From 8bfff1ca41c7e4cecbe0805a897f6398c0fa092c Mon Sep 17 00:00:00 2001
From: pacoito123 <pacoito@protonmail.com>
Date: Sat, 17 Aug 2019 21:01:49 -0500
Subject: [PATCH] Moved from json-simple to jackson. [General] - Removed
 json-simple dependency. - Added jackson-core, databind, and annotations
 dependencies. [OI] - Created ControllerProfiles mapper class. - Removed
 Optional from Button getting (for now) - Uses jackson JSON Nodes now instead
 of json-simple parsing. [HyperComponents] - HyperTalons and HyperVictors now
 override set() method. [SuperSubsystems] - Now use jackson JSON Nodes instead
 of json-simple parsing. - No longer a need to call finishedJSONInit() at the
 very end. - Completely re-did how SuperComponents are initialized.

---
 build.gradle                                  |  11 +-
 .../lib6647/oi/ControllerProfiles.java        |  64 +++++
 .../org/usfirst/lib6647/oi/JController.java   |  54 +---
 .../lib6647/subsystem/PIDSuperSubsystem.java  |  72 ++----
 .../usfirst/lib6647/subsystem/RobotMap.java   |  62 +++++
 .../lib6647/subsystem/SuperSubsystem.java     |  33 +--
 .../subsystem/hypercomponents/HyperTalon.java |  16 +-
 .../hypercomponents/HyperVictor.java          |  16 +-
 .../supercomponents/SuperCompressor.java      |  55 ++--
 .../supercomponents/SuperDigitalInput.java    |  48 ++--
 .../supercomponents/SuperDoubleSolenoid.java  |  56 ++--
 .../supercomponents/SuperEncoder.java         |  55 ++--
 .../subsystem/supercomponents/SuperPDP.java   |  54 ++--
 .../supercomponents/SuperSolenoid.java        |  71 ++----
 .../subsystem/supercomponents/SuperTalon.java | 240 ++++++++----------
 .../supercomponents/SuperUltrasonic.java      |  58 ++---
 .../supercomponents/SuperVictor.java          | 161 ++++++------
 .../org/usfirst/lib6647/util/MotorUtils.java  |   2 -
 18 files changed, 527 insertions(+), 601 deletions(-)
 create mode 100644 src/main/java/org/usfirst/lib6647/oi/ControllerProfiles.java
 create mode 100644 src/main/java/org/usfirst/lib6647/subsystem/RobotMap.java

diff --git a/build.gradle b/build.gradle
index f9c27a2..7d176b0 100644
--- a/build.gradle
+++ b/build.gradle
@@ -42,9 +42,14 @@ dependencies {
 
     // Use JUnit test framework
     testImplementation 'junit:junit:4.12'
-	
-	// https://mvnrepository.com/artifact/com.googlecode.json-simple/json-simple
-    compile group: 'com.googlecode.json-simple', name: 'json-simple', version: '1.1.1'
+
+    // https://mvnrepository.com/artifact/com.fasterxml.jackson.core/jackson-databind
+    compile group: 'com.fasterxml.jackson.core', name: 'jackson-databind', version: '2.10.0.pr1'
+    // https://mvnrepository.com/artifact/com.fasterxml.jackson.core/jackson-core
+    compile group: 'com.fasterxml.jackson.core', name: 'jackson-core', version: '2.10.0.pr1'
+    // https://mvnrepository.com/artifact/com.fasterxml.jackson.core/jackson-annotations
+    compile group: 'com.fasterxml.jackson.core', name: 'jackson-annotations', version: '2.10.0.pr1'
+
 	
 	//Phoenix dependencies.
 	compile group: 'com.ctre.phoenix', name: 'api-java', version: '5.14.1'
diff --git a/src/main/java/org/usfirst/lib6647/oi/ControllerProfiles.java b/src/main/java/org/usfirst/lib6647/oi/ControllerProfiles.java
new file mode 100644
index 0000000..80bcca5
--- /dev/null
+++ b/src/main/java/org/usfirst/lib6647/oi/ControllerProfiles.java
@@ -0,0 +1,64 @@
+package org.usfirst.lib6647.oi;
+
+import com.fasterxml.jackson.databind.ObjectMapper;
+
+import org.usfirst.lib6647.subsystem.RobotMap;
+
+/**
+ * Class holding instances of objects required to read values from a JSON file,
+ * for {@link JController} usage.
+ */
+public class ControllerProfiles {
+
+	private static ControllerProfiles m_instance = null;
+
+	/**
+	 * Creates static {@link ControllerProfiles} instance.
+	 */
+	public static void createInstance(String filePath) {
+		m_instance = new ControllerProfiles(filePath);
+	}
+
+	/**
+	 * Gets static {@link ControllerProfiles} instance.
+	 * 
+	 * @return static {@link ControllerProfiles} instance
+	 */
+	public static ControllerProfiles getInstance() {
+		return m_instance;
+	}
+
+	/** JSON {@link ObjectMapper} for {@link JController JControllers}. */
+	private final ObjectMapper mapper;
+	/** Path to JSON file. */
+	private final String filePath;
+
+	/**
+	 * Constructor for {@link RobotMap}. Initializes {@link #filePath} and
+	 * {@link #mapper}.
+	 * 
+	 * @param filePath
+	 */
+	public ControllerProfiles(String filePath) {
+		this.filePath = filePath;
+		mapper = new ObjectMapper();
+	}
+
+	/**
+	 * Get {@link ObjectMapper} instance.
+	 * 
+	 * @return mapper
+	 */
+	public ObjectMapper getMapper() {
+		return mapper;
+	}
+
+	/**
+	 * Get {@link #filePath} for JSON file.
+	 * 
+	 * @return filePath
+	 */
+	public String getFilePath() {
+		return filePath;
+	}
+}
\ No newline at end of file
diff --git a/src/main/java/org/usfirst/lib6647/oi/JController.java b/src/main/java/org/usfirst/lib6647/oi/JController.java
index 6a8b65a..ed16bac 100644
--- a/src/main/java/org/usfirst/lib6647/oi/JController.java
+++ b/src/main/java/org/usfirst/lib6647/oi/JController.java
@@ -1,14 +1,10 @@
 package org.usfirst.lib6647.oi;
 
 import java.io.FileReader;
-import java.io.IOException;
 import java.io.Reader;
 import java.util.HashMap;
-import java.util.Optional;
 
-import org.json.simple.JSONObject;
-import org.json.simple.parser.JSONParser;
-import org.json.simple.parser.ParseException;
+import com.fasterxml.jackson.databind.JsonNode;
 
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.Joystick;
@@ -32,23 +28,28 @@ public class JController extends Joystick {
 	private int leftAxis = 1, rightAxis = 5;
 
 	/**
-	 * Location of the JSON file for {@link Button} nicknames.
+	 * {@link JSONNode} for usage of friendly button names with JSON.
 	 */
-	private String filePath;
+	private JsonNode profile;
 
 	/**
 	 * Constructor for {@link JController}.
 	 * 
 	 * Initializes each and every {@link Button} from the {@link Joystick} found at
 	 * the given port. Also initializes {@link Button Buttons} for each of the axes
-	 * and POVs.
+	 * and POVs. Also initializes {@link #profile} {@link JsonNode} if possible.
 	 * 
 	 * @param port
 	 */
-	public JController(int port, String filePath) {
+	public JController(int port) {
 		super(port);
 
-		this.filePath = filePath;
+		try (Reader file = new FileReader(ControllerProfiles.getInstance().getFilePath())) {
+			profile = ControllerProfiles.getInstance().getMapper().readTree(file).get(getName());
+		} catch (Exception e) {
+			System.out.println(
+					"[!] COULD NOT INITIALIZE CONTROLLER PROFILE FOR CONTROLLER '" + getName().toUpperCase() + "'.");
+		}
 
 		// Button initialization. Starting at 1.
 		for (int i = 1; i <= this.getButtonCount(); i++) {
@@ -102,40 +103,13 @@ public double getRightAxis() {
 
 	/**
 	 * Method for getting a {@link Button} with a friendly name (declared in the
-	 * JSON configuration) from this {@link JController}. Returns an empty Optional
-	 * if no {@link Button} is found at that specific key, or if any exception is
-	 * thrown.
+	 * JSON configuration) from this {@link JController}.
 	 * 
-	 * @param joystickName
 	 * @param buttonName
 	 * @return {@link Button}
 	 */
-	public Optional<Button> get(String buttonName) {
-		try {
-			// Create a new JSONParser and JSONObject with the given key.
-			JSONParser parser = new JSONParser();
-			Reader file = new FileReader(filePath);
-			JSONObject jsonJoystick = (JSONObject) ((JSONObject) parser.parse(file)).get(getName());
-
-			// Create Button object and initialize it with values from the JSONObject.
-			Button button = buttons.get(jsonJoystick.get(buttonName).toString());
-
-			// Clear JSONObject and JSONParser after use, and close Reader. Not sure if it
-			// does anything, but it might free some unused memory.
-			jsonJoystick.clear();
-			file.close();
-			parser.reset();
-
-			// Finally, return Optional of Button object from the friendly name.
-			return Optional.of(button);
-		} catch (IOException e) {
-			System.out.println("[!] OIBUTTON " + buttonName + " IO ERROR: " + e.getMessage());
-		} catch (ParseException e) {
-			System.out.println("[!] OIBUTTON " + buttonName + " PARSE ERROR: " + e.getMessage());
-		} catch (Exception e) {
-			System.out.println("[!] OIBUTTON " + buttonName + " ERROR: " + e.getMessage());
-		}
-		return Optional.empty();
+	public Button get(String buttonName) {
+		return buttons.get(profile.get(buttonName).asText());
 	}
 
 	/**
diff --git a/src/main/java/org/usfirst/lib6647/subsystem/PIDSuperSubsystem.java b/src/main/java/org/usfirst/lib6647/subsystem/PIDSuperSubsystem.java
index dbf2f1b..6e75bc4 100644
--- a/src/main/java/org/usfirst/lib6647/subsystem/PIDSuperSubsystem.java
+++ b/src/main/java/org/usfirst/lib6647/subsystem/PIDSuperSubsystem.java
@@ -3,8 +3,7 @@
 import java.io.FileReader;
 import java.io.Reader;
 
-import org.json.simple.JSONObject;
-import org.json.simple.parser.JSONParser;
+import com.fasterxml.jackson.databind.JsonNode;
 
 import edu.wpi.first.wpilibj.command.PIDSubsystem;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -18,8 +17,8 @@ public abstract class PIDSuperSubsystem extends PIDSubsystem {
 	/**
 	 * Bread and butter of {@link PIDSuperSubsystem}.
 	 */
-	protected JSONObject robotMap;
-	protected float p = 0.0f, i = 0.0f, d = 0.0f;
+	protected JsonNode robotMap;
+	protected double p = 0.0, i = 0.0, d = 0.0;
 	protected double pidOutput;
 
 	/**
@@ -30,29 +29,18 @@ public abstract class PIDSuperSubsystem extends PIDSubsystem {
 	 * @param name     (of the {@link PIDSubsystem})
 	 * @param fileName (to {@link #robotMap JSON file})
 	 */
-	public PIDSuperSubsystem(String name, String fileName) {
-		super(name, 0.0f, 0.0f, 0.0f);
+	public PIDSuperSubsystem(String name) {
+		super(name, 0.0, 0.0, 0.0);
 
-		initJSON(fileName);
-		initPID();
-		outputPIDValues(getName(), p, i, d);
-	}
-
-	/**
-	 * Method to initialize {@link #robotMap} at the given path.
-	 * 
-	 * @param fileName (to {@link #robotMap JSON file})
-	 */
-	private void initJSON(String fileName) {
-		try {
-			JSONParser parser = new JSONParser();
-			Reader file = new FileReader(fileName);
-			robotMap = (JSONObject) parser.parse(file);
-			file.close();
+		try (Reader file = new FileReader(RobotMap.getInstance().getFilePath())) {
+			robotMap = RobotMap.getInstance().getMapper().readTree(file).get(getName());
 		} catch (Exception e) {
 			System.out.println("[!] SUBSYSTEM '" + getName().toUpperCase() + "' JSON INIT ERROR: " + e.getMessage());
 			System.exit(1);
 		}
+
+		initPID();
+		outputPIDValues(getName(), p, i, d);
 	}
 
 	/**
@@ -61,40 +49,26 @@ private void initJSON(String fileName) {
 	 */
 	private void initPID() {
 		try {
-			// Create a JSONObject out of the 'pid' key.
-			JSONObject pid = (JSONObject) ((JSONObject) ((JSONObject) robotMap.get("subsystems")).get(getName()))
-					.get("pid");
+			// Get JsonNode out of the 'pid' key.
+			JsonNode pid = robotMap.get("pid");
 
 			// Update current PID values.
-			p = Float.parseFloat(pid.get("p").toString());
-			i = Float.parseFloat(pid.get("i").toString());
-			d = Float.parseFloat(pid.get("d").toString());
+			p = pid.get("p").asDouble();
+			i = pid.get("i").asDouble();
+			d = pid.get("d").asDouble();
 
 			// Update PIDSubsystem PID values and configuration.
 			getPIDController().setPID(p, i, d);
-			setInputRange(Double.parseDouble(pid.get("inputMin").toString()),
-					Double.parseDouble(pid.get("inputMax").toString()));
-			setOutputRange(Double.parseDouble(pid.get("outputMin").toString()),
-					Double.parseDouble(pid.get("outputMax").toString()));
-			setAbsoluteTolerance(Double.parseDouble(pid.get("absoluteTolerance").toString()));
-			getPIDController().setContinuous(Boolean.parseBoolean(pid.get("continuous").toString()));
-
-			// Clear JSONObject after use, not sure if it does anything, but it might free
-			// some unused memory.
-			pid.clear();
+			setInputRange(pid.get("inputMin").asDouble(), pid.get("inputMax").asDouble());
+			setOutputRange(pid.get("outputMin").asDouble(), pid.get("outputMax").asDouble());
+			setAbsoluteTolerance(pid.get("absoluteTolerance").asDouble());
+			getPIDController().setContinuous(pid.get("continuous").asBoolean());
 		} catch (Exception e) {
 			System.out.println("[!] SUBSYSTEM '" + getName().toUpperCase() + "' PID INIT ERROR: " + e.getMessage());
 			System.exit(1);
 		}
 	}
 
-	/**
-	 * Method to clear {@link #robotMap}.
-	 */
-	public void finishedJSONInit() {
-		robotMap.clear();
-	}
-
 	/**
 	 * Method to output {@link #p}, {@link #i}, and {@link #d} values from the
 	 * {@link PIDSuperSubsystem} to the {@link SmartDashboard}.
@@ -104,7 +78,7 @@ public void finishedJSONInit() {
 	 * @param {@link        #i}
 	 * @param {@link        #d}
 	 */
-	private void outputPIDValues(String subsystemName, float p, float i, float d) {
+	private void outputPIDValues(String subsystemName, double p, double i, double d) {
 		SmartDashboard.putString(subsystemName + "P", p + "");
 		SmartDashboard.putString(subsystemName + "I", i + "");
 		SmartDashboard.putString(subsystemName + "D", d + "");
@@ -115,9 +89,9 @@ private void outputPIDValues(String subsystemName, float p, float i, float d) {
 	 * the {@link SmartDashboard}.
 	 */
 	public void updatePIDValues() {
-		p = Float.parseFloat(SmartDashboard.getString(getName() + "P", p + ""));
-		i = Float.parseFloat(SmartDashboard.getString(getName() + "I", i + ""));
-		d = Float.parseFloat(SmartDashboard.getString(getName() + "D", d + ""));
+		p = Double.parseDouble(SmartDashboard.getString(getName() + "P", p + ""));
+		i = Double.parseDouble(SmartDashboard.getString(getName() + "I", i + ""));
+		d = Double.parseDouble(SmartDashboard.getString(getName() + "D", d + ""));
 
 		getPIDController().setPID(p, i, d);
 	}
diff --git a/src/main/java/org/usfirst/lib6647/subsystem/RobotMap.java b/src/main/java/org/usfirst/lib6647/subsystem/RobotMap.java
new file mode 100644
index 0000000..acf365d
--- /dev/null
+++ b/src/main/java/org/usfirst/lib6647/subsystem/RobotMap.java
@@ -0,0 +1,62 @@
+package org.usfirst.lib6647.subsystem;
+
+import com.fasterxml.jackson.databind.ObjectMapper;
+
+/**
+ * Class holding instances of objects required to read values from a JSON file,
+ * for {@link SuperSubsystem} usage.
+ */
+public class RobotMap {
+
+	private static RobotMap m_instance = null;
+
+	/**
+	 * Creates static {@link RobotMap} instance.
+	 */
+	public static void createInstance(String filePath) {
+		m_instance = new RobotMap(filePath);
+	}
+
+	/**
+	 * Gets static {@link RobotMap} instance.
+	 * 
+	 * @return static {@link RobotMap} instance
+	 */
+	public static RobotMap getInstance() {
+		return m_instance;
+	}
+
+	/** JSON {@link ObjectMapper} for {@link SuperSubsystem SuperSubsystems}. */
+	private final ObjectMapper mapper;
+	/** Path to JSON file. */
+	private final String filePath;
+
+	/**
+	 * Constructor for {@link RobotMap}. Initializes {@link #filePath} and
+	 * {@link #mapper}.
+	 * 
+	 * @param filePath
+	 */
+	public RobotMap(String filePath) {
+		this.filePath = filePath;
+		mapper = new ObjectMapper();
+	}
+
+	/**
+	 * Get {@link ObjectMapper} instance.
+	 * 
+	 * @return mapper
+	 */
+	public ObjectMapper getMapper() {
+		return mapper;
+	}
+
+	/**
+	 * Get {@link #filePath} for JSON file.
+	 * 
+	 * @return filePath
+	 */
+	public String getFilePath() {
+		return filePath;
+	}
+}
\ No newline at end of file
diff --git a/src/main/java/org/usfirst/lib6647/subsystem/SuperSubsystem.java b/src/main/java/org/usfirst/lib6647/subsystem/SuperSubsystem.java
index b1bdc4b..52c46cc 100644
--- a/src/main/java/org/usfirst/lib6647/subsystem/SuperSubsystem.java
+++ b/src/main/java/org/usfirst/lib6647/subsystem/SuperSubsystem.java
@@ -3,8 +3,7 @@
 import java.io.FileReader;
 import java.io.Reader;
 
-import org.json.simple.JSONObject;
-import org.json.simple.parser.JSONParser;
+import com.fasterxml.jackson.databind.JsonNode;
 
 import edu.wpi.first.wpilibj.command.Subsystem;
 
@@ -17,41 +16,21 @@ public abstract class SuperSubsystem extends Subsystem {
 	/**
 	 * Bread and butter of {@link SuperSubsystem}.
 	 */
-	protected JSONObject robotMap;
+	protected JsonNode robotMap;
 
 	/**
 	 * Constructor for {@link SuperSubsystem}.
 	 * 
-	 * @param name     (of the {@link Subsystem})
-	 * @param fileName (to {@link #robotMap JSON file})
+	 * @param name (of the {@link Subsystem})
 	 */
-	public SuperSubsystem(String name, String fileName) {
+	public SuperSubsystem(String name) {
 		super(name);
 
-		initJSON(fileName);
-	}
-
-	/**
-	 * Method to initialize {@link #robotMap} at the given path.
-	 * 
-	 * @param fileName (to {@link #robotMap JSON file})
-	 */
-	private void initJSON(String fileName) {
-		try {
-			JSONParser parser = new JSONParser();
-			Reader file = new FileReader(fileName);
-			robotMap = (JSONObject) parser.parse(file);
-			file.close();
+		try (Reader file = new FileReader(RobotMap.getInstance().getFilePath())) {
+			robotMap = RobotMap.getInstance().getMapper().readTree(file).get(getName());
 		} catch (Exception e) {
 			System.out.println("[!] SUBSYSTEM '" + getName().toUpperCase() + "' JSON INIT ERROR: " + e.getMessage());
 			System.exit(1);
 		}
 	}
-
-	/**
-	 * Method to clear {@link #robotMap}.
-	 */
-	public void finishedJSONInit() {
-		robotMap.clear();
-	}
 }
\ No newline at end of file
diff --git a/src/main/java/org/usfirst/lib6647/subsystem/hypercomponents/HyperTalon.java b/src/main/java/org/usfirst/lib6647/subsystem/hypercomponents/HyperTalon.java
index 4a8e1e1..0b268e7 100644
--- a/src/main/java/org/usfirst/lib6647/subsystem/hypercomponents/HyperTalon.java
+++ b/src/main/java/org/usfirst/lib6647/subsystem/hypercomponents/HyperTalon.java
@@ -57,8 +57,9 @@ public void raiseLimiter(double amount) {
 	 * 
 	 * @param speed
 	 */
-	public void setTalon(double speed) {
-		setTalon(speed, false);
+	@Override
+	public void set(double speed) {
+		set(speed, false);
 	}
 
 	/**
@@ -68,7 +69,7 @@ public void setTalon(double speed) {
 	 * @param speed
 	 * @param limited
 	 */
-	public void setTalon(double speed, boolean limited) {
+	public void set(double speed, boolean limited) {
 		if (speed >= limiter && limited)
 			super.set(ControlMode.PercentOutput, limiter);
 		else
@@ -81,14 +82,7 @@ public void setTalon(double speed, boolean limited) {
 	 * 
 	 * @param speed
 	 */
-	public void setTalonWithRamp(double speed) {
+	public void setWithRamp(double speed) {
 		super.set(ControlMode.PercentOutput, speed * limiter);
 	}
-
-	/**
-	 * Stops {@link HyperTalon} dead in its tracks.
-	 */
-	public void stopTalon() {
-		setTalon(0, false);
-	}
 }
\ No newline at end of file
diff --git a/src/main/java/org/usfirst/lib6647/subsystem/hypercomponents/HyperVictor.java b/src/main/java/org/usfirst/lib6647/subsystem/hypercomponents/HyperVictor.java
index f4c4911..5e974ce 100644
--- a/src/main/java/org/usfirst/lib6647/subsystem/hypercomponents/HyperVictor.java
+++ b/src/main/java/org/usfirst/lib6647/subsystem/hypercomponents/HyperVictor.java
@@ -57,8 +57,9 @@ public void raiseLimiter(double amount) {
 	 * 
 	 * @param speed
 	 */
-	public void setVictor(double speed) {
-		setVictor(speed, false);
+	@Override
+	public void set(double speed) {
+		set(speed, false);
 	}
 
 	/**
@@ -68,7 +69,7 @@ public void setVictor(double speed) {
 	 * @param speed
 	 * @param limited
 	 */
-	public void setVictor(double speed, boolean limited) {
+	public void set(double speed, boolean limited) {
 		if (speed >= limiter && limited)
 			super.set(ControlMode.PercentOutput, limiter);
 		else
@@ -81,14 +82,7 @@ public void setVictor(double speed, boolean limited) {
 	 * 
 	 * @param speed
 	 */
-	public void setVictorWithRamp(double speed) {
+	public void setWithRamp(double speed) {
 		super.set(ControlMode.PercentOutput, speed * limiter);
 	}
-
-	/**
-	 * Stops {@link HyperVictor} dead in its tracks.
-	 */
-	public void stopVictor() {
-		setVictor(0, false);
-	}
 }
\ No newline at end of file
diff --git a/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperCompressor.java b/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperCompressor.java
index 2c52858..be54b2b 100644
--- a/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperCompressor.java
+++ b/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperCompressor.java
@@ -1,10 +1,9 @@
 package org.usfirst.lib6647.subsystem.supercomponents;
 
 import java.util.HashMap;
-import java.util.stream.Stream;
 
-import org.json.simple.JSONArray;
-import org.json.simple.JSONObject;
+import com.fasterxml.jackson.databind.JsonNode;
+
 import org.usfirst.lib6647.subsystem.PIDSuperSubsystem;
 import org.usfirst.lib6647.subsystem.SuperSubsystem;
 import org.usfirst.lib6647.util.ComponentInitException;
@@ -31,47 +30,37 @@ public interface SuperCompressor {
 	 * @param {@link SuperSubsystem#robotMap}
 	 * @param {@link SuperSubsystem#getName}
 	 */
-	default void initCompressors(JSONObject robotMap, String subsystemName) {
-		// Create a JSONArray out of the declared objects.
-		JSONArray compressorArray = (JSONArray) ((JSONObject) ((JSONObject) robotMap.get("subsystems"))
-				.get(subsystemName)).get("compressors");
-		// Create a stream to cast each entry in the JSONArray into a JSONObject, in
-		// order to configure it using the values declared in the robotMap file.
+	default void initCompressors(JsonNode robotMap, String subsystemName) {
 
-		// Create a parallel stream from the JSONArray.
-		Stream<?> stream = compressorArray.parallelStream();
-		// Cast each entry into a JSONObject, and configure it using the values declared
-		// in the JSON file.
-		stream.map(json -> (JSONObject) json).forEach(json -> {
+		// Spliterate through each of the elements in the JsonNode.
+		robotMap.get("compressors").spliterator().forEachRemaining(json -> {
 			try {
-				if (json.containsKey("name") && json.containsKey("module")) {
+				if (json.hasNonNull("name") && json.hasNonNull("module")) {
+					// Read values from JsonNode.
+					int module = json.get("module").asInt(-1);
+
+					// Check if the required JsonNode values to initialize the object are present.
+					if (module < 0)
+						throw new ComponentInitException(
+								String.format("[!] INVALID OR EMPTY VALUE(S) FOR COMPRESSOR '%1$s' IN SUBSYSTEM '%2$s'",
+										json.get("name").asText(), subsystemName));
 
-					Compressor compressor;
-					try {
-						// Try to initialize an object from an index in the JSONArray.
-						compressor = new Compressor(Integer.parseInt(json.get("module").toString()));
-					} catch (NumberFormatException e) {
-						throw new ComponentInitException(String.format(
-								"[!] INVALID OR EMPTY MODULE VALUE FOR COMPRESSOR '%1$s' IN SUBSYSTEM '%2$s'",
-								json.get("name").toString(), subsystemName));
-					}
+					// Create Compressor object.
+					Compressor compressor = new Compressor(json.get("module").asInt());
+
+					// Additional initialization configuration.
+					// ...
 
 					// Put object in HashMap with its declared name as key after initialization and
 					// configuration.
 					compressors.put(json.get("name").toString(), compressor);
-				}
+				} else
+					throw new ComponentInitException(String.format(
+							"[!] UNDECLARED OR EMPTY COMPRESSOR ENTRY IN SUBSYSTEM '%s'", subsystemName.toUpperCase()));
 			} catch (ComponentInitException e) {
 				System.out.println(e.getMessage());
-			} finally {
-				// Clear JSONObject after use, not sure if it does anything, but it might free
-				// some unused memory.
-				json.clear();
 			}
 		});
-
-		// Clear JSONArray after use, not sure if it does anything, but it might free
-		// some unused memory.
-		compressorArray.clear();
 	}
 
 	/**
diff --git a/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperDigitalInput.java b/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperDigitalInput.java
index 704518e..13c5874 100644
--- a/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperDigitalInput.java
+++ b/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperDigitalInput.java
@@ -1,10 +1,9 @@
 package org.usfirst.lib6647.subsystem.supercomponents;
 
 import java.util.HashMap;
-import java.util.stream.Stream;
 
-import org.json.simple.JSONArray;
-import org.json.simple.JSONObject;
+import com.fasterxml.jackson.databind.JsonNode;
+
 import org.usfirst.lib6647.subsystem.PIDSuperSubsystem;
 import org.usfirst.lib6647.subsystem.SuperSubsystem;
 import org.usfirst.lib6647.util.ComponentInitException;
@@ -32,45 +31,38 @@ public interface SuperDigitalInput {
 	 * @param {@link SuperSubsystem#robotMap}
 	 * @param {@link SuperSubsystem#getName}
 	 */
-	default void initDigitalInputs(JSONObject robotMap, String subsystemName) {
-		// Create a JSONArray out of the declared objects.
-		JSONArray digitalInputArray = (JSONArray) ((JSONObject) ((JSONObject) robotMap.get("subsystems"))
-				.get(subsystemName)).get("digitalInputs");
+	default void initDigitalInputs(JsonNode robotMap, String subsystemName) {
 
-		// Create a parallel stream from the JSONArray.
-		Stream<?> stream = digitalInputArray.parallelStream();
-		// Cast each entry into a JSONObject, and configure it using the values declared
-		// in the JSON file.
-		stream.map(json -> (JSONObject) json).forEach(json -> {
+		// Spliterate through each of the elements in the JsonNode.
+		robotMap.get("digitalInputs").spliterator().forEachRemaining(json -> {
 			try {
-				if (json.containsKey("name") && json.containsKey("channel")) {
+				if (json.hasNonNull("name") && json.hasNonNull("channel")) {
+					// Read values from JsonNode.
+					int channel = json.get("channel").asInt(-1);
 
-					DigitalInput digitalInput;
-					try {
-						// Try to initialize an object from an index in the JSONArray.
-						digitalInput = new DigitalInput(Integer.parseInt(json.get("channel").toString()));
-					} catch (NumberFormatException e) {
+					// Check if the required JsonNode values to initialize the object are present.
+					if (channel < 0)
 						throw new ComponentInitException(String.format(
 								"[!] INVALID OR EMPTY CHANNEL VALUE FOR DIGITALINPUT '%1$s' IN SUBSYSTEM '%2$s'",
 								json.get("name").toString(), subsystemName));
-					}
+
+					// Create DigitalInput object.
+					DigitalInput digitalInput = new DigitalInput(json.get("channel").asInt());
+
+					// Additional initialization configuration.
+					// ...
 
 					// Put object in HashMap with its declared name as key after initialization and
 					// configuration.
 					digitalInputs.put(json.get("name").toString(), digitalInput);
-				}
+				} else
+					throw new ComponentInitException(
+							String.format("[!] UNDECLARED OR EMPTY DIGITALINPUT ENTRY IN SUBSYSTEM '%s'",
+									subsystemName.toUpperCase()));
 			} catch (ComponentInitException e) {
 				System.out.println(e.getMessage());
-			} finally {
-				// Clear JSONObject after use, not sure if it does anything, but it might free
-				// some unused memory.
-				json.clear();
 			}
 		});
-
-		// Clear JSONArray after use, not sure if it does anything, but it might free
-		// some unused memory.
-		digitalInputArray.clear();
 	}
 
 	/**
diff --git a/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperDoubleSolenoid.java b/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperDoubleSolenoid.java
index b9fe26b..4bd5675 100644
--- a/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperDoubleSolenoid.java
+++ b/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperDoubleSolenoid.java
@@ -1,10 +1,9 @@
 package org.usfirst.lib6647.subsystem.supercomponents;
 
 import java.util.HashMap;
-import java.util.stream.Stream;
 
-import org.json.simple.JSONArray;
-import org.json.simple.JSONObject;
+import com.fasterxml.jackson.databind.JsonNode;
+
 import org.usfirst.lib6647.subsystem.PIDSuperSubsystem;
 import org.usfirst.lib6647.subsystem.SuperSubsystem;
 import org.usfirst.lib6647.subsystem.hypercomponents.HyperDoubleSolenoid;
@@ -33,52 +32,41 @@ public interface SuperDoubleSolenoid {
 	 * @param {@link SuperSubsystem#robotMap}
 	 * @param {@link SuperSubsystem#getName}
 	 */
-	default void initDoubleSolenoids(JSONObject robotMap, String subsystemName) {
-		// Create a JSONArray out of the declared objects.
-		JSONArray doubleSolenoidArray = (JSONArray) ((JSONObject) ((JSONObject) robotMap.get("subsystems"))
-				.get(subsystemName)).get("doubleSolenoids");
+	default void initDoubleSolenoids(JsonNode robotMap, String subsystemName) {
 
-		// Create a parallel stream from the JSONArray.
-		Stream<?> stream = doubleSolenoidArray.parallelStream();
-		// Cast each entry into a JSONObject, and configure it using the values declared
-		// in the JSON file.
-		stream.map(json -> (JSONObject) json).forEach(json -> {
+		// Spliterate through each of the elements in the JsonNode.
+		robotMap.get("doubleSolenoids").spliterator().forEachRemaining(json -> {
 			try {
-				if (json.containsKey("name") && json.containsKey("forwardChannel")
-						&& json.containsKey("reverseChannel")) {
+				if (json.hasNonNull("name") && json.hasNonNull("forwardChannel") && json.hasNonNull("reverseChannel")) {
+					// Read values from JsonNode.
+					int forwardChannel = json.get("forwardChannel").asInt(-1),
+							reverseChannel = json.get("reverseChannel").asInt(-1);
 
-					HyperDoubleSolenoid doubleSolenoid;
-					try {
-						// Try to initialize an object from an index in the JSONArray.
-						doubleSolenoid = new HyperDoubleSolenoid(
-								Integer.parseInt(json.get("forwardChannel").toString()),
-								Integer.parseInt(json.get("reverseChannel").toString()));
-					} catch (NumberFormatException e) {
+					// Check if the required JsonNode values to initialize the object are present.
+					if (forwardChannel < 0 || reverseChannel < 0)
 						throw new ComponentInitException(String.format(
 								"[!] INVALID OR EMPTY CHANNEL VALUE(S) FOR DOUBLESOLENOID '%1$s' IN SUBSYSTEM '%2$s'",
 								json.get("name").toString(), subsystemName));
-					}
+
+					// Create HyperDoubleSolenoid object.
+					HyperDoubleSolenoid doubleSolenoid = new HyperDoubleSolenoid(json.get("forwardChannel").asInt(),
+							json.get("reverseChannel").asInt());
+
+					// Additional initialization configuration.
 					doubleSolenoid.stop();
+					// ...
 
 					// Put object in HashMap with its declared name as key after initialization and
 					// configuration.
 					doubleSolenoids.put(json.get("name").toString(), doubleSolenoid);
-				} else {
-					System.out.println(String.format("[!] UNDECLARED OR EMPTY DOUBLESOLENOID ENTRY IN SUBSYSTEM '%s'",
-							subsystemName.toUpperCase()));
-				}
+				} else
+					throw new ComponentInitException(
+							String.format("[!] UNDECLARED OR EMPTY DOUBLESOLENOID ENTRY IN SUBSYSTEM '%s'",
+									subsystemName.toUpperCase()));
 			} catch (ComponentInitException e) {
 				System.out.println(e.getMessage());
-			} finally {
-				// Clear JSONObject after use, not sure if it does anything, but it might free
-				// some unused memory.
-				json.clear();
 			}
 		});
-
-		// Clear JSONArray after use, not sure if it does anything, but it might free
-		// some unused memory.
-		doubleSolenoidArray.clear();
 	}
 
 	/**
diff --git a/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperEncoder.java b/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperEncoder.java
index 566535d..68febf5 100644
--- a/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperEncoder.java
+++ b/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperEncoder.java
@@ -1,10 +1,9 @@
 package org.usfirst.lib6647.subsystem.supercomponents;
 
 import java.util.HashMap;
-import java.util.stream.Stream;
 
-import org.json.simple.JSONArray;
-import org.json.simple.JSONObject;
+import com.fasterxml.jackson.databind.JsonNode;
+
 import org.usfirst.lib6647.subsystem.PIDSuperSubsystem;
 import org.usfirst.lib6647.subsystem.SuperSubsystem;
 import org.usfirst.lib6647.util.ComponentInitException;
@@ -32,50 +31,40 @@ public interface SuperEncoder extends MotorUtils {
 	 * @param {@link SuperSubsystem#robotMap}
 	 * @param {@link SuperSubsystem#getName}
 	 */
-	default void initEncoders(JSONObject robotMap, String subsystemName) {
-		// Create a JSONArray out of the declared objects.
-		JSONArray encoderArray = (JSONArray) ((JSONObject) ((JSONObject) robotMap.get("subsystems")).get(subsystemName))
-				.get("encoders");
+	default void initEncoders(JsonNode robotMap, String subsystemName) {
 
-		// Create a parallel stream from the JSONArray.
-		Stream<?> stream = encoderArray.parallelStream();
-		// Cast each entry into a JSONObject, and configure it using the values declared
-		// in the JSON file.
-		stream.map(json -> (JSONObject) json).forEach(json -> {
+		// Spliterate through each of the elements in the JsonNode.
+		robotMap.get("encoders").spliterator().forEachRemaining(json -> {
 			try {
-				if (json.containsKey("name") && json.containsKey("channelA") && json.containsKey("channelB")
-						&& json.containsKey("reverse") && json.containsKey("encodingType")) {
+				if (json.hasNonNull("name") && json.hasNonNull("channelA") && json.hasNonNull("channelB")
+						&& json.hasNonNull("reverse") && json.hasNonNull("encodingType")) {
+					// Read values from JsonNode.
+					int channelA = json.get("channelA").asInt(-1), channelB = json.get("channelB").asInt(-1);
 
-					Encoder encoder;
-					try {
-						// Try to initialize an object from an index in the JSONArray.
-						encoder = new Encoder(Integer.parseInt(json.get("channelA").toString()),
-								Integer.parseInt(json.get("channelB").toString()),
-								Boolean.parseBoolean(json.get("reverse").toString()),
-								getEncodingType(json.get("encodingType").toString()));
-					} catch (NullPointerException | NumberFormatException e) {
+					// Check if the required JsonNode values to initialize the object are present.
+					if (channelA < 0 || channelB < 0)
 						throw new ComponentInitException(
 								String.format("[!] INVALID OR EMPTY VALUE(S) FOR ENCODER '%1$s' IN SUBSYSTEM '%2$s'",
 										json.get("name").toString(), subsystemName));
-					}
+
+					// Create Encoder object.
+					Encoder encoder = new Encoder(json.get("channelA").asInt(), json.get("channelB").asInt(),
+							json.get("reverse").asBoolean(), getEncodingType(json.get("encodingType").asText()));
+
+					// Additional initialization configuration.
 					encoder.reset();
+					// ...
 
 					// Put object in HashMap with its declared name as key after initialization and
 					// configuration.
-					encoders.put(json.get("name").toString(), encoder);
-				}
+					encoders.put(json.get("name").asText(), encoder);
+				} else
+					throw new ComponentInitException(String.format(
+							"[!] UNDECLARED OR EMPTY ENCODER ENTRY IN SUBSYSTEM '%s'", subsystemName.toUpperCase()));
 			} catch (ComponentInitException e) {
 				System.out.println(e.getMessage());
-			} finally {
-				// Clear JSONObject after use, not sure if it does anything, but it might free
-				// some unused memory.
-				json.clear();
 			}
 		});
-
-		// Clear JSONArray after use, not sure if it does anything, but it might free
-		// some unused memory.
-		encoderArray.clear();
 	}
 
 	/**
diff --git a/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperPDP.java b/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperPDP.java
index d9de2aa..7b0c87d 100644
--- a/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperPDP.java
+++ b/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperPDP.java
@@ -1,10 +1,9 @@
 package org.usfirst.lib6647.subsystem.supercomponents;
 
 import java.util.HashMap;
-import java.util.stream.Stream;
 
-import org.json.simple.JSONArray;
-import org.json.simple.JSONObject;
+import com.fasterxml.jackson.databind.JsonNode;
+
 import org.usfirst.lib6647.subsystem.PIDSuperSubsystem;
 import org.usfirst.lib6647.subsystem.SuperSubsystem;
 import org.usfirst.lib6647.util.ComponentInitException;
@@ -33,48 +32,37 @@ public interface SuperPDP {
 	 * @param {@link SuperSubsystem#robotMap}
 	 * @param {@link SuperSubsystem#getName}
 	 */
-	default void initPDPs(JSONObject robotMap, String subsystemName) {
-		// Create a JSONArray out of the declared objects.
-		JSONArray PDPArray = (JSONArray) ((JSONObject) ((JSONObject) robotMap.get("subsystems")).get(subsystemName))
-				.get("PDPs");
+	default void initPDPs(JsonNode robotMap, String subsystemName) {
 
-		// Create a parallel stream from the JSONArray.
-		Stream<?> stream = PDPArray.parallelStream();
-		// Cast each entry into a JSONObject, and configure it using the values declared
-		// in the JSON file.
-		stream.map(json -> (JSONObject) json).forEach(json -> {
+		// Spliterate through each of the elements in the JsonNode.
+		robotMap.get("PDPs").spliterator().forEachRemaining(json -> {
 			try {
-				if (json.containsKey("name") && json.containsKey("module")) {
+				if (json.hasNonNull("name") && json.hasNonNull("module")) {
+					// Read values from JsonNode.
+					int module = json.get("module").asInt(-1);
 
-					PowerDistributionPanel pdp;
-					try {
-						// Try to initialize an object from an index in the JSONArray.
-						pdp = new PowerDistributionPanel(Integer.parseInt(json.get("module").toString()));
-					} catch (NumberFormatException e) {
+					// Check if the required JsonNode values to initialize the object are present.
+					if (module < 0)
 						throw new ComponentInitException(
 								String.format("[!] INVALID OR EMPTY PORT VALUE FOR PDP '%1$s' IN SUBSYSTEM '%2$s'",
-										json.get("name").toString(), subsystemName));
-					}
+										json.get("name").asText(), subsystemName));
+
+					// Create Ultrasonic object.
+					PowerDistributionPanel pdp = new PowerDistributionPanel(module);
+
+					// Additional initialization configuration.
+					// ...
 
 					// Put object in HashMap with its declared name as key after initialization and
 					// configuration.
-					PDPs.put(json.get("name").toString(), pdp);
-				} else {
-					System.out.println(String.format("[!] UNDECLARED OR EMPTY PDP ENTRY IN SUBSYSTEM '%s'",
-							subsystemName.toUpperCase()));
-				}
+					PDPs.put(json.get("name").asText(), pdp);
+				} else
+					throw new ComponentInitException(String.format(
+							"[!] UNDECLARED OR EMPTY PDP ENTRY IN SUBSYSTEM '%s'", subsystemName.toUpperCase()));
 			} catch (ComponentInitException e) {
 				System.out.println(e.getMessage());
-			} finally {
-				// Clear JSONObject after use, not sure if it does anything, but it might free
-				// some unused memory.
-				json.clear();
 			}
 		});
-
-		// Clear JSONArray after use, not sure if it does anything, but it might free
-		// some unused memory.
-		PDPArray.clear();
 	}
 
 	/**
diff --git a/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperSolenoid.java b/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperSolenoid.java
index 1053fc1..66b0e83 100644
--- a/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperSolenoid.java
+++ b/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperSolenoid.java
@@ -1,10 +1,9 @@
 package org.usfirst.lib6647.subsystem.supercomponents;
 
 import java.util.HashMap;
-import java.util.stream.Stream;
 
-import org.json.simple.JSONArray;
-import org.json.simple.JSONObject;
+import com.fasterxml.jackson.databind.JsonNode;
+
 import org.usfirst.lib6647.subsystem.PIDSuperSubsystem;
 import org.usfirst.lib6647.subsystem.SuperSubsystem;
 import org.usfirst.lib6647.subsystem.hypercomponents.HyperSolenoid;
@@ -31,68 +30,54 @@ public interface SuperSolenoid {
 	 * @param {@link SuperSubsystem#robotMap}
 	 * @param {@link SuperSubsystem#getName}
 	 */
-	default void initSolenoids(JSONObject robotMap, String subsystemName) {
-		// Create a JSONArray out of the declared objects.
-		JSONArray solenoidArray = (JSONArray) ((JSONObject) ((JSONObject) robotMap.get("subsystems"))
-				.get(subsystemName)).get("solenoids");
+	default void initSolenoids(JsonNode robotMap, String subsystemName) {
 
-		// Create a parallel stream from the JSONArray.
-		Stream<?> stream = solenoidArray.parallelStream();
-		// Cast each entry into a JSONObject, and configure it using the values declared
-		// in the JSON file.
-		stream.map(json -> (JSONObject) json).forEach(json -> {
+		// Spliterate through each of the elements in the JsonNode.
+		robotMap.get("solenoids").spliterator().forEachRemaining(json -> {
 			try {
-				if (json.containsKey("name") && json.containsKey("channel")) {
+				if (json.hasNonNull("name") && json.hasNonNull("channel")) {
+					// Read values from JsonNode.
+					int channel = json.get("channel").asInt(-1);
 
-					HyperSolenoid solenoid;
-					try {
-						// Create an object out of one index in the JSONArray.
-						solenoid = new HyperSolenoid(Integer.parseInt(json.get("channel").toString()));
-					} catch (NumberFormatException e) {
+					// Check if the required JsonNode values to initialize the object are present.
+					if (channel < 0)
 						throw new ComponentInitException(String.format(
 								"[!] INVALID OR EMPTY CHANNEL VALUE(S) FOR SOLENOID '%1$s' IN SUBSYSTEM '%2$s'",
-								json.get("name").toString(), subsystemName));
-					}
+								json.get("name").asText(), subsystemName));
+
+					// Create HyperSolenoid object.
+					HyperSolenoid solenoid = new HyperSolenoid(json.get("channel").asInt());
 
-					if (json.containsKey("initialValue"))
+					// Additional initialization configuration.
+					if (json.hasNonNull("initialValue"))
 						setInitialValue(json, solenoid);
+					// ...
 
 					// Put object in HashMap with its declared name as key after initialization and
 					// configuration.
-					solenoids.put(json.get("name").toString(), solenoid);
-				} else {
-					System.out.println(String.format("[!] UNDECLARED OR EMPTY SOLENOID ENTRY IN SUBSYSTEM '%s'",
-							subsystemName.toUpperCase()));
-				}
+					solenoids.put(json.get("name").asText(), solenoid);
+				} else
+					throw new ComponentInitException(String.format(
+							"[!] UNDECLARED OR EMPTY SOLENOID ENTRY IN SUBSYSTEM '%s'", subsystemName.toUpperCase()));
 			} catch (ComponentInitException e) {
 				System.out.println(e.getMessage());
-			} finally {
-				// Clear JSONObject after use, not sure if it does anything, but it might free
-				// some unused memory.
-				json.clear();
 			}
 		});
-
-		// Clear JSONArray after use, not sure if it does anything, but it might free
-		// some unused memory.
-		solenoidArray.clear();
 	}
 
 	/**
-	 * Sets a given {@link HyperSolenoid}'s inverted value from a
-	 * {@link JSONObject}.
+	 * Sets a given {@link HyperSolenoid}'s inverted value from a {@link JsonNode}.
 	 * 
-	 * @param {@link JSONObject}
+	 * @param {@link JsonNode}
 	 * @param {@link HyperSolenoid}
-	 * @throws ComponentInitException if {@link JSONObject} key is defined, but
-	 *                                empty.
+	 * @throws ComponentInitException if {@link JsonNode} key is defined, but empty.
 	 */
-	private void setInitialValue(JSONObject json, HyperSolenoid solenoid) throws ComponentInitException {
-		if (json.get("initialValue").toString().isEmpty())
+	private void setInitialValue(JsonNode json, HyperSolenoid solenoid) throws ComponentInitException {
+		if (json.get("initialValue").asText().isEmpty())
 			throw new ComponentInitException(String.format("[!] EMPTY INITIAL VALUE FOR SOLENOID '%s'.",
-					json.get("name").toString().toUpperCase()));
+					json.get("name").asText().toUpperCase()));
 
-		solenoid.set(Boolean.parseBoolean(json.get("initialValue").toString()));
+		solenoid.set(json.get("initialValue").asBoolean());
 	}
 
 	/**
diff --git a/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperTalon.java b/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperTalon.java
index 6a46ff2..e7b053e 100644
--- a/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperTalon.java
+++ b/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperTalon.java
@@ -1,12 +1,10 @@
 package org.usfirst.lib6647.subsystem.supercomponents;
 
 import java.util.HashMap;
-import java.util.stream.Stream;
 
 import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.fasterxml.jackson.databind.JsonNode;
 
-import org.json.simple.JSONArray;
-import org.json.simple.JSONObject;
 import org.usfirst.lib6647.subsystem.PIDSuperSubsystem;
 import org.usfirst.lib6647.subsystem.SuperSubsystem;
 import org.usfirst.lib6647.subsystem.hypercomponents.HyperTalon;
@@ -33,246 +31,228 @@ public interface SuperTalon extends MotorUtils {
 	 * @param {@link SuperSubsystem#robotMap}
 	 * @param {@link SuperSubsystem#getName}
 	 */
-	default void initTalons(JSONObject robotMap, String subsystemName) {
-		// Create a JSONArray out of the declared objects.
-		JSONArray talonArray = (JSONArray) ((JSONObject) ((JSONObject) robotMap.get("subsystems")).get(subsystemName))
-				.get("talons");
-
-		// Create a parallel stream from the JSONArray.
-		Stream<?> stream = talonArray.parallelStream();
-		// Cast each entry into a JSONObject, and configure it using the values declared
-		// in the JSON file.
-		stream.map(json -> (JSONObject) json).forEach(json -> {
+	default void initTalons(JsonNode robotMap, String subsystemName) {
+
+		// Spliterate through each of the elements in the JsonNode.
+		robotMap.get("talons").spliterator().forEachRemaining(json -> {
 			try {
-				if (json.containsKey("name") && json.containsKey("port")) {
+				if (json.hasNonNull("name") && json.hasNonNull("port")) {
+					// Read values from JsonNode.
+					int port = json.get("port").asInt(-1);
 
-					HyperTalon talon;
-					try {
-						// Try to initialize an object from an index in the JSONArray.
-						talon = new HyperTalon(Integer.parseInt(json.get("port").toString()));
-					} catch (NumberFormatException e) {
+					// Check if the required JsonNode values to initialize the object are present.
+					if (port < 0)
 						throw new ComponentInitException(
 								String.format("[!] INVALID OR EMPTY PORT VALUE FOR TALON '%1$s' IN SUBSYSTEM '%2$s'",
-										json.get("name").toString(), subsystemName));
-					}
-					talon.setName(json.get("name").toString());
+										json.get("name").asText(), subsystemName));
+
+					// Create HyperTalon object.
+					HyperTalon talon = new HyperTalon(json.get("port").asInt());
 
-					if (json.containsKey("limiter"))
+					// Additional initialization configuration.
+					talon.setName(json.get("name").asText());
+
+					if (json.hasNonNull("limiter"))
 						setLimiter(json, talon);
 
-					if (json.containsKey("neutralMode"))
+					if (json.hasNonNull("neutralMode"))
 						setNeutralMode(json, talon);
 
-					if (json.containsKey("inverted"))
+					if (json.hasNonNull("inverted"))
 						setInverted(json, talon);
 
-					if (json.containsKey("loopRamp")) {
+					if (json.hasNonNull("loopRamp")) {
 						setClosedloopRamp(json, talon);
 						setOpenloopRamp(json, talon);
 					}
 
-					if (json.containsKey("sensor"))
+					if (json.hasNonNull("sensor"))
 						setSensors(json, talon);
 
-					if (json.containsKey("pid"))
+					if (json.hasNonNull("pid"))
 						setPIDValues(json, talon);
 
 					talon.stopMotor();
+					// ...
 
 					// Put object in HashMap with its declared name as key after initialization and
 					// configuration.
 					talons.put(json.get("name").toString(), talon);
-				} else {
-					System.out.println(String.format("[!] UNDECLARED OR EMPTY TALON ENTRY IN SUBSYSTEM '%s'",
-							subsystemName.toUpperCase()));
-				}
+				} else
+					throw new ComponentInitException(String.format(
+							"[!] UNDECLARED OR EMPTY TALON ENTRY IN SUBSYSTEM '%s'", subsystemName.toUpperCase()));
 			} catch (ComponentInitException e) {
 				System.out.println(e.getMessage());
-			} finally {
-				// Clear JSONObject after use, not sure if it does anything, but it might free
-				// some unused memory.
-				json.clear();
 			}
 		});
-
-		// Clear JSONArray after use, not sure if it does anything, but it might free
-		// some unused memory.
-		talonArray.clear();
 	}
 
 	/**
 	 * Sets a given {@link HyperTalon}'s {@link HyperTalon#limiter limiter} value
-	 * from a {@link JSONObject}. Max value is 1, min value is 0 (which would make
-	 * the {@link HyperTalon} stop).
+	 * from a {@link JsonNode}. Max value is 1, min value is 0 (which would make the
+	 * {@link HyperTalon} stop entirely).
 	 * 
-	 * @param {@link JSONObject}
+	 * @param {@link JsonNode}
 	 * @param {@link HyperTalon}
-	 * @throws ComponentInitException if {@link JSONObject} key is defined, but
-	 *                                empty or not a number.
+	 * @throws ComponentInitException if {@link JsonNode} key is defined, but empty
+	 *                                or not a number.
 	 */
-	private void setLimiter(JSONObject json, HyperTalon talon) throws ComponentInitException {
+	private void setLimiter(JsonNode json, HyperTalon talon) throws ComponentInitException {
 		try {
-			double limiter = Double.parseDouble(json.get("limiter").toString());
+			double limiter = json.get("limiter").asDouble();
 			talon.setLimiter(limiter < 0.0 ? 0.0 : limiter > 1.0 ? 1.0 : limiter);
 		} catch (NullPointerException e) {
-			throw new ComponentInitException(String.format("[!] EMPTY LIMITER VALUE FOR TALON '%s'.",
-					json.get("name").toString().toUpperCase()));
+			throw new ComponentInitException(
+					String.format("[!] EMPTY LIMITER VALUE FOR TALON '%s'.", json.get("name").asText().toUpperCase()));
 		} catch (NumberFormatException e) {
 			throw new ComponentInitException(String.format("[!] INVALID LIMITER VALUE FOR TALON '%s'.",
-					json.get("name").toString().toUpperCase()));
+					json.get("name").asText().toUpperCase()));
 		}
 	}
 
 	/**
-	 * Sets a given {@link HyperTalon}'s inverted value from a {@link JSONObject}.
+	 * Sets a given {@link HyperTalon}'s {@link NeutralMode} from a
+	 * {@link JsonNode}.
 	 * 
-	 * @param {@link JSONObject}
+	 * @param {@link JsonNode}
 	 * @param {@link HyperTalon}
-	 * @throws ComponentInitException if {@link JSONObject} key is defined, but
-	 *                                empty.
+	 * @throws ComponentInitException if {@link JsonNode} key is defined, but empty
+	 *                                or invalid.
+	 * 
+	 * @note There are three types of {@link NeutralMode NeutralModes}:
+	 *       {@link NeutralMode#Coast Coast}, {@link NeutralMode#Brake Brake}, and
+	 *       {@link NeutralMode#EEPROMSetting EEPROMSetting}. All of which must
+	 *       share the same name in the {@link JsonNode}.
 	 */
-	private void setInverted(JSONObject json, HyperTalon talon) throws ComponentInitException {
-		if (json.get("inverted").toString().isEmpty())
-			throw new ComponentInitException(String.format("[!] EMPTY INVERTED VALUE FOR TALON '%s'.",
-					json.get("name").toString().toUpperCase()));
+	private void setNeutralMode(JsonNode json, HyperTalon talon) throws ComponentInitException {
+		if (getNeutralMode(json.get("neutralMode").asText()) == null)
+			throw new ComponentInitException(
+					String.format("[!] INVALID OR EMPTY NEUTRAL MODE CONFIGURATION FOR TALON '%s'.",
+							json.get("name").asText().toUpperCase()));
 
-		talon.setInverted(Boolean.parseBoolean(json.get("inverted").toString()));
+		talon.setNeutralMode(getNeutralMode(json.get("neutralMode").asText()));
 	}
 
 	/**
-	 * Sets a given {@link HyperTalon}'s {@link NeutralMode} from a
-	 * {@link JSONObject} key.
+	 * Sets a given {@link HyperTalon}'s inverted value from a {@link JsonNode}.
 	 * 
-	 * @param {@link JSONObject}
+	 * @param {@link JsonNode}
 	 * @param {@link HyperTalon}
-	 * @throws ComponentInitException if {@link JSONObject} key is defined, but
-	 *                                empty or invalid.
-	 * 
-	 * @note There are three types of {@link NeutralMode NeutralModes}:
-	 *       {@link NeutralMode#Coast Coast}, {@link NeutralMode#Brake Brake}, and
-	 *       {@link NeutralMode#EEPROMSetting EEPROMSetting}. All of which must
-	 *       share the same name in the {@link JSONObject}.
+	 * @throws ComponentInitException if {@link JsonNode} key is defined, but empty.
 	 */
-	private void setNeutralMode(JSONObject json, HyperTalon talon) throws ComponentInitException {
-		if (getNeutralMode(json.get("neutralMode").toString()) == null)
+	private void setInverted(JsonNode json, HyperTalon talon) throws ComponentInitException {
+		if (json.get("inverted").asText().isEmpty())
 			throw new ComponentInitException(
-					String.format("[!] INVALID OR EMPTY NEUTRAL MODE CONFIGURATION FOR TALON '%s'.",
-							json.get("name").toString().toUpperCase()));
+					String.format("[!] EMPTY INVERTED VALUE FOR TALON '%s'.", json.get("name").asText().toUpperCase()));
 
-		talon.setNeutralMode(getNeutralMode(json.get("neutralMode").toString()));
+		talon.setInverted(json.get("inverted").asBoolean());
 	}
 
 	/**
-	 * Sets a given {@link HyperTalon}'s ClosedloopRamp from a {@link JSONObject}
-	 * key.
+	 * Sets a given {@link HyperTalon}'s ClosedloopRamp from a {@link JsonNode} key.
 	 * 
-	 * @param {@link JSONObject}
+	 * @param {@link JsonNode}
 	 * @param {@link HyperTalon}
-	 * @throws ComponentInitException if {@link JSONObject} key is not found, or its
+	 * @throws ComponentInitException if {@link JsonNode} key is not found, or its
 	 *                                subkeys are invalid or empty.
 	 */
-	private void setClosedloopRamp(JSONObject json, HyperTalon talon) throws ComponentInitException {
+	private void setClosedloopRamp(JsonNode json, HyperTalon talon) throws ComponentInitException {
 		try {
-			JSONObject closed = (JSONObject) ((JSONObject) json.get("loopRamp")).get("closed");
+			JsonNode closed = json.get("loopRamp").get("closed");
 
-			if (closed.containsKey("timeoutMs"))
-				talon.configClosedloopRamp(Double.parseDouble(closed.get("secondsFromNeutralToFull").toString()),
-						Integer.parseInt(closed.get("timeoutMs").toString()));
+			if (closed.hasNonNull("timeoutMs"))
+				talon.configClosedloopRamp(closed.get("secondsFromNeutralToFull").asDouble(),
+						closed.get("timeoutMs").asInt());
 			else
-				talon.configClosedloopRamp(Double.parseDouble(closed.get("secondsFromNeutralToFull").toString()));
+				talon.configClosedloopRamp(closed.get("secondsFromNeutralToFull").asDouble());
 		} catch (NullPointerException e) {
 			throw new ComponentInitException(String.format("[!] EMPTY CLOSEDLOOP RAMP VALUE(S) FOR TALON '%s'.",
-					json.get("name").toString().toUpperCase()));
+					json.get("name").asText().toUpperCase()));
 		} catch (NumberFormatException e) {
 			throw new ComponentInitException(String.format("[!] INVALID CLOSEDLOOP RAMP VALUE(S) FOR TALON '%s'.",
-					json.get("name").toString().toUpperCase()));
+					json.get("name").asText().toUpperCase()));
 		}
 	}
 
 	/**
-	 * Sets a given {@link HyperTalon}'s OpenloopRamp from a {@link JSONObject} key.
+	 * Sets a given {@link HyperTalon}'s OpenloopRamp from a {@link JsonNode}.
 	 * 
-	 * @param {@link JSONObject}
+	 * @param {@link JsonNode}
 	 * @param {@link HyperTalon}
-	 * @throws ComponentInitException if {@link JSONObject} key is not found, or its
+	 * @throws ComponentInitException if {@link JsonNode} key is not found, or its
 	 *                                subkeys are invalid or empty.
 	 */
-	private void setOpenloopRamp(JSONObject json, HyperTalon talon) throws ComponentInitException {
+	private void setOpenloopRamp(JsonNode json, HyperTalon talon) throws ComponentInitException {
 		try {
-			JSONObject open = (JSONObject) ((JSONObject) json.get("loopRamp")).get("open");
+			JsonNode open = json.get("loopRamp").get("open");
 
-			if (open.containsKey("timeoutMs"))
-				talon.configOpenloopRamp(Double.parseDouble(open.get("secondsFromNeutralToFull").toString()),
-						Integer.parseInt(open.get("timeoutMs").toString()));
+			if (open.hasNonNull("timeoutMs"))
+				talon.configOpenloopRamp(open.get("secondsFromNeutralToFull").asDouble(),
+						open.get("timeoutMs").asInt());
 			else
-				talon.configOpenloopRamp(Double.parseDouble(open.get("secondsFromNeutralToFull").toString()));
+				talon.configOpenloopRamp(open.get("secondsFromNeutralToFull").asDouble());
 		} catch (NullPointerException e) {
 			throw new ComponentInitException(String.format("[!] EMPTY OPENLOOP RAMP VALUE(S) FOR TALON '%s'.",
-					json.get("name").toString().toUpperCase()));
+					json.get("name").asText().toUpperCase()));
 		} catch (NumberFormatException e) {
 			throw new ComponentInitException(String.format("[!] INVALID OPENLOOP RAMP VALUE(S) FOR TALON '%s'.",
-					json.get("name").toString().toUpperCase()));
+					json.get("name").asText().toUpperCase()));
 		}
 	}
 
 	/**
-	 * Sets a given {@link HyperTalon}'s sensors from a {@link JSONObject} key
-	 * (fairly limited in terms of configuration at the moment).
+	 * Sets a given {@link HyperTalon}'s sensors from a {@link JsonNode} key (fairly
+	 * limited in terms of configuration at the moment).
 	 * 
-	 * @param {@link JSONObject}
+	 * @param {@link JsonNode}
 	 * @param {@link HyperTalon}
-	 * @throws ComponentInitException if {@link JSONObject} key is not found, or its
+	 * @throws ComponentInitException if {@link JsonNode} key is not found, or its
 	 *                                subkeys are invalid or empty.
 	 */
-	private void setSensors(JSONObject json, HyperTalon talon) throws ComponentInitException {
+	private void setSensors(JsonNode json, HyperTalon talon) throws ComponentInitException {
 		try {
-			JSONObject sensor = (JSONObject) json.get("sensor");
-			JSONObject feedback = (JSONObject) sensor.get("feedback");
+			JsonNode sensor = json.get("sensor");
+			JsonNode feedback = sensor.get("feedback");
 
-			talon.configSelectedFeedbackSensor(getFeedbackDevice(feedback.get("feedbackDevice").toString()),
-					Integer.parseInt(feedback.get("pidIdx").toString()),
-					Integer.parseInt(feedback.get("timeoutMs").toString()));
+			talon.configSelectedFeedbackSensor(getFeedbackDevice(feedback.get("feedbackDevice").asText()),
+					feedback.get("pidIdx").asInt(), feedback.get("timeoutMs").asInt());
 
-			talon.setSensorPhase(Boolean.parseBoolean(sensor.get("phase").toString()));
+			talon.setSensorPhase(sensor.get("phase").asBoolean());
 
-			talon.setSelectedSensorPosition(Integer.parseInt(sensor.get("sensorPos").toString()),
-					Integer.parseInt(sensor.get("pidIdx").toString()),
-					Integer.parseInt(sensor.get("timeoutMs").toString()));
+			talon.setSelectedSensorPosition(sensor.get("sensorPos").asInt(), sensor.get("pidIdx").asInt(),
+					sensor.get("timeoutMs").asInt());
 		} catch (NullPointerException e) {
 			throw new ComponentInitException(String.format("[!] EMPTY SENSOR VALUE(S) FOR TALON '%s'.",
-					json.get("name").toString().toUpperCase()));
+					json.get("name").asText().toUpperCase()));
 		} catch (NumberFormatException e) {
 			throw new ComponentInitException(String.format("[!] INVALID SENSOR VALUE(S) FOR TALON '%s'.",
-					json.get("name").toString().toUpperCase()));
+					json.get("name").asText().toUpperCase()));
 		}
 	}
 
 	/**
-	 * Sets a given {@link HyperTalon}'s PID values from a {@link JSONObject} key.
+	 * Sets a given {@link HyperTalon}'s PID values from a {@link JsonNode} key.
 	 * 
-	 * @param {@link JSONObject}
+	 * @param {@link JsonNode}
 	 * @param {@link HyperTalon}
-	 * @throws ComponentInitException if {@link JSONObject} key is not found, or its
+	 * @throws ComponentInitException if {@link JsonNode} key is not found, or its
 	 *                                subkeys are invalid or empty.
 	 */
-	private void setPIDValues(JSONObject json, HyperTalon talon) throws ComponentInitException {
+	private void setPIDValues(JsonNode json, HyperTalon talon) throws ComponentInitException {
 		try {
-			JSONObject pid = (JSONObject) json.get("pid");
-
-			talon.config_kP(Integer.parseInt(pid.get("slotIdx").toString()),
-					Double.parseDouble(pid.get("p").toString()));
-			talon.config_kI(Integer.parseInt(pid.get("slotIdx").toString()),
-					Double.parseDouble(pid.get("i").toString()));
-			talon.config_kD(Integer.parseInt(pid.get("slotIdx").toString()),
-					Double.parseDouble(pid.get("d").toString()));
-			talon.config_kF(Integer.parseInt(pid.get("slotIdx").toString()),
-					Double.parseDouble(pid.get("f").toString()));
+			JsonNode pid = json.get("pid");
+			int slotIdx = pid.get("slotIdx").asInt();
+
+			talon.config_kP(slotIdx, pid.get("p").asDouble());
+			talon.config_kI(slotIdx, pid.get("i").asDouble());
+			talon.config_kD(slotIdx, pid.get("d").asDouble());
+			talon.config_kF(slotIdx, pid.get("f").asDouble());
 		} catch (NullPointerException e) {
 			throw new ComponentInitException(
-					String.format("[!] EMPTY PID VALUE(S) FOR TALON '%s'.", json.get("name").toString().toUpperCase()));
+					String.format("[!] EMPTY PID VALUE(S) FOR TALON '%s'.", json.get("name").asText().toUpperCase()));
 		} catch (NumberFormatException e) {
-			throw new ComponentInitException(String.format("[!] INVALID PID VALUE(S) FOR TALON '%s'.",
-					json.get("name").toString().toUpperCase()));
+			throw new ComponentInitException(
+					String.format("[!] INVALID PID VALUE(S) FOR TALON '%s'.", json.get("name").asText().toUpperCase()));
 		}
 	}
 
diff --git a/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperUltrasonic.java b/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperUltrasonic.java
index 9b9f02f..38c2cce 100644
--- a/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperUltrasonic.java
+++ b/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperUltrasonic.java
@@ -1,10 +1,9 @@
 package org.usfirst.lib6647.subsystem.supercomponents;
 
 import java.util.HashMap;
-import java.util.stream.Stream;
 
-import org.json.simple.JSONArray;
-import org.json.simple.JSONObject;
+import com.fasterxml.jackson.databind.JsonNode;
+
 import org.usfirst.lib6647.subsystem.PIDSuperSubsystem;
 import org.usfirst.lib6647.subsystem.SuperSubsystem;
 import org.usfirst.lib6647.util.ComponentInitException;
@@ -31,51 +30,38 @@ public interface SuperUltrasonic {
 	 * @param {@link SuperSubsystem#robotMap}
 	 * @param {@link SuperSubsystem#getName}
 	 */
-	default void initUltrasonics(JSONObject robotMap, String subsystemName) {
-		// Create a JSONArray out of the declared objects.
-		JSONArray ultrasonicArray = (JSONArray) ((JSONObject) ((JSONObject) robotMap.get("subsystems"))
-				.get(subsystemName)).get("ultrasonics");
-		// Create a stream to cast each entry in the JSONArray into a JSONObject, in
-		// order to configure it using the values declared in the robotMap file.
+	default void initUltrasonics(JsonNode robotMap, String subsystemName) {
 
-		// Create a parallel stream from the JSONArray.
-		Stream<?> stream = ultrasonicArray.parallelStream();
-		// Cast each entry into a JSONObject, and configure it using the values declared
-		// in the JSON file.
-		stream.map(json -> (JSONObject) json).forEach(json -> {
+		// Spliterate through each of the elements in the JsonNode.
+		robotMap.get("ultrasonics").spliterator().forEachRemaining(json -> {
 			try {
-				if (json.containsKey("name") && json.containsKey("pingChannel") && json.containsKey("echoChannel")) {
+				if (json.hasNonNull("name") && json.hasNonNull("pingChannel") && json.hasNonNull("echoChannel")) {
+					// Read values from JsonNode.
+					int pingChannel = json.get("pingChannel").asInt(-1),
+							echoChannel = json.get("echoChannel").asInt(-1);
 
-					Ultrasonic ultrasonic;
-					try {
-						// Create an object out of one index in the JSONArray.
-						ultrasonic = new Ultrasonic(Integer.parseInt(json.get("pingChannel").toString()),
-								Integer.parseInt(json.get("echoChannel").toString()));
-					} catch (NumberFormatException e) {
+					// Check if the required JsonNode values to initialize the object are present.
+					if (pingChannel < 0 || echoChannel < 0)
 						throw new ComponentInitException(
 								String.format("[!] INVALID OR EMPTY VALUE(S) FOR ULTRASONIC '%1$s' IN SUBSYSTEM '%2$s'",
-										json.get("name").toString(), subsystemName));
-					}
+										json.get("name").asText(), subsystemName));
+
+					// Create Ultrasonic object.
+					Ultrasonic ultrasonic = new Ultrasonic(pingChannel, echoChannel);
+
+					// Additional initialization configuration.
+					// ...
 
 					// Put object in HashMap with its declared name as key after initialization and
 					// configuration.
-					ultrasonics.put(json.get("name").toString(), ultrasonic);
-				} else {
-					System.out.println(String.format("[!] UNDECLARED OR EMPTY ULTRASONIC ENTRY IN SUBSYSTEM '%s'",
-							subsystemName.toUpperCase()));
-				}
+					ultrasonics.put(json.get("name").asText(), ultrasonic);
+				} else
+					throw new ComponentInitException(String.format(
+							"[!] UNDECLARED OR EMPTY ULTRASONIC ENTRY IN SUBSYSTEM '%s'", subsystemName.toUpperCase()));
 			} catch (ComponentInitException e) {
 				System.out.println(e.getMessage());
-			} finally {
-				// Clear JSONObject after use, not sure if it does anything, but it might free
-				// some unused memory.
-				json.clear();
 			}
 		});
-
-		// Clear JSONArray after use, not sure if it does anything, but it might free
-		// some unused memory.
-		ultrasonicArray.clear();
 	}
 
 	/**
diff --git a/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperVictor.java b/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperVictor.java
index b838df3..ac995e2 100644
--- a/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperVictor.java
+++ b/src/main/java/org/usfirst/lib6647/subsystem/supercomponents/SuperVictor.java
@@ -1,12 +1,10 @@
 package org.usfirst.lib6647.subsystem.supercomponents;
 
 import java.util.HashMap;
-import java.util.stream.Stream;
 
 import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.fasterxml.jackson.databind.JsonNode;
 
-import org.json.simple.JSONArray;
-import org.json.simple.JSONObject;
 import org.usfirst.lib6647.subsystem.PIDSuperSubsystem;
 import org.usfirst.lib6647.subsystem.SuperSubsystem;
 import org.usfirst.lib6647.subsystem.hypercomponents.HyperTalon;
@@ -35,180 +33,167 @@ public interface SuperVictor extends MotorUtils {
 	 * @param {@link SuperSubsystem#robotMap}
 	 * @param {@link SuperSubsystem#getName}
 	 */
-	default void initVictors(JSONObject robotMap, String subsystemName) {
-		// Create a JSONArray out of the declared objects.
-		JSONArray victorArray = (JSONArray) ((JSONObject) ((JSONObject) robotMap.get("subsystems")).get(subsystemName))
-				.get("victors");
-
-		// Create a parallel stream from the JSONArray.
-		Stream<?> stream = victorArray.parallelStream();
-		// Cast each entry into a JSONObject, and configure it using the values declared
-		// in the JSON file.
-		stream.map(json -> (JSONObject) json).forEach(json -> {
+	default void initVictors(JsonNode robotMap, String subsystemName) {
+
+		// Spliterate through each of the elements in the JsonNode.
+		robotMap.get("victors").spliterator().forEachRemaining(json -> {
 			try {
-				if (json.containsKey("name") && json.containsKey("port")) {
+				if (json.hasNonNull("name") && json.hasNonNull("port")) {
+					// Read values from JsonNode.
+					int port = json.get("port").asInt(-1);
 
-					HyperVictor victor;
-					try {
-						// Create an object out of one index in the JSONArray.
-						victor = new HyperVictor(Integer.parseInt(json.get("port").toString()));
-					} catch (NumberFormatException e) {
+					// Check if the required JsonNode values to initialize the object are present.
+					if (port < 0)
 						throw new ComponentInitException(
 								String.format("[!] INVALID OR EMPTY PORT VALUE FOR VICTOR '%1$s' IN SUBSYSTEM '%2$s'",
-										json.get("name").toString(), subsystemName));
-					}
+										json.get("name").asText(), subsystemName));
+
+					// Create HyperVictor object.
+					HyperVictor victor = new HyperVictor(json.get("port").asInt());
+
+					// Additional initialization configuration.
 					victor.setName(json.get("name").toString());
 
-					if (json.containsKey("limiter"))
+					if (json.hasNonNull("limiter"))
 						setLimiter(json, victor);
 
-					if (json.containsKey("neutralMode"))
+					if (json.hasNonNull("neutralMode"))
 						setNeutralMode(json, victor);
 
-					if (json.containsKey("inverted"))
+					if (json.hasNonNull("inverted"))
 						setInverted(json, victor);
 
-					if (json.containsKey("loopRamp")) {
+					if (json.hasNonNull("loopRamp")) {
 						setClosedloopRamp(json, victor);
 						setOpenloopRamp(json, victor);
 					}
 
 					victor.stopMotor();
+					// ...
 
 					// Put object in HashMap with its declared name as key after initialization and
 					// configuration.
-					victors.put(json.get("name").toString(), victor);
-				} else {
-					System.out.println(String.format("[!] UNDECLARED OR EMPTY VICTOR ENTRY IN SUBSYSTEM '%s'",
-							subsystemName.toUpperCase()));
-				}
+					victors.put(json.get("name").asText(), victor);
+				} else
+					throw new ComponentInitException(String.format(
+							"[!] UNDECLARED OR EMPTY VICTOR ENTRY IN SUBSYSTEM '%s'", subsystemName.toUpperCase()));
 			} catch (ComponentInitException e) {
 				System.out.println(e.getMessage());
-			} finally {
-				// Clear JSONObject after use, not sure if it does anything, but it might free
-				// some unused memory.
-				json.clear();
 			}
 		});
-
-		// Clear JSONArray after use, not sure if it does anything, but it might free
-		// some unused memory.
-		victorArray.clear();
 	}
 
 	/**
 	 * Sets a given {@link HyperVictor}'s {@link HyperVictor#limiter limiter} value
-	 * from a {@link JSONObject}. Max value is 1, min value is 0 (which would make
-	 * the {@link HyperVictor} stop).
+	 * from a {@link JsonNode}. Max value is 1, min value is 0 (which would make the
+	 * {@link HyperVictor} stop).
 	 * 
-	 * @param {@link JSONObject}
+	 * @param {@link JsonNode}
 	 * @param {@link HyperVictor}
-	 * @throws ComponentInitException if {@link JSONObject} key is defined, but
-	 *                                empty or not a number.
+	 * @throws ComponentInitException if {@link JsonNode} key is defined, but empty
+	 *                                or not a number.
 	 */
-	private void setLimiter(JSONObject json, HyperVictor victor) throws ComponentInitException {
+	private void setLimiter(JsonNode json, HyperVictor victor) throws ComponentInitException {
 		try {
-			double limiter = Double.parseDouble(json.get("limiter").toString());
+			double limiter = json.get("limiter").asDouble();
 			victor.setLimiter(limiter < 0.0 ? 0.0 : limiter > 1.0 ? 1.0 : limiter);
 		} catch (NullPointerException e) {
-			throw new ComponentInitException(String.format("[!] EMPTY LIMITER VALUE FOR VICTOR '%s'.",
-					json.get("name").toString().toUpperCase()));
+			throw new ComponentInitException(
+					String.format("[!] EMPTY LIMITER VALUE FOR VICTOR '%s'.", json.get("name").asText().toUpperCase()));
 		} catch (NumberFormatException e) {
 			throw new ComponentInitException(String.format("[!] INVALID LIMITER VALUE FOR VICTOR '%s'.",
-					json.get("name").toString().toUpperCase()));
+					json.get("name").asText().toUpperCase()));
 		}
 	}
 
 	/**
-	 * Sets a given {@link HyperVictor}'s inverted value from a {@link JSONObject}.
+	 * Sets a given {@link HyperVictor}'s inverted value from a {@link JsonNode}.
 	 * 
-	 * @param {@link JSONObject}
+	 * @param {@link JsonNode}
 	 * @param {@link HyperVictor}
-	 * @throws ComponentInitException if {@link JSONObject} key is defined, but
-	 *                                empty.
+	 * @throws ComponentInitException if {@link JsonNode} key is defined, but empty.
 	 */
-	private void setInverted(JSONObject json, HyperVictor victor) throws ComponentInitException {
-		if (json.get("inverted").toString().isEmpty())
+	private void setInverted(JsonNode json, HyperVictor victor) throws ComponentInitException {
+		if (json.get("inverted").asText().isEmpty())
 			throw new ComponentInitException(String.format("[!] EMPTY INVERTED VALUE FOR VICTOR '%s'.",
-					json.get("name").toString().toUpperCase()));
+					json.get("name").asText().toUpperCase()));
 
-		victor.setInverted(Boolean.parseBoolean(json.get("inverted").toString()));
+		victor.setInverted(json.get("inverted").asBoolean());
 	}
 
 	/**
 	 * Sets a given {@link HyperVictor}'s {@link NeutralMode} from a
-	 * {@link JSONObject} key.
+	 * {@link JsonNode} key.
 	 * 
-	 * @param {@link JSONObject}
+	 * @param {@link JsonNode}
 	 * @param {@link HyperVictor}
-	 * @throws ComponentInitException if {@link JSONObject} key is defined, but
-	 *                                empty or invalid.
+	 * @throws ComponentInitException if {@link JsonNode} key is defined, but empty
+	 *                                or invalid.
 	 * 
 	 * @note There are three types of {@link NeutralMode NeutralModes}:
 	 *       {@link NeutralMode#Coast Coast}, {@link NeutralMode#Brake Brake}, and
 	 *       {@link NeutralMode#EEPROMSetting EEPROMSetting}. All of which must
-	 *       share the same name in the {@link JSONObject}.
+	 *       share the same name in the {@link JsonNode}.
 	 */
-	private void setNeutralMode(JSONObject json, HyperVictor victor) throws ComponentInitException {
-		if (getNeutralMode(json.get("neutralMode").toString()) == null)
+	private void setNeutralMode(JsonNode json, HyperVictor victor) throws ComponentInitException {
+		if (getNeutralMode(json.get("neutralMode").asText()) == null)
 			throw new ComponentInitException(
 					String.format("[!] INVALID OR EMPTY NEUTRAL MODE CONFIGURATION FOR VICTOR '%s'.",
-							json.get("name").toString().toUpperCase()));
+							json.get("name").asText().toUpperCase()));
 
-		victor.setNeutralMode(getNeutralMode(json.get("neutralMode").toString()));
+		victor.setNeutralMode(getNeutralMode(json.get("neutralMode").asText()));
 	}
 
 	/**
-	 * Sets a given {@link HyperVictor}'s ClosedloopRamp from a {@link JSONObject}
+	 * Sets a given {@link HyperVictor}'s ClosedloopRamp from a {@link JsonNode}
 	 * key.
 	 * 
-	 * @param {@link JSONObject}
+	 * @param {@link JsonNode}
 	 * @param {@link HyperVictor}
-	 * @throws ComponentInitException if {@link JSONObject} key is not found, or its
+	 * @throws ComponentInitException if {@link JsonNode} key is not found, or its
 	 *                                subkeys are invalid or empty.
 	 */
-	private void setClosedloopRamp(JSONObject json, HyperVictor victor) throws ComponentInitException {
+	private void setClosedloopRamp(JsonNode json, HyperVictor victor) throws ComponentInitException {
 		try {
-			JSONObject closed = (JSONObject) ((JSONObject) json.get("loopRamp")).get("closed");
+			JsonNode closed = json.get("loopRamp").get("closed");
 
-			if (closed.containsKey("timeoutMs"))
-				victor.configClosedloopRamp(Double.parseDouble(closed.get("secondsFromNeutralToFull").toString()),
-						Integer.parseInt(closed.get("timeoutMs").toString()));
+			if (closed.hasNonNull("timeoutMs"))
+				victor.configClosedloopRamp(closed.get("secondsFromNeutralToFull").asDouble(),
+						closed.get("timeoutMs").asInt());
 			else
-				victor.configClosedloopRamp(Double.parseDouble(closed.get("secondsFromNeutralToFull").toString()));
+				victor.configClosedloopRamp(closed.get("secondsFromNeutralToFull").asDouble());
 		} catch (NullPointerException e) {
 			throw new ComponentInitException(String.format("[!] EMPTY CLOSEDLOOP RAMP VALUE(S) FOR VICTOR '%s'.",
-					json.get("name").toString().toUpperCase()));
+					json.get("name").asText().toUpperCase()));
 		} catch (NumberFormatException e) {
 			throw new ComponentInitException(String.format("[!] INVALID CLOSEDLOOP RAMP VALUE(S) FOR VICTOR '%s'.",
-					json.get("name").toString().toUpperCase()));
+					json.get("name").asText().toUpperCase()));
 		}
 	}
 
 	/**
-	 * Sets a given {@link HyperVictor}'s OpenloopRamp from a {@link JSONObject}
-	 * key.
+	 * Sets a given {@link HyperVictor}'s OpenloopRamp from a {@link JsonNode} key.
 	 * 
-	 * @param {@link JSONObject}
+	 * @param {@link JsonNode}
 	 * @param {@link HyperVictor}
-	 * @throws ComponentInitException if {@link JSONObject} key is not found, or its
+	 * @throws ComponentInitException if {@link JsonNode} key is not found, or its
 	 *                                subkeys are invalid or empty.
 	 */
-	private void setOpenloopRamp(JSONObject json, HyperVictor victor) throws ComponentInitException {
+	private void setOpenloopRamp(JsonNode json, HyperVictor victor) throws ComponentInitException {
 		try {
-			JSONObject open = (JSONObject) ((JSONObject) json.get("loopRamp")).get("open");
+			JsonNode open = json.get("loopRamp").get("open");
 
-			if (open.containsKey("timeoutMs"))
-				victor.configOpenloopRamp(Double.parseDouble(open.get("secondsFromNeutralToFull").toString()),
-						Integer.parseInt(open.get("timeoutMs").toString()));
+			if (open.hasNonNull("timeoutMs"))
+				victor.configOpenloopRamp(open.get("secondsFromNeutralToFull").asDouble(),
+						open.get("timeoutMs").asInt());
 			else
-				victor.configOpenloopRamp(Double.parseDouble(open.get("secondsFromNeutralToFull").toString()));
+				victor.configOpenloopRamp(open.get("secondsFromNeutralToFull").asDouble());
 		} catch (NullPointerException e) {
 			throw new ComponentInitException(String.format("[!] EMPTY OPENLOOP RAMP VALUE(S) FOR VICTOR '%s'.",
-					json.get("name").toString().toUpperCase()));
+					json.get("name").asText().toUpperCase()));
 		} catch (NumberFormatException e) {
 			throw new ComponentInitException(String.format("[!] INVALID OPENLOOP RAMP VALUE(S) FOR VICTOR '%s'.",
-					json.get("name").toString().toUpperCase()));
+					json.get("name").asText().toUpperCase()));
 		}
 	}
 
diff --git a/src/main/java/org/usfirst/lib6647/util/MotorUtils.java b/src/main/java/org/usfirst/lib6647/util/MotorUtils.java
index ff28dd8..db5e8d0 100644
--- a/src/main/java/org/usfirst/lib6647/util/MotorUtils.java
+++ b/src/main/java/org/usfirst/lib6647/util/MotorUtils.java
@@ -3,8 +3,6 @@
 import com.ctre.phoenix.motorcontrol.FeedbackDevice;
 import com.ctre.phoenix.motorcontrol.NeutralMode;
 
-import org.json.simple.JSONObject;
-
 import edu.wpi.first.wpilibj.CounterBase.EncodingType;
 
 /**