diff --git a/components/__init__.py b/components/__init__.py
index 6c3b020..24334a6 100644
--- a/components/__init__.py
+++ b/components/__init__.py
@@ -1,7 +1,8 @@
 # from .drivetrain import DriveTrain
 from .controller import XboxController
+from .pigeon import Pigeon
 
 __all__ = [
-    # "DriveTrain",
+    "Pigeon",
     "XboxController",
 ]
diff --git a/components/controller.py b/components/controller.py
index d600597..68e9737 100644
--- a/components/controller.py
+++ b/components/controller.py
@@ -2,10 +2,10 @@ import wpilib
 
 
 class PlayStationController:
-    CORRECT_FOR_DEADBAND: bool
-    DEADBAND: float
-    PORT: int
-    VERSION: int = 4
+    correct_for_deadband: bool
+    deadband: float
+    port: int
+    version: int = 4
 
     def execute(self) -> None:
         pass
@@ -15,10 +15,10 @@ class PlayStationController:
         Setup the PlayStation controller.
         This method is called once when the robot is initialized.
         """
-        if self.VERSION == 5:
-            self.this_controller = wpilib.PS5Controller(self.PORT)
+        if self.version == 5:
+            self.this_controller = wpilib.PS5Controller(self.port)
         else:
-            self.this_controller = wpilib.PS4Controller(self.PORT)
+            self.this_controller = wpilib.PS4Controller(self.port)
 
         self.button_was_pressed = {
             "Cross": False,
@@ -84,11 +84,11 @@ class PlayStationController:
         :param raw_value: The raw joystick value.
         :return: The corrected joystick value.
         """
-        if self.CORRECT_FOR_DEADBAND:
-            if abs(raw_value) < self.DEADBAND:
+        if self.correct_for_deadband:
+            if abs(raw_value) < self.deadband:
                 return 0.0
             return (raw_value / abs(raw_value)) * (
-                (abs(raw_value) - self.DEADBAND) / (1 - self.DEADBAND)
+                (abs(raw_value) - self.deadband) / (1 - self.deadband)
             )
         return raw_value
 
@@ -341,7 +341,7 @@ class PlayStationController:
 
         :return: True if the Share button is pressed, False otherwise.
         """
-        if self.VERSION == 4:
+        if self.version == 4:
             return self._button_pressed("Share", self.this_controller.getShareButton())
         else:
             return self._button_pressed("Share", False)
@@ -356,9 +356,9 @@ class PlayStationController:
 
 
 class XboxController:
-    CORRECT_FOR_DEADBAND: bool
-    DEADBAND: float
-    PORT: int
+    correct_for_deadband: bool
+    deadband: float
+    port: int
 
     def execute(self) -> None:
         pass
@@ -368,7 +368,7 @@ class XboxController:
         Setup the Xbox controller.
         This method is called once when the robot is initialized.
         """
-        self.this_controller = wpilib.XboxController(self.PORT)
+        self.this_controller = wpilib.XboxController(self.port)
         self.button_was_pressed = {
             "A": False,
             "B": False,
@@ -433,11 +433,11 @@ class XboxController:
         :param raw_value: The raw joystick value.
         :return: The corrected joystick value.
         """
-        if self.CORRECT_FOR_DEADBAND:
-            if abs(raw_value) < self.DEADBAND:
+        if self.correct_for_deadband:
+            if abs(raw_value) < self.deadband:
                 return 0.0
             return (raw_value / abs(raw_value)) * (
-                (abs(raw_value) - self.DEADBAND) / (1 - self.DEADBAND)
+                (abs(raw_value) - self.deadband) / (1 - self.deadband)
             )
         return raw_value