diff --git a/TeamCode/src/main/java/ftclib b/TeamCode/src/main/java/ftclib
index 9c3b868..538b2ba 160000
--- a/TeamCode/src/main/java/ftclib
+++ b/TeamCode/src/main/java/ftclib
@@ -1 +1 @@
-Subproject commit 9c3b8688b74f4feb1866af732272fea7b9f16ed2
+Subproject commit 538b2ba6a7a598bf939e6f474a5e29ed73bc7bfd
diff --git a/TeamCode/src/main/java/teamcode/FtcAuto.java b/TeamCode/src/main/java/teamcode/FtcAuto.java
index 6941258..69810e1 100644
--- a/TeamCode/src/main/java/teamcode/FtcAuto.java
+++ b/TeamCode/src/main/java/teamcode/FtcAuto.java
@@ -33,7 +33,7 @@ import ftclib.inputoutput.FtcValueMenu;
 import ftclib.robotcore.FtcOpMode;
 import trclib.command.CmdPidDrive;
 import trclib.command.CmdTimedDrive;
-import trclib.path.TrcPose2D;
+import trclib.pathdrive.TrcPose2D;
 import trclib.robotcore.TrcDbgTrace;
 import trclib.robotcore.TrcRobot;
 import trclib.timer.TrcTimer;
diff --git a/TeamCode/src/main/java/teamcode/FtcTeleOp.java b/TeamCode/src/main/java/teamcode/FtcTeleOp.java
index ee202dd..bd64127 100644
--- a/TeamCode/src/main/java/teamcode/FtcTeleOp.java
+++ b/TeamCode/src/main/java/teamcode/FtcTeleOp.java
@@ -31,7 +31,7 @@ import ftclib.robotcore.FtcOpMode;
 import teamcode.drivebases.SwerveDrive;
 import trclib.drivebase.TrcDriveBase;
 import trclib.inputoutput.TrcGameController;
-import trclib.path.TrcPose2D;
+import trclib.pathdrive.TrcPose2D;
 import trclib.robotcore.TrcDbgTrace;
 import trclib.robotcore.TrcRobot;
 import trclib.timer.TrcTimer;
diff --git a/TeamCode/src/main/java/teamcode/FtcTest.java b/TeamCode/src/main/java/teamcode/FtcTest.java
index 9b105be..2872840 100644
--- a/TeamCode/src/main/java/teamcode/FtcTest.java
+++ b/TeamCode/src/main/java/teamcode/FtcTest.java
@@ -40,7 +40,7 @@ import trclib.command.CmdDriveMotorsTest;
 import trclib.command.CmdPidDrive;
 import trclib.command.CmdTimedDrive;
 import trclib.inputoutput.TrcGameController;
-import trclib.path.TrcPose2D;
+import trclib.pathdrive.TrcPose2D;
 import trclib.robotcore.TrcDbgTrace;
 import trclib.robotcore.TrcPidController;
 import trclib.robotcore.TrcRobot;
diff --git a/TeamCode/src/main/java/teamcode/Robot.java b/TeamCode/src/main/java/teamcode/Robot.java
index 28275d3..de139b4 100644
--- a/TeamCode/src/main/java/teamcode/Robot.java
+++ b/TeamCode/src/main/java/teamcode/Robot.java
@@ -33,7 +33,7 @@ import teamcode.subsystems.BlinkinLEDs;
 import teamcode.vision.Vision;
 import trclib.motor.TrcMotor;
 import trclib.motor.TrcServo;
-import trclib.path.TrcPose2D;
+import trclib.pathdrive.TrcPose2D;
 import trclib.robotcore.TrcDbgTrace;
 import trclib.robotcore.TrcRobot;
 import trclib.sensor.TrcDigitalInput;
diff --git a/TeamCode/src/main/java/teamcode/RobotParams.java b/TeamCode/src/main/java/teamcode/RobotParams.java
index c6f162b..ca33ef7 100644
--- a/TeamCode/src/main/java/teamcode/RobotParams.java
+++ b/TeamCode/src/main/java/teamcode/RobotParams.java
@@ -30,7 +30,7 @@ import org.openftc.easyopencv.OpenCvCameraRotation;
 
 import ftclib.inputoutput.FtcGamepad;
 import trclib.drivebase.TrcDriveBase.DriveOrientation;
-import trclib.path.TrcPose2D;
+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/MecanumDrive.java b/TeamCode/src/main/java/teamcode/drivebases/MecanumDrive.java
index a9a7bca..850afaf 100644
--- a/TeamCode/src/main/java/teamcode/drivebases/MecanumDrive.java
+++ b/TeamCode/src/main/java/teamcode/drivebases/MecanumDrive.java
@@ -24,8 +24,8 @@ package teamcode.drivebases;
 
 import teamcode.RobotParams;
 import trclib.drivebase.TrcMecanumDriveBase;
-import trclib.path.TrcPidDrive;
-import trclib.path.TrcPurePursuitDrive;
+import trclib.pathdrive.TrcPidDrive;
+import trclib.pathdrive.TrcPurePursuitDrive;
 import trclib.robotcore.TrcDbgTrace;
 import trclib.sensor.TrcOdometryWheels;
 
diff --git a/TeamCode/src/main/java/teamcode/drivebases/RobotDrive.java b/TeamCode/src/main/java/teamcode/drivebases/RobotDrive.java
index 12c941d..e145aef 100644
--- a/TeamCode/src/main/java/teamcode/drivebases/RobotDrive.java
+++ b/TeamCode/src/main/java/teamcode/drivebases/RobotDrive.java
@@ -26,8 +26,8 @@ import ftclib.motor.FtcDcMotor;
 import ftclib.sensor.FtcImu;
 import teamcode.RobotParams;
 import trclib.drivebase.TrcDriveBase;
-import trclib.path.TrcPidDrive;
-import trclib.path.TrcPurePursuitDrive;
+import trclib.pathdrive.TrcPidDrive;
+import trclib.pathdrive.TrcPurePursuitDrive;
 import trclib.robotcore.TrcUtil;
 
 /**
diff --git a/TeamCode/src/main/java/teamcode/drivebases/SwerveDrive.java b/TeamCode/src/main/java/teamcode/drivebases/SwerveDrive.java
index 5e96335..1cee8d8 100644
--- a/TeamCode/src/main/java/teamcode/drivebases/SwerveDrive.java
+++ b/TeamCode/src/main/java/teamcode/drivebases/SwerveDrive.java
@@ -35,8 +35,8 @@ import ftclib.sensor.FtcAnalogEncoder;
 import teamcode.RobotParams;
 import trclib.drivebase.TrcSwerveDriveBase;
 import trclib.drivebase.TrcSwerveModule;
-import trclib.path.TrcPidDrive;
-import trclib.path.TrcPurePursuitDrive;
+import trclib.pathdrive.TrcPidDrive;
+import trclib.pathdrive.TrcPurePursuitDrive;
 import trclib.robotcore.TrcDbgTrace;
 import trclib.sensor.TrcOdometryWheels;
 
diff --git a/TeamCode/src/main/java/teamcode/vision/Vision.java b/TeamCode/src/main/java/teamcode/vision/Vision.java
index c29a601..99c6586 100644
--- a/TeamCode/src/main/java/teamcode/vision/Vision.java
+++ b/TeamCode/src/main/java/teamcode/vision/Vision.java
@@ -46,7 +46,7 @@ import ftclib.vision.FtcVisionTensorFlow;
 import teamcode.Robot;
 import teamcode.RobotParams;
 import teamcode.subsystems.BlinkinLEDs;
-import trclib.path.TrcPose2D;
+import trclib.pathdrive.TrcPose2D;
 import trclib.robotcore.TrcDbgTrace;
 import trclib.vision.TrcOpenCvColorBlobPipeline;
 import trclib.vision.TrcOpenCvDetector;
diff --git a/TeamCode/src/main/java/trclib b/TeamCode/src/main/java/trclib
index cfcc6d6..9bd0990 160000
--- a/TeamCode/src/main/java/trclib
+++ b/TeamCode/src/main/java/trclib
@@ -1 +1 @@
-Subproject commit cfcc6d656f0a7c8fa7c6e45d2c0286bd775bc02b
+Subproject commit 9bd099004c90960579102688cf4e8a4f231a0f2a