diff --git a/lib/src/main/java/org/fairportrobotics/frc/robolib/drivesystems/swerve/SwerveBuilder.java b/lib/src/main/java/org/fairportrobotics/frc/robolib/drivesystems/swerve/SwerveBuilder.java
index 9e46b49..ffbbf52 100644
--- a/lib/src/main/java/org/fairportrobotics/frc/robolib/drivesystems/swerve/SwerveBuilder.java
+++ b/lib/src/main/java/org/fairportrobotics/frc/robolib/drivesystems/swerve/SwerveBuilder.java
@@ -2,12 +2,14 @@ package org.fairportrobotics.frc.robolib.drivesystems.swerve;
 
 import java.util.ArrayList;
 
+import com.ctre.phoenix6.CANBus;
+
 import edu.wpi.first.math.geometry.Translation2d;
 
 public class SwerveBuilder {
 
     ArrayList<SwerveModule> modules = new ArrayList<SwerveModule>();
-    String canBusName = "rio";
+    CANBus canBusObj;
 
     private double maxAngularVelRadiansSecond = 1.0;
     private double maxLinearVelMetersSecond = Math.PI;
@@ -24,7 +26,7 @@ public class SwerveBuilder {
     }
 
     public SwerveBuilder withCanbusName(String canBusname) {
-        this.canBusName = canBusname;
+        this.canBusObj = new CANBus(canBusname);
         return this;
     }
 
@@ -56,7 +58,7 @@ public class SwerveBuilder {
     }
 
     public SwerveDriveSubsystem build() {
-        return new SwerveDriveSubsystem(pigeonId, canBusName, maxLinearVelMetersSecond, maxAngularVelRadiansSecond,
+        return new SwerveDriveSubsystem(pigeonId, canBusObj, maxLinearVelMetersSecond, maxAngularVelRadiansSecond,
                 modules.toArray(size -> new SwerveModule[size]));
     }
 
@@ -184,7 +186,7 @@ public class SwerveBuilder {
         public SwerveModule build() {
             return new SwerveModule(driveMotorId, driveKP, driveKI, driveKD, driveKV, driveInverted, steerMotorId, steerKP, steerKI,
                     steerKD, steerKS, steerKV, steerKA,
-                    steerEncoderId, steerOffset, canBusName, moduleLocation, gearRatio, wheelDiameterInMeters,
+                    steerEncoderId, steerOffset, canBusObj, moduleLocation, gearRatio, wheelDiameterInMeters,
                     moduleName);
         }
 
diff --git a/lib/src/main/java/org/fairportrobotics/frc/robolib/drivesystems/swerve/SwerveDriveSubsystem.java b/lib/src/main/java/org/fairportrobotics/frc/robolib/drivesystems/swerve/SwerveDriveSubsystem.java
index 53f98ac..1d928d0 100644
--- a/lib/src/main/java/org/fairportrobotics/frc/robolib/drivesystems/swerve/SwerveDriveSubsystem.java
+++ b/lib/src/main/java/org/fairportrobotics/frc/robolib/drivesystems/swerve/SwerveDriveSubsystem.java
@@ -2,6 +2,7 @@ package org.fairportrobotics.frc.robolib.drivesystems.swerve;
 
 import java.util.Arrays;
 
+import com.ctre.phoenix6.CANBus;
 import com.ctre.phoenix6.Utils;
 import com.ctre.phoenix6.hardware.Pigeon2;
 
@@ -34,7 +35,7 @@ public class SwerveDriveSubsystem extends SubsystemBase{
 
     private double mLastSimTime = 0;
 
-    public SwerveDriveSubsystem(int pigeonId, String canBusName, double maxLinearVelMetersSecond, double maxAngularVelRadiansSecond, SwerveModule... modules){
+    public SwerveDriveSubsystem(int pigeonId, CANBus canBus, double maxLinearVelMetersSecond, double maxAngularVelRadiansSecond, SwerveModule... modules){
 
         MAX_LINEAR_SPEED = maxLinearVelMetersSecond;
         MAX_ANGULAR_SPEED = maxAngularVelRadiansSecond;
@@ -45,7 +46,7 @@ public class SwerveDriveSubsystem extends SubsystemBase{
             Arrays.stream(modules).map((m) -> m.getModuleLocation()).toArray(size -> new Translation2d[size])
         );
 
-        gyro = new Pigeon2(pigeonId, canBusName);
+        gyro = new Pigeon2(pigeonId, canBus);
 
         poseEstimator = new SwerveDrivePoseEstimator3d(driveKiniematics, new Rotation3d(Rotation2d.fromRotations(getCurrentYaw().magnitude())), getModulePositions(), Pose3d.kZero);
         chassisSpeeds = new ChassisSpeeds();
diff --git a/lib/src/main/java/org/fairportrobotics/frc/robolib/drivesystems/swerve/SwerveModule.java b/lib/src/main/java/org/fairportrobotics/frc/robolib/drivesystems/swerve/SwerveModule.java
index 26a17ff..9f1b818 100644
--- a/lib/src/main/java/org/fairportrobotics/frc/robolib/drivesystems/swerve/SwerveModule.java
+++ b/lib/src/main/java/org/fairportrobotics/frc/robolib/drivesystems/swerve/SwerveModule.java
@@ -2,6 +2,7 @@ package org.fairportrobotics.frc.robolib.drivesystems.swerve;
 
 import java.lang.reflect.Modifier;
 
+import com.ctre.phoenix6.CANBus;
 import com.ctre.phoenix6.configs.CANcoderConfiguration;
 import com.ctre.phoenix6.configs.ClosedLoopGeneralConfigs;
 import com.ctre.phoenix6.configs.FeedbackConfigs;
@@ -63,24 +64,24 @@ public class SwerveModule {
         double steerKA,
         int steerEncoderId,
         double steerOffset,
-        String canBusName,
+        CANBus canBusObj,
         Translation2d moduleLocation,
         double gearRatio,
         double wheelDiameterInMeters,
         String moduleName
     ){
 
-        steerEncoder = new CANcoder(steerEncoderId, canBusName);
+        steerEncoder = new CANcoder(steerEncoderId, canBusObj);
         // steerEncoder.getAbsolutePosition().setUpdateFrequency(CAN_UPDATE_FREQUENCY);
         // steerEncoder.optimizeBusUtilization();
         steerEncoder.getConfigurator().apply(generateCanCoderConfiguration(steerOffset));
 
-        driveMotor = new TalonFX(driveMotorId, canBusName);
+        driveMotor = new TalonFX(driveMotorId, canBusObj);
         // driveMotor.getVelocity().setUpdateFrequency(CAN_UPDATE_FREQUENCY);
         // driveMotor.optimizeBusUtilization();
         driveMotor.getConfigurator().apply(generateDriveTalonConfiguration(driveKP, driveKI, driveKD, driveKV, driveInverted));
 
-        steerMotor = new TalonFX(steerMotorId, canBusName);
+        steerMotor = new TalonFX(steerMotorId, canBusObj);
         // steerMotor.optimizeBusUtilization();
         steerMotor.getConfigurator().apply(generateSteerTalonConfiguration(steerKP, steerKI, steerKD, steerKS, steerKV, steerKA));
         // steerMotor.setNeutralMode(NeutralModeValue.Brake);