diff --git a/doc/common/utility/tester/PlateauTest.html b/doc/common/utility/tester/PlateauTest.html
index 5e09a24..627b473 100644
--- a/doc/common/utility/tester/PlateauTest.html
+++ b/doc/common/utility/tester/PlateauTest.html
@@ -50,7 +50,7 @@
 </ul>
 <ul class="sub-nav-list">
 <li>Detail:&nbsp;</li>
-<li><a href="#field-detail">Field</a>&nbsp;|&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
 <li><a href="#constructor-detail">Constr</a>&nbsp;|&nbsp;</li>
 <li><a href="#method-detail">Method</a></li>
 </ul>
@@ -101,15 +101,6 @@ <h2 id="nested-classes-inherited-from-class-edu.wpi.first.wpilibj2.command.Comma
 <li>
 <section class="field-summary" id="field-summary">
 <h2>Field Summary</h2>
-<div class="caption"><span>Fields</span></div>
-<div class="summary-table three-column-summary">
-<div class="table-header col-first">Modifier and Type</div>
-<div class="table-header col-second">Field</div>
-<div class="table-header col-last">Description</div>
-<div class="col-first even-row-color"><code>static double</code></div>
-<div class="col-second even-row-color"><code><a href="#timeout" class="member-name-link">timeout</a></code></div>
-<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#testName">testName</a>, <a href="Tester.UnitTest.html#testState">testState</a></code></div>
@@ -199,34 +190,19 @@ <h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from cl
 </section>
 <section class="details">
 <ul class="details-list">
-<!-- ============ FIELD DETAIL =========== -->
-<li>
-<section class="field-details" id="field-detail">
-<h2>Field Details</h2>
-<ul class="member-list">
-<li>
-<section class="detail" id="timeout">
-<h3>timeout</h3>
-<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">timeout</span></div>
-</section>
-</li>
-</ul>
-</section>
-</li>
 <!-- ========= 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,double,java.util.function.DoubleSupplier,double,double)">
+<section class="detail" id="&lt;init&gt;(java.lang.String,edu.wpi.first.wpilibj2.command.Command,double,java.util.function.DoubleSupplier,double)">
 <h3>PlateauTest</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">PlateauTest</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,
  double&nbsp;plateau,
  <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/DoubleSupplier.html" title="class or interface in java.util.function" class="external-link">DoubleSupplier</a>&nbsp;error,
- double&nbsp;tolerance,
- double&nbsp;timeOut)</span></div>
+ double&nbsp;tolerance)</span></div>
 <div class="block">Creates a plateau test.</div>
 <dl class="notes">
 <dt>Parameters:</dt>
@@ -235,62 +211,63 @@ <h3>PlateauTest</h3>
 <dd><code>plateau</code> - How long the pass condition must be true for.</dd>
 <dd><code>error</code> - Difference from expected value.</dd>
 <dd><code>tolerance</code> - Maximum error.</dd>
-<dd><code>timeOut</code> - Time to run the test.</dd>
 </dl>
 </section>
 </li>
 <li>
-<section class="detail" id="&lt;init&gt;(java.lang.String,edu.wpi.first.wpilibj2.command.Command,double,double,java.util.function.BooleanSupplier)">
+<section class="detail" id="&lt;init&gt;(java.lang.String,edu.wpi.first.wpilibj2.command.Command,double,java.util.function.DoubleSupplier,double,double)">
 <h3>PlateauTest</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">PlateauTest</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,
  double&nbsp;plateau,
- double&nbsp;timeOut,
- <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 plateau test.</div>
+ <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/DoubleSupplier.html" title="class or interface in java.util.function" class="external-link">DoubleSupplier</a>&nbsp;error,
+ double&nbsp;tolerance,
+ double&nbsp;timeOut)</span></div>
+<div class="block">Creates a plateau test. (specify timeout)</div>
 <dl class="notes">
 <dt>Parameters:</dt>
 <dd><code>testName</code> - Name of test.</dd>
 <dd><code>command</code> - Command to run.</dd>
 <dd><code>plateau</code> - How long the pass condition must be true for.</dd>
+<dd><code>error</code> - Difference from expected value.</dd>
+<dd><code>tolerance</code> - Maximum error.</dd>
 <dd><code>timeOut</code> - Time to run the test.</dd>
-<dd><code>passCondition</code> - Condition to pass the test.</dd>
 </dl>
 </section>
 </li>
 <li>
-<section class="detail" id="&lt;init&gt;(java.lang.String,edu.wpi.first.wpilibj2.command.Command,double,java.util.function.DoubleSupplier,double)">
+<section class="detail" id="&lt;init&gt;(java.lang.String,edu.wpi.first.wpilibj2.command.Command,double,java.util.function.BooleanSupplier)">
 <h3>PlateauTest</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">PlateauTest</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,
  double&nbsp;plateau,
- <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/DoubleSupplier.html" title="class or interface in java.util.function" class="external-link">DoubleSupplier</a>&nbsp;error,
- double&nbsp;tolerance)</span></div>
-<div class="block">Creates a plateau test.</div>
+ <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 plateau test. (specify passCondition)</div>
 <dl class="notes">
 <dt>Parameters:</dt>
 <dd><code>testName</code> - Name of test.</dd>
 <dd><code>command</code> - Command to run.</dd>
 <dd><code>plateau</code> - How long the pass condition must be true for.</dd>
-<dd><code>error</code> - Difference from expected value.</dd>
-<dd><code>tolerance</code> - Maximum error.</dd>
+<dd><code>passCondition</code> - Condition for the test to pass.</dd>
 </dl>
 </section>
 </li>
 <li>
-<section class="detail" id="&lt;init&gt;(java.lang.String,edu.wpi.first.wpilibj2.command.Command,double,java.util.function.BooleanSupplier)">
+<section class="detail" id="&lt;init&gt;(java.lang.String,edu.wpi.first.wpilibj2.command.Command,double,double,java.util.function.BooleanSupplier)">
 <h3>PlateauTest</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">PlateauTest</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,
  double&nbsp;plateau,
+ double&nbsp;timeOut,
  <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 plateau test.</div>
+<div class="block">Creates a plateau test. (specify passCondition and timeout)</div>
 <dl class="notes">
 <dt>Parameters:</dt>
 <dd><code>testName</code> - Name of test.</dd>
 <dd><code>command</code> - Command to run.</dd>
 <dd><code>plateau</code> - How long the pass condition must be true for.</dd>
-<dd><code>passCondition</code> - Condition for the test to pass.</dd>
+<dd><code>timeOut</code> - Time to run the test.</dd>
+<dd><code>passCondition</code> - Condition to pass the test.</dd>
 </dl>
 </section>
 </li>
diff --git a/doc/common/utility/tester/ThresholdTest.html b/doc/common/utility/tester/ThresholdTest.html
index a1679bc..86eb8b0 100644
--- a/doc/common/utility/tester/ThresholdTest.html
+++ b/doc/common/utility/tester/ThresholdTest.html
@@ -126,32 +126,40 @@ <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,double,java.util.function.BooleanSupplier)" class="member-name-link">ThresholdTest</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,double,double,java.util.function.BooleanSupplier)" class="member-name-link">ThresholdTest</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,
  double&nbsp;timeOut,
+ double&nbsp;delayPeriod,
  <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 even-row-color">
 <div class="block">Creates a threshold 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">ThresholdTest</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,double,java.util.function.BooleanSupplier)" class="member-name-link">ThresholdTest</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,
+ double&nbsp;timeOut,
  <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 threshold test.</div>
 </div>
-<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(java.lang.String,edu.wpi.first.wpilibj2.command.Command,java.util.function.DoubleSupplier,double)" class="member-name-link">ThresholdTest</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,java.util.function.BooleanSupplier)" class="member-name-link">ThresholdTest</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 even-row-color">
+<div class="block">Creates a threshold 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.DoubleSupplier,double)" class="member-name-link">ThresholdTest</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/DoubleSupplier.html" title="class or interface in java.util.function" class="external-link">DoubleSupplier</a>&nbsp;measurement,
  double&nbsp;threshold)</code></div>
-<div class="col-last even-row-color">
+<div class="col-last odd-row-color">
 <div class="block">Creates a threshold 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.DoubleSupplier,double,double)" class="member-name-link">ThresholdTest</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,java.util.function.DoubleSupplier,double,double)" class="member-name-link">ThresholdTest</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/DoubleSupplier.html" title="class or interface in java.util.function" class="external-link">DoubleSupplier</a>&nbsp;measurement,
  double&nbsp;threshold,
  double&nbsp;timeOut)</code></div>
-<div class="col-last odd-row-color">
+<div class="col-last even-row-color">
 <div class="block">Creates a threshold test.</div>
 </div>
 </div>
@@ -215,6 +223,23 @@ <h3>testName</h3>
 <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,java.util.function.DoubleSupplier,double)">
+<h3>ThresholdTest</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">ThresholdTest</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/DoubleSupplier.html" title="class or interface in java.util.function" class="external-link">DoubleSupplier</a>&nbsp;measurement,
+ double&nbsp;threshold)</span></div>
+<div class="block">Creates a threshold test.</div>
+<dl class="notes">
+<dt>Parameters:</dt>
+<dd><code>testName</code> - Name of the test.</dd>
+<dd><code>command</code> - Command to run.</dd>
+<dd><code>measurement</code> - Source of measurement.</dd>
+<dd><code>threshold</code> - Threshold that should be reached.</dd>
+</dl>
+</section>
+</li>
+<li>
 <section class="detail" id="&lt;init&gt;(java.lang.String,edu.wpi.first.wpilibj2.command.Command,java.util.function.DoubleSupplier,double,double)">
 <h3>ThresholdTest</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">ThresholdTest</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,
@@ -222,7 +247,7 @@ <h3>ThresholdTest</h3>
  <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/DoubleSupplier.html" title="class or interface in java.util.function" class="external-link">DoubleSupplier</a>&nbsp;measurement,
  double&nbsp;threshold,
  double&nbsp;timeOut)</span></div>
-<div class="block">Creates a threshold test.</div>
+<div class="block">Creates a threshold test. (specify timeout)</div>
 <dl class="notes">
 <dt>Parameters:</dt>
 <dd><code>testName</code> - Name of the test.</dd>
@@ -234,50 +259,52 @@ <h3>ThresholdTest</h3>
 </section>
 </li>
 <li>
-<section class="detail" id="&lt;init&gt;(java.lang.String,edu.wpi.first.wpilibj2.command.Command,double,java.util.function.BooleanSupplier)">
+<section class="detail" id="&lt;init&gt;(java.lang.String,edu.wpi.first.wpilibj2.command.Command,java.util.function.BooleanSupplier)">
 <h3>ThresholdTest</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">ThresholdTest</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,
- double&nbsp;timeOut,
  <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 threshold test.</div>
+<div class="block">Creates a threshold test. (specify passCondition)</div>
 <dl class="notes">
 <dt>Parameters:</dt>
 <dd><code>testName</code> - Name of the test.</dd>
 <dd><code>command</code> - Command to run.</dd>
-<dd><code>timeOut</code> - Time for test to run.</dd>
 <dd><code>passCondition</code> - Condition for the test to pass.</dd>
 </dl>
 </section>
 </li>
 <li>
-<section class="detail" id="&lt;init&gt;(java.lang.String,edu.wpi.first.wpilibj2.command.Command,java.util.function.DoubleSupplier,double)">
+<section class="detail" id="&lt;init&gt;(java.lang.String,edu.wpi.first.wpilibj2.command.Command,double,java.util.function.BooleanSupplier)">
 <h3>ThresholdTest</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">ThresholdTest</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/DoubleSupplier.html" title="class or interface in java.util.function" class="external-link">DoubleSupplier</a>&nbsp;measurement,
- double&nbsp;threshold)</span></div>
-<div class="block">Creates a threshold test.</div>
+ double&nbsp;timeOut,
+ <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 threshold test. (specify timeout and passCondition)</div>
 <dl class="notes">
 <dt>Parameters:</dt>
 <dd><code>testName</code> - Name of the test.</dd>
 <dd><code>command</code> - Command to run.</dd>
-<dd><code>measurement</code> - Source of measurement.</dd>
-<dd><code>threshold</code> - Threshold that should be reached.</dd>
+<dd><code>timeOut</code> - Time for test to run.</dd>
+<dd><code>passCondition</code> - Condition for the test to pass.</dd>
 </dl>
 </section>
 </li>
 <li>
-<section class="detail" id="&lt;init&gt;(java.lang.String,edu.wpi.first.wpilibj2.command.Command,java.util.function.BooleanSupplier)">
+<section class="detail" id="&lt;init&gt;(java.lang.String,edu.wpi.first.wpilibj2.command.Command,double,double,java.util.function.BooleanSupplier)">
 <h3>ThresholdTest</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">ThresholdTest</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,
+ double&nbsp;timeOut,
+ double&nbsp;delayPeriod,
  <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 threshold test.</div>
+<div class="block">Creates a threshold test. (specify timeout, passCondition, and delayPeriod)</div>
 <dl class="notes">
 <dt>Parameters:</dt>
 <dd><code>testName</code> - Name of the test.</dd>
 <dd><code>command</code> - Command to run.</dd>
+<dd><code>timeOut</code> - Time for test to run.</dd>
+<dd><code>delayPeriod</code> - Time of delay in seconds.</dd>
 <dd><code>passCondition</code> - Condition for the test to pass.</dd>
 </dl>
 </section>
diff --git a/doc/index-all.html b/doc/index-all.html
index 715ba96..306dde3 100644
--- a/doc/index-all.html
+++ b/doc/index-all.html
@@ -2266,6 +2266,10 @@ <h2 class="title" id="I:T">T</h2>
 <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>
+<dt><a href="common/utility/tester/ThresholdTest.html#%3Cinit%3E(java.lang.String,edu.wpi.first.wpilibj2.command.Command,double,double,java.util.function.BooleanSupplier)" class="member-name-link">ThresholdTest(String, Command, double, double, BooleanSupplier)</a> - Constructor for class common.utility.tester.<a href="common/utility/tester/ThresholdTest.html" title="class in common.utility.tester">ThresholdTest</a></dt>
+<dd>
+<div class="block">Creates a threshold test.</div>
+</dd>
 <dt><a href="common/utility/tester/ThresholdTest.html#%3Cinit%3E(java.lang.String,edu.wpi.first.wpilibj2.command.Command,double,java.util.function.BooleanSupplier)" class="member-name-link">ThresholdTest(String, Command, double, BooleanSupplier)</a> - Constructor for class common.utility.tester.<a href="common/utility/tester/ThresholdTest.html" title="class in common.utility.tester">ThresholdTest</a></dt>
 <dd>
 <div class="block">Creates a threshold test.</div>
@@ -2286,8 +2290,6 @@ <h2 class="title" id="I:T">T</h2>
 <dd>&nbsp;</dd>
 <dt><a href="common/hardware/motorcontroller/NAR_Motor.MotorConfig.html#timeFactor" class="member-name-link">timeFactor</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/utility/tester/PlateauTest.html#timeout" class="member-name-link">timeout</a> - Static variable 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/core/swerve/SwerveBase.html#toggle()" class="member-name-link">toggle()</a> - Method in class common.core.swerve.<a href="common/core/swerve/SwerveBase.html" title="class in common.core.swerve">SwerveBase</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="common/hardware/limelight/LimelightData.html#toString()" class="member-name-link">toString()</a> - Method in class common.hardware.limelight.<a href="common/hardware/limelight/LimelightData.html" title="class in common.hardware.limelight">LimelightData</a></dt>
diff --git a/doc/member-search-index.js b/doc/member-search-index.js
index da63beb..6fc78ad 100644
--- a/doc/member-search-index.js
+++ b/doc/member-search-index.js
@@ -1 +1 @@
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double)","u":"setConstraints(double,double)"},{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark","l":"setCurrentLimit(int)"},{"p":"common.hardware.motorcontroller","c":"NAR_Motor","l":"setCurrentLimit(int)"},{"p":"common.hardware.motorcontroller","c":"NAR_TalonFX","l":"setCurrentLimit(int)"},{"p":"common.hardware.motorcontroller","c":"NAR_TalonSRX","l":"setCurrentLimit(int)"},{"p":"common.core.controllers","c":"ControllerBase","l":"setD(double)"},{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark","l":"setDefaultStatusFrames()"},{"p":"common.hardware.motorcontroller","c":"NAR_Motor","l":"setDefaultStatusFrames()"},{"p":"common.hardware.motorcontroller","c":"NAR_TalonFX","l":"setDefaultStatusFrames()"},{"p":"common.hardware.motorcontroller","c":"NAR_TalonSRX","l":"setDefaultStatusFrames()"},{"p":"common.core.swerve","c":"SwerveModule","l":"setDesiredState(SwerveModuleState)","u":"setDesiredState(edu.wpi.first.math.kinematics.SwerveModuleState)"},{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark","l":"setFollowerStatusFrames()"},{"p":"common.hardware.motorcontroller","c":"NAR_Motor","l":"setFollowerStatusFrames()"},{"p":"common.hardware.motorcontroller","c":"NAR_TalonFX","l":"setFollowerStatusFrames()"},{"p":"common.hardware.motorcontroller","c":"NAR_TalonSRX","l":"setFollowerStatusFrames()"},{"p":"common.core.controllers","c":"ControllerBase","l":"setI(double)"},{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark","l":"setInverted(boolean)"},{"p":"common.hardware.motorcontroller","c":"NAR_Motor","l":"setInverted(boolean)"},{"p":"common.hardware.motorcontroller","c":"NAR_TalonFX","l":"setInverted(boolean)"},{"p":"common.hardware.motorcontroller","c":"NAR_TalonSRX","l":"setInverted(boolean)"},{"p":"common.core.controllers","c":"ControllerBase","l":"setkA(DoubleSupplier)","u":"setkA(java.util.function.DoubleSupplier)"},{"p":"common.core.controllers","c":"ControllerBase","l":"setkG_Function(DoubleSupplier)","u":"setkG_Function(java.util.function.DoubleSupplier)"},{"p":"common.core.subsystems","c":"NAR_PIDSubsystem","l":"setkG_Function(DoubleSupplier)","u":"setkG_Function(java.util.function.DoubleSupplier)"},{"p":"common.core.controllers","c":"ControllerBase","l":"setkG(double)"},{"p":"common.core.controllers","c":"ControllerBase","l":"setkG(DoubleSupplier)","u":"setkG(java.util.function.DoubleSupplier)"},{"p":"common.core.controllers","c":"ControllerBase","l":"setkS(double)"},{"p":"common.core.controllers","c":"ControllerBase","l":"setkS(DoubleSupplier)","u":"setkS(java.util.function.DoubleSupplier)"},{"p":"common.core.controllers","c":"ControllerBase","l":"setkV(double)"},{"p":"common.core.controllers","c":"ControllerBase","l":"setkV(DoubleSupplier)","u":"setkV(java.util.function.DoubleSupplier)"},{"p":"common.hardware.limelight","c":"Limelight","l":"setLEDMode(LEDMode)","u":"setLEDMode(common.hardware.limelight.LEDMode)"},{"p":"common.hardware.input","c":"NAR_XboxController","l":"setLeftXDeadband(double)"},{"p":"common.hardware.input","c":"NAR_XboxController","l":"setLeftYDeadband(double)"},{"p":"common.core.controllers","c":"ControllerBase","l":"setMeasurementSource(DoubleSupplier)","u":"setMeasurementSource(java.util.function.DoubleSupplier)"},{"p":"common.core.controllers","c":"Controller","l":"setMeasurementSource(NAR_Motor)","u":"setMeasurementSource(common.hardware.motorcontroller.NAR_Motor)"},{"p":"common.core.swerve","c":"SwerveBase","l":"setModuleStates(SwerveModuleState[])","u":"setModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState[])"},{"p":"common.hardware.motorcontroller","c":"NAR_Motor","l":"setNeutralMode(NAR_Motor.Neutral)","u":"setNeutralMode(common.hardware.motorcontroller.NAR_Motor.Neutral)"},{"p":"common.core.controllers","c":"ControllerBase","l":"setP(double)"},{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark","l":"setPercentOutput(double)"},{"p":"common.hardware.motorcontroller","c":"NAR_Motor","l":"setPercentOutput(double)"},{"p":"common.hardware.motorcontroller","c":"NAR_TalonFX","l":"setPercentOutput(double)"},{"p":"common.hardware.motorcontroller","c":"NAR_TalonSRX","l":"setPercentOutput(double)"},{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark","l":"setPeriodicFramePeriod(CANSparkLowLevel.PeriodicFrame, 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double)","u":"setPosition(double,double)"},{"p":"common.hardware.motorcontroller","c":"NAR_TalonFX","l":"setPosition(double, double)","u":"setPosition(double,double)"},{"p":"common.hardware.motorcontroller","c":"NAR_TalonSRX","l":"setPosition(double, double)","u":"setPosition(double,double)"},{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark","l":"setPositionStatusFrames()"},{"p":"common.hardware.motorcontroller","c":"NAR_Motor","l":"setPositionStatusFrames()"},{"p":"common.hardware.motorcontroller","c":"NAR_TalonFX","l":"setPositionStatusFrames()"},{"p":"common.hardware.motorcontroller","c":"NAR_TalonSRX","l":"setPositionStatusFrames()"},{"p":"common.core.subsystems","c":"ManipulatorTemplate","l":"setPower(double)"},{"p":"common.core.subsystems","c":"PivotTemplate","l":"setPower(double)"},{"p":"common.core.subsystems","c":"ShooterTemplate","l":"setPower(double)"},{"p":"common.hardware.input","c":"NAR_XboxController","l":"setRightXDeadband(double)"},{"p":"common.hardware.input","c":"NAR_XboxController","l":"setRightYDeadband(double)"},{"p":"common.core.subsystems","c":"NAR_PIDSubsystem","l":"setSafetyThresh(double)"},{"p":"common.core.controllers","c":"ControllerBase","l":"setSetpoint(double)"},{"p":"common.core.controllers","c":"TrapController","l":"setSetpoint(double)"},{"p":"common.core.controllers","c":"TrapController","l":"setSetpoint(TrapezoidProfile.State)","u":"setSetpoint(edu.wpi.first.math.trajectory.TrapezoidProfile.State)"},{"p":"common.hardware.motorcontroller","c":"NAR_TalonSRX","l":"setStatusFramePeriod(StatusFrameEnhanced, 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double)","u":"setTolerance(double,double)"},{"p":"common.hardware.motorcontroller","c":"NAR_Motor","l":"setUnitConversionFactor(double)"},{"p":"common.core.subsystems","c":"NAR_PIDSubsystem","l":"setUpdateTime(double)"},{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark","l":"setVelocity(double, double)","u":"setVelocity(double,double)"},{"p":"common.hardware.motorcontroller","c":"NAR_Motor","l":"setVelocity(double, double)","u":"setVelocity(double,double)"},{"p":"common.hardware.motorcontroller","c":"NAR_TalonFX","l":"setVelocity(double, double)","u":"setVelocity(double,double)"},{"p":"common.hardware.motorcontroller","c":"NAR_TalonSRX","l":"setVelocity(double, 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NAR_Motor...)","u":"%3Cinit%3E(common.core.controllers.ControllerBase,common.hardware.motorcontroller.NAR_Motor...)"},{"p":"common.core.controllers","c":"TrapController","l":"shouldLog"},{"p":"common.core.swerve","c":"SwerveModule","l":"shouldOptimizeCAN"},{"p":"common.hardware.limelight","c":"LimelightKey","l":"SKEW"},{"p":"common.hardware.motorcontroller","c":"MotorControllerConstants","l":"SPARKMAX_ENCODER_RESOLUTION"},{"p":"common.hardware.motorcontroller","c":"MotorControllerConstants","l":"SPARKMAX_RPM_TO_NUpS"},{"p":"common.hardware.motorcontroller","c":"NAR_Motor.NAR_MotorIO","l":"stallCurrent"},{"p":"common.core.misc","c":"NAR_Robot","l":"startCompetition()"},{"p":"common.core.misc","c":"NAR_Robot2","l":"startCompetition()"},{"p":"common.core.subsystems","c":"NAR_PIDSubsystem","l":"startPID(double)"},{"p":"common.hardware.input","c":"NAR_XboxController","l":"startVibrate()"},{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark.SparkMaxConfig","l":"status0"},{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark.SparkMaxConfig","l":"status1"},{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark.SparkMaxConfig","l":"status2"},{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark.SparkMaxConfig","l":"status3"},{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark.SparkMaxConfig","l":"status4"},{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark.SparkMaxConfig","l":"status5"},{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark.SparkMaxConfig","l":"status6"},{"p":"common.core.swerve","c":"SwerveBase","l":"stop()"},{"p":"common.core.swerve","c":"SwerveModule","l":"stop()"},{"p":"common.hardware.input","c":"NAR_XboxController","l":"stopVibrate()"},{"p":"common.core.swerve","c":"SwerveBase","l":"SwerveBase(SwerveDriveKinematics, 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double)","u":"%3Cinit%3E(int,int,int,double)"},{"p":"common.core.swerve","c":"SwerveModuleConfig.SwerveMotorConfig","l":"SwerveMotorConfig(NAR_Motor, NAR_Motor.MotorConfig, PIDFFConfig)","u":"%3Cinit%3E(common.hardware.motorcontroller.NAR_Motor,common.hardware.motorcontroller.NAR_Motor.MotorConfig,common.core.controllers.PIDFFConfig)"},{"p":"common.utility.annotations","c":"ShuffleboardData","l":"tab()"},{"p":"common.hardware.motorcontroller","c":"MotorControllerConstants","l":"TALONSRX_ENCODER_RESOLUTION"},{"p":"common.hardware.limelight","c":"Limelight","l":"targetWidth"},{"p":"common.utility.tester","c":"Tester.UnitTest","l":"testName"},{"p":"common.utility.tester","c":"ThresholdTest","l":"testName"},{"p":"common.utility.tester","c":"Tester.UnitTest","l":"testState"},{"p":"common.utility.tester","c":"ThresholdTest","l":"ThresholdTest(String, Command, BooleanSupplier)","u":"%3Cinit%3E(java.lang.String,edu.wpi.first.wpilibj2.command.Command,java.util.function.BooleanSupplier)"},{"p":"common.utility.tester","c":"ThresholdTest","l":"ThresholdTest(String, Command, double, BooleanSupplier)","u":"%3Cinit%3E(java.lang.String,edu.wpi.first.wpilibj2.command.Command,double,java.util.function.BooleanSupplier)"},{"p":"common.utility.tester","c":"ThresholdTest","l":"ThresholdTest(String, Command, double, double, BooleanSupplier)","u":"%3Cinit%3E(java.lang.String,edu.wpi.first.wpilibj2.command.Command,double,double,java.util.function.BooleanSupplier)"},{"p":"common.utility.tester","c":"ThresholdTest","l":"ThresholdTest(String, Command, DoubleSupplier, double)","u":"%3Cinit%3E(java.lang.String,edu.wpi.first.wpilibj2.command.Command,java.util.function.DoubleSupplier,double)"},{"p":"common.utility.tester","c":"ThresholdTest","l":"ThresholdTest(String, Command, DoubleSupplier, double, 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String)","u":"unusual(java.lang.String,java.lang.String)"},{"p":"common.hardware.camera","c":"Camera","l":"update()"},{"p":"common.utility.shuffleboard","c":"NAR_Shuffleboard","l":"update()"},{"p":"common.hardware.camera","c":"Camera","l":"updateAll()"},{"p":"common.hardware.camera","c":"Camera","l":"updateCounter"},{"p":"common.hardware.motorcontroller","c":"NAR_Motor","l":"updateIO(NAR_MotorIOAutoLogged)","u":"updateIO(common.hardware.motorcontroller.NAR_MotorIOAutoLogged)"},{"p":"common.core.controllers","c":"ControllerBase","l":"useOutput()"},{"p":"common.core.subsystems","c":"ElevatorTemplate","l":"useOutput(double, double)","u":"useOutput(double,double)"},{"p":"common.core.subsystems","c":"NAR_PIDSubsystem","l":"useOutput(double, double)","u":"useOutput(double,double)"},{"p":"common.core.subsystems","c":"PivotTemplate","l":"useOutput(double, double)","u":"useOutput(double,double)"},{"p":"common.core.subsystems","c":"ShooterTemplate","l":"useOutput(double, double)","u":"useOutput(double,double)"},{"p":"common.hardware.limelight","c":"LimelightKey","l":"VALID_TARGET"},{"p":"common.hardware.camera","c":"Camera","l":"validDist"},{"p":"common.hardware.limelight","c":"LimelightConstants","l":"VALUE_KEYS"},{"p":"common.hardware.limelight","c":"LimelightConstants","l":"VALUE_KEYS_PNP"},{"p":"common.core.controllers","c":"Controller.Type","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"common.core.misc","c":"NAR_Robot.LoggingState","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"common.hardware.camera","c":"AprilTagFields","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"common.hardware.input","c":"NAR_XboxController.XboxButton","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"common.hardware.limelight","c":"LEDMode","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"common.hardware.limelight","c":"LimelightKey","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"common.hardware.limelight","c":"Pipeline","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"common.hardware.limelight","c":"StreamMode","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark.ControllerType","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark.EncoderType","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark.SparkMaxConfig","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"common.hardware.motorcontroller","c":"NAR_Motor.Control","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"common.hardware.motorcontroller","c":"NAR_Motor.Neutral","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"common.utility.narwhaldashboard","c":"NarwhalDashboard.State","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"common.utility.tester","c":"Tester.TestState","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"common.core.controllers","c":"Controller.Type","l":"values()"},{"p":"common.core.misc","c":"NAR_Robot.LoggingState","l":"values()"},{"p":"common.hardware.camera","c":"AprilTagFields","l":"values()"},{"p":"common.hardware.input","c":"NAR_XboxController.XboxButton","l":"values()"},{"p":"common.hardware.limelight","c":"LEDMode","l":"values()"},{"p":"common.hardware.limelight","c":"LimelightKey","l":"values()"},{"p":"common.hardware.limelight","c":"Pipeline","l":"values()"},{"p":"common.hardware.limelight","c":"StreamMode","l":"values()"},{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark.ControllerType","l":"values()"},{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark.EncoderType","l":"values()"},{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark.SparkMaxConfig","l":"values()"},{"p":"common.hardware.motorcontroller","c":"NAR_Motor.Control","l":"values()"},{"p":"common.hardware.motorcontroller","c":"NAR_Motor.Neutral","l":"values()"},{"p":"common.utility.narwhaldashboard","c":"NarwhalDashboard.State","l":"values()"},{"p":"common.utility.tester","c":"Tester.TestState","l":"values()"},{"p":"common.hardware.motorcontroller","c":"NAR_Motor.NAR_MotorIO","l":"velocity"},{"p":"common.hardware.motorcontroller","c":"NAR_Motor.Control","l":"Velocity"},{"p":"common.core.controllers","c":"Controller.Type","l":"VELOCITY"},{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark.SparkMaxConfig","l":"VELOCITY"},{"p":"common.hardware.limelight","c":"LimelightConstants","l":"VERTICAL_FOV"},{"p":"common.hardware.limelight","c":"LimelightKey","l":"VERTICAL_OFFSET"},{"p":"common.utility.shuffleboard","c":"NAR_Shuffleboard","l":"WINDOW_HEIGHT"},{"p":"common.utility.shuffleboard","c":"NAR_Shuffleboard","l":"WINDOW_WIDTH"},{"p":"common.utility.annotations","c":"ShuffleboardData","l":"x()"},{"p":"common.core.swerve","c":"SwerveBase","l":"xlock()"},{"p":"common.core.swerve","c":"SwerveModule","l":"xLock(Rotation2d)","u":"xLock(edu.wpi.first.math.geometry.Rotation2d)"},{"p":"common.utility.annotations","c":"ShuffleboardData","l":"y()"},{"p":"common.core.swerve","c":"SwerveBase","l":"zeroGyro(double)"}];updateSearchResults();
\ No newline at end of file
diff --git a/src/main/java/common/utility/tester/PlateauTest.java b/src/main/java/common/utility/tester/PlateauTest.java
index c4006ea..1bae2b2 100644
--- a/src/main/java/common/utility/tester/PlateauTest.java
+++ b/src/main/java/common/utility/tester/PlateauTest.java
@@ -1,7 +1,5 @@
 package common.utility.tester;
 
-import static edu.wpi.first.wpilibj2.command.Commands.*;
-
 import java.util.function.BooleanSupplier;
 import java.util.function.DoubleSupplier;
 
@@ -12,8 +10,6 @@
 public class PlateauTest extends UnitTest {
     private double plateau;
     private Timer timer;
-    private boolean hasDelayed;
-    public static double timeout = 30;
 
     /**
      * Creates a plateau test.
@@ -22,88 +18,89 @@ public class PlateauTest extends UnitTest {
      * @param plateau How long the pass condition must be true for.
      * @param error Difference from expected value.
      * @param tolerance Maximum error.
-     * @param timeOut Time to run the test.
      */
     public PlateauTest(
             String testName,  
             Command command, 
-            double plateau,
+            double plateau, 
             DoubleSupplier error, 
-            double tolerance, 
-            double timeOut) {
+            double tolerance) {
         this(
             testName, 
-            command, 
-            plateau, 
-            timeout,
-            () -> Math.abs(error.getAsDouble()) < tolerance);
+            command,
+            plateau,
+            error,
+            tolerance,
+            30);
     }
 
     /**
-     * Creates a plateau test.
+     * Creates a plateau test. (specify timeout)
      * @param testName Name of test.
      * @param command Command to run.
      * @param plateau How long the pass condition must be true for.
+     * @param error Difference from expected value.
+     * @param tolerance Maximum error.
      * @param timeOut Time to run the test.
-     * @param passCondition Condition to pass the test.
      */
     public PlateauTest(
             String testName,  
             Command command, 
-            double plateau, 
-            double timeOut, 
-            BooleanSupplier passCondition) {
-        super(
-            testName,
-            command.andThen(waitSeconds(timeOut)),
-            passCondition
-        );
-        this.plateau = plateau;
-        timer = new Timer();
-        hasDelayed = false;
+            double plateau,
+            DoubleSupplier error, 
+            double tolerance, 
+            double timeOut) {
+        this(
+            testName, 
+            command, 
+            plateau, 
+            timeOut,
+            () -> Math.abs(error.getAsDouble()) < tolerance);
     }
 
     /**
-     * Creates a plateau test.
+     * Creates a plateau test. (specify passCondition)
      * @param testName Name of test.
      * @param command Command to run.
      * @param plateau How long the pass condition must be true for.
-     * @param error Difference from expected value.
-     * @param tolerance Maximum error.
+     * @param passCondition Condition for the test to pass.
      */
     public PlateauTest(
             String testName,  
             Command command, 
             double plateau, 
-            DoubleSupplier error, 
-            double tolerance) {
+            BooleanSupplier passCondition) {
         this(
-            testName, 
+            testName,
             command, 
             plateau, 
-            () -> Math.abs(error.getAsDouble()) < tolerance);
+            30,
+            passCondition);
+        this.plateau = plateau;
+        timer = new Timer();
     }
 
     /**
-     * Creates a plateau test.
+     * Creates a plateau test. (specify passCondition and timeout)
      * @param testName Name of test.
      * @param command Command to run.
      * @param plateau How long the pass condition must be true for.
-     * @param passCondition Condition for the test to pass.
+     * @param timeOut Time to run the test.
+     * @param passCondition Condition to pass the test.
      */
     public PlateauTest(
             String testName,  
             Command command, 
             double plateau, 
+            double timeOut, 
             BooleanSupplier passCondition) {
         super(
             testName,
-            command.andThen(waitSeconds(timeout)),
+            command.withTimeout(timeOut),
             passCondition
         );
         this.plateau = plateau;
         timer = new Timer();
-        hasDelayed = false;
     }
 
 
@@ -111,19 +108,11 @@ public PlateauTest(
     public void initialize() {
         super.initialize();
         timer.restart();
-        hasDelayed = false;
     }
 
     @Override
     public void execute() {
         super.execute();
-        if (!hasDelayed) {
-            if (timer.hasElapsed(1)) {
-                hasDelayed = true;
-                timer.reset();
-            }
-            return;
-        }
         if (!passCondition.getAsBoolean()) timer.reset();
     }
 
@@ -134,7 +123,7 @@ public void end(boolean interrupted) {
 
     @Override
     public boolean isFinished() {
-        return super.isFinished() || (timer.hasElapsed(plateau) && hasDelayed);
+        return super.isFinished() || (timer.hasElapsed(plateau));
     }
     
     
diff --git a/src/main/java/common/utility/tester/ThresholdTest.java b/src/main/java/common/utility/tester/ThresholdTest.java
index 9492862..5dbbf47 100644
--- a/src/main/java/common/utility/tester/ThresholdTest.java
+++ b/src/main/java/common/utility/tester/ThresholdTest.java
@@ -1,7 +1,5 @@
 package common.utility.tester;
 
-import static edu.wpi.first.wpilibj2.command.Commands.*;
-
 import java.util.function.BooleanSupplier;
 import java.util.function.DoubleSupplier;
 
@@ -11,16 +9,37 @@
 
 public class ThresholdTest extends UnitTest {
     public String testName;
-    private boolean hasDelayed; //sometimes, i assume, the system will delay for one second; so we have to take that into account just in case it happens?
+    private boolean hasDelayed;
+    private double delayPeriod;
     private Timer timer;
-    private static double timeout = 30;
 
-        /**
+    /**
      * Creates a threshold test.
      * @param testName Name of the test.
      * @param command Command to run.
      * @param measurement Source of measurement.
      * @param threshold Threshold that should be reached.
+     */
+    public ThresholdTest(
+            String testName, 
+            Command command, 
+            DoubleSupplier measurement, 
+            double threshold) {
+        this(
+            testName, 
+            command, 
+            measurement,
+            threshold,
+            30
+        );
+    }
+
+    /**
+     * Creates a threshold test. (specify timeout)
+     * @param testName Name of the test.
+     * @param command Command to run.
+     * @param measurement Source of measurement.
+     * @param threshold Threshold that should be reached.
      * @param timeOut Time for test to run.
      */
     public ThresholdTest(
@@ -33,25 +52,24 @@ public ThresholdTest(
             testName, 
             command, 
             timeOut, 
-            ()-> measurement.getAsDouble() > threshold);
+            ()-> Math.abs(measurement.getAsDouble()) > threshold);
     }
 
 
     /**
-     * Creates a threshold test.
+     * Creates a threshold test. (specify passCondition)
      * @param testName Name of the test.
      * @param command Command to run.
-     * @param timeOut Time for test to run.
      * @param passCondition Condition for the test to pass.
      */
     public ThresholdTest(
             String testName, 
             Command command,
-            double timeOut,
             BooleanSupplier passCondition) {
-        super(
+        this(
             testName, 
-            command.andThen(waitSeconds(timeOut)),
+            command,
+            30,
             passCondition
         );
         timer = new Timer();
@@ -59,36 +77,46 @@ public ThresholdTest(
     }
 
     /**
-     * Creates a threshold test.
+     * Creates a threshold test. (specify timeout and passCondition)
      * @param testName Name of the test.
      * @param command Command to run.
-     * @param measurement Source of measurement.
-     * @param threshold Threshold that should be reached.
+     * @param timeOut Time for test to run.
+     * @param passCondition Condition for the test to pass.
      */
     public ThresholdTest(
             String testName, 
-            Command command, 
-            DoubleSupplier measurement, 
-            double threshold) {
-        this(testName, command, ()-> measurement.getAsDouble() > threshold);
+            Command command,
+            double timeOut,
+            BooleanSupplier passCondition) {
+        this(
+            testName, 
+            command,
+            timeOut,
+            1,
+            passCondition
+        );
     }
 
-
     /**
-     * Creates a threshold test.
+     * Creates a threshold test. (specify timeout, passCondition, and delayPeriod)
      * @param testName Name of the test.
      * @param command Command to run.
+     * @param timeOut Time for test to run.
+     * @param delayPeriod Time of delay in seconds.
      * @param passCondition Condition for the test to pass.
      */
     public ThresholdTest(
             String testName, 
             Command command,
+            double timeOut,
+            double delayPeriod,
             BooleanSupplier passCondition) {
         super(
             testName, 
-            command.andThen(waitSeconds(timeout)),
+            command.withTimeout(timeOut),
             passCondition
         );
+        this.delayPeriod = delayPeriod;
         timer = new Timer();
         hasDelayed = false;
     }
@@ -104,7 +132,7 @@ public void initialize() {
     public void execute() {
         super.execute();
         if (!hasDelayed) {
-            if (timer.hasElapsed(1)) {
+            if (timer.hasElapsed(delayPeriod)) {
                 hasDelayed = true;
                 timer.reset();
             }
@@ -120,7 +148,7 @@ public void end(boolean interrupted) {
 
     @Override
     public boolean isFinished() {
-        return super.isFinished() || (hasDelayed);
+        return super.isFinished() || (passCondition.getAsBoolean() && hasDelayed);
     }
     
 }