diff --git a/TeamCode/src/main/java/ftclib b/TeamCode/src/main/java/ftclib
index ee0beb4..a819be3 160000
--- a/TeamCode/src/main/java/ftclib
+++ b/TeamCode/src/main/java/ftclib
@@ -1 +1 @@
-Subproject commit ee0beb4c3f3bb383b1a1bb184d3168e4c516bbeb
+Subproject commit a819be3b11dc6d8150edd4e8ec15eecd09a334dd
diff --git a/TeamCode/src/main/java/teamcode/FtcAuto.java b/TeamCode/src/main/java/teamcode/FtcAuto.java
index 69810e1..455c9e1 100644
--- a/TeamCode/src/main/java/teamcode/FtcAuto.java
+++ b/TeamCode/src/main/java/teamcode/FtcAuto.java
@@ -26,10 +26,10 @@ import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 
 import java.util.Locale;
 
-import ftclib.inputoutput.FtcChoiceMenu;
-import ftclib.inputoutput.FtcMatchInfo;
-import ftclib.inputoutput.FtcMenu;
-import ftclib.inputoutput.FtcValueMenu;
+import ftclib.input.FtcChoiceMenu;
+import ftclib.input.FtcMatchInfo;
+import ftclib.input.FtcMenu;
+import ftclib.input.FtcValueMenu;
 import ftclib.robotcore.FtcOpMode;
 import trclib.command.CmdPidDrive;
 import trclib.command.CmdTimedDrive;
diff --git a/TeamCode/src/main/java/teamcode/FtcTeleOp.java b/TeamCode/src/main/java/teamcode/FtcTeleOp.java
index bd64127..02ebd30 100644
--- a/TeamCode/src/main/java/teamcode/FtcTeleOp.java
+++ b/TeamCode/src/main/java/teamcode/FtcTeleOp.java
@@ -26,11 +26,11 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
 import java.util.Locale;
 
-import ftclib.inputoutput.FtcGamepad;
+import ftclib.input.FtcGamepad;
 import ftclib.robotcore.FtcOpMode;
 import teamcode.drivebases.SwerveDrive;
 import trclib.drivebase.TrcDriveBase;
-import trclib.inputoutput.TrcGameController;
+import trclib.input.TrcGameController;
 import trclib.pathdrive.TrcPose2D;
 import trclib.robotcore.TrcDbgTrace;
 import trclib.robotcore.TrcRobot;
diff --git a/TeamCode/src/main/java/teamcode/FtcTest.java b/TeamCode/src/main/java/teamcode/FtcTest.java
index 2872840..6d1d4f5 100644
--- a/TeamCode/src/main/java/teamcode/FtcTest.java
+++ b/TeamCode/src/main/java/teamcode/FtcTest.java
@@ -29,22 +29,22 @@ import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
 import java.util.Arrays;
 import java.util.Locale;
 
-import ftclib.inputoutput.FtcChoiceMenu;
-import ftclib.inputoutput.FtcGamepad;
-import ftclib.inputoutput.FtcMenu;
-import ftclib.inputoutput.FtcValueMenu;
+import ftclib.input.FtcChoiceMenu;
+import ftclib.input.FtcGamepad;
+import ftclib.input.FtcMenu;
+import ftclib.input.FtcValueMenu;
 import ftclib.robotcore.FtcPidCoeffCache;
 import teamcode.drivebases.RobotDrive;
 import teamcode.drivebases.SwerveDrive;
 import trclib.command.CmdDriveMotorsTest;
 import trclib.command.CmdPidDrive;
 import trclib.command.CmdTimedDrive;
-import trclib.inputoutput.TrcGameController;
+import trclib.dataprocessor.TrcUtil;
+import trclib.input.TrcGameController;
 import trclib.pathdrive.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;
 
diff --git a/TeamCode/src/main/java/teamcode/Robot.java b/TeamCode/src/main/java/teamcode/Robot.java
index de139b4..d25c6e4 100644
--- a/TeamCode/src/main/java/teamcode/Robot.java
+++ b/TeamCode/src/main/java/teamcode/Robot.java
@@ -22,8 +22,8 @@
 
 package teamcode;
 
-import ftclib.inputoutput.FtcDashboard;
-import ftclib.inputoutput.FtcMatchInfo;
+import ftclib.input.FtcMatchInfo;
+import ftclib.output.FtcDashboard;
 import ftclib.robotcore.FtcOpMode;
 import ftclib.sensor.FtcRobotBattery;
 import teamcode.drivebases.MecanumDrive;
diff --git a/TeamCode/src/main/java/teamcode/RobotParams.java b/TeamCode/src/main/java/teamcode/RobotParams.java
index ca33ef7..80dbebc 100644
--- a/TeamCode/src/main/java/teamcode/RobotParams.java
+++ b/TeamCode/src/main/java/teamcode/RobotParams.java
@@ -28,11 +28,11 @@ import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
 
 import org.openftc.easyopencv.OpenCvCameraRotation;
 
-import ftclib.inputoutput.FtcGamepad;
+import ftclib.input.FtcGamepad;
+import trclib.dataprocessor.TrcUtil;
 import trclib.drivebase.TrcDriveBase.DriveOrientation;
 import trclib.pathdrive.TrcPose2D;
 import trclib.robotcore.TrcPidController;
-import trclib.robotcore.TrcUtil;
 import trclib.vision.TrcHomographyMapper;
 
 /**
diff --git a/TeamCode/src/main/java/teamcode/drivebases/RobotDrive.java b/TeamCode/src/main/java/teamcode/drivebases/RobotDrive.java
index e145aef..75a6021 100644
--- a/TeamCode/src/main/java/teamcode/drivebases/RobotDrive.java
+++ b/TeamCode/src/main/java/teamcode/drivebases/RobotDrive.java
@@ -25,10 +25,10 @@ package teamcode.drivebases;
 import ftclib.motor.FtcDcMotor;
 import ftclib.sensor.FtcImu;
 import teamcode.RobotParams;
+import trclib.dataprocessor.TrcUtil;
 import trclib.drivebase.TrcDriveBase;
 import trclib.pathdrive.TrcPidDrive;
 import trclib.pathdrive.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/subsystems/BlinkinLEDs.java b/TeamCode/src/main/java/teamcode/subsystems/BlinkinLEDs.java
index 381eb83..d9749a5 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.inputoutput.FtcRevBlinkin;
+import ftclib.output.FtcRevBlinkin;
 import trclib.drivebase.TrcDriveBase;
-import trclib.inputoutput.TrcRevBlinkin;
+import trclib.output.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/trclib b/TeamCode/src/main/java/trclib
index ea9cdf4..0750bd0 160000
--- a/TeamCode/src/main/java/trclib
+++ b/TeamCode/src/main/java/trclib
@@ -1 +1 @@
-Subproject commit ea9cdf40e23ed1fbeb56df21c54649c7723ca4b2
+Subproject commit 0750bd0eed1556de4ff488f54cca4bdadefa893c