diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/AlertManagementSystem.java b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/AlertManagementSystem.java
new file mode 100644
index 0000000..78f7c94
--- /dev/null
+++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/AlertManagementSystem.java
@@ -0,0 +1,91 @@
+package dev.cyberarm.minibots.red_crab;
+
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+
+import java.util.Collections;
+import java.util.Comparator;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.CopyOnWriteArrayList;
+
+public class AlertManagementSystem {
+    private CopyOnWriteArrayList<Alert> alerts = new CopyOnWriteArrayList<>();
+
+    public enum Priority {
+        CRITICAL, // Something is on "fire"
+        WARNING, // Something is soon to be on "fire"
+        ALERT, // Something isn't quite right
+        NOTICE // Informational message
+    }
+
+    public  AlertManagementSystem() {
+    }
+
+    public void report(Telemetry telemetry) {
+        if (alerts.size() == 0) {
+            // Pad a few lines so telemetry doesn't jump about (as much)
+            telemetry.addLine();
+            telemetry.addLine();
+            telemetry.addLine();
+            return;
+        }
+
+        telemetry.addLine("------ ALERT MANAGEMENT SYSTEM ------");
+        alerts.stream().sorted(Comparator.comparing(Alert::getPriority)).filter(Alert::valid).forEach(
+                alert -> telemetry.addData("", "    %s: %s", alert.priority.name(), alert.message));
+        telemetry.addLine("-------------------------------------------------------------"); // Gotta love non-monospace fonts, eh?
+
+        alerts.stream().filter(Alert::expired).forEach(alert -> alerts.remove(alert));
+    }
+
+    public void addCritical(String category, String message) {
+        alerts.add(
+                new Alert(Priority.CRITICAL, category, message)
+        );
+    }
+
+    public void addWarning(String category, String message) {
+        alerts.add(
+                new Alert(Priority.WARNING, category, message)
+        );
+    }
+
+    public void addAlert(String category, String message) {
+        alerts.add(
+                new Alert(Priority.ALERT, category, message)
+        );
+    }
+
+    public void addNotice(String category, String message) {
+        alerts.add(
+                new Alert(Priority.NOTICE, category, message)
+        );
+    }
+
+    public class Alert {
+        private final Priority priority;
+        private final String category;
+        private final String message;
+        private final long timeToLive;
+        private final long bornAt;
+        private Alert(Priority priority, String category, String message) {
+            this.priority = priority;
+            this.category = category;
+            this.message = message;
+
+            this.bornAt = System.currentTimeMillis();
+            this.timeToLive = 5_000;
+        }
+
+        private int getPriority() {
+            return priority.ordinal();
+        }
+
+        private boolean expired() {
+            return System.currentTimeMillis() - bornAt >= timeToLive;
+        }
+
+        private boolean valid() {
+            return !expired();
+        }
+    }
+}
diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/Localizer.java b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/Localizer.java
index e213c40..589e6e0 100644
--- a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/Localizer.java
+++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/Localizer.java
@@ -1,5 +1,7 @@
 package dev.cyberarm.minibots.red_crab;
 
+import com.arcrobotics.ftclib.kinematics.HolonomicOdometry;
+
 import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 import org.slf4j.helpers.Util;
@@ -9,7 +11,7 @@ import dev.cyberarm.engine.V2.Utilities;
 public class Localizer {
     private final RedCrabMinibot robot;
     private double rawX = 0, rawY = 0, rawR = 0;
-    private double trackWidthMM = 365.0, forwardOffsetMM = -140.0, wheelDiameterMM = 90.0;
+    private double trackWidthMM = 365.0, forwardOffsetMM = 140.0, wheelDiameterMM = 90.0;
     private int lastEncoderXLeft = 0, lastEncoderXRight = 0, lastEncoderYCenter = 0;
 
     public Localizer(RedCrabMinibot robot) {
@@ -45,8 +47,6 @@ public class Localizer {
         int rightEncoder = robot.deadWheelXRight.getCurrentPosition();
         int centerEncoder = robot.deadWheelYCenter.getCurrentPosition();
 
-        double heading = robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS);
-
         int deltaLeft = leftEncoder - lastEncoderXLeft;
         int deltaRight = rightEncoder - lastEncoderXRight;
         int deltaCenter = centerEncoder - lastEncoderYCenter;
@@ -55,6 +55,7 @@ public class Localizer {
         double deltaMiddle = (deltaLeft + deltaRight) / 2.0;
         double deltaPerp = deltaCenter - forwardOffsetMM * phi;
 
+        double heading = rawR + phi;
         double deltaX = deltaMiddle * Math.cos(heading) - deltaPerp * Math.sin(heading);
         double deltaY = deltaMiddle * Math.sin(heading) + deltaPerp * Math.cos(heading);
 
diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java
index c13443c..18fef77 100644
--- a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java
+++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java
@@ -113,8 +113,12 @@ public class RedCrabMinibot {
     /// Doohickey
     public VisionPortal visionPortal = null;
 
+    /* --- Localizer / Odometry --- */
     public static Localizer localizer;
 
+    /// Alert Management System ///
+    public AlertManagementSystem ams = new AlertManagementSystem();
+
     public RedCrabMinibot(boolean autonomous) {
         engine = CyberarmEngine.instance;
 
@@ -242,6 +246,13 @@ public class RedCrabMinibot {
         deadWheelXRight.setDirection(DcMotorSimple.Direction.FORWARD);
 //        deadWheelYCenter.setDirection(DcMotorSimple.Direction.FORWARD);
 
+        deadWheelXLeft.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        deadWheelXRight.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        deadWheelYCenter.reset();
+
+        deadWheelXLeft.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+        deadWheelXRight.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+
         // Bulk read from hubs
         Utilities.hubsBulkReadMode(engine.hardwareMap, LynxModule.BulkCachingMode.MANUAL);
 
@@ -312,6 +323,8 @@ public class RedCrabMinibot {
     public void standardTelemetry() {
         engine.telemetry.addLine();
 
+        this.ams.report(engine.telemetry);
+
         if (RedCrabMinibot.localizer != null) {
             engine.telemetry.addLine("Localizer");
             engine.telemetry.addData("X (MM)", "%.2fmm", RedCrabMinibot.localizer.xMM());
@@ -457,6 +470,7 @@ public class RedCrabMinibot {
             if (milliseconds - lastClawArmOverCurrentAnnounced >= CLAW_ARM_WARN_OVERCURRENT_AFTER_MS) {
                 lastClawArmOverCurrentAnnounced = System.currentTimeMillis();
 
+                this.ams.addWarning("CLAW ARM", String.format("Claw Arm Over Current (%.0f mAmp)", clawArm.getCurrent(CurrentUnit.MILLIAMPS)));
                 engine.telemetry.speak("WARNING. ARM. OVER. CURRENT.");
             }
         } else {
diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/cyberarm_RedCrab.json b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/cyberarm_RedCrab.json
index 85ff77e..bb7498a 100644
--- a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/cyberarm_RedCrab.json
+++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/cyberarm_RedCrab.json
@@ -1 +1 @@
-{"config":{"created_at":"2023-12-11 09:31:55 -0600","updated_at":"2024-01-20 12:32:31 -0600","spec_version":2,"revision":1085},"data":{"groups":[{"name":"Autonomous_BLUE_Audience","actions":[{"name":"00-00","comment":"@ClawArmMove - Move claw arm up high","enabled":true,"variables":[{"name":"angle","value":"Dx130.0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix2500"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"00-01","comment":"@ServoMove - Move wrist to position camera","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1"},{"name":"position","value":"Dx0.74"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix1000"}]},{"name":"01-00","comment":"@PathSelector - Pick path; default Center","enabled":true,"variables":[{"name":"minConfidence","value":"Dx18.0"},{"name":"path","value":"Ix1"},{"name":"timeoutMS","value":"Ix500"}]},{"name":"02-00","comment":"@Move - Move forward","enabled":true,"variables":[{"name":"distanceMM","value":"Dx415"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"02-01","comment":"@ClawArmMove - Move claw arm down","enabled":true,"variables":[{"name":"angle","value":"Dx220"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix10"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"02-02","comment":"@ServoMove - Move wrist servo","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx10"},{"name":"position","value":"Dx0.51"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix10"}]},{"name":"04-00","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"05-00","comment":"@PathEnactor - Enact path; paths must return to \"origin\" when done","enabled":true,"variables":[{"name":"forcePath","value":"Ix-1"}]},{"name":"06-00","comment":"@ClawArmMove - Move claw arm to stow position","enabled":true,"variables":[{"name":"angle","value":"Dx0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix1"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"06-01","comment":"@ServoMove - Move wrist to stow position","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.74"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix1"}]},{"name":"07-00","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"08-00","comment":"@Move - Move back","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-207"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"09-00","comment":"@Rotate - Rotate to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"10-00","comment":"@Move - Strafe to right","enabled":true,"variables":[{"name":"distanceMM","value":"Dx610"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxtrue"},{"name":"timeoutMS","value":"Ix3000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"11-00","comment":"@Rotate - Rotate to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"12-00","comment":"@Move - Move forward unto Dawn","enabled":true,"variables":[{"name":"distanceMM","value":"Dx1043"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx900"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix8000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"13-00","comment":"@Rotate - Rotate to 270d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx270"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"14-00","comment":"@Move - Move forward to backstage","enabled":true,"variables":[{"name":"distanceMM","value":"Dx2844"},{"name":"lerpMM_DOWN","value":"Dx500"},{"name":"lerpMM_UP","value":"Dx500"},{"name":"maxVelocityMM","value":"Dx1220"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix8000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"15-00","comment":"@ClawArmMove - Move claw arm down","enabled":true,"variables":[{"name":"angle","value":"Dx180"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"16-00","comment":"@ServoMove - Open left claw","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.5"},{"name":"servoName","value":"SxleftClaw"},{"name":"timeoutMS","value":"Ix250"}]},{"name":"17-00","comment":"@ClawArmMove - Move claw arm to stow","enabled":true,"variables":[{"name":"angle","value":"Dx0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix2500"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"17-01","comment":"@ServoMove - close left claw","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.2"},{"name":"servoName","value":"SxleftClaw"},{"name":"timeoutMS","value":"Ix250"}]}]},{"name":"Autonomous_RED_Audience","actions":[{"name":"00-00","comment":"@ClawArmMove - Move claw arm up high","enabled":true,"variables":[{"name":"angle","value":"Dx130.0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix2500"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"00-01","comment":"@ServoMove - Move wrist to position camera","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1"},{"name":"position","value":"Dx0.74"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix1000"}]},{"name":"01-00","comment":"@PathSelector - Pick path; default Center","enabled":true,"variables":[{"name":"minConfidence","value":"Dx18.0"},{"name":"path","value":"Ix1"},{"name":"timeoutMS","value":"Ix500"}]},{"name":"02-00","comment":"@Move - Move forward","enabled":true,"variables":[{"name":"distanceMM","value":"Dx415"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"02-01","comment":"@ClawArmMove - Move claw arm down","enabled":true,"variables":[{"name":"angle","value":"Dx220"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix10"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"02-02","comment":"@ServoMove - Move wrist servo","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx10"},{"name":"position","value":"Dx0.51"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix10"}]},{"name":"04-00","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"05-00","comment":"@PathEnactor - Enact path; paths must return to \"origin\" when done","enabled":true,"variables":[{"name":"forcePath","value":"Ix-1"}]},{"name":"06-00","comment":"@ClawArmMove - Move claw arm to stow position","enabled":true,"variables":[{"name":"angle","value":"Dx0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix1"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"06-01","comment":"@ServoMove - Move wrist to stow position","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.74"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix1"}]},{"name":"07-00","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"08-00","comment":"@Move - Move back","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-207"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"09-00","comment":"@Rotate - Rotate to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"10-00","comment":"@Move - Strafe to left","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-610"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxtrue"},{"name":"timeoutMS","value":"Ix3000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"11-00","comment":"@Rotate - Rotate to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"12-00","comment":"@Move - Move forward unto Dawn","enabled":true,"variables":[{"name":"distanceMM","value":"Dx1043"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx900"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix8000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"13-00","comment":"@Rotate - Rotate to 90d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx90"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"14-00","comment":"@Move - Move forward to backstage","enabled":true,"variables":[{"name":"distanceMM","value":"Dx2844"},{"name":"lerpMM_DOWN","value":"Dx500"},{"name":"lerpMM_UP","value":"Dx500"},{"name":"maxVelocityMM","value":"Dx1220"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix8000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"15-00","comment":"@ClawArmMove - Move claw arm down","enabled":true,"variables":[{"name":"angle","value":"Dx180"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"16-00","comment":"@ServoMove - Open left claw","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.5"},{"name":"servoName","value":"SxleftClaw"},{"name":"timeoutMS","value":"Ix250"}]},{"name":"17-00","comment":"@ClawArmMove - Move claw arm to stow","enabled":true,"variables":[{"name":"angle","value":"Dx0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix2500"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"17-01","comment":"@ServoMove - close left claw","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.2"},{"name":"servoName","value":"SxleftClaw"},{"name":"timeoutMS","value":"Ix250"}]}]},{"name":"Autonomous_RED_Backstage","actions":[{"name":"00-00","comment":"@ClawArmMove - 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Drop pixel","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.5"},{"name":"servoName","value":"SxrightClaw"},{"name":"timeoutMS","value":"Ix500"}]},{"name":"03-00","comment":"@ServoMove - Close claw","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.72"},{"name":"servoName","value":"SxrightClaw"},{"name":"timeoutMS","value":"Ix100"}]},{"name":"04-00","comment":"@Move - Move back a bit","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-50"},{"name":"lerpMM_DOWN","value":"Dx25"},{"name":"lerpMM_UP","value":"Dx2"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"05-00","comment":"@Rotate - Rotate robot to 0d","enabled":false,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]}]},{"name":"Robot","actions":[{"name":"Claw_Tuning","comment":"Claws","enabled":true,"variables":[{"name":"claw_left_closed_position","value":"Dx0.2"},{"name":"claw_left_open_position","value":"Dx0.5"},{"name":"claw_right_closed_position","value":"Dx0.78"},{"name":"claw_right_open_position","value":"Dx0.5"}]},{"name":"ClawArm_Tuning","comment":"Claw Arm","enabled":true,"variables":[{"name":"collect_angle","value":"Dx235"},{"name":"collect_float_angle","value":"Dx230"},{"name":"deposit_angle","value":"Dx165.0"},{"name":"gear_ratio","value":"Dx1"},{"name":"kD","value":"Dx1"},{"name":"kF","value":"Dx0.0"},{"name":"kI","value":"Dx1.5"},{"name":"kP","value":"Dx6"},{"name":"KPosP","value":"Dx1"},{"name":"max_current_milliamps","value":"Dx1588.0"},{"name":"max_speed","value":"Dx0.5"},{"name":"max_velocityDEGREES","value":"Dx60"},{"name":"motor_ticks","value":"Ix8192"},{"name":"stow_angle","value":"Dx0"},{"name":"tolerance","value":"Ix288"},{"name":"warn_overcurrent_after_ms","value":"Lx5000"}]},{"name":"ClawWrist_Tuning","comment":"Claw Wrist","enabled":true,"variables":[{"name":"collect_float_position","value":"Dx0.51"},{"name":"collect_position","value":"Dx0.515"},{"name":"deposit_position","value":"Dx0.508"},{"name":"stow_position","value":"Dx0.74"}]},{"name":"Drivetrain_Tuning","comment":"Drivetrain","enabled":true,"variables":[{"name":"gear_ratio","value":"Dx13.0321"},{"name":"max_speed","value":"Dx0.5"},{"name":"motor_ticks","value":"Ix28"},{"name":"velocity_max_in_mm","value":"Dx610"},{"name":"velocity_slow_in_mm","value":"Dx250"},{"name":"wheel_diameter_mm","value":"Dx90"}]},{"name":"DroneLauncher_Tuning","comment":"Drone Launcher","enabled":true,"variables":[{"name":"initial_position","value":"Dx0.5"},{"name":"launch_confirmation_time_ms","value":"Ix1000"},{"name":"launch_position","value":"Dx0"}]},{"name":"HookArm_Tuning","comment":"Hook Arm","enabled":true,"variables":[{"name":"stow_position","value":"Dx0.35"},{"name":"up_position","value":"Dx0.8"}]},{"name":"Winch_Tuning","comment":"Winch","enabled":true,"variables":[{"name":"max_speed","value":"Dx1.0"}]}]},{"name":"zAutonomous_BLUE_Audience","actions":[]},{"name":"zAutonomous_BLUE_Backstage","actions":[]}],"presets":{"groups":[],"actions":[{"name":"ClawArmMove","comment":"@ClawArmMove - Move claw arm","enabled":true,"variables":[{"name":"angle","value":"Dx0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix1000"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"Move","comment":"@Move - Move ta wheels matey!","enabled":true,"variables":[{"name":"distanceMM","value":"Dx300"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"PathEnactor","comment":"@PathEnactor - Enact path","enabled":true,"variables":[]},{"name":"PathSelector","comment":"@PathSelector - Pick path","enabled":true,"variables":[{"name":"fallbackPath","value":"Ix0"},{"name":"minConfidence","value":"Dx0.7"},{"name":"timeoutMS","value":"Ix2000"}]},{"name":"Rotate","comment":"@Rotate - Rotate robot to face degree heading","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"ServoMove","comment":"@ServoMove - Move servo to position","enabled":true,"variables":[{"name":"lerp","value":"Bxtrue"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.5"},{"name":"servoName","value":"SxleftClaw"},{"name":"timeoutMS","value":"Ix2000"}]}]}}}
\ No newline at end of file
diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/Pilot.java b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/Pilot.java
index 172da1d..252af20 100644
--- a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/Pilot.java
+++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/Pilot.java
@@ -20,6 +20,10 @@ public class Pilot extends CyberarmState {
     private boolean droneLaunchAuthorized = false;
     private boolean droneLaunchRequested = false;
     private double droneLastLaunchRequestStartMS = 0;
+    private double odometryResetRequestStartMS = 0;
+    private boolean odometryResetRequested = false;
+    private boolean odometryResetRequestLeftStick = false;
+    private boolean odometryResetRequestRightStick = false;
     private boolean robotSlowMode = false;
     private boolean triggersControlClawArm = false;
     private double deltaTime = 0;
@@ -40,6 +44,7 @@ public class Pilot extends CyberarmState {
         droneLatchController();
         hookArmController(); // disabled for swrist debug
         winchController();
+        odometryDebugController();
 
         lastLoopTimeMS = runTime();
     }
@@ -60,6 +65,8 @@ public class Pilot extends CyberarmState {
                     break;
                 case "guide":
                     robot.imu.resetYaw();
+                    robot.ams.addNotice("IMU", "IMU RESET");
+                    engine.telemetry.speak("IMU. RESET.");
                     break;
                 case "left_bumper":
                     leftClawOpen = !leftClawOpen;
@@ -85,14 +92,22 @@ public class Pilot extends CyberarmState {
 
                     if (triggersControlClawArm)
                     {
-                        engine.telemetry.speak("Claw Arm Manual");
+                        robot.ams.addNotice("CLAW ARM", "Claw Arm Manual");
+                        engine.telemetry.speak("Claw. Arm. Manual.");
                     } else {
-                        engine.telemetry.speak("Winch Manual");
+                        robot.ams.addNotice("WINCH", "Winch Manual");
+                        engine.telemetry.speak("Winch. Manual.");
                     }
                     break;
                 case "start":
                     robot.reloadConfig();
                     break;
+                case "left_stick_button":
+                    odometryResetRequestLeftStick = true;
+                    break;
+                case "right_stick_button":
+                    odometryResetRequestRightStick = true;
+                    break;
             }
         }
     }
@@ -105,6 +120,12 @@ public class Pilot extends CyberarmState {
                     droneLaunchRequested = false;
                     droneLastLaunchRequestStartMS = runTime();
                     break;
+                case "left_stick_button":
+                    odometryResetRequestLeftStick = false;
+                    break;
+                case "right_stick_button":
+                    odometryResetRequestRightStick = false;
+                    break;
             }
         }
     }
@@ -224,6 +245,13 @@ public class Pilot extends CyberarmState {
         if (droneLaunchAuthorized) {
             robot.droneLatch.setPosition(RedCrabMinibot.DRONE_LATCH_LAUNCH_POSITION);
         }
+
+        // Auto reset drone latch after DRONE_LAUNCH_CONFIRMATION_TIME_MS + 1 second
+        if (!droneLaunchRequested && runTime() - droneLastLaunchRequestStartMS >= RedCrabMinibot.DRONE_LAUNCH_CONFIRMATION_TIME_MS + 1_000) {
+            droneLaunchAuthorized = false;
+
+            robot.droneLatch.setPosition(RedCrabMinibot.DRONE_LATCH_INITIAL_POSITION);
+        }
     }
 
     private void hookArmController() {
@@ -249,4 +277,22 @@ public class Pilot extends CyberarmState {
             robot.winch.setPower(RedCrabMinibot.WINCH_MAX_SPEED);
         }
     }
+
+    private void odometryDebugController() {
+        if (odometryResetRequestLeftStick && odometryResetRequestRightStick) {
+            if (!odometryResetRequested) {
+                odometryResetRequested = true;
+                odometryResetRequestStartMS = runTime();
+            } else if (runTime() - odometryResetRequestStartMS >= 1_000) {
+                RedCrabMinibot.localizer.reset();
+                odometryResetRequestStartMS = runTime();
+                odometryResetRequested = false;
+                robot.ams.addNotice("ODOMETRY", "Odometry Reset");
+                engine.telemetry.speak("ODOMETRY. RESET.");
+            }
+        } else {
+            odometryResetRequested = false;
+            odometryResetRequestStartMS = runTime();
+        }
+    }
 }