diff --git a/.gitattributes b/.gitattributes
index dfe0770..91d8fa2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -1,2 +1,8 @@
-# Auto detect text files and perform LF normalization
-* text=auto
+*.gradle text eol=lf
+*.java text eol=lf
+*.md text eol=lf
+*.xml text eol=lf
+*.fxml text eol=lf
+*.yml text eol=lf
+*.yaml text eol=lf
+*.json text eol=lf
\ No newline at end of file
diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json
index 51c0b5e..c4020e2 100644
--- a/.wpilib/wpilib_preferences.json
+++ b/.wpilib/wpilib_preferences.json
@@ -2,5 +2,5 @@
     "enableCppIntellisense": false,
     "currentLanguage": "java",
     "projectYear": "2023",
-    "teamNumber": 9999
-}
\ No newline at end of file
+    "teamNumber": 3504
+}
diff --git a/build.gradle b/build.gradle
index 670c473..f85e2ee 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,7 +1,7 @@
 plugins {
     id "java"
+    id "com.diffplug.spotless" version "6.12.0" apply false
     id "edu.wpi.first.GradleRIO" version "2023.4.3"
-    id 'com.diffplug.spotless' version '6.12.0' apply false
 }
 
 sourceCompatibility = JavaVersion.VERSION_11
diff --git a/gradlew b/gradlew
old mode 100644
new mode 100755
diff --git a/styleguide/checkstyle.xml b/styleguide/checkstyle.xml
index b6983ec..9e5a890 100644
--- a/styleguide/checkstyle.xml
+++ b/styleguide/checkstyle.xml
@@ -8,12 +8,21 @@
     <property name="charset" value="UTF-8" />
     <property name="severity" value="error" />
     <property name="fileExtensions" value="java, properties, xml" />
+    <module name="SuppressionFilter">
+        <property name="file"
+            value="${config_loc}/checkstyle_suppressions.xml" />
+    </module>
     <module name="FileTabCharacter">
         <property name="eachLine" value="true" />
     </module>
     <module name="NewlineAtEndOfFile">
         <property name="lineSeparator" value="lf_cr_crlf" />
     </module>
+    <!-- <module name="LineLength"> -->
+    <!-- <property name="fileExtensions" value="java"/> -->
+    <!-- <property name="max" value="200"/> -->
+    <!-- <property name="ignorePattern" value="^package.*|^import.*|a href|href|http://|https://|ftp://"/> -->
+    <!-- </module> -->
     <module name="TreeWalker">
         <module name="SuppressWarningsHolder" />
         <module name="OuterTypeFilename" />
diff --git a/styleguide/checkstyle_suppressions.xml b/styleguide/checkstyle_suppressions.xml
new file mode 100644
index 0000000..edaa1b2
--- /dev/null
+++ b/styleguide/checkstyle_suppressions.xml
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+
+<!DOCTYPE suppressions PUBLIC
+        "-//Puppy Crawl//DTD Suppressions 1.1//EN"
+        "http://www.puppycrawl.com/dtds/suppressions_1_1.dtd">
+<suppressions>
+    <suppress files="Pipeline.java" checks="[a-zA-Z0-9]*" />
+    <suppress files="PipelineListener.java" checks="[a-zA-Z0-9]*" />
+    <suppress files="GripPipeline.java" checks="[a-zA-Z0-9]*" />
+    <suppress files="GripPipelineListener.java"
+        checks="[a-zA-Z0-9]*" />
+    <suppress files="[\\/]edu[\\/]wpi[\\/]" checks="." />
+    <suppress files="[\\/]com[\\/]gos[\\/]chargedup[\\/]temp[\\/]" checks="." />
+</suppressions>
diff --git a/styleguide/pmd-ruleset.xml b/styleguide/pmd-ruleset.xml
index 9ca94c3..27c433c 100644
--- a/styleguide/pmd-ruleset.xml
+++ b/styleguide/pmd-ruleset.xml
@@ -17,6 +17,11 @@
 
     <rule ref="category/java/codestyle.xml/ClassNamingConventions">
         <properties>
+            <!-- <property name="classPattern" value="[A-Z][a-zA-Z0-9]*" /> -->
+            <!-- <property name="abstractClassPattern" value="[A-Z][a-zA-Z0-9]*" /> -->
+            <!-- <property name="interfacePattern" value="[A-Z][a-zA-Z0-9]*" /> -->
+            <!-- <property name="enumPattern" value="[A-Z][a-zA-Z0-9]*" /> -->
+            <!-- <property name="annotationPattern" value="[A-Z][a-zA-Z0-9]*" /> -->
             <property name="utilityClassPattern"
                 value="[A-Z][a-zA-Z0-9]*" />
         </properties>
@@ -73,8 +78,8 @@
         <!-- <exclude name="NcssMethodCount" /> -->
         <!-- <exclude name="NPathComplexity" /> -->
         <!-- <exclude name="SignatureDeclareThrowsException" /> -->
-        <!-- <exclude name="TooManyFields" /> -->
-        <!-- <exclude name="TooManyMethods" /> -->
+         <exclude name="TooManyFields" />
+         <exclude name="TooManyMethods" />
     </rule>
 
     <!-- <rule ref="category/java/documentation.xml"> -->
diff --git a/styleguide/styleguide.gradle b/styleguide/styleguide.gradle
index e30b28a..5535eab 100644
--- a/styleguide/styleguide.gradle
+++ b/styleguide/styleguide.gradle
@@ -1,9 +1,26 @@
 
+apply plugin: 'jacoco'
 apply plugin: 'checkstyle'
 apply plugin: 'pmd'
 
+jacoco {
+    toolVersion = "0.8.8"
+}
+//jacocoTestReport {
+//    dependsOn test
+//    reports {
+//        xml.enabled true
+//        html.enabled true
+//    }
+//}
+//
+//test {
+//    finalizedBy jacocoTestReport
+//}
+
+
 checkstyle {
-    toolVersion = "10.0"
+    toolVersion = "10.1"
     configDirectory.set(file("${project.rootDir}/styleguide"))
 }