diff --git a/.github/ISSUE_TEMPLATE/bug_report.md b/.github/ISSUE_TEMPLATE/bug_report.md
index a482260d..07fe968f 100644
--- a/.github/ISSUE_TEMPLATE/bug_report.md
+++ b/.github/ISSUE_TEMPLATE/bug_report.md
@@ -1,7 +1,7 @@
 ---
 name: Bug Report
 about: Create a report to help us improve
-title: "\U0001F41B[BUG] - "
+title: "\U0001F41B - "
 labels: bug
 assignees: ''
 ---
diff --git a/.github/ISSUE_TEMPLATE/feature-request-template.md b/.github/ISSUE_TEMPLATE/feature-request-template.md
index 41cb2877..96411760 100644
--- a/.github/ISSUE_TEMPLATE/feature-request-template.md
+++ b/.github/ISSUE_TEMPLATE/feature-request-template.md
@@ -1,7 +1,7 @@
 ---
 name: Feature Request
 about: Suggest an idea for this project
-title: "✨[FEATURE] - "
+title: "✨ - "
 labels: enhancement
 assignees: ''
 ---
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index b22f6c71..4aa26461 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -17,10 +17,10 @@ jobs:
 
       - name: Run LemLib/pros-build
         id: test
-        uses: LemLib/pros-build@v2.0.1
+        uses: LemLib/pros-build@v3.0.0
 
       - name: Upload Artifact
         uses: actions/upload-artifact@v4
         with:
           name: ${{ steps.test.outputs.name }}
-          path: ${{ github.workspace }}/template/*
+          path: ${{ github.workspace }}/template/*
\ No newline at end of file
diff --git a/EZ-Template-Example-Project.zip b/EZ-Template-Example-Project.zip
index 42b2a129..60707b6c 100644
Binary files a/EZ-Template-Example-Project.zip and b/EZ-Template-Example-Project.zip differ
diff --git a/EZ-Template-Example-Project/EZ-Template@3.2.1.zip b/EZ-Template-Example-Project/EZ-Template@3.2.1.zip
deleted file mode 100644
index e9e26513..00000000
Binary files a/EZ-Template-Example-Project/EZ-Template@3.2.1.zip and /dev/null differ
diff --git a/EZ-Template-Example-Project/EZ-Template@3.2.2.zip b/EZ-Template-Example-Project/EZ-Template@3.2.2.zip
new file mode 100644
index 00000000..bf022369
Binary files /dev/null and b/EZ-Template-Example-Project/EZ-Template@3.2.2.zip differ
diff --git a/EZ-Template-Example-Project/Makefile b/EZ-Template-Example-Project/Makefile
index c9c38269..4e183dad 100644
--- a/EZ-Template-Example-Project/Makefile
+++ b/EZ-Template-Example-Project/Makefile
@@ -14,7 +14,7 @@ INCDIR=$(ROOT)/include
 
 WARNFLAGS+=
 EXTRA_CFLAGS=
-EXTRA_CXXFLAGS=
+EXTRA_CXXFLAGS=-Wno-deprecated-enum-enum-conversion
 
 # Set to 1 to enable hot/cold linking
 USE_PACKAGE:=1
diff --git a/EZ-Template-Example-Project/common.mk b/EZ-Template-Example-Project/common.mk
index 33efe871..a601bcaf 100644
--- a/EZ-Template-Example-Project/common.mk
+++ b/EZ-Template-Example-Project/common.mk
@@ -34,7 +34,7 @@ LIBRARIES+=$(wildcard $(FWDIR)/*.a)
 EXCLUDE_COLD_LIBRARIES+=$(FWDIR)/libc.a $(FWDIR)/libm.a
 COLD_LIBRARIES=$(filter-out $(EXCLUDE_COLD_LIBRARIES), $(LIBRARIES))
 wlprefix=-Wl,$(subst $(SPACE),$(COMMA),$1)
-LNK_FLAGS=--gc-sections --start-group $(strip $(LIBRARIES)) -lgcc -lstdc++ --end-group -T$(FWDIR)/v5-common.ld
+LNK_FLAGS=--gc-sections --start-group $(strip $(LIBRARIES)) -lgcc -lstdc++ --end-group -T$(FWDIR)/v5-common.ld --no-warn-rwx-segments
 
 ASMFLAGS=$(MFLAGS) $(WARNFLAGS)
 CFLAGS=$(MFLAGS) $(CPPFLAGS) $(WARNFLAGS) $(GCCFLAGS) --std=$(C_STANDARD)
diff --git a/EZ-Template-Example-Project/firmware/EZ-Template.a b/EZ-Template-Example-Project/firmware/EZ-Template.a
index fb9526d3..06a1a2b1 100644
Binary files a/EZ-Template-Example-Project/firmware/EZ-Template.a and b/EZ-Template-Example-Project/firmware/EZ-Template.a differ
diff --git a/EZ-Template-Example-Project/project.pros b/EZ-Template-Example-Project/project.pros
index d670ed35..e68a81e1 100644
--- a/EZ-Template-Example-Project/project.pros
+++ b/EZ-Template-Example-Project/project.pros
@@ -5,7 +5,7 @@
         "target": "v5",
         "templates": {
             "EZ-Template": {
-                "location": "C:\\Users\\union\\AppData\\Roaming\\PROS\\templates\\EZ-Template@3.2.1",
+                "location": "C:\\Users\\union\\AppData\\Roaming\\PROS\\templates\\EZ-Template@3.2.2",
                 "metadata": {
                     "origin": "local"
                 },
@@ -13,21 +13,21 @@
                 "py/object": "pros.conductor.templates.local_template.LocalTemplate",
                 "supported_kernels": "^4.1.1",
                 "system_files": [
-                    "include\\EZ-Template\\slew.hpp",
-                    "include\\EZ-Template\\piston.hpp",
-                    "include\\EZ-Template\\api.hpp",
-                    "include\\EZ-Template\\auton_selector.hpp",
                     "include\\EZ-Template\\sdcard.hpp",
-                    "include\\EZ-Template\\tracking_wheel.hpp",
+                    "include\\EZ-Template\\api.hpp",
+                    "include\\EZ-Template\\piston.hpp",
+                    "include\\EZ-Template\\util.hpp",
                     "include\\EZ-Template\\auton.hpp",
+                    "include\\EZ-Template\\slew.hpp",
                     "include\\EZ-Template\\PID.hpp",
-                    "include\\EZ-Template\\util.hpp",
+                    "include\\EZ-Template\\tracking_wheel.hpp",
+                    "firmware\\EZ-Template.a",
                     "include\\EZ-Template\\drive\\drive.hpp",
-                    "firmware\\EZ-Template.a"
+                    "include\\EZ-Template\\auton_selector.hpp"
                 ],
                 "target": "v5",
                 "user_files": [],
-                "version": "3.2.1"
+                "version": "3.2.2"
             },
             "kernel": {
                 "location": "C:\\Users\\union\\AppData\\Roaming\\PROS\\templates\\kernel@4.1.1",
diff --git a/EZ-Template-Example-Project/src/main.cpp b/EZ-Template-Example-Project/src/main.cpp
index ce7bc638..79d745c4 100644
--- a/EZ-Template-Example-Project/src/main.cpp
+++ b/EZ-Template-Example-Project/src/main.cpp
@@ -15,12 +15,13 @@ ez::Drive chassis(
     4.125,  // Wheel Diameter (Remember, 4" wheels without screw holes are actually 4.125!)
     343);   // Wheel RPM = cartridge * (motor gear / wheel gear)
 
-// Are you using tracking wheels?  Comment out which ones you're using here!
-//  `2.75` is the wheel diameter
-//  `4.0` is the distance from the center of the wheel to the center of the robot
-// ez::tracking_wheel right_tracker({-'A', -'B'}, 2.75, 4.0);  // ADI Encoders
-// ez::tracking_wheel left_tracker(1, {'C', 'D'}, 2.75, 4.0);  // ADI Encoders plugged into a Smart port
-// ez::tracking_wheel horiz_tracker(1, 2.75, 4.0);             // Rotation sensors
+// Uncomment the trackers you're using here!
+// - `8` and `9` are smart ports (making these negative will reverse the sensor)
+//  - you should get positive values on the encoders going FORWARD and RIGHT
+// - `2.75` is the wheel diameter
+// - `4.0` is the distance from the center of the wheel to the center of the robot
+// ez::tracking_wheel horiz_tracker(8, 2.75, 4.0);  // This tracking wheel is perpendicular to the drive wheels
+// ez::tracking_wheel vert_tracker(9, 2.75, 4.0);   // This tracking wheel is parallel to the drive wheels
 
 /**
  * Runs initialization code. This occurs as soon as the program is started.
@@ -34,10 +35,14 @@ void initialize() {
 
   pros::delay(500);  // Stop the user from doing anything while legacy ports configure
 
-  // Are you using tracking wheels?  Comment out which ones you're using here!
-  // chassis.odom_tracker_right_set(&right_tracker);
-  // chassis.odom_tracker_left_set(&left_tracker);
-  // chassis.odom_tracker_back_set(&horiz_tracker);  // Replace `back` to `front` if your tracker is in the front!
+  // Look at your horizontal tracking wheel and decide if it's in front of the midline of your robot or behind it
+  //  - change `back` to `front` if the tracking wheel is in front of the midline
+  //  - ignore this if you aren't using a horizontal tracker
+  // chassis.odom_tracker_back_set(&horiz_tracker);
+  // Look at your vertical tracking wheel and decide if it's to the left or right of the center of the robot
+  //  - change `left` to `right` if the tracking wheel is to the right of the centerline
+  //  - ignore this if you aren't using a vertical tracker
+  // chassis.odom_tracker_left_set(&vert_tracker);
 
   // Configure your chassis controls
   chassis.opcontrol_curve_buttons_toggle(true);   // Enables modifying the controller curve with buttons on the joysticks
@@ -66,7 +71,7 @@ void initialize() {
       {"Pure Pursuit Wait Until\n\nGo to (24, 24) but start running an intake once the robot passes (12, 24)", odom_pure_pursuit_wait_until_example},
       {"Boomerang\n\nGo to (0, 24, 45) then come back to (0, 0, 0)", odom_boomerang_example},
       {"Boomerang Pure Pursuit\n\nGo to (0, 24, 45) on the way to (24, 24) then come back to (0, 0, 0)", odom_boomerang_injected_pure_pursuit_example},
-      {"Measure Offsets\n\nThis will turn the robot a bunch of times and calculate your offsets for your tracking wheels.", odom_boomerang_injected_pure_pursuit_example},
+      {"Measure Offsets\n\nThis will turn the robot a bunch of times and calculate your offsets for your tracking wheels.", measure_offsets},
   });
 
   // Initialize chassis and auton selector
diff --git a/EZ-Template@3.2.1.zip b/EZ-Template@3.2.1.zip
deleted file mode 100644
index e9e26513..00000000
Binary files a/EZ-Template@3.2.1.zip and /dev/null differ
diff --git a/EZ-Template@3.2.2.zip b/EZ-Template@3.2.2.zip
new file mode 100644
index 00000000..bf022369
Binary files /dev/null and b/EZ-Template@3.2.2.zip differ
diff --git a/Makefile b/Makefile
index 66c1449f..5b318ece 100644
--- a/Makefile
+++ b/Makefile
@@ -14,7 +14,7 @@ INCDIR=$(ROOT)/include
 
 WARNFLAGS+=
 EXTRA_CFLAGS=
-EXTRA_CXXFLAGS=
+EXTRA_CXXFLAGS=-Wno-deprecated-enum-enum-conversion
 
 # Set to 1 to enable hot/cold linking
 USE_PACKAGE:=1
@@ -27,7 +27,7 @@ EXCLUDE_COLD_LIBRARIES:=
 IS_LIBRARY:=1
 # TODO: CHANGE THIS!
 LIBNAME:=EZ-Template
-VERSION:=3.2.1
+VERSION:=3.2.2
 # EXCLUDE_SRC_FROM_LIB= $(SRCDIR)/unpublishedfile.c
 # this line excludes opcontrol.c and similar files
 EXCLUDE_SRC_FROM_LIB+=$(foreach file, $(SRCDIR)/autons $(SRCDIR)/main,$(foreach cext,$(CEXTS),$(file).$(cext)) $(foreach cxxext,$(CXXEXTS),$(file).$(cxxext)))
diff --git a/common.mk b/common.mk
index 33efe871..a601bcaf 100644
--- a/common.mk
+++ b/common.mk
@@ -34,7 +34,7 @@ LIBRARIES+=$(wildcard $(FWDIR)/*.a)
 EXCLUDE_COLD_LIBRARIES+=$(FWDIR)/libc.a $(FWDIR)/libm.a
 COLD_LIBRARIES=$(filter-out $(EXCLUDE_COLD_LIBRARIES), $(LIBRARIES))
 wlprefix=-Wl,$(subst $(SPACE),$(COMMA),$1)
-LNK_FLAGS=--gc-sections --start-group $(strip $(LIBRARIES)) -lgcc -lstdc++ --end-group -T$(FWDIR)/v5-common.ld
+LNK_FLAGS=--gc-sections --start-group $(strip $(LIBRARIES)) -lgcc -lstdc++ --end-group -T$(FWDIR)/v5-common.ld --no-warn-rwx-segments
 
 ASMFLAGS=$(MFLAGS) $(WARNFLAGS)
 CFLAGS=$(MFLAGS) $(CPPFLAGS) $(WARNFLAGS) $(GCCFLAGS) --std=$(C_STANDARD)
diff --git a/src/EZ-Template/drive/set_pid/set_swing_pid.cpp b/src/EZ-Template/drive/set_pid/set_swing_pid.cpp
index 41d2b787..38f932a6 100644
--- a/src/EZ-Template/drive/set_pid/set_swing_pid.cpp
+++ b/src/EZ-Template/drive/set_pid/set_swing_pid.cpp
@@ -291,9 +291,9 @@ void Drive::pid_swing_set(e_swing type, double target, int speed, int opposite_s
   used_motion_chain_scale = 0.0;
 
   // Flip the swing from left-right if rotation axis is flipped
-  if (odom_theta_direction_get()) 
-    current_swing = type == ez::LEFT_SWING ? ez::RIGHT_SWING : ez::LEFT_SWING;
-  
+  current_swing = type;
+  if (odom_theta_direction_get())
+    current_swing = current_swing == ez::LEFT_SWING ? ez::RIGHT_SWING : ez::LEFT_SWING;
 
   // Figure out if going forward or backward
   int side = type == ez::LEFT_SWING ? 1 : -1;
diff --git a/src/main.cpp b/src/main.cpp
index 36291630..83e72a43 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -15,12 +15,13 @@ ez::Drive chassis(
     4.125,   // Wheel Diameter (Remember, 4" wheels without screw holes are actually 4.125!)
     420.0);  // Wheel RPM = cartridge * (motor gear / wheel gear)
 
-// Are you using tracking wheels?  Comment out which ones you're using here!
-//  `2.75` is the wheel diameter
-//  `4.0` is the distance from the center of the wheel to the center of the robot
-// ez::tracking_wheel right_tracker({-'A', -'B'}, 2.75, 4.0);  // ADI Encoders
-// ez::tracking_wheel left_tracker(1, {'C', 'D'}, 2.75, 4.0);  // ADI Encoders plugged into a Smart port
-// ez::tracking_wheel horiz_tracker(1, 2.75, 4.0);             // Rotation sensors
+// Uncomment the trackers you're using here!
+// - `8` and `9` are smart ports (making these negative will reverse the sensor)
+//  - you should get positive values on the encoders going FORWARD and RIGHT
+// - `2.75` is the wheel diameter
+// - `4.0` is the distance from the center of the wheel to the center of the robot
+// ez::tracking_wheel horiz_tracker(8, 2.75, 4.0);  // This tracking wheel is perpendicular to the drive wheels
+// ez::tracking_wheel vert_tracker(9, 2.75, 4.0);   // This tracking wheel is parallel to the drive wheels
 
 /**
  * Runs initialization code. This occurs as soon as the program is started.
@@ -34,10 +35,14 @@ void initialize() {
 
   pros::delay(500);  // Stop the user from doing anything while legacy ports configure
 
-  // Are you using tracking wheels?  Comment out which ones you're using here!
-  // chassis.odom_tracker_right_set(&right_tracker);
-  // chassis.odom_tracker_left_set(&left_tracker);
-  // chassis.odom_tracker_back_set(&horiz_tracker);  // Replace `back` to `front` if your tracker is in the front!
+  // Look at your horizontal tracking wheel and decide if it's in front of the midline of your robot or behind it
+  //  - change `back` to `front` if the tracking wheel is in front of the midline
+  //  - ignore this if you aren't using a horizontal tracker
+  // chassis.odom_tracker_back_set(&horiz_tracker);
+  // Look at your vertical tracking wheel and decide if it's to the left or right of the center of the robot
+  //  - change `left` to `right` if the tracking wheel is to the right of the centerline
+  //  - ignore this if you aren't using a vertical tracker
+  // chassis.odom_tracker_left_set(&vert_tracker);
 
   // Configure your chassis controls
   chassis.opcontrol_curve_buttons_toggle(true);   // Enables modifying the controller curve with buttons on the joysticks
@@ -66,7 +71,7 @@ void initialize() {
       {"Pure Pursuit Wait Until\n\nGo to (24, 24) but start running an intake once the robot passes (12, 24)", odom_pure_pursuit_wait_until_example},
       {"Boomerang\n\nGo to (0, 24, 45) then come back to (0, 0, 0)", odom_boomerang_example},
       {"Boomerang Pure Pursuit\n\nGo to (0, 24, 45) on the way to (24, 24) then come back to (0, 0, 0)", odom_boomerang_injected_pure_pursuit_example},
-      {"Measure Offsets\n\nThis will turn the robot a bunch of times and calculate your offsets for your tracking wheels.", odom_boomerang_injected_pure_pursuit_example},
+      {"Measure Offsets\n\nThis will turn the robot a bunch of times and calculate your offsets for your tracking wheels.", measure_offsets},
   });
 
   // Initialize chassis and auton selector
diff --git a/version b/version
index 0444f320..acf9bf09 100644
--- a/version
+++ b/version
@@ -1 +1 @@
-3.2.1
\ No newline at end of file
+3.2.2
\ No newline at end of file