diff --git a/book/odometry/CombinedTest.html b/book/odometry/CombinedTest.html
new file mode 100644
index 0000000..078edae
--- /dev/null
+++ b/book/odometry/CombinedTest.html
@@ -0,0 +1,333 @@
+<!DOCTYPE HTML>
+<html lang="en" class="light" dir="ltr">
+    <head>
+        <!-- Book generated using mdBook -->
+        <meta charset="UTF-8">
+        <title>Combined Test - Seattle Solvers Docs</title>
+
+
+        <!-- Custom HTML head -->
+        
+        <meta name="description" content="">
+        <meta name="viewport" content="width=device-width, initial-scale=1">
+        <meta name="theme-color" content="#ffffff">
+
+        <link rel="icon" href="../favicon.svg">
+        <link rel="shortcut icon" href="../favicon.png">
+        <link rel="stylesheet" href="../css/variables.css">
+        <link rel="stylesheet" href="../css/general.css">
+        <link rel="stylesheet" href="../css/chrome.css">
+        <link rel="stylesheet" href="../css/print.css" media="print">
+
+        <!-- Fonts -->
+        <link rel="stylesheet" href="../FontAwesome/css/font-awesome.css">
+        <link rel="stylesheet" href="../fonts/fonts.css">
+
+        <!-- Highlight.js Stylesheets -->
+        <link rel="stylesheet" href="../highlight.css">
+        <link rel="stylesheet" href="../tomorrow-night.css">
+        <link rel="stylesheet" href="../ayu-highlight.css">
+        <link rel="stylesheet" href="../solvers-light-highlight.css">
+
+        <!-- Custom theme stylesheets -->
+
+        <!-- MathJax -->
+        <script async src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.1/MathJax.js?config=TeX-AMS-MML_HTMLorMML"></script>
+    </head>
+    <body class="sidebar-visible no-js">
+    <div id="body-container">
+        <!-- Provide site root to javascript -->
+        <script>
+            var path_to_root = "../";
+            var default_theme = window.matchMedia("(prefers-color-scheme: dark)").matches ? "navy" : "light";
+        </script>
+
+        <!-- Work around some values being stored in localStorage wrapped in quotes -->
+        <script>
+            try {
+                var theme = localStorage.getItem('mdbook-theme');
+                var sidebar = localStorage.getItem('mdbook-sidebar');
+
+                if (theme.startsWith('"') && theme.endsWith('"')) {
+                    localStorage.setItem('mdbook-theme', theme.slice(1, theme.length - 1));
+                }
+
+                if (sidebar.startsWith('"') && sidebar.endsWith('"')) {
+                    localStorage.setItem('mdbook-sidebar', sidebar.slice(1, sidebar.length - 1));
+                }
+            } catch (e) { }
+        </script>
+
+        <!-- Set the theme before any content is loaded, prevents flash -->
+        <script>
+            var theme;
+            try { theme = localStorage.getItem('mdbook-theme'); } catch(e) { }
+            if (theme === null || theme === undefined) { theme = default_theme; }
+            var html = document.querySelector('html');
+            html.classList.remove('light')
+            html.classList.add(theme);
+            var body = document.querySelector('body');
+            body.classList.remove('no-js')
+            body.classList.add('js');
+        </script>
+
+        <input type="checkbox" id="sidebar-toggle-anchor" class="hidden">
+
+        <!-- Hide / unhide sidebar before it is displayed -->
+        <script>
+            var body = document.querySelector('body');
+            var sidebar = null;
+            var sidebar_toggle = document.getElementById("sidebar-toggle-anchor");
+            if (document.body.clientWidth >= 1080) {
+                try { sidebar = localStorage.getItem('mdbook-sidebar'); } catch(e) { }
+                sidebar = sidebar || 'visible';
+            } else {
+                sidebar = 'hidden';
+            }
+            sidebar_toggle.checked = sidebar === 'visible';
+            body.classList.remove('sidebar-visible');
+            body.classList.add("sidebar-" + sidebar);
+        </script>
+
+        <nav id="sidebar" class="sidebar" aria-label="Table of contents">
+            <div class="sidebar-scrollbox">
+                <ol class="chapter"><li class="chapter-item expanded affix "><a href="../introduction.html">Introduction</a></li><li class="chapter-item expanded affix "><li class="spacer"></li><li class="chapter-item expanded affix "><li class="part-title">Odometry</li><li class="chapter-item expanded "><a href="../odometry/OdometryTesting.html"><strong aria-hidden="true">1.</strong> Odometry Testing</a></li><li class="chapter-item expanded "><a href="../odometry/StraightTest.html"><strong aria-hidden="true">2.</strong> Straight Test</a></li><li class="chapter-item expanded "><a href="../odometry/SplineTest.html"><strong aria-hidden="true">3.</strong> Spline Test</a></li><li class="chapter-item expanded "><a href="../odometry/CombinedTest.html" class="active"><strong aria-hidden="true">4.</strong> Combined Test</a></li><li class="chapter-item expanded affix "><li class="spacer"></li><li class="chapter-item expanded affix "><a href="../contributors.html">Contributors</a></li></ol>
+            </div>
+            <div id="sidebar-resize-handle" class="sidebar-resize-handle">
+                <div class="sidebar-resize-indicator"></div>
+            </div>
+        </nav>
+
+        <!-- Track and set sidebar scroll position -->
+        <script>
+            var sidebarScrollbox = document.querySelector('#sidebar .sidebar-scrollbox');
+            sidebarScrollbox.addEventListener('click', function(e) {
+                if (e.target.tagName === 'A') {
+                    sessionStorage.setItem('sidebar-scroll', sidebarScrollbox.scrollTop);
+                }
+            }, { passive: true });
+            var sidebarScrollTop = sessionStorage.getItem('sidebar-scroll');
+            sessionStorage.removeItem('sidebar-scroll');
+            if (sidebarScrollTop) {
+                // preserve sidebar scroll position when navigating via links within sidebar
+                sidebarScrollbox.scrollTop = sidebarScrollTop;
+            } else {
+                // scroll sidebar to current active section when navigating via "next/previous chapter" buttons
+                var activeSection = document.querySelector('#sidebar .active');
+                if (activeSection) {
+                    activeSection.scrollIntoView({ block: 'center' });
+                }
+            }
+        </script>
+
+        <div id="page-wrapper" class="page-wrapper">
+
+            <div class="page">
+                                <div id="menu-bar-hover-placeholder"></div>
+                <div id="menu-bar" class="menu-bar sticky">
+                    <div class="left-buttons">
+                        <label id="sidebar-toggle" class="icon-button" for="sidebar-toggle-anchor" title="Toggle Table of Contents" aria-label="Toggle Table of Contents" aria-controls="sidebar">
+                            <i class="fa fa-bars"></i>
+                        </label>
+                        <button id="theme-toggle" class="icon-button" type="button" title="Change theme" aria-label="Change theme" aria-haspopup="true" aria-expanded="false" aria-controls="theme-list">
+                            <i class="fa fa-paint-brush"></i>
+                        </button>
+                        <ul id="theme-list" class="theme-popup" aria-label="Themes" role="menu">
+                            <li role="none"><button role="menuitem" class="theme" id="solvers-light">Solvers Light</button></li>
+                            <li role="none"><button role="menuitem" class="theme" id="light">Light</button></li>
+                            <li role="none"><button role="menuitem" class="theme" id="rust">Rust</button></li>
+                            <li role="none"><button role="menuitem" class="theme" id="coal">Coal</button></li>
+                            <li role="none"><button role="menuitem" class="theme" id="navy">Navy</button></li>
+                            <li role="none"><button role="menuitem" class="theme" id="ayu">Ayu</button></li>
+                        </ul>
+                        <button id="search-toggle" class="icon-button" type="button" title="Search. (Shortkey: s)" aria-label="Toggle Searchbar" aria-expanded="false" aria-keyshortcuts="S" aria-controls="searchbar">
+                            <i class="fa fa-search"></i>
+                        </button>
+                    </div>
+
+                    <h1 class="menu-title">Seattle Solvers Docs</h1>
+
+                    <div class="right-buttons">
+                        <a href="../print.html" title="Print this book" aria-label="Print this book">
+                            <i id="print-button" class="fa fa-print"></i>
+                        </a>
+                        <a href="https://github.com/FTC-23511/docs/tree/master" title="Git repository" aria-label="Git repository">
+                            <i id="git-repository-button" class="fa fa-github"></i>
+                        </a>
+                        <a href="https://github.com/FTC-23511/docs/tree/master/src/odometry/CombinedTest.md" title="Suggest an edit" aria-label="Suggest an edit">
+                            <i id="git-edit-button" class="fa fa-edit"></i>
+                        </a>
+
+                    </div>
+                </div>
+
+                <div id="search-wrapper" class="hidden">
+                    <form id="searchbar-outer" class="searchbar-outer">
+                        <input type="search" id="searchbar" name="searchbar" placeholder="Search this book ..." aria-controls="searchresults-outer" aria-describedby="searchresults-header">
+                    </form>
+                    <div id="searchresults-outer" class="searchresults-outer hidden">
+                        <div id="searchresults-header" class="searchresults-header"></div>
+                        <ul id="searchresults">
+                        </ul>
+                    </div>
+                </div>
+
+                <!-- Apply ARIA attributes after the sidebar and the sidebar toggle button are added to the DOM -->
+                <script>
+                    document.getElementById('sidebar-toggle').setAttribute('aria-expanded', sidebar === 'visible');
+                    document.getElementById('sidebar').setAttribute('aria-hidden', sidebar !== 'visible');
+                    Array.from(document.querySelectorAll('#sidebar a')).forEach(function(link) {
+                        link.setAttribute('tabIndex', sidebar === 'visible' ? 0 : -1);
+                    });
+                </script>
+
+                <div id="content" class="content">
+                    <main>
+                        <h1 id="combined-test"><a class="header" href="#combined-test">Combined Test</a></h1>
+<pre><code class="language-java"><span class="boring">// Combined Test
+</span>.strafeToSplineHeading(new Vector2d(-48, -48), Math.toRadians(0))
+
+.strafeTo(new Vector2d(-24, 24 * Math.sqrt(3)))
+.setTangent(0)
+
+.splineToSplineHeading(new Pose2d(48, 48, Math.toRadians(90)), Math.PI / 2)
+
+.strafeToSplineHeading(new Vector2d(-48, 48), Math.toRadians(270))
+
+.turnTo(Math.toRadians(315))
+
+.splineTo(new Vector2d(-48, 12), Math.PI / 6)
+
+.splineToSplineHeading(new Pose2d(48, -6, Math.toRadians(215)), Math.PI / 3)
+
+.setReversed(true)
+
+.splineToSplineHeading(new Pose2d(6, -48, Math.toRadians(215)), Math.PI / 4)
+.splineTo(new Vector2d(36, -18), Math.PI / 2)
+
+.strafeToLinearHeading(new Vector2d(24, 24), Math.toRadians(0))
+
+.turnTo(Math.toRadians(45))
+.lineToX(0)
+.turn(Math.toRadians(-45))
+
+.strafeToSplineHeading(new Vector2d(-48, -48), Math.toRadians(0))
+
+.strafeTo(new Vector2d(-24, 24 * Math.sqrt(3)))
+.setTangent(0)
+
+.splineToSplineHeading(new Pose2d(48, 48, Math.toRadians(90)), Math.PI / 2)
+
+.strafeToSplineHeading(new Vector2d(-48, 48), Math.toRadians(270))
+
+.turnTo(Math.toRadians(315))
+
+.splineTo(new Vector2d(-48, 12), Math.PI / 6)
+
+.splineToSplineHeading(new Pose2d(48, -6, Math.toRadians(215)), Math.PI / 3)
+
+.setReversed(true)
+
+.splineToSplineHeading(new Pose2d(6, -48, Math.toRadians(215)), Math.PI / 4)
+.splineTo(new Vector2d(36, -18), Math.PI / 2)
+
+.strafeToLinearHeading(new Vector2d(24, 24), Math.toRadians(0))
+
+.turnTo(Math.toRadians(45))
+.lineToX(0)
+.turn(Math.toRadians(-45))
+
+.strafeToSplineHeading(new Vector2d(-48, -48), Math.toRadians(0))
+
+.strafeTo(new Vector2d(-24, 24 * Math.sqrt(3)))
+.setTangent(0)
+
+.splineToSplineHeading(new Pose2d(48, 48, Math.toRadians(90)), Math.PI / 2)
+
+.strafeToSplineHeading(new Vector2d(-48, 48), Math.toRadians(270))
+
+.turnTo(Math.toRadians(315))
+
+.splineTo(new Vector2d(-48, 12), Math.PI / 6)
+
+.splineToSplineHeading(new Pose2d(48, -6, Math.toRadians(215)), Math.PI / 3)
+
+.setReversed(true)
+
+.splineToSplineHeading(new Pose2d(6, -48, Math.toRadians(215)), Math.PI / 4)
+.splineTo(new Vector2d(36, -18), Math.PI / 2)
+
+.strafeToLinearHeading(new Vector2d(24, 24), Math.toRadians(0))
+
+.turnTo(Math.toRadians(45))
+.lineToX(0)
+.turn(Math.toRadians(-45))
+</code></pre>
+
+                    </main>
+
+                    <nav class="nav-wrapper" aria-label="Page navigation">
+                        <!-- Mobile navigation buttons -->
+                            <a rel="prev" href="../odometry/SplineTest.html" class="mobile-nav-chapters previous" title="Previous chapter" aria-label="Previous chapter" aria-keyshortcuts="Left">
+                                <i class="fa fa-angle-left"></i>
+                            </a>
+
+                            <a rel="next prefetch" href="../contributors.html" class="mobile-nav-chapters next" title="Next chapter" aria-label="Next chapter" aria-keyshortcuts="Right">
+                                <i class="fa fa-angle-right"></i>
+                            </a>
+
+                        <div style="clear: both"></div>
+                    </nav>
+                </div>
+            </div>
+
+            <nav class="nav-wide-wrapper" aria-label="Page navigation">
+                    <a rel="prev" href="../odometry/SplineTest.html" class="nav-chapters previous" title="Previous chapter" aria-label="Previous chapter" aria-keyshortcuts="Left">
+                        <i class="fa fa-angle-left"></i>
+                    </a>
+
+                    <a rel="next prefetch" href="../contributors.html" class="nav-chapters next" title="Next chapter" aria-label="Next chapter" aria-keyshortcuts="Right">
+                        <i class="fa fa-angle-right"></i>
+                    </a>
+            </nav>
+
+        </div>
+
+        <!-- Livereload script (if served using the cli tool) -->
+        <script>
+            const wsProtocol = location.protocol === 'https:' ? 'wss:' : 'ws:';
+            const wsAddress = wsProtocol + "//" + location.host + "/" + "__livereload";
+            const socket = new WebSocket(wsAddress);
+            socket.onmessage = function (event) {
+                if (event.data === "reload") {
+                    socket.close();
+                    location.reload();
+                }
+            };
+
+            window.onbeforeunload = function() {
+                socket.close();
+            }
+        </script>
+
+
+
+        <script>
+            window.playground_copyable = true;
+        </script>
+
+
+        <script src="../elasticlunr.min.js"></script>
+        <script src="../mark.min.js"></script>
+        <script src="../searcher.js"></script>
+
+        <script src="../clipboard.min.js"></script>
+        <script src="../highlight.js"></script>
+        <script src="../book.js"></script>
+
+        <!-- Custom JS scripts -->
+
+
+    </div>
+    </body>
+</html>
diff --git a/book/odometry/CombinedTest.java b/book/odometry/CombinedTest.java
new file mode 100644
index 0000000..7be1c49
--- /dev/null
+++ b/book/odometry/CombinedTest.java
@@ -0,0 +1,78 @@
+// Combined Test
+.strafeToSplineHeading(new Vector2d(-48, -48), Math.toRadians(0))
+
+.strafeTo(new Vector2d(-24, 24 * Math.sqrt(3)))
+.setTangent(0)
+
+.splineToSplineHeading(new Pose2d(48, 48, Math.toRadians(90)), Math.PI / 2)
+
+.strafeToSplineHeading(new Vector2d(-48, 48), Math.toRadians(270))
+
+.turnTo(Math.toRadians(315))
+
+.splineTo(new Vector2d(-48, 12), Math.PI / 6)
+
+.splineToSplineHeading(new Pose2d(48, -6, Math.toRadians(215)), Math.PI / 3)
+
+.setReversed(true)
+
+.splineToSplineHeading(new Pose2d(6, -48, Math.toRadians(215)), Math.PI / 4)
+.splineTo(new Vector2d(36, -18), Math.PI / 2)
+
+.strafeToLinearHeading(new Vector2d(24, 24), Math.toRadians(0))
+
+.turnTo(Math.toRadians(45))
+.lineToX(0)
+.turn(Math.toRadians(-45))
+
+.strafeToSplineHeading(new Vector2d(-48, -48), Math.toRadians(0))
+
+.strafeTo(new Vector2d(-24, 24 * Math.sqrt(3)))
+.setTangent(0)
+
+.splineToSplineHeading(new Pose2d(48, 48, Math.toRadians(90)), Math.PI / 2)
+
+.strafeToSplineHeading(new Vector2d(-48, 48), Math.toRadians(270))
+
+.turnTo(Math.toRadians(315))
+
+.splineTo(new Vector2d(-48, 12), Math.PI / 6)
+
+.splineToSplineHeading(new Pose2d(48, -6, Math.toRadians(215)), Math.PI / 3)
+
+.setReversed(true)
+
+.splineToSplineHeading(new Pose2d(6, -48, Math.toRadians(215)), Math.PI / 4)
+.splineTo(new Vector2d(36, -18), Math.PI / 2)
+
+.strafeToLinearHeading(new Vector2d(24, 24), Math.toRadians(0))
+
+.turnTo(Math.toRadians(45))
+.lineToX(0)
+.turn(Math.toRadians(-45))
+
+.strafeToSplineHeading(new Vector2d(-48, -48), Math.toRadians(0))
+
+.strafeTo(new Vector2d(-24, 24 * Math.sqrt(3)))
+.setTangent(0)
+
+.splineToSplineHeading(new Pose2d(48, 48, Math.toRadians(90)), Math.PI / 2)
+
+.strafeToSplineHeading(new Vector2d(-48, 48), Math.toRadians(270))
+
+.turnTo(Math.toRadians(315))
+
+.splineTo(new Vector2d(-48, 12), Math.PI / 6)
+
+.splineToSplineHeading(new Pose2d(48, -6, Math.toRadians(215)), Math.PI / 3)
+
+.setReversed(true)
+
+.splineToSplineHeading(new Pose2d(6, -48, Math.toRadians(215)), Math.PI / 4)
+.splineTo(new Vector2d(36, -18), Math.PI / 2)
+
+.strafeToLinearHeading(new Vector2d(24, 24), Math.toRadians(0))
+
+.turnTo(Math.toRadians(45))
+.lineToX(0)
+.turn(Math.toRadians(-45))
\ No newline at end of file
diff --git a/book/odometry/SplineTest.html b/book/odometry/SplineTest.html
new file mode 100644
index 0000000..c60206a
--- /dev/null
+++ b/book/odometry/SplineTest.html
@@ -0,0 +1,330 @@
+<!DOCTYPE HTML>
+<html lang="en" class="light" dir="ltr">
+    <head>
+        <!-- Book generated using mdBook -->
+        <meta charset="UTF-8">
+        <title>Spline Test - Seattle Solvers Docs</title>
+
+
+        <!-- Custom HTML head -->
+        
+        <meta name="description" content="">
+        <meta name="viewport" content="width=device-width, initial-scale=1">
+        <meta name="theme-color" content="#ffffff">
+
+        <link rel="icon" href="../favicon.svg">
+        <link rel="shortcut icon" href="../favicon.png">
+        <link rel="stylesheet" href="../css/variables.css">
+        <link rel="stylesheet" href="../css/general.css">
+        <link rel="stylesheet" href="../css/chrome.css">
+        <link rel="stylesheet" href="../css/print.css" media="print">
+
+        <!-- Fonts -->
+        <link rel="stylesheet" href="../FontAwesome/css/font-awesome.css">
+        <link rel="stylesheet" href="../fonts/fonts.css">
+
+        <!-- Highlight.js Stylesheets -->
+        <link rel="stylesheet" href="../highlight.css">
+        <link rel="stylesheet" href="../tomorrow-night.css">
+        <link rel="stylesheet" href="../ayu-highlight.css">
+        <link rel="stylesheet" href="../solvers-light-highlight.css">
+        <!-- Custom theme stylesheets -->
+
+        <!-- MathJax -->
+        <script async src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.1/MathJax.js?config=TeX-AMS-MML_HTMLorMML"></script>
+    </head>
+    <body class="sidebar-visible no-js">
+    <div id="body-container">
+        <!-- Provide site root to javascript -->
+        <script>
+            var path_to_root = "../";
+            var default_theme = window.matchMedia("(prefers-color-scheme: dark)").matches ? "navy" : "light";
+        </script>
+
+        <!-- Work around some values being stored in localStorage wrapped in quotes -->
+        <script>
+            try {
+                var theme = localStorage.getItem('mdbook-theme');
+                var sidebar = localStorage.getItem('mdbook-sidebar');
+
+                if (theme.startsWith('"') && theme.endsWith('"')) {
+                    localStorage.setItem('mdbook-theme', theme.slice(1, theme.length - 1));
+                }
+
+                if (sidebar.startsWith('"') && sidebar.endsWith('"')) {
+                    localStorage.setItem('mdbook-sidebar', sidebar.slice(1, sidebar.length - 1));
+                }
+            } catch (e) { }
+        </script>
+
+        <!-- Set the theme before any content is loaded, prevents flash -->
+        <script>
+            var theme;
+            try { theme = localStorage.getItem('mdbook-theme'); } catch(e) { }
+            if (theme === null || theme === undefined) { theme = default_theme; }
+            var html = document.querySelector('html');
+            html.classList.remove('light')
+            html.classList.add(theme);
+            var body = document.querySelector('body');
+            body.classList.remove('no-js')
+            body.classList.add('js');
+        </script>
+
+        <input type="checkbox" id="sidebar-toggle-anchor" class="hidden">
+
+        <!-- Hide / unhide sidebar before it is displayed -->
+        <script>
+            var body = document.querySelector('body');
+            var sidebar = null;
+            var sidebar_toggle = document.getElementById("sidebar-toggle-anchor");
+            if (document.body.clientWidth >= 1080) {
+                try { sidebar = localStorage.getItem('mdbook-sidebar'); } catch(e) { }
+                sidebar = sidebar || 'visible';
+            } else {
+                sidebar = 'hidden';
+            }
+            sidebar_toggle.checked = sidebar === 'visible';
+            body.classList.remove('sidebar-visible');
+            body.classList.add("sidebar-" + sidebar);
+        </script>
+
+        <nav id="sidebar" class="sidebar" aria-label="Table of contents">
+            <div class="sidebar-scrollbox">
+                <ol class="chapter"><li class="chapter-item expanded affix "><a href="../introduction.html">Introduction</a></li><li class="chapter-item expanded affix "><li class="spacer"></li><li class="chapter-item expanded affix "><li class="part-title">Odometry</li><li class="chapter-item expanded "><a href="../odometry/OdometryTesting.html"><strong aria-hidden="true">1.</strong> Odometry Testing</a></li><li class="chapter-item expanded "><a href="../odometry/StraightTest.html"><strong aria-hidden="true">2.</strong> Straight Test</a></li><li class="chapter-item expanded "><a href="../odometry/SplineTest.html" class="active"><strong aria-hidden="true">3.</strong> Spline Test</a></li><li class="chapter-item expanded "><a href="../odometry/CombinedTest.html"><strong aria-hidden="true">4.</strong> Combined Test</a></li><li class="chapter-item expanded affix "><li class="spacer"></li><li class="chapter-item expanded affix "><a href="../contributors.html">Contributors</a></li></ol>
+            </div>
+            <div id="sidebar-resize-handle" class="sidebar-resize-handle">
+                <div class="sidebar-resize-indicator"></div>
+            </div>
+        </nav>
+
+        <!-- Track and set sidebar scroll position -->
+        <script>
+            var sidebarScrollbox = document.querySelector('#sidebar .sidebar-scrollbox');
+            sidebarScrollbox.addEventListener('click', function(e) {
+                if (e.target.tagName === 'A') {
+                    sessionStorage.setItem('sidebar-scroll', sidebarScrollbox.scrollTop);
+                }
+            }, { passive: true });
+            var sidebarScrollTop = sessionStorage.getItem('sidebar-scroll');
+            sessionStorage.removeItem('sidebar-scroll');
+            if (sidebarScrollTop) {
+                // preserve sidebar scroll position when navigating via links within sidebar
+                sidebarScrollbox.scrollTop = sidebarScrollTop;
+            } else {
+                // scroll sidebar to current active section when navigating via "next/previous chapter" buttons
+                var activeSection = document.querySelector('#sidebar .active');
+                if (activeSection) {
+                    activeSection.scrollIntoView({ block: 'center' });
+                }
+            }
+        </script>
+
+        <div id="page-wrapper" class="page-wrapper">
+
+            <div class="page">
+                                <div id="menu-bar-hover-placeholder"></div>
+                <div id="menu-bar" class="menu-bar sticky">
+                    <div class="left-buttons">
+                        <label id="sidebar-toggle" class="icon-button" for="sidebar-toggle-anchor" title="Toggle Table of Contents" aria-label="Toggle Table of Contents" aria-controls="sidebar">
+                            <i class="fa fa-bars"></i>
+                        </label>
+                        <button id="theme-toggle" class="icon-button" type="button" title="Change theme" aria-label="Change theme" aria-haspopup="true" aria-expanded="false" aria-controls="theme-list">
+                            <i class="fa fa-paint-brush"></i>
+                        </button>
+                        <ul id="theme-list" class="theme-popup" aria-label="Themes" role="menu">
+                            <li role="none"><button role="menuitem" class="theme" id="solvers-light">Solvers Light</button></li>
+                            <li role="none"><button role="menuitem" class="theme" id="light">Light</button></li>
+                            <li role="none"><button role="menuitem" class="theme" id="rust">Rust</button></li>
+                            <li role="none"><button role="menuitem" class="theme" id="coal">Coal</button></li>
+                            <li role="none"><button role="menuitem" class="theme" id="navy">Navy</button></li>
+                            <li role="none"><button role="menuitem" class="theme" id="ayu">Ayu</button></li>
+                        </ul>
+                        <button id="search-toggle" class="icon-button" type="button" title="Search. (Shortkey: s)" aria-label="Toggle Searchbar" aria-expanded="false" aria-keyshortcuts="S" aria-controls="searchbar">
+                            <i class="fa fa-search"></i>
+                        </button>
+                    </div>
+
+                    <h1 class="menu-title">Seattle Solvers Docs</h1>
+
+                    <div class="right-buttons">
+                        <a href="../print.html" title="Print this book" aria-label="Print this book">
+                            <i id="print-button" class="fa fa-print"></i>
+                        </a>
+                        <a href="https://github.com/FTC-23511/docs/tree/master" title="Git repository" aria-label="Git repository">
+                            <i id="git-repository-button" class="fa fa-github"></i>
+                        </a>
+                        <a href="https://github.com/FTC-23511/docs/tree/master/src/odometry/SplineTest.md" title="Suggest an edit" aria-label="Suggest an edit">
+                            <i id="git-edit-button" class="fa fa-edit"></i>
+                        </a>
+
+                    </div>
+                </div>
+
+                <div id="search-wrapper" class="hidden">
+                    <form id="searchbar-outer" class="searchbar-outer">
+                        <input type="search" id="searchbar" name="searchbar" placeholder="Search this book ..." aria-controls="searchresults-outer" aria-describedby="searchresults-header">
+                    </form>
+                    <div id="searchresults-outer" class="searchresults-outer hidden">
+                        <div id="searchresults-header" class="searchresults-header"></div>
+                        <ul id="searchresults">
+                        </ul>
+                    </div>
+                </div>
+
+                <!-- Apply ARIA attributes after the sidebar and the sidebar toggle button are added to the DOM -->
+                <script>
+                    document.getElementById('sidebar-toggle').setAttribute('aria-expanded', sidebar === 'visible');
+                    document.getElementById('sidebar').setAttribute('aria-hidden', sidebar !== 'visible');
+                    Array.from(document.querySelectorAll('#sidebar a')).forEach(function(link) {
+                        link.setAttribute('tabIndex', sidebar === 'visible' ? 0 : -1);
+                    });
+                </script>
+
+                <div id="content" class="content">
+                    <main>
+                        <h1 id="spline-test"><a class="header" href="#spline-test">Spline Test</a></h1>
+<pre><code class="language-java"><span class="boring">// Spline Test
+</span>.strafeToSplineHeading(new Vector2d(-48, -48), Math.toRadians(0))
+
+.setTangent(0)
+.splineToSplineHeading(new Pose2d(48, 48, Math.toRadians(90)), Math.PI / 2)
+
+.setTangent(0)
+.setReversed(true)
+.splineTo(new Vector2d(24, 24), Math.PI / 2)
+
+.setTangent(0)
+.setReversed(false)
+.splineToConstantHeading(new Vector2d(0, 36), Math.PI / 2)
+
+.turnTo(Math.toRadians(180))
+
+.splineTo(new Vector2d(-48, 48), Math.PI / 2)
+
+.splineTo(new Vector2d(0, 0), Math.PI / 2)
+
+.strafeToSplineHeading(new Vector2d(-48, -48), Math.toRadians(0))
+
+.setTangent(0)
+.splineToSplineHeading(new Pose2d(48, 48, Math.toRadians(90)), Math.PI / 2)
+
+.setTangent(0)
+.setReversed(true)
+.splineTo(new Vector2d(24, 24), Math.PI / 2)
+
+.setTangent(0)
+.setReversed(false)
+.splineToConstantHeading(new Vector2d(0, 36), Math.PI / 2)
+
+.turnTo(Math.toRadians(180))
+
+.splineTo(new Vector2d(-48, 48), Math.PI / 2)
+
+.splineTo(new Vector2d(0, 0), Math.PI / 2)
+
+.strafeToSplineHeading(new Vector2d(-48, -48), Math.toRadians(0))
+
+.setTangent(0)
+.splineToSplineHeading(new Pose2d(48, 48, Math.toRadians(90)), Math.PI / 2)
+
+.setTangent(0)
+.setReversed(true)
+.splineTo(new Vector2d(24, 24), Math.PI / 2)
+
+.setTangent(0)
+.setReversed(false)
+.splineToConstantHeading(new Vector2d(0, 36), Math.PI / 2)
+
+.turnTo(Math.toRadians(180))
+
+.splineTo(new Vector2d(-48, 48), Math.PI / 2)
+
+.splineTo(new Vector2d(0, 0), Math.PI / 2)
+
+.strafeToSplineHeading(new Vector2d(-48, -48), Math.toRadians(0))
+
+.setTangent(0)
+.splineToSplineHeading(new Pose2d(48, 48, Math.toRadians(90)), Math.PI / 2)
+
+.setTangent(0)
+.setReversed(true)
+.splineTo(new Vector2d(24, 24), Math.PI / 2)
+
+.setTangent(0)
+.setReversed(false)
+.splineToConstantHeading(new Vector2d(0, 36), Math.PI / 2)
+
+.turnTo(Math.toRadians(180))
+
+.splineTo(new Vector2d(-48, 48), Math.PI / 2)
+
+.splineTo(new Vector2d(0, 0), Math.PI / 2)
+</code></pre>
+
+                    </main>
+
+                    <nav class="nav-wrapper" aria-label="Page navigation">
+                        <!-- Mobile navigation buttons -->
+                            <a rel="prev" href="../odometry/StraightTest.html" class="mobile-nav-chapters previous" title="Previous chapter" aria-label="Previous chapter" aria-keyshortcuts="Left">
+                                <i class="fa fa-angle-left"></i>
+                            </a>
+
+                            <a rel="next prefetch" href="../odometry/CombinedTest.html" class="mobile-nav-chapters next" title="Next chapter" aria-label="Next chapter" aria-keyshortcuts="Right">
+                                <i class="fa fa-angle-right"></i>
+                            </a>
+
+                        <div style="clear: both"></div>
+                    </nav>
+                </div>
+            </div>
+
+            <nav class="nav-wide-wrapper" aria-label="Page navigation">
+                    <a rel="prev" href="../odometry/StraightTest.html" class="nav-chapters previous" title="Previous chapter" aria-label="Previous chapter" aria-keyshortcuts="Left">
+                        <i class="fa fa-angle-left"></i>
+                    </a>
+
+                    <a rel="next prefetch" href="../odometry/CombinedTest.html" class="nav-chapters next" title="Next chapter" aria-label="Next chapter" aria-keyshortcuts="Right">
+                        <i class="fa fa-angle-right"></i>
+                    </a>
+            </nav>
+
+        </div>
+
+        <!-- Livereload script (if served using the cli tool) -->
+        <script>
+            const wsProtocol = location.protocol === 'https:' ? 'wss:' : 'ws:';
+            const wsAddress = wsProtocol + "//" + location.host + "/" + "__livereload";
+            const socket = new WebSocket(wsAddress);
+            socket.onmessage = function (event) {
+                if (event.data === "reload") {
+                    socket.close();
+                    location.reload();
+                }
+            };
+
+            window.onbeforeunload = function() {
+                socket.close();
+            }
+        </script>
+
+
+
+        <script>
+            window.playground_copyable = true;
+        </script>
+
+
+        <script src="../elasticlunr.min.js"></script>
+        <script src="../mark.min.js"></script>
+        <script src="../searcher.js"></script>
+
+        <script src="../clipboard.min.js"></script>
+        <script src="../highlight.js"></script>
+        <script src="../book.js"></script>
+
+        <!-- Custom JS scripts -->
+
+
+    </div>
+    </body>
+</html>
diff --git a/book/odometry/SplineTest.java b/book/odometry/SplineTest.java
new file mode 100644
index 0000000..41acbda
--- /dev/null
+++ b/book/odometry/SplineTest.java
@@ -0,0 +1,76 @@
+// Spline Test
+.strafeToSplineHeading(new Vector2d(-48, -48), Math.toRadians(0))
+
+.setTangent(0)
+.splineToSplineHeading(new Pose2d(48, 48, Math.toRadians(90)), Math.PI / 2)
+
+.setTangent(0)
+.setReversed(true)
+.splineTo(new Vector2d(24, 24), Math.PI / 2)
+
+.setTangent(0)
+.setReversed(false)
+.splineToConstantHeading(new Vector2d(0, 36), Math.PI / 2)
+
+.turnTo(Math.toRadians(180))
+
+.splineTo(new Vector2d(-48, 48), Math.PI / 2)
+
+.splineTo(new Vector2d(0, 0), Math.PI / 2)
+
+.strafeToSplineHeading(new Vector2d(-48, -48), Math.toRadians(0))
+
+.setTangent(0)
+.splineToSplineHeading(new Pose2d(48, 48, Math.toRadians(90)), Math.PI / 2)
+
+.setTangent(0)
+.setReversed(true)
+.splineTo(new Vector2d(24, 24), Math.PI / 2)
+
+.setTangent(0)
+.setReversed(false)
+.splineToConstantHeading(new Vector2d(0, 36), Math.PI / 2)
+
+.turnTo(Math.toRadians(180))
+
+.splineTo(new Vector2d(-48, 48), Math.PI / 2)
+
+.splineTo(new Vector2d(0, 0), Math.PI / 2)
+
+.strafeToSplineHeading(new Vector2d(-48, -48), Math.toRadians(0))
+
+.setTangent(0)
+.splineToSplineHeading(new Pose2d(48, 48, Math.toRadians(90)), Math.PI / 2)
+
+.setTangent(0)
+.setReversed(true)
+.splineTo(new Vector2d(24, 24), Math.PI / 2)
+
+.setTangent(0)
+.setReversed(false)
+.splineToConstantHeading(new Vector2d(0, 36), Math.PI / 2)
+
+.turnTo(Math.toRadians(180))
+
+.splineTo(new Vector2d(-48, 48), Math.PI / 2)
+
+.splineTo(new Vector2d(0, 0), Math.PI / 2)
+
+.strafeToSplineHeading(new Vector2d(-48, -48), Math.toRadians(0))
+
+.setTangent(0)
+.splineToSplineHeading(new Pose2d(48, 48, Math.toRadians(90)), Math.PI / 2)
+
+.setTangent(0)
+.setReversed(true)
+.splineTo(new Vector2d(24, 24), Math.PI / 2)
+
+.setTangent(0)
+.setReversed(false)
+.splineToConstantHeading(new Vector2d(0, 36), Math.PI / 2)
+
+.turnTo(Math.toRadians(180))
+
+.splineTo(new Vector2d(-48, 48), Math.PI / 2)
+
+.splineTo(new Vector2d(0, 0), Math.PI / 2)
\ No newline at end of file
diff --git a/book/odometry/StraightTest.html b/book/odometry/StraightTest.html
new file mode 100644
index 0000000..32deb70
--- /dev/null
+++ b/book/odometry/StraightTest.html
@@ -0,0 +1,291 @@
+<!DOCTYPE HTML>
+<html lang="en" class="light" dir="ltr">
+    <head>
+        <!-- Book generated using mdBook -->
+        <meta charset="UTF-8">
+        <title>Straight Test - Seattle Solvers Docs</title>
+
+
+        <!-- Custom HTML head -->
+        
+        <meta name="description" content="">
+        <meta name="viewport" content="width=device-width, initial-scale=1">
+        <meta name="theme-color" content="#ffffff">
+
+        <link rel="icon" href="../favicon.svg">
+        <link rel="shortcut icon" href="../favicon.png">
+        <link rel="stylesheet" href="../css/variables.css">
+        <link rel="stylesheet" href="../css/general.css">
+        <link rel="stylesheet" href="../css/chrome.css">
+        <link rel="stylesheet" href="../css/print.css" media="print">
+
+        <!-- Fonts -->
+        <link rel="stylesheet" href="../FontAwesome/css/font-awesome.css">
+        <link rel="stylesheet" href="../fonts/fonts.css">
+
+        <!-- Highlight.js Stylesheets -->
+        <link rel="stylesheet" href="../highlight.css">
+        <link rel="stylesheet" href="../tomorrow-night.css">
+        <link rel="stylesheet" href="../ayu-highlight.css">
+        <link rel="stylesheet" href="../solvers-light-highlight.css">
+
+        <!-- Custom theme stylesheets -->
+
+        <!-- MathJax -->
+        <script async src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.1/MathJax.js?config=TeX-AMS-MML_HTMLorMML"></script>
+    </head>
+    <body class="sidebar-visible no-js">
+    <div id="body-container">
+        <!-- Provide site root to javascript -->
+        <script>
+            var path_to_root = "../";
+            var default_theme = window.matchMedia("(prefers-color-scheme: dark)").matches ? "navy" : "light";
+        </script>
+
+        <!-- Work around some values being stored in localStorage wrapped in quotes -->
+        <script>
+            try {
+                var theme = localStorage.getItem('mdbook-theme');
+                var sidebar = localStorage.getItem('mdbook-sidebar');
+
+                if (theme.startsWith('"') && theme.endsWith('"')) {
+                    localStorage.setItem('mdbook-theme', theme.slice(1, theme.length - 1));
+                }
+
+                if (sidebar.startsWith('"') && sidebar.endsWith('"')) {
+                    localStorage.setItem('mdbook-sidebar', sidebar.slice(1, sidebar.length - 1));
+                }
+            } catch (e) { }
+        </script>
+
+        <!-- Set the theme before any content is loaded, prevents flash -->
+        <script>
+            var theme;
+            try { theme = localStorage.getItem('mdbook-theme'); } catch(e) { }
+            if (theme === null || theme === undefined) { theme = default_theme; }
+            var html = document.querySelector('html');
+            html.classList.remove('light')
+            html.classList.add(theme);
+            var body = document.querySelector('body');
+            body.classList.remove('no-js')
+            body.classList.add('js');
+        </script>
+
+        <input type="checkbox" id="sidebar-toggle-anchor" class="hidden">
+
+        <!-- Hide / unhide sidebar before it is displayed -->
+        <script>
+            var body = document.querySelector('body');
+            var sidebar = null;
+            var sidebar_toggle = document.getElementById("sidebar-toggle-anchor");
+            if (document.body.clientWidth >= 1080) {
+                try { sidebar = localStorage.getItem('mdbook-sidebar'); } catch(e) { }
+                sidebar = sidebar || 'visible';
+            } else {
+                sidebar = 'hidden';
+            }
+            sidebar_toggle.checked = sidebar === 'visible';
+            body.classList.remove('sidebar-visible');
+            body.classList.add("sidebar-" + sidebar);
+        </script>
+
+        <nav id="sidebar" class="sidebar" aria-label="Table of contents">
+            <div class="sidebar-scrollbox">
+                <ol class="chapter"><li class="chapter-item expanded affix "><a href="../introduction.html">Introduction</a></li><li class="chapter-item expanded affix "><li class="spacer"></li><li class="chapter-item expanded affix "><li class="part-title">Odometry</li><li class="chapter-item expanded "><a href="../odometry/OdometryTesting.html"><strong aria-hidden="true">1.</strong> Odometry Testing</a></li><li class="chapter-item expanded "><a href="../odometry/StraightTest.html" class="active"><strong aria-hidden="true">2.</strong> Straight Test</a></li><li class="chapter-item expanded "><a href="../odometry/SplineTest.html"><strong aria-hidden="true">3.</strong> Spline Test</a></li><li class="chapter-item expanded "><a href="../odometry/CombinedTest.html"><strong aria-hidden="true">4.</strong> Combined Test</a></li><li class="chapter-item expanded affix "><li class="spacer"></li><li class="chapter-item expanded affix "><a href="../contributors.html">Contributors</a></li></ol>
+            </div>
+            <div id="sidebar-resize-handle" class="sidebar-resize-handle">
+                <div class="sidebar-resize-indicator"></div>
+            </div>
+        </nav>
+
+        <!-- Track and set sidebar scroll position -->
+        <script>
+            var sidebarScrollbox = document.querySelector('#sidebar .sidebar-scrollbox');
+            sidebarScrollbox.addEventListener('click', function(e) {
+                if (e.target.tagName === 'A') {
+                    sessionStorage.setItem('sidebar-scroll', sidebarScrollbox.scrollTop);
+                }
+            }, { passive: true });
+            var sidebarScrollTop = sessionStorage.getItem('sidebar-scroll');
+            sessionStorage.removeItem('sidebar-scroll');
+            if (sidebarScrollTop) {
+                // preserve sidebar scroll position when navigating via links within sidebar
+                sidebarScrollbox.scrollTop = sidebarScrollTop;
+            } else {
+                // scroll sidebar to current active section when navigating via "next/previous chapter" buttons
+                var activeSection = document.querySelector('#sidebar .active');
+                if (activeSection) {
+                    activeSection.scrollIntoView({ block: 'center' });
+                }
+            }
+        </script>
+
+        <div id="page-wrapper" class="page-wrapper">
+
+            <div class="page">
+                                <div id="menu-bar-hover-placeholder"></div>
+                <div id="menu-bar" class="menu-bar sticky">
+                    <div class="left-buttons">
+                        <label id="sidebar-toggle" class="icon-button" for="sidebar-toggle-anchor" title="Toggle Table of Contents" aria-label="Toggle Table of Contents" aria-controls="sidebar">
+                            <i class="fa fa-bars"></i>
+                        </label>
+                        <button id="theme-toggle" class="icon-button" type="button" title="Change theme" aria-label="Change theme" aria-haspopup="true" aria-expanded="false" aria-controls="theme-list">
+                            <i class="fa fa-paint-brush"></i>
+                        </button>
+                        <ul id="theme-list" class="theme-popup" aria-label="Themes" role="menu">
+                            <li role="none"><button role="menuitem" class="theme" id="solvers-light">Solvers Light</button></li>
+                            <li role="none"><button role="menuitem" class="theme" id="light">Light</button></li>
+                            <li role="none"><button role="menuitem" class="theme" id="rust">Rust</button></li>
+                            <li role="none"><button role="menuitem" class="theme" id="coal">Coal</button></li>
+                            <li role="none"><button role="menuitem" class="theme" id="navy">Navy</button></li>
+                            <li role="none"><button role="menuitem" class="theme" id="ayu">Ayu</button></li>
+                        </ul>
+                        <button id="search-toggle" class="icon-button" type="button" title="Search. (Shortkey: s)" aria-label="Toggle Searchbar" aria-expanded="false" aria-keyshortcuts="S" aria-controls="searchbar">
+                            <i class="fa fa-search"></i>
+                        </button>
+                    </div>
+
+                    <h1 class="menu-title">Seattle Solvers Docs</h1>
+
+                    <div class="right-buttons">
+                        <a href="../print.html" title="Print this book" aria-label="Print this book">
+                            <i id="print-button" class="fa fa-print"></i>
+                        </a>
+                        <a href="https://github.com/FTC-23511/docs/tree/master" title="Git repository" aria-label="Git repository">
+                            <i id="git-repository-button" class="fa fa-github"></i>
+                        </a>
+                        <a href="https://github.com/FTC-23511/docs/tree/master/src/odometry/StraightTest.md" title="Suggest an edit" aria-label="Suggest an edit">
+                            <i id="git-edit-button" class="fa fa-edit"></i>
+                        </a>
+
+                    </div>
+                </div>
+
+                <div id="search-wrapper" class="hidden">
+                    <form id="searchbar-outer" class="searchbar-outer">
+                        <input type="search" id="searchbar" name="searchbar" placeholder="Search this book ..." aria-controls="searchresults-outer" aria-describedby="searchresults-header">
+                    </form>
+                    <div id="searchresults-outer" class="searchresults-outer hidden">
+                        <div id="searchresults-header" class="searchresults-header"></div>
+                        <ul id="searchresults">
+                        </ul>
+                    </div>
+                </div>
+
+                <!-- Apply ARIA attributes after the sidebar and the sidebar toggle button are added to the DOM -->
+                <script>
+                    document.getElementById('sidebar-toggle').setAttribute('aria-expanded', sidebar === 'visible');
+                    document.getElementById('sidebar').setAttribute('aria-hidden', sidebar !== 'visible');
+                    Array.from(document.querySelectorAll('#sidebar a')).forEach(function(link) {
+                        link.setAttribute('tabIndex', sidebar === 'visible' ? 0 : -1);
+                    });
+                </script>
+
+                <div id="content" class="content">
+                    <main>
+                        <h1 id="straight-test"><a class="header" href="#straight-test">Straight Test</a></h1>
+<pre><code class="language-java"><span class="boring">// Straight Test
+</span>.strafeTo(new Vector2d(0, 48))
+.strafeTo(new Vector2d(0, 0))
+
+.strafeTo(new Vector2d(24, 24 * Math.sqrt(3)))
+.strafeTo(new Vector2d(0, 0))
+
+.strafeTo(new Vector2d(24 * Math.sqrt(3), 24))
+.strafeTo(new Vector2d(0, 0))
+
+.strafeTo(new Vector2d(48, 0))
+.strafeTo(new Vector2d(0, 0))
+
+.strafeTo(new Vector2d(24 * Math.sqrt(3), -24))
+.strafeTo(new Vector2d(0, 0))
+
+.strafeTo(new Vector2d(24, -24 * Math.sqrt(3)))
+.strafeTo(new Vector2d(0, 0))
+
+.strafeTo(new Vector2d(0, -48))
+.strafeTo(new Vector2d(0, 0))
+
+.strafeTo(new Vector2d(-24, -24 * Math.sqrt(3)))
+.strafeTo(new Vector2d(0, 0))
+
+.strafeTo(new Vector2d(-24 * Math.sqrt(3), -24))
+.strafeTo(new Vector2d(0, 0))
+
+.strafeTo(new Vector2d(-48, 0))
+.strafeTo(new Vector2d(0, 0))
+
+.strafeTo(new Vector2d(-24 * Math.sqrt(3), 24))
+.strafeTo(new Vector2d(0, 0))
+
+.strafeTo(new Vector2d(-24, 24 * Math.sqrt(3)))
+.strafeTo(new Vector2d(0, 0))
+</code></pre>
+
+                    </main>
+
+                    <nav class="nav-wrapper" aria-label="Page navigation">
+                        <!-- Mobile navigation buttons -->
+                            <a rel="prev" href="../odometry/OdometryTesting.html" class="mobile-nav-chapters previous" title="Previous chapter" aria-label="Previous chapter" aria-keyshortcuts="Left">
+                                <i class="fa fa-angle-left"></i>
+                            </a>
+
+                            <a rel="next prefetch" href="../odometry/SplineTest.html" class="mobile-nav-chapters next" title="Next chapter" aria-label="Next chapter" aria-keyshortcuts="Right">
+                                <i class="fa fa-angle-right"></i>
+                            </a>
+
+                        <div style="clear: both"></div>
+                    </nav>
+                </div>
+            </div>
+
+            <nav class="nav-wide-wrapper" aria-label="Page navigation">
+                    <a rel="prev" href="../odometry/OdometryTesting.html" class="nav-chapters previous" title="Previous chapter" aria-label="Previous chapter" aria-keyshortcuts="Left">
+                        <i class="fa fa-angle-left"></i>
+                    </a>
+
+                    <a rel="next prefetch" href="../odometry/SplineTest.html" class="nav-chapters next" title="Next chapter" aria-label="Next chapter" aria-keyshortcuts="Right">
+                        <i class="fa fa-angle-right"></i>
+                    </a>
+            </nav>
+
+        </div>
+
+        <!-- Livereload script (if served using the cli tool) -->
+        <script>
+            const wsProtocol = location.protocol === 'https:' ? 'wss:' : 'ws:';
+            const wsAddress = wsProtocol + "//" + location.host + "/" + "__livereload";
+            const socket = new WebSocket(wsAddress);
+            socket.onmessage = function (event) {
+                if (event.data === "reload") {
+                    socket.close();
+                    location.reload();
+                }
+            };
+
+            window.onbeforeunload = function() {
+                socket.close();
+            }
+        </script>
+
+
+
+        <script>
+            window.playground_copyable = true;
+        </script>
+
+
+        <script src="../elasticlunr.min.js"></script>
+        <script src="../mark.min.js"></script>
+        <script src="../searcher.js"></script>
+
+        <script src="../clipboard.min.js"></script>
+        <script src="../highlight.js"></script>
+        <script src="../book.js"></script>
+
+        <!-- Custom JS scripts -->
+
+
+    </div>
+    </body>
+</html>
diff --git a/book/odometry/StraightTest.java b/book/odometry/StraightTest.java
new file mode 100644
index 0000000..93a5807
--- /dev/null
+++ b/book/odometry/StraightTest.java
@@ -0,0 +1,36 @@
+// Straight Test
+.strafeTo(new Vector2d(0, 48))
+.strafeTo(new Vector2d(0, 0))
+
+.strafeTo(new Vector2d(24, 24 * Math.sqrt(3)))
+.strafeTo(new Vector2d(0, 0))
+
+.strafeTo(new Vector2d(24 * Math.sqrt(3), 24))
+.strafeTo(new Vector2d(0, 0))
+
+.strafeTo(new Vector2d(48, 0))
+.strafeTo(new Vector2d(0, 0))
+
+.strafeTo(new Vector2d(24 * Math.sqrt(3), -24))
+.strafeTo(new Vector2d(0, 0))
+
+.strafeTo(new Vector2d(24, -24 * Math.sqrt(3)))
+.strafeTo(new Vector2d(0, 0))
+
+.strafeTo(new Vector2d(0, -48))
+.strafeTo(new Vector2d(0, 0))
+
+.strafeTo(new Vector2d(-24, -24 * Math.sqrt(3)))
+.strafeTo(new Vector2d(0, 0))
+
+.strafeTo(new Vector2d(-24 * Math.sqrt(3), -24))
+.strafeTo(new Vector2d(0, 0))
+
+.strafeTo(new Vector2d(-48, 0))
+.strafeTo(new Vector2d(0, 0))
+
+.strafeTo(new Vector2d(-24 * Math.sqrt(3), 24))
+.strafeTo(new Vector2d(0, 0))
+
+.strafeTo(new Vector2d(-24, 24 * Math.sqrt(3)))
+.strafeTo(new Vector2d(0, 0))
\ No newline at end of file
