diff --git a/src/main/java/com/team766/robot/common/DriverOI.java b/src/main/java/com/team766/robot/common/DriverOI.java
index 28081d4f6..df647410e 100644
--- a/src/main/java/com/team766/robot/common/DriverOI.java
+++ b/src/main/java/com/team766/robot/common/DriverOI.java
@@ -5,13 +5,13 @@
 import com.team766.hal.JoystickReader;
 import com.team766.robot.common.constants.ControlConstants;
 import com.team766.robot.common.constants.InputConstants;
-import com.team766.robot.common.mechanisms.Drive;
+import com.team766.robot.common.mechanisms.SwerveDrive;
 
 public class DriverOI extends OIFragment {
 
     protected static final double FINE_DRIVING_COEFFICIENT = 0.25;
 
-    protected final Drive drive;
+    protected final SwerveDrive drive;
     protected final JoystickReader leftJoystick;
     protected final JoystickReader rightJoystick;
     protected double rightJoystickY = 0;
@@ -21,7 +21,7 @@ public class DriverOI extends OIFragment {
 
     private final OICondition movingJoysticks;
 
-    public DriverOI(Drive drive, JoystickReader leftJoystick, JoystickReader rightJoystick) {
+    public DriverOI(SwerveDrive drive, JoystickReader leftJoystick, JoystickReader rightJoystick) {
         this.drive = drive;
         this.leftJoystick = leftJoystick;
         this.rightJoystick = rightJoystick;
diff --git a/src/main/java/com/team766/robot/common/mechanisms/Drive.java b/src/main/java/com/team766/robot/common/mechanisms/SwerveDrive.java
similarity index 99%
rename from src/main/java/com/team766/robot/common/mechanisms/Drive.java
rename to src/main/java/com/team766/robot/common/mechanisms/SwerveDrive.java
index 761e7edc8..126214492 100644
--- a/src/main/java/com/team766/robot/common/mechanisms/Drive.java
+++ b/src/main/java/com/team766/robot/common/mechanisms/SwerveDrive.java
@@ -27,7 +27,7 @@
 import java.util.Optional;
 import org.apache.commons.math3.geometry.euclidean.twod.Vector2D;
 
-public class Drive extends Mechanism {
+public class SwerveDrive extends Mechanism {
 
     private final SwerveConfig config;
 
@@ -58,7 +58,7 @@ public class Drive extends Mechanism {
     private double x;
     private double y;
 
-    public Drive(SwerveConfig config) {
+    public SwerveDrive(SwerveConfig config) {
         loggerCategory = Category.DRIVE;
 
         this.config = config;
diff --git a/src/main/java/com/team766/robot/common/procedures/FollowPath.java b/src/main/java/com/team766/robot/common/procedures/FollowPath.java
index a9d526aaa..c768efb2e 100644
--- a/src/main/java/com/team766/robot/common/procedures/FollowPath.java
+++ b/src/main/java/com/team766/robot/common/procedures/FollowPath.java
@@ -7,7 +7,7 @@
 import com.team766.framework.Context;
 import com.team766.framework.Procedure;
 import com.team766.robot.common.constants.PathPlannerConstants;
-import com.team766.robot.common.mechanisms.Drive;
+import com.team766.robot.common.mechanisms.SwerveDrive;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj.DriverStation;
@@ -16,7 +16,7 @@
 import java.util.Optional;
 
 public class FollowPath extends Procedure {
-    private final Drive drive;
+    private final SwerveDrive drive;
     private PathPlannerPath path; // may be flipped
     private final ReplanningConfig replanningConfig;
     private final PPHolonomicDriveController controller;
@@ -27,14 +27,14 @@ public FollowPath(
             PathPlannerPath path,
             ReplanningConfig replanningConfig,
             PPHolonomicDriveController controller,
-            Drive drive) {
+            SwerveDrive drive) {
         this.path = path;
         this.replanningConfig = replanningConfig;
         this.controller = controller;
         this.drive = drive;
     }
 
-    public FollowPath(String autoName, PPHolonomicDriveController controller, Drive drive) {
+    public FollowPath(String autoName, PPHolonomicDriveController controller, SwerveDrive drive) {
         this(
                 PathPlannerPath.fromPathFile(autoName),
                 PathPlannerConstants.REPLANNING_CONFIG,
diff --git a/src/main/java/com/team766/robot/common/procedures/PathSequenceAuto.java b/src/main/java/com/team766/robot/common/procedures/PathSequenceAuto.java
index 486f1d38b..8ee06be09 100644
--- a/src/main/java/com/team766/robot/common/procedures/PathSequenceAuto.java
+++ b/src/main/java/com/team766/robot/common/procedures/PathSequenceAuto.java
@@ -9,7 +9,7 @@
 import com.team766.framework.RunnableWithContext;
 import com.team766.robot.common.constants.ConfigConstants;
 import com.team766.robot.common.constants.PathPlannerConstants;
-import com.team766.robot.common.mechanisms.Drive;
+import com.team766.robot.common.mechanisms.SwerveDrive;
 import com.team766.robot.reva.Robot;
 import com.team766.robot.reva.VisionUtil.VisionSpeakerHelper;
 import com.team766.robot.reva.procedures.MoveClimbersToBottom;
@@ -22,7 +22,7 @@
 public class PathSequenceAuto extends Procedure {
 
     private final LinkedList<RunnableWithContext> pathItems;
-    private final Drive drive;
+    private final SwerveDrive drive;
     private final Pose2d initialPosition;
     private final PPHolonomicDriveController controller;
     private VisionSpeakerHelper visionSpeakerHelper;
@@ -32,7 +32,7 @@ public class PathSequenceAuto extends Procedure {
      * @param drive The instantiation of drive for the robot (pass in Robot.drive)
      * @param initialPosition Starting position on Blue Alliance in meters (gets flipped when on red)
      */
-    public PathSequenceAuto(Drive drive, Pose2d initialPosition) {
+    public PathSequenceAuto(SwerveDrive drive, Pose2d initialPosition) {
         pathItems = new LinkedList<RunnableWithContext>();
         this.drive = drive;
         this.controller = createDriveController(drive);
@@ -40,7 +40,7 @@ public PathSequenceAuto(Drive drive, Pose2d initialPosition) {
         visionSpeakerHelper = new VisionSpeakerHelper(drive);
     }
 
-    private PPHolonomicDriveController createDriveController(Drive drive) {
+    private PPHolonomicDriveController createDriveController(SwerveDrive drive) {
         double maxSpeed =
                 ConfigFileReader.getInstance()
                         .getDouble(ConfigConstants.PATH_FOLLOWING_MAX_MODULE_SPEED_MPS)
diff --git a/src/main/java/com/team766/robot/gatorade/Robot.java b/src/main/java/com/team766/robot/gatorade/Robot.java
index 55ba4f0b6..737d4873f 100644
--- a/src/main/java/com/team766/robot/gatorade/Robot.java
+++ b/src/main/java/com/team766/robot/gatorade/Robot.java
@@ -4,7 +4,7 @@
 import com.team766.framework.Procedure;
 import com.team766.hal.RobotConfigurator;
 import com.team766.robot.common.SwerveConfig;
-import com.team766.robot.common.mechanisms.Drive;
+import com.team766.robot.common.mechanisms.SwerveDrive;
 import com.team766.robot.gatorade.constants.SwerveDriveConstants;
 import com.team766.robot.gatorade.mechanisms.*;
 
@@ -14,7 +14,7 @@ public class Robot implements RobotConfigurator {
     public static Wrist wrist;
     public static Elevator elevator;
     public static Shoulder shoulder;
-    public static Drive drive;
+    public static SwerveDrive drive;
     public static Lights lights;
 
     @Override
@@ -24,7 +24,7 @@ public void initializeMechanisms() {
         wrist = new Wrist();
         elevator = new Elevator();
         shoulder = new Shoulder();
-        drive = new Drive(config);
+        drive = new SwerveDrive(config);
         lights = new Lights();
     }
 
diff --git a/src/main/java/com/team766/robot/reva/DriverOI.java b/src/main/java/com/team766/robot/reva/DriverOI.java
index 0423d2287..b8ad7e89b 100644
--- a/src/main/java/com/team766/robot/reva/DriverOI.java
+++ b/src/main/java/com/team766/robot/reva/DriverOI.java
@@ -5,7 +5,7 @@
 import com.team766.framework.OIFragment;
 import com.team766.hal.JoystickReader;
 import com.team766.robot.common.constants.ControlConstants;
-import com.team766.robot.common.mechanisms.Drive;
+import com.team766.robot.common.mechanisms.SwerveDrive;
 import com.team766.robot.reva.VisionUtil.VisionSpeakerHelper;
 import com.team766.robot.reva.constants.InputConstants;
 import com.team766.robot.reva.mechanisms.Intake;
@@ -19,7 +19,7 @@ public class DriverOI extends OIFragment {
     protected static final double FINE_DRIVING_COEFFICIENT = 0.25;
 
     protected VisionSpeakerHelper visionSpeakerHelper;
-    protected final Drive drive;
+    protected final SwerveDrive drive;
     protected final Shoulder shoulder;
     protected final Intake intake;
     protected final Shooter shooter;
@@ -35,7 +35,7 @@ public class DriverOI extends OIFragment {
     private LaunchedContext visionContext;
 
     public DriverOI(
-            Drive drive,
+            SwerveDrive drive,
             Shoulder shoulder,
             Intake intake,
             Shooter shooter,
diff --git a/src/main/java/com/team766/robot/reva/Robot.java b/src/main/java/com/team766/robot/reva/Robot.java
index ea8c3acd5..c54ae82e8 100644
--- a/src/main/java/com/team766/robot/reva/Robot.java
+++ b/src/main/java/com/team766/robot/reva/Robot.java
@@ -6,7 +6,7 @@
 import com.team766.hal.RobotConfigurator;
 import com.team766.logging.LoggerExceptionUtils;
 import com.team766.robot.common.SwerveConfig;
-import com.team766.robot.common.mechanisms.Drive;
+import com.team766.robot.common.mechanisms.SwerveDrive;
 import com.team766.robot.reva.mechanisms.Climber;
 import com.team766.robot.reva.mechanisms.ForwardApriltagCamera;
 import com.team766.robot.reva.mechanisms.Intake;
@@ -17,7 +17,7 @@
 
 public class Robot implements RobotConfigurator {
     // Declare mechanisms (as static fields) here
-    public static Drive drive;
+    public static SwerveDrive drive;
     public static Climber climber;
     public static Shoulder shoulder;
     public static Intake intake;
@@ -31,7 +31,7 @@ public class Robot implements RobotConfigurator {
     public void initializeMechanisms() {
         SwerveConfig config = new SwerveConfig();
         lights = new Lights();
-        drive = new Drive(config);
+        drive = new SwerveDrive(config);
         climber = new Climber();
         shoulder = new Shoulder();
         intake = new Intake();
diff --git a/src/main/java/com/team766/robot/reva/VisionUtil/VisionSpeakerHelper.java b/src/main/java/com/team766/robot/reva/VisionUtil/VisionSpeakerHelper.java
index 2768bfa69..3ef517c71 100644
--- a/src/main/java/com/team766/robot/reva/VisionUtil/VisionSpeakerHelper.java
+++ b/src/main/java/com/team766/robot/reva/VisionUtil/VisionSpeakerHelper.java
@@ -2,7 +2,7 @@
 
 import com.team766.ViSIONbase.AprilTagGeneralCheckedException;
 import com.team766.ViSIONbase.GrayScaleCamera;
-import com.team766.robot.common.mechanisms.Drive;
+import com.team766.robot.common.mechanisms.SwerveDrive;
 import com.team766.robot.reva.Robot;
 import com.team766.robot.reva.constants.VisionConstants;
 import edu.wpi.first.math.geometry.Rotation2d;
@@ -17,12 +17,12 @@ public class VisionSpeakerHelper {
     int tagId;
     double angle;
     GrayScaleCamera camera;
-    Drive drive;
+    SwerveDrive drive;
     Translation2d absTargetPos;
     Translation2d relativeTranslation2d;
 
     // TODO: make this static
-    public VisionSpeakerHelper(Drive drive) {
+    public VisionSpeakerHelper(SwerveDrive drive) {
         camera = Robot.forwardApriltagCamera.getCamera();
         this.drive = drive;
     }
diff --git a/src/main/java/com/team766/robot/swerveandshoot/Robot.java b/src/main/java/com/team766/robot/swerveandshoot/Robot.java
index 7fb59152e..5208f1115 100644
--- a/src/main/java/com/team766/robot/swerveandshoot/Robot.java
+++ b/src/main/java/com/team766/robot/swerveandshoot/Robot.java
@@ -4,7 +4,7 @@
 import com.team766.framework.Procedure;
 import com.team766.hal.RobotConfigurator;
 import com.team766.robot.common.SwerveConfig;
-import com.team766.robot.common.mechanisms.Drive;
+import com.team766.robot.common.mechanisms.SwerveDrive;
 import com.team766.robot.swerveandshoot.constants.SwerveDriveConstants;
 import com.team766.robot.swerveandshoot.mechanisms.*;
 
@@ -13,7 +13,7 @@ public class Robot implements RobotConfigurator {
     public static TempPickerUpper tempPickerUpper;
     public static TempShooter tempShooter;
     public static Lights lights;
-    public static Drive drive;
+    public static SwerveDrive drive;
     public static NoteCamera noteDetectorCamera;
     public static ForwardApriltagCamera forwardApriltagCamera;
 
@@ -23,7 +23,7 @@ public void initializeMechanisms() {
         tempPickerUpper = new TempPickerUpper();
         tempShooter = new TempShooter();
         lights = new Lights();
-        drive = new Drive(config);
+        drive = new SwerveDrive(config);
         noteDetectorCamera = new NoteCamera();
         forwardApriltagCamera = new ForwardApriltagCamera();
     }