diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AprilTagToPose.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AprilTagToPose.kt
index 137c00ed73ff..8e0a597198ff 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AprilTagToPose.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AprilTagToPose.kt
@@ -1,9 +1,9 @@
 package org.firstinspires.ftc.teamcode
 
-import org.firstinspires.ftc.teamcode.odo.Pose
-import org.firstinspires.ftc.teamcode.odo.degrees
-import org.firstinspires.ftc.teamcode.odo.inches
-import org.firstinspires.ftc.teamcode.utility.Vector2
+import org.firstinspires.ftc.teamcode.utilities.Pose
+import org.firstinspires.ftc.teamcode.utilities.Vector2
+import org.firstinspires.ftc.teamcode.utilities.degrees
+import org.firstinspires.ftc.teamcode.utilities.inches
 import org.firstinspires.ftc.vision.apriltag.AprilTagDetection
 import kotlin.math.abs
 import kotlin.math.cos
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Var.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Var.kt
new file mode 100644
index 000000000000..33e6507f3e69
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Var.kt
@@ -0,0 +1,48 @@
+package org.firstinspires.ftc.teamcode
+/*
+ * Servo rotations: minimum 0.0, maximum 1.0
+ */
+/**
+ * All the things that a driver might need to change, in one place.
+ */
+object Var {
+    // Rotations.
+
+    // 'hover' - just above ground
+    const val CLAW_HOVER_ROTATION = 0.669
+
+    // 'closing' - touching ground as much as possible without hindering claw operation
+    const val CLAW_CLOSING_ROTATION = 0.720
+
+    // 'flipped' - pixel drop-off location
+    const val CLAW_FLIPPED_ROTATION = 0.069
+
+    // 'stowed' - straight up or otherwise out of the way
+    const val CLAW_STOWED_ROTATION = 0.370
+
+    const val CLAW_OPENED = 0.109
+    const val CLAW_CLOSED = 0.432
+
+    /**
+     * The rotation of the box in the idle position.
+     * The box is in the idle position when it is not being dumped, and also when the lift
+     * is all the way down. Tune (DumperTestBench) with lift at 0 to avoid collisions.
+     */
+    const val BOX_ROTATE_IDLE = 0.531
+
+    /**
+     * The rotation of the box in the dumping position.
+     * Tune with the lift raised by hand.
+     */
+    const val BOX_ROTATE_DUMP = 0.316
+
+    /**
+     * Latch position such that it does not block movement of the bottom pixel in the box.
+     */
+    const val BOX_LATCH_UNLATCHED = 0.4
+
+    /**
+     * Latch position such that it blocks movement of the bottom pixel in the box.
+     */
+    const val BOX_LATCH_LATCHED = 0.78
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Variables.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Variables.kt
deleted file mode 100644
index 2bdf701fb08d..000000000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Variables.kt
+++ /dev/null
@@ -1,24 +0,0 @@
-package org.firstinspires.ftc.teamcode
-
-/*
- * Servo rotations: minimum 0.0, maximum 1.0
- */
-
-/**
- * Claw constants.
- */
-object ClawVar {
-    // Rotations.
-
-    // 'hover' - just above ground
-    const val HoverRotation = 0.669
-    // 'closing' - touching ground as much as possible without hindering claw operation
-    const val ClosingRotation = 0.720
-    // 'flipped' - pixel drop-off location
-    const val FlippedRotation = 0.069
-    // 'stowed' - straight up or otherwise out of the way
-    const val StowedRotation = 0.370
-
-    const val ClawOpened = 0.109
-    const val ClawClosed = 0.432
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Zoom.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Zoom.java
deleted file mode 100644
index 4f6430b638ab..000000000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Zoom.java
+++ /dev/null
@@ -1,22 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.hardware.DcMotor;
-
-@TeleOp
-public class Zoom extends LinearOpMode {
-
-    @Override
-    public void runOpMode() {
-        DcMotor daMotor = hardwareMap.get(DcMotor.class, "frontRight");
-        daMotor.setPower(0);
-        waitForStart();
-        daMotor.setPower(1);
-        while (opModeIsActive()) {
-            sleep(20);
-        }
-        daMotor.setPower(0);
-
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/abstractions/Claw.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/abstractions/Claw.kt
index 9f702b684800..b720c64394d4 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/abstractions/Claw.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/abstractions/Claw.kt
@@ -7,23 +7,29 @@ import dev.aether.collaborative_multitasking.MultitaskScheduler
 import dev.aether.collaborative_multitasking.SharedResource
 import dev.aether.collaborative_multitasking.Task
 import dev.aether.collaborative_multitasking.ext.maxDuration
-import org.firstinspires.ftc.teamcode.ClawVar
+import org.firstinspires.ftc.teamcode.Var
 
+/**
+ * This class represents the robot's claw. For manual control of the claw's positions,
+ * get a reference to the Servo from your RobotConfiguration.
+ * @see org.firstinspires.ftc.teamcode.configurations.RobotConfiguration.clawGrab
+ * @see org.firstinspires.ftc.teamcode.configurations.RobotConfiguration.clawRotate
+ *
+ * @param scheduler Scheduler used to manage the claw's tasks. If null, then methods relying on
+ *                  the scheduler will throw an AssertionError.
+ * @param grip Servo used to control the claw's grip.
+ * @param rotate Servo used to control the claw's rotation.
+ * @param lock SharedResource used to prevent the claw's tasks from running at the same time as another.
+ */
 class Claw(
-    private val scheduler: MultitaskScheduler,
+    private val scheduler: MultitaskScheduler?,
     @JvmField val grip: Servo,
     @JvmField val rotate: Servo,
     private val lock: SharedResource,
 ) {
-    companion object {
-        // Try to avoid changing these here. Instead, change them in Variables.kt.
-        const val ROTATE_HOVER = ClawVar.HoverRotation
-        const val ROTATE_CLOSING = ClawVar.ClosingRotation
-        const val ROTATE_FLIP = ClawVar.FlippedRotation
-        const val ROTATE_STOW = ClawVar.StowedRotation
-        const val GRIP_OPEN = ClawVar.ClawOpened
-        const val GRIP_CLOSED = ClawVar.ClawClosed
+    constructor(grip: Servo, rotate: Servo, lock: SharedResource) : this(null, grip, rotate, lock)
 
+    companion object {
         // TODO trim timings
         const val CloseRotateTime = 100 // ms
         const val GripTime = 450 // ms
@@ -46,7 +52,14 @@ class Claw(
 
     private var clawState: StateV2 = StateV2.Hover
 
+
+    /**
+     * Schedule a task to grab an item with the claw.
+     * Action is automatically cancelled if the claw is already in use.
+     */
     fun grab() {
+        scheduler
+            ?: throw AssertionError("The Claw instance needs to be defined with a scheduler to use this method")
         if (scheduler.isResourceInUse(lock)) return
         // (dep: hover) open -> grab -> hover
         var base: Task? = null
@@ -55,21 +68,27 @@ class Claw(
             +lock
             onStart { ->
                 clawState = StateV2.Active
-                grip.position = GRIP_OPEN
-                rotate.position = ROTATE_CLOSING
+                grip.position = Var.CLAW_OPENED
+                rotate.position = Var.CLAW_CLOSING_ROTATION
             }
             maxDuration(FlipTime)
         }.then {
             +lock
             onStart { ->
-                grip.position = GRIP_CLOSED
+                grip.position = Var.CLAW_CLOSED
             }
             maxDuration(GripTime)
         }.then(gotoHover())
         base?.then(main)
     }
 
+    /**
+     * Schedule a task to drop the item that is currently in the claw into the box.
+     * Action is automatically cancelled if the claw is already in use.
+     */
     fun deposit() {
+        scheduler
+            ?: throw AssertionError("The Claw instance needs to be defined with a scheduler to use this method")
         if (scheduler.isResourceInUse(lock)) return
         // (dep: hover) -> deposit -> stowed
         var base: Task? = null
@@ -78,19 +97,19 @@ class Claw(
             +lock
             onStart { ->
                 clawState = StateV2.Active
-                rotate.position = ROTATE_FLIP
+                rotate.position = Var.CLAW_FLIPPED_ROTATION
             }
             maxDuration(FlipTime)
         }.then {
             +lock
             onStart { ->
-                grip.position = GRIP_OPEN
+                grip.position = Var.CLAW_OPENED
             }
             maxDuration(GripTime)
         }.then {
             +lock
             onStart { ->
-                rotate.position = ROTATE_STOW
+                rotate.position = Var.CLAW_STOWED_ROTATION
             }
             maxDuration(FlipTime)
             onFinish { ->
@@ -100,18 +119,30 @@ class Claw(
         base?.then(main)
     }
 
+    /**
+     * Schedule a task to move the claw to the hovering position.
+     * Action is automatically cancelled if the claw is already in use.
+     */
     fun resetTele() {
+        scheduler
+            ?: throw AssertionError("The Claw instance needs to be defined with a scheduler to use this method")
         if (scheduler.isResourceInUse(lock)) return
         // (hover and open)
         reset()
     }
+
+    /**
+     * Schedule a task to move the claw to the hovering position.
+     */
     fun reset(): Task {
+        scheduler
+            ?: throw AssertionError("The Claw instance needs to be defined with a scheduler to use this method")
         return scheduler.task {
             +lock
             onStart { ->
                 clawState = StateV2.Active
-                grip.position = GRIP_OPEN
-                rotate.position = ROTATE_HOVER
+                grip.position = Var.CLAW_OPENED
+                rotate.position = Var.CLAW_HOVER_ROTATION
             }
             maxDuration(FlipTime)
             onFinish { ->
@@ -121,10 +152,12 @@ class Claw(
     }
 
     private fun gotoHover(): Task {
+        scheduler
+            ?: throw AssertionError("The Claw instance needs to be defined with a scheduler to use this method")
         return scheduler.task {
             +lock
             onStart { ->
-                rotate.position = ROTATE_HOVER
+                rotate.position = Var.CLAW_HOVER_ROTATION
             }
             maxDuration(FlipTime)
             onFinish { ->
@@ -133,13 +166,18 @@ class Claw(
         }
     }
 
+    /**
+     * WIP; schedules a task to open the claw.
+     */
     fun release(): Task {
+        scheduler
+            ?: throw AssertionError("The Claw instance needs to be defined with a scheduler to use this method")
         var base: Task? = null
         if (clawState != StateV2.Hover) base = gotoHover()
         val ext = scheduler.task {
             +lock
             onStart { ->
-                grip.position = GRIP_OPEN
+                grip.position = Var.CLAW_OPENED
             }
             maxDuration(GripTime)
         }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/abstractions/Dumper.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/abstractions/Dumper.kt
index f05e24fe64a4..508cf8ce6a1f 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/abstractions/Dumper.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/abstractions/Dumper.kt
@@ -3,6 +3,7 @@ package org.firstinspires.ftc.teamcode.abstractions
 import dev.aether.collaborative_multitasking.MultitaskScheduler
 import dev.aether.collaborative_multitasking.Task
 import dev.aether.collaborative_multitasking.ext.maxDuration
+import org.firstinspires.ftc.teamcode.Var
 import org.firstinspires.ftc.teamcode.configurations.RobotConfiguration
 
 class Dumper(
@@ -16,11 +17,6 @@ class Dumper(
     private val lock = config.dumperLock
 
     companion object {
-        const val ROTATE_IDLE = 0.531
-        const val ROTATE_DUMP = 0.316
-        const val UNLATCHED = 0.4
-        const val LATCHED = 0.78
-
         // TODO trim timings
         const val RotateTime = 1000 // ms
         const val LatchTime = 200 // ms
@@ -41,8 +37,8 @@ class Dumper(
             +lock
             onStart { ->
                 dumperState = State.Dump
-                rotate.position = ROTATE_DUMP
-                latch.position = LATCHED
+                rotate.position = Var.BOX_ROTATE_DUMP
+                latch.position = Var.BOX_LATCH_LATCHED
             }
             maxDuration(RotateTime)
         }
@@ -55,8 +51,8 @@ class Dumper(
             +lock
             onStart { ->
                 dumperState = State.Dump
-                rotate.position = ROTATE_DUMP
-                latch.position = LATCHED
+                rotate.position = Var.BOX_ROTATE_DUMP
+                latch.position = Var.BOX_LATCH_LATCHED
             }
             maxDuration(RotateTime)
         }
@@ -65,7 +61,7 @@ class Dumper(
             +lock
             onStart { ->
                 dumperState = State.Dump2
-                latch.position = UNLATCHED
+                latch.position = Var.BOX_LATCH_UNLATCHED
             }
             maxDuration(LatchTime)
         }
@@ -78,8 +74,8 @@ class Dumper(
             +lock
             onStart { ->
                 dumperState = State.Idle
-                rotate.position = ROTATE_IDLE
-                latch.position = LATCHED
+                rotate.position = Var.BOX_ROTATE_IDLE
+                latch.position = Var.BOX_LATCH_LATCHED
             }
             maxDuration(RotateTime)
         }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configurations/NeoRobot1.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configurations/Robot.kt
similarity index 94%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configurations/NeoRobot1.kt
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configurations/Robot.kt
index 35c082e1aec2..622c05aeb9af 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configurations/NeoRobot1.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configurations/Robot.kt
@@ -5,10 +5,10 @@ import com.qualcomm.robotcore.hardware.DcMotorSimple
 import com.qualcomm.robotcore.hardware.HardwareMap
 import com.qualcomm.robotcore.hardware.Servo
 import dev.aether.collaborative_multitasking.SharedResource
-import org.firstinspires.ftc.teamcode.utility.MotorSet
-import org.firstinspires.ftc.teamcode.utility.typedGet
+import org.firstinspires.ftc.teamcode.utilities.MotorSet
+import org.firstinspires.ftc.teamcode.utilities.typedGet
 
-class NeoRobot1(map: HardwareMap) : RobotConfiguration() {
+class Robot(map: HardwareMap) : RobotConfiguration() {
     @JvmField
     var frontLeft // 0
             : DcMotor = map.typedGet("frontLeft")
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configurations/RobotConfiguration.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configurations/RobotConfiguration.kt
index b8fb68da22da..dd63f1a4b355 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configurations/RobotConfiguration.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configurations/RobotConfiguration.kt
@@ -5,12 +5,12 @@ import com.qualcomm.robotcore.hardware.HardwareMap
 import com.qualcomm.robotcore.hardware.Servo
 import dev.aether.collaborative_multitasking.SharedResource
 import org.firstinspires.ftc.robotcore.external.Telemetry
-import org.firstinspires.ftc.teamcode.utility.MotorSet
+import org.firstinspires.ftc.teamcode.utilities.MotorSet
 
 abstract class RobotConfiguration {
     companion object {
         @JvmStatic
-        fun currentConfiguration(): (HardwareMap) -> RobotConfiguration = ::NeoRobot1
+        fun currentConfiguration(): (HardwareMap) -> RobotConfiguration = ::Robot
     }
 
     protected abstract val driveMotors: MotorSet?
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configurations/RobotLocks.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configurations/RobotLocks.kt
deleted file mode 100644
index 7bca7e15e917..000000000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configurations/RobotLocks.kt
+++ /dev/null
@@ -1,8 +0,0 @@
-package org.firstinspires.ftc.teamcode.configurations
-
-import dev.aether.collaborative_multitasking.SharedResource
-
-object RobotLocks {
-    @Deprecated("Use a RobotConfiguration's locks for panic support.")
-    val driveMotors = SharedResource("driveMotors")
-}
\ No newline at end of file
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/odo/OdoTracker.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/odo/OdoTracker.kt
index ead9774fc31d..d0045546c501 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/odo/OdoTracker.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/odo/OdoTracker.kt
@@ -3,6 +3,9 @@ package org.firstinspires.ftc.teamcode.odo
 import com.qualcomm.robotcore.hardware.DcMotor
 import com.qualcomm.robotcore.util.ElapsedTime
 import dev.aether.collaborative_multitasking.Task
+import org.firstinspires.ftc.teamcode.utilities.LengthUnit
+import org.firstinspires.ftc.teamcode.utilities.Pose
+import org.firstinspires.ftc.teamcode.utilities.inches
 import java.util.concurrent.TimeUnit
 
 class OdoTracker(val odoPerp: DcMotor, val odoPara1: DcMotor, val odoPara2: DcMotor, val origin: Pose) {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AprilTagSample.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/AprilTagSample.java
similarity index 99%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AprilTagSample.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/AprilTagSample.java
index 4df7222bdf64..a8d9daa0c0cd 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AprilTagSample.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/AprilTagSample.java
@@ -27,7 +27,7 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
-package org.firstinspires.ftc.teamcode;
+package org.firstinspires.ftc.teamcode.opmodes;
 
 import android.annotation.SuppressLint;
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ClawTestBench.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/ClawTestBench.java
similarity index 96%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ClawTestBench.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/ClawTestBench.java
index 83c9a417dbbe..5710ebb9450f 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ClawTestBench.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/ClawTestBench.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode;
+package org.firstinspires.ftc.teamcode.opmodes;
 
 import static androidx.core.math.MathUtils.clamp;
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Crab.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/Crab.java
similarity index 99%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Crab.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/Crab.java
index afbde3658966..8b2d444d2fbc 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Crab.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/Crab.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode;
+package org.firstinspires.ftc.teamcode.opmodes;
 
 import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DetectTags.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/DetectTags.java
similarity index 95%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DetectTags.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/DetectTags.java
index 8befcad7d4f8..cb8b9467af37 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DetectTags.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/DetectTags.java
@@ -1,6 +1,6 @@
-package org.firstinspires.ftc.teamcode;
+package org.firstinspires.ftc.teamcode.opmodes;
 
-import static org.firstinspires.ftc.teamcode.utility.CollectionUtils.pairs;
+import static org.firstinspires.ftc.teamcode.utilities.CollectionUtils.pairs;
 
 import android.util.Pair;
 import android.util.Size;
@@ -11,8 +11,9 @@
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
 import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
-import org.firstinspires.ftc.teamcode.odo.Pose;
-import org.firstinspires.ftc.teamcode.utility.Vector2;
+import org.firstinspires.ftc.teamcode.AprilTagToPoseKt;
+import org.firstinspires.ftc.teamcode.utilities.Pose;
+import org.firstinspires.ftc.teamcode.utilities.Vector2;
 import org.firstinspires.ftc.vision.VisionPortal;
 import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
 import org.firstinspires.ftc.vision.apriltag.AprilTagGameDatabase;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DirtyStrafeToParkingZone.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/DirtyStrafeToParkingZone.java
similarity index 94%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DirtyStrafeToParkingZone.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/DirtyStrafeToParkingZone.java
index ae918de5e57a..cb29659b31ee 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DirtyStrafeToParkingZone.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/DirtyStrafeToParkingZone.java
@@ -1,12 +1,11 @@
-package org.firstinspires.ftc.teamcode;
+package org.firstinspires.ftc.teamcode.opmodes;
 
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotor;
 
 import org.firstinspires.ftc.teamcode.configurations.RobotConfiguration;
-import org.firstinspires.ftc.teamcode.utility.MotorSet;
+import org.firstinspires.ftc.teamcode.utilities.MotorSet;
 
 @Autonomous
 public class DirtyStrafeToParkingZone extends LinearOpMode {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveToTagAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/DriveToTagAuto.java
similarity index 93%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveToTagAuto.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/DriveToTagAuto.java
index ff7d9f3ef8b0..911fe4fd6227 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveToTagAuto.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/DriveToTagAuto.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode;
+package org.firstinspires.ftc.teamcode.opmodes;
 
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveToTagBacking.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/DriveToTagBacking.kt
similarity index 89%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveToTagBacking.kt
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/DriveToTagBacking.kt
index 08618344fec0..cfb67b02ea29 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveToTagBacking.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/DriveToTagBacking.kt
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode
+package org.firstinspires.ftc.teamcode.opmodes
 
 import android.util.Size
 import com.qualcomm.robotcore.hardware.Gamepad
@@ -8,13 +8,16 @@ import dev.aether.collaborative_multitasking.ext.minTicks
 import org.firstinspires.ftc.robotcore.external.Telemetry
 import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraName
 import org.firstinspires.ftc.teamcode.configurations.RobotConfiguration
-import org.firstinspires.ftc.teamcode.odo.Pose
-import org.firstinspires.ftc.teamcode.odo.degrees
-import org.firstinspires.ftc.teamcode.odo.inches
-import org.firstinspires.ftc.teamcode.odo.radians
-import org.firstinspires.ftc.teamcode.utility.CollectionUtils.pairs
-import org.firstinspires.ftc.teamcode.utility.MotorSet
-import org.firstinspires.ftc.teamcode.utility.typedGet
+import org.firstinspires.ftc.teamcode.detectPairToPose
+import org.firstinspires.ftc.teamcode.detectSingleToPose
+import org.firstinspires.ftc.teamcode.utilities.Pose
+import org.firstinspires.ftc.teamcode.utilities.degrees
+import org.firstinspires.ftc.teamcode.utilities.inches
+import org.firstinspires.ftc.teamcode.utilities.radians
+import org.firstinspires.ftc.teamcode.tagPositions
+import org.firstinspires.ftc.teamcode.utilities.CollectionUtils.pairs
+import org.firstinspires.ftc.teamcode.utilities.MotorSet
+import org.firstinspires.ftc.teamcode.utilities.typedGet
 import org.firstinspires.ftc.vision.VisionPortal
 import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor
 import kotlin.math.abs
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DumperTestBench.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/DumperTestBench.java
similarity index 96%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DumperTestBench.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/DumperTestBench.java
index f873f8d206d9..734f3575ae2d 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DumperTestBench.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/DumperTestBench.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode;
+package org.firstinspires.ftc.teamcode.opmodes;
 
 import static androidx.core.math.MathUtils.clamp;
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ExampleScheduledAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/ExampleScheduledAuto.java
similarity index 97%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ExampleScheduledAuto.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/ExampleScheduledAuto.java
index a966c043e852..0364c8d2a393 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ExampleScheduledAuto.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/ExampleScheduledAuto.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode;
+package org.firstinspires.ftc.teamcode.opmodes;
 
 import static dev.aether.collaborative_multitasking.KotlinHelper.kbu;
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/GenericDRAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/GenericDRAuto.java
similarity index 94%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/GenericDRAuto.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/GenericDRAuto.java
index 82e3d7707f75..ac62b6ae06e9 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/GenericDRAuto.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/GenericDRAuto.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode;
+package org.firstinspires.ftc.teamcode.opmodes;
 
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/GenericDRAutoB.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/GenericDRAutoB.kt
similarity index 92%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/GenericDRAutoB.kt
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/GenericDRAutoB.kt
index 35105df24920..c705d44f3b46 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/GenericDRAutoB.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/GenericDRAutoB.kt
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode
+package org.firstinspires.ftc.teamcode.opmodes
 
 import com.qualcomm.robotcore.hardware.IMU
 import dev.aether.collaborative_multitasking.MultitaskScheduler
@@ -7,9 +7,9 @@ import dev.aether.collaborative_multitasking.ext.maxDuration
 import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit
 import org.firstinspires.ftc.teamcode.abstractions.Claw
 import org.firstinspires.ftc.teamcode.configurations.RobotConfiguration
-import org.firstinspires.ftc.teamcode.odo.RotationUnit
-import org.firstinspires.ftc.teamcode.odo.degrees
-import org.firstinspires.ftc.teamcode.utility.MotorPowers
+import org.firstinspires.ftc.teamcode.utilities.MotorPowers
+import org.firstinspires.ftc.teamcode.utilities.RotationUnit
+import org.firstinspires.ftc.teamcode.utilities.degrees
 
 /**
  * @param imu IMU in degrees, reset to 0
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MoveSlidesToHang.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/MoveSlidesToHang.java
similarity index 96%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MoveSlidesToHang.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/MoveSlidesToHang.java
index 70e1fa268c78..4b49bf12baed 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MoveSlidesToHang.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/MoveSlidesToHang.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode;
+package org.firstinspires.ftc.teamcode.opmodes;
 
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/README.md b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/README.md
new file mode 100644
index 000000000000..addc49b5509e
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/README.md
@@ -0,0 +1,5 @@
+# opmodes
+
+this is where the opmodes go. if the class has `@TeleOp` or `@Autonomous` it goes here.
+
+also put any files that are *closely linked* with opmodes here - i.e. they're only used in one opmode.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utility/TFODObjectDetectionSpikes.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/TFODObjectDetectionSpikes.java
similarity index 97%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utility/TFODObjectDetectionSpikes.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/TFODObjectDetectionSpikes.java
index 2cdb5046554e..8cf42d8b6516 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utility/TFODObjectDetectionSpikes.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/TFODObjectDetectionSpikes.java
@@ -1,9 +1,8 @@
-package org.firstinspires.ftc.teamcode.utility;
+package org.firstinspires.ftc.teamcode.opmodes;
 
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
 import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
 import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
 import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TeleOp.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/TeleOp.java
similarity index 98%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TeleOp.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/TeleOp.java
index 756c5cc5c31e..edbf8d03e2c4 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TeleOp.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/TeleOp.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode;
+package org.firstinspires.ftc.teamcode.opmodes;
 
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.hardware.DcMotor;
@@ -7,7 +7,7 @@
 import org.firstinspires.ftc.teamcode.abstractions.Claw;
 import org.firstinspires.ftc.teamcode.abstractions.Dumper;
 import org.firstinspires.ftc.teamcode.configurations.RobotConfiguration;
-import org.firstinspires.ftc.teamcode.utility.MotorSet;
+import org.firstinspires.ftc.teamcode.utilities.MotorSet;
 
 import dev.aether.collaborative_multitasking.MultitaskScheduler;
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utility/WhitePixelSpikeDetection.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/WhitePixelSpikeDetection.java
similarity index 99%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utility/WhitePixelSpikeDetection.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/WhitePixelSpikeDetection.java
index 4096c904e394..08b1861f8db4 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utility/WhitePixelSpikeDetection.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/WhitePixelSpikeDetection.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.utility;
+package org.firstinspires.ftc.teamcode.opmodes;
 
 import android.util.Size;
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utility/CollectionUtils.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/CollectionUtils.java
similarity index 95%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utility/CollectionUtils.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/CollectionUtils.java
index 6d55c3a4ccdf..a170f0f32601 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utility/CollectionUtils.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/CollectionUtils.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.utility;
+package org.firstinspires.ftc.teamcode.utilities;
 
 import android.util.Pair;
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utility/KotlinHardwareMapExtensions.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/KotlinHardwareMapExtensions.kt
similarity index 79%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utility/KotlinHardwareMapExtensions.kt
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/KotlinHardwareMapExtensions.kt
index cac6ad0185ba..5b41d2a9f079 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utility/KotlinHardwareMapExtensions.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/KotlinHardwareMapExtensions.kt
@@ -1,7 +1,6 @@
-package org.firstinspires.ftc.teamcode.utility
+package org.firstinspires.ftc.teamcode.utilities
 
 import com.qualcomm.robotcore.hardware.HardwareMap
-import java.lang.IllegalArgumentException
 
 inline fun <reified T> HardwareMap.typedGet(name: String): T {
     return this.get(T::class.java, name)
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/odo/LengthUnit.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/LengthUnit.kt
similarity index 97%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/odo/LengthUnit.kt
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/LengthUnit.kt
index 450abdf5db5c..8f0d5bdb86cf 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/odo/LengthUnit.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/LengthUnit.kt
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.odo
+package org.firstinspires.ftc.teamcode.utilities
 
 abstract class LengthUnit(value: Double) :
     MeasureUnit<LengthUnit>(value) {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utility/Line.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/Line.java
similarity index 96%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utility/Line.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/Line.java
index 6fceb729dd1e..043a5cb40d1f 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utility/Line.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/Line.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.utility;
+package org.firstinspires.ftc.teamcode.utilities;
 
 public interface Line {
     double perpendicularSlope();
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/odo/MeasureUnit.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/MeasureUnit.kt
similarity index 96%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/odo/MeasureUnit.kt
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/MeasureUnit.kt
index 57fda55accc3..7d78e760bd7f 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/odo/MeasureUnit.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/MeasureUnit.kt
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.odo
+package org.firstinspires.ftc.teamcode.utilities
 
 abstract class Converter<out R>
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utility/MotorPowers.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/MotorPowers.kt
similarity index 97%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utility/MotorPowers.kt
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/MotorPowers.kt
index eec75082bf44..1e5601a2e1de 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utility/MotorPowers.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/MotorPowers.kt
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.utility
+package org.firstinspires.ftc.teamcode.utilities
 
 import com.qualcomm.robotcore.hardware.DcMotor
 import kotlin.math.abs
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/odo/Pose.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/Pose.kt
similarity index 96%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/odo/Pose.kt
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/Pose.kt
index 544394e7458a..bac1664a28bb 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/odo/Pose.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/Pose.kt
@@ -1,9 +1,7 @@
 @file:Suppress("unused")
 
-package org.firstinspires.ftc.teamcode.odo
+package org.firstinspires.ftc.teamcode.utilities
 
-import org.firstinspires.ftc.teamcode.utility.MotorPowers
-import org.firstinspires.ftc.teamcode.utility.Vector2
 import kotlin.math.PI
 import kotlin.math.abs
 import kotlin.math.cos
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/README.md b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/README.md
new file mode 100644
index 000000000000..141479b2e5b2
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/README.md
@@ -0,0 +1,14 @@
+# utilities
+
+utilities are classes that aren't necessarily immediately related to robot operation, but are useful
+for other things.
+
+## things that are utilities
+- generic code for manipulating data structures, like `CollectionUtils`
+- data structures not directly related to robot hardware, like `MeasureUnit`, `Vector2`, and `Pose`
+- maybe some other stuff
+
+## things that are *not* utilities
+- opmodes. use the `opmodes` folder for those.
+- robot hardware. if it's an abstraction over a specific part of the robot, use `abstractions`. if it's a
+  hardware configuration interface, use `configurations`.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/odo/RotationUnit.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/RotationUnit.kt
similarity index 98%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/odo/RotationUnit.kt
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/RotationUnit.kt
index aade91932ee4..91e3681a2701 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/odo/RotationUnit.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/RotationUnit.kt
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.odo
+package org.firstinspires.ftc.teamcode.utilities
 
 import kotlin.math.PI
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utility/StandardLine.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/StandardLine.java
similarity index 96%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utility/StandardLine.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/StandardLine.java
index f89a40d272bc..b74462ec52e2 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utility/StandardLine.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/StandardLine.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.utility;
+package org.firstinspires.ftc.teamcode.utilities;
 
 public class StandardLine implements Line {
     private final double slope;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utility/Vector2.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/Vector2.java
similarity index 93%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utility/Vector2.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/Vector2.java
index fdc2b5a5a76f..d15fa869d84c 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utility/Vector2.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/Vector2.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.utility;
+package org.firstinspires.ftc.teamcode.utilities;
 
 import androidx.annotation.NonNull;
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utility/VerticalLine.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/VerticalLine.java
similarity index 95%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utility/VerticalLine.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/VerticalLine.java
index 431b8d6a3175..ffd2076e5bcd 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utility/VerticalLine.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/VerticalLine.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.utility;
+package org.firstinspires.ftc.teamcode.utilities;
 
 /**
  * A special case of a line that is vertical.
diff --git a/TeamCode/src/test/java/org/firstinspires/ftc/tests/TestDriveToTag.kt b/TeamCode/src/test/java/org/firstinspires/ftc/tests/TestDriveToTag.kt
index 28e21d32d02f..6faae0a8276c 100644
--- a/TeamCode/src/test/java/org/firstinspires/ftc/tests/TestDriveToTag.kt
+++ b/TeamCode/src/test/java/org/firstinspires/ftc/tests/TestDriveToTag.kt
@@ -1,13 +1,13 @@
 package org.firstinspires.ftc.tests
 
-import org.firstinspires.ftc.teamcode.DriveToTagBacking
-import org.firstinspires.ftc.teamcode.DriveToTagBacking.Companion.MAX_SPEED
-import org.firstinspires.ftc.teamcode.DriveToTagBacking.Companion.MIN_SPEED
-import org.firstinspires.ftc.teamcode.DriveToTagBacking.Companion.STOPPING_ANGLE
-import org.firstinspires.ftc.teamcode.DriveToTagBacking.Companion.THRESHOLD_ANGLE
-import org.firstinspires.ftc.teamcode.DriveToTagBacking.Companion.THRESHOLD_DISTANCE
-import org.firstinspires.ftc.teamcode.DriveToTagBacking.Companion.cvtAngleToPower
-import org.firstinspires.ftc.teamcode.DriveToTagBacking.Companion.cvtRangeToPower
+import org.firstinspires.ftc.teamcode.opmodes.DriveToTagBacking
+import org.firstinspires.ftc.teamcode.opmodes.DriveToTagBacking.Companion.MAX_SPEED
+import org.firstinspires.ftc.teamcode.opmodes.DriveToTagBacking.Companion.MIN_SPEED
+import org.firstinspires.ftc.teamcode.opmodes.DriveToTagBacking.Companion.STOPPING_ANGLE
+import org.firstinspires.ftc.teamcode.opmodes.DriveToTagBacking.Companion.THRESHOLD_ANGLE
+import org.firstinspires.ftc.teamcode.opmodes.DriveToTagBacking.Companion.THRESHOLD_DISTANCE
+import org.firstinspires.ftc.teamcode.opmodes.DriveToTagBacking.Companion.cvtAngleToPower
+import org.firstinspires.ftc.teamcode.opmodes.DriveToTagBacking.Companion.cvtRangeToPower
 import kotlin.math.abs
 import kotlin.test.Test
 
diff --git a/TeamCode/src/test/java/org/firstinspires/ftc/tests/TestPose.kt b/TeamCode/src/test/java/org/firstinspires/ftc/tests/TestPose.kt
index 0ff88c423f19..f2a2d31164f1 100644
--- a/TeamCode/src/test/java/org/firstinspires/ftc/tests/TestPose.kt
+++ b/TeamCode/src/test/java/org/firstinspires/ftc/tests/TestPose.kt
@@ -1,10 +1,10 @@
 package org.firstinspires.ftc.tests
 
-import org.firstinspires.ftc.teamcode.odo.MeasureUnit
-import org.firstinspires.ftc.teamcode.odo.Pose
-import org.firstinspires.ftc.teamcode.odo.degrees
-import org.firstinspires.ftc.teamcode.odo.feet
-import org.firstinspires.ftc.teamcode.odo.inches
+import org.firstinspires.ftc.teamcode.utilities.MeasureUnit
+import org.firstinspires.ftc.teamcode.utilities.Pose
+import org.firstinspires.ftc.teamcode.utilities.degrees
+import org.firstinspires.ftc.teamcode.utilities.feet
+import org.firstinspires.ftc.teamcode.utilities.inches
 import kotlin.math.abs
 import kotlin.math.sqrt
 import kotlin.test.Test