diff --git a/lib/src/main/java/com/team2813/lib2813/control/DeviceInformation.java b/lib/src/main/java/com/team2813/lib2813/control/DeviceInformation.java
index 8728b454..7351b382 100644
--- a/lib/src/main/java/com/team2813/lib2813/control/DeviceInformation.java
+++ b/lib/src/main/java/com/team2813/lib2813/control/DeviceInformation.java
@@ -15,20 +15,37 @@
 */
 package com.team2813.lib2813.control;
 
+import com.ctre.phoenix6.CANBus;
 import com.team2813.lib2813.util.InputValidation;
+import java.util.Objects;
 import java.util.Optional;
 
 public final class DeviceInformation {
-  private int id;
-  private Optional<String> canbus;
+  private static final String DEFAULT_CANBUS_NAME = new CANBus().getName();
+  private final int id;
+  private final CANBus canbus;
 
   /**
-   * Creates a DeviceInformation for a device on the RoboRIO can loop
+   * Creates a DeviceInformation for a device on the default CAN bus.
    *
-   * @param id the can ID
+   * @param deviceId the configured ID of the device
    */
-  public DeviceInformation(int id) {
-    this(id, null);
+  public DeviceInformation(int deviceId) {
+    this.id = InputValidation.checkCanId(deviceId);
+    this.canbus = new CANBus();
+  }
+
+  /**
+   * Creates a DeviceInformation with a canbus.
+   *
+   * @param deviceId the configured ID of the device
+   * @param canbus the CAN bus the device is on
+   */
+  public DeviceInformation(int deviceId, CANBus canbus) {
+    Objects.requireNonNull(canbus, "canbus");
+    Objects.requireNonNull(canbus.getName(), "canbus name");
+    this.id = InputValidation.checkCanId(deviceId);
+    this.canbus = canbus;
   }
 
   /**
@@ -36,11 +53,14 @@ public DeviceInformation(int id) {
    * acts like {@link #DeviceInformation(int)} was called
    *
    * @param id the CAN id
-   * @param canbus the canbus string
+   * @param canbus the name of the CAN bus the device is on
+   * @deprecated Constructing {@code DeviceInformation} with a CAN bus string is deprecated for
+   *     removal in the 2027 season. Construct instances using a {@link CANBus} instance instead.
    */
+  @Deprecated(forRemoval = true)
   public DeviceInformation(int id, String canbus) {
     this.id = InputValidation.checkCanId(id);
-    this.canbus = Optional.ofNullable(canbus);
+    this.canbus = canbus == null ? new CANBus() : new CANBus(canbus);
   }
 
   /**
@@ -57,20 +77,36 @@ public int id() {
    * can loop
    *
    * @return the canbus that the device is on
+   * @deprecated use {@link #canBus()}}
    */
+  @Deprecated(forRemoval = true)
   public Optional<String> canbus() {
+    String canbusName = canbus.getName();
+    if (canbusName.equals(DEFAULT_CANBUS_NAME)) {
+      return Optional.empty();
+    }
+    return Optional.of(canbusName);
+  }
+
+  /**
+   * Returns the canbus that this device is on.
+   *
+   * @return the canbus that the device is on
+   */
+  public CANBus canBus() {
     return canbus;
   }
 
   @Override
-  public boolean equals(Object o) {
-    if (!(o instanceof DeviceInformation)) return false;
-    DeviceInformation other = (DeviceInformation) o;
-    return other.id == id && other.canbus.equals(canbus);
+  public boolean equals(Object obj) {
+    if (obj instanceof DeviceInformation other) {
+      return other.id == id && other.canbus.getName().equals(canbus.getName());
+    }
+    return false;
   }
 
   @Override
   public int hashCode() {
-    return id * 31 + canbus.hashCode();
+    return id * 31 + canbus.getName().hashCode();
   }
 }
diff --git a/lib/src/main/java/com/team2813/lib2813/control/encoders/CancoderWrapper.java b/lib/src/main/java/com/team2813/lib2813/control/encoders/CancoderWrapper.java
index e62cf3d4..4c70372e 100644
--- a/lib/src/main/java/com/team2813/lib2813/control/encoders/CancoderWrapper.java
+++ b/lib/src/main/java/com/team2813/lib2813/control/encoders/CancoderWrapper.java
@@ -15,6 +15,7 @@
 */
 package com.team2813.lib2813.control.encoders;
 
+import com.ctre.phoenix6.CANBus;
 import com.ctre.phoenix6.hardware.CANcoder;
 import com.team2813.lib2813.control.DeviceInformation;
 import com.team2813.lib2813.control.Encoder;
@@ -23,18 +24,51 @@
 import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.units.measure.AngularVelocity;
 
+/**
+ * A wrapper for {@link CANcoder} that implements {@link Encoder}.
+ *
+ * <p>Represents a CAN-based magnetic encoder that provides absolute and relative position along
+ * with filtered velocity.
+ */
 public class CancoderWrapper implements Encoder {
-  private CANcoder cancoder;
-  private DeviceInformation info;
+  private final CANcoder cancoder;
+  private final DeviceInformation info;
 
-  public CancoderWrapper(int id, String canbus) {
-    cancoder = new CANcoder(id, canbus);
-    info = new DeviceInformation(id, canbus);
+  /**
+   * Creates an instance for a CANcoder on the specified CAN bus.
+   *
+   * @param deviceId the configured ID of the CANcoder
+   * @param canbus the CAN bus the device is on
+   */
+  public CancoderWrapper(int deviceId, CANBus canbus) {
+    info = new DeviceInformation(deviceId, canbus);
+    cancoder = new CANcoder(deviceId, canbus);
   }
 
-  public CancoderWrapper(int id) {
-    cancoder = new CANcoder(id);
-    info = new DeviceInformation(id);
+  /**
+   * Creates an instance for a CANcoder on the specified CAN bus name.
+   *
+   * @param deviceId the configured ID of the CANcoder
+   * @param canbusName the name of the CAN bus the device is on
+   * @deprecated Constructing {@code CancoderWrapper} with a CAN bus string is deprecated for
+   *     removal in the 2027 season. Construct instances using a {@link CANBus} instance instead.
+   */
+  @Deprecated(forRemoval = true)
+  public CancoderWrapper(int deviceId, String canbusName) {
+    @SuppressWarnings("removal")
+    DeviceInformation deviceInformation = new DeviceInformation(deviceId, canbusName);
+    info = deviceInformation;
+    cancoder = new CANcoder(deviceId, info.canBus());
+  }
+
+  /**
+   * Creates an instance for a CANcoder on the default CAN bus.
+   *
+   * @param deviceId the configured ID of the CANcoder
+   */
+  public CancoderWrapper(int deviceId) {
+    cancoder = new CANcoder(deviceId);
+    info = new DeviceInformation(deviceId, cancoder.getNetwork());
   }
 
   @Override
@@ -58,8 +92,9 @@ public AngularVelocity getVelocityMeasure() {
 
   @Override
   public boolean equals(Object obj) {
-    if (!(obj instanceof CancoderWrapper)) return false;
-    CancoderWrapper other = (CancoderWrapper) obj;
-    return info.equals(other.info);
+    if (obj instanceof CancoderWrapper other) {
+      return info.equals(other.info);
+    }
+    return false;
   }
 }
diff --git a/lib/src/main/java/com/team2813/lib2813/control/imu/Pigeon2Wrapper.java b/lib/src/main/java/com/team2813/lib2813/control/imu/Pigeon2Wrapper.java
index 59da20db..89154abe 100644
--- a/lib/src/main/java/com/team2813/lib2813/control/imu/Pigeon2Wrapper.java
+++ b/lib/src/main/java/com/team2813/lib2813/control/imu/Pigeon2Wrapper.java
@@ -15,37 +15,54 @@
 */
 package com.team2813.lib2813.control.imu;
 
+import com.ctre.phoenix6.CANBus;
 import com.ctre.phoenix6.hardware.Pigeon2;
 import com.team2813.lib2813.control.DeviceInformation;
 import com.team2813.lib2813.util.ConfigUtils;
 
 public class Pigeon2Wrapper {
-
-  private Pigeon2 pigeon;
+  private final Pigeon2 pigeon;
+  private final DeviceInformation info;
 
   private double currentHeading = 0;
-  private DeviceInformation info;
 
   /**
-   * Constructor
+   * Creates an instance for a Pigeon 2 IMU sensor on the specified CAN bus.
    *
-   * @param deviceNumber [0,62]
+   * @param deviceId [0,62]
    * @param canbus Name of the CANbus; can be a SocketCAN interface (on Linux), or a CANivore device
    *     name or serial number
    */
-  public Pigeon2Wrapper(int deviceNumber, String canbus) {
-    info = new DeviceInformation(deviceNumber, canbus);
-    pigeon = new Pigeon2(deviceNumber, canbus);
+  public Pigeon2Wrapper(int deviceId, CANBus canbus) {
+    info = new DeviceInformation(deviceId, canbus);
+    pigeon = new Pigeon2(deviceId, canbus);
+  }
+
+  /**
+   * Constructor
+   *
+   * @param deviceId [0,62]
+   * @param canbusName the name of the CAN bus the device is on; can be a SocketCAN interface (on
+   *     Linux), or a CANivore device name or serial number
+   * @deprecated Constructing {@code CancoderWrapper} with a CAN bus string is deprecated for
+   *     removal in the 2027 season. Construct instances using a {@link CANBus} instance instead.
+   */
+  @Deprecated(forRemoval = true)
+  public Pigeon2Wrapper(int deviceId, String canbusName) {
+    @SuppressWarnings("removal")
+    DeviceInformation deviceInformation = new DeviceInformation(deviceId, canbusName);
+    info = deviceInformation;
+    pigeon = new Pigeon2(deviceId, info.canBus());
   }
 
   /**
    * Constructor
    *
-   * @param deviceNumber [0,62]
+   * @param deviceId [0,62]
    */
-  public Pigeon2Wrapper(int deviceNumber) {
-    info = new DeviceInformation(deviceNumber);
-    pigeon = new Pigeon2(deviceNumber);
+  public Pigeon2Wrapper(int deviceId) {
+    pigeon = new Pigeon2(deviceId);
+    info = new DeviceInformation(deviceId, pigeon.getNetwork());
   }
 
   public Pigeon2 getPigeon() {
@@ -77,11 +94,10 @@ public int hashCode() {
     return info.hashCode();
   }
 
-  public boolean equals(Object other) {
-    if (!(other instanceof Pigeon2Wrapper)) {
-      return false;
+  public boolean equals(Object obj) {
+    if (obj instanceof Pigeon2Wrapper other) {
+      return info.equals(other.info);
     }
-    Pigeon2Wrapper o = (Pigeon2Wrapper) other;
-    return o.info.equals(info);
+    return false;
   }
 }
diff --git a/lib/src/main/java/com/team2813/lib2813/control/motors/SparkMaxWrapper.java b/lib/src/main/java/com/team2813/lib2813/control/motors/SparkMaxWrapper.java
index 2f9f8c74..b5dd12ca 100644
--- a/lib/src/main/java/com/team2813/lib2813/control/motors/SparkMaxWrapper.java
+++ b/lib/src/main/java/com/team2813/lib2813/control/motors/SparkMaxWrapper.java
@@ -113,7 +113,9 @@ public void configPIDF(int slot, double p, double i, double d, double f) {
       throw new RuntimeException("Invalid slot!");
     }
     ClosedLoopSlot cSlot = slots[slot];
-    config.apply(new ClosedLoopConfig().pidf(p, i, d, f, cSlot));
+    ClosedLoopConfig closedLoopConfig = new ClosedLoopConfig().pid(p, i, d, cSlot);
+    closedLoopConfig.feedForward.kV(f, cSlot);
+    config.apply(closedLoopConfig);
     ConfigUtils.revConfig(() -> motor.configure(config, resetMode, persistMode));
   }
 
diff --git a/lib/src/main/java/com/team2813/lib2813/control/motors/TalonFXWrapper.java b/lib/src/main/java/com/team2813/lib2813/control/motors/TalonFXWrapper.java
index 6d1163d9..3c6d860c 100644
--- a/lib/src/main/java/com/team2813/lib2813/control/motors/TalonFXWrapper.java
+++ b/lib/src/main/java/com/team2813/lib2813/control/motors/TalonFXWrapper.java
@@ -51,7 +51,7 @@ public class TalonFXWrapper implements PIDMotor {
   private final DeviceInformation information;
 
   /**
-   * Create a TalonFXWrapper on the specified canbus
+   * Create a TalonFXWrapper on the specified canbus.
    *
    * @param canID [0, 62] the can ID of the motor
    * @param canbus the canbus that the motor is on
@@ -62,7 +62,7 @@ public class TalonFXWrapper implements PIDMotor {
    *     InvertType} that is for following motors
    * @throws InvalidCanIdException if the CAN id is invalid
    */
-  public TalonFXWrapper(int canID, String canbus, InvertType invertType) {
+  public TalonFXWrapper(int canID, CANBus canbus, InvertType invertType) {
     Objects.requireNonNull(invertType, "invertType should not be null");
     Objects.requireNonNull(canbus, "canbus should not be null");
     if (!InvertType.rotationValues.contains(invertType)) {
@@ -83,6 +83,28 @@ public TalonFXWrapper(int canID, String canbus, InvertType invertType) {
     information = new DeviceInformation(canID, canbus);
   }
 
+  /**
+   * Create a TalonFXWrapper on the specified canbus name.
+   *
+   * @param canID [0, 62] the can ID of the motor
+   * @param canbusName the canbus that the motor is on
+   * @param invertType the invert type
+   * @throws NullPointerException if either {@code invertType} or {@code canbus} are null
+   * @throws IllegalArgumentException if {@code invertType} is not in {@link
+   *     InvertType#rotationValues}. In other words, this exception is thrown when passed an {@link
+   *     InvertType} that is for following motors
+   * @throws InvalidCanIdException if the CAN id is invalid
+   * @deprecated Constructing {@code DeviceInformation} with a CAN bus string is deprecated for
+   *     removal in the 2027 season. Construct instances using a {@link CANBus} instance instead.
+   */
+  @Deprecated(forRemoval = true)
+  public TalonFXWrapper(int canID, String canbusName, InvertType invertType) {
+    this(
+        canID,
+        new CANBus(Objects.requireNonNull(canbusName, "canbus should not be null")),
+        invertType);
+  }
+
   /**
    * Create a TalonFXWrapper on the RoboRIO's canbus
    *
diff --git a/lib/src/test/java/com/team2813/lib2813/util/ControlUtilsTest.java b/lib/src/test/java/com/team2813/lib2813/util/ControlUtilsTest.java
index b4389369..168cb726 100644
--- a/lib/src/test/java/com/team2813/lib2813/util/ControlUtilsTest.java
+++ b/lib/src/test/java/com/team2813/lib2813/util/ControlUtilsTest.java
@@ -21,6 +21,7 @@
 import org.junit.jupiter.api.Test;
 import org.junit.jupiter.api.function.Executable;
 
+@SuppressWarnings("removal")
 public class ControlUtilsTest {
   @Test
   public void deadbandValuesWithinDeadbandAreZeroed() {