diff --git a/src/main/java/swervelib/SwerveDrive.java b/src/main/java/swervelib/SwerveDrive.java
index 6c25baa..2a4839f 100644
--- a/src/main/java/swervelib/SwerveDrive.java
+++ b/src/main/java/swervelib/SwerveDrive.java
@@ -28,6 +28,8 @@
 import java.util.ArrayList;
 import java.util.List;
 import java.util.Optional;
+import java.util.concurrent.locks.Lock;
+import java.util.concurrent.locks.ReentrantLock;
 import swervelib.imu.SwerveIMU;
 import swervelib.math.SwerveMath;
 import swervelib.parser.SwerveControllerConfiguration;
@@ -47,6 +49,10 @@ public class SwerveDrive {
   public final SwerveDrivePoseEstimator swerveDrivePoseEstimator;
   /** Swerve modules. */
   private final SwerveModule[] swerveModules;
+  /** WPILib {@link Notifier} to keep odometry up to date. */
+  private final Notifier odometryThread;
+  /** Odometry lock to ensure thread safety. */
+  private final Lock odometryLock = new ReentrantLock();
   /** Field object. */
   public Field2d field = new Field2d();
   /** Swerve controller for controlling heading of the robot. */
@@ -76,8 +82,6 @@ public class SwerveDrive {
   private int moduleSynchronizationCounter = 0;
   /** The last heading set in radians. */
   private double lastHeadingRadians = 0;
-  /** WPILib {@link Notifier} to keep odometry up to date. */
-  private final Notifier odometryThread;
 
   /**
    * Creates a new swerve drivebase subsystem. Robot is controlled via the {@link SwerveDrive#drive}
@@ -644,6 +648,7 @@ public void replaceSwerveModuleFeedforward(SimpleMotorFeedforward feedforward) {
    * SmartDashboard with module encoder readings and states.
    */
   public void updateOdometry() {
+    odometryLock.lock();
     // Update odometry
     swerveDrivePoseEstimator.update(getYaw(), getModulePositions());
 
@@ -697,6 +702,7 @@ public void updateOdometry() {
     if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.HIGH.ordinal()) {
       SwerveDriveTelemetry.updateData();
     }
+    odometryLock.unlock();
   }
 
   /** Synchronize angle motor integrated encoders with data from absolute encoders. */
diff --git a/src/main/java/swervelib/encoders/CANCoderSwerve.java b/src/main/java/swervelib/encoders/CANCoderSwerve.java
index 03f30cb..e8fbddc 100644
--- a/src/main/java/swervelib/encoders/CANCoderSwerve.java
+++ b/src/main/java/swervelib/encoders/CANCoderSwerve.java
@@ -90,8 +90,7 @@ public double getAbsolutePosition() {
     // Source:
     // https://github.com/democat3457/swerve-lib/blob/7c03126b8c22f23a501b2c2742f9d173a5bcbc40/src/main/java/com/swervedrivespecialties/swervelib/ctre/CanCoderFactoryBuilder.java#L51-L74
     ErrorCode code = encoder.getLastError();
-    int ATTEMPTS = 3;
-    for (int i = 0; i < ATTEMPTS; i++) {
+    for (int i = 0; i < maximumRetries; i++) {
       if (code == ErrorCode.OK) {
         break;
       }
diff --git a/src/main/java/swervelib/encoders/SparkMaxEncoderSwerve.java b/src/main/java/swervelib/encoders/SparkMaxEncoderSwerve.java
index d962dfc..c72c63f 100644
--- a/src/main/java/swervelib/encoders/SparkMaxEncoderSwerve.java
+++ b/src/main/java/swervelib/encoders/SparkMaxEncoderSwerve.java
@@ -2,7 +2,10 @@
 
 import com.revrobotics.AbsoluteEncoder;
 import com.revrobotics.CANSparkMax;
+import com.revrobotics.REVLibError;
 import com.revrobotics.SparkMaxAbsoluteEncoder.Type;
+import edu.wpi.first.wpilibj.DriverStation;
+import java.util.function.Supplier;
 import swervelib.motors.SwerveMotor;
 
 /** SparkMax absolute encoder, attached through the data port. */
@@ -20,13 +23,27 @@ public class SparkMaxEncoderSwerve extends SwerveAbsoluteEncoder {
   public SparkMaxEncoderSwerve(SwerveMotor motor, int conversionFactor) {
     if (motor.getMotor() instanceof CANSparkMax) {
       encoder = ((CANSparkMax) motor.getMotor()).getAbsoluteEncoder(Type.kDutyCycle);
-      encoder.setVelocityConversionFactor(conversionFactor);
-      encoder.setPositionConversionFactor(conversionFactor);
+      configureSparkMax(() -> encoder.setVelocityConversionFactor(conversionFactor));
+      configureSparkMax(() -> encoder.setPositionConversionFactor(conversionFactor));
     } else {
       throw new RuntimeException("Motor given to instantiate SparkMaxEncoder is not a CANSparkMax");
     }
   }
 
+  /**
+   * Run the configuration until it succeeds or times out.
+   *
+   * @param config Lambda supplier returning the error state.
+   */
+  private void configureSparkMax(Supplier<REVLibError> config) {
+    for (int i = 0; i < maximumRetries; i++) {
+      if (config.get() == REVLibError.kOk) {
+        return;
+      }
+    }
+    DriverStation.reportWarning("Failure configuring encoder", true);
+  }
+
   /** Reset the encoder to factory defaults. */
   @Override
   public void factoryDefault() {
diff --git a/src/main/java/swervelib/encoders/SwerveAbsoluteEncoder.java b/src/main/java/swervelib/encoders/SwerveAbsoluteEncoder.java
index 364dc92..825ec44 100644
--- a/src/main/java/swervelib/encoders/SwerveAbsoluteEncoder.java
+++ b/src/main/java/swervelib/encoders/SwerveAbsoluteEncoder.java
@@ -6,6 +6,11 @@
  */
 public abstract class SwerveAbsoluteEncoder {
 
+  /**
+   * The maximum amount of times the swerve encoder will attempt to configure itself if failures
+   * occur.
+   */
+  public final int maximumRetries = 5;
   /** Last angle reading was faulty. */
   public boolean readingError = false;
 
diff --git a/src/main/java/swervelib/motors/SparkMaxBrushedMotorSwerve.java b/src/main/java/swervelib/motors/SparkMaxBrushedMotorSwerve.java
index 9d28eac..233af6d 100644
--- a/src/main/java/swervelib/motors/SparkMaxBrushedMotorSwerve.java
+++ b/src/main/java/swervelib/motors/SparkMaxBrushedMotorSwerve.java
@@ -6,13 +6,14 @@
 import com.revrobotics.CANSparkMax.IdleMode;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 import com.revrobotics.CANSparkMaxLowLevel.PeriodicFrame;
+import com.revrobotics.REVLibError;
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.SparkMaxAlternateEncoder;
 import com.revrobotics.SparkMaxPIDController;
 import com.revrobotics.SparkMaxRelativeEncoder.Type;
 import edu.wpi.first.wpilibj.DriverStation;
+import java.util.function.Supplier;
 import swervelib.encoders.SwerveAbsoluteEncoder;
-import swervelib.motors.SparkMaxSwerve.SparkMAX_slotIdx;
 import swervelib.parser.PIDFConfig;
 
 /** Brushed motor control with SparkMax. */
@@ -77,10 +78,11 @@ public SparkMaxBrushedMotorSwerve(
               : motor.getEncoder(encoderType, countsPerRevolution);
 
       // Configure feedback of the PID controller as the integrated encoder.
-      pid.setFeedbackDevice(encoder);
+      configureSparkMax(() -> pid.setFeedbackDevice(encoder));
     }
 
-    motor.setCANTimeout(0); // Spin off configurations in a different thread.
+    configureSparkMax(
+        () -> motor.setCANTimeout(0)); // Spin off configurations in a different thread.
   }
 
   /**
@@ -108,6 +110,20 @@ public SparkMaxBrushedMotorSwerve(
         useDataPortQuadEncoder);
   }
 
+  /**
+   * Run the configuration until it succeeds or times out.
+   *
+   * @param config Lambda supplier returning the error state.
+   */
+  private void configureSparkMax(Supplier<REVLibError> config) {
+    for (int i = 0; i < maximumRetries; i++) {
+      if (config.get() == REVLibError.kOk) {
+        return;
+      }
+    }
+    DriverStation.reportWarning("Failure configuring motor " + motor.getDeviceId(), true);
+  }
+
   /**
    * Set the voltage compensation for the swerve module motor.
    *
@@ -115,7 +131,7 @@ public SparkMaxBrushedMotorSwerve(
    */
   @Override
   public void setVoltageCompensation(double nominalVoltage) {
-    motor.enableVoltageCompensation(nominalVoltage);
+    configureSparkMax(() -> motor.enableVoltageCompensation(nominalVoltage));
   }
 
   /**
@@ -126,7 +142,7 @@ public void setVoltageCompensation(double nominalVoltage) {
    */
   @Override
   public void setCurrentLimit(int currentLimit) {
-    motor.setSmartCurrentLimit(currentLimit);
+    configureSparkMax(() -> motor.setSmartCurrentLimit(currentLimit));
   }
 
   /**
@@ -136,8 +152,8 @@ public void setCurrentLimit(int currentLimit) {
    */
   @Override
   public void setLoopRampRate(double rampRate) {
-    motor.setOpenLoopRampRate(rampRate);
-    motor.setClosedLoopRampRate(rampRate);
+    configureSparkMax(() -> motor.setOpenLoopRampRate(rampRate));
+    configureSparkMax(() -> motor.setClosedLoopRampRate(rampRate));
   }
 
   /**
@@ -164,7 +180,7 @@ public boolean isAttachedAbsoluteEncoder() {
   @Override
   public void factoryDefaults() {
     if (!factoryDefaultOccurred) {
-      motor.restoreFactoryDefaults();
+      configureSparkMax(motor::restoreFactoryDefaults);
       factoryDefaultOccurred = true;
     }
   }
@@ -172,7 +188,7 @@ public void factoryDefaults() {
   /** Clear the sticky faults on the motor controller. */
   @Override
   public void clearStickyFaults() {
-    motor.clearFaults();
+    configureSparkMax(motor::clearFaults);
   }
 
   /**
@@ -185,7 +201,7 @@ public void clearStickyFaults() {
   public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder) {
     if (encoder.getAbsoluteEncoder() instanceof AbsoluteEncoder) {
       absoluteEncoder = (AbsoluteEncoder) encoder.getAbsoluteEncoder();
-      pid.setFeedbackDevice(absoluteEncoder);
+      configureSparkMax(() -> pid.setFeedbackDevice(absoluteEncoder));
     }
     if (absoluteEncoder == null && this.encoder == null) {
       DriverStation.reportError("An encoder MUST be defined to work with a SparkMAX", true);
@@ -203,15 +219,17 @@ public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder) {
   @Override
   public void configureIntegratedEncoder(double positionConversionFactor) {
     if (absoluteEncoder == null) {
-      encoder.setPositionConversionFactor(positionConversionFactor);
-      encoder.setVelocityConversionFactor(positionConversionFactor / 60);
+      configureSparkMax(() -> encoder.setPositionConversionFactor(positionConversionFactor));
+      configureSparkMax(() -> encoder.setVelocityConversionFactor(positionConversionFactor / 60));
 
       // Taken from
       // https://github.com/frc3512/SwerveBot-2022/blob/9d31afd05df6c630d5acb4ec2cf5d734c9093bf8/src/main/java/frc/lib/util/CANSparkMaxUtil.java#L67
       configureCANStatusFrames(10, 20, 20, 500, 500);
     } else {
-      absoluteEncoder.setPositionConversionFactor(positionConversionFactor);
-      absoluteEncoder.setVelocityConversionFactor(positionConversionFactor / 60);
+      configureSparkMax(
+          () -> absoluteEncoder.setPositionConversionFactor(positionConversionFactor));
+      configureSparkMax(
+          () -> absoluteEncoder.setVelocityConversionFactor(positionConversionFactor / 60));
     }
   }
 
@@ -222,14 +240,17 @@ public void configureIntegratedEncoder(double positionConversionFactor) {
    */
   @Override
   public void configurePIDF(PIDFConfig config) {
-    int pidSlot =
-        isDriveMotor ? SparkMAX_slotIdx.Velocity.ordinal() : SparkMAX_slotIdx.Position.ordinal();
-    pid.setP(config.p, pidSlot);
-    pid.setI(config.i, pidSlot);
-    pid.setD(config.d, pidSlot);
-    pid.setFF(config.f, pidSlot);
-    pid.setIZone(config.iz, pidSlot);
-    pid.setOutputRange(config.output.min, config.output.max, pidSlot);
+    //    int pidSlot =
+    //        isDriveMotor ? SparkMAX_slotIdx.Velocity.ordinal() :
+    // SparkMAX_slotIdx.Position.ordinal();
+    int pidSlot = 0;
+
+    configureSparkMax(() -> pid.setP(config.p, pidSlot));
+    configureSparkMax(() -> pid.setI(config.i, pidSlot));
+    configureSparkMax(() -> pid.setD(config.d, pidSlot));
+    configureSparkMax(() -> pid.setFF(config.f, pidSlot));
+    configureSparkMax(() -> pid.setIZone(config.iz, pidSlot));
+    configureSparkMax(() -> pid.setOutputRange(config.output.min, config.output.max, pidSlot));
   }
 
   /**
@@ -240,9 +261,9 @@ public void configurePIDF(PIDFConfig config) {
    */
   @Override
   public void configurePIDWrapping(double minInput, double maxInput) {
-    pid.setPositionPIDWrappingEnabled(true);
-    pid.setPositionPIDWrappingMinInput(minInput);
-    pid.setPositionPIDWrappingMaxInput(maxInput);
+    configureSparkMax(() -> pid.setPositionPIDWrappingEnabled(true));
+    configureSparkMax(() -> pid.setPositionPIDWrappingMinInput(minInput));
+    configureSparkMax(() -> pid.setPositionPIDWrappingMaxInput(maxInput));
   }
 
   /**
@@ -256,11 +277,11 @@ public void configurePIDWrapping(double minInput, double maxInput) {
    */
   public void configureCANStatusFrames(
       int CANStatus0, int CANStatus1, int CANStatus2, int CANStatus3, int CANStatus4) {
-    motor.setPeriodicFramePeriod(PeriodicFrame.kStatus0, CANStatus0);
-    motor.setPeriodicFramePeriod(PeriodicFrame.kStatus1, CANStatus1);
-    motor.setPeriodicFramePeriod(PeriodicFrame.kStatus2, CANStatus2);
-    motor.setPeriodicFramePeriod(PeriodicFrame.kStatus3, CANStatus3);
-    motor.setPeriodicFramePeriod(PeriodicFrame.kStatus4, CANStatus4);
+    configureSparkMax(() -> motor.setPeriodicFramePeriod(PeriodicFrame.kStatus0, CANStatus0));
+    configureSparkMax(() -> motor.setPeriodicFramePeriod(PeriodicFrame.kStatus1, CANStatus1));
+    configureSparkMax(() -> motor.setPeriodicFramePeriod(PeriodicFrame.kStatus2, CANStatus2));
+    configureSparkMax(() -> motor.setPeriodicFramePeriod(PeriodicFrame.kStatus3, CANStatus3));
+    configureSparkMax(() -> motor.setPeriodicFramePeriod(PeriodicFrame.kStatus4, CANStatus4));
     // TODO: Configure Status Frame 5 and 6 if necessary
     //  https://docs.revrobotics.com/sparkmax/operating-modes/control-interfaces
   }
@@ -272,7 +293,7 @@ public void configureCANStatusFrames(
    */
   @Override
   public void setMotorBrake(boolean isBrakeMode) {
-    motor.setIdleMode(isBrakeMode ? IdleMode.kBrake : IdleMode.kCoast);
+    configureSparkMax(() -> motor.setIdleMode(isBrakeMode ? IdleMode.kBrake : IdleMode.kCoast));
   }
 
   /**
@@ -288,7 +309,7 @@ public void setInverted(boolean inverted) {
   /** Save the configurations from flash to EEPROM. */
   @Override
   public void burnFlash() {
-    motor.burnFlash();
+    configureSparkMax(() -> motor.burnFlash());
   }
 
   /**
@@ -309,13 +330,17 @@ public void set(double percentOutput) {
    */
   @Override
   public void setReference(double setpoint, double feedforward) {
-    int pidSlot =
-        isDriveMotor ? SparkMAX_slotIdx.Velocity.ordinal() : SparkMAX_slotIdx.Position.ordinal();
-    pid.setReference(
-        setpoint,
-        isDriveMotor ? ControlType.kVelocity : ControlType.kPosition,
-        pidSlot,
-        feedforward);
+    //    int pidSlot =
+    //        isDriveMotor ? SparkMAX_slotIdx.Velocity.ordinal() :
+    // SparkMAX_slotIdx.Position.ordinal();
+    int pidSlot = 0;
+    configureSparkMax(
+        () ->
+            pid.setReference(
+                setpoint,
+                isDriveMotor ? ControlType.kVelocity : ControlType.kPosition,
+                pidSlot,
+                feedforward));
   }
 
   /**
@@ -358,7 +383,7 @@ public double getPosition() {
   @Override
   public void setPosition(double position) {
     if (absoluteEncoder == null) {
-      encoder.setPosition(position);
+      configureSparkMax(() -> encoder.setPosition(position));
     }
   }
 }
diff --git a/src/main/java/swervelib/motors/SparkMaxSwerve.java b/src/main/java/swervelib/motors/SparkMaxSwerve.java
index 9d374ad..308ab9b 100644
--- a/src/main/java/swervelib/motors/SparkMaxSwerve.java
+++ b/src/main/java/swervelib/motors/SparkMaxSwerve.java
@@ -6,8 +6,11 @@
 import com.revrobotics.CANSparkMax.IdleMode;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 import com.revrobotics.CANSparkMaxLowLevel.PeriodicFrame;
+import com.revrobotics.REVLibError;
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.SparkMaxPIDController;
+import edu.wpi.first.wpilibj.DriverStation;
+import java.util.function.Supplier;
 import swervelib.encoders.SwerveAbsoluteEncoder;
 import swervelib.parser.PIDFConfig;
 
@@ -42,7 +45,8 @@ public SparkMaxSwerve(CANSparkMax motor, boolean isDriveMotor) {
     pid.setFeedbackDevice(
         encoder); // Configure feedback of the PID controller as the integrated encoder.
 
-    motor.setCANTimeout(0); // Spin off configurations in a different thread.
+    // Spin off configurations in a different thread.
+    configureSparkMax(() -> motor.setCANTimeout(0));
   }
 
   /**
@@ -55,6 +59,20 @@ public SparkMaxSwerve(int id, boolean isDriveMotor) {
     this(new CANSparkMax(id, MotorType.kBrushless), isDriveMotor);
   }
 
+  /**
+   * Run the configuration until it succeeds or times out.
+   *
+   * @param config Lambda supplier returning the error state.
+   */
+  private void configureSparkMax(Supplier<REVLibError> config) {
+    for (int i = 0; i < maximumRetries; i++) {
+      if (config.get() == REVLibError.kOk) {
+        return;
+      }
+    }
+    DriverStation.reportWarning("Failure configuring motor " + motor.getDeviceId(), true);
+  }
+
   /**
    * Set the voltage compensation for the swerve module motor.
    *
@@ -62,7 +80,7 @@ public SparkMaxSwerve(int id, boolean isDriveMotor) {
    */
   @Override
   public void setVoltageCompensation(double nominalVoltage) {
-    motor.enableVoltageCompensation(nominalVoltage);
+    configureSparkMax(() -> motor.enableVoltageCompensation(nominalVoltage));
   }
 
   /**
@@ -73,7 +91,7 @@ public void setVoltageCompensation(double nominalVoltage) {
    */
   @Override
   public void setCurrentLimit(int currentLimit) {
-    motor.setSmartCurrentLimit(currentLimit);
+    configureSparkMax(() -> motor.setSmartCurrentLimit(currentLimit));
   }
 
   /**
@@ -83,8 +101,8 @@ public void setCurrentLimit(int currentLimit) {
    */
   @Override
   public void setLoopRampRate(double rampRate) {
-    motor.setOpenLoopRampRate(rampRate);
-    motor.setClosedLoopRampRate(rampRate);
+    configureSparkMax(() -> motor.setOpenLoopRampRate(rampRate));
+    configureSparkMax(() -> motor.setClosedLoopRampRate(rampRate));
   }
 
   /**
@@ -111,7 +129,7 @@ public boolean isAttachedAbsoluteEncoder() {
   @Override
   public void factoryDefaults() {
     if (!factoryDefaultOccurred) {
-      motor.restoreFactoryDefaults();
+      configureSparkMax(motor::restoreFactoryDefaults);
       factoryDefaultOccurred = true;
     }
   }
@@ -119,7 +137,7 @@ public void factoryDefaults() {
   /** Clear the sticky faults on the motor controller. */
   @Override
   public void clearStickyFaults() {
-    motor.clearFaults();
+    configureSparkMax(motor::clearFaults);
   }
 
   /**
@@ -132,7 +150,7 @@ public void clearStickyFaults() {
   public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder) {
     if (encoder.getAbsoluteEncoder() instanceof AbsoluteEncoder) {
       absoluteEncoder = (AbsoluteEncoder) encoder.getAbsoluteEncoder();
-      pid.setFeedbackDevice(absoluteEncoder);
+      configureSparkMax(() -> pid.setFeedbackDevice(absoluteEncoder));
     }
     return this;
   }
@@ -146,15 +164,17 @@ public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder) {
   @Override
   public void configureIntegratedEncoder(double positionConversionFactor) {
     if (absoluteEncoder == null) {
-      encoder.setPositionConversionFactor(positionConversionFactor);
-      encoder.setVelocityConversionFactor(positionConversionFactor / 60);
+      configureSparkMax(() -> encoder.setPositionConversionFactor(positionConversionFactor));
+      configureSparkMax(() -> encoder.setVelocityConversionFactor(positionConversionFactor / 60));
 
       // Taken from
       // https://github.com/frc3512/SwerveBot-2022/blob/9d31afd05df6c630d5acb4ec2cf5d734c9093bf8/src/main/java/frc/lib/util/CANSparkMaxUtil.java#L67
       configureCANStatusFrames(10, 20, 20, 500, 500);
     } else {
-      absoluteEncoder.setPositionConversionFactor(positionConversionFactor);
-      absoluteEncoder.setVelocityConversionFactor(positionConversionFactor / 60);
+      configureSparkMax(
+          () -> absoluteEncoder.setPositionConversionFactor(positionConversionFactor));
+      configureSparkMax(
+          () -> absoluteEncoder.setVelocityConversionFactor(positionConversionFactor / 60));
     }
   }
 
@@ -165,15 +185,16 @@ public void configureIntegratedEncoder(double positionConversionFactor) {
    */
   @Override
   public void configurePIDF(PIDFConfig config) {
-    int pidSlot =
-        isDriveMotor ? SparkMAX_slotIdx.Velocity.ordinal() : SparkMAX_slotIdx.Position.ordinal();
-    pidSlot = 0;
-    pid.setP(config.p, pidSlot);
-    pid.setI(config.i, pidSlot);
-    pid.setD(config.d, pidSlot);
-    pid.setFF(config.f, pidSlot);
-    pid.setIZone(config.iz, pidSlot);
-    pid.setOutputRange(config.output.min, config.output.max, pidSlot);
+    //    int pidSlot =
+    //        isDriveMotor ? SparkMAX_slotIdx.Velocity.ordinal() :
+    // SparkMAX_slotIdx.Position.ordinal();
+    int pidSlot = 0;
+    configureSparkMax(() -> pid.setP(config.p, pidSlot));
+    configureSparkMax(() -> pid.setI(config.i, pidSlot));
+    configureSparkMax(() -> pid.setD(config.d, pidSlot));
+    configureSparkMax(() -> pid.setFF(config.f, pidSlot));
+    configureSparkMax(() -> pid.setIZone(config.iz, pidSlot));
+    configureSparkMax(() -> pid.setOutputRange(config.output.min, config.output.max, pidSlot));
   }
 
   /**
@@ -184,9 +205,9 @@ public void configurePIDF(PIDFConfig config) {
    */
   @Override
   public void configurePIDWrapping(double minInput, double maxInput) {
-    pid.setPositionPIDWrappingEnabled(true);
-    pid.setPositionPIDWrappingMinInput(minInput);
-    pid.setPositionPIDWrappingMaxInput(maxInput);
+    configureSparkMax(() -> pid.setPositionPIDWrappingEnabled(true));
+    configureSparkMax(() -> pid.setPositionPIDWrappingMinInput(minInput));
+    configureSparkMax(() -> pid.setPositionPIDWrappingMaxInput(maxInput));
   }
 
   /**
@@ -200,11 +221,11 @@ public void configurePIDWrapping(double minInput, double maxInput) {
    */
   public void configureCANStatusFrames(
       int CANStatus0, int CANStatus1, int CANStatus2, int CANStatus3, int CANStatus4) {
-    motor.setPeriodicFramePeriod(PeriodicFrame.kStatus0, CANStatus0);
-    motor.setPeriodicFramePeriod(PeriodicFrame.kStatus1, CANStatus1);
-    motor.setPeriodicFramePeriod(PeriodicFrame.kStatus2, CANStatus2);
-    motor.setPeriodicFramePeriod(PeriodicFrame.kStatus3, CANStatus3);
-    motor.setPeriodicFramePeriod(PeriodicFrame.kStatus4, CANStatus4);
+    configureSparkMax(() -> motor.setPeriodicFramePeriod(PeriodicFrame.kStatus0, CANStatus0));
+    configureSparkMax(() -> motor.setPeriodicFramePeriod(PeriodicFrame.kStatus1, CANStatus1));
+    configureSparkMax(() -> motor.setPeriodicFramePeriod(PeriodicFrame.kStatus2, CANStatus2));
+    configureSparkMax(() -> motor.setPeriodicFramePeriod(PeriodicFrame.kStatus3, CANStatus3));
+    configureSparkMax(() -> motor.setPeriodicFramePeriod(PeriodicFrame.kStatus4, CANStatus4));
     // TODO: Configure Status Frame 5 and 6 if necessary
     //  https://docs.revrobotics.com/sparkmax/operating-modes/control-interfaces
   }
@@ -216,7 +237,7 @@ public void configureCANStatusFrames(
    */
   @Override
   public void setMotorBrake(boolean isBrakeMode) {
-    motor.setIdleMode(isBrakeMode ? IdleMode.kBrake : IdleMode.kCoast);
+    configureSparkMax(() -> motor.setIdleMode(isBrakeMode ? IdleMode.kBrake : IdleMode.kCoast));
   }
 
   /**
@@ -236,7 +257,7 @@ public void burnFlash() {
       Thread.sleep(200);
     } catch (Exception e) {
     }
-    motor.burnFlash();
+    configureSparkMax(() -> motor.burnFlash());
   }
 
   /**
@@ -258,14 +279,17 @@ public void set(double percentOutput) {
   @Override
   public void setReference(double setpoint, double feedforward) {
     boolean possibleBurnOutIssue = true;
-    int pidSlot =
-        isDriveMotor ? SparkMAX_slotIdx.Velocity.ordinal() : SparkMAX_slotIdx.Position.ordinal();
-    pidSlot = 0;
+    //    int pidSlot =
+    //        isDriveMotor ? SparkMAX_slotIdx.Velocity.ordinal() :
+    // SparkMAX_slotIdx.Position.ordinal();
+    int pidSlot = 0;
 
     if (isDriveMotor) {
-      pid.setReference(setpoint, ControlType.kVelocity, pidSlot, feedforward);
+      configureSparkMax(
+          () -> pid.setReference(setpoint, ControlType.kVelocity, pidSlot, feedforward));
     } else {
-      pid.setReference(setpoint, ControlType.kPosition, pidSlot, feedforward);
+      configureSparkMax(
+          () -> pid.setReference(setpoint, ControlType.kPosition, pidSlot, feedforward));
     }
   }
 
@@ -309,7 +333,7 @@ public double getPosition() {
   @Override
   public void setPosition(double position) {
     if (absoluteEncoder == null) {
-      encoder.setPosition(position);
+      configureSparkMax(() -> encoder.setPosition(position));
     }
   }
 
diff --git a/src/main/java/swervelib/motors/SwerveMotor.java b/src/main/java/swervelib/motors/SwerveMotor.java
index 99365b7..569cd95 100644
--- a/src/main/java/swervelib/motors/SwerveMotor.java
+++ b/src/main/java/swervelib/motors/SwerveMotor.java
@@ -8,6 +8,11 @@
  */
 public abstract class SwerveMotor {
 
+  /**
+   * The maximum amount of times the swerve motor will attempt to configure a motor if failures
+   * occur.
+   */
+  public final int maximumRetries = 5;
   /** Whether the swerve motor is a drive motor. */
   protected boolean isDriveMotor;
 
diff --git a/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml b/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml
index 2e6e475..903bea2 100644
--- a/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml
+++ b/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml
@@ -8,6 +8,6 @@
     <versions>
       <version>2023.0.6</version>
     </versions>
-    <lastUpdated>20230830020321</lastUpdated>
+    <lastUpdated>20230830025709</lastUpdated>
   </versioning>
 </metadata>
diff --git a/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.md5 b/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.md5
index 4a9deda..6a40962 100644
--- a/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.md5
+++ b/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.md5
@@ -1 +1 @@
-cf13497a4123468f14b7796490b317ae
\ No newline at end of file
+af45abc8a3fd6fdf8b1d4a6ad5cd3953
\ No newline at end of file
diff --git a/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.sha1 b/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.sha1
index d9c08ad..674e595 100644
--- a/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.sha1
+++ b/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.sha1
@@ -1 +1 @@
-97d526d890ab4f8733fc89d6af08df048a8283b5
\ No newline at end of file
+081b5a5bfc3916c09035bc05d4dbd15821e32131
\ No newline at end of file
diff --git a/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.sha256 b/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.sha256
index afb1250..da110e5 100644
--- a/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.sha256
+++ b/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.sha256
@@ -1 +1 @@
-9ebfeea7bfb21e49f23bd80e4c2b2e404e5ec53d711a3bdec5b7887503419613
\ No newline at end of file
+5178d7973cd079217fbc37677ac1101f93ca5fcd9d9333e28076d8e9f9555668
\ No newline at end of file
diff --git a/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.sha512 b/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.sha512
index 8273b8d..3426e9c 100644
--- a/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.sha512
+++ b/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.sha512
@@ -1 +1 @@
-9affbfe564f7ae266d551e651b240f297345b89de42f4eb2fb7300d1a4922bc0f18622aec82e79a7780c8a78000a5a4db661c674ccd707c5172a14d55944f272
\ No newline at end of file
+1b28591f76f1042a8885b24e251227c55ea0a63fa135af00c48d006d7d1316ca53d4018c8bf72644749d2c5b86ec787d25aaed1f76ecc87da08b1a5fb120369e
\ No newline at end of file
diff --git a/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-javadoc.jar b/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-javadoc.jar
index 6c1c7a8..2756475 100644
Binary files a/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-javadoc.jar and b/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-javadoc.jar differ
diff --git a/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-javadoc.jar.md5 b/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-javadoc.jar.md5
index 08350eb..8a019a6 100644
--- a/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-javadoc.jar.md5
+++ b/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-javadoc.jar.md5
@@ -1 +1 @@
-c373d7c3767f717c9a6d3fe91050807a
\ No newline at end of file
+c42d0787b015598645c01e7e67fdd2ed
\ No newline at end of file
diff --git a/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-javadoc.jar.sha1 b/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-javadoc.jar.sha1
index 066fd90..38dbb60 100644
--- a/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-javadoc.jar.sha1
+++ b/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-javadoc.jar.sha1
@@ -1 +1 @@
-880393f4eb863edf432fd79a375c11b6ba4638d6
\ No newline at end of file
+ae08ed1d5fe08c94b0416108a3c984eb122edc32
\ No newline at end of file
diff --git a/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-javadoc.jar.sha256 b/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-javadoc.jar.sha256
index 07e3055..225eeaa 100644
--- a/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-javadoc.jar.sha256
+++ b/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-javadoc.jar.sha256
@@ -1 +1 @@
-6d92e82b8eb353d560634dda046d2cb1f162d9fd1a2d44a002f6acc452bbe0c6
\ No newline at end of file
+99121689ad1b076d6cc126a6dfc92de66a692c03cbfad72af7034bf0ffb4a704
\ No newline at end of file
diff --git a/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-javadoc.jar.sha512 b/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-javadoc.jar.sha512
index e2819f4..7f65364 100644
--- a/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-javadoc.jar.sha512
+++ b/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-javadoc.jar.sha512
@@ -1 +1 @@
-148af091a0e53bc201ec289b492065f2c207e3305b81a849bdd96d5a44d4890c53ff990c0fcebbe0ebd481eaf8ffb25eb143efa5b208d4dd45308285698162e3
\ No newline at end of file
+fd95e96124867d038ceaadfc8d4be1c1efac0e8fc3430babcd8898750786a734c4250b9467648d3f002390a3f959c61dd4c75ca04433848354596e81cb41afa3
\ No newline at end of file
diff --git a/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-sources.jar b/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-sources.jar
index 41dc73f..d5dd6ac 100644
Binary files a/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-sources.jar and b/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-sources.jar differ
diff --git a/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-sources.jar.md5 b/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-sources.jar.md5
index a6429b6..b767bb8 100644
--- a/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-sources.jar.md5
+++ b/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-sources.jar.md5
@@ -1 +1 @@
-54501890061fa04c79ac085841bc8d04
\ No newline at end of file
+d8d8b7f928c4df193ff1f2d418a16472
\ No newline at end of file
diff --git a/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-sources.jar.sha1 b/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-sources.jar.sha1
index 89677ab..6acdec4 100644
--- a/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-sources.jar.sha1
+++ b/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-sources.jar.sha1
@@ -1 +1 @@
-bf1fb019812d2b2812dd51a15529381d4192a781
\ No newline at end of file
+b9255d677764b8c7da30b2ae334b1caf804a341c
\ No newline at end of file
diff --git a/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-sources.jar.sha256 b/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-sources.jar.sha256
index 89c1f15..b2996d4 100644
--- a/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-sources.jar.sha256
+++ b/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-sources.jar.sha256
@@ -1 +1 @@
-7e111d0c2ff87546023ff645841f54ae79bc2ab385d9f525abca13a9dc95d749
\ No newline at end of file
+d82a1b7006fdfbfda62d27f7b0c102a4318d65191d7a6d88a1df69ebe0a90d79
\ No newline at end of file
diff --git a/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-sources.jar.sha512 b/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-sources.jar.sha512
index 8b14efa..451a0c9 100644
--- a/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-sources.jar.sha512
+++ b/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6-sources.jar.sha512
@@ -1 +1 @@
-aec7b073f2f59764282c48aed123535b78890cb6721292d5b9e5df1b56bf82dfa382fc55d158f44293b1784ec9a70afdb7aa7a6f2d1e5b1f41db40165c86751e
\ No newline at end of file
+0d4a57b804106ac6efbb1be366965decb6d02f9d2822478da48e4f835c399708c0520df149896c615ea278a7ab724296256dc7eea0e37674fe246495fc0e185e
\ No newline at end of file
diff --git a/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6.jar b/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6.jar
index 060678f..16740cd 100644
Binary files a/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6.jar and b/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6.jar differ
diff --git a/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6.jar.md5 b/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6.jar.md5
index c31f4d0..bce1abf 100644
--- a/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6.jar.md5
+++ b/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6.jar.md5
@@ -1 +1 @@
-93febeed8db5c3bbbdfb7530cd496c2c
\ No newline at end of file
+da3b6ac71ddbd08a32e06162c54322ef
\ No newline at end of file
diff --git a/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6.jar.sha1 b/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6.jar.sha1
index de7bd37..2b3ac72 100644
--- a/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6.jar.sha1
+++ b/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6.jar.sha1
@@ -1 +1 @@
-3e06db5e67ad59785dd509cda4766a22d67486cf
\ No newline at end of file
+b4dd958d11e23a8a4774b4e3f7a0cf4ac0a18bb1
\ No newline at end of file
diff --git a/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6.jar.sha256 b/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6.jar.sha256
index fc53858..c5a52bd 100644
--- a/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6.jar.sha256
+++ b/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6.jar.sha256
@@ -1 +1 @@
-e9a4967a3f0f77e747193cff00af30499c687e2356e7fde34b6a85a084f26277
\ No newline at end of file
+fe05f10da153cd1fc876e54ff404cbda419853b6dd57868ccc737e66450999bb
\ No newline at end of file
diff --git a/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6.jar.sha512 b/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6.jar.sha512
index b264030..345d187 100644
--- a/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6.jar.sha512
+++ b/yagsl/repos/swervelib/YAGSL-java/2023.0.6/YAGSL-java-2023.0.6.jar.sha512
@@ -1 +1 @@
-3d541baee00aaeb8e75e45d192857d1f78bc5fd57a1da1e9fd18363f2f127a4a5e806cb80f510b89667c30245d24ed5846dc9e0bafda67ea086888320c9139cd
\ No newline at end of file
+2dbad654dfb29fe5f79d78685a30d156ee0b1c9debead0626aafbe3e7eb4b801b9de4de27f82c149bd22460e736a69e8942c4d22d7a343a3b05e22ed6b5c106c
\ No newline at end of file
diff --git a/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml b/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml
index 66aa289..d8e5e38 100644
--- a/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml
+++ b/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml
@@ -8,6 +8,6 @@
     <versions>
       <version>2023.0.6</version>
     </versions>
-    <lastUpdated>20230830020324</lastUpdated>
+    <lastUpdated>20230830025712</lastUpdated>
   </versioning>
 </metadata>
diff --git a/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.md5 b/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.md5
index 717268f..5070215 100644
--- a/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.md5
+++ b/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.md5
@@ -1 +1 @@
-e8659340158e2c81a780aec5b3ae6073
\ No newline at end of file
+0bfb37afda5eeab7c40bb7b722de7e55
\ No newline at end of file
diff --git a/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.sha1 b/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.sha1
index e742f3c..4785720 100644
--- a/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.sha1
+++ b/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.sha1
@@ -1 +1 @@
-f2094f5e62943ae4cc4ee5dc0ece686ab3b27efd
\ No newline at end of file
+201702ce94d0931400d8ce7386baddec2b9bd14e
\ No newline at end of file
diff --git a/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.sha256 b/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.sha256
index a82e02b..bccf7b7 100644
--- a/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.sha256
+++ b/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.sha256
@@ -1 +1 @@
-dd14256aeb99ba852b2a4f6b9914a01b914006509ef10cf4fb4ae380cc477a02
\ No newline at end of file
+2c8af8b0cc0ca24061cb4a26c9175b078821f39d388476758f9872cf1faf5fec
\ No newline at end of file
diff --git a/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.sha512 b/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.sha512
index daabe8d..c4c0d16 100644
--- a/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.sha512
+++ b/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.sha512
@@ -1 +1 @@
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\ No newline at end of file
+8da8c83075d203f7b3ee768aec031fac56361bdc3308ddbc4012214b5370ef9c8f22b7b336233118d488a3691aa86d0bdb7ff98f35444c7fe4feba45dea42028
\ No newline at end of file