diff --git a/allclasses-index.html b/allclasses-index.html
index b4159bf4c..bc74f64c6 100644
--- a/allclasses-index.html
+++ b/allclasses-index.html
@@ -914,7 +914,9 @@ <h1 title="All Classes and Interfaces" class="title">All Classes and Interfaces<
 <div class="block">Wrapper for base Scheduler which intelligently manages exceptions.</div>
 </div>
 <div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/controls/actuators/XServo.html" title="class in xbot.common.controls.actuators">XServo</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
+<div class="block">A servo motor.</div>
+</div>
 <div class="col-first odd-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/controls/actuators/XServo.XServoFactory.html" title="interface in xbot.common.controls.actuators">XServo.XServoFactory</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
 <div class="col-first even-row-color all-classes-table all-classes-table-tab1"><a href="xbot/common/controls/sensors/XSettableTimerImpl.html" title="interface in xbot.common.controls.sensors">XSettableTimerImpl</a></div>
diff --git a/edu/wpi/first/wpilibj/MockServo.MockServoFactory.html b/edu/wpi/first/wpilibj/MockServo.MockServoFactory.html
index 489fe9617..7afb2817b 100644
--- a/edu/wpi/first/wpilibj/MockServo.MockServoFactory.html
+++ b/edu/wpi/first/wpilibj/MockServo.MockServoFactory.html
@@ -117,7 +117,8 @@ <h2>Method Summary</h2>
 <div class="table-header col-second">Method</div>
 <div class="table-header col-last">Description</div>
 <div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code>abstract <a href="MockServo.html" title="class in edu.wpi.first.wpilibj">MockServo</a></code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#create(int)" class="member-name-link">create</a><wbr>(int&nbsp;channel)</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#create(int,java.lang.String)" class="member-name-link">create</a><wbr>(int&nbsp;channel,
+ <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name)</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">&nbsp;</div>
 </div>
 </div>
@@ -125,6 +126,9 @@ <h2>Method Summary</h2>
 <div class="inherited-list">
 <h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
 <code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
+<div class="inherited-list">
+<h3 id="methods-inherited-from-class-xbot.common.controls.actuators.XServo.XServoFactory">Methods inherited from interface&nbsp;xbot.common.controls.actuators.<a href="../../../../xbot/common/controls/actuators/XServo.XServoFactory.html" title="interface in xbot.common.controls.actuators">XServo.XServoFactory</a></h3>
+<code><a href="../../../../xbot/common/controls/actuators/XServo.XServoFactory.html#create(int)">create</a></code></div>
 </section>
 </li>
 </ul>
@@ -151,13 +155,15 @@ <h3>MockServoFactory</h3>
 <h2>Method Details</h2>
 <ul class="member-list">
 <li>
-<section class="detail" id="create(int)">
+<section class="detail" id="create(int,java.lang.String)">
 <h3>create</h3>
 <div class="member-signature"><span class="modifiers">public abstract</span>&nbsp;<span class="return-type"><a href="MockServo.html" title="class in edu.wpi.first.wpilibj">MockServo</a></span>&nbsp;<span class="element-name">create</span><wbr><span class="parameters">(@Assisted("channel")
- int&nbsp;channel)</span></div>
+ int&nbsp;channel,
+ @Assisted("name")
+ <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name)</span></div>
 <dl class="notes">
 <dt>Specified by:</dt>
-<dd><code><a href="../../../../xbot/common/controls/actuators/XServo.XServoFactory.html#create(int)">create</a></code>&nbsp;in interface&nbsp;<code><a href="../../../../xbot/common/controls/actuators/XServo.XServoFactory.html" title="interface in xbot.common.controls.actuators">XServo.XServoFactory</a></code></dd>
+<dd><code><a href="../../../../xbot/common/controls/actuators/XServo.XServoFactory.html#create(int,java.lang.String)">create</a></code>&nbsp;in interface&nbsp;<code><a href="../../../../xbot/common/controls/actuators/XServo.XServoFactory.html" title="interface in xbot.common.controls.actuators">XServo.XServoFactory</a></code></dd>
 </dl>
 </section>
 </li>
diff --git a/edu/wpi/first/wpilibj/MockServo.html b/edu/wpi/first/wpilibj/MockServo.html
index 768f32986..93707a69d 100644
--- a/edu/wpi/first/wpilibj/MockServo.html
+++ b/edu/wpi/first/wpilibj/MockServo.html
@@ -80,7 +80,7 @@ <h1 title="Class MockServo" class="title">Class MockServo</h1>
 <section class="class-description" id="class-description">
 <dl class="notes">
 <dt>All Implemented Interfaces:</dt>
-<dd><code><a href="../../../../xbot/common/controls/XBaseIO.html" title="interface in xbot.common.controls">XBaseIO</a></code></dd>
+<dd><code><a href="../../../../xbot/common/advantage/DataFrameRefreshable.html" title="interface in xbot.common.advantage">DataFrameRefreshable</a></code>, <code><a href="../../../../xbot/common/controls/XBaseIO.html" title="interface in xbot.common.controls">XBaseIO</a></code></dd>
 </dl>
 <hr>
 <div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">MockServo</span>
@@ -121,7 +121,7 @@ <h2>Field Summary</h2>
 </div>
 <div class="inherited-list">
 <h3 id="fields-inherited-from-class-xbot.common.controls.actuators.XServo">Fields inherited from class&nbsp;xbot.common.controls.actuators.<a href="../../../../xbot/common/controls/actuators/XServo.html" title="class in xbot.common.controls.actuators">XServo</a></h3>
-<code><a href="../../../../xbot/common/controls/actuators/XServo.html#channel">channel</a></code></div>
+<code><a href="../../../../xbot/common/controls/actuators/XServo.html#channel">channel</a>, <a href="../../../../xbot/common/controls/actuators/XServo.html#name">name</a></code></div>
 </section>
 </li>
 <!-- ======== CONSTRUCTOR SUMMARY ======== -->
@@ -132,7 +132,8 @@ <h2>Constructor Summary</h2>
 <div class="summary-table two-column-summary">
 <div class="table-header col-first">Constructor</div>
 <div class="table-header col-last">Description</div>
-<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(int,xbot.common.injection.DevicePolice)" class="member-name-link">MockServo</a><wbr>(int&nbsp;channel,
+<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(int,java.lang.String,xbot.common.injection.DevicePolice)" class="member-name-link">MockServo</a><wbr>(int&nbsp;channel,
+ <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name,
  <a href="../../../../xbot/common/injection/DevicePolice.html" title="class in xbot.common.injection">DevicePolice</a>&nbsp;police)</code></div>
 <div class="col-last even-row-color">&nbsp;</div>
 </div>
@@ -150,17 +151,21 @@ <h2>Method Summary</h2>
 <div class="table-header col-second">Method</div>
 <div class="table-header col-last">Description</div>
 <div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getValue()" class="member-name-link">getValue</a>()</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#get()" class="member-name-link">get</a>()</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="block">Get the current value of the servo.</div>
+</div>
 <div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
 <div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#set(double)" class="member-name-link">set</a><wbr>(double&nbsp;value)</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="block">Set the servo to a specific value.</div>
+</div>
 </div>
 </div>
 </div>
 <div class="inherited-list">
 <h3 id="methods-inherited-from-class-xbot.common.controls.actuators.XServo">Methods inherited from class&nbsp;xbot.common.controls.actuators.<a href="../../../../xbot/common/controls/actuators/XServo.html" title="class in xbot.common.controls.actuators">XServo</a></h3>
-<code><a href="../../../../xbot/common/controls/actuators/XServo.html#getChannel()">getChannel</a></code></div>
+<code><a href="../../../../xbot/common/controls/actuators/XServo.html#getChannel()">getChannel</a>, <a href="../../../../xbot/common/controls/actuators/XServo.html#refreshDataFrame()">refreshDataFrame</a></code></div>
 <div class="inherited-list">
 <h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
 <code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
@@ -190,11 +195,13 @@ <h3>value</h3>
 <h2>Constructor Details</h2>
 <ul class="member-list">
 <li>
-<section class="detail" id="&lt;init&gt;(int,xbot.common.injection.DevicePolice)">
+<section class="detail" id="&lt;init&gt;(int,java.lang.String,xbot.common.injection.DevicePolice)">
 <h3>MockServo</h3>
 <div class="member-signature"><span class="annotations">@AssistedInject
 </span><span class="modifiers">public</span>&nbsp;<span class="element-name">MockServo</span><wbr><span class="parameters">(@Assisted("channel")
  int&nbsp;channel,
+ @Assisted("name")
+ <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name,
  <a href="../../../../xbot/common/injection/DevicePolice.html" title="class in xbot.common.injection">DevicePolice</a>&nbsp;police)</span></div>
 </section>
 </li>
@@ -210,16 +217,28 @@ <h2>Method Details</h2>
 <section class="detail" id="set(double)">
 <h3>set</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">set</span><wbr><span class="parameters">(double&nbsp;value)</span></div>
+<div class="block"><span class="descfrm-type-label">Description copied from class:&nbsp;<code><a href="../../../../xbot/common/controls/actuators/XServo.html#set(double)">XServo</a></code></span></div>
+<div class="block">Set the servo to a specific value.</div>
 <dl class="notes">
 <dt>Specified by:</dt>
 <dd><code><a href="../../../../xbot/common/controls/actuators/XServo.html#set(double)">set</a></code>&nbsp;in class&nbsp;<code><a href="../../../../xbot/common/controls/actuators/XServo.html" title="class in xbot.common.controls.actuators">XServo</a></code></dd>
+<dt>Parameters:</dt>
+<dd><code>value</code> - The value to set the servo to. This should be a value between 0 and 1.</dd>
 </dl>
 </section>
 </li>
 <li>
-<section class="detail" id="getValue()">
-<h3>getValue</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">getValue</span>()</div>
+<section class="detail" id="get()">
+<h3>get</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">get</span>()</div>
+<div class="block"><span class="descfrm-type-label">Description copied from class:&nbsp;<code><a href="../../../../xbot/common/controls/actuators/XServo.html#get()">XServo</a></code></span></div>
+<div class="block">Get the current value of the servo.</div>
+<dl class="notes">
+<dt>Specified by:</dt>
+<dd><code><a href="../../../../xbot/common/controls/actuators/XServo.html#get()">get</a></code>&nbsp;in class&nbsp;<code><a href="../../../../xbot/common/controls/actuators/XServo.html" title="class in xbot.common.controls.actuators">XServo</a></code></dd>
+<dt>Returns:</dt>
+<dd>The current value of the servo, between 0 and 1.</dd>
+</dl>
 </section>
 </li>
 </ul>
diff --git a/edu/wpi/first/wpilibj/package-tree.html b/edu/wpi/first/wpilibj/package-tree.html
index 4e21468b2..7944d71c9 100644
--- a/edu/wpi/first/wpilibj/package-tree.html
+++ b/edu/wpi/first/wpilibj/package-tree.html
@@ -112,7 +112,7 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 <li class="circle">edu.wpi.first.wpilibj.<a href="MockPWM.html" class="type-name-link" title="class in edu.wpi.first.wpilibj">MockPWM</a></li>
 </ul>
 </li>
-<li class="circle">xbot.common.controls.actuators.<a href="../../../../xbot/common/controls/actuators/XServo.html" class="type-name-link" title="class in xbot.common.controls.actuators">XServo</a> (implements xbot.common.controls.<a href="../../../../xbot/common/controls/XBaseIO.html" title="interface in xbot.common.controls">XBaseIO</a>)
+<li class="circle">xbot.common.controls.actuators.<a href="../../../../xbot/common/controls/actuators/XServo.html" class="type-name-link" title="class in xbot.common.controls.actuators">XServo</a> (implements xbot.common.advantage.<a href="../../../../xbot/common/advantage/DataFrameRefreshable.html" title="interface in xbot.common.advantage">DataFrameRefreshable</a>, xbot.common.controls.<a href="../../../../xbot/common/controls/XBaseIO.html" title="interface in xbot.common.controls">XBaseIO</a>)
 <ul>
 <li class="circle">edu.wpi.first.wpilibj.<a href="MockServo.html" class="type-name-link" title="class in edu.wpi.first.wpilibj">MockServo</a></li>
 </ul>
diff --git a/index-all.html b/index-all.html
index e059b7f81..4c8d8cde0 100644
--- a/index-all.html
+++ b/index-all.html
@@ -1660,8 +1660,6 @@ <h2 class="title" id="I:C">C</h2>
 <dd>&nbsp;</dd>
 <dt><a href="edu/wpi/first/wpilibj/MockPWM.MockPWMFactory.html#create(int)" class="member-name-link">create(int)</a> - Method in class edu.wpi.first.wpilibj.<a href="edu/wpi/first/wpilibj/MockPWM.MockPWMFactory.html" title="class in edu.wpi.first.wpilibj">MockPWM.MockPWMFactory</a></dt>
 <dd>&nbsp;</dd>
-<dt><a href="edu/wpi/first/wpilibj/MockServo.MockServoFactory.html#create(int)" class="member-name-link">create(int)</a> - Method in class edu.wpi.first.wpilibj.<a href="edu/wpi/first/wpilibj/MockServo.MockServoFactory.html" title="class in edu.wpi.first.wpilibj">MockServo.MockServoFactory</a></dt>
-<dd>&nbsp;</dd>
 <dt><a href="edu/wpi/first/wpilibj/MockSolenoid.MockSolenoidFactory.html#create(int)" class="member-name-link">create(int)</a> - Method in class edu.wpi.first.wpilibj.<a href="edu/wpi/first/wpilibj/MockSolenoid.MockSolenoidFactory.html" title="class in edu.wpi.first.wpilibj">MockSolenoid.MockSolenoidFactory</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="edu/wpi/first/wpilibj/MockSpeedController.MockSpeedControllerFactory.html#create(int)" class="member-name-link">create(int)</a> - Method in class edu.wpi.first.wpilibj.<a href="edu/wpi/first/wpilibj/MockSpeedController.MockSpeedControllerFactory.html" title="class in edu.wpi.first.wpilibj">MockSpeedController.MockSpeedControllerFactory</a></dt>
@@ -1680,8 +1678,6 @@ <h2 class="title" id="I:C">C</h2>
 <dd>&nbsp;</dd>
 <dt><a href="xbot/common/controls/actuators/wpi_adapters/RelayWPIAdapter.RelayWPIAdapterFactory.html#create(int)" class="member-name-link">create(int)</a> - Method in class xbot.common.controls.actuators.wpi_adapters.<a href="xbot/common/controls/actuators/wpi_adapters/RelayWPIAdapter.RelayWPIAdapterFactory.html" title="class in xbot.common.controls.actuators.wpi_adapters">RelayWPIAdapter.RelayWPIAdapterFactory</a></dt>
 <dd>&nbsp;</dd>
-<dt><a href="xbot/common/controls/actuators/wpi_adapters/ServoWPIAdapter.ServoWPIAdapterFactory.html#create(int)" class="member-name-link">create(int)</a> - Method in class xbot.common.controls.actuators.wpi_adapters.<a href="xbot/common/controls/actuators/wpi_adapters/ServoWPIAdapter.ServoWPIAdapterFactory.html" title="class in xbot.common.controls.actuators.wpi_adapters">ServoWPIAdapter.ServoWPIAdapterFactory</a></dt>
-<dd>&nbsp;</dd>
 <dt><a href="xbot/common/controls/actuators/wpi_adapters/SolenoidWPIAdapter.SolenoidWPIAdapterFactory.html#create(int)" class="member-name-link">create(int)</a> - Method in class xbot.common.controls.actuators.wpi_adapters.<a href="xbot/common/controls/actuators/wpi_adapters/SolenoidWPIAdapter.SolenoidWPIAdapterFactory.html" title="class in xbot.common.controls.actuators.wpi_adapters">SolenoidWPIAdapter.SolenoidWPIAdapterFactory</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="xbot/common/controls/actuators/wpi_adapters/SpeedControllerWPIAdapter.SpeedControllerWPIAdapterFactory.html#create(int)" class="member-name-link">create(int)</a> - Method in class xbot.common.controls.actuators.wpi_adapters.<a href="xbot/common/controls/actuators/wpi_adapters/SpeedControllerWPIAdapter.SpeedControllerWPIAdapterFactory.html" title="class in xbot.common.controls.actuators.wpi_adapters">SpeedControllerWPIAdapter.SpeedControllerWPIAdapterFactory</a></dt>
@@ -1720,6 +1716,12 @@ <h2 class="title" id="I:C">C</h2>
 <dd>&nbsp;</dd>
 <dt><a href="xbot/common/controls/sensors/XJoystick.XJoystickFactory.html#create(int,int)" class="member-name-link">create(int, int)</a> - Method in interface xbot.common.controls.sensors.<a href="xbot/common/controls/sensors/XJoystick.XJoystickFactory.html" title="interface in xbot.common.controls.sensors">XJoystick.XJoystickFactory</a></dt>
 <dd>&nbsp;</dd>
+<dt><a href="edu/wpi/first/wpilibj/MockServo.MockServoFactory.html#create(int,java.lang.String)" class="member-name-link">create(int, String)</a> - Method in class edu.wpi.first.wpilibj.<a href="edu/wpi/first/wpilibj/MockServo.MockServoFactory.html" title="class in edu.wpi.first.wpilibj">MockServo.MockServoFactory</a></dt>
+<dd>&nbsp;</dd>
+<dt><a href="xbot/common/controls/actuators/wpi_adapters/ServoWPIAdapter.ServoWPIAdapterFactory.html#create(int,java.lang.String)" class="member-name-link">create(int, String)</a> - Method in class xbot.common.controls.actuators.wpi_adapters.<a href="xbot/common/controls/actuators/wpi_adapters/ServoWPIAdapter.ServoWPIAdapterFactory.html" title="class in xbot.common.controls.actuators.wpi_adapters">ServoWPIAdapter.ServoWPIAdapterFactory</a></dt>
+<dd>&nbsp;</dd>
+<dt><a href="xbot/common/controls/actuators/XServo.XServoFactory.html#create(int,java.lang.String)" class="member-name-link">create(int, String)</a> - Method in interface xbot.common.controls.actuators.<a href="xbot/common/controls/actuators/XServo.XServoFactory.html" title="interface in xbot.common.controls.actuators">XServo.XServoFactory</a></dt>
+<dd>&nbsp;</dd>
 <dt><a href="xbot/common/controls/sensors/AnalogDistanceSensor.AnalogDistanceSensorFactory.html#create(int,java.util.function.DoubleFunction,java.lang.String)" class="member-name-link">create(int, DoubleFunction&lt;Double&gt;, String)</a> - Method in class xbot.common.controls.sensors.<a href="xbot/common/controls/sensors/AnalogDistanceSensor.AnalogDistanceSensorFactory.html" title="class in xbot.common.controls.sensors">AnalogDistanceSensor.AnalogDistanceSensorFactory</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="xbot/common/controls/sensors/SimulatedAnalogDistanceSensor.SimulatedAnalogDistanceSensorFactory.html#create(int,java.util.function.DoubleFunction,java.lang.String)" class="member-name-link">create(int, DoubleFunction&lt;Double&gt;, String)</a> - Method in class xbot.common.controls.sensors.<a href="xbot/common/controls/sensors/SimulatedAnalogDistanceSensor.SimulatedAnalogDistanceSensorFactory.html" title="class in xbot.common.controls.sensors">SimulatedAnalogDistanceSensor.SimulatedAnalogDistanceSensorFactory</a></dt>
@@ -2514,6 +2516,8 @@ <h2 class="title" id="I:G">G</h2>
 <dd>&nbsp;</dd>
 <dt><a href="edu/wpi/first/wpilibj/MockDigitalOutput.html#get()" class="member-name-link">get()</a> - Method in class edu.wpi.first.wpilibj.<a href="edu/wpi/first/wpilibj/MockDigitalOutput.html" title="class in edu.wpi.first.wpilibj">MockDigitalOutput</a></dt>
 <dd>&nbsp;</dd>
+<dt><a href="edu/wpi/first/wpilibj/MockServo.html#get()" class="member-name-link">get()</a> - Method in class edu.wpi.first.wpilibj.<a href="edu/wpi/first/wpilibj/MockServo.html" title="class in edu.wpi.first.wpilibj">MockServo</a></dt>
+<dd>&nbsp;</dd>
 <dt><a href="edu/wpi/first/wpilibj/MockSolenoid.html#get()" class="member-name-link">get()</a> - Method in class edu.wpi.first.wpilibj.<a href="edu/wpi/first/wpilibj/MockSolenoid.html" title="class in edu.wpi.first.wpilibj">MockSolenoid</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="edu/wpi/first/wpilibj/MockSpeedController.html#get()" class="member-name-link">get()</a> - Method in class edu.wpi.first.wpilibj.<a href="edu/wpi/first/wpilibj/MockSpeedController.html" title="class in edu.wpi.first.wpilibj">MockSpeedController</a></dt>
@@ -2526,6 +2530,8 @@ <h2 class="title" id="I:G">G</h2>
 <dd>&nbsp;</dd>
 <dt><a href="xbot/common/controls/actuators/wpi_adapters/DigitalOutputWPIAdapter.html#get()" class="member-name-link">get()</a> - Method in class xbot.common.controls.actuators.wpi_adapters.<a href="xbot/common/controls/actuators/wpi_adapters/DigitalOutputWPIAdapter.html" title="class in xbot.common.controls.actuators.wpi_adapters">DigitalOutputWPIAdapter</a></dt>
 <dd>&nbsp;</dd>
+<dt><a href="xbot/common/controls/actuators/wpi_adapters/ServoWPIAdapter.html#get()" class="member-name-link">get()</a> - Method in class xbot.common.controls.actuators.wpi_adapters.<a href="xbot/common/controls/actuators/wpi_adapters/ServoWPIAdapter.html" title="class in xbot.common.controls.actuators.wpi_adapters">ServoWPIAdapter</a></dt>
+<dd>&nbsp;</dd>
 <dt><a href="xbot/common/controls/actuators/wpi_adapters/SolenoidWPIAdapter.html#get()" class="member-name-link">get()</a> - Method in class xbot.common.controls.actuators.wpi_adapters.<a href="xbot/common/controls/actuators/wpi_adapters/SolenoidWPIAdapter.html" title="class in xbot.common.controls.actuators.wpi_adapters">SolenoidWPIAdapter</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="xbot/common/controls/actuators/wpi_adapters/SpeedControllerWPIAdapter.html#get()" class="member-name-link">get()</a> - Method in class xbot.common.controls.actuators.wpi_adapters.<a href="xbot/common/controls/actuators/wpi_adapters/SpeedControllerWPIAdapter.html" title="class in xbot.common.controls.actuators.wpi_adapters">SpeedControllerWPIAdapter</a></dt>
@@ -2536,6 +2542,10 @@ <h2 class="title" id="I:G">G</h2>
 </dd>
 <dt><a href="xbot/common/controls/actuators/XDigitalOutput.html#get()" class="member-name-link">get()</a> - Method in class xbot.common.controls.actuators.<a href="xbot/common/controls/actuators/XDigitalOutput.html" title="class in xbot.common.controls.actuators">XDigitalOutput</a></dt>
 <dd>&nbsp;</dd>
+<dt><a href="xbot/common/controls/actuators/XServo.html#get()" class="member-name-link">get()</a> - Method in class xbot.common.controls.actuators.<a href="xbot/common/controls/actuators/XServo.html" title="class in xbot.common.controls.actuators">XServo</a></dt>
+<dd>
+<div class="block">Get the current value of the servo.</div>
+</dd>
 <dt><a href="xbot/common/controls/actuators/XSolenoid.html#get()" class="member-name-link">get()</a> - Method in class xbot.common.controls.actuators.<a href="xbot/common/controls/actuators/XSolenoid.html" title="class in xbot.common.controls.actuators">XSolenoid</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="xbot/common/controls/actuators/XSpeedController.html#get()" class="member-name-link">get()</a> - Method in class xbot.common.controls.actuators.<a href="xbot/common/controls/actuators/XSpeedController.html" title="class in xbot.common.controls.actuators">XSpeedController</a></dt>
@@ -2796,7 +2806,9 @@ <h2 class="title" id="I:G">G</h2>
 <dt><a href="xbot/common/controls/actuators/XPWM.html#getChannel()" class="member-name-link">getChannel()</a> - Method in class xbot.common.controls.actuators.<a href="xbot/common/controls/actuators/XPWM.html" title="class in xbot.common.controls.actuators">XPWM</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="xbot/common/controls/actuators/XServo.html#getChannel()" class="member-name-link">getChannel()</a> - Method in class xbot.common.controls.actuators.<a href="xbot/common/controls/actuators/XServo.html" title="class in xbot.common.controls.actuators">XServo</a></dt>
-<dd>&nbsp;</dd>
+<dd>
+<div class="block">Get the PWM channel that this servo is connected to.</div>
+</dd>
 <dt><a href="xbot/common/controls/actuators/XSolenoid.html#getChannel()" class="member-name-link">getChannel()</a> - Method in class xbot.common.controls.actuators.<a href="xbot/common/controls/actuators/XSolenoid.html" title="class in xbot.common.controls.actuators">XSolenoid</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="xbot/common/controls/actuators/XSpeedController.html#getChannel()" class="member-name-link">getChannel()</a> - Method in class xbot.common.controls.actuators.<a href="xbot/common/controls/actuators/XSpeedController.html" title="class in xbot.common.controls.actuators">XSpeedController</a></dt>
@@ -4361,8 +4373,6 @@ <h2 class="title" id="I:G">G</h2>
 <dd>
 <div class="block">Returns the value at a given time, linearlly interpolated.</div>
 </dd>
-<dt><a href="edu/wpi/first/wpilibj/MockServo.html#getValue()" class="member-name-link">getValue()</a> - Method in class edu.wpi.first.wpilibj.<a href="edu/wpi/first/wpilibj/MockServo.html" title="class in edu.wpi.first.wpilibj">MockServo</a></dt>
-<dd>&nbsp;</dd>
 <dt><a href="xbot/common/controls/sensors/buttons/AdvancedXboxButtonTrigger.ButtonTriggerType.html#getValue()" class="member-name-link">getValue()</a> - Method in enum class xbot.common.controls.sensors.buttons.<a href="xbot/common/controls/sensors/buttons/AdvancedXboxButtonTrigger.ButtonTriggerType.html" title="enum class in xbot.common.controls.sensors.buttons">AdvancedXboxButtonTrigger.ButtonTriggerType</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="xbot/common/controls/sensors/wpi_adapters/AnalogInputWPIAdapater.html#getValue()" class="member-name-link">getValue()</a> - Method in class xbot.common.controls.sensors.wpi_adapters.<a href="xbot/common/controls/sensors/wpi_adapters/AnalogInputWPIAdapater.html" title="class in xbot.common.controls.sensors.wpi_adapters">AnalogInputWPIAdapater</a></dt>
@@ -5351,7 +5361,7 @@ <h2 class="title" id="I:M">M</h2>
 <dd>&nbsp;</dd>
 <dt><a href="edu/wpi/first/wpilibj/MockServo.html" class="type-name-link" title="class in edu.wpi.first.wpilibj">MockServo</a> - Class in <a href="edu/wpi/first/wpilibj/package-summary.html">edu.wpi.first.wpilibj</a></dt>
 <dd>&nbsp;</dd>
-<dt><a href="edu/wpi/first/wpilibj/MockServo.html#%3Cinit%3E(int,xbot.common.injection.DevicePolice)" class="member-name-link">MockServo(int, DevicePolice)</a> - Constructor for class edu.wpi.first.wpilibj.<a href="edu/wpi/first/wpilibj/MockServo.html" title="class in edu.wpi.first.wpilibj">MockServo</a></dt>
+<dt><a href="edu/wpi/first/wpilibj/MockServo.html#%3Cinit%3E(int,java.lang.String,xbot.common.injection.DevicePolice)" class="member-name-link">MockServo(int, String, DevicePolice)</a> - Constructor for class edu.wpi.first.wpilibj.<a href="edu/wpi/first/wpilibj/MockServo.html" title="class in edu.wpi.first.wpilibj">MockServo</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="edu/wpi/first/wpilibj/MockServo.MockServoFactory.html" class="type-name-link" title="class in edu.wpi.first.wpilibj">MockServo.MockServoFactory</a> - Class in <a href="edu/wpi/first/wpilibj/package-summary.html">edu.wpi.first.wpilibj</a></dt>
 <dd>&nbsp;</dd>
@@ -5438,6 +5448,8 @@ <h2 class="title" id="I:M">M</h2>
 </dl>
 <h2 class="title" id="I:N">N</h2>
 <dl class="index">
+<dt><a href="xbot/common/controls/actuators/XServo.html#name" class="member-name-link">name</a> - Variable in class xbot.common.controls.actuators.<a href="xbot/common/controls/actuators/XServo.html" title="class in xbot.common.controls.actuators">XServo</a></dt>
+<dd>&nbsp;</dd>
 <dt><a href="xbot/common/injection/electrical_contract/DeviceInfo.html#name" class="member-name-link">name</a> - Variable in class xbot.common.injection.electrical_contract.<a href="xbot/common/injection/electrical_contract/DeviceInfo.html" title="class in xbot.common.injection.electrical_contract">DeviceInfo</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="xbot/common/trajectory/Obstacle.html#name" class="member-name-link">name</a> - Variable in class xbot.common.trajectory.<a href="xbot/common/trajectory/Obstacle.html" title="class in xbot.common.trajectory">Obstacle</a></dt>
@@ -5990,6 +6002,8 @@ <h2 class="title" id="I:R">R</h2>
 <dd>&nbsp;</dd>
 <dt><a href="xbot/common/controls/actuators/XCANSparkMax.html#refreshDataFrame()" class="member-name-link">refreshDataFrame()</a> - Method in class xbot.common.controls.actuators.<a href="xbot/common/controls/actuators/XCANSparkMax.html" title="class in xbot.common.controls.actuators">XCANSparkMax</a></dt>
 <dd>&nbsp;</dd>
+<dt><a href="xbot/common/controls/actuators/XServo.html#refreshDataFrame()" class="member-name-link">refreshDataFrame()</a> - Method in class xbot.common.controls.actuators.<a href="xbot/common/controls/actuators/XServo.html" title="class in xbot.common.controls.actuators">XServo</a></dt>
+<dd>&nbsp;</dd>
 <dt><a href="xbot/common/controls/sensors/XAbsoluteEncoder.html#refreshDataFrame()" class="member-name-link">refreshDataFrame()</a> - Method in class xbot.common.controls.sensors.<a href="xbot/common/controls/sensors/XAbsoluteEncoder.html" title="class in xbot.common.controls.sensors">XAbsoluteEncoder</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="xbot/common/controls/sensors/XCANCoder.html#refreshDataFrame()" class="member-name-link">refreshDataFrame()</a> - Method in class xbot.common.controls.sensors.<a href="xbot/common/controls/sensors/XCANCoder.html" title="class in xbot.common.controls.sensors">XCANCoder</a></dt>
@@ -6290,7 +6304,7 @@ <h2 class="title" id="I:S">S</h2>
 <dd>&nbsp;</dd>
 <dt><a href="xbot/common/controls/actuators/wpi_adapters/ServoWPIAdapter.html" class="type-name-link" title="class in xbot.common.controls.actuators.wpi_adapters">ServoWPIAdapter</a> - Class in <a href="xbot/common/controls/actuators/wpi_adapters/package-summary.html">xbot.common.controls.actuators.wpi_adapters</a></dt>
 <dd>&nbsp;</dd>
-<dt><a href="xbot/common/controls/actuators/wpi_adapters/ServoWPIAdapter.html#%3Cinit%3E(int,xbot.common.injection.DevicePolice)" class="member-name-link">ServoWPIAdapter(int, DevicePolice)</a> - Constructor for class xbot.common.controls.actuators.wpi_adapters.<a href="xbot/common/controls/actuators/wpi_adapters/ServoWPIAdapter.html" title="class in xbot.common.controls.actuators.wpi_adapters">ServoWPIAdapter</a></dt>
+<dt><a href="xbot/common/controls/actuators/wpi_adapters/ServoWPIAdapter.html#%3Cinit%3E(int,java.lang.String,xbot.common.injection.DevicePolice)" class="member-name-link">ServoWPIAdapter(int, String, DevicePolice)</a> - Constructor for class xbot.common.controls.actuators.wpi_adapters.<a href="xbot/common/controls/actuators/wpi_adapters/ServoWPIAdapter.html" title="class in xbot.common.controls.actuators.wpi_adapters">ServoWPIAdapter</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="xbot/common/controls/actuators/wpi_adapters/ServoWPIAdapter.ServoWPIAdapterFactory.html" class="type-name-link" title="class in xbot.common.controls.actuators.wpi_adapters">ServoWPIAdapter.ServoWPIAdapterFactory</a> - Class in <a href="xbot/common/controls/actuators/wpi_adapters/package-summary.html">xbot.common.controls.actuators.wpi_adapters</a></dt>
 <dd>&nbsp;</dd>
@@ -6331,7 +6345,9 @@ <h2 class="title" id="I:S">S</h2>
 <div class="block">Common interface for setting the speed of a speed controller.</div>
 </dd>
 <dt><a href="xbot/common/controls/actuators/XServo.html#set(double)" class="member-name-link">set(double)</a> - Method in class xbot.common.controls.actuators.<a href="xbot/common/controls/actuators/XServo.html" title="class in xbot.common.controls.actuators">XServo</a></dt>
-<dd>&nbsp;</dd>
+<dd>
+<div class="block">Set the servo to a specific value.</div>
+</dd>
 <dt><a href="xbot/common/controls/actuators/XSpeedController.html#set(double)" class="member-name-link">set(double)</a> - Method in class xbot.common.controls.actuators.<a href="xbot/common/controls/actuators/XSpeedController.html" title="class in xbot.common.controls.actuators">XSpeedController</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="xbot/common/properties/DoubleProperty.html#set(double)" class="member-name-link">set(double)</a> - Method in class xbot.common.properties.<a href="xbot/common/properties/DoubleProperty.html" title="class in xbot.common.properties">DoubleProperty</a></dt>
@@ -8712,9 +8728,13 @@ <h2 class="title" id="I:X">X</h2>
 <dt><a href="xbot/common/command/XScheduler.html#%3Cinit%3E()" class="member-name-link">XScheduler()</a> - Constructor for class xbot.common.command.<a href="xbot/common/command/XScheduler.html" title="class in xbot.common.command">XScheduler</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="xbot/common/controls/actuators/XServo.html" class="type-name-link" title="class in xbot.common.controls.actuators">XServo</a> - Class in <a href="xbot/common/controls/actuators/package-summary.html">xbot.common.controls.actuators</a></dt>
-<dd>&nbsp;</dd>
-<dt><a href="xbot/common/controls/actuators/XServo.html#%3Cinit%3E(int,xbot.common.injection.DevicePolice)" class="member-name-link">XServo(int, DevicePolice)</a> - Constructor for class xbot.common.controls.actuators.<a href="xbot/common/controls/actuators/XServo.html" title="class in xbot.common.controls.actuators">XServo</a></dt>
-<dd>&nbsp;</dd>
+<dd>
+<div class="block">A servo motor.</div>
+</dd>
+<dt><a href="xbot/common/controls/actuators/XServo.html#%3Cinit%3E(int,java.lang.String,xbot.common.injection.DevicePolice)" class="member-name-link">XServo(int, String, DevicePolice)</a> - Constructor for class xbot.common.controls.actuators.<a href="xbot/common/controls/actuators/XServo.html" title="class in xbot.common.controls.actuators">XServo</a></dt>
+<dd>
+<div class="block">Create a new servo motor.</div>
+</dd>
 <dt><a href="xbot/common/controls/actuators/XServo.XServoFactory.html" class="type-name-link" title="interface in xbot.common.controls.actuators">XServo.XServoFactory</a> - Interface in <a href="xbot/common/controls/actuators/package-summary.html">xbot.common.controls.actuators</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="xbot/common/controls/sensors/XSettableTimerImpl.html" class="type-name-link" title="interface in xbot.common.controls.sensors">XSettableTimerImpl</a> - Interface in <a href="xbot/common/controls/sensors/package-summary.html">xbot.common.controls.sensors</a></dt>
diff --git a/member-search-index.js b/member-search-index.js
index 5683fadec..170e6ba18 100644
--- a/member-search-index.js
+++ b/member-search-index.js
@@ -1 +1 @@
-memberSearchIndex = [{"p":"xbot.common.controls.sensors","c":"XXboxController.XboxButton","l":"A"},{"p":"xbot.common.subsystems.drive","c":"PurePursuitCommand.PointLoadingMode","l":"Absolute"},{"p":"xbot.common.injection.components","c":"BaseComponent","l":"absoluteEncoderFactory()"},{"p":"xbot.common.controls.io_inputs","c":"XAbsoluteEncoderInputs","l":"absolutePosition"},{"p":"xbot.common.controls.io_inputs","c":"XDutyCycleEncoderInputs","l":"absoluteRawPosition"},{"p":"xbot.common.trajectory","c":"Obstacle","l":"absorbObstacle(Obstacle)","u":"absorbObstacle(xbot.common.trajectory.Obstacle)"},{"p":"xbot.common.properties","c":"Property","l":"activeStore"},{"p":"xbot.common.controls.sensors.wpi_adapters","c":"DigitalInputWPIAdapter","l":"adapter"},{"p":"xbot.common.math","c":"MovingAverage","l":"add(T)"},{"p":"xbot.common.math","c":"MovingAverage.SumFunction","l":"add(T, T)","u":"add(T,T)"},{"p":"xbot.common.math","c":"XYPair","l":"add(XYPair)","u":"add(xbot.common.math.XYPair)"},{"p":"xbot.common.controls.sensors","c":"XJoystick","l":"addAnalogButton(AnalogHIDButtonTrigger.AnalogHIDDescription)","u":"addAnalogButton(xbot.common.controls.sensors.buttons.AnalogHIDButtonTrigger.AnalogHIDDescription)"},{"p":"xbot.common.controls.sensors","c":"XJoystick","l":"addAnalogButton(int, double, double)","u":"addAnalogButton(int,double,double)"},{"p":"xbot.common.command","c":"MockSmartDashboardCommandPutter","l":"addCommandToSmartDashboard(BaseCommand)","u":"addCommandToSmartDashboard(xbot.common.command.BaseCommand)"},{"p":"xbot.common.command","c":"RealSmartDashboardCommandPutter","l":"addCommandToSmartDashboard(BaseCommand)","u":"addCommandToSmartDashboard(xbot.common.command.BaseCommand)"},{"p":"xbot.common.command","c":"SmartDashboardCommandPutter","l":"addCommandToSmartDashboard(BaseCommand)","u":"addCommandToSmartDashboard(xbot.common.command.BaseCommand)"},{"p":"xbot.common.command","c":"MockSmartDashboardCommandPutter","l":"addCommandToSmartDashboard(String, BaseCommand)","u":"addCommandToSmartDashboard(java.lang.String,xbot.common.command.BaseCommand)"},{"p":"xbot.common.command","c":"RealSmartDashboardCommandPutter","l":"addCommandToSmartDashboard(String, BaseCommand)","u":"addCommandToSmartDashboard(java.lang.String,xbot.common.command.BaseCommand)"},{"p":"xbot.common.command","c":"SmartDashboardCommandPutter","l":"addCommandToSmartDashboard(String, BaseCommand)","u":"addCommandToSmartDashboard(java.lang.String,xbot.common.command.BaseCommand)"},{"p":"xbot.common.command","c":"BaseMaintainerCommand","l":"additionalAtGoalChecks()"},{"p":"xbot.common.math","c":"XYPair","l":"addMagnitude(double)"},{"p":"xbot.common.trajectory","c":"LowResField","l":"addObstacle(Obstacle)","u":"addObstacle(xbot.common.trajectory.Obstacle)"},{"p":"xbot.common.subsystems.drive","c":"ConfigurablePurePursuitCommand","l":"addPoint(FieldPose)","u":"addPoint(xbot.common.math.FieldPose)"},{"p":"xbot.common.subsystems.drive","c":"ConfigurablePurePursuitCommand","l":"addPoint(RabbitPoint)","u":"addPoint(xbot.common.subsystems.drive.RabbitPoint)"},{"p":"xbot.common.subsystems.drive","c":"RabbitPointBuilder","l":"addPose(FieldPose)","u":"addPose(xbot.common.math.FieldPose)"},{"p":"xbot.common.properties","c":"MockPermanentStorage","l":"addTestBoolean(String, boolean)","u":"addTestBoolean(java.lang.String,boolean)"},{"p":"xbot.common.properties","c":"MockPermanentStorage","l":"addTestDouble(String, double)","u":"addTestDouble(java.lang.String,double)"},{"p":"xbot.common.properties","c":"MockPermanentStorage","l":"addTestString(String, String)","u":"addTestString(java.lang.String,java.lang.String)"},{"p":"xbot.common.controls.sensors.buttons","c":"AdvancedJoystickButtonTrigger","l":"AdvancedJoystickButtonTrigger(XJoystick, int)","u":"%3Cinit%3E(xbot.common.controls.sensors.XJoystick,int)"},{"p":"xbot.common.controls.sensors.buttons","c":"AdvancedJoystickButtonTrigger.AdvancedJoystickButtonTriggerFactory","l":"AdvancedJoystickButtonTriggerFactory()","u":"%3Cinit%3E()"},{"p":"xbot.common.controls.sensors.buttons","c":"AdvancedPovButtonTrigger","l":"AdvancedPovButtonTrigger(XJoystick, 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PropertyFactory, DevicePolice)","u":"%3Cinit%3E(int,xbot.common.properties.PropertyFactory,xbot.common.injection.DevicePolice)"},{"p":"xbot.common.controls.actuators","c":"XCANVictorSPX","l":"XCANVictorSPX(int, PropertyFactory, DevicePolice)","u":"%3Cinit%3E(int,xbot.common.properties.PropertyFactory,xbot.common.injection.DevicePolice)"},{"p":"xbot.common.controls.actuators","c":"XCompressor","l":"XCompressor()","u":"%3Cinit%3E()"},{"p":"xbot.common.controls.sensors","c":"XDigitalInput","l":"XDigitalInput(DevicePolice, DeviceInfo, String)","u":"%3Cinit%3E(xbot.common.injection.DevicePolice,xbot.common.injection.electrical_contract.DeviceInfo,java.lang.String)"},{"p":"xbot.common.controls.io_inputs","c":"XDigitalInputs","l":"XDigitalInputs()","u":"%3Cinit%3E()"},{"p":"xbot.common.controls.actuators","c":"XDigitalOutput","l":"XDigitalOutput(int, DevicePolice)","u":"%3Cinit%3E(int,xbot.common.injection.DevicePolice)"},{"p":"xbot.common.controls.actuators","c":"XDoubleSolenoid","l":"XDoubleSolenoid(XSolenoid, XSolenoid)","u":"%3Cinit%3E(xbot.common.controls.actuators.XSolenoid,xbot.common.controls.actuators.XSolenoid)"},{"p":"xbot.common.controls.actuators","c":"XDoubleSolenoid.XDoubleSolenoidFactory","l":"XDoubleSolenoidFactory()","u":"%3Cinit%3E()"},{"p":"xbot.common.controls.sensors","c":"XDutyCycleEncoder","l":"XDutyCycleEncoder(DeviceInfo, DevicePolice)","u":"%3Cinit%3E(xbot.common.injection.electrical_contract.DeviceInfo,xbot.common.injection.DevicePolice)"},{"p":"xbot.common.controls.io_inputs","c":"XDutyCycleEncoderInputs","l":"XDutyCycleEncoderInputs()","u":"%3Cinit%3E()"},{"p":"xbot.common.controls.sensors","c":"XEncoder","l":"XEncoder(String, int, int, double, PropertyFactory, DevicePolice)","u":"%3Cinit%3E(java.lang.String,int,int,double,xbot.common.properties.PropertyFactory,xbot.common.injection.DevicePolice)"},{"p":"xbot.common.controls.sensors","c":"XEncoder","l":"XEncoder(String, PropertyFactory)","u":"%3Cinit%3E(java.lang.String,xbot.common.properties.PropertyFactory)"},{"p":"xbot.common.controls.sensors","c":"XEncoder","l":"XEncoder(Supplier<Double>)","u":"%3Cinit%3E(java.util.function.Supplier)"},{"p":"xbot.common.controls.sensors","c":"XFTCGamepad","l":"XFTCGamepad(int, AdvancedJoystickButtonTrigger.AdvancedJoystickButtonTriggerFactory, AdvancedPovButtonTrigger.AdvancedPovButtonTriggerFactory, AnalogHIDButtonTrigger.AnalogHIDButtonTriggerFactory, RobotAssertionManager, int, DevicePolice)","u":"%3Cinit%3E(int,xbot.common.controls.sensors.buttons.AdvancedJoystickButtonTrigger.AdvancedJoystickButtonTriggerFactory,xbot.common.controls.sensors.buttons.AdvancedPovButtonTrigger.AdvancedPovButtonTriggerFactory,xbot.common.controls.sensors.buttons.AnalogHIDButtonTrigger.AnalogHIDButtonTriggerFactory,xbot.common.logging.RobotAssertionManager,int,xbot.common.injection.DevicePolice)"},{"p":"xbot.common.controls.sensors","c":"XGyro","l":"XGyro(XGyro.ImuType)","u":"%3Cinit%3E(xbot.common.controls.sensors.XGyro.ImuType)"},{"p":"xbot.common.controls.sensors","c":"XGyro.XGyroFactory","l":"XGyroFactory()","u":"%3Cinit%3E()"},{"p":"xbot.common.controls.io_inputs","c":"XGyroIoInputs","l":"XGyroIoInputs()","u":"%3Cinit%3E()"},{"p":"xbot.common.controls.sensors","c":"XJoystick","l":"XJoystick(int, AdvancedJoystickButtonTrigger.AdvancedJoystickButtonTriggerFactory, AdvancedPovButtonTrigger.AdvancedPovButtonTriggerFactory, AnalogHIDButtonTrigger.AnalogHIDButtonTriggerFactory, RobotAssertionManager, int, DevicePolice)","u":"%3Cinit%3E(int,xbot.common.controls.sensors.buttons.AdvancedJoystickButtonTrigger.AdvancedJoystickButtonTriggerFactory,xbot.common.controls.sensors.buttons.AdvancedPovButtonTrigger.AdvancedPovButtonTriggerFactory,xbot.common.controls.sensors.buttons.AnalogHIDButtonTrigger.AnalogHIDButtonTriggerFactory,xbot.common.logging.RobotAssertionManager,int,xbot.common.injection.DevicePolice)"},{"p":"xbot.common.controls.sensors","c":"XLidarLite","l":"XLidarLite(I2C.Port, PropertyFactory, DevicePolice, String)","u":"%3Cinit%3E(edu.wpi.first.wpilibj.I2C.Port,xbot.common.properties.PropertyFactory,xbot.common.injection.DevicePolice,java.lang.String)"},{"p":"xbot.common.controls.sensors","c":"XPowerDistributionPanel","l":"XPowerDistributionPanel()","u":"%3Cinit%3E()"},{"p":"xbot.common.properties","c":"XPropertyManager","l":"XPropertyManager(PermanentStorage)","u":"%3Cinit%3E(xbot.common.properties.PermanentStorage)"},{"p":"xbot.common.controls.actuators","c":"XPWM","l":"XPWM(int, DevicePolice)","u":"%3Cinit%3E(int,xbot.common.injection.DevicePolice)"},{"p":"xbot.common.controls.actuators","c":"XRelay","l":"XRelay(int, DevicePolice)","u":"%3Cinit%3E(int,xbot.common.injection.DevicePolice)"},{"p":"xbot.common.command","c":"BaseRobot","l":"xScheduler"},{"p":"xbot.common.command","c":"XScheduler","l":"XScheduler()","u":"%3Cinit%3E()"},{"p":"xbot.common.controls.actuators","c":"XServo","l":"XServo(int, String, DevicePolice)","u":"%3Cinit%3E(int,java.lang.String,xbot.common.injection.DevicePolice)"},{"p":"xbot.common.controls.actuators","c":"XSolenoid","l":"XSolenoid(int, DevicePolice)","u":"%3Cinit%3E(int,xbot.common.injection.DevicePolice)"},{"p":"xbot.common.controls.sensors","c":"XSparkAbsoluteEncoder","l":"XSparkAbsoluteEncoder(String, boolean)","u":"%3Cinit%3E(java.lang.String,boolean)"},{"p":"xbot.common.controls.actuators","c":"XSpeedController","l":"XSpeedController(int, DevicePolice)","u":"%3Cinit%3E(int,xbot.common.injection.DevicePolice)"},{"p":"xbot.common.controls.sensors","c":"XTimer","l":"XTimer()","u":"%3Cinit%3E()"},{"p":"xbot.common.controls.sensors","c":"XXboxController","l":"XXboxController(int, AdvancedJoystickButtonTrigger.AdvancedJoystickButtonTriggerFactory, AdvancedPovButtonTrigger.AdvancedPovButtonTriggerFactory, AnalogHIDButtonTrigger.AnalogHIDButtonTriggerFactory, XRumbleManager.XRumbleManagerFactory, RobotAssertionManager, DevicePolice)","u":"%3Cinit%3E(int,xbot.common.controls.sensors.buttons.AdvancedJoystickButtonTrigger.AdvancedJoystickButtonTriggerFactory,xbot.common.controls.sensors.buttons.AdvancedPovButtonTrigger.AdvancedPovButtonTriggerFactory,xbot.common.controls.sensors.buttons.AnalogHIDButtonTrigger.AnalogHIDButtonTriggerFactory,xbot.common.subsystems.feedback.XRumbleManager.XRumbleManagerFactory,xbot.common.logging.RobotAssertionManager,xbot.common.injection.DevicePolice)"},{"p":"xbot.common.math","c":"XYPair","l":"XYPair()","u":"%3Cinit%3E()"},{"p":"xbot.common.math","c":"XYPair","l":"XYPair(double, double)","u":"%3Cinit%3E(double,double)"},{"p":"xbot.common.math","c":"XYPair","l":"XYPair(Rotation2d)","u":"%3Cinit%3E(edu.wpi.first.math.geometry.Rotation2d)"},{"p":"xbot.common.math","c":"XYPairStruct","l":"XYPairStruct()","u":"%3Cinit%3E()"},{"p":"xbot.common.math","c":"XYPair","l":"y"},{"p":"xbot.common.controls.sensors","c":"XXboxController.XboxButton","l":"Y"},{"p":"xbot.common.controls.io_inputs","c":"XGyroIoInputs","l":"yaw"},{"p":"xbot.common.controls.io_inputs","c":"XGyroIoInputs","l":"yawAngularVelocity"},{"p":"xbot.common.math","c":"XYPair","l":"ZERO"},{"p":"xbot.common.networking","c":"ZeromqListener","l":"ZeromqListener(String, String)","u":"%3Cinit%3E(java.lang.String,java.lang.String)"},{"p":"xbot.common.injection.components","c":"BaseComponent","l":"zeromqListenerFactory()"},{"p":"xbot.common.networking","c":"ZeromqListener.ZeromqListenerFactory","l":"ZeromqListenerFactory()","u":"%3Cinit%3E()"}];updateSearchResults();
\ No newline at end of file
diff --git a/overview-tree.html b/overview-tree.html
index 1eb32bd9d..d75608c7a 100644
--- a/overview-tree.html
+++ b/overview-tree.html
@@ -594,7 +594,7 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 </ul>
 </li>
 <li class="circle">xbot.common.command.<a href="xbot/common/command/XScheduler.html" class="type-name-link" title="class in xbot.common.command">XScheduler</a></li>
-<li class="circle">xbot.common.controls.actuators.<a href="xbot/common/controls/actuators/XServo.html" class="type-name-link" title="class in xbot.common.controls.actuators">XServo</a> (implements xbot.common.controls.<a href="xbot/common/controls/XBaseIO.html" title="interface in xbot.common.controls">XBaseIO</a>)
+<li class="circle">xbot.common.controls.actuators.<a href="xbot/common/controls/actuators/XServo.html" class="type-name-link" title="class in xbot.common.controls.actuators">XServo</a> (implements xbot.common.advantage.<a href="xbot/common/advantage/DataFrameRefreshable.html" title="interface in xbot.common.advantage">DataFrameRefreshable</a>, xbot.common.controls.<a href="xbot/common/controls/XBaseIO.html" title="interface in xbot.common.controls">XBaseIO</a>)
 <ul>
 <li class="circle">edu.wpi.first.wpilibj.<a href="edu/wpi/first/wpilibj/MockServo.html" class="type-name-link" title="class in edu.wpi.first.wpilibj">MockServo</a></li>
 <li class="circle">xbot.common.controls.actuators.wpi_adapters.<a href="xbot/common/controls/actuators/wpi_adapters/ServoWPIAdapter.html" class="type-name-link" title="class in xbot.common.controls.actuators.wpi_adapters">ServoWPIAdapter</a></li>
diff --git a/xbot/common/advantage/DataFrameRefreshable.html b/xbot/common/advantage/DataFrameRefreshable.html
index 5b2b1589b..190dc3c6f 100644
--- a/xbot/common/advantage/DataFrameRefreshable.html
+++ b/xbot/common/advantage/DataFrameRefreshable.html
@@ -75,7 +75,7 @@ <h1 title="Interface DataFrameRefreshable" class="title">Interface DataFrameRefr
 <section class="class-description" id="class-description">
 <dl class="notes">
 <dt>All Known Implementing Classes:</dt>
-<dd><code><a href="../subsystems/pose/BasePoseSubsystem.html" title="class in xbot.common.subsystems.pose">BasePoseSubsystem</a></code>, <code><a href="../subsystems/drive/BaseSwerveDriveSubsystem.html" title="class in xbot.common.subsystems.drive">BaseSwerveDriveSubsystem</a></code>, <code><a href="../properties/BooleanProperty.html" title="class in xbot.common.properties">BooleanProperty</a></code>, <code><a href="../properties/DoubleProperty.html" title="class in xbot.common.properties">DoubleProperty</a></code>, <code><a href="../subsystems/pose/MockBasePoseSubsystem.html" title="class in xbot.common.subsystems.pose">MockBasePoseSubsystem</a></code>, <code><a href="../properties/Property.html" title="class in xbot.common.properties">Property</a></code>, <code><a href="../properties/StringProperty.html" title="class in xbot.common.properties">StringProperty</a></code>, <code><a href="../properties/XPropertyManager.html" title="class in xbot.common.properties">XPropertyManager</a></code></dd>
+<dd><code><a href="../subsystems/pose/BasePoseSubsystem.html" title="class in xbot.common.subsystems.pose">BasePoseSubsystem</a></code>, <code><a href="../subsystems/drive/BaseSwerveDriveSubsystem.html" title="class in xbot.common.subsystems.drive">BaseSwerveDriveSubsystem</a></code>, <code><a href="../properties/BooleanProperty.html" title="class in xbot.common.properties">BooleanProperty</a></code>, <code><a href="../properties/DoubleProperty.html" title="class in xbot.common.properties">DoubleProperty</a></code>, <code><a href="../subsystems/pose/MockBasePoseSubsystem.html" title="class in xbot.common.subsystems.pose">MockBasePoseSubsystem</a></code>, <code><a href="../../../edu/wpi/first/wpilibj/MockServo.html" title="class in edu.wpi.first.wpilibj">MockServo</a></code>, <code><a href="../properties/Property.html" title="class in xbot.common.properties">Property</a></code>, <code><a href="../controls/actuators/wpi_adapters/ServoWPIAdapter.html" title="class in xbot.common.controls.actuators.wpi_adapters">ServoWPIAdapter</a></code>, <code><a href="../properties/StringProperty.html" title="class in xbot.common.properties">StringProperty</a></code>, <code><a href="../properties/XPropertyManager.html" title="class in xbot.common.properties">XPropertyManager</a></code>, <code><a href="../controls/actuators/XServo.html" title="class in xbot.common.controls.actuators">XServo</a></code></dd>
 </dl>
 <hr>
 <div class="type-signature"><span class="modifiers">public interface </span><span class="element-name type-name-label">DataFrameRefreshable</span></div>
diff --git a/xbot/common/controls/actuators/XServo.XServoFactory.html b/xbot/common/controls/actuators/XServo.XServoFactory.html
index 0ddf4de9f..9d664621d 100644
--- a/xbot/common/controls/actuators/XServo.XServoFactory.html
+++ b/xbot/common/controls/actuators/XServo.XServoFactory.html
@@ -91,15 +91,19 @@ <h1 title="Interface XServo.XServoFactory" class="title">Interface XServo.XServo
 <section class="method-summary" id="method-summary">
 <h2>Method Summary</h2>
 <div id="method-summary-table">
-<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab3" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab3', 3)" class="table-tab">Abstract Methods</button></div>
+<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab3" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab3', 3)" class="table-tab">Abstract Methods</button><button id="method-summary-table-tab5" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab5', 3)" class="table-tab">Default Methods</button></div>
 <div id="method-summary-table.tabpanel" role="tabpanel">
 <div class="summary-table three-column-summary" aria-labelledby="method-summary-table-tab0">
 <div class="table-header col-first">Modifier and Type</div>
 <div class="table-header col-second">Method</div>
 <div class="table-header col-last">Description</div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="XServo.html" title="class in xbot.common.controls.actuators">XServo</a></code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#create(int)" class="member-name-link">create</a><wbr>(int&nbsp;channel)</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">&nbsp;</div>
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab5"><code>default <a href="XServo.html" title="class in xbot.common.controls.actuators">XServo</a></code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab5"><code><a href="#create(int)" class="member-name-link">create</a><wbr>(int&nbsp;channel)</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab5">&nbsp;</div>
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="XServo.html" title="class in xbot.common.controls.actuators">XServo</a></code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#create(int,java.lang.String)" class="member-name-link">create</a><wbr>(int&nbsp;channel,
+ <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name)</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">&nbsp;</div>
 </div>
 </div>
 </div>
@@ -117,7 +121,14 @@ <h2>Method Details</h2>
 <li>
 <section class="detail" id="create(int)">
 <h3>create</h3>
-<div class="member-signature"><span class="return-type"><a href="XServo.html" title="class in xbot.common.controls.actuators">XServo</a></span>&nbsp;<span class="element-name">create</span><wbr><span class="parameters">(int&nbsp;channel)</span></div>
+<div class="member-signature"><span class="modifiers">default</span>&nbsp;<span class="return-type"><a href="XServo.html" title="class in xbot.common.controls.actuators">XServo</a></span>&nbsp;<span class="element-name">create</span><wbr><span class="parameters">(int&nbsp;channel)</span></div>
+</section>
+</li>
+<li>
+<section class="detail" id="create(int,java.lang.String)">
+<h3>create</h3>
+<div class="member-signature"><span class="return-type"><a href="XServo.html" title="class in xbot.common.controls.actuators">XServo</a></span>&nbsp;<span class="element-name">create</span><wbr><span class="parameters">(int&nbsp;channel,
+ <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name)</span></div>
 </section>
 </li>
 </ul>
diff --git a/xbot/common/controls/actuators/XServo.html b/xbot/common/controls/actuators/XServo.html
index c886b55dc..e66a28c14 100644
--- a/xbot/common/controls/actuators/XServo.html
+++ b/xbot/common/controls/actuators/XServo.html
@@ -78,7 +78,7 @@ <h1 title="Class XServo" class="title">Class XServo</h1>
 <section class="class-description" id="class-description">
 <dl class="notes">
 <dt>All Implemented Interfaces:</dt>
-<dd><code><a href="../XBaseIO.html" title="interface in xbot.common.controls">XBaseIO</a></code></dd>
+<dd><code><a href="../../advantage/DataFrameRefreshable.html" title="interface in xbot.common.advantage">DataFrameRefreshable</a></code>, <code><a href="../XBaseIO.html" title="interface in xbot.common.controls">XBaseIO</a></code></dd>
 </dl>
 <dl class="notes">
 <dt>Direct Known Subclasses:</dt>
@@ -87,7 +87,11 @@ <h1 title="Class XServo" class="title">Class XServo</h1>
 <hr>
 <div class="type-signature"><span class="modifiers">public abstract class </span><span class="element-name type-name-label">XServo</span>
 <span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a>
-implements <a href="../XBaseIO.html" title="interface in xbot.common.controls">XBaseIO</a></span></div>
+implements <a href="../XBaseIO.html" title="interface in xbot.common.controls">XBaseIO</a>, <a href="../../advantage/DataFrameRefreshable.html" title="interface in xbot.common.advantage">DataFrameRefreshable</a></span></div>
+<div class="block">A servo motor.
+ This class is abstract because the actual implementation of a servo motor
+ will depend on the hardware being used. For example, for a real implementation,
+ we have the ServoWPIAdapter class, and the Mock library has a MockServo class.</div>
 </section>
 <section class="summary">
 <ul class="summary-list">
@@ -118,6 +122,9 @@ <h2>Field Summary</h2>
 <div class="col-first even-row-color"><code>protected int</code></div>
 <div class="col-second even-row-color"><code><a href="#channel" class="member-name-link">channel</a></code></div>
 <div class="col-last even-row-color">&nbsp;</div>
+<div class="col-first odd-row-color"><code>protected <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></code></div>
+<div class="col-second odd-row-color"><code><a href="#name" class="member-name-link">name</a></code></div>
+<div class="col-last odd-row-color">&nbsp;</div>
 </div>
 </section>
 </li>
@@ -131,9 +138,12 @@ <h2>Constructor Summary</h2>
 <div class="table-header col-second">Constructor</div>
 <div class="table-header col-last">Description</div>
 <div class="col-first even-row-color"><code>protected </code></div>
-<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(int,xbot.common.injection.DevicePolice)" class="member-name-link">XServo</a><wbr>(int&nbsp;channel,
+<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(int,java.lang.String,xbot.common.injection.DevicePolice)" class="member-name-link">XServo</a><wbr>(int&nbsp;channel,
+ <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name,
  <a href="../../injection/DevicePolice.html" title="class in xbot.common.injection">DevicePolice</a>&nbsp;police)</code></div>
-<div class="col-last even-row-color">&nbsp;</div>
+<div class="col-last even-row-color">
+<div class="block">Create a new servo motor.</div>
+</div>
 </div>
 </section>
 </li>
@@ -148,12 +158,24 @@ <h2>Method Summary</h2>
 <div class="table-header col-first">Modifier and Type</div>
 <div class="table-header col-second">Method</div>
 <div class="table-header col-last">Description</div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>int</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getChannel()" class="member-name-link">getChannel</a>()</code></div>
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code>abstract double</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#get()" class="member-name-link">get</a>()</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">
+<div class="block">Get the current value of the servo.</div>
+</div>
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>int</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getChannel()" class="member-name-link">getChannel</a>()</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="block">Get the PWM channel that this servo is connected to.</div>
+</div>
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#refreshDataFrame()" class="member-name-link">refreshDataFrame</a>()</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
 <div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code>abstract void</code></div>
 <div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#set(double)" class="member-name-link">set</a><wbr>(double&nbsp;value)</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">&nbsp;</div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">
+<div class="block">Set the servo to a specific value.</div>
+</div>
 </div>
 </div>
 </div>
@@ -177,6 +199,12 @@ <h3>channel</h3>
 <div class="member-signature"><span class="modifiers">protected</span>&nbsp;<span class="return-type">int</span>&nbsp;<span class="element-name">channel</span></div>
 </section>
 </li>
+<li>
+<section class="detail" id="name">
+<h3>name</h3>
+<div class="member-signature"><span class="modifiers">protected</span>&nbsp;<span class="return-type"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></span>&nbsp;<span class="element-name">name</span></div>
+</section>
+</li>
 </ul>
 </section>
 </li>
@@ -186,10 +214,18 @@ <h3>channel</h3>
 <h2>Constructor Details</h2>
 <ul class="member-list">
 <li>
-<section class="detail" id="&lt;init&gt;(int,xbot.common.injection.DevicePolice)">
+<section class="detail" id="&lt;init&gt;(int,java.lang.String,xbot.common.injection.DevicePolice)">
 <h3>XServo</h3>
 <div class="member-signature"><span class="modifiers">protected</span>&nbsp;<span class="element-name">XServo</span><wbr><span class="parameters">(int&nbsp;channel,
+ <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name,
  <a href="../../injection/DevicePolice.html" title="class in xbot.common.injection">DevicePolice</a>&nbsp;police)</span></div>
+<div class="block">Create a new servo motor.</div>
+<dl class="notes">
+<dt>Parameters:</dt>
+<dd><code>channel</code> - The PWM channel that the servo is connected to.</dd>
+<dd><code>name</code> - The name of the servo for logging.</dd>
+<dd><code>police</code> - The device police to register the servo with.</dd>
+</dl>
 </section>
 </li>
 </ul>
@@ -204,9 +240,12 @@ <h2>Method Details</h2>
 <section class="detail" id="getChannel()">
 <h3>getChannel</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">int</span>&nbsp;<span class="element-name">getChannel</span>()</div>
+<div class="block">Get the PWM channel that this servo is connected to.</div>
 <dl class="notes">
 <dt>Specified by:</dt>
 <dd><code><a href="../XBaseIO.html#getChannel()">getChannel</a></code>&nbsp;in interface&nbsp;<code><a href="../XBaseIO.html" title="interface in xbot.common.controls">XBaseIO</a></code></dd>
+<dt>Returns:</dt>
+<dd>The PWM channel that this servo is connected to.</dd>
 </dl>
 </section>
 </li>
@@ -214,6 +253,32 @@ <h3>getChannel</h3>
 <section class="detail" id="set(double)">
 <h3>set</h3>
 <div class="member-signature"><span class="modifiers">public abstract</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">set</span><wbr><span class="parameters">(double&nbsp;value)</span></div>
+<div class="block">Set the servo to a specific value.</div>
+<dl class="notes">
+<dt>Parameters:</dt>
+<dd><code>value</code> - The value to set the servo to. This should be a value between 0 and 1.</dd>
+</dl>
+</section>
+</li>
+<li>
+<section class="detail" id="get()">
+<h3>get</h3>
+<div class="member-signature"><span class="modifiers">public abstract</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">get</span>()</div>
+<div class="block">Get the current value of the servo.</div>
+<dl class="notes">
+<dt>Returns:</dt>
+<dd>The current value of the servo, between 0 and 1.</dd>
+</dl>
+</section>
+</li>
+<li>
+<section class="detail" id="refreshDataFrame()">
+<h3>refreshDataFrame</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">refreshDataFrame</span>()</div>
+<dl class="notes">
+<dt>Specified by:</dt>
+<dd><code><a href="../../advantage/DataFrameRefreshable.html#refreshDataFrame()">refreshDataFrame</a></code>&nbsp;in interface&nbsp;<code><a href="../../advantage/DataFrameRefreshable.html" title="interface in xbot.common.advantage">DataFrameRefreshable</a></code></dd>
+</dl>
 </section>
 </li>
 </ul>
diff --git a/xbot/common/controls/actuators/package-summary.html b/xbot/common/controls/actuators/package-summary.html
index 211861701..121e7b6e1 100644
--- a/xbot/common/controls/actuators/package-summary.html
+++ b/xbot/common/controls/actuators/package-summary.html
@@ -143,7 +143,9 @@ <h1 title="Package xbot.common.controls.actuators" class="title">Package xbot.co
 <div class="col-first odd-row-color class-summary class-summary-tab1"><a href="XRelay.XRelayFactory.html" title="interface in xbot.common.controls.actuators">XRelay.XRelayFactory</a></div>
 <div class="col-last odd-row-color class-summary class-summary-tab1">&nbsp;</div>
 <div class="col-first even-row-color class-summary class-summary-tab2"><a href="XServo.html" title="class in xbot.common.controls.actuators">XServo</a></div>
-<div class="col-last even-row-color class-summary class-summary-tab2">&nbsp;</div>
+<div class="col-last even-row-color class-summary class-summary-tab2">
+<div class="block">A servo motor.</div>
+</div>
 <div class="col-first odd-row-color class-summary class-summary-tab1"><a href="XServo.XServoFactory.html" title="interface in xbot.common.controls.actuators">XServo.XServoFactory</a></div>
 <div class="col-last odd-row-color class-summary class-summary-tab1">&nbsp;</div>
 <div class="col-first even-row-color class-summary class-summary-tab2"><a href="XSolenoid.html" title="class in xbot.common.controls.actuators">XSolenoid</a></div>
diff --git a/xbot/common/controls/actuators/package-tree.html b/xbot/common/controls/actuators/package-tree.html
index b9f21a91f..74d64550c 100644
--- a/xbot/common/controls/actuators/package-tree.html
+++ b/xbot/common/controls/actuators/package-tree.html
@@ -78,7 +78,7 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 <li class="circle">xbot.common.controls.actuators.<a href="XDoubleSolenoid.XDoubleSolenoidFactory.html" class="type-name-link" title="class in xbot.common.controls.actuators">XDoubleSolenoid.XDoubleSolenoidFactory</a></li>
 <li class="circle">xbot.common.controls.actuators.<a href="XPWM.html" class="type-name-link" title="class in xbot.common.controls.actuators">XPWM</a> (implements xbot.common.controls.<a href="../XBaseIO.html" title="interface in xbot.common.controls">XBaseIO</a>)</li>
 <li class="circle">xbot.common.controls.actuators.<a href="XRelay.html" class="type-name-link" title="class in xbot.common.controls.actuators">XRelay</a></li>
-<li class="circle">xbot.common.controls.actuators.<a href="XServo.html" class="type-name-link" title="class in xbot.common.controls.actuators">XServo</a> (implements xbot.common.controls.<a href="../XBaseIO.html" title="interface in xbot.common.controls">XBaseIO</a>)</li>
+<li class="circle">xbot.common.controls.actuators.<a href="XServo.html" class="type-name-link" title="class in xbot.common.controls.actuators">XServo</a> (implements xbot.common.advantage.<a href="../../advantage/DataFrameRefreshable.html" title="interface in xbot.common.advantage">DataFrameRefreshable</a>, xbot.common.controls.<a href="../XBaseIO.html" title="interface in xbot.common.controls">XBaseIO</a>)</li>
 <li class="circle">xbot.common.controls.actuators.<a href="XSolenoid.html" class="type-name-link" title="class in xbot.common.controls.actuators">XSolenoid</a> (implements xbot.common.controls.<a href="../XBaseIO.html" title="interface in xbot.common.controls">XBaseIO</a>)</li>
 <li class="circle">xbot.common.controls.actuators.<a href="XSpeedController.html" class="type-name-link" title="class in xbot.common.controls.actuators">XSpeedController</a> (implements xbot.common.controls.<a href="../XBaseIO.html" title="interface in xbot.common.controls">XBaseIO</a>)</li>
 </ul>
diff --git a/xbot/common/controls/actuators/wpi_adapters/ServoWPIAdapter.ServoWPIAdapterFactory.html b/xbot/common/controls/actuators/wpi_adapters/ServoWPIAdapter.ServoWPIAdapterFactory.html
index 81a8a0816..0cb9982e9 100644
--- a/xbot/common/controls/actuators/wpi_adapters/ServoWPIAdapter.ServoWPIAdapterFactory.html
+++ b/xbot/common/controls/actuators/wpi_adapters/ServoWPIAdapter.ServoWPIAdapterFactory.html
@@ -117,7 +117,8 @@ <h2>Method Summary</h2>
 <div class="table-header col-second">Method</div>
 <div class="table-header col-last">Description</div>
 <div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code>abstract <a href="ServoWPIAdapter.html" title="class in xbot.common.controls.actuators.wpi_adapters">ServoWPIAdapter</a></code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#create(int)" class="member-name-link">create</a><wbr>(int&nbsp;channel)</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#create(int,java.lang.String)" class="member-name-link">create</a><wbr>(int&nbsp;channel,
+ <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name)</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">&nbsp;</div>
 </div>
 </div>
@@ -125,6 +126,9 @@ <h2>Method Summary</h2>
 <div class="inherited-list">
 <h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
 <code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
+<div class="inherited-list">
+<h3 id="methods-inherited-from-class-xbot.common.controls.actuators.XServo.XServoFactory">Methods inherited from interface&nbsp;xbot.common.controls.actuators.<a href="../XServo.XServoFactory.html" title="interface in xbot.common.controls.actuators">XServo.XServoFactory</a></h3>
+<code><a href="../XServo.XServoFactory.html#create(int)">create</a></code></div>
 </section>
 </li>
 </ul>
@@ -151,13 +155,15 @@ <h3>ServoWPIAdapterFactory</h3>
 <h2>Method Details</h2>
 <ul class="member-list">
 <li>
-<section class="detail" id="create(int)">
+<section class="detail" id="create(int,java.lang.String)">
 <h3>create</h3>
 <div class="member-signature"><span class="modifiers">public abstract</span>&nbsp;<span class="return-type"><a href="ServoWPIAdapter.html" title="class in xbot.common.controls.actuators.wpi_adapters">ServoWPIAdapter</a></span>&nbsp;<span class="element-name">create</span><wbr><span class="parameters">(@Assisted("channel")
- int&nbsp;channel)</span></div>
+ int&nbsp;channel,
+ @Assisted("name")
+ <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name)</span></div>
 <dl class="notes">
 <dt>Specified by:</dt>
-<dd><code><a href="../XServo.XServoFactory.html#create(int)">create</a></code>&nbsp;in interface&nbsp;<code><a href="../XServo.XServoFactory.html" title="interface in xbot.common.controls.actuators">XServo.XServoFactory</a></code></dd>
+<dd><code><a href="../XServo.XServoFactory.html#create(int,java.lang.String)">create</a></code>&nbsp;in interface&nbsp;<code><a href="../XServo.XServoFactory.html" title="interface in xbot.common.controls.actuators">XServo.XServoFactory</a></code></dd>
 </dl>
 </section>
 </li>
diff --git a/xbot/common/controls/actuators/wpi_adapters/ServoWPIAdapter.html b/xbot/common/controls/actuators/wpi_adapters/ServoWPIAdapter.html
index ce0791d6a..8e4dd2a3c 100644
--- a/xbot/common/controls/actuators/wpi_adapters/ServoWPIAdapter.html
+++ b/xbot/common/controls/actuators/wpi_adapters/ServoWPIAdapter.html
@@ -80,7 +80,7 @@ <h1 title="Class ServoWPIAdapter" class="title">Class ServoWPIAdapter</h1>
 <section class="class-description" id="class-description">
 <dl class="notes">
 <dt>All Implemented Interfaces:</dt>
-<dd><code><a href="../../XBaseIO.html" title="interface in xbot.common.controls">XBaseIO</a></code></dd>
+<dd><code><a href="../../../advantage/DataFrameRefreshable.html" title="interface in xbot.common.advantage">DataFrameRefreshable</a></code>, <code><a href="../../XBaseIO.html" title="interface in xbot.common.controls">XBaseIO</a></code></dd>
 </dl>
 <hr>
 <div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">ServoWPIAdapter</span>
@@ -112,7 +112,7 @@ <h2 id="nested-classes-inherited-from-class-xbot.common.controls.actuators.XServ
 <h2>Field Summary</h2>
 <div class="inherited-list">
 <h3 id="fields-inherited-from-class-xbot.common.controls.actuators.XServo">Fields inherited from class&nbsp;xbot.common.controls.actuators.<a href="../XServo.html" title="class in xbot.common.controls.actuators">XServo</a></h3>
-<code><a href="../XServo.html#channel">channel</a></code></div>
+<code><a href="../XServo.html#channel">channel</a>, <a href="../XServo.html#name">name</a></code></div>
 </section>
 </li>
 <!-- ======== CONSTRUCTOR SUMMARY ======== -->
@@ -123,7 +123,8 @@ <h2>Constructor Summary</h2>
 <div class="summary-table two-column-summary">
 <div class="table-header col-first">Constructor</div>
 <div class="table-header col-last">Description</div>
-<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(int,xbot.common.injection.DevicePolice)" class="member-name-link">ServoWPIAdapter</a><wbr>(int&nbsp;channel,
+<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(int,java.lang.String,xbot.common.injection.DevicePolice)" class="member-name-link">ServoWPIAdapter</a><wbr>(int&nbsp;channel,
+ <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name,
  <a href="../../../injection/DevicePolice.html" title="class in xbot.common.injection">DevicePolice</a>&nbsp;police)</code></div>
 <div class="col-last even-row-color">&nbsp;</div>
 </div>
@@ -140,15 +141,22 @@ <h2>Method Summary</h2>
 <div class="table-header col-first">Modifier and Type</div>
 <div class="table-header col-second">Method</div>
 <div class="table-header col-last">Description</div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#set(double)" class="member-name-link">set</a><wbr>(double&nbsp;value)</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#get()" class="member-name-link">get</a>()</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="block">Get the current value of the servo.</div>
+</div>
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#set(double)" class="member-name-link">set</a><wbr>(double&nbsp;value)</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="block">Set the servo to a specific value.</div>
+</div>
 </div>
 </div>
 </div>
 <div class="inherited-list">
 <h3 id="methods-inherited-from-class-xbot.common.controls.actuators.XServo">Methods inherited from class&nbsp;xbot.common.controls.actuators.<a href="../XServo.html" title="class in xbot.common.controls.actuators">XServo</a></h3>
-<code><a href="../XServo.html#getChannel()">getChannel</a></code></div>
+<code><a href="../XServo.html#getChannel()">getChannel</a>, <a href="../XServo.html#refreshDataFrame()">refreshDataFrame</a></code></div>
 <div class="inherited-list">
 <h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
 <code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
@@ -164,11 +172,13 @@ <h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from cl
 <h2>Constructor Details</h2>
 <ul class="member-list">
 <li>
-<section class="detail" id="&lt;init&gt;(int,xbot.common.injection.DevicePolice)">
+<section class="detail" id="&lt;init&gt;(int,java.lang.String,xbot.common.injection.DevicePolice)">
 <h3>ServoWPIAdapter</h3>
 <div class="member-signature"><span class="annotations">@AssistedInject
 </span><span class="modifiers">public</span>&nbsp;<span class="element-name">ServoWPIAdapter</span><wbr><span class="parameters">(@Assisted("channel")
  int&nbsp;channel,
+ @Assisted("name")
+ <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name,
  <a href="../../../injection/DevicePolice.html" title="class in xbot.common.injection">DevicePolice</a>&nbsp;police)</span></div>
 </section>
 </li>
@@ -184,9 +194,27 @@ <h2>Method Details</h2>
 <section class="detail" id="set(double)">
 <h3>set</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">set</span><wbr><span class="parameters">(double&nbsp;value)</span></div>
+<div class="block"><span class="descfrm-type-label">Description copied from class:&nbsp;<code><a href="../XServo.html#set(double)">XServo</a></code></span></div>
+<div class="block">Set the servo to a specific value.</div>
 <dl class="notes">
 <dt>Specified by:</dt>
 <dd><code><a href="../XServo.html#set(double)">set</a></code>&nbsp;in class&nbsp;<code><a href="../XServo.html" title="class in xbot.common.controls.actuators">XServo</a></code></dd>
+<dt>Parameters:</dt>
+<dd><code>value</code> - The value to set the servo to. This should be a value between 0 and 1.</dd>
+</dl>
+</section>
+</li>
+<li>
+<section class="detail" id="get()">
+<h3>get</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">get</span>()</div>
+<div class="block"><span class="descfrm-type-label">Description copied from class:&nbsp;<code><a href="../XServo.html#get()">XServo</a></code></span></div>
+<div class="block">Get the current value of the servo.</div>
+<dl class="notes">
+<dt>Specified by:</dt>
+<dd><code><a href="../XServo.html#get()">get</a></code>&nbsp;in class&nbsp;<code><a href="../XServo.html" title="class in xbot.common.controls.actuators">XServo</a></code></dd>
+<dt>Returns:</dt>
+<dd>The current value of the servo, between 0 and 1.</dd>
 </dl>
 </section>
 </li>
diff --git a/xbot/common/controls/actuators/wpi_adapters/package-tree.html b/xbot/common/controls/actuators/wpi_adapters/package-tree.html
index 93c4ef921..5b8273e53 100644
--- a/xbot/common/controls/actuators/wpi_adapters/package-tree.html
+++ b/xbot/common/controls/actuators/wpi_adapters/package-tree.html
@@ -110,7 +110,7 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 <li class="circle">xbot.common.controls.actuators.wpi_adapters.<a href="RelayWPIAdapter.html" class="type-name-link" title="class in xbot.common.controls.actuators.wpi_adapters">RelayWPIAdapter</a></li>
 </ul>
 </li>
-<li class="circle">xbot.common.controls.actuators.<a href="../XServo.html" class="type-name-link" title="class in xbot.common.controls.actuators">XServo</a> (implements xbot.common.controls.<a href="../../XBaseIO.html" title="interface in xbot.common.controls">XBaseIO</a>)
+<li class="circle">xbot.common.controls.actuators.<a href="../XServo.html" class="type-name-link" title="class in xbot.common.controls.actuators">XServo</a> (implements xbot.common.advantage.<a href="../../../advantage/DataFrameRefreshable.html" title="interface in xbot.common.advantage">DataFrameRefreshable</a>, xbot.common.controls.<a href="../../XBaseIO.html" title="interface in xbot.common.controls">XBaseIO</a>)
 <ul>
 <li class="circle">xbot.common.controls.actuators.wpi_adapters.<a href="ServoWPIAdapter.html" class="type-name-link" title="class in xbot.common.controls.actuators.wpi_adapters">ServoWPIAdapter</a></li>
 </ul>