diff --git a/.github/main.yml b/.github/workflows/main.yml
similarity index 81%
rename from .github/main.yml
rename to .github/workflows/main.yml
index 8993ae7..a3eb57a 100644
--- a/.github/main.yml
+++ b/.github/workflows/main.yml
@@ -27,6 +27,11 @@ jobs:
     - name: Grant execute permission for gradlew
       run: chmod +x gradlew
 
-    # Runs a single command using the runners shell
     - name: Compile and run tests on robot code
-      run: ./gradlew build
\ No newline at end of file
+      run: ./gradlew build
+
+    - name: Publish package
+      env:
+        Version: 0.0.${{ github.run_id }}
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      run: ./gradlew publish -PprojVersion="$Version"
diff --git a/.github/pr.yml b/.github/workflows/pr.yml
similarity index 100%
rename from .github/pr.yml
rename to .github/workflows/pr.yml
diff --git a/build.gradle b/build.gradle
index a4dea7f..0eecd1a 100644
--- a/build.gradle
+++ b/build.gradle
@@ -15,8 +15,6 @@ if (project.hasProperty('projVersion')) {
   project.version = '0.0.0'
 }
 
-def ROBOT_MAIN_CLASS = "frc.robot.Main"
-
 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.
 deploy {
@@ -35,8 +33,6 @@ deploy {
                 frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
                     files = project.fileTree('src/main/deploy')
                     directory = '/home/lvuser/deploy'
-                    deleteOldFiles = false // Change to true to delete files on roboRIO that no
-                                           // longer exist in deploy directory of this project
                 }
             }
         }
@@ -79,10 +75,6 @@ test {
     systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
 }
 
-// Simulation configuration (e.g. environment variables).
-wpi.sim.addGui().defaultEnabled = true
-wpi.sim.addDriverstation()
-
 // Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
 // in order to make them all available at runtime. Also adding the manifest so WPILib
 // knows where to look for our Robot Class.
@@ -91,7 +83,6 @@ jar {
     from('src') { into 'backup/src' }
     from('vendordeps') { into 'backup/vendordeps' }
     from('build.gradle') { into 'backup' }
-    manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
     duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }
 
@@ -118,10 +109,21 @@ publishing {
   publications {
     mavenJava(MavenPublication) {
       groupId = 'org.frc538'
-      artifactId = 'doc'
+      artifactId = 'leonardo'
       version = project.version
 
       from components.java
    }
   }
+
+  repositories {
+    maven {
+      name = "GitHubPackages"
+      url = "https://maven.pkg.github.com/frc538/leonardo"
+      credentials {
+        username = System.getenv("GITHUB_ACTOR")
+        password = System.getenv("GITHUB_TOKEN")
+      }
+    }
+  }
 }
diff --git a/src/main/java/frc538/leonardo/can/Kraken.java b/src/main/java/frc538/leonardo/can/Kraken.java
new file mode 100644
index 0000000..57b346b
--- /dev/null
+++ b/src/main/java/frc538/leonardo/can/Kraken.java
@@ -0,0 +1,28 @@
+package frc538.leonardo.can;
+
+import com.ctre.phoenix6.hardware.TalonFX;
+
+/**
+ * Custom wrapping for a TalonFX Motor Controller (Falcon 500)
+ */
+public class Kraken {
+    private final TalonFX mTalon;
+
+    /**
+     * Creates a Falcon with the given CAN ID.
+     * 
+     * @param canId the CAN ID of the Falcon's TalonFX
+     */
+    public Kraken(int canId) {
+        mTalon = new TalonFX(canId);
+    }
+
+    /**
+     * Sets the output of the motor.
+     * 
+     * @param scaledOutput motor's output between -1.0 and +1.0
+     */
+    public void set(double scaledOutput) {
+        mTalon.set(scaledOutput);
+    }
+}
diff --git a/src/main/java/frc538/leonardo/can/Neo.java b/src/main/java/frc538/leonardo/can/Neo.java
new file mode 100644
index 0000000..a3e0917
--- /dev/null
+++ b/src/main/java/frc538/leonardo/can/Neo.java
@@ -0,0 +1,29 @@
+package frc538.leonardo.can;
+
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+
+/**
+ * Custom wrapping for a SPARK Max Motor Controller (Neo or Neo 550)
+ */
+public class Neo {
+    private final SparkMax mNeo;
+
+    /**
+     * Creates a Neo/Neo 550 with the given CAN ID.
+     * 
+     * @param canId the CAN ID of the Neo's SPARK Max
+     */
+    public Neo(int canId) {
+        mNeo = new SparkMax(canId, MotorType.kBrushless);
+    }
+
+    /**
+     * Sets the output of the motor.
+     * 
+     * @param scaledOutput motor's output between -1.0 and +1.0
+     */
+    public void set(double scaledOutput) {
+        mNeo.set(scaledOutput);
+    }
+}