diff --git a/TeamCode/src/main/java/ftclib b/TeamCode/src/main/java/ftclib
index f1b523c..9c3b868 160000
--- a/TeamCode/src/main/java/ftclib
+++ b/TeamCode/src/main/java/ftclib
@@ -1 +1 @@
-Subproject commit f1b523ca30194ba5f4bf7307bfd07e07599b3eaf
+Subproject commit 9c3b8688b74f4feb1866af732272fea7b9f16ed2
diff --git a/TeamCode/src/main/java/teamcode/FtcAuto.java b/TeamCode/src/main/java/teamcode/FtcAuto.java
index e2e6d1c..6941258 100644
--- a/TeamCode/src/main/java/teamcode/FtcAuto.java
+++ b/TeamCode/src/main/java/teamcode/FtcAuto.java
@@ -26,17 +26,17 @@ import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 
 import java.util.Locale;
 
-import ftclib.archive.FtcChoiceMenu;
-import ftclib.archive.FtcMatchInfo;
-import ftclib.archive.FtcMenu;
-import ftclib.archive.FtcOpMode;
-import ftclib.archive.FtcValueMenu;
-import trclib.archive.TrcDbgTrace;
-import trclib.archive.TrcPose2D;
-import trclib.archive.TrcRobot;
-import trclib.archive.TrcTimer;
+import ftclib.inputoutput.FtcChoiceMenu;
+import ftclib.inputoutput.FtcMatchInfo;
+import ftclib.inputoutput.FtcMenu;
+import ftclib.inputoutput.FtcValueMenu;
+import ftclib.robotcore.FtcOpMode;
 import trclib.command.CmdPidDrive;
 import trclib.command.CmdTimedDrive;
+import trclib.path.TrcPose2D;
+import trclib.robotcore.TrcDbgTrace;
+import trclib.robotcore.TrcRobot;
+import trclib.timer.TrcTimer;
 
 /**
  * This class contains the Autonomous Mode program.
diff --git a/TeamCode/src/main/java/teamcode/FtcTeleOp.java b/TeamCode/src/main/java/teamcode/FtcTeleOp.java
index 8e68291..ee202dd 100644
--- a/TeamCode/src/main/java/teamcode/FtcTeleOp.java
+++ b/TeamCode/src/main/java/teamcode/FtcTeleOp.java
@@ -26,15 +26,15 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
 import java.util.Locale;
 
-import ftclib.archive.FtcGamepad;
-import ftclib.archive.FtcOpMode;
+import ftclib.inputoutput.FtcGamepad;
+import ftclib.robotcore.FtcOpMode;
 import teamcode.drivebases.SwerveDrive;
-import trclib.archive.TrcDbgTrace;
-import trclib.archive.TrcDriveBase;
-import trclib.archive.TrcGameController;
-import trclib.archive.TrcPose2D;
-import trclib.archive.TrcRobot;
-import trclib.archive.TrcTimer;
+import trclib.drivebase.TrcDriveBase;
+import trclib.inputoutput.TrcGameController;
+import trclib.path.TrcPose2D;
+import trclib.robotcore.TrcDbgTrace;
+import trclib.robotcore.TrcRobot;
+import trclib.timer.TrcTimer;
 
 /**
  * This class contains the TeleOp Mode program.
diff --git a/TeamCode/src/main/java/teamcode/FtcTest.java b/TeamCode/src/main/java/teamcode/FtcTest.java
index efa2e8b..9b105be 100644
--- a/TeamCode/src/main/java/teamcode/FtcTest.java
+++ b/TeamCode/src/main/java/teamcode/FtcTest.java
@@ -29,24 +29,24 @@ import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
 import java.util.Arrays;
 import java.util.Locale;
 
-import ftclib.archive.FtcChoiceMenu;
-import ftclib.archive.FtcGamepad;
-import ftclib.archive.FtcMenu;
-import ftclib.archive.FtcPidCoeffCache;
-import ftclib.archive.FtcValueMenu;
+import ftclib.inputoutput.FtcChoiceMenu;
+import ftclib.inputoutput.FtcGamepad;
+import ftclib.inputoutput.FtcMenu;
+import ftclib.inputoutput.FtcValueMenu;
+import ftclib.robotcore.FtcPidCoeffCache;
 import teamcode.drivebases.RobotDrive;
 import teamcode.drivebases.SwerveDrive;
-import trclib.archive.TrcDbgTrace;
-import trclib.archive.TrcElapsedTimer;
-import trclib.archive.TrcGameController;
-import trclib.archive.TrcPidController;
-import trclib.archive.TrcPose2D;
-import trclib.archive.TrcRobot;
-import trclib.archive.TrcTimer;
-import trclib.archive.TrcUtil;
 import trclib.command.CmdDriveMotorsTest;
 import trclib.command.CmdPidDrive;
 import trclib.command.CmdTimedDrive;
+import trclib.inputoutput.TrcGameController;
+import trclib.path.TrcPose2D;
+import trclib.robotcore.TrcDbgTrace;
+import trclib.robotcore.TrcPidController;
+import trclib.robotcore.TrcRobot;
+import trclib.robotcore.TrcUtil;
+import trclib.timer.TrcElapsedTimer;
+import trclib.timer.TrcTimer;
 
 /**
  * This class contains the Test Mode program. It extends FtcTeleOp so that we can teleop control the robot for
diff --git a/TeamCode/src/main/java/teamcode/Robot.java b/TeamCode/src/main/java/teamcode/Robot.java
index 39587c7..28275d3 100644
--- a/TeamCode/src/main/java/teamcode/Robot.java
+++ b/TeamCode/src/main/java/teamcode/Robot.java
@@ -22,22 +22,22 @@
 
 package teamcode;
 
-import ftclib.archive.FtcDashboard;
-import ftclib.archive.FtcMatchInfo;
-import ftclib.archive.FtcOpMode;
-import ftclib.archive.FtcRobotBattery;
+import ftclib.inputoutput.FtcDashboard;
+import ftclib.inputoutput.FtcMatchInfo;
+import ftclib.robotcore.FtcOpMode;
+import ftclib.sensor.FtcRobotBattery;
 import teamcode.drivebases.MecanumDrive;
 import teamcode.drivebases.RobotDrive;
 import teamcode.drivebases.SwerveDrive;
 import teamcode.subsystems.BlinkinLEDs;
 import teamcode.vision.Vision;
-import trclib.archive.TrcDbgTrace;
-import trclib.archive.TrcDigitalInput;
-import trclib.archive.TrcMotor;
-import trclib.archive.TrcPose2D;
-import trclib.archive.TrcRobot;
-import trclib.archive.TrcServo;
-import trclib.archive.TrcTimer;
+import trclib.motor.TrcMotor;
+import trclib.motor.TrcServo;
+import trclib.path.TrcPose2D;
+import trclib.robotcore.TrcDbgTrace;
+import trclib.robotcore.TrcRobot;
+import trclib.sensor.TrcDigitalInput;
+import trclib.timer.TrcTimer;
 
 /**
  * This class creates the robot object that consists of sensors, indicators, drive base and all the subsystems.
diff --git a/TeamCode/src/main/java/teamcode/RobotParams.java b/TeamCode/src/main/java/teamcode/RobotParams.java
index 7ff9955..c6f162b 100644
--- a/TeamCode/src/main/java/teamcode/RobotParams.java
+++ b/TeamCode/src/main/java/teamcode/RobotParams.java
@@ -28,12 +28,12 @@ import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
 
 import org.openftc.easyopencv.OpenCvCameraRotation;
 
-import ftclib.archive.FtcGamepad;
-import trclib.archive.TrcDriveBase.DriveOrientation;
-import trclib.archive.TrcHomographyMapper;
-import trclib.archive.TrcPidController;
-import trclib.archive.TrcPose2D;
-import trclib.archive.TrcUtil;
+import ftclib.inputoutput.FtcGamepad;
+import trclib.drivebase.TrcDriveBase.DriveOrientation;
+import trclib.path.TrcPose2D;
+import trclib.robotcore.TrcPidController;
+import trclib.robotcore.TrcUtil;
+import trclib.vision.TrcHomographyMapper;
 
 /**
  * This class contains robot and subsystem constants and parameters.
diff --git a/TeamCode/src/main/java/teamcode/autocommands/CmdAuto.java b/TeamCode/src/main/java/teamcode/autocommands/CmdAuto.java
index 8a653a2..6cc9bcf 100644
--- a/TeamCode/src/main/java/teamcode/autocommands/CmdAuto.java
+++ b/TeamCode/src/main/java/teamcode/autocommands/CmdAuto.java
@@ -24,10 +24,10 @@ package teamcode.autocommands;
 
 import teamcode.FtcAuto;
 import teamcode.Robot;
-import trclib.archive.TrcEvent;
-import trclib.archive.TrcRobot;
-import trclib.archive.TrcStateMachine;
-import trclib.archive.TrcTimer;
+import trclib.robotcore.TrcEvent;
+import trclib.robotcore.TrcRobot;
+import trclib.robotcore.TrcStateMachine;
+import trclib.timer.TrcTimer;
 
 /**
  * This class implements an autonomous strategy.
diff --git a/TeamCode/src/main/java/teamcode/autotasks/TaskAuto.java b/TeamCode/src/main/java/teamcode/autotasks/TaskAuto.java
index 876a55a..38e5272 100644
--- a/TeamCode/src/main/java/teamcode/autotasks/TaskAuto.java
+++ b/TeamCode/src/main/java/teamcode/autotasks/TaskAuto.java
@@ -23,11 +23,11 @@
 package teamcode.autotasks;
 
 import teamcode.Robot;
-import trclib.archive.TrcAutoTask;
-import trclib.archive.TrcEvent;
-import trclib.archive.TrcOwnershipMgr;
-import trclib.archive.TrcRobot;
-import trclib.archive.TrcTaskMgr;
+import trclib.robotcore.TrcAutoTask;
+import trclib.robotcore.TrcEvent;
+import trclib.robotcore.TrcOwnershipMgr;
+import trclib.robotcore.TrcRobot;
+import trclib.robotcore.TrcTaskMgr;
 
 /**
  * This class implements auto-assist task.
diff --git a/TeamCode/src/main/java/teamcode/drivebases/MecanumDrive.java b/TeamCode/src/main/java/teamcode/drivebases/MecanumDrive.java
index 17ba6ba..a9a7bca 100644
--- a/TeamCode/src/main/java/teamcode/drivebases/MecanumDrive.java
+++ b/TeamCode/src/main/java/teamcode/drivebases/MecanumDrive.java
@@ -23,11 +23,11 @@
 package teamcode.drivebases;
 
 import teamcode.RobotParams;
-import trclib.archive.TrcDbgTrace;
-import trclib.archive.TrcMecanumDriveBase;
-import trclib.archive.TrcOdometryWheels;
-import trclib.archive.TrcPidDrive;
-import trclib.archive.TrcPurePursuitDrive;
+import trclib.drivebase.TrcMecanumDriveBase;
+import trclib.path.TrcPidDrive;
+import trclib.path.TrcPurePursuitDrive;
+import trclib.robotcore.TrcDbgTrace;
+import trclib.sensor.TrcOdometryWheels;
 
 /**
  * This class creates the RobotDrive subsystem that consists of wheel motors and related objects for driving the
diff --git a/TeamCode/src/main/java/teamcode/drivebases/RobotDrive.java b/TeamCode/src/main/java/teamcode/drivebases/RobotDrive.java
index bd80431..12c941d 100644
--- a/TeamCode/src/main/java/teamcode/drivebases/RobotDrive.java
+++ b/TeamCode/src/main/java/teamcode/drivebases/RobotDrive.java
@@ -22,13 +22,13 @@
 
 package teamcode.drivebases;
 
-import ftclib.archive.FtcDcMotor;
-import ftclib.archive.FtcImu;
+import ftclib.motor.FtcDcMotor;
+import ftclib.sensor.FtcImu;
 import teamcode.RobotParams;
-import trclib.archive.TrcDriveBase;
-import trclib.archive.TrcPidDrive;
-import trclib.archive.TrcPurePursuitDrive;
-import trclib.archive.TrcUtil;
+import trclib.drivebase.TrcDriveBase;
+import trclib.path.TrcPidDrive;
+import trclib.path.TrcPurePursuitDrive;
+import trclib.robotcore.TrcUtil;
 
 /**
  * This class is intended to be extended by subclasses implementing different robot drive bases.
diff --git a/TeamCode/src/main/java/teamcode/drivebases/SwerveDrive.java b/TeamCode/src/main/java/teamcode/drivebases/SwerveDrive.java
index 2b61976..5e96335 100644
--- a/TeamCode/src/main/java/teamcode/drivebases/SwerveDrive.java
+++ b/TeamCode/src/main/java/teamcode/drivebases/SwerveDrive.java
@@ -29,16 +29,16 @@ import java.io.PrintStream;
 import java.util.Arrays;
 import java.util.Scanner;
 
-import ftclib.archive.FtcAnalogEncoder;
-import ftclib.archive.FtcCRServo;
-import ftclib.archive.FtcDcMotor;
+import ftclib.motor.FtcCRServo;
+import ftclib.motor.FtcDcMotor;
+import ftclib.sensor.FtcAnalogEncoder;
 import teamcode.RobotParams;
-import trclib.archive.TrcDbgTrace;
-import trclib.archive.TrcOdometryWheels;
-import trclib.archive.TrcPidDrive;
-import trclib.archive.TrcPurePursuitDrive;
-import trclib.archive.TrcSwerveDriveBase;
-import trclib.archive.TrcSwerveModule;
+import trclib.drivebase.TrcSwerveDriveBase;
+import trclib.drivebase.TrcSwerveModule;
+import trclib.path.TrcPidDrive;
+import trclib.path.TrcPurePursuitDrive;
+import trclib.robotcore.TrcDbgTrace;
+import trclib.sensor.TrcOdometryWheels;
 
 /**
  * This class creates the RobotDrive subsystem that consists of wheel motors and related objects for driving the
diff --git a/TeamCode/src/main/java/teamcode/subsystems/BlinkinLEDs.java b/TeamCode/src/main/java/teamcode/subsystems/BlinkinLEDs.java
index 0da84cc..381eb83 100644
--- a/TeamCode/src/main/java/teamcode/subsystems/BlinkinLEDs.java
+++ b/TeamCode/src/main/java/teamcode/subsystems/BlinkinLEDs.java
@@ -22,9 +22,9 @@
 
 package teamcode.subsystems;
 
-import ftclib.archive.FtcRevBlinkin;
-import trclib.archive.TrcDriveBase;
-import trclib.archive.TrcRevBlinkin;
+import ftclib.inputoutput.FtcRevBlinkin;
+import trclib.drivebase.TrcDriveBase;
+import trclib.inputoutput.TrcRevBlinkin;
 
 /**
  * This class encapsulates the REV Blinkin LED controller to provide a priority indicator showing the status of the
diff --git a/TeamCode/src/main/java/teamcode/vision/Vision.java b/TeamCode/src/main/java/teamcode/vision/Vision.java
index 9090910..c29a601 100644
--- a/TeamCode/src/main/java/teamcode/vision/Vision.java
+++ b/TeamCode/src/main/java/teamcode/vision/Vision.java
@@ -35,22 +35,22 @@ import org.openftc.easyopencv.OpenCvCameraFactory;
 
 import java.util.ArrayList;
 
-import ftclib.archive.FtcEocvColorBlobProcessor;
-import ftclib.archive.FtcOpMode;
-import ftclib.archive.FtcRawEocvColorBlobPipeline;
-import ftclib.archive.FtcRawEocvVision;
-import ftclib.archive.FtcVision;
-import ftclib.archive.FtcVisionAprilTag;
-import ftclib.archive.FtcVisionEocvColorBlob;
-import ftclib.archive.FtcVisionTensorFlow;
+import ftclib.robotcore.FtcOpMode;
+import ftclib.vision.FtcEocvColorBlobProcessor;
+import ftclib.vision.FtcRawEocvColorBlobPipeline;
+import ftclib.vision.FtcRawEocvVision;
+import ftclib.vision.FtcVision;
+import ftclib.vision.FtcVisionAprilTag;
+import ftclib.vision.FtcVisionEocvColorBlob;
+import ftclib.vision.FtcVisionTensorFlow;
 import teamcode.Robot;
 import teamcode.RobotParams;
 import teamcode.subsystems.BlinkinLEDs;
-import trclib.archive.TrcDbgTrace;
-import trclib.archive.TrcOpenCvColorBlobPipeline;
-import trclib.archive.TrcOpenCvDetector;
-import trclib.archive.TrcPose2D;
-import trclib.archive.TrcVisionTargetInfo;
+import trclib.path.TrcPose2D;
+import trclib.robotcore.TrcDbgTrace;
+import trclib.vision.TrcOpenCvColorBlobPipeline;
+import trclib.vision.TrcOpenCvDetector;
+import trclib.vision.TrcVisionTargetInfo;
 
 /**
  * This class implements AprilTag/TensorFlow/Eocv Vision for the game season. It creates and initializes all the
diff --git a/TeamCode/src/main/java/trclib b/TeamCode/src/main/java/trclib
index 25e0b68..cfcc6d6 160000
--- a/TeamCode/src/main/java/trclib
+++ b/TeamCode/src/main/java/trclib
@@ -1 +1 @@
-Subproject commit 25e0b6828f6689c275be87dbda7f8e9dca0530d8
+Subproject commit cfcc6d656f0a7c8fa7c6e45d2c0286bd775bc02b