diff --git a/src/main/java/org/carlmontrobotics/lib199/safeMode/SafeJoystick.java b/src/main/java/org/carlmontrobotics/lib199/safeMode/SafeJoystick.java
index de1f1fc6..036eb08f 100644
--- a/src/main/java/org/carlmontrobotics/lib199/safeMode/SafeJoystick.java
+++ b/src/main/java/org/carlmontrobotics/lib199/safeMode/SafeJoystick.java
@@ -108,7 +108,7 @@ public double getRawAxis(int axis) {
      * @param pov The POV to read
      * @return The value of the POV
      */
-    public double getPOV(int pov) {
+    public int getPOV(int pov) {
         if (SafeMode.isEnabled() && safeDisabledPOV.containsKey(pov) && safeDisabledPOV.get(pov).contains(unsafeJoystick.getPOV(pov))) {
             return -1;
         } else {
diff --git a/src/test/java/org/carlmontrobotics/lib199/MotorControllerFactoryTest.java b/src/test/java/org/carlmontrobotics/lib199/MotorControllerFactoryTest.java
index d0791dbf..c887d01a 100644
--- a/src/test/java/org/carlmontrobotics/lib199/MotorControllerFactoryTest.java
+++ b/src/test/java/org/carlmontrobotics/lib199/MotorControllerFactoryTest.java
@@ -3,7 +3,7 @@
 import static org.junit.Assert.assertEquals;
 
 import org.carlmontrobotics.lib199.testUtils.ErrStreamTest;
-import org.carlmontrobotics.lib199.testUtils.SimDeviceTestRule;
+import org.carlmontrobotics.lib199.testUtils.TestRules;
 import org.junit.ClassRule;
 import org.junit.Rule;
 import org.junit.Test;
@@ -11,9 +11,9 @@
 public class MotorControllerFactoryTest extends ErrStreamTest {
 
     @ClassRule
-    public static SimDeviceTestRule.Class simClassRule = new SimDeviceTestRule.Class();
+    public static TestRules.InitializeHAL simClassRule = new TestRules.InitializeHAL();
     @Rule
-    public SimDeviceTestRule.Test simTestRule = new SimDeviceTestRule.Test();
+    public TestRules.ResetSimDeviceSimData simTestRule = new TestRules.ResetSimDeviceSimData();
 
     @Test
     // AutoClosable.close() throws Exception
diff --git a/src/test/java/org/carlmontrobotics/lib199/safeMode/SafeJoystickTest.java b/src/test/java/org/carlmontrobotics/lib199/safeMode/SafeJoystickTest.java
index 7483c553..68509dc8 100644
--- a/src/test/java/org/carlmontrobotics/lib199/safeMode/SafeJoystickTest.java
+++ b/src/test/java/org/carlmontrobotics/lib199/safeMode/SafeJoystickTest.java
@@ -2,10 +2,18 @@
 
 import static org.junit.Assert.*;
 
+import org.carlmontrobotics.lib199.testUtils.TestRules;
+import org.junit.ClassRule;
+import org.junit.Test;
+
 import edu.wpi.first.wpilibj.GenericHID;
 
 public class SafeJoystickTest {
 
+    @ClassRule
+    public static TestRules.InitializeHAL classRule = new TestRules.InitializeHAL();
+
+    @Test
     public void testSafeJoystick() {
         GenericHID normalJoystick = createDummyJoystick(0);
         GenericHID unsafeJoystick1 = createDummyJoystick(1);
@@ -85,7 +93,7 @@ public void testSafeJoystick() {
         assertTrue(safeJoystick1.getRawButton(1));
         assertTrue(safeJoystick1.getRawButtonPressed(1));
         assertTrue(safeJoystick1.getRawButtonReleased(1));
-        assertEquals(0.5, safeJoystick1.getRawAxis(0), 0.01);
+        assertEquals(0.0, safeJoystick1.getRawAxis(0), 0.01);
         assertEquals(0.5, safeJoystick1.getRawAxis(1), 0.01);
         assertEquals(1.0, safeJoystick1.getRawAxis(2), 0.01);
         assertEquals(-1, safeJoystick1.getPOV(0));
diff --git a/src/test/java/org/carlmontrobotics/lib199/safeMode/SafeModeCommandsTest.java b/src/test/java/org/carlmontrobotics/lib199/safeMode/SafeModeCommandsTest.java
index 49a33b0f..57cc2f5f 100644
--- a/src/test/java/org/carlmontrobotics/lib199/safeMode/SafeModeCommandsTest.java
+++ b/src/test/java/org/carlmontrobotics/lib199/safeMode/SafeModeCommandsTest.java
@@ -4,6 +4,8 @@
 
 import java.util.function.Function;
 
+import org.carlmontrobotics.lib199.testUtils.TestRules;
+import org.junit.ClassRule;
 import org.junit.Test;
 
 import edu.wpi.first.wpilibj2.command.Command;
@@ -11,6 +13,9 @@
 
 public class SafeModeCommandsTest {
 
+    @ClassRule
+    public static TestRules.InitializeHAL classRule = new TestRules.InitializeHAL(); 
+
     @Test
     public void testSafeCommand() {
         testCommand(SafeCommand::new, true, false);
diff --git a/src/test/java/org/carlmontrobotics/lib199/safeMode/SafeModeTest.java b/src/test/java/org/carlmontrobotics/lib199/safeMode/SafeModeTest.java
index 4e993564..bbd596d2 100644
--- a/src/test/java/org/carlmontrobotics/lib199/safeMode/SafeModeTest.java
+++ b/src/test/java/org/carlmontrobotics/lib199/safeMode/SafeModeTest.java
@@ -9,6 +9,8 @@
 import java.util.function.LongSupplier;
 import java.util.function.Supplier;
 
+import org.carlmontrobotics.lib199.testUtils.TestRules;
+import org.junit.ClassRule;
 import org.junit.Test;
 
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -16,6 +18,8 @@
 
 public class SafeModeTest {
 
+    @ClassRule
+    public static TestRules.InitializeHAL classRule = new TestRules.InitializeHAL(); 
     // Test SafeMode.java using JUnit
 
     @Test
diff --git a/src/test/java/org/carlmontrobotics/lib199/sim/MockPheonixControllerTest.java b/src/test/java/org/carlmontrobotics/lib199/sim/MockPheonixControllerTest.java
index 717580b2..45873652 100644
--- a/src/test/java/org/carlmontrobotics/lib199/sim/MockPheonixControllerTest.java
+++ b/src/test/java/org/carlmontrobotics/lib199/sim/MockPheonixControllerTest.java
@@ -8,7 +8,7 @@
 
 import org.carlmontrobotics.lib199.Mocks;
 import org.carlmontrobotics.lib199.testUtils.SafelyClosable;
-import org.carlmontrobotics.lib199.testUtils.SimDeviceTestRule;
+import org.carlmontrobotics.lib199.testUtils.TestRules;
 import org.junit.ClassRule;
 import org.junit.Rule;
 import org.junit.Test;
@@ -20,9 +20,9 @@
 public abstract class MockPheonixControllerTest {
     
     @ClassRule
-    public static SimDeviceTestRule.Class simClassRule = new SimDeviceTestRule.Class();
+    public static TestRules.InitializeHAL simClassRule = new TestRules.InitializeHAL();
     @Rule
-    public SimDeviceTestRule.Test simTestRule = new SimDeviceTestRule.Test();
+    public TestRules.ResetSimDeviceSimData simTestRule = new TestRules.ResetSimDeviceSimData();
 
     protected abstract BaseMotorController createController(int portPWM);
 
diff --git a/src/test/java/org/carlmontrobotics/lib199/sim/MockedSparkEncoderTest.java b/src/test/java/org/carlmontrobotics/lib199/sim/MockedSparkEncoderTest.java
index dff7b958..95595f96 100644
--- a/src/test/java/org/carlmontrobotics/lib199/sim/MockedSparkEncoderTest.java
+++ b/src/test/java/org/carlmontrobotics/lib199/sim/MockedSparkEncoderTest.java
@@ -13,7 +13,7 @@
 import org.carlmontrobotics.lib199.Mocks;
 import org.carlmontrobotics.lib199.REVLibErrorAnswer;
 import org.carlmontrobotics.lib199.testUtils.SafelyClosable;
-import org.carlmontrobotics.lib199.testUtils.SimDeviceTestRule;
+import org.carlmontrobotics.lib199.testUtils.TestRules;
 import org.junit.ClassRule;
 import org.junit.Rule;
 import org.junit.Test;
@@ -24,9 +24,9 @@
 public class MockedSparkEncoderTest {
 
     @ClassRule
-    public static SimDeviceTestRule.Class simClassRule = new SimDeviceTestRule.Class(); 
+    public static TestRules.InitializeHAL simClassRule = new TestRules.InitializeHAL(); 
     @Rule
-    public SimDeviceTestRule.Test simTestRule = new SimDeviceTestRule.Test(); 
+    public TestRules.ResetSimDeviceSimData simTestRule = new TestRules.ResetSimDeviceSimData(); 
 
     @Test
     public void testDeviceCreation() {
diff --git a/src/test/java/org/carlmontrobotics/lib199/testUtils/SimDeviceTestRule.java b/src/test/java/org/carlmontrobotics/lib199/testUtils/TestRules.java
similarity index 83%
rename from src/test/java/org/carlmontrobotics/lib199/testUtils/SimDeviceTestRule.java
rename to src/test/java/org/carlmontrobotics/lib199/testUtils/TestRules.java
index 0a3fdc23..cf0e991b 100644
--- a/src/test/java/org/carlmontrobotics/lib199/testUtils/SimDeviceTestRule.java
+++ b/src/test/java/org/carlmontrobotics/lib199/testUtils/TestRules.java
@@ -7,15 +7,15 @@
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.simulation.SimDeviceSim;
 
-public class SimDeviceTestRule {
+public class TestRules {
 
-    public static class Class implements TestRule {
+    public static class InitializeHAL implements TestRule {
         @Override
         public Statement apply(Statement base, Description description) {
             return new Statement(){
                 @Override
                 public void evaluate() throws Throwable {
-                    // HAL must be initialized or SimDeviceSim.resetData() will crash
+                    // HAL must be initialized or SimDeviceSim.resetData() will crash and SmartDashboard might not work.
                     HAL.initialize(500, 0);
                     base.evaluate();
                     HAL.shutdown();
@@ -24,7 +24,7 @@ public void evaluate() throws Throwable {
         }
     }
 
-    public static class Test implements TestRule {
+    public static class ResetSimDeviceSimData implements TestRule {
         @Override
         public Statement apply(Statement base, Description description) {
             return new Statement(){