notes">
 <dt>Parameters:</dt>
 <dd><code>name</code> - Name of the test or system.</dd>
diff --git a/doc/common/utility/tester/ThresholdTest.html b/doc/common/utility/tester/ThresholdTest.html
index 86eb8b0..45a2cbf 100644
--- a/doc/common/utility/tester/ThresholdTest.html
+++ b/doc/common/utility/tester/ThresholdTest.html
@@ -72,7 +72,7 @@ <h1 title="Class ThresholdTest" class="title">Class ThresholdTest</h1>
 </div>
 <div class="inheritance" title="Inheritance Tree"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">java.lang.Object</a>
 <div class="inheritance">edu.wpi.first.wpilibj2.command.Command
-<div class="inheritance"><a href="Tester.UnitTest.html" title="class in common.utility.tester">common.utility.tester.Tester.UnitTest</a>
+<div class="inheritance"><a href="Tester.SystemsTest.html" title="class in common.utility.tester">common.utility.tester.Tester.SystemsTest</a>
 <div class="inheritance">common.utility.tester.ThresholdTest</div>
 </div>
 </div>
@@ -84,7 +84,7 @@ <h1 title="Class ThresholdTest" class="title">Class ThresholdTest</h1>
 </dl>
 <hr>
 <div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">ThresholdTest</span>
-<span class="extends-implements">extends <a href="Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></span></div>
+<span class="extends-implements">extends <a href="Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></span></div>
 </section>
 <section class="summary">
 <ul class="summary-list">
@@ -111,8 +111,8 @@ <h2>Field Summary</h2>
 <div class="col-last even-row-color">&nbsp;</div>
 </div>
 <div class="inherited-list">
-<h3 id="fields-inherited-from-class-common.utility.tester.Tester.UnitTest">Fields inherited from class&nbsp;common.utility.tester.<a href="Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></h3>
-<code><a href="Tester.UnitTest.html#command">command</a>, <a href="Tester.UnitTest.html#passCondition">passCondition</a>, <a href="Tester.UnitTest.html#testState">testState</a></code></div>
+<h3 id="fields-inherited-from-class-common.utility.tester.Tester.SystemsTest">Fields inherited from class&nbsp;common.utility.tester.<a href="Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></h3>
+<code><a href="Tester.SystemsTest.html#command">command</a>, <a href="Tester.SystemsTest.html#passCondition">passCondition</a>, <a href="Tester.SystemsTest.html#testState">testState</a></code></div>
 <div class="inherited-list">
 <h3 id="fields-inherited-from-class-edu.wpi.first.wpilibj2.command.Command">Fields inherited from class&nbsp;edu.wpi.first.wpilibj2.command.Command</h3>
 <code>m_requirements</code></div>
@@ -323,7 +323,7 @@ <h3>initialize</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">initialize</span>()</div>
 <dl class="notes">
 <dt>Overrides:</dt>
-<dd><code><a href="Tester.UnitTest.html#initialize()">initialize</a></code>&nbsp;in class&nbsp;<code><a href="Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></code></dd>
+<dd><code><a href="Tester.SystemsTest.html#initialize()">initialize</a></code>&nbsp;in class&nbsp;<code><a href="Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></code></dd>
 </dl>
 </section>
 </li>
@@ -333,7 +333,7 @@ <h3>execute</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">execute</span>()</div>
 <dl class="notes">
 <dt>Overrides:</dt>
-<dd><code><a href="Tester.UnitTest.html#execute()">execute</a></code>&nbsp;in class&nbsp;<code><a href="Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></code></dd>
+<dd><code><a href="Tester.SystemsTest.html#execute()">execute</a></code>&nbsp;in class&nbsp;<code><a href="Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></code></dd>
 </dl>
 </section>
 </li>
@@ -343,7 +343,7 @@ <h3>end</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">end</span><wbr><span class="parameters">(boolean&nbsp;interrupted)</span></div>
 <dl class="notes">
 <dt>Overrides:</dt>
-<dd><code><a href="Tester.UnitTest.html#end(boolean)">end</a></code>&nbsp;in class&nbsp;<code><a href="Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></code></dd>
+<dd><code><a href="Tester.SystemsTest.html#end(boolean)">end</a></code>&nbsp;in class&nbsp;<code><a href="Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></code></dd>
 </dl>
 </section>
 </li>
@@ -353,7 +353,7 @@ <h3>isFinished</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">isFinished</span>()</div>
 <dl class="notes">
 <dt>Overrides:</dt>
-<dd><code><a href="Tester.UnitTest.html#isFinished()">isFinished</a></code>&nbsp;in class&nbsp;<code><a href="Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></code></dd>
+<dd><code><a href="Tester.SystemsTest.html#isFinished()">isFinished</a></code>&nbsp;in class&nbsp;<code><a href="Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></code></dd>
 </dl>
 </section>
 </li>
diff --git a/doc/common/utility/tester/package-summary.html b/doc/common/utility/tester/package-summary.html
index f492a43..33129da 100644
--- a/doc/common/utility/tester/package-summary.html
+++ b/doc/common/utility/tester/package-summary.html
@@ -93,14 +93,20 @@ <h1 title="Package common.utility.tester" class="title">Package common.utility.t
 <div class="table-header col-last">Description</div>
 <div class="col-first even-row-color class-summary class-summary-tab2"><a href="CurrentTest.html" title="class in common.utility.tester">CurrentTest</a></div>
 <div class="col-last even-row-color class-summary class-summary-tab2">
-<div class="block">UnitTests specifically for checking stall current.</div>
+<div class="block">SystemsTests specifically for checking stall current.</div>
 </div>
-<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="PlateauTest.html" title="class in common.utility.tester">PlateauTest</a></div>
+<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="IntakeTest.html" title="class in common.utility.tester">IntakeTest</a></div>
 <div class="col-last odd-row-color class-summary class-summary-tab2">&nbsp;</div>
-<div class="col-first even-row-color class-summary class-summary-tab2"><a href="Tester.html" title="class in common.utility.tester">Tester</a></div>
-<div class="col-last even-row-color class-summary class-summary-tab2">
+<div class="col-first even-row-color class-summary class-summary-tab2"><a href="PlateauTest.html" title="class in common.utility.tester">PlateauTest</a></div>
+<div class="col-last even-row-color class-summary class-summary-tab2">&nbsp;</div>
+<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="Tester.html" title="class in common.utility.tester">Tester</a></div>
+<div class="col-last odd-row-color class-summary class-summary-tab2">
 <div class="block">Team 3128's Tester utility class used to run system checks at competitions.</div>
 </div>
+<div class="col-first even-row-color class-summary class-summary-tab2"><a href="Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></div>
+<div class="col-last even-row-color class-summary class-summary-tab2">
+<div class="block">System test</div>
+</div>
 <div class="col-first odd-row-color class-summary class-summary-tab2"><a href="Tester.Test.html" title="class in common.utility.tester">Tester.Test</a></div>
 <div class="col-last odd-row-color class-summary class-summary-tab2">
 <div class="block">Collection of tests to be run for a system</div>
@@ -109,12 +115,8 @@ <h1 title="Package common.utility.tester" class="title">Package common.utility.t
 <div class="col-last even-row-color class-summary class-summary-tab3">
 <div class="block">Enum representing test states</div>
 </div>
-<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></div>
-<div class="col-last odd-row-color class-summary class-summary-tab2">
-<div class="block">System test</div>
-</div>
-<div class="col-first even-row-color class-summary class-summary-tab2"><a href="ThresholdTest.html" title="class in common.utility.tester">ThresholdTest</a></div>
-<div class="col-last even-row-color class-summary class-summary-tab2">&nbsp;</div>
+<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="ThresholdTest.html" title="class in common.utility.tester">ThresholdTest</a></div>
+<div class="col-last odd-row-color class-summary class-summary-tab2">&nbsp;</div>
 </div>
 </div>
 </div>
diff --git a/doc/common/utility/tester/package-tree.html b/doc/common/utility/tester/package-tree.html
index 7e16ca0..f1213eb 100644
--- a/doc/common/utility/tester/package-tree.html
+++ b/doc/common/utility/tester/package-tree.html
@@ -60,14 +60,15 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 <ul>
 <li class="circle">edu.wpi.first.wpilibj2.command.Command (implements edu.wpi.first.util.sendable.Sendable)
 <ul>
-<li class="circle">common.utility.tester.<a href="Tester.Test.html" class="type-name-link" title="class in common.utility.tester">Tester.Test</a></li>
-<li class="circle">common.utility.tester.<a href="Tester.UnitTest.html" class="type-name-link" title="class in common.utility.tester">Tester.UnitTest</a>
+<li class="circle">common.utility.tester.<a href="Tester.SystemsTest.html" class="type-name-link" title="class in common.utility.tester">Tester.SystemsTest</a>
 <ul>
 <li class="circle">common.utility.tester.<a href="CurrentTest.html" class="type-name-link" title="class in common.utility.tester">CurrentTest</a></li>
+<li class="circle">common.utility.tester.<a href="IntakeTest.html" class="type-name-link" title="class in common.utility.tester">IntakeTest</a></li>
 <li class="circle">common.utility.tester.<a href="PlateauTest.html" class="type-name-link" title="class in common.utility.tester">PlateauTest</a></li>
 <li class="circle">common.utility.tester.<a href="ThresholdTest.html" class="type-name-link" title="class in common.utility.tester">ThresholdTest</a></li>
 </ul>
 </li>
+<li class="circle">common.utility.tester.<a href="Tester.Test.html" class="type-name-link" title="class in common.utility.tester">Tester.Test</a></li>
 </ul>
 </li>
 <li class="circle">common.utility.tester.<a href="Tester.html" class="type-name-link" title="class in common.utility.tester">Tester</a></li>
diff --git a/doc/index-all.html b/doc/index-all.html
index 306dde3..a426c5b 100644
--- a/doc/index-all.html
+++ b/doc/index-all.html
@@ -156,21 +156,21 @@ <h2 class="title" id="I:A">A</h2>
 </dd>
 <dt><a href="common/hardware/camera/Camera.html#addTags(int...)" class="member-name-link">addTags(int...)</a> - Static method in class common.hardware.camera.<a href="common/hardware/camera/Camera.html" title="class in common.hardware.camera">Camera</a></dt>
 <dd>&nbsp;</dd>
+<dt><a href="common/utility/tester/Tester.Test.html#addTest(common.utility.tester.Tester.SystemsTest)" class="member-name-link">addTest(Tester.SystemsTest)</a> - Method in class common.utility.tester.<a href="common/utility/tester/Tester.Test.html" title="class in common.utility.tester">Tester.Test</a></dt>
+<dd>
+<div class="block">Adds a System test to be run.</div>
+</dd>
 <dt><a href="common/utility/tester/Tester.Test.html#addTest(common.utility.tester.Tester.Test)" class="member-name-link">addTest(Tester.Test)</a> - Method in class common.utility.tester.<a href="common/utility/tester/Tester.Test.html" title="class in common.utility.tester">Tester.Test</a></dt>
 <dd>
 <div class="block">Adds a larger system test to be run.</div>
 </dd>
-<dt><a href="common/utility/tester/Tester.Test.html#addTest(common.utility.tester.Tester.UnitTest)" class="member-name-link">addTest(Tester.UnitTest)</a> - Method in class common.utility.tester.<a href="common/utility/tester/Tester.Test.html" title="class in common.utility.tester">Tester.Test</a></dt>
+<dt><a href="common/utility/tester/Tester.html#addTest(java.lang.String,common.utility.tester.Tester.SystemsTest)" class="member-name-link">addTest(String, Tester.SystemsTest)</a> - Method in class common.utility.tester.<a href="common/utility/tester/Tester.html" title="class in common.utility.tester">Tester</a></dt>
 <dd>
-<div class="block">Adds a unit test to be run.</div>
+<div class="block">Adds a Systems test to be run for a system.</div>
 </dd>
 <dt><a href="common/utility/tester/Tester.html#addTest(java.lang.String,common.utility.tester.Tester.Test)" class="member-name-link">addTest(String, Tester.Test)</a> - Method in class common.utility.tester.<a href="common/utility/tester/Tester.html" title="class in common.utility.tester">Tester</a></dt>
 <dd>
-<div class="block">Adds a unit test to be run for a system.</div>
-</dd>
-<dt><a href="common/utility/tester/Tester.html#addTest(java.lang.String,common.utility.tester.Tester.UnitTest)" class="member-name-link">addTest(String, Tester.UnitTest)</a> - Method in class common.utility.tester.<a href="common/utility/tester/Tester.html" title="class in common.utility.tester">Tester</a></dt>
-<dd>
-<div class="block">Adds a unit test to be run for a system.</div>
+<div class="block">Adds a Systems test to be run for a system.</div>
 </dd>
 <dt><a href="common/utility/narwhaldashboard/NarwhalDashboard.html#addUpdate(java.lang.String,java.util.function.Supplier)" class="member-name-link">addUpdate(String, Supplier&lt;Object&gt;)</a> - Method in class common.utility.narwhaldashboard.<a href="common/utility/narwhaldashboard/NarwhalDashboard.html" title="class in common.utility.narwhaldashboard">NarwhalDashboard</a></dt>
 <dd>
@@ -350,7 +350,7 @@ <h2 class="title" id="I:C">C</h2>
 </dd>
 <dt><a href="common/hardware/motorcontroller/NAR_Motor.Neutral.html#COAST" class="member-name-link">COAST</a> - Enum constant in enum class common.hardware.motorcontroller.<a href="common/hardware/motorcontroller/NAR_Motor.Neutral.html" title="enum class in common.hardware.motorcontroller">NAR_Motor.Neutral</a></dt>
 <dd>&nbsp;</dd>
-<dt><a href="common/utility/tester/Tester.UnitTest.html#command" class="member-name-link">command</a> - Variable in class common.utility.tester.<a href="common/utility/tester/Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></dt>
+<dt><a href="common/utility/tester/Tester.SystemsTest.html#command" class="member-name-link">command</a> - Variable in class common.utility.tester.<a href="common/utility/tester/Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="common/core/commands/package-summary.html">common.core.commands</a> - package common.core.commands</dt>
 <dd>&nbsp;</dd>
@@ -462,7 +462,7 @@ <h2 class="title" id="I:C">C</h2>
 <dd>&nbsp;</dd>
 <dt><a href="common/utility/tester/CurrentTest.html" class="type-name-link" title="class in common.utility.tester">CurrentTest</a> - Class in <a href="common/utility/tester/package-summary.html">common.utility.tester</a></dt>
 <dd>
-<div class="block">UnitTests specifically for checking stall current.</div>
+<div class="block">SystemsTests specifically for checking stall current.</div>
 </dd>
 <dt><a href="common/utility/tester/CurrentTest.html#%3Cinit%3E(java.lang.String,common.hardware.motorcontroller.NAR_Motor,double,double,double,double,double,edu.wpi.first.wpilibj2.command.Subsystem...)" class="member-name-link">CurrentTest(String, NAR_Motor, double, double, double, double, double, Subsystem...)</a> - Constructor for class common.utility.tester.<a href="common/utility/tester/CurrentTest.html" title="class in common.utility.tester">CurrentTest</a></dt>
 <dd>
@@ -577,9 +577,9 @@ <h2 class="title" id="I:E">E</h2>
 <dd>&nbsp;</dd>
 <dt><a href="common/utility/tester/PlateauTest.html#end(boolean)" class="member-name-link">end(boolean)</a> - Method in class common.utility.tester.<a href="common/utility/tester/PlateauTest.html" title="class in common.utility.tester">PlateauTest</a></dt>
 <dd>&nbsp;</dd>
-<dt><a href="common/utility/tester/Tester.Test.html#end(boolean)" class="member-name-link">end(boolean)</a> - Method in class common.utility.tester.<a href="common/utility/tester/Tester.Test.html" title="class in common.utility.tester">Tester.Test</a></dt>
+<dt><a href="common/utility/tester/Tester.SystemsTest.html#end(boolean)" class="member-name-link">end(boolean)</a> - Method in class common.utility.tester.<a href="common/utility/tester/Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></dt>
 <dd>&nbsp;</dd>
-<dt><a href="common/utility/tester/Tester.UnitTest.html#end(boolean)" class="member-name-link">end(boolean)</a> - Method in class common.utility.tester.<a href="common/utility/tester/Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></dt>
+<dt><a href="common/utility/tester/Tester.Test.html#end(boolean)" class="member-name-link">end(boolean)</a> - Method in class common.utility.tester.<a href="common/utility/tester/Tester.Test.html" title="class in common.utility.tester">Tester.Test</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="common/utility/tester/ThresholdTest.html#end(boolean)" class="member-name-link">end(boolean)</a> - Method in class common.utility.tester.<a href="common/utility/tester/ThresholdTest.html" title="class in common.utility.tester">ThresholdTest</a></dt>
 <dd>&nbsp;</dd>
@@ -609,9 +609,9 @@ <h2 class="title" id="I:E">E</h2>
 <dd>&nbsp;</dd>
 <dt><a href="common/utility/tester/PlateauTest.html#execute()" class="member-name-link">execute()</a> - Method in class common.utility.tester.<a href="common/utility/tester/PlateauTest.html" title="class in common.utility.tester">PlateauTest</a></dt>
 <dd>&nbsp;</dd>
-<dt><a href="common/utility/tester/Tester.Test.html#execute()" class="member-name-link">execute()</a> - Method in class common.utility.tester.<a href="common/utility/tester/Tester.Test.html" title="class in common.utility.tester">Tester.Test</a></dt>
+<dt><a href="common/utility/tester/Tester.SystemsTest.html#execute()" class="member-name-link">execute()</a> - Method in class common.utility.tester.<a href="common/utility/tester/Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></dt>
 <dd>&nbsp;</dd>
-<dt><a href="common/utility/tester/Tester.UnitTest.html#execute()" class="member-name-link">execute()</a> - Method in class common.utility.tester.<a href="common/utility/tester/Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></dt>
+<dt><a href="common/utility/tester/Tester.Test.html#execute()" class="member-name-link">execute()</a> - Method in class common.utility.tester.<a href="common/utility/tester/Tester.Test.html" title="class in common.utility.tester">Tester.Test</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="common/utility/tester/ThresholdTest.html#execute()" class="member-name-link">execute()</a> - Method in class common.utility.tester.<a href="common/utility/tester/ThresholdTest.html" title="class in common.utility.tester">ThresholdTest</a></dt>
 <dd>&nbsp;</dd>
@@ -1082,9 +1082,9 @@ <h2 class="title" id="I:I">I</h2>
 <dd>&nbsp;</dd>
 <dt><a href="common/utility/tester/PlateauTest.html#initialize()" class="member-name-link">initialize()</a> - Method in class common.utility.tester.<a href="common/utility/tester/PlateauTest.html" title="class in common.utility.tester">PlateauTest</a></dt>
 <dd>&nbsp;</dd>
-<dt><a href="common/utility/tester/Tester.Test.html#initialize()" class="member-name-link">initialize()</a> - Method in class common.utility.tester.<a href="common/utility/tester/Tester.Test.html" title="class in common.utility.tester">Tester.Test</a></dt>
+<dt><a href="common/utility/tester/Tester.SystemsTest.html#initialize()" class="member-name-link">initialize()</a> - Method in class common.utility.tester.<a href="common/utility/tester/Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></dt>
 <dd>&nbsp;</dd>
-<dt><a href="common/utility/tester/Tester.UnitTest.html#initialize()" class="member-name-link">initialize()</a> - Method in class common.utility.tester.<a href="common/utility/tester/Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></dt>
+<dt><a href="common/utility/tester/Tester.Test.html#initialize()" class="member-name-link">initialize()</a> - Method in class common.utility.tester.<a href="common/utility/tester/Tester.Test.html" title="class in common.utility.tester">Tester.Test</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="common/utility/tester/ThresholdTest.html#initialize()" class="member-name-link">initialize()</a> - Method in class common.utility.tester.<a href="common/utility/tester/ThresholdTest.html" title="class in common.utility.tester">ThresholdTest</a></dt>
 <dd>&nbsp;</dd>
@@ -1118,6 +1118,10 @@ <h2 class="title" id="I:I">I</h2>
 <dd>
 <div class="block">Intake a game piece</div>
 </dd>
+<dt><a href="common/utility/tester/IntakeTest.html" class="type-name-link" title="class in common.utility.tester">IntakeTest</a> - Class in <a href="common/utility/tester/package-summary.html">common.utility.tester</a></dt>
+<dd>&nbsp;</dd>
+<dt><a href="common/utility/tester/IntakeTest.html#%3Cinit%3E(java.lang.String,edu.wpi.first.wpilibj2.command.Command)" class="member-name-link">IntakeTest(String, Command)</a> - Constructor for class common.utility.tester.<a href="common/utility/tester/IntakeTest.html" title="class in common.utility.tester">IntakeTest</a></dt>
+<dd>&nbsp;</dd>
 <dt><a href="common/hardware/motorcontroller/NAR_Motor.MotorConfig.html#inverted" class="member-name-link">inverted</a> - Variable in class common.hardware.motorcontroller.<a href="common/hardware/motorcontroller/NAR_Motor.MotorConfig.html" title="class in common.hardware.motorcontroller">NAR_Motor.MotorConfig</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="common/core/subsystems/NAR_PIDSubsystem.html#isDebug()" class="member-name-link">isDebug()</a> - Method in class common.core.subsystems.<a href="common/core/subsystems/NAR_PIDSubsystem.html" title="class in common.core.subsystems">NAR_PIDSubsystem</a></dt>
@@ -1136,9 +1140,9 @@ <h2 class="title" id="I:I">I</h2>
 <dd>&nbsp;</dd>
 <dt><a href="common/utility/tester/PlateauTest.html#isFinished()" class="member-name-link">isFinished()</a> - Method in class common.utility.tester.<a href="common/utility/tester/PlateauTest.html" title="class in common.utility.tester">PlateauTest</a></dt>
 <dd>&nbsp;</dd>
-<dt><a href="common/utility/tester/Tester.Test.html#isFinished()" class="member-name-link">isFinished()</a> - Method in class common.utility.tester.<a href="common/utility/tester/Tester.Test.html" title="class in common.utility.tester">Tester.Test</a></dt>
+<dt><a href="common/utility/tester/Tester.SystemsTest.html#isFinished()" class="member-name-link">isFinished()</a> - Method in class common.utility.tester.<a href="common/utility/tester/Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></dt>
 <dd>&nbsp;</dd>
-<dt><a href="common/utility/tester/Tester.UnitTest.html#isFinished()" class="member-name-link">isFinished()</a> - Method in class common.utility.tester.<a href="common/utility/tester/Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></dt>
+<dt><a href="common/utility/tester/Tester.Test.html#isFinished()" class="member-name-link">isFinished()</a> - Method in class common.utility.tester.<a href="common/utility/tester/Tester.Test.html" title="class in common.utility.tester">Tester.Test</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="common/utility/tester/ThresholdTest.html#isFinished()" class="member-name-link">isFinished()</a> - Method in class common.utility.tester.<a href="common/utility/tester/ThresholdTest.html" title="class in common.utility.tester">ThresholdTest</a></dt>
 <dd>&nbsp;</dd>
@@ -1289,7 +1293,7 @@ <h2 class="title" id="I:M">M</h2>
 </dd>
 <dt><a href="common/core/subsystems/ManipulatorTemplate.html#%3Cinit%3E(double,double,double,double,double,common.hardware.motorcontroller.NAR_Motor...)" class="member-name-link">ManipulatorTemplate(double, double, double, double, double, NAR_Motor...)</a> - Constructor for class common.core.subsystems.<a href="common/core/subsystems/ManipulatorTemplate.html" title="class in common.core.subsystems">ManipulatorTemplate</a></dt>
 <dd>
-<div class="block">Creates an Elevator object.</div>
+<div class="block">Creates an Manipulator object.</div>
 </dd>
 <dt><a href="common/hardware/motorcontroller/MotorControllerConstants.html#MAX_PRIORITY" class="member-name-link">MAX_PRIORITY</a> - Static variable in class common.hardware.motorcontroller.<a href="common/hardware/motorcontroller/MotorControllerConstants.html" title="class in common.hardware.motorcontroller">MotorControllerConstants</a></dt>
 <dd>&nbsp;</dd>
@@ -1448,7 +1452,7 @@ <h2 class="title" id="I:N">N</h2>
 </dd>
 <dt><a href="common/core/subsystems/NAR_PIDSubsystem.SetpointTest.html" class="type-name-link" title="class in common.core.subsystems">NAR_PIDSubsystem.SetpointTest</a> - Class in <a href="common/core/subsystems/package-summary.html">common.core.subsystems</a></dt>
 <dd>
-<div class="block">UnitTest specifically for PIDSubsystems.</div>
+<div class="block">SystemsTest specifically for PIDSubsystems.</div>
 </dd>
 <dt><a href="common/core/misc/NAR_Robot.html" class="type-name-link" title="class in common.core.misc">NAR_Robot</a> - Class in <a href="common/core/misc/package-summary.html">common.core.misc</a></dt>
 <dd>
@@ -1571,7 +1575,7 @@ <h2 class="title" id="I:P">P</h2>
 <dd>&nbsp;</dd>
 <dt><a href="common/utility/narwhaldashboard/NarwhalDashboard.State.html#PARTIALLY_RUNNING" class="member-name-link">PARTIALLY_RUNNING</a> - Enum constant in enum class common.utility.narwhaldashboard.<a href="common/utility/narwhaldashboard/NarwhalDashboard.State.html" title="enum class in common.utility.narwhaldashboard">NarwhalDashboard.State</a></dt>
 <dd>&nbsp;</dd>
-<dt><a href="common/utility/tester/Tester.UnitTest.html#passCondition" class="member-name-link">passCondition</a> - Variable in class common.utility.tester.<a href="common/utility/tester/Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></dt>
+<dt><a href="common/utility/tester/Tester.SystemsTest.html#passCondition" class="member-name-link">passCondition</a> - Variable in class common.utility.tester.<a href="common/utility/tester/Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="common/utility/tester/Tester.TestState.html#PASSED" class="member-name-link">PASSED</a> - Enum constant in enum class common.utility.tester.<a href="common/utility/tester/Tester.TestState.html" title="enum class in common.utility.tester">Tester.TestState</a></dt>
 <dd>&nbsp;</dd>
@@ -1768,7 +1772,7 @@ <h2 class="title" id="I:R">R</h2>
 </dd>
 <dt><a href="common/utility/tester/Tester.html#runTest(java.lang.String)" class="member-name-link">runTest(String)</a> - Method in class common.utility.tester.<a href="common/utility/tester/Tester.html" title="class in common.utility.tester">Tester</a></dt>
 <dd>
-<div class="block">Runs the unit tests for a system.</div>
+<div class="block">Runs the Systems tests for a system.</div>
 </dd>
 </dl>
 <h2 class="title" id="I:S">S</h2>
@@ -2233,6 +2237,14 @@ <h2 class="title" id="I:S">S</h2>
 </dd>
 <dt><a href="common/core/swerve/SwerveModuleConfig.SwerveMotorConfig.html#%3Cinit%3E(common.hardware.motorcontroller.NAR_Motor,common.hardware.motorcontroller.NAR_Motor.MotorConfig,common.core.controllers.PIDFFConfig)" class="member-name-link">SwerveMotorConfig(NAR_Motor, NAR_Motor.MotorConfig, PIDFFConfig)</a> - Constructor for class common.core.swerve.<a href="common/core/swerve/SwerveModuleConfig.SwerveMotorConfig.html" title="class in common.core.swerve">SwerveModuleConfig.SwerveMotorConfig</a></dt>
 <dd>&nbsp;</dd>
+<dt><a href="common/utility/tester/Tester.SystemsTest.html#%3Cinit%3E(java.lang.String,edu.wpi.first.wpilibj2.command.Command)" class="member-name-link">SystemsTest(String, Command)</a> - Constructor for class common.utility.tester.<a href="common/utility/tester/Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></dt>
+<dd>
+<div class="block">Creates a new System Test.</div>
+</dd>
+<dt><a href="common/utility/tester/Tester.SystemsTest.html#%3Cinit%3E(java.lang.String,edu.wpi.first.wpilibj2.command.Command,java.util.function.BooleanSupplier)" class="member-name-link">SystemsTest(String, Command, BooleanSupplier)</a> - Constructor for class common.utility.tester.<a href="common/utility/tester/Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></dt>
+<dd>
+<div class="block">Creates a new System Test.</div>
+</dd>
 </dl>
 <h2 class="title" id="I:T">T</h2>
 <dl class="index">
@@ -2246,6 +2258,10 @@ <h2 class="title" id="I:T">T</h2>
 <dd>
 <div class="block">Team 3128's Tester utility class used to run system checks at competitions.</div>
 </dd>
+<dt><a href="common/utility/tester/Tester.SystemsTest.html" class="type-name-link" title="class in common.utility.tester">Tester.SystemsTest</a> - Class in <a href="common/utility/tester/package-summary.html">common.utility.tester</a></dt>
+<dd>
+<div class="block">System test</div>
+</dd>
 <dt><a href="common/utility/tester/Tester.Test.html" class="type-name-link" title="class in common.utility.tester">Tester.Test</a> - Class in <a href="common/utility/tester/package-summary.html">common.utility.tester</a></dt>
 <dd>
 <div class="block">Collection of tests to be run for a system</div>
@@ -2254,15 +2270,11 @@ <h2 class="title" id="I:T">T</h2>
 <dd>
 <div class="block">Enum representing test states</div>
 </dd>
-<dt><a href="common/utility/tester/Tester.UnitTest.html" class="type-name-link" title="class in common.utility.tester">Tester.UnitTest</a> - Class in <a href="common/utility/tester/package-summary.html">common.utility.tester</a></dt>
-<dd>
-<div class="block">System test</div>
-</dd>
-<dt><a href="common/utility/tester/Tester.UnitTest.html#testName" class="member-name-link">testName</a> - Variable in class common.utility.tester.<a href="common/utility/tester/Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></dt>
+<dt><a href="common/utility/tester/Tester.SystemsTest.html#testName" class="member-name-link">testName</a> - Variable in class common.utility.tester.<a href="common/utility/tester/Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="common/utility/tester/ThresholdTest.html#testName" class="member-name-link">testName</a> - Variable in class common.utility.tester.<a href="common/utility/tester/ThresholdTest.html" title="class in common.utility.tester">ThresholdTest</a></dt>
 <dd>&nbsp;</dd>
-<dt><a href="common/utility/tester/Tester.UnitTest.html#testState" class="member-name-link">testState</a> - Variable in class common.utility.tester.<a href="common/utility/tester/Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></dt>
+<dt><a href="common/utility/tester/Tester.SystemsTest.html#testState" class="member-name-link">testState</a> - Variable in class common.utility.tester.<a href="common/utility/tester/Tester.SystemsTest.html" title="class in common.utility.tester">Tester.SystemsTest</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="common/utility/tester/ThresholdTest.html" class="type-name-link" title="class in common.utility.tester">ThresholdTest</a> - Class in <a href="common/utility/tester/package-summary.html">common.utility.tester</a></dt>
 <dd>&nbsp;</dd>
@@ -2317,14 +2329,6 @@ <h2 class="title" id="I:U">U</h2>
 <dl class="index">
 <dt><a href="common/hardware/motorcontroller/NAR_Motor.html#unitConversionFactor" class="member-name-link">unitConversionFactor</a> - Variable in class common.hardware.motorcontroller.<a href="common/hardware/motorcontroller/NAR_Motor.html" title="class in common.hardware.motorcontroller">NAR_Motor</a></dt>
 <dd>&nbsp;</dd>
-<dt><a href="common/utility/tester/Tester.UnitTest.html#%3Cinit%3E(java.lang.String,edu.wpi.first.wpilibj2.command.Command)" class="member-name-link">UnitTest(String, Command)</a> - Constructor for class common.utility.tester.<a href="common/utility/tester/Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></dt>
-<dd>
-<div class="block">Creates a new Unit Test.</div>
-</dd>
-<dt><a href="common/utility/tester/Tester.UnitTest.html#%3Cinit%3E(java.lang.String,edu.wpi.first.wpilibj2.command.Command,java.util.function.BooleanSupplier)" class="member-name-link">UnitTest(String, Command, BooleanSupplier)</a> - Constructor for class common.utility.tester.<a href="common/utility/tester/Tester.UnitTest.html" title="class in common.utility.tester">Tester.UnitTest</a></dt>
-<dd>
-<div class="block">Creates a new Unit Test.</div>
-</dd>
 <dt><a href="common/utility/Log.html#unusual(java.lang.String,java.lang.String)" class="member-name-link">unusual(String, String)</a> - Static method in class common.utility.<a href="common/utility/Log.html" title="class in common.utility">Log</a></dt>
 <dd>
 <div class="block">Log something which should not happen under normal circumstances and probably
diff --git a/doc/index.html b/doc/index.html
index 16fccc9..9680534 100644
--- a/doc/index.html
+++ b/doc/index.html
@@ -51,7 +51,7 @@ <h1 class="title">3128-common</h1>
 </div>
 <div class="block"><h1>FRC Team 3128 Robot Control Program Utility Library</h1>
 <p>Provides utility classes and functions for FRC robot control programs.</p>
-<p>Version 1.7.7 (May 24 2024)</p></div>
+<p>Version 1.7.9 (June 24 2024)</p></div>
 <div id="all-packages-table">
 <div class="caption"><span>Packages</span></div>
 <div class="summary-table two-column-summary">
diff --git a/doc/member-search-index.js b/doc/member-search-index.js
index 6fc78ad..e89b016 100644
--- a/doc/member-search-index.js
+++ b/doc/member-search-index.js
@@ -1 +1 @@
-memberSearchIndex = [{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark.EncoderType","l":"Absolute"},{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark.SparkMaxConfig","l":"ABSOLUTE"},{"p":"common.core.subsystems","c":"NAR_PIDSubsystem.SetpointTest","l":"add()"},{"p":"common.utility.sysid","c":"FFCharacterization","l":"add(double, double, double)","u":"add(double,double,double)"},{"p":"common.utility.narwhaldashboard","c":"NarwhalDashboard","l":"addAction(String, Consumer<String[]>)","u":"addAction(java.lang.String,java.util.function.Consumer)"},{"p":"common.utility.narwhaldashboard","c":"NarwhalDashboard","l":"addAutos(String...)","u":"addAutos(java.lang.String...)"},{"p":"common.utility.shuffleboard","c":"NAR_Shuffleboard","l":"addAutos(String[])","u":"addAutos(java.lang.String[])"},{"p":"common.utility.narwhaldashboard","c":"NarwhalDashboard","l":"addButton(String, BooleanConsumer)","u":"addButton(java.lang.String,edu.wpi.first.util.function.BooleanConsumer)"},{"p":"common.utility.shuffleboard","c":"NAR_Shuffleboard","l":"addData(String, String, Object)","u":"addData(java.lang.String,java.lang.String,java.lang.Object)"},{"p":"common.utility.shuffleboard","c":"NAR_Shuffleboard","l":"addData(String, String, Object, int, int)","u":"addData(java.lang.String,java.lang.String,java.lang.Object,int,int)"},{"p":"common.utility.shuffleboard","c":"NAR_Shuffleboard","l":"addData(String, String, Object, int, int, int, int)","u":"addData(java.lang.String,java.lang.String,java.lang.Object,int,int,int,int)"},{"p":"common.utility.shuffleboard","c":"NAR_Shuffleboard","l":"addData(String, String, Supplier<Object>)","u":"addData(java.lang.String,java.lang.String,java.util.function.Supplier)"},{"p":"common.utility.shuffleboard","c":"NAR_Shuffleboard","l":"addData(String, String, Supplier<Object>, int, int)","u":"addData(java.lang.String,java.lang.String,java.util.function.Supplier,int,int)"},{"p":"common.utility.shuffleboard","c":"NAR_Shuffleboard","l":"addData(String, String, Supplier<Object>, int, int, int, int)","u":"addData(java.lang.String,java.lang.String,java.util.function.Supplier,int,int,int,int)"},{"p":"common.hardware.camera","c":"Camera","l":"addIgnoredTags(int...)"},{"p":"common.utility.narwhaldashboard","c":"NarwhalDashboard","l":"addInit(String, List<Object>)","u":"addInit(java.lang.String,java.util.List)"},{"p":"common.utility.narwhaldashboard","c":"NarwhalDashboard","l":"addInit(String, Object)","u":"addInit(java.lang.String,java.lang.Object)"},{"p":"common.core.controllers","c":"ControllerBase","l":"addMotor(MotorController)","u":"addMotor(edu.wpi.first.wpilibj.motorcontrol.MotorController)"},{"p":"common.core.controllers","c":"ControllerBase","l":"addMotor(NAR_Motor)","u":"addMotor(common.hardware.motorcontroller.NAR_Motor)"},{"p":"common.core.controllers","c":"ControllerBase","l":"addOutput(DoubleConsumer)","u":"addOutput(java.util.function.DoubleConsumer)"},{"p":"common.core.misc","c":"NAR_Robot","l":"addPeriodic(Runnable, double)","u":"addPeriodic(java.lang.Runnable,double)"},{"p":"common.core.misc","c":"NAR_Robot2","l":"addPeriodic(Runnable, double)","u":"addPeriodic(java.lang.Runnable,double)"},{"p":"common.core.misc","c":"NAR_Robot","l":"addPeriodic(Runnable, double, double)","u":"addPeriodic(java.lang.Runnable,double,double)"},{"p":"common.core.misc","c":"NAR_Robot2","l":"addPeriodic(Runnable, double, 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diff --git a/doc/overview-tree.html b/doc/overview-tree.html
index 3f549b4..e2a0b19 100644
--- a/doc/overview-tree.html
+++ b/doc/overview-tree.html
@@ -90,15 +90,16 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 <ul>
 <li class="circle">common.utility.sysid.<a href="common/utility/sysid/CmdSysId.html" class="type-name-link" title="class in common.utility.sysid">CmdSysId</a></li>
 <li class="circle">common.core.commands.<a href="common/core/commands/NAR_PIDCommand.html" class="type-name-link" title="class in common.core.commands">NAR_PIDCommand</a></li>
-<li class="circle">common.utility.tester.<a href="common/utility/tester/Tester.Test.html" class="type-name-link" title="class in common.utility.tester">Tester.Test</a></li>
-<li class="circle">common.utility.tester.<a href="common/utility/tester/Tester.UnitTest.html" class="type-name-link" title="class in common.utility.tester">Tester.UnitTest</a>
+<li class="circle">common.utility.tester.<a href="common/utility/tester/Tester.SystemsTest.html" class="type-name-link" title="class in common.utility.tester">Tester.SystemsTest</a>
 <ul>
 <li class="circle">common.utility.tester.<a href="common/utility/tester/CurrentTest.html" class="type-name-link" title="class in common.utility.tester">CurrentTest</a></li>
+<li class="circle">common.utility.tester.<a href="common/utility/tester/IntakeTest.html" class="type-name-link" title="class in common.utility.tester">IntakeTest</a></li>
 <li class="circle">common.core.subsystems.<a href="common/core/subsystems/NAR_PIDSubsystem.SetpointTest.html" class="type-name-link" title="class in common.core.subsystems">NAR_PIDSubsystem.SetpointTest</a></li>
 <li class="circle">common.utility.tester.<a href="common/utility/tester/PlateauTest.html" class="type-name-link" title="class in common.utility.tester">PlateauTest</a></li>
 <li class="circle">common.utility.tester.<a href="common/utility/tester/ThresholdTest.html" class="type-name-link" title="class in common.utility.tester">ThresholdTest</a></li>
 </ul>
 </li>
+<li class="circle">common.utility.tester.<a href="common/utility/tester/Tester.Test.html" class="type-name-link" title="class in common.utility.tester">Tester.Test</a></li>
 </ul>
 </li>
 <li class="circle">common.core.controllers.<a href="common/core/controllers/ControllerBase.html" class="type-name-link" title="class in common.core.controllers">ControllerBase</a> (implements java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/AutoCloseable.html" title="class or interface in java.lang" class="external-link">AutoCloseable</a>, edu.wpi.first.util.sendable.Sendable)
diff --git a/doc/type-search-index.js b/doc/type-search-index.js
index d96a6fb..134987d 100644
--- a/doc/type-search-index.js
+++ b/doc/type-search-index.js
@@ -1 +1 @@
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\ No newline at end of file
+typeSearchIndex = [{"l":"All Classes and Interfaces","u":"allclasses-index.html"},{"p":"common.hardware.camera","l":"AprilTagFields"},{"p":"common.utility.annotations","l":"AutoCommand"},{"p":"common.hardware.camera","l":"Camera"},{"p":"common.utility.sysid","l":"CmdSysId"},{"p":"common.hardware.motorcontroller","l":"NAR_Motor.Control"},{"p":"common.core.controllers","l":"Controller"},{"p":"common.core.controllers","l":"ControllerBase"},{"p":"common.hardware.motorcontroller","l":"NAR_CANSpark.ControllerType"},{"p":"common.core.swerve","l":"CTREModuleState"},{"p":"common.utility.tester","l":"CurrentTest"},{"p":"common.core.subsystems","l":"ElevatorTemplate"},{"p":"common.hardware.motorcontroller","l":"NAR_CANSpark.EncoderType"},{"p":"common.utility.sysid","l":"FFCharacterization"},{"p":"common.utility.tester","l":"IntakeTest"},{"p":"common.hardware.limelight","l":"LEDMode"},{"p":"common.hardware.limelight","l":"Limelight"},{"p":"common.hardware.limelight","l":"LimelightConstants"},{"p":"common.hardware.limelight","l":"LimelightData"},{"p":"common.hardware.limelight","l":"LimelightKey"},{"p":"common.utility","l":"Log"},{"p":"common.core.misc","l":"NAR_Robot.LoggingState"},{"p":"common.core.subsystems","l":"ManipulatorTemplate"},{"p":"common.hardware.motorcontroller","l":"NAR_Motor.MotorConfig"},{"p":"common.hardware.motorcontroller","l":"MotorControllerConstants"},{"p":"common.hardware.input","l":"NAR_ButtonBoard"},{"p":"common.hardware.motorcontroller","l":"NAR_CANSpark"},{"p":"common.hardware.input","l":"NAR_Joystick"},{"p":"common.hardware.motorcontroller","l":"NAR_Motor"},{"p":"common.hardware.motorcontroller","l":"NAR_Motor.NAR_MotorIO"},{"p":"common.core.commands","l":"NAR_PIDCommand"},{"p":"common.core.subsystems","l":"NAR_PIDSubsystem"},{"p":"common.core.misc","l":"NAR_Robot"},{"p":"common.core.misc","l":"NAR_Robot2"},{"p":"common.utility.shuffleboard","l":"NAR_Shuffleboard"},{"p":"common.hardware.motorcontroller","l":"NAR_TalonFX"},{"p":"common.hardware.motorcontroller","l":"NAR_TalonSRX"},{"p":"common.hardware.input","l":"NAR_XboxController"},{"p":"common.utility.annotations","l":"NARUpdateable"},{"p":"common.utility.narwhaldashboard","l":"NarwhalDashboard"},{"p":"common.hardware.motorcontroller","l":"NAR_Motor.Neutral"},{"p":"common.hardware.camera","l":"OffseasonAprilTags"},{"p":"common.hardware.camera","l":"ParseJson"},{"p":"common.core.controllers","l":"PIDFFConfig"},{"p":"common.hardware.limelight","l":"Pipeline"},{"p":"common.core.subsystems","l":"PivotTemplate"},{"p":"common.utility.tester","l":"PlateauTest"},{"p":"common.utility.sysid","l":"PolynomialDerivative"},{"p":"common.utility.sysid","l":"PolynomialRegression"},{"p":"common.core.subsystems","l":"NAR_PIDSubsystem.SetpointTest"},{"p":"common.core.subsystems","l":"ShooterTemplate"},{"p":"common.utility.annotations","l":"ShuffleboardData"},{"p":"common.hardware.motorcontroller","l":"NAR_CANSpark.SparkMaxConfig"},{"p":"common.utility.narwhaldashboard","l":"NarwhalDashboard.State"},{"p":"common.hardware.limelight","l":"StreamMode"},{"p":"common.core.swerve","l":"SwerveBase"},{"p":"common.core.swerve","l":"SwerveConversions"},{"p":"common.core.swerve","l":"SwerveModule"},{"p":"common.core.swerve","l":"SwerveModuleConfig"},{"p":"common.core.swerve","l":"SwerveModuleConstants"},{"p":"common.core.swerve","l":"SwerveModuleConfig.SwerveMotorConfig"},{"p":"common.utility.tester","l":"Tester.SystemsTest"},{"p":"common.utility.tester","l":"Tester.Test"},{"p":"common.utility.tester","l":"Tester"},{"p":"common.utility.tester","l":"Tester.TestState"},{"p":"common.utility.tester","l":"ThresholdTest"},{"p":"common.core.controllers","l":"TrapController"},{"p":"common.core.controllers","l":"Controller.Type"},{"p":"common.hardware.input","l":"NAR_XboxController.XboxButton"}];updateSearchResults();
\ No newline at end of file
diff --git a/gradle.properties b/gradle.properties
index e5afb95..4b67e18 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -1,4 +1,4 @@
-LibraryVersion=1.7.8
+LibraryVersion=1.7.9
 archivesGroup = com.github.Team3128
 archivesBaseName = 3128-common
 jsonFileName = 3128-common.json
diff --git a/src/main/java/common/core/subsystems/ManipulatorTemplate.java b/src/main/java/common/core/subsystems/ManipulatorTemplate.java
index 394bf0c..a6fc070 100644
--- a/src/main/java/common/core/subsystems/ManipulatorTemplate.java
+++ b/src/main/java/common/core/subsystems/ManipulatorTemplate.java
@@ -28,13 +28,13 @@ public abstract class ManipulatorTemplate extends SubsystemBase {
     private DoubleSupplier powerSetpoint;
 
     /**
-     * Creates an Elevator object.
+     * Creates an Manipulator object.
      * @param currentThreshold Current when object is intook.
      * @param intakePower Intake power.
      * @param outtakePower Outtake power.
      * @param stallPower Stall Power, run when Manipulator has a game piece.
      * @param lagSeconds Time before current check is run.
-     * @param motors Elevator motors.
+     * @param motors Manipulator motors.
      */
     public ManipulatorTemplate(double currentThreshold, double intakePower, double outtakePower, double stallPower, double lagSeconds, NAR_Motor... motors){
         this.currentThreshold = currentThreshold;
diff --git a/src/main/java/common/core/subsystems/NAR_PIDSubsystem.java b/src/main/java/common/core/subsystems/NAR_PIDSubsystem.java
index 5be28dc..6ac4f7a 100644
--- a/src/main/java/common/core/subsystems/NAR_PIDSubsystem.java
+++ b/src/main/java/common/core/subsystems/NAR_PIDSubsystem.java
@@ -9,9 +9,10 @@
 import common.utility.Log;
 import common.utility.shuffleboard.NAR_Shuffleboard;
 import common.utility.tester.Tester;
-import common.utility.tester.Tester.UnitTest;
+import common.utility.tester.Tester.SystemsTest;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.simulation.LinearSystemSim;
 import edu.wpi.first.wpilibj2.command.PIDSubsystem;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
@@ -23,9 +24,9 @@
 public abstract class NAR_PIDSubsystem extends SubsystemBase {
 
     /**
-     * UnitTest specifically for PIDSubsystems.
+     * SystemsTest specifically for PIDSubsystems.
      */
-    public class SetpointTest extends UnitTest {
+    public class SetpointTest extends SystemsTest {
         private final double timeOut;
         private final Timer timer = new Timer();
         private double prevTime;
@@ -131,7 +132,6 @@ public void periodic() {
             updateTimer.restart();
         }
     }
-
     /**
      * Initializes shuffleboard with debug elements for PID + FF values.
      */
diff --git a/src/main/java/common/utility/tester/CurrentTest.java b/src/main/java/common/utility/tester/CurrentTest.java
index 5b82df8..d8d5b9b 100644
--- a/src/main/java/common/utility/tester/CurrentTest.java
+++ b/src/main/java/common/utility/tester/CurrentTest.java
@@ -3,15 +3,15 @@
 import static edu.wpi.first.wpilibj2.command.Commands.*;
 import common.hardware.motorcontroller.NAR_Motor;
 import common.utility.Log;
-import common.utility.tester.Tester.UnitTest;
+import common.utility.tester.Tester.SystemsTest;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Subsystem;
 import java.util.function.BooleanSupplier;
 
 /**
- * UnitTests specifically for checking stall current.
+ * SystemsTests specifically for checking stall current.
  */
-public class CurrentTest extends UnitTest {
+public class CurrentTest extends SystemsTest {
 
     private NAR_Motor motor;
     private double plateau;
diff --git a/src/main/java/common/utility/tester/PlateauTest.java b/src/main/java/common/utility/tester/PlateauTest.java
index 1bae2b2..d8eac31 100644
--- a/src/main/java/common/utility/tester/PlateauTest.java
+++ b/src/main/java/common/utility/tester/PlateauTest.java
@@ -3,11 +3,11 @@
 import java.util.function.BooleanSupplier;
 import java.util.function.DoubleSupplier;
 
-import common.utility.tester.Tester.UnitTest;
+import common.utility.tester.Tester.SystemsTest;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
 
-public class PlateauTest extends UnitTest {
+public class PlateauTest extends SystemsTest {
     private double plateau;
     private Timer timer;
 
@@ -123,7 +123,7 @@ public void end(boolean interrupted) {
 
     @Override
     public boolean isFinished() {
-        return super.isFinished() || (timer.hasElapsed(plateau));
+        return super.isFinished() || (timer.hasElapsed(plateau) && passCondition.getAsBoolean());
     }
     
     
diff --git a/src/main/java/common/utility/tester/Tester.java b/src/main/java/common/utility/tester/Tester.java
index a64392d..83051c5 100644
--- a/src/main/java/common/utility/tester/Tester.java
+++ b/src/main/java/common/utility/tester/Tester.java
@@ -16,28 +16,28 @@
 public class Tester {
     
     /**System test */
-    public static class UnitTest extends Command {
+    public static class SystemsTest extends Command {
 
         protected String testName;
         protected Command command;
         protected BooleanSupplier passCondition;
         protected TestState testState;
         /**
-         * Creates a new Unit Test.
+         * Creates a new System Test.
          * @param testName Name of the test.
          * @param command Command to be run for the test.
          */
-        public UnitTest(String testName, Command command) {
+        public SystemsTest(String testName, Command command) {
             this(testName, command, ()-> true);
         }
 
         /**
-         * Creates a new Unit Test.
+         * Creates a new System Test.
          * @param testName Name of the test.
          * @param command Command to be run for the test.
          * @param passCondition Condition for the test to pass.
          */
-        public UnitTest(String testName, Command command, BooleanSupplier passCondition) {
+        public SystemsTest(String testName, Command command, BooleanSupplier passCondition) {
             this.testName = testName;
             this.command = command;
             this.passCondition = passCondition;
@@ -75,11 +75,11 @@ public boolean isFinished() {
 
     /**Collection of tests to be run for a system */
     public static class Test extends Command {
-        private final ArrayList<UnitTest> unitTests;
+        private final ArrayList<SystemsTest> systemsTests;
         private final String name;
         private final Timer passTimer;
         private double timeBetweenTests;
-        private UnitTest testToSchedule;
+        private SystemsTest testToSchedule;
         private TestState state;
         private int curIndex;
 
@@ -88,7 +88,7 @@ public static class Test extends Command {
          * @param name Name of the test or system.
          */
         private Test(String name) {
-            unitTests = new ArrayList<UnitTest>();
+            systemsTests = new ArrayList<SystemsTest>();
             this.name = name;
             this.timeBetweenTests = 0;
             state = TestState.FAILED;
@@ -105,15 +105,15 @@ private Test(String name) {
          * @param test Test for the robot.
          */
         public void addTest(Test test) {
-            unitTests.add(new UnitTest(test.getName(), test, ()-> test.state == TestState.PASSED));
+            systemsTests.add(new SystemsTest(test.getName(), test, ()-> test.state == TestState.PASSED));
         }
 
         /**
-         * Adds a unit test to be run.
-         * @param test A unit test for the system.
+         * Adds a System test to be run.
+         * @param test A System test for the system.
          */
-        public void addTest(UnitTest test) {
-            unitTests.add(test);
+        public void addTest(SystemsTest test) {
+            systemsTests.add(test);
         }
 
         @Override
@@ -125,13 +125,13 @@ public void initialize() {
             passTimer.reset();
             Log.info(name, "Test Running");
 
-            for(UnitTest test : unitTests) {
+            for(SystemsTest test : systemsTests) {
                 test.testState = TestState.FAILED;
             }
 
-            if (unitTests.size() == 0) state = TestState.FAILED;
+            if (systemsTests.size() == 0) state = TestState.FAILED;
             else {
-                final UnitTest initialTest = unitTests.get(0);
+                final SystemsTest initialTest = systemsTests.get(0);
                 initialTest.testState = TestState.RUNNING;
                 initialTest.schedule();
             }
@@ -139,7 +139,7 @@ public void initialize() {
 
         @Override
         public void execute() {
-            if (unitTests.size() == 0) return;
+            if (systemsTests.size() == 0) return;
             if (passTimer.hasElapsed(timeBetweenTests) && testToSchedule != null) {
                 passTimer.stop();
                 passTimer.reset();
@@ -148,7 +148,7 @@ public void execute() {
                 testToSchedule = null;
             }
 
-            final UnitTest test = unitTests.get(curIndex);
+            final SystemsTest test = systemsTests.get(curIndex);
             switch(test.testState) {
                 case FAILED:
                     state = TestState.FAILED;
@@ -156,9 +156,9 @@ public void execute() {
                 case PASSED:
                     curIndex ++;
                     state = TestState.PASSED;
-                    if (curIndex < unitTests.size()) {
+                    if (curIndex < systemsTests.size()) {
                         passTimer.restart();
-                        testToSchedule = unitTests.get(curIndex);
+                        testToSchedule = systemsTests.get(curIndex);
                         testToSchedule.testState = TestState.RUNNING;
                     }
                     return;
@@ -174,7 +174,7 @@ public void end(boolean interrupted) {
 
         @Override
         public boolean isFinished() {
-            return state == TestState.FAILED || curIndex == unitTests.size();
+            return state == TestState.FAILED || curIndex == systemsTests.size();
         }
 
         /**
@@ -217,11 +217,11 @@ private Tester() {
     }
 
     /**
-     * Adds a unit test to be run for a system.
+     * Adds a Systems test to be run for a system.
      * @param name Name of the test or system.
-     * @param test Unit test to be added.
+     * @param test Systems test to be added.
      */
-    public void addTest(String name, UnitTest test) {
+    public void addTest(String name, SystemsTest test) {
         if (!systemTests.containsKey(name)) {
             systemTests.put(name, new Test(name));
         }
@@ -229,9 +229,9 @@ public void addTest(String name, UnitTest test) {
     }
 
     /**
-     * Adds a unit test to be run for a system.
+     * Adds a Systems test to be run for a system.
      * @param name Name of the test or system.
-     * @param test Unit test to be added.
+     * @param test Systems test to be added.
      */
     public void addTest(String name, Test test) {
         if (!systemTests.containsKey(name)) {
@@ -251,7 +251,7 @@ public Test getTest(String name) {
     }
 
     /**
-     * Runs the unit tests for a system.
+     * Runs the Systems tests for a system.
      * @param name Name of the test or system.
      */
     public void runTest(String name) {
diff --git a/src/main/java/common/utility/tester/ThresholdTest.java b/src/main/java/common/utility/tester/ThresholdTest.java
index 5dbbf47..7cbdae1 100644
--- a/src/main/java/common/utility/tester/ThresholdTest.java
+++ b/src/main/java/common/utility/tester/ThresholdTest.java
@@ -3,11 +3,11 @@
 import java.util.function.BooleanSupplier;
 import java.util.function.DoubleSupplier;
 
-import common.utility.tester.Tester.UnitTest;
+import common.utility.tester.Tester.SystemsTest;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
 
-public class ThresholdTest extends UnitTest {
+public class ThresholdTest extends SystemsTest {
     public String testName;
     private boolean hasDelayed;
     private double delayPeriod;
diff --git a/src/main/resources/overview.html b/src/main/resources/overview.html
index edc098b..078c714 100644
--- a/src/main/resources/overview.html
+++ b/src/main/resources/overview.html
@@ -8,5 +8,5 @@
 <body>
 <h1>FRC Team 3128 Robot Control Program Utility Library</h1>
 <p>Provides utility classes and functions for FRC robot control programs.</p>
-<p>Version 1.7.7 (May 24 2024)</p>
+<p>Version 1.7.9 (June 24 2024)</p>
 </body>
\ No newline at end of file