diff --git a/.github/workflows/gradle-wrapper-validation.yml b/.github/workflows/gradle-wrapper-validation.yml
index 24584ee..353fa55 100644
--- a/.github/workflows/gradle-wrapper-validation.yml
+++ b/.github/workflows/gradle-wrapper-validation.yml
@@ -2,10 +2,10 @@ name: "Validate Gradle Wrapper"
 on:
   push:
     branches:
-      - master
+      - main
   pull_request:
     branches:
-      - master
+      - main
 
 jobs:
   validation:
diff --git a/ThePinkAlliance.json b/ThePinkAlliance.json
index a0bed09..88cdbb8 100644
--- a/ThePinkAlliance.json
+++ b/ThePinkAlliance.json
@@ -1,7 +1,7 @@
 {
 	"fileName": "ThePinkAlliance.json",
 	"name": "ThePinkAlliance",
-	"version": "2.0.8",
+	"version": "2.0.9",
 	"uuid": "9619F7EA-7F96-4236-9D94-02338DFED572",
 	"mavenUrls": ["https://jitpack.io"],
 	"jsonUrl": "https://raw.githubusercontent.com/ThePinkAlliance/core/main/ThePinkAlliance.json",
@@ -9,7 +9,7 @@
 		{
 			"groupId": "com.github.ThePinkAlliance",
 			"artifactId": "core",
-			"version": "2.0.8"
+			"version": "2.0.9"
 		}
 	],
 	"jniDependencies": [],
diff --git a/build.gradle b/build.gradle
index 6c07efb..071c5ad 100644
--- a/build.gradle
+++ b/build.gradle
@@ -2,7 +2,7 @@ apply plugin: 'java-library'
 apply plugin: 'maven-publish'
 
 group = 'com.ThePinkAlliance.core'
-version = '2.0.8'
+version = '2.0.9'
 
 sourceCompatibility = JavaVersion.VERSION_11 // java 11
 targetCompatibility = JavaVersion.VERSION_11
@@ -12,10 +12,13 @@ repositories {
     maven { 
       url = uri('https://frcmaven.wpi.edu/artifactory/release/')     
     }
+    maven { url = uri('https://maven.revrobotics.com/') }
+    maven { url = uri('https://devsite.ctr-electronics.com/maven/release/') }
 }
 
 dependencies {
   implementation 'com.google.guava:guava:29.0-jre'
+
   implementation 'edu.wpi.first.wpilibj:wpilibj-java:2022.4.1'
   implementation 'edu.wpi.first.shuffleboard:shuffleboard:2022.4.1'
   implementation 'edu.wpi.first.wpilibNewCommands:wpilibNewCommands-java:2022.4.1'
@@ -23,6 +26,8 @@ dependencies {
   implementation 'edu.wpi.first.cscore:cscore-java:2022.4.1'
   implementation 'edu.wpi.first.ntcore:ntcore-java:2022.4.1'
   implementation 'edu.wpi.first.wpimath:wpimath-java:2022.4.1'
+
+  implementation 'com.revrobotics.frc:REVLib-java:2022.1.0'
 }
 
 java {
diff --git a/src/main/java/com/ThePinkAlliance/core/logger/CommandLogger.java b/src/main/java/com/ThePinkAlliance/core/logger/CommandLogger.java
new file mode 100644
index 0000000..6ec4c44
--- /dev/null
+++ b/src/main/java/com/ThePinkAlliance/core/logger/CommandLogger.java
@@ -0,0 +1,37 @@
+package com.ThePinkAlliance.core.logger;
+
+import java.io.File;
+import java.io.FileWriter;
+import java.io.IOException;
+import java.sql.Timestamp;
+import java.util.Date;
+
+public class CommandLogger {
+
+  private String commandName;
+  private String filename;
+  private String directory = "/home/lvuser/pink/logger/";
+
+  public CommandLogger(String commandName) {
+    this.commandName = commandName;
+    this.filename = commandName + ".command.csv";
+  }
+
+  public void recordWithTime(String[] rows, Object... objects) {
+    String timestamp = new Timestamp(new Date().getTime()).toString();
+    File file = new File(
+      directory + commandName + "-" + timestamp + ".command.csv"
+    );
+    FileWriter writer;
+
+    try {
+      writer = new FileWriter(file);
+
+      if (!file.exists()) {
+        file.createNewFile();
+      }
+    } catch (IOException err) {
+      err.printStackTrace();
+    }
+  }
+}
diff --git a/src/main/java/com/ThePinkAlliance/core/rev/RevNeo550.java b/src/main/java/com/ThePinkAlliance/core/rev/RevNeo550.java
new file mode 100644
index 0000000..ca7bf32
--- /dev/null
+++ b/src/main/java/com/ThePinkAlliance/core/rev/RevNeo550.java
@@ -0,0 +1,16 @@
+package com.ThePinkAlliance.core.rev;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMaxLowLevel;
+
+public class RevNeo550 extends CANSparkMax {
+
+  /**
+   * This will configure a rev neo with amperage limit's by default.
+   * @param channel
+   */
+  public RevNeo550(final int channel) {
+    super(channel, CANSparkMaxLowLevel.MotorType.kBrushless);
+    this.setSmartCurrentLimit(20);
+  }
+}
diff --git a/src/main/java/com/ThePinkAlliance/core/shooter/TargetPackage.java b/src/main/java/com/ThePinkAlliance/core/shooter/TargetPackage.java
index 69ae8d6..19089d1 100644
--- a/src/main/java/com/ThePinkAlliance/core/shooter/TargetPackage.java
+++ b/src/main/java/com/ThePinkAlliance/core/shooter/TargetPackage.java
@@ -1,8 +1,11 @@
 package com.ThePinkAlliance.core.shooter;
 
 public interface TargetPackage {
-  public double kP = 0;
-  public double kFF = 0;
-  public double rpm = 0;
-  public double hoodPosition = 0;
+  public double getKP();
+
+  public double getKFF();
+
+  public double getRpm();
+
+  public double getHoodPosition();
 }
diff --git a/src/main/java/com/ThePinkAlliance/core/shooter/TargetPackageFactory.java b/src/main/java/com/ThePinkAlliance/core/shooter/TargetPackageFactory.java
deleted file mode 100644
index 065e885..0000000
--- a/src/main/java/com/ThePinkAlliance/core/shooter/TargetPackageFactory.java
+++ /dev/null
@@ -1,25 +0,0 @@
-package com.ThePinkAlliance.core.shooter;
-
-public class TargetPackageFactory implements TargetPackage {
-
-  double kP;
-  double kFF;
-  double rpm;
-  double hoodPosition;
-
-  public TargetPackageFactory(
-    double kP,
-    double kFF,
-    double rpm,
-    double hoodPosition
-  ) {
-    this.kFF = kFF;
-    this.kP = kP;
-    this.hoodPosition = hoodPosition;
-    this.rpm = rpm;
-  }
-
-  public TargetPackage build() {
-    return this;
-  }
-}
diff --git a/src/main/java/com/ThePinkAlliance/core/shooter/TargetPackageHelper.java b/src/main/java/com/ThePinkAlliance/core/shooter/TargetPackageHelper.java
new file mode 100644
index 0000000..b319588
--- /dev/null
+++ b/src/main/java/com/ThePinkAlliance/core/shooter/TargetPackageHelper.java
@@ -0,0 +1,33 @@
+package com.ThePinkAlliance.core.shooter;
+
+public class TargetPackageHelper {
+
+  public TargetPackage create(
+    double ff,
+    double kP,
+    double rpm,
+    double hoodPosition
+  ) {
+    return new TargetPackage() {
+      @Override
+      public double getKFF() {
+        return ff;
+      }
+
+      @Override
+      public double getKP() {
+        return kP;
+      }
+
+      @Override
+      public double getRpm() {
+        return rpm;
+      }
+
+      @Override
+      public double getHoodPosition() {
+        return hoodPosition;
+      }
+    };
+  }
+}
diff --git a/src/main/java/com/ThePinkAlliance/core/util/JoystickUtils.java b/src/main/java/com/ThePinkAlliance/core/util/JoystickUtils.java
new file mode 100644
index 0000000..88c0d20
--- /dev/null
+++ b/src/main/java/com/ThePinkAlliance/core/util/JoystickUtils.java
@@ -0,0 +1,47 @@
+package com.ThePinkAlliance.core.util;
+
+public class JoystickUtils {
+
+  public static double deadband(double value, double deadband) {
+    if (Math.abs(value) > deadband) {
+      if (value > 0.0) {
+        return (value - deadband) / (1.0 - deadband);
+      } else {
+        return (value + deadband) / (1.0 - deadband);
+      }
+    } else {
+      return 0.0;
+    }
+  }
+
+  /**
+   * Apply deadband to the joystick input and Cube the output
+   * @param value is the raw joystick input
+   * @return the filtered joystick input
+   */
+  public static double modifyAxisCubed(double value) {
+    // Deadband
+    value = deadband(value, 0.05);
+
+    // Cubing due to raw power until robot reaches competition weight.
+    value = Math.copySign(value * value * value, value);
+
+    return value;
+  }
+
+  /**
+   * Apply deadband to the joystick input and Cube the output
+   * @param value is the raw joystick input
+   * @param deadband is the wanted deadband applied
+   * @return the filtered joystick input
+   */
+  public static double modifyAxisCubed(double value, double deadband) {
+    // Deadband
+    value = deadband(value, deadband);
+
+    // Cubing due to raw power until robot reaches competition weight.
+    value = Math.copySign(value * value * value, value);
+
+    return value;
+  }
+}