diff --git a/roadrunnerCores/src/main/java/org/roadrunner/core/messages/DriveCommandMessage.java b/roadrunnerCores/src/main/java/org/roadrunner/core/messages/DriveCommandMessage.java
index 4bb4633..9927cb0 100644
--- a/roadrunnerCores/src/main/java/org/roadrunner/core/messages/DriveCommandMessage.java
+++ b/roadrunnerCores/src/main/java/org/roadrunner/core/messages/DriveCommandMessage.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.roadrunner.messages;
+package org.roadrunner.core.messages;
 
 import com.acmerobotics.roadrunner.PoseVelocity2dDual;
 import com.acmerobotics.roadrunner.Time;
diff --git a/roadrunnerCores/src/main/java/org/roadrunner/core/messages/MecanumCommandMessage.java b/roadrunnerCores/src/main/java/org/roadrunner/core/messages/MecanumCommandMessage.java
index c8668c2..f500828 100644
--- a/roadrunnerCores/src/main/java/org/roadrunner/core/messages/MecanumCommandMessage.java
+++ b/roadrunnerCores/src/main/java/org/roadrunner/core/messages/MecanumCommandMessage.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.roadrunner.messages;
+package org.roadrunner.core.messages;
 
 public final class MecanumCommandMessage {
     public long timestamp;
diff --git a/roadrunnerCores/src/main/java/org/roadrunner/core/messages/MecanumLocalizerInputsMessage.java b/roadrunnerCores/src/main/java/org/roadrunner/core/messages/MecanumLocalizerInputsMessage.java
index ccfe61f..0dc23f7 100644
--- a/roadrunnerCores/src/main/java/org/roadrunner/core/messages/MecanumLocalizerInputsMessage.java
+++ b/roadrunnerCores/src/main/java/org/roadrunner/core/messages/MecanumLocalizerInputsMessage.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.roadrunner.messages;
+package org.roadrunner.core.messages;
 
 import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
 
diff --git a/roadrunnerCores/src/main/java/org/roadrunner/core/messages/PoseMessage.java b/roadrunnerCores/src/main/java/org/roadrunner/core/messages/PoseMessage.java
index aa652f1..aa5dbd3 100644
--- a/roadrunnerCores/src/main/java/org/roadrunner/core/messages/PoseMessage.java
+++ b/roadrunnerCores/src/main/java/org/roadrunner/core/messages/PoseMessage.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.roadrunner.messages;
+package org.roadrunner.core.messages;
 
 import com.acmerobotics.roadrunner.Pose2d;
 
diff --git a/roadrunnerCores/src/main/java/org/roadrunner/core/messages/TankCommandMessage.java b/roadrunnerCores/src/main/java/org/roadrunner/core/messages/TankCommandMessage.java
index 20245b1..f09de6f 100644
--- a/roadrunnerCores/src/main/java/org/roadrunner/core/messages/TankCommandMessage.java
+++ b/roadrunnerCores/src/main/java/org/roadrunner/core/messages/TankCommandMessage.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.roadrunner.messages;
+package org.roadrunner.core.messages;
 
 public final class TankCommandMessage {
     public long timestamp;
diff --git a/roadrunnerCores/src/main/java/org/roadrunner/core/messages/TankLocalizerInputsMessage.java b/roadrunnerCores/src/main/java/org/roadrunner/core/messages/TankLocalizerInputsMessage.java
index a0d5a51..0687cca 100644
--- a/roadrunnerCores/src/main/java/org/roadrunner/core/messages/TankLocalizerInputsMessage.java
+++ b/roadrunnerCores/src/main/java/org/roadrunner/core/messages/TankLocalizerInputsMessage.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.roadrunner.messages;
+package org.roadrunner.core.messages;
 
 import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
 
diff --git a/roadrunnerCores/src/main/java/org/roadrunner/core/messages/ThreeDeadWheelInputsMessage.java b/roadrunnerCores/src/main/java/org/roadrunner/core/messages/ThreeDeadWheelInputsMessage.java
index f376486..cc03025 100644
--- a/roadrunnerCores/src/main/java/org/roadrunner/core/messages/ThreeDeadWheelInputsMessage.java
+++ b/roadrunnerCores/src/main/java/org/roadrunner/core/messages/ThreeDeadWheelInputsMessage.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.roadrunner.messages;
+package org.roadrunner.core.messages;
 
 import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
 
diff --git a/roadrunnerCores/src/main/java/org/roadrunner/core/messages/TwoDeadWheelInputsMessage.java b/roadrunnerCores/src/main/java/org/roadrunner/core/messages/TwoDeadWheelInputsMessage.java
index 27b3d42..390699a 100644
--- a/roadrunnerCores/src/main/java/org/roadrunner/core/messages/TwoDeadWheelInputsMessage.java
+++ b/roadrunnerCores/src/main/java/org/roadrunner/core/messages/TwoDeadWheelInputsMessage.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.roadrunner.messages;
+package org.roadrunner.core.messages;
 
 import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
 
diff --git a/roadrunnerCores/src/main/java/org/roadrunner/core/tuning/LocalizationTest.java b/roadrunnerCores/src/main/java/org/roadrunner/core/tuning/LocalizationTest.java
index 1c60734..323ac42 100644
--- a/roadrunnerCores/src/main/java/org/roadrunner/core/tuning/LocalizationTest.java
+++ b/roadrunnerCores/src/main/java/org/roadrunner/core/tuning/LocalizationTest.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.roadrunner.tuning;
+package org.roadrunner.core.tuning;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
@@ -8,9 +8,9 @@
 import com.acmerobotics.roadrunner.Vector2d;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
-import org.firstinspires.ftc.teamcode.roadrunner.Drawing;
-import org.firstinspires.ftc.teamcode.roadrunner.MecanumDrive;
-import org.firstinspires.ftc.teamcode.roadrunner.TankDrive;
+import org.roadrunner.core.Drawing;
+import org.roadrunner.core.MecanumDrive;
+import org.roadrunner.core.TankDrive;
 
 public class LocalizationTest extends LinearOpMode {
     @Override
diff --git a/roadrunnerCores/src/main/java/org/roadrunner/core/tuning/ManualFeedbackTuner.java b/roadrunnerCores/src/main/java/org/roadrunner/core/tuning/ManualFeedbackTuner.java
index 64584d6..dc23dda 100644
--- a/roadrunnerCores/src/main/java/org/roadrunner/core/tuning/ManualFeedbackTuner.java
+++ b/roadrunnerCores/src/main/java/org/roadrunner/core/tuning/ManualFeedbackTuner.java
@@ -1,13 +1,15 @@
-package org.firstinspires.ftc.teamcode.roadrunner.tuning;
+package org.roadrunner.core.tuning;
+
+import androidx.annotation.NonNull;
 
 import com.acmerobotics.roadrunner.Pose2d;
 import com.acmerobotics.roadrunner.ftc.Actions;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
-import org.firstinspires.ftc.teamcode.roadrunner.MecanumDrive;
-import org.firstinspires.ftc.teamcode.roadrunner.TankDrive;
-import org.firstinspires.ftc.teamcode.roadrunner.ThreeDeadWheelLocalizer;
-import org.firstinspires.ftc.teamcode.roadrunner.TwoDeadWheelLocalizer;
+import org.roadrunner.core.MecanumDrive;
+import org.roadrunner.core.TankDrive;
+import org.roadrunner.core.ThreeDeadWheelLocalizer;
+import org.roadrunner.core.TwoDeadWheelLocalizer;
 
 public final class ManualFeedbackTuner extends LinearOpMode {
     public static double DISTANCE = 64;
@@ -15,17 +17,7 @@ public final class ManualFeedbackTuner extends LinearOpMode {
     @Override
     public void runOpMode() throws InterruptedException {
         if (TuningOpModes.DRIVE_CLASS.equals(MecanumDrive.class)) {
-            MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
-            
-            if (drive.localizer instanceof TwoDeadWheelLocalizer) {
-                if (TwoDeadWheelLocalizer.PARAMS.perpXTicks == 0 && TwoDeadWheelLocalizer.PARAMS.parYTicks == 0) {
-                    throw new RuntimeException("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
-                }
-            } else if (drive.localizer instanceof ThreeDeadWheelLocalizer) {
-                if (ThreeDeadWheelLocalizer.PARAMS.perpXTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par0YTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par1YTicks == 1) {
-                    throw new RuntimeException("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
-                }
-            }
+            MecanumDrive drive = getMecanumDrive();
             waitForStart();
 
             while (opModeIsActive()) {
@@ -36,17 +28,7 @@ public void runOpMode() throws InterruptedException {
                             .build());
             }
         } else if (TuningOpModes.DRIVE_CLASS.equals(TankDrive.class)) {
-            TankDrive drive = new TankDrive(hardwareMap, new Pose2d(0, 0, 0));
-
-            if (drive.localizer instanceof TwoDeadWheelLocalizer) {
-                if (TwoDeadWheelLocalizer.PARAMS.perpXTicks == 0 && TwoDeadWheelLocalizer.PARAMS.parYTicks == 0) {
-                    throw new RuntimeException("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
-                }
-            } else if (drive.localizer instanceof ThreeDeadWheelLocalizer) {
-                if (ThreeDeadWheelLocalizer.PARAMS.perpXTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par0YTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par1YTicks == 1) {
-                    throw new RuntimeException("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
-                }
-            }
+            TankDrive drive = getTankDrive();
             waitForStart();
 
             while (opModeIsActive()) {
@@ -60,4 +42,34 @@ public void runOpMode() throws InterruptedException {
             throw new RuntimeException();
         }
     }
+
+    private @NonNull MecanumDrive getMecanumDrive() {
+        MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
+
+        if (drive.localizer instanceof TwoDeadWheelLocalizer) {
+            if (TwoDeadWheelLocalizer.PARAMS.perpXTicks == 0 && TwoDeadWheelLocalizer.PARAMS.parYTicks == 0) {
+                throw new RuntimeException("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
+            }
+        } else if (drive.localizer instanceof ThreeDeadWheelLocalizer) {
+            if (ThreeDeadWheelLocalizer.PARAMS.perpXTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par0YTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par1YTicks == 1) {
+                throw new RuntimeException("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
+            }
+        }
+        return drive;
+    }
+
+    private @NonNull TankDrive getTankDrive() {
+        TankDrive drive = new TankDrive(hardwareMap, new Pose2d(0, 0, 0));
+
+        if (drive.localizer instanceof TwoDeadWheelLocalizer) {
+            if (TwoDeadWheelLocalizer.PARAMS.perpXTicks == 0 && TwoDeadWheelLocalizer.PARAMS.parYTicks == 0) {
+                throw new RuntimeException("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
+            }
+        } else if (drive.localizer instanceof ThreeDeadWheelLocalizer) {
+            if (ThreeDeadWheelLocalizer.PARAMS.perpXTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par0YTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par1YTicks == 1) {
+                throw new RuntimeException("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
+            }
+        }
+        return drive;
+    }
 }
diff --git a/roadrunnerCores/src/main/java/org/roadrunner/core/tuning/SplineTest.java b/roadrunnerCores/src/main/java/org/roadrunner/core/tuning/SplineTest.java
index edb8193..0f945b6 100644
--- a/roadrunnerCores/src/main/java/org/roadrunner/core/tuning/SplineTest.java
+++ b/roadrunnerCores/src/main/java/org/roadrunner/core/tuning/SplineTest.java
@@ -1,12 +1,12 @@
-package org.firstinspires.ftc.teamcode.roadrunner.tuning;
+package org.roadrunner.core.tuning;
 
 import com.acmerobotics.roadrunner.Pose2d;
 import com.acmerobotics.roadrunner.Vector2d;
 import com.acmerobotics.roadrunner.ftc.Actions;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
-import org.firstinspires.ftc.teamcode.roadrunner.MecanumDrive;
-import org.firstinspires.ftc.teamcode.roadrunner.TankDrive;
+import org.roadrunner.core.MecanumDrive;
+import org.roadrunner.core.TankDrive;
 
 public final class SplineTest extends LinearOpMode {
     @Override
diff --git a/roadrunnerCores/src/main/java/org/roadrunner/core/tuning/TuningOpModes.java b/roadrunnerCores/src/main/java/org/roadrunner/core/tuning/TuningOpModes.java
index 09fc514..0bd2c6c 100644
--- a/roadrunnerCores/src/main/java/org/roadrunner/core/tuning/TuningOpModes.java
+++ b/roadrunnerCores/src/main/java/org/roadrunner/core/tuning/TuningOpModes.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.roadrunner.tuning;
+package org.roadrunner.core.tuning;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.reflection.ReflectionConfig;
@@ -22,10 +22,10 @@
 import com.qualcomm.robotcore.eventloop.opmode.OpModeRegistrar;
 
 import org.firstinspires.ftc.robotcore.internal.opmode.OpModeMeta;
-import org.firstinspires.ftc.teamcode.roadrunner.MecanumDrive;
-import org.firstinspires.ftc.teamcode.roadrunner.TankDrive;
-import org.firstinspires.ftc.teamcode.roadrunner.ThreeDeadWheelLocalizer;
-import org.firstinspires.ftc.teamcode.roadrunner.TwoDeadWheelLocalizer;
+import org.roadrunner.core.MecanumDrive;
+import org.roadrunner.core.TankDrive;
+import org.roadrunner.core.ThreeDeadWheelLocalizer;
+import org.roadrunner.core.TwoDeadWheelLocalizer;
 
 import java.util.ArrayList;
 import java.util.Arrays;
diff --git a/settings.gradle b/settings.gradle
index 2546a13..9bfa9cf 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -1,3 +1,4 @@
 include ':FtcRobotController'
 include ':TeamCode'
 include ':roadrunnerCores'
+include ':FtcTeamCodeSample'