diff --git a/src/main/java/frc/robot/DeviceIDs.java b/src/main/java/frc/robot/DeviceIDs.java
index ad9646e..21bb259 100644
--- a/src/main/java/frc/robot/DeviceIDs.java
+++ b/src/main/java/frc/robot/DeviceIDs.java
@@ -36,13 +36,13 @@ public static class drivetrainIDs {
     public static final int BACK_RIGHT_ABSOLUTE_ENCODER_CAN = 3;
   }
 
-  // Rotor and Motion IDs: 10~29
-  public static class rotorIDs {
+  // FreeSpin IDs: 10~29
+  public static class freeSpinIDs {
 
   }
 
-  // Motion Profile IDs: 30~49
-  public static class motionIDs {
+  // Positional IDs: 30~49
+  public static class positionalIDs {
 
   }
 }
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index ee9cd86..b7e09bf 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -29,9 +29,9 @@
 import frc.robot.subsystems.DriverStateMachine;
 import frc.robot.subsystems.DriverStateMachine.DriverState;
 import frc.robot.subsystems.Drivetrain;
-import frc.robot.subsystems.Motion;
+import frc.robot.subsystems.FreeSpin;
+import frc.robot.subsystems.Positional;
 import frc.robot.subsystems.RobotPoses;
-import frc.robot.subsystems.Rotors;
 import frc.robot.subsystems.StateMachine;
 import frc.robot.subsystems.StateMachine.RobotState;
 import frc.robot.subsystems.Telemetry;
@@ -48,10 +48,10 @@ public class RobotContainer {
 
   private final SN_XboxController conDriver = new SN_XboxController(controllerIDs.DRIVER_USB);
 
-  public static final Rotors rotorsInstance = new Rotors();
-  private final Rotors loggedRotorsInstance = rotorsInstance;
-  public static final Motion motionInstance = new Motion();
-  private final Motion loggedMotionInstance = motionInstance;
+  public static final FreeSpin freeSpinInstance = new FreeSpin();
+  private final FreeSpin loggedFreeSpinInstance = freeSpinInstance;
+  public static final Positional positionalInstance = new Positional();
+  private final Positional loggedPositionalInstance = positionalInstance;
   public static final Drivetrain drivetrainInstance = new Drivetrain();
   private final Drivetrain loggedDrivetrainInstance = drivetrainInstance;
   public static final DriverStateMachine driverStateMachineInstance = new DriverStateMachine();
diff --git a/src/main/java/frc/robot/constants/ConstMotion.java b/src/main/java/frc/robot/constants/ConstFreeSpin.java
similarity index 92%
rename from src/main/java/frc/robot/constants/ConstMotion.java
rename to src/main/java/frc/robot/constants/ConstFreeSpin.java
index 8dd0e88..77d6b33 100644
--- a/src/main/java/frc/robot/constants/ConstMotion.java
+++ b/src/main/java/frc/robot/constants/ConstFreeSpin.java
@@ -5,7 +5,7 @@
 package frc.robot.constants;
 
 /** Add your docs here. */
-public class ConstMotion {
+public class ConstFreeSpin {
   public static final double STOP = 0;
 
   static {
diff --git a/src/main/java/frc/robot/constants/ConstRotors.java b/src/main/java/frc/robot/constants/ConstPositional.java
similarity index 92%
rename from src/main/java/frc/robot/constants/ConstRotors.java
rename to src/main/java/frc/robot/constants/ConstPositional.java
index 847dcbb..fe10ecb 100644
--- a/src/main/java/frc/robot/constants/ConstRotors.java
+++ b/src/main/java/frc/robot/constants/ConstPositional.java
@@ -5,7 +5,7 @@
 package frc.robot.constants;
 
 /** Add your docs here. */
-public class ConstRotors {
+public class ConstPositional {
   public static final double STOP = 0;
 
   static {
diff --git a/src/main/java/frc/robot/subsystems/Motion.java b/src/main/java/frc/robot/subsystems/FreeSpin.java
similarity index 82%
rename from src/main/java/frc/robot/subsystems/Motion.java
rename to src/main/java/frc/robot/subsystems/FreeSpin.java
index 1f428b6..153f5e7 100644
--- a/src/main/java/frc/robot/subsystems/Motion.java
+++ b/src/main/java/frc/robot/subsystems/FreeSpin.java
@@ -8,9 +8,8 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 @Logged
-public class Motion extends SubsystemBase {
-  /** Creates a new Motion. */
-  public Motion() {
+public class FreeSpin extends SubsystemBase {
+  public FreeSpin() {
   }
 
   @Override
diff --git a/src/main/java/frc/robot/subsystems/Rotors.java b/src/main/java/frc/robot/subsystems/Positional.java
similarity index 82%
rename from src/main/java/frc/robot/subsystems/Rotors.java
rename to src/main/java/frc/robot/subsystems/Positional.java
index fc2fd8f..c708ed5 100644
--- a/src/main/java/frc/robot/subsystems/Rotors.java
+++ b/src/main/java/frc/robot/subsystems/Positional.java
@@ -8,9 +8,8 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 @Logged
-public class Rotors extends SubsystemBase {
-  /** Creates a new Rotors. */
-  public Rotors() {
+public class Positional extends SubsystemBase {
+  public Positional() {
   }
 
   @Override