diff --git a/.gitignore b/.gitignore
index e303e2c..837ce65 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,17 +1,17 @@
-# Compiled Object files
-*.o
-*.obj
-
-# Executables
-*.bin
-*.elf
-
-# PROS
-bin/
-.vscode/
-.cache/
-compile_commands.json
-temp.log
-temp.errors
-*.ini
+# Compiled Object files
+*.o
+*.obj
+
+# Executables
+*.bin
+*.elf
+
+# PROS
+bin/
+.vscode/
+.cache/
+compile_commands.json
+temp.log
+temp.errors
+*.ini
 .d/
\ No newline at end of file
diff --git a/Graphy@1.2.0.zip b/Graphy@1.2.0.zip
deleted file mode 100644
index 4a37241..0000000
Binary files a/Graphy@1.2.0.zip and /dev/null differ
diff --git a/Graphy@1.3.0.zip b/Graphy@1.3.0.zip
new file mode 100644
index 0000000..f7475fa
Binary files /dev/null and b/Graphy@1.3.0.zip differ
diff --git a/Makefile b/Makefile
index dfa4117..b48e666 100644
--- a/Makefile
+++ b/Makefile
@@ -27,7 +27,7 @@ EXCLUDE_COLD_LIBRARIES:=
 IS_LIBRARY:=1
 # TODO: CHANGE THIS!
 LIBNAME:=Graphy
-VERSION:=1.2.0
+VERSION:=1.3.0
 # EXCLUDE_SRC_FROM_LIB= $(SRCDIR)/unpublishedfile.c
 # this line excludes opcontrol.c and similar files
 EXCLUDE_SRC_FROM_LIB+=$(foreach file, $(SRCDIR)/main,$(foreach cext,$(CEXTS),$(file).$(cext)) $(foreach cxxext,$(CXXEXTS),$(file).$(cxxext)))
diff --git a/firmware/libpros.a b/firmware/libpros.a
index 0539990..3dbfc1b 100644
Binary files a/firmware/libpros.a and b/firmware/libpros.a differ
diff --git a/firmware/v5-common.ld b/firmware/v5-common.ld
index 762a905..c341c60 100644
--- a/firmware/v5-common.ld
+++ b/firmware/v5-common.ld
@@ -1,263 +1,263 @@
-/* Define the sections, and where they are mapped in memory */
-SECTIONS
-{
-/* This will get stripped out before uploading, but we need to place code
-   here so we can at least link to it (install_hot_table) */
-.hot_init : {
-  KEEP (*(.hot_magic))
-  KEEP (*(.hot_init))
-} > HOT_MEMORY
-
-.text : {
-   KEEP (*(.vectors))
-   /* boot data should be exactly 32 bytes long */
-   *(.boot_data)
-   . = 0x20;
-   *(.boot)
-   . = ALIGN(64);
-   *(.freertos_vectors)
-   *(.text)
-   *(.text.*)
-   *(.gnu.linkonce.t.*)
-   *(.plt)
-   *(.gnu_warning)
-   *(.gcc_except_table)
-   *(.glue_7)
-   *(.glue_7t)
-   *(.vfp11_veneer)
-   *(.ARM.extab)
-   *(.gnu.linkonce.armextab.*)
-} > RAM
-
-.init : {
-   KEEP (*(.init))
-} > RAM
-
-.fini : {
-   KEEP (*(.fini))
-} > RAM
-
-.rodata : {
-   __rodata_start = .;
-   *(.rodata)
-   *(.rodata.*)
-   *(.gnu.linkonce.r.*)
-   __rodata_end = .;
-} > RAM
-
-.rodata1 : {
-   __rodata1_start = .;
-   *(.rodata1)
-   *(.rodata1.*)
-   __rodata1_end = .;
-} > RAM
-
-.sdata2 : {
-   __sdata2_start = .;
-   *(.sdata2)
-   *(.sdata2.*)
-   *(.gnu.linkonce.s2.*)
-   __sdata2_end = .;
-} > RAM
-
-.sbss2 : {
-   __sbss2_start = .;
-   *(.sbss2)
-   *(.sbss2.*)
-   *(.gnu.linkonce.sb2.*)
-   __sbss2_end = .;
-} > RAM
-
-.data : {
-   __data_start = .;
-   *(.data)
-   *(.data.*)
-   *(.gnu.linkonce.d.*)
-   *(.jcr)
-   *(.got)
-   *(.got.plt)
-   __data_end = .;
-} > RAM
-
-.data1 : {
-   __data1_start = .;
-   *(.data1)
-   *(.data1.*)
-   __data1_end = .;
-} > RAM
-
-.got : {
-   *(.got)
-} > RAM
-
-.ctors : {
-   __CTOR_LIST__ = .;
-   ___CTORS_LIST___ = .;
-   KEEP (*crtbegin.o(.ctors))
-   KEEP (*(EXCLUDE_FILE(*crtend.o) .ctors))
-   KEEP (*(SORT(.ctors.*)))
-   KEEP (*(.ctors))
-   __CTOR_END__ = .;
-   ___CTORS_END___ = .;
-} > RAM
-
-.dtors : {
-   __DTOR_LIST__ = .;
-   ___DTORS_LIST___ = .;
-   KEEP (*crtbegin.o(.dtors))
-   KEEP (*(EXCLUDE_FILE(*crtend.o) .dtors))
-   KEEP (*(SORT(.dtors.*)))
-   KEEP (*(.dtors))
-   __DTOR_END__ = .;
-   ___DTORS_END___ = .;
-} > RAM
-
-.fixup : {
-   __fixup_start = .;
-   *(.fixup)
-   __fixup_end = .;
-} > RAM
-
-.eh_frame : {
-   *(.eh_frame)
-} > RAM
-
-.eh_framehdr : {
-   __eh_framehdr_start = .;
-   *(.eh_framehdr)
-   __eh_framehdr_end = .;
-} > RAM
-
-.gcc_except_table : {
-   *(.gcc_except_table)
-} > RAM
-
-.mmu_tbl (ALIGN(16384)) : {
-   __mmu_tbl_start = .;
-   *(.mmu_tbl)
-   __mmu_tbl_end = .;
-} > RAM
-
-.ARM.exidx : {
-   __exidx_start = .;
-   *(.ARM.exidx*)
-   *(.gnu.linkonce.armexidix.*.*)
-   __exidx_end = .;
-} > RAM
-
-.preinit_array : {
-   __preinit_array_start = .;
-   KEEP (*(SORT(.preinit_array.*)))
-   KEEP (*(.preinit_array))
-   __preinit_array_end = .;
-} > RAM
-
-.init_array : {
-   __init_array_start = .;
-   KEEP (*(SORT(.init_array.*)))
-   KEEP (*(.init_array))
-   __init_array_end = .;
-} > RAM
-
-.fini_array : {
-   __fini_array_start = .;
-   KEEP (*(SORT(.fini_array.*)))
-   KEEP (*(.fini_array))
-   __fini_array_end = .;
-} > RAM
-
-.ARM.attributes : {
-   __ARM.attributes_start = .;
-   *(.ARM.attributes)
-   __ARM.attributes_end = .;
-} > RAM
-
-.sdata : {
-   __sdata_start = .;
-   *(.sdata)
-   *(.sdata.*)
-   *(.gnu.linkonce.s.*)
-   __sdata_end = .;
-} > RAM
-
-.sbss (NOLOAD) : {
-   __sbss_start = .;
-   *(.sbss)
-   *(.sbss.*)
-   *(.gnu.linkonce.sb.*)
-   __sbss_end = .;
-} > RAM
-
-.tdata : {
-   __tdata_start = .;
-   *(.tdata)
-   *(.tdata.*)
-   *(.gnu.linkonce.td.*)
-   __tdata_end = .;
-} > RAM
-
-.tbss : {
-   __tbss_start = .;
-   *(.tbss)
-   *(.tbss.*)
-   *(.gnu.linkonce.tb.*)
-   __tbss_end = .;
-} > RAM
-
-.bss (NOLOAD) : {
-   __bss_start = .;
-   *(.bss)
-   *(.bss.*)
-   *(.gnu.linkonce.b.*)
-   *(COMMON)
-   __bss_end = .;
-} > RAM
-
-_SDA_BASE_ = __sdata_start + ((__sbss_end - __sdata_start) / 2 );
-
-_SDA2_BASE_ = __sdata2_start + ((__sbss2_end - __sdata2_start) / 2 );
-
-/* Generate Stack and Heap definitions */
-
-.heap (NOLOAD) : {
-   . = ALIGN(16);
-   _heap = .;
-   HeapBase = .;
-   _heap_start = .;
-   . += _HEAP_SIZE;
-   _heap_end = .;
-   HeapLimit = .;
-} > HEAP
-
-.stack (NOLOAD) : {
-   . = ALIGN(16);
-   _stack_end = .;
-   . += _STACK_SIZE;
-   . = ALIGN(16);
-   _stack = .;
-   __stack = _stack;
-   . = ALIGN(16);
-   _irq_stack_end = .;
-   . += _IRQ_STACK_SIZE;
-   . = ALIGN(16);
-   __irq_stack = .;
-   _supervisor_stack_end = .;
-   . += _SUPERVISOR_STACK_SIZE;
-   . = ALIGN(16);
-   __supervisor_stack = .;
-   _abort_stack_end = .;
-   . += _ABORT_STACK_SIZE;
-   . = ALIGN(16);
-   __abort_stack = .;
-   _fiq_stack_end = .;
-   . += _FIQ_STACK_SIZE;
-   . = ALIGN(16);
-   __fiq_stack = .;
-   _undef_stack_end = .;
-   . += _UNDEF_STACK_SIZE;
-   . = ALIGN(16);
-   __undef_stack = .;
-} > COLD_MEMORY
-
-_end = .;
-}
+/* Define the sections, and where they are mapped in memory */
+SECTIONS
+{
+/* This will get stripped out before uploading, but we need to place code
+   here so we can at least link to it (install_hot_table) */
+.hot_init : {
+  KEEP (*(.hot_magic))
+  KEEP (*(.hot_init))
+} > HOT_MEMORY
+
+.text : {
+   KEEP (*(.vectors))
+   /* boot data should be exactly 32 bytes long */
+   *(.boot_data)
+   . = 0x20;
+   *(.boot)
+   . = ALIGN(64);
+   *(.freertos_vectors)
+   *(.text)
+   *(.text.*)
+   *(.gnu.linkonce.t.*)
+   *(.plt)
+   *(.gnu_warning)
+   *(.gcc_except_table)
+   *(.glue_7)
+   *(.glue_7t)
+   *(.vfp11_veneer)
+   *(.ARM.extab)
+   *(.gnu.linkonce.armextab.*)
+} > RAM
+
+.init : {
+   KEEP (*(.init))
+} > RAM
+
+.fini : {
+   KEEP (*(.fini))
+} > RAM
+
+.rodata : {
+   __rodata_start = .;
+   *(.rodata)
+   *(.rodata.*)
+   *(.gnu.linkonce.r.*)
+   __rodata_end = .;
+} > RAM
+
+.rodata1 : {
+   __rodata1_start = .;
+   *(.rodata1)
+   *(.rodata1.*)
+   __rodata1_end = .;
+} > RAM
+
+.sdata2 : {
+   __sdata2_start = .;
+   *(.sdata2)
+   *(.sdata2.*)
+   *(.gnu.linkonce.s2.*)
+   __sdata2_end = .;
+} > RAM
+
+.sbss2 : {
+   __sbss2_start = .;
+   *(.sbss2)
+   *(.sbss2.*)
+   *(.gnu.linkonce.sb2.*)
+   __sbss2_end = .;
+} > RAM
+
+.data : {
+   __data_start = .;
+   *(.data)
+   *(.data.*)
+   *(.gnu.linkonce.d.*)
+   *(.jcr)
+   *(.got)
+   *(.got.plt)
+   __data_end = .;
+} > RAM
+
+.data1 : {
+   __data1_start = .;
+   *(.data1)
+   *(.data1.*)
+   __data1_end = .;
+} > RAM
+
+.got : {
+   *(.got)
+} > RAM
+
+.ctors : {
+   __CTOR_LIST__ = .;
+   ___CTORS_LIST___ = .;
+   KEEP (*crtbegin.o(.ctors))
+   KEEP (*(EXCLUDE_FILE(*crtend.o) .ctors))
+   KEEP (*(SORT(.ctors.*)))
+   KEEP (*(.ctors))
+   __CTOR_END__ = .;
+   ___CTORS_END___ = .;
+} > RAM
+
+.dtors : {
+   __DTOR_LIST__ = .;
+   ___DTORS_LIST___ = .;
+   KEEP (*crtbegin.o(.dtors))
+   KEEP (*(EXCLUDE_FILE(*crtend.o) .dtors))
+   KEEP (*(SORT(.dtors.*)))
+   KEEP (*(.dtors))
+   __DTOR_END__ = .;
+   ___DTORS_END___ = .;
+} > RAM
+
+.fixup : {
+   __fixup_start = .;
+   *(.fixup)
+   __fixup_end = .;
+} > RAM
+
+.eh_frame : {
+   *(.eh_frame)
+} > RAM
+
+.eh_framehdr : {
+   __eh_framehdr_start = .;
+   *(.eh_framehdr)
+   __eh_framehdr_end = .;
+} > RAM
+
+.gcc_except_table : {
+   *(.gcc_except_table)
+} > RAM
+
+.mmu_tbl (ALIGN(16384)) : {
+   __mmu_tbl_start = .;
+   *(.mmu_tbl)
+   __mmu_tbl_end = .;
+} > RAM
+
+.ARM.exidx : {
+   __exidx_start = .;
+   *(.ARM.exidx*)
+   *(.gnu.linkonce.armexidix.*.*)
+   __exidx_end = .;
+} > RAM
+
+.preinit_array : {
+   __preinit_array_start = .;
+   KEEP (*(SORT(.preinit_array.*)))
+   KEEP (*(.preinit_array))
+   __preinit_array_end = .;
+} > RAM
+
+.init_array : {
+   __init_array_start = .;
+   KEEP (*(SORT(.init_array.*)))
+   KEEP (*(.init_array))
+   __init_array_end = .;
+} > RAM
+
+.fini_array : {
+   __fini_array_start = .;
+   KEEP (*(SORT(.fini_array.*)))
+   KEEP (*(.fini_array))
+   __fini_array_end = .;
+} > RAM
+
+.ARM.attributes : {
+   __ARM.attributes_start = .;
+   *(.ARM.attributes)
+   __ARM.attributes_end = .;
+} > RAM
+
+.sdata : {
+   __sdata_start = .;
+   *(.sdata)
+   *(.sdata.*)
+   *(.gnu.linkonce.s.*)
+   __sdata_end = .;
+} > RAM
+
+.sbss (NOLOAD) : {
+   __sbss_start = .;
+   *(.sbss)
+   *(.sbss.*)
+   *(.gnu.linkonce.sb.*)
+   __sbss_end = .;
+} > RAM
+
+.tdata : {
+   __tdata_start = .;
+   *(.tdata)
+   *(.tdata.*)
+   *(.gnu.linkonce.td.*)
+   __tdata_end = .;
+} > RAM
+
+.tbss : {
+   __tbss_start = .;
+   *(.tbss)
+   *(.tbss.*)
+   *(.gnu.linkonce.tb.*)
+   __tbss_end = .;
+} > RAM
+
+.bss (NOLOAD) : {
+   __bss_start = .;
+   *(.bss)
+   *(.bss.*)
+   *(.gnu.linkonce.b.*)
+   *(COMMON)
+   __bss_end = .;
+} > RAM
+
+_SDA_BASE_ = __sdata_start + ((__sbss_end - __sdata_start) / 2 );
+
+_SDA2_BASE_ = __sdata2_start + ((__sbss2_end - __sdata2_start) / 2 );
+
+/* Generate Stack and Heap definitions */
+
+.heap (NOLOAD) : {
+   . = ALIGN(16);
+   _heap = .;
+   HeapBase = .;
+   _heap_start = .;
+   . += _HEAP_SIZE;
+   _heap_end = .;
+   HeapLimit = .;
+} > HEAP
+
+.stack (NOLOAD) : {
+   . = ALIGN(16);
+   _stack_end = .;
+   . += _STACK_SIZE;
+   . = ALIGN(16);
+   _stack = .;
+   __stack = _stack;
+   . = ALIGN(16);
+   _irq_stack_end = .;
+   . += _IRQ_STACK_SIZE;
+   . = ALIGN(16);
+   __irq_stack = .;
+   _supervisor_stack_end = .;
+   . += _SUPERVISOR_STACK_SIZE;
+   . = ALIGN(16);
+   __supervisor_stack = .;
+   _abort_stack_end = .;
+   . += _ABORT_STACK_SIZE;
+   . = ALIGN(16);
+   __abort_stack = .;
+   _fiq_stack_end = .;
+   . += _FIQ_STACK_SIZE;
+   . = ALIGN(16);
+   __fiq_stack = .;
+   _undef_stack_end = .;
+   . += _UNDEF_STACK_SIZE;
+   . = ALIGN(16);
+   __undef_stack = .;
+} > COLD_MEMORY
+
+_end = .;
+}
diff --git a/firmware/v5-hot.ld b/firmware/v5-hot.ld
index 017cb35..9618080 100644
--- a/firmware/v5-hot.ld
+++ b/firmware/v5-hot.ld
@@ -1,33 +1,33 @@
-/* This stack is used during initialization, but FreeRTOS tasks have their own
-   stack allocated in BSS or Heap (kernel tasks in FreeRTOS .bss heap; user tasks
-   in standard heap) */
-_STACK_SIZE = DEFINED(_STACK_SIZE) ? _STACK_SIZE : 0x2000;
-
-_ABORT_STACK_SIZE = DEFINED(_ABORT_STACK_SIZE) ? _ABORT_STACK_SIZE : 1024;
-_SUPERVISOR_STACK_SIZE = DEFINED(_SUPERVISOR_STACK_SIZE) ? _SUPERVISOR_STACK_SIZE : 2048;
-_IRQ_STACK_SIZE = DEFINED(_IRQ_STACK_SIZE) ? _IRQ_STACK_SIZE : 1024;
-_FIQ_STACK_SIZE = DEFINED(_FIQ_STACK_SIZE) ? _FIQ_STACK_SIZE : 1024;
-_UNDEF_STACK_SIZE = DEFINED(_UNDEF_STACK_SIZE) ? _UNDEF_STACK_SIZE : 1024;
-
-_HEAP_SIZE = DEFINED(_HEAP_SIZE) ? _HEAP_SIZE : 0x02E00000;  /* ~48 MB */
-
-/* Define Memories in the system */
-start_of_cold_mem = 0x03800000;
-_COLD_MEM_SIZE = 0x04800000;
-end_of_cold_mem = start_of_cold_mem + _COLD_MEM_SIZE;
-
-start_of_hot_mem = 0x07800000;
-_HOT_MEM_SIZE = 0x00800000;
-end_of_hot_mem = start_of_hot_mem + _HOT_MEM_SIZE;
-
-MEMORY
-{
-   /* user code  72M */
-   COLD_MEMORY : ORIGIN = start_of_cold_mem, LENGTH = _COLD_MEM_SIZE /* Just under 19 MB */
-   HEAP : ORIGIN = 0x04A00000, LENGTH = _HEAP_SIZE
-   HOT_MEMORY : ORIGIN = start_of_hot_mem, LENGTH = _HOT_MEM_SIZE  /* Just over 8 MB */
-}
-
-REGION_ALIAS("RAM", HOT_MEMORY);
-
-ENTRY(install_hot_table)
+/* This stack is used during initialization, but FreeRTOS tasks have their own
+   stack allocated in BSS or Heap (kernel tasks in FreeRTOS .bss heap; user tasks
+   in standard heap) */
+_STACK_SIZE = DEFINED(_STACK_SIZE) ? _STACK_SIZE : 0x2000;
+
+_ABORT_STACK_SIZE = DEFINED(_ABORT_STACK_SIZE) ? _ABORT_STACK_SIZE : 1024;
+_SUPERVISOR_STACK_SIZE = DEFINED(_SUPERVISOR_STACK_SIZE) ? _SUPERVISOR_STACK_SIZE : 2048;
+_IRQ_STACK_SIZE = DEFINED(_IRQ_STACK_SIZE) ? _IRQ_STACK_SIZE : 1024;
+_FIQ_STACK_SIZE = DEFINED(_FIQ_STACK_SIZE) ? _FIQ_STACK_SIZE : 1024;
+_UNDEF_STACK_SIZE = DEFINED(_UNDEF_STACK_SIZE) ? _UNDEF_STACK_SIZE : 1024;
+
+_HEAP_SIZE = DEFINED(_HEAP_SIZE) ? _HEAP_SIZE : 0x02E00000;  /* ~48 MB */
+
+/* Define Memories in the system */
+start_of_cold_mem = 0x03800000;
+_COLD_MEM_SIZE = 0x04800000;
+end_of_cold_mem = start_of_cold_mem + _COLD_MEM_SIZE;
+
+start_of_hot_mem = 0x07800000;
+_HOT_MEM_SIZE = 0x00800000;
+end_of_hot_mem = start_of_hot_mem + _HOT_MEM_SIZE;
+
+MEMORY
+{
+   /* user code  72M */
+   COLD_MEMORY : ORIGIN = start_of_cold_mem, LENGTH = _COLD_MEM_SIZE /* Just under 19 MB */
+   HEAP : ORIGIN = 0x04A00000, LENGTH = _HEAP_SIZE
+   HOT_MEMORY : ORIGIN = start_of_hot_mem, LENGTH = _HOT_MEM_SIZE  /* Just over 8 MB */
+}
+
+REGION_ALIAS("RAM", HOT_MEMORY);
+
+ENTRY(install_hot_table)
diff --git a/firmware/v5.ld b/firmware/v5.ld
index 7cbd06f..a8ef570 100644
--- a/firmware/v5.ld
+++ b/firmware/v5.ld
@@ -1,33 +1,33 @@
-/* This stack is used during initialization, but FreeRTOS tasks have their own
-   stack allocated in BSS or Heap (kernel tasks in FreeRTOS .bss heap; user tasks
-   in standard heap) */
-_STACK_SIZE = DEFINED(_STACK_SIZE) ? _STACK_SIZE : 0x2000;
-
-_ABORT_STACK_SIZE = DEFINED(_ABORT_STACK_SIZE) ? _ABORT_STACK_SIZE : 1024;
-_SUPERVISOR_STACK_SIZE = DEFINED(_SUPERVISOR_STACK_SIZE) ? _SUPERVISOR_STACK_SIZE : 2048;
-_IRQ_STACK_SIZE = DEFINED(_IRQ_STACK_SIZE) ? _IRQ_STACK_SIZE : 1024;
-_FIQ_STACK_SIZE = DEFINED(_FIQ_STACK_SIZE) ? _FIQ_STACK_SIZE : 1024;
-_UNDEF_STACK_SIZE = DEFINED(_UNDEF_STACK_SIZE) ? _UNDEF_STACK_SIZE : 1024;
-
-_HEAP_SIZE = DEFINED(_HEAP_SIZE) ? _HEAP_SIZE : 0x02E00000;  /* ~48 MB */
-
-/* Define Memories in the system */
-start_of_cold_mem = 0x03800000;
-_COLD_MEM_SIZE = 0x04800000;
-end_of_cold_mem = start_of_cold_mem + _COLD_MEM_SIZE;
-
-start_of_hot_mem = 0x07800000;
-_HOT_MEM_SIZE = 0x00800000;
-end_of_hot_mem = start_of_hot_mem + _HOT_MEM_SIZE;
-
-MEMORY
-{
-   /* user code  72M */
-   COLD_MEMORY : ORIGIN = start_of_cold_mem, LENGTH = _COLD_MEM_SIZE /* Just under 19 MB */
-   HEAP : ORIGIN = 0x04A00000, LENGTH = _HEAP_SIZE
-   HOT_MEMORY : ORIGIN = start_of_hot_mem, LENGTH = _HOT_MEM_SIZE  /* Just over 8 MB */
-}
-
-REGION_ALIAS("RAM", COLD_MEMORY);
-
-ENTRY(vexStartup)
+/* This stack is used during initialization, but FreeRTOS tasks have their own
+   stack allocated in BSS or Heap (kernel tasks in FreeRTOS .bss heap; user tasks
+   in standard heap) */
+_STACK_SIZE = DEFINED(_STACK_SIZE) ? _STACK_SIZE : 0x2000;
+
+_ABORT_STACK_SIZE = DEFINED(_ABORT_STACK_SIZE) ? _ABORT_STACK_SIZE : 1024;
+_SUPERVISOR_STACK_SIZE = DEFINED(_SUPERVISOR_STACK_SIZE) ? _SUPERVISOR_STACK_SIZE : 2048;
+_IRQ_STACK_SIZE = DEFINED(_IRQ_STACK_SIZE) ? _IRQ_STACK_SIZE : 1024;
+_FIQ_STACK_SIZE = DEFINED(_FIQ_STACK_SIZE) ? _FIQ_STACK_SIZE : 1024;
+_UNDEF_STACK_SIZE = DEFINED(_UNDEF_STACK_SIZE) ? _UNDEF_STACK_SIZE : 1024;
+
+_HEAP_SIZE = DEFINED(_HEAP_SIZE) ? _HEAP_SIZE : 0x02E00000;  /* ~48 MB */
+
+/* Define Memories in the system */
+start_of_cold_mem = 0x03800000;
+_COLD_MEM_SIZE = 0x04800000;
+end_of_cold_mem = start_of_cold_mem + _COLD_MEM_SIZE;
+
+start_of_hot_mem = 0x07800000;
+_HOT_MEM_SIZE = 0x00800000;
+end_of_hot_mem = start_of_hot_mem + _HOT_MEM_SIZE;
+
+MEMORY
+{
+   /* user code  72M */
+   COLD_MEMORY : ORIGIN = start_of_cold_mem, LENGTH = _COLD_MEM_SIZE /* Just under 19 MB */
+   HEAP : ORIGIN = 0x04A00000, LENGTH = _HEAP_SIZE
+   HOT_MEMORY : ORIGIN = start_of_hot_mem, LENGTH = _HOT_MEM_SIZE  /* Just over 8 MB */
+}
+
+REGION_ALIAS("RAM", COLD_MEMORY);
+
+ENTRY(vexStartup)
diff --git a/include/api.h b/include/api.h
index 7e92319..6b09de1 100644
--- a/include/api.h
+++ b/include/api.h
@@ -41,8 +41,8 @@
 
 #define PROS_VERSION_MAJOR 3
 #define PROS_VERSION_MINOR 8
-#define PROS_VERSION_PATCH 0
-#define PROS_VERSION_STRING "3.8.0"
+#define PROS_VERSION_PATCH 3
+#define PROS_VERSION_STRING "3.8.3"
 
 #include "pros/adi.h"
 #include "pros/colors.h"
@@ -56,8 +56,8 @@
 #include "pros/misc.h"
 #include "pros/motors.h"
 #include "pros/optical.h"
-#include "pros/rtos.h"
 #include "pros/rotation.h"
+#include "pros/rtos.h"
 #include "pros/screen.h"
 #include "pros/vision.h"
 
@@ -66,6 +66,7 @@
 #include "pros/distance.hpp"
 #include "pros/gps.hpp"
 #include "pros/imu.hpp"
+#include "pros/link.hpp"
 #include "pros/llemu.hpp"
 #include "pros/misc.hpp"
 #include "pros/motors.hpp"
@@ -74,7 +75,6 @@
 #include "pros/rtos.hpp"
 #include "pros/screen.hpp"
 #include "pros/vision.hpp"
-#include "pros/link.hpp"
 #endif
 
 #endif  // _PROS_API_H_
diff --git a/include/main.h b/include/main.h
index 7be745d..288056e 100644
--- a/include/main.h
+++ b/include/main.h
@@ -4,7 +4,7 @@
  * Contains common definitions and header files used throughout your PROS
  * project.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
@@ -22,7 +22,7 @@
  *
  * For instance, E_CONTROLLER_MASTER has a shorter name: CONTROLLER_MASTER.
  * E_CONTROLLER_MASTER is pedantically correct within the PROS styleguide, but
- * not convienent for most student programmers.
+ * not convenient for most student programmers.
  */
 #define PROS_USE_SIMPLE_NAMES
 
@@ -39,8 +39,7 @@
 /**
  * You should add more #includes here
  */
-#include "okapi/api.hpp"
-#include "Graphy/Grapher.hpp"
+//#include "okapi/api.hpp"
 //#include "pros/api_legacy.h"
 
 /**
@@ -53,7 +52,7 @@
  */
 // using namespace pros;
 // using namespace pros::literals;
-using namespace okapi;
+// using namespace okapi;
 
 /**
  * Prototypes for the competition control tasks are redefined here to ensure
diff --git a/include/pros/gps.h b/include/pros/gps.h
index 1b2e7e7..917f693 100644
--- a/include/pros/gps.h
+++ b/include/pros/gps.h
@@ -188,6 +188,91 @@ double gps_get_error(uint8_t port);
  */
 gps_status_s_t gps_get_status(uint8_t port);
 
+/**
+ * Gets the X position in meters of the robot relative to the starting position.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as a GPS
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 GPS port number from 1-21
+ * 
+ * \return The X position in meters. If the operation failed,
+ * returns PROS_ERR_F and errno is set.
+ */
+double gps_get_x_position(uint8_t port);
+
+/**
+ * Gets the Y position in meters of the robot relative to the starting position.
+ * 
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as a GPS
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 GPS port number from 1-21
+ * 
+ * \return The Y position in meters. If the operation failed,
+ * returns PROS_ERR_F and errno is set.
+ */
+double gps_get_y_position(uint8_t port);
+
+/**
+ * Gets the pitch of the GPS in degrees relative to the starting orientation.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as a GPS
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 GPS port number from 1-21
+ * 
+ * \return The pitch in (-90,90] degree values. If the operation failed,
+ * returns PROS_ERR_F and errno is set.
+ */
+double gps_get_pitch(uint8_t port);
+
+/**
+ * Gets the roll of the GPS in degrees relative to the starting orientation.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as a GPS
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 GPS port number from 1-21
+ * 
+ * \return The roll in (-180,180] degree values. If the operation failed,
+ * returns PROS_ERR_F and errno is set.
+ */
+double gps_get_roll(uint8_t port);
+
+/**
+ * Gets the yaw of the GPS in degrees relative to the starting orientation.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as a GPS
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 GPS port number from 1-21
+ * 
+ * \return The yaw in (-180,180] degree values. If the operation failed,
+ * returns PROS_ERR_F and errno is set.
+ */
+double gps_get_yaw(uint8_t port);
+
 /**
  * Get the heading in [0,360) degree values.
  *
diff --git a/include/pros/gps.hpp b/include/pros/gps.hpp
index fce40c2..7a32123 100644
--- a/include/pros/gps.hpp
+++ b/include/pros/gps.hpp
@@ -52,8 +52,8 @@ class Gps {
 	 * This function uses the following values of errno when an error state is
 	 * reached:
 	 * ENXIO - The given value is not within the range of V5 ports (1-21).
-	 * ENODEV - The port cannot be configured as a GPS
-	 * EAGAIN - The sensor is still calibrating
+	 * ENODEV - The port cannot be configured as a GPS.
+	 * EAGAIN - The sensor is still calibrating.
 	 *
 	 * \param  xOffset
 	 * 				 Cartesian 4-Quadrant X offset from center of turning (meters)
@@ -77,8 +77,8 @@ class Gps {
 	 * This function uses the following values of errno when an error state is
 	 * reached:
 	 * ENXIO - The given value is not within the range of V5 ports (1-21).
-	 * ENODEV - The port cannot be configured as a GPS
-	 * EAGAIN - The sensor is still calibrating
+	 * ENODEV - The port cannot be configured as a GPS.
+	 * EAGAIN - The sensor is still calibrating.
 	 *
 	 * \param  xOffset
 	 * 				 Cartesian 4-Quadrant X offset from center of turning (meters)
@@ -95,8 +95,8 @@ class Gps {
 	 * This function uses the following values of errno when an error state is
 	 * reached:
 	 * ENXIO - The given value is not within the range of V5 ports (1-21).
-	 * ENODEV - The port cannot be configured as a GPS
-	 * EAGAIN - The sensor is still calibrating
+	 * ENODEV - The port cannot be configured as a GPS.
+	 * EAGAIN - The sensor is still calibrating.
 	 *
 	 * \param  xOffset
 	 * 				 Pointer to cartesian 4-Quadrant X offset from center of turning (meters)
@@ -113,8 +113,8 @@ class Gps {
 	 * This function uses the following values of errno when an error state is
 	 * reached:
 	 * ENXIO - The given value is not within the range of V5 ports (1-21).
-	 * ENODEV - The port cannot be configured as a GPS
-	 * EAGAIN - The sensor is still calibrating
+	 * ENODEV - The port cannot be configured as a GPS.
+	 * EAGAIN - The sensor is still calibrating.
 	 *
 	 * \param  xInitial
 	 * 				 Initial 4-Quadrant X Position, with (0,0) being at the center of the field (meters)
@@ -133,8 +133,8 @@ class Gps {
 	 * This function uses the following values of errno when an error state is
 	 * reached:
 	 * ENXIO - The given value is not within the range of V5 ports (1-21).
-	 * ENODEV - The port cannot be configured as a GPS
-	 * EAGAIN - The sensor is still calibrating
+	 * ENODEV - The port cannot be configured as a GPS.
+	 * EAGAIN - The sensor is still calibrating.
 	 *
 	 * \param  rate
 	 * 				 Data rate in milliseconds (Minimum: 5 ms)
@@ -149,8 +149,8 @@ class Gps {
 	 * This function uses the following values of errno when an error state is
 	 * reached:
 	 * ENXIO - The given value is not within the range of V5 ports (1-21).
-	 * ENODEV - The port cannot be configured as a GPS
-	 * EAGAIN - The sensor is still calibrating
+	 * ENODEV - The port cannot be configured as a GPS.
+	 * EAGAIN - The sensor is still calibrating.
 	 *
 	 * \return Possible RMS (Root Mean Squared) error in meters for GPS position.
 	 * If the operation failed, returns PROS_ERR_F and errno is set.
@@ -163,8 +163,8 @@ class Gps {
 	 * This function uses the following values of errno when an error state is
 	 * reached:
 	 * ENXIO - The given value is not within the range of V5 ports (1-21).
-	 * ENODEV - The port cannot be configured as a GPS
-	 * EAGAIN - The sensor is still calibrating
+	 * ENODEV - The port cannot be configured as a GPS.
+	 * EAGAIN - The sensor is still calibrating.
 	 *
 	 *
 	 * \return A struct (gps_status_s_t) containing values mentioned above.
@@ -173,14 +173,89 @@ class Gps {
 	 */
 	virtual pros::c::gps_status_s_t get_status() const;
 
+	/**
+	 * Gets the X position in meters of the robot relative to the starting position.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as a GPS.
+	 * EAGAIN - The sensor is still calibrating.
+	 *
+	 *
+	 * \return The X position in meters. If the operation failed,
+	 * returns PROS_ERR_F and errno is set.
+	 */
+	virtual double get_x_position() const;
+
+	/**
+	 * Gets the Y position in meters of the robot relative to the starting position.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as a GPS.
+	 * EAGAIN - The sensor is still calibrating.
+	 *
+	 *
+	 * \return The Y position in meters. If the operation failed,
+	 * returns PROS_ERR_F and errno is set.
+	 */
+	virtual double get_y_position() const;
+
+	/**
+	 * Gets the pitch of the GPS in degrees relative to the starting orientation.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as a GPS.
+	 * EAGAIN - The sensor is still calibrating.
+	 *
+	 *
+	 * \return The pitch in [0,360) degree values. If the operation failed,
+	 * returns PROS_ERR_F and errno is set.
+	 */
+	virtual double get_pitch() const;
+
+	/**
+	 * Gets the roll of the GPS in degrees relative to the starting orientation.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as a GPS.
+	 * EAGAIN - The sensor is still calibrating.
+	 *
+	 *
+	 * \return The roll in [0,360) degree values. If the operation failed,
+	 * returns PROS_ERR_F and errno is set.
+	 */
+	virtual double get_roll() const;
+
+	/**
+	 * Gets the yaw of the GPS in degrees relative to the starting orientation.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as a GPS.
+	 * EAGAIN - The sensor is still calibrating.
+	 *
+	 *
+	 * \return The yaw in [0,360) degree values. If the operation failed,
+	 * returns PROS_ERR_F and errno is set.
+	 */
+	virtual double get_yaw() const;
+
 	/**
 	 * Get the heading in [0,360) degree values.
 	 *
 	 * This function uses the following values of errno when an error state is
 	 * reached:
 	 * ENXIO - The given value is not within the range of V5 ports (1-21).
-	 * ENODEV - The port cannot be configured as a GPS
-	 * EAGAIN - The sensor is still calibrating
+	 * ENODEV - The port cannot be configured as a GPS.
+	 * EAGAIN - The sensor is still calibrating.
 	 *
 	 *
 	 * \return The heading in [0,360) degree values. If the operation failed,
@@ -194,8 +269,8 @@ class Gps {
 	 * This function uses the following values of errno when an error state is
 	 * reached:
 	 * ENXIO - The given value is not within the range of V5 ports (1-21).
-	 * ENODEV - The port cannot be configured as a GPS
-	 * EAGAIN - The sensor is still calibrating
+	 * ENODEV - The port cannot be configured as a GPS.
+	 * EAGAIN - The sensor is still calibrating.
 	 *
 	 * \return The heading in [DOUBLE_MIN, DOUBLE_MAX] values. If the operation
 	 * fails, returns PROS_ERR_F and errno is set.
@@ -208,8 +283,8 @@ class Gps {
 	 * This function uses the following values of errno when an error state is
 	 * reached:
 	 * ENXIO - The given value is not within the range of V5 ports (1-21).
-	 * ENODEV - The port cannot be configured as a GPS
-	 * EAGAIN - The sensor is still calibrating
+	 * ENODEV - The port cannot be configured as a GPS.
+	 * EAGAIN - The sensor is still calibrating.
 	 *
 	 * \return The elased heading in degrees. If the operation fails, returns
 	 * PROS_ERR_F and errno is set.
@@ -222,8 +297,8 @@ class Gps {
 	 * This function uses the following values of errno when an error state is
 	 * reached:
 	 * ENXIO - The given value is not within the range of V5 ports (1-21).
-	 * ENODEV - The port cannot be configured as a GPS
-	 * EAGAIN - The sensor is still calibrating
+	 * ENODEV - The port cannot be configured as a GPS.
+	 * EAGAIN - The sensor is still calibrating.
 	 *
 	 * \param  target
 	 * 				 Target rotation value to set rotation value to
@@ -238,8 +313,8 @@ class Gps {
 	 * This function uses the following values of errno when an error state is
 	 * reached:
 	 * ENXIO - The given value is not within the range of V5 ports (1-21).
-	 * ENODEV - The port cannot be configured as a GPS
-	 * EAGAIN - The sensor is still calibrating
+	 * ENODEV - The port cannot be configured as a GPS.
+	 * EAGAIN - The sensor is still calibrating.
 	 *
 	 * \return 1 if the operation was successful or PROS_ERR if the operation
 	 * failed, setting errno.
@@ -252,8 +327,8 @@ class Gps {
 	 * This function uses the following values of errno when an error state is
 	 * reached:
 	 * ENXIO - The given value is not within the range of V5 ports (1-21).
-	 * ENODEV - The port cannot be configured as a GPS
-	 * EAGAIN - The sensor is still calibrating
+	 * ENODEV - The port cannot be configured as a GPS.
+	 * EAGAIN - The sensor is still calibrating.
 	 *
 	 * \return The raw gyroscope values. If the operation failed, all the
 	 * structure's members are filled with PROS_ERR_F and errno is set.
@@ -266,8 +341,8 @@ class Gps {
 	 * This function uses the following values of errno when an error state is
 	 * reached:
 	 * ENXIO - The given value is not within the range of V5 ports (1-21).
-	 * ENODEV - The port cannot be configured as an GPS
-	 * EAGAIN - The sensor is still calibrating
+	 * ENODEV - The port cannot be configured as a GPS
+	 * EAGAIN - The sensor is still calibrating.
 	 *
 	 * \param  port
 	 * 				 The V5 GPS's port number from 1-21
diff --git a/include/pros/imu.h b/include/pros/imu.h
index f5a1cdc..d87508c 100644
--- a/include/pros/imu.h
+++ b/include/pros/imu.h
@@ -29,11 +29,20 @@ namespace c {
 #endif
 
 typedef enum imu_status_e {
-	E_IMU_STATUS_CALIBRATING = 0x01,
-	E_IMU_STATUS_ERROR = 0xFF,  // NOTE: used for returning an error from the get_status function, not that the IMU is
-	                            // necessarily in an error state
+	E_IMU_STATUS_READY = 0,        // IMU is connected but not currently calibrating
+	E_IMU_STATUS_CALIBRATING = 1,  // IMU is calibrating
+	E_IMU_STATUS_ERROR = 0xFF,     // NOTE: used for returning an error from the get_status function, not that the IMU is
+	                               // necessarily in an error state
 } imu_status_e_t;
 
+typedef enum imu_orientation_e {
+	E_IMU_Z_UP = 0,    // IMU has the Z axis UP (VEX Logo facing DOWN)
+	E_IMU_Z_DOWN = 1,  // IMU has the Z axis DOWN (VEX Logo facing UP)
+	E_IMU_X_UP = 2,    // IMU has the X axis UP
+	E_IMU_X_DOWN = 3,  // IMU has the X axis DOWN
+	E_IMU_Y_UP = 4,    // IMU has the Y axis UP
+	E_IMU_Y_DOWN = 5,  // IMU has the Y axis DOWN
+} imu_orientation_e_t;
 typedef struct __attribute__((__packed__)) quaternion_s {
 	double x;
 	double y;
@@ -91,10 +100,10 @@ int32_t imu_reset(uint8_t port);
 /**
  * Calibrate IMU and Blocks while Calibrating
  *
- * Calibration takes approximately 2 seconds and blocks during this period, 
+ * Calibration takes approximately 2 seconds and blocks during this period,
  * with a timeout for this operation being set a 3 seconds as a safety margin.
- * Like the other reset function, this function also blocks until the IMU 
- * status flag is set properly to E_IMU_STATUS_CALIBRATING, with a minimum 
+ * Like the other reset function, this function also blocks until the IMU
+ * status flag is set properly to E_IMU_STATUS_CALIBRATING, with a minimum
  * blocking time of 5ms and a timeout of 1 second if it's never set.
  *
  * This function uses the following values of errno when an error state is
@@ -296,7 +305,6 @@ imu_accel_s_t imu_get_accel(uint8_t port);
  * reached:
  * ENXIO - The given value is not within the range of V5 ports (1-21).
  * ENODEV - The port cannot be configured as an Inertial Sensor
- * EAGAIN - The sensor is still calibrating
  *
  * \param  port
  * 				 The V5 Inertial Sensor port number from 1-21
@@ -309,7 +317,7 @@ imu_status_e_t imu_get_status(uint8_t port);
 // void imu_set_mode(uint8_t port, uint32_t mode);
 // uint32_t imu_get_mode(uint8_t port);
 
-//Value reset functions:
+// Value reset functions:
 /**
  * Resets the current reading of the Inertial Sensor's heading to zero
  *
@@ -422,7 +430,7 @@ int32_t imu_tare_euler(uint8_t port);
  */
 int32_t imu_tare(uint8_t port);
 
-//Value set functions:
+// Value set functions:
 /**
  * Sets the current reading of the Inertial Sensor's euler values to
  * target euler values. Will default to +/- 180 if target exceeds +/- 180.
@@ -463,7 +471,7 @@ int32_t imu_set_rotation(uint8_t port, double target);
 /**
  * Sets the current reading of the Inertial Sensor's heading to target value
  * Target will default to 360 if above 360 and default to 0 if below 0.
- * 
+ *
  * This function uses the following values of errno when an error state is
  * reached:
  * ENXIO - The given value is not within the range of V5 ports (1-21).
@@ -482,7 +490,7 @@ int32_t imu_set_heading(uint8_t port, double target);
 /**
  * Sets the current reading of the Inertial Sensor's pitch to target value
  * Will default to +/- 180 if target exceeds +/- 180.
- * 
+ *
  * This function uses the following values of errno when an error state is
  * reached:
  * ENXIO - The given value is not within the range of V5 ports (1-21).
@@ -501,7 +509,7 @@ int32_t imu_set_pitch(uint8_t port, double target);
 /**
  * Sets the current reading of the Inertial Sensor's roll to target value
  * Will default to +/- 180 if target exceeds +/- 180.
- * 
+ *
  * This function uses the following values of errno when an error state is
  * reached:
  * ENXIO - The given value is not within the range of V5 ports (1-21).
@@ -520,7 +528,7 @@ int32_t imu_set_roll(uint8_t port, double target);
 /**
  * Sets the current reading of the Inertial Sensor's yaw to target value
  * Will default to +/- 180 if target exceeds +/- 180.
- * 
+ *
  * This function uses the following values of errno when an error state is
  * reached:
  * ENXIO - The given value is not within the range of V5 ports (1-21).
@@ -536,6 +544,21 @@ int32_t imu_set_roll(uint8_t port, double target);
  */
 int32_t imu_set_yaw(uint8_t port, double target);
 
+/**
+ * Returns the physical orientation of the IMU
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ *
+ * \param  port
+ * 				 The V5 Inertial Sensor port number from 1-21
+ * \returns The orientation of the Inertial Sensor or PROS_ERR if an error occured.
+ *
+ */
+imu_orientation_e_t imu_get_physical_orientation(uint8_t port);
+
 #ifdef __cplusplus
 }
 }
diff --git a/include/pros/imu.hpp b/include/pros/imu.hpp
index 99b28c8..3f6f393 100644
--- a/include/pros/imu.hpp
+++ b/include/pros/imu.hpp
@@ -19,6 +19,7 @@
 #define _PROS_IMU_HPP_
 
 #include <cstdint>
+
 #include "pros/imu.h"
 
 namespace pros {
@@ -31,47 +32,47 @@ class Imu {
 	/**
 	 * Calibrate IMU
 	 *
-	 * Calibration takes approximately 2 seconds and blocks during this period if 
-	 * the blocking param is true, with a timeout for this operation being set a 3 
-	 * seconds as a safety margin. This function also blocks until the IMU 
-	 * status flag is set properly to E_IMU_STATUS_CALIBRATING, with a minimum 
+	 * Calibration takes approximately 2 seconds and blocks during this period if
+	 * the blocking param is true, with a timeout for this operation being set a 3
+	 * seconds as a safety margin. This function also blocks until the IMU
+	 * status flag is set properly to E_IMU_STATUS_CALIBRATING, with a minimum
 	 * blocking time of 5ms and a timeout of 1 second if it's never set.
-	 * 
+	 *
 	 * This function uses the following values of errno when an error state is
 	 * reached:
 	 * ENXIO - The given value is not within the range of V5 ports (1-21).
 	 * ENODEV - The port cannot be configured as an Inertial Sensor
 	 * EAGAIN - The sensor is already calibrating, or time out setting the status flag.
 	 *
-	 * \param blocking 
+	 * \param blocking
 	 *			Whether this function blocks during calibration.
 	 * \return 1 if the operation was successful or PROS_ERR if the operation
 	 * failed, setting errno.
 	 */
 	virtual std::int32_t reset(bool blocking = false) const;
 	/**
-	* Set the Inertial Sensor's refresh interval in milliseconds.
-	*
-	* The rate may be specified in increments of 5ms, and will be rounded down to
-	* the nearest increment. The minimum allowable refresh rate is 5ms. The default
-	* rate is 10ms.
-	*
-	* As values are copied into the shared memory buffer only at 10ms intervals,
-	* setting this value to less than 10ms does not mean that you can poll the
-	* sensor's values any faster. However, it will guarantee that the data is as
-	* recent as possible.
-	*
-	* This function uses the following values of errno when an error state is
-	* reached:
-	* ENXIO - The given value is not within the range of V5 ports (1-21).
-	* ENODEV - The port cannot be configured as an Inertial Sensor
-	* EAGAIN - The sensor is still calibrating
-	*
-	* \param rate 
-	*			The data refresh interval in milliseconds
-	* \return 1 if the operation was successful or PROS_ERR if the operation
-	* failed, setting errno.
-	*/
+	 * Set the Inertial Sensor's refresh interval in milliseconds.
+	 *
+	 * The rate may be specified in increments of 5ms, and will be rounded down to
+	 * the nearest increment. The minimum allowable refresh rate is 5ms. The default
+	 * rate is 10ms.
+	 *
+	 * As values are copied into the shared memory buffer only at 10ms intervals,
+	 * setting this value to less than 10ms does not mean that you can poll the
+	 * sensor's values any faster. However, it will guarantee that the data is as
+	 * recent as possible.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as an Inertial Sensor
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 * \param rate
+	 *			The data refresh interval in milliseconds
+	 * \return 1 if the operation was successful or PROS_ERR if the operation
+	 * failed, setting errno.
+	 */
 	virtual std::int32_t set_data_rate(std::uint32_t rate) const;
 	/**
 	 * Get the total number of degrees the Inertial Sensor has spun about the z-axis
@@ -310,7 +311,7 @@ class Imu {
 	/**
 	 * Sets the current reading of the Inertial Sensor's heading to target value
 	 * Target will default to 360 if above 360 and default to 0 if below 0.
-	 * 
+	 *
 	 * This function uses the following values of errno when an error state is
 	 * reached:
 	 * ENXIO - The given value is not within the range of V5 ports (1-21).
@@ -345,7 +346,7 @@ class Imu {
 	/**
 	 * Sets the current reading of the Inertial Sensor's yaw to target value
 	 * Will default to +/- 180 if target exceeds +/- 180.
-	 * 
+	 *
 	 * This function uses the following values of errno when an error state is
 	 * reached:
 	 * ENXIO - The given value is not within the range of V5 ports (1-21).
@@ -380,7 +381,7 @@ class Imu {
 	/**
 	 * Sets the current reading of the Inertial Sensor's roll to target value
 	 * Will default to +/- 180 if target exceeds +/- 180.
-	 * 
+	 *
 	 * This function uses the following values of errno when an error state is
 	 * reached:
 	 * ENXIO - The given value is not within the range of V5 ports (1-21).
@@ -435,7 +436,6 @@ class Imu {
 	 * reached:
 	 * ENXIO - The given value is not within the range of V5 ports (1-21).
 	 * ENODEV - The port cannot be configured as an Inertial Sensor
-	 * EAGAIN - The sensor is still calibrating
 	 *
 	 * \param  port
 	 * 				 The V5 Inertial Sensor port number from 1-21
@@ -450,6 +450,21 @@ class Imu {
 	 * false if it is not.
 	 */
 	virtual bool is_calibrating() const;
+
+	/**
+	 * Returns the physical orientation of the IMU
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as an Inertial Sensor
+	 *
+	 * \param  port
+	 * 				 The V5 Inertial Sensor port number from 1-21
+	 * \returns The physical orientation of the Inertial Sensor or PROS_ERR if an error occured.
+	 *
+	 */
+	virtual pros::c::imu_orientation_e_t get_physical_orientation() const;
 };
 
 using IMU = Imu;
diff --git a/include/pros/screen.h b/include/pros/screen.h
index 8076daa..5c6b538 100644
--- a/include/pros/screen.h
+++ b/include/pros/screen.h
@@ -67,7 +67,7 @@ typedef struct screen_touch_status_s {
 #define TEXT_MEDIUM pros::E_TEXT_MEDIUM
 #define TEXT_LARGE pros::E_TEXT_LARGE
 #define TEXT_MEDIUM_CENTER pros::E_TEXT_MEDIUM_CENTER
-#define TEXT_LARGE_CENTER pros::E_LARGE_CENTER
+#define TEXT_LARGE_CENTER pros::E_TEXT_LARGE_CENTER
 #define TOUCH_RELEASED pros::E_TOUCH_RELEASED
 #define TOUCH_PRESSED pros::E_TOUCH_PRESSED
 #define TOUCH_HELD pros::E_TOUCH_HELD
diff --git a/project.pros b/project.pros
index 506c0f2..36d1e0a 100644
--- a/project.pros
+++ b/project.pros
@@ -7,7 +7,7 @@
             "kernel": {
                 "py/object": "pros.conductor.templates.local_template.LocalTemplate",
                 "py/state": {
-                    "location": "/Users/jasonzhou/Library/Application Support/PROS/templates/kernel@3.8.0",
+                    "location": "/Users/jasonzhou/Library/Application Support/PROS/templates/kernel@3.8.3",
                     "metadata": {
                         "cold_addr": "58720256",
                         "cold_output": "bin/cold.package.bin",
@@ -19,152 +19,152 @@
                     "name": "kernel",
                     "supported_kernels": null,
                     "system_files": [
-                        "include/display/lv_core/lv_vdb.h",
-                        "include/display/lv_core/lv_core.mk",
-                        "include/display/lv_misc/lv_math.h",
-                        "include/display/lv_objx/lv_tabview.h",
-                        "include/display/lv_misc/lv_color.h",
-                        "include/display/lv_hal/lv_hal_indev.h",
-                        "include/display/lv_fonts/lv_fonts.mk",
-                        "include/display/lv_misc/lv_symbol_def.h",
-                        "include/display/lv_hal/lv_hal.mk",
-                        "include/display/lv_themes/lv_theme_night.h",
-                        "include/display/lv_draw/lv_draw_triangle.h",
-                        "include/pros/optical.hpp",
-                        "include/display/lv_draw/lv_draw_vbasic.h",
-                        "include/display/lv_objx/lv_objx_templ.h",
-                        "include/display/lv_core/lv_refr.h",
-                        "include/pros/link.hpp",
-                        "include/display/lv_objx/lv_btnm.h",
-                        "include/display/lv_objx/lv_cb.h",
-                        "firmware/v5-common.ld",
-                        "include/pros/ext_adi.h",
-                        "include/pros/rotation.h",
-                        "include/display/lv_objx/lv_spinbox.h",
-                        "include/display/lv_misc/lv_circ.h",
-                        "include/display/lv_misc/lv_mem.h",
-                        "include/display/lv_objx/lv_page.h",
-                        "include/display/lv_objx/lv_ddlist.h",
-                        "include/display/lv_core/lv_group.h",
-                        "include/display/lvgl.h",
-                        "include/display/lv_objx/lv_chart.h",
-                        "include/pros/distance.h",
-                        "include/display/lv_objx/lv_list.h",
-                        "include/pros/vision.h",
-                        "include/pros/misc.hpp",
-                        "include/display/lv_draw/lv_draw.h",
-                        "include/display/lv_objx/lv_label.h",
-                        "include/display/lv_misc/lv_font.h",
-                        "include/display/lv_draw/lv_draw_img.h",
-                        "include/display/lv_misc/lv_log.h",
-                        "include/display/lv_misc/lv_templ.h",
-                        "include/pros/llemu.h",
-                        "include/display/lv_objx/lv_btn.h",
-                        "include/display/lv_fonts/lv_font_builtin.h",
-                        "include/display/lv_objx/lv_calendar.h",
-                        "firmware/libm.a",
-                        "include/display/lv_conf.h",
-                        "include/display/lv_objx/lv_sw.h",
-                        "include/display/lv_draw/lv_draw_rect.h",
-                        "include/display/lv_objx/lv_cont.h",
-                        "include/pros/vision.hpp",
-                        "include/display/lv_objx/lv_mbox.h",
-                        "include/pros/adi.hpp",
-                        "include/pros/imu.hpp",
-                        "include/display/lv_objx/lv_table.h",
-                        "include/pros/screen.hpp",
-                        "include/display/lv_draw/lv_draw_label.h",
-                        "include/display/lv_misc/lv_txt.h",
-                        "include/pros/api_legacy.h",
-                        "include/display/lv_objx/lv_lmeter.h",
-                        "include/display/lv_themes/lv_theme_templ.h",
-                        "include/pros/apix.h",
-                        "include/display/lv_draw/lv_draw.mk",
-                        "include/display/lv_themes/lv_theme_alien.h",
-                        "include/pros/colors.hpp",
-                        "include/display/lv_objx/lv_img.h",
-                        "firmware/libc.a",
-                        "include/display/lv_themes/lv_theme_zen.h",
-                        "include/display/lv_themes/lv_theme_material.h",
-                        "include/display/lv_draw/lv_draw_arc.h",
-                        "include/display/lv_themes/lv_theme_mono.h",
-                        "include/display/lv_themes/lv_themes.mk",
-                        "include/display/lv_objx/lv_slider.h",
-                        "include/pros/serial.h",
-                        "include/display/lv_themes/lv_theme.h",
-                        "include/display/README.md",
-                        "include/display/lv_objx/lv_canvas.h",
-                        "include/pros/misc.h",
-                        "include/display/lv_misc/lv_fs.h",
-                        "include/pros/rtos.h",
-                        "include/display/lv_core/lv_indev.h",
-                        "include/pros/motors.hpp",
-                        "include/display/lv_core/lv_style.h",
-                        "include/display/lv_version.h",
-                        "include/display/lv_core/lv_lang.h",
-                        "include/api.h",
-                        "include/display/lv_objx/lv_gauge.h",
-                        "include/pros/rtos.hpp",
-                        "include/display/lv_hal/lv_hal_disp.h",
-                        "include/pros/motors.h",
-                        "include/display/lv_objx/lv_led.h",
-                        "include/display/lv_draw/lv_draw_rbasic.h",
-                        "include/display/lv_objx/lv_kb.h",
-                        "include/display/lv_conf_checker.h",
-                        "include/display/lv_hal/lv_hal.h",
-                        "include/display/lv_draw/lv_draw_line.h",
-                        "include/pros/gps.hpp",
-                        "include/display/lv_objx/lv_objx.mk",
-                        "include/display/lv_objx/lv_win.h",
-                        "include/display/lv_core/lv_obj.h",
-                        "include/display/lv_objx/lv_arc.h",
-                        "include/pros/link.h",
-                        "include/display/lv_objx/lv_preload.h",
-                        "include/display/lv_misc/lv_area.h",
-                        "include/display/lv_misc/lv_ll.h",
-                        "include/pros/optical.h",
-                        "include/pros/serial.hpp",
-                        "include/pros/screen.h",
-                        "include/display/lv_themes/lv_theme_nemo.h",
-                        "include/pros/llemu.hpp",
-                        "firmware/libpros.a",
-                        "include/display/lv_misc/lv_gc.h",
-                        "include/display/lv_misc/lv_anim.h",
-                        "include/display/lv_objx/lv_line.h",
-                        "include/pros/distance.hpp",
-                        "include/pros/rotation.hpp",
-                        "include/pros/error.h",
-                        "include/display/lv_objx/lv_tileview.h",
-                        "include/pros/gps.h",
-                        "include/display/lv_misc/lv_task.h",
-                        "include/pros/imu.h",
-                        "firmware/v5-hot.ld",
-                        "include/display/lv_misc/lv_misc.mk",
-                        "include/pros/colors.h",
+                        "include\\display\\lv_themes\\lv_theme_mono.h",
+                        "include\\display\\lv_themes\\lv_theme_nemo.h",
+                        "include\\display\\lv_objx\\lv_calendar.h",
+                        "include\\display\\lv_themes\\lv_theme_zen.h",
+                        "include\\display\\lv_objx\\lv_spinbox.h",
+                        "include\\pros\\screen.hpp",
+                        "include\\display\\lv_objx\\lv_ddlist.h",
+                        "include\\display\\lv_themes\\lv_theme.h",
+                        "include\\display\\lv_hal\\lv_hal.h",
+                        "include\\display\\lv_draw\\lv_draw_arc.h",
+                        "include\\display\\lv_objx\\lv_list.h",
+                        "include\\display\\lv_themes\\lv_themes.mk",
+                        "include\\pros\\motors.hpp",
+                        "include\\pros\\adi.h",
+                        "include\\display\\lv_draw\\lv_draw.h",
+                        "include\\pros\\colors.hpp",
+                        "include\\display\\licence.txt",
+                        "include\\display\\lv_draw\\lv_draw_img.h",
+                        "include\\display\\lv_fonts\\lv_fonts.mk",
+                        "include\\display\\lv_draw\\lv_draw_rect.h",
+                        "include\\display\\lv_core\\lv_group.h",
+                        "include\\display\\lv_draw\\lv_draw_label.h",
+                        "include\\pros\\llemu.h",
+                        "include\\pros\\error.h",
+                        "include\\display\\lv_misc\\lv_ufs.h",
+                        "firmware\\libm.a",
+                        "include\\display\\lv_objx\\lv_led.h",
+                        "include\\display\\lv_objx\\lv_btn.h",
+                        "include\\display\\lv_misc\\lv_misc.mk",
+                        "include\\display\\lv_objx\\lv_canvas.h",
+                        "include\\display\\lv_objx\\lv_preload.h",
+                        "include\\pros\\misc.hpp",
+                        "include\\display\\lv_misc\\lv_fs.h",
+                        "include\\pros\\rotation.hpp",
+                        "include\\pros\\colors.h",
+                        "include\\pros\\vision.hpp",
+                        "include\\display\\lv_objx\\lv_img.h",
+                        "include\\display\\lv_fonts\\lv_font_builtin.h",
+                        "include\\display\\lv_objx\\lv_lmeter.h",
+                        "include\\display\\lv_misc\\lv_font.h",
+                        "firmware\\v5.ld",
+                        "include\\display\\lv_objx\\lv_tileview.h",
+                        "include\\display\\lv_hal\\lv_hal_tick.h",
+                        "include\\display\\lv_core\\lv_vdb.h",
+                        "include\\display\\lv_core\\lv_indev.h",
+                        "include\\pros\\vision.h",
+                        "firmware\\v5-hot.ld",
+                        "include\\display\\lv_objx\\lv_kb.h",
+                        "include\\display\\lv_misc\\lv_symbol_def.h",
+                        "firmware\\libc.a",
+                        "include\\display\\lv_objx\\lv_label.h",
+                        "include\\display\\lv_objx\\lv_tabview.h",
+                        "firmware\\libpros.a",
+                        "include\\display\\lv_misc\\lv_ll.h",
+                        "include\\display\\lv_misc\\lv_log.h",
+                        "include\\pros\\screen.h",
+                        "include\\display\\lv_hal\\lv_hal.mk",
+                        "include\\pros\\serial.hpp",
+                        "include\\pros\\optical.hpp",
+                        "include\\display\\lv_misc\\lv_txt.h",
+                        "include\\display\\lv_misc\\lv_task.h",
+                        "firmware\\v5-common.ld",
+                        "include\\pros\\optical.h",
+                        "include\\pros\\rtos.hpp",
+                        "include\\display\\lv_conf_checker.h",
+                        "include\\display\\lv_misc\\lv_math.h",
+                        "include\\display\\lv_draw\\lv_draw_rbasic.h",
+                        "include\\display\\lv_themes\\lv_theme_alien.h",
+                        "include\\pros\\motors.h",
+                        "include\\pros\\misc.h",
+                        "include\\display\\lv_themes\\lv_theme_default.h",
+                        "include\\pros\\gps.h",
+                        "include\\display\\lv_misc\\lv_templ.h",
+                        "include\\display\\lv_misc\\lv_circ.h",
+                        "include\\api.h",
+                        "include\\display\\lv_objx\\lv_ta.h",
+                        "include\\display\\lv_draw\\lv_draw_triangle.h",
+                        "include\\display\\lv_misc\\lv_mem.h",
+                        "include\\display\\lv_objx\\lv_imgbtn.h",
+                        "include\\pros\\link.h",
+                        "include\\display\\lv_version.h",
+                        "include\\display\\lv_conf.h",
+                        "include\\display\\lv_objx\\lv_mbox.h",
+                        "include\\display\\lv_misc\\lv_anim.h",
+                        "include\\display\\lv_hal\\lv_hal_indev.h",
+                        "include\\display\\lv_objx\\lv_btnm.h",
+                        "include\\display\\lv_misc\\lv_color.h",
+                        "include\\display\\lv_draw\\lv_draw_vbasic.h",
+                        "include\\pros\\distance.hpp",
+                        "include\\display\\lv_objx\\lv_bar.h",
+                        "include\\display\\lv_objx\\lv_gauge.h",
+                        "include\\display\\lv_draw\\lv_draw.mk",
+                        "include\\display\\lvgl.h",
+                        "include\\display\\lv_objx\\lv_slider.h",
+                        "include\\display\\lv_objx\\lv_objx.mk",
+                        "include\\display\\README.md",
+                        "include\\display\\lv_core\\lv_lang.h",
+                        "include\\display\\lv_objx\\lv_arc.h",
+                        "include\\pros\\serial.h",
+                        "include\\pros\\llemu.hpp",
+                        "include\\pros\\adi.hpp",
+                        "include\\display\\lv_objx\\lv_table.h",
+                        "include\\display\\lv_draw\\lv_draw_line.h",
+                        "include\\display\\lv_misc\\lv_area.h",
+                        "include\\display\\lv_core\\lv_core.mk",
+                        "include\\display\\lv_objx\\lv_line.h",
+                        "include\\display\\lv_hal\\lv_hal_disp.h",
+                        "include\\display\\lv_misc\\lv_gc.h",
+                        "include\\pros\\rotation.h",
+                        "include\\display\\lv_themes\\lv_theme_material.h",
+                        "include\\display\\lv_core\\lv_style.h",
+                        "include\\display\\lv_objx\\lv_cb.h",
+                        "include\\display\\lv_objx\\lv_chart.h",
                         "common.mk",
-                        "include/display/lv_objx/lv_roller.h",
-                        "include/display/lv_objx/lv_bar.h",
-                        "include/display/lv_themes/lv_theme_default.h",
-                        "firmware/v5.ld",
-                        "include/display/lv_misc/lv_ufs.h",
-                        "include/display/lv_hal/lv_hal_tick.h",
-                        "include/display/licence.txt",
-                        "include/display/lv_objx/lv_ta.h",
-                        "include/display/lv_objx/lv_imgbtn.h",
-                        "include/pros/adi.h"
+                        "include\\pros\\ext_adi.h",
+                        "include\\display\\lv_objx\\lv_objx_templ.h",
+                        "include\\display\\lv_core\\lv_refr.h",
+                        "include\\display\\lv_core\\lv_obj.h",
+                        "include\\pros\\api_legacy.h",
+                        "include\\pros\\rtos.h",
+                        "include\\pros\\imu.h",
+                        "include\\display\\lv_objx\\lv_win.h",
+                        "include\\display\\lv_objx\\lv_cont.h",
+                        "include\\display\\lv_themes\\lv_theme_templ.h",
+                        "include\\pros\\link.hpp",
+                        "include\\pros\\distance.h",
+                        "include\\display\\lv_objx\\lv_roller.h",
+                        "include\\display\\lv_objx\\lv_sw.h",
+                        "include\\pros\\imu.hpp",
+                        "include\\pros\\gps.hpp",
+                        "include\\display\\lv_themes\\lv_theme_night.h",
+                        "include\\pros\\apix.h",
+                        "include\\display\\lv_objx\\lv_page.h"
                     ],
                     "target": "v5",
                     "user_files": [
-                        "src/main.cc",
-                        ".gitignore",
+                        "include\\main.h",
+                        "src\\main.c",
+                        "include\\main.hpp",
+                        "include\\main.hh",
+                        "src\\main.cpp",
+                        "src\\main.cc",
                         "Makefile",
-                        "src/main.cpp",
-                        "src/main.c",
-                        "include/main.hpp",
-                        "include/main.hh",
-                        "include/main.h"
+                        ".gitignore"
                     ],
-                    "version": "3.8.0"
+                    "version": "3.8.3"
                 }
             },
             "okapilib": {
diff --git a/src/main.cpp b/src/main.cpp
index 2c78220..c2fbbf5 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -74,23 +74,20 @@ void autonomous() {}
  * task, not resume it from where it left off.
  */
 void opcontrol() {
-	std::shared_ptr<EKFFilter> kalmanFilter(new EKFFilter());
-    std::shared_ptr<EmaFilter> emaFilter(new EmaFilter(0.1));
+	pros::Controller master(pros::E_CONTROLLER_MASTER);
+	pros::Motor left_mtr(1);
+	pros::Motor right_mtr(2);
 
-    std::shared_ptr<graphy::AsyncGrapher> grapher(new graphy::AsyncGrapher("Flywheel Velocity vs. Time"));
+	while (true) {
+		pros::lcd::print(0, "%d %d %d", (pros::lcd::read_buttons() & LCD_BTN_LEFT) >> 2,
+		                 (pros::lcd::read_buttons() & LCD_BTN_CENTER) >> 1,
+		                 (pros::lcd::read_buttons() & LCD_BTN_RIGHT) >> 0);
+		int left = master.get_analog(ANALOG_LEFT_Y);
+		int right = master.get_analog(ANALOG_RIGHT_Y);
 
-    grapher->addDataType("Ema Vel", COLOR_ORANGE);
-    grapher->addDataType("Desired Vel", COLOR_AQUAMARINE);
-    grapher->addDataType("Kalman Vel", COLOR_RED);
+		left_mtr = left;
+		right_mtr = right;
 
-    grapher->activateAutoZoom();
-    
-    grapher->startTask();
-    pros::ADIAnalogIn pot('A');
-    while(true) {
-        grapher->update("Desired Vel", ((pot.get_value()-10) / 4095.0));
-        grapher->update("Kalman Vel", kalmanFilter->filter(((pot.get_value()-10) / 4095.0)));
-        grapher->update("Ema Vel", emaFilter->filter(((pot.get_value()-10) / 4095.0)));
-        pros::delay(10);
-    }
+		pros::delay(20);
+	}
 }