diff --git a/src/main/java/swervelib/SwerveDrive.java b/src/main/java/swervelib/SwerveDrive.java
index f34cce7f9..d4833dfaf 100644
--- a/src/main/java/swervelib/SwerveDrive.java
+++ b/src/main/java/swervelib/SwerveDrive.java
@@ -71,7 +71,7 @@
 /**
  * Swerve Drive class representing and controlling the swerve drive.
  */
-public class SwerveDrive
+public class SwerveDrive implements AutoCloseable
 {
 
   /**
@@ -334,6 +334,16 @@ public SwerveDrive(
     HAL.report(kResourceType_RobotDrive, kRobotDriveSwerve_YAGSL);
   }
 
+  @Override
+  public void close() {
+    imu.close();
+    tunerXRecommendation.close();
+
+    for (var module : swerveModules) {
+      module.close();
+    }
+  }
+
   /**
    * Update the cache validity period for the robot.
    *
diff --git a/src/main/java/swervelib/SwerveModule.java b/src/main/java/swervelib/SwerveModule.java
index d0ad53568..67b751d23 100644
--- a/src/main/java/swervelib/SwerveModule.java
+++ b/src/main/java/swervelib/SwerveModule.java
@@ -34,7 +34,7 @@
 /**
  * The Swerve Module class which represents and controls Swerve Modules for the swerve drive.
  */
-public class SwerveModule
+public class SwerveModule implements AutoCloseable
 {
 
   /**
@@ -267,6 +267,13 @@ public SwerveModule(int moduleNumber, SwerveModuleConfiguration moduleConfigurat
         "swerve/modules/" + configuration.name + "/Angle Setpoint").publish();
   }
 
+  @Override
+  public void close() {
+    angleMotor.close();
+    driveMotor.close();
+    absoluteEncoder.close();
+  }
+
   /**
    * Get the default {@link SimpleMotorFeedforward} for the swerve module drive motor.
    *
diff --git a/src/main/java/swervelib/encoders/AnalogAbsoluteEncoderSwerve.java b/src/main/java/swervelib/encoders/AnalogAbsoluteEncoderSwerve.java
index 11016f652..3d91c6f22 100644
--- a/src/main/java/swervelib/encoders/AnalogAbsoluteEncoderSwerve.java
+++ b/src/main/java/swervelib/encoders/AnalogAbsoluteEncoderSwerve.java
@@ -47,6 +47,12 @@ public AnalogAbsoluteEncoderSwerve(AnalogInput encoder)
         AlertType.kWarning);
   }
 
+  @Override
+  public void close()
+  {
+    encoder.close();
+  }
+
   /**
    * Construct the Encoder given the analog input channel.
    *
diff --git a/src/main/java/swervelib/encoders/CANCoderSwerve.java b/src/main/java/swervelib/encoders/CANCoderSwerve.java
index a22c785c7..782012dea 100644
--- a/src/main/java/swervelib/encoders/CANCoderSwerve.java
+++ b/src/main/java/swervelib/encoders/CANCoderSwerve.java
@@ -112,6 +112,12 @@ public CANCoderSwerve(int id, String canbus)
         AlertType.kWarning);
   }
 
+  @Override
+  public void close()
+  {
+    encoder.close();
+  }
+
   /**
    * Reset the encoder to factory defaults.
    */
diff --git a/src/main/java/swervelib/encoders/CanAndMagSwerve.java b/src/main/java/swervelib/encoders/CanAndMagSwerve.java
index 429715812..d33f04934 100644
--- a/src/main/java/swervelib/encoders/CanAndMagSwerve.java
+++ b/src/main/java/swervelib/encoders/CanAndMagSwerve.java
@@ -29,6 +29,12 @@ public CanAndMagSwerve(int canid)
     settings = encoder.getSettings();
   }
 
+  @Override
+  public void close() 
+  {
+    encoder.close();
+  }
+
   /**
    * Reset the encoder to factory defaults.
    * <p>
diff --git a/src/main/java/swervelib/encoders/DIODutyCycleEncoderSwerve.java b/src/main/java/swervelib/encoders/DIODutyCycleEncoderSwerve.java
index 2f2b16d82..770902d0d 100644
--- a/src/main/java/swervelib/encoders/DIODutyCycleEncoderSwerve.java
+++ b/src/main/java/swervelib/encoders/DIODutyCycleEncoderSwerve.java
@@ -47,6 +47,12 @@ public DIODutyCycleEncoderSwerve(int pin)
 
   }
 
+  @Override
+  public void close()
+  {
+    encoder.close();
+  }
+
   /**
    * Configure the inversion state of the encoder.
    *
diff --git a/src/main/java/swervelib/encoders/SparkFlexEncoderSwerve.java b/src/main/java/swervelib/encoders/SparkFlexEncoderSwerve.java
index 00ef7d4b7..4a0869a6f 100644
--- a/src/main/java/swervelib/encoders/SparkFlexEncoderSwerve.java
+++ b/src/main/java/swervelib/encoders/SparkFlexEncoderSwerve.java
@@ -62,6 +62,15 @@ public SparkFlexEncoderSwerve(SwerveMotor motor, int conversionFactor)
     }
   }
 
+  @Override
+  public void close()
+  {
+    // SPARK Flex encoder gets closed with the motor
+    // I don't think an encoder getting closed should 
+    // close the entire motor so i will keep this empty
+    // sparkFlex.close();
+  }
+
   /**
    * Run the configuration until it succeeds or times out.
    *
diff --git a/src/main/java/swervelib/encoders/SparkMaxAnalogEncoderSwerve.java b/src/main/java/swervelib/encoders/SparkMaxAnalogEncoderSwerve.java
index 84c6b6c6b..bda63039f 100644
--- a/src/main/java/swervelib/encoders/SparkMaxAnalogEncoderSwerve.java
+++ b/src/main/java/swervelib/encoders/SparkMaxAnalogEncoderSwerve.java
@@ -64,6 +64,15 @@ public SparkMaxAnalogEncoderSwerve(SwerveMotor motor, double maxVoltage)
 
   }
 
+  @Override
+  public void close()
+  {
+    // SPARK MAX Analog encoder gets closed with the motor
+    // I don't think an encoder getting closed should 
+    // close the entire motor so i will keep this empty
+    // sparkMax.close();
+  }
+
   /**
    * Run the configuration until it succeeds or times out.
    *
diff --git a/src/main/java/swervelib/encoders/SparkMaxEncoderSwerve.java b/src/main/java/swervelib/encoders/SparkMaxEncoderSwerve.java
index c822dfc20..d530a7365 100644
--- a/src/main/java/swervelib/encoders/SparkMaxEncoderSwerve.java
+++ b/src/main/java/swervelib/encoders/SparkMaxEncoderSwerve.java
@@ -64,6 +64,15 @@ public SparkMaxEncoderSwerve(SwerveMotor motor, int conversionFactor)
     }
   }
 
+  @Override
+  public void close()
+  {
+    // SPARK MAX encoder gets closed with the motor
+    // I don't think an encoder getting closed should 
+    // close the entire motor so i will keep this empty
+    // sparkFlex.close();
+  }
+
   /**
    * Run the configuration until it succeeds or times out.
    *
diff --git a/src/main/java/swervelib/encoders/SwerveAbsoluteEncoder.java b/src/main/java/swervelib/encoders/SwerveAbsoluteEncoder.java
index c398c7448..e89439ae6 100644
--- a/src/main/java/swervelib/encoders/SwerveAbsoluteEncoder.java
+++ b/src/main/java/swervelib/encoders/SwerveAbsoluteEncoder.java
@@ -3,9 +3,15 @@
 /**
  * Swerve abstraction class to define a standard interface with absolute encoders for swerve modules..
  */
-public abstract class SwerveAbsoluteEncoder
+public abstract class SwerveAbsoluteEncoder implements AutoCloseable
 {
 
+  // This is a bit weird because some encoders are closable 
+  // while some get closed with the motor controller
+  // so for some encoders this will be an empty function
+  @Override
+  public abstract void close();
+
   /**
    * The maximum amount of times the swerve encoder will attempt to configure itself if failures occur.
    */
diff --git a/src/main/java/swervelib/encoders/TalonSRXEncoderSwerve.java b/src/main/java/swervelib/encoders/TalonSRXEncoderSwerve.java
index d2449ed78..aa4271bac 100644
--- a/src/main/java/swervelib/encoders/TalonSRXEncoderSwerve.java
+++ b/src/main/java/swervelib/encoders/TalonSRXEncoderSwerve.java
@@ -44,6 +44,15 @@ public TalonSRXEncoderSwerve(SwerveMotor motor, FeedbackDevice feedbackDevice)
     }
   }
 
+  @Override
+  public void close()
+  {
+    // TalonSRX encoder gets closed with the motor
+    // I don't think an encoder getting closed should 
+    // close the entire motor so i will keep this empty
+    // sparkFlex.close();
+  }
+
   @Override
   public void factoryDefault()
   {
diff --git a/src/main/java/swervelib/encoders/ThriftyNovaEncoderSwerve.java b/src/main/java/swervelib/encoders/ThriftyNovaEncoderSwerve.java
index b548bd513..cacb1a3ca 100644
--- a/src/main/java/swervelib/encoders/ThriftyNovaEncoderSwerve.java
+++ b/src/main/java/swervelib/encoders/ThriftyNovaEncoderSwerve.java
@@ -34,6 +34,15 @@ public ThriftyNovaEncoderSwerve(SwerveMotor motor)
     motor.setAbsoluteEncoder(null);
   }
 
+  @Override
+  public void close()
+  {
+    // ThriftyNova encoder gets closed with the motor
+    // I don't think an encoder getting closed should 
+    // close the entire motor so i will keep this empty
+    // sparkFlex.close();
+  }
+
   /**
    * Set factory default.
    */
diff --git a/src/main/java/swervelib/imu/ADIS16448Swerve.java b/src/main/java/swervelib/imu/ADIS16448Swerve.java
index 23573fd3d..fcea48293 100644
--- a/src/main/java/swervelib/imu/ADIS16448Swerve.java
+++ b/src/main/java/swervelib/imu/ADIS16448Swerve.java
@@ -42,6 +42,11 @@ public ADIS16448Swerve()
     SmartDashboard.putData(imu);
   }
 
+  @Override
+  public void close() {
+    imu.close();
+  }
+
   /**
    * Reset IMU to factory default.
    */
diff --git a/src/main/java/swervelib/imu/ADIS16470Swerve.java b/src/main/java/swervelib/imu/ADIS16470Swerve.java
index d24af92f0..0da821120 100644
--- a/src/main/java/swervelib/imu/ADIS16470Swerve.java
+++ b/src/main/java/swervelib/imu/ADIS16470Swerve.java
@@ -44,6 +44,11 @@ public ADIS16470Swerve()
     SmartDashboard.putData(imu);
   }
 
+  @Override
+  public void close() {
+    imu.close();
+  }
+
   /**
    * Reset IMU to factory default.
    */
diff --git a/src/main/java/swervelib/imu/ADXRS450Swerve.java b/src/main/java/swervelib/imu/ADXRS450Swerve.java
index d0dd2cbbf..85c7523f8 100644
--- a/src/main/java/swervelib/imu/ADXRS450Swerve.java
+++ b/src/main/java/swervelib/imu/ADXRS450Swerve.java
@@ -42,6 +42,11 @@ public ADXRS450Swerve()
     SmartDashboard.putData(imu);
   }
 
+  @Override
+  public void close() {
+    imu.close();
+  }
+
   /**
    * Reset IMU to factory default.
    */
diff --git a/src/main/java/swervelib/imu/AnalogGyroSwerve.java b/src/main/java/swervelib/imu/AnalogGyroSwerve.java
index 01ce760e5..b5450f55f 100644
--- a/src/main/java/swervelib/imu/AnalogGyroSwerve.java
+++ b/src/main/java/swervelib/imu/AnalogGyroSwerve.java
@@ -49,6 +49,11 @@ public AnalogGyroSwerve(int channel)
     SmartDashboard.putData(imu);
   }
 
+  @Override
+  public void close() {
+    imu.close();
+  }
+
   /**
    * Reset IMU to factory default.
    */
diff --git a/src/main/java/swervelib/imu/NavXSwerve.java b/src/main/java/swervelib/imu/NavXSwerve.java
index c032d6c50..b0f837b4c 100644
--- a/src/main/java/swervelib/imu/NavXSwerve.java
+++ b/src/main/java/swervelib/imu/NavXSwerve.java
@@ -60,6 +60,10 @@ public NavXSwerve(NavXComType port)
     }
   }
 
+  @Override
+  public void close() {
+    imu.close();
+  }
 
   /**
    * Reset offset to current gyro reading. Does not call NavX({@link AHRS#reset()}) because it has been reported to be
diff --git a/src/main/java/swervelib/imu/Pigeon2Swerve.java b/src/main/java/swervelib/imu/Pigeon2Swerve.java
index 3f59502f8..7d4af3adf 100644
--- a/src/main/java/swervelib/imu/Pigeon2Swerve.java
+++ b/src/main/java/swervelib/imu/Pigeon2Swerve.java
@@ -85,6 +85,12 @@ public Pigeon2Swerve(int canid)
     this(canid, "");
   }
 
+  @Override
+  public void close() {
+    imu.close();
+  }
+
+
   /**
    * Reset {@link Pigeon2} to factory default.
    */
diff --git a/src/main/java/swervelib/imu/PigeonSwerve.java b/src/main/java/swervelib/imu/PigeonSwerve.java
index b844d03d2..f6cfe3c36 100644
--- a/src/main/java/swervelib/imu/PigeonSwerve.java
+++ b/src/main/java/swervelib/imu/PigeonSwerve.java
@@ -45,6 +45,12 @@ public PigeonSwerve(int canid)
     SmartDashboard.putData(imu);
   }
 
+  @Override
+  public void close() {
+    imu.close();
+  }
+
+
   /**
    * Reset IMU to factory default.
    */
diff --git a/src/main/java/swervelib/imu/PigeonViaTalonSRXSwerve.java b/src/main/java/swervelib/imu/PigeonViaTalonSRXSwerve.java
index 9d1b9f4ea..a92e4c395 100644
--- a/src/main/java/swervelib/imu/PigeonViaTalonSRXSwerve.java
+++ b/src/main/java/swervelib/imu/PigeonViaTalonSRXSwerve.java
@@ -54,6 +54,11 @@ public PigeonViaTalonSRXSwerve(int canid)
     SmartDashboard.putData(imu);
   }
 
+  @Override
+  public void close() {
+    imu.close();
+  }
+
   /**
    * Reset IMU to factory default.
    */
diff --git a/src/main/java/swervelib/imu/SwerveIMU.java b/src/main/java/swervelib/imu/SwerveIMU.java
index 9af3cc6e3..d16999b77 100644
--- a/src/main/java/swervelib/imu/SwerveIMU.java
+++ b/src/main/java/swervelib/imu/SwerveIMU.java
@@ -8,9 +8,12 @@
 /**
  * Swerve IMU abstraction to define a standard interface with a swerve drive.
  */
-public abstract class SwerveIMU
+public abstract class SwerveIMU implements AutoCloseable
 {
 
+  @Override
+  public abstract void close();
+
   /**
    * Reset IMU to factory default.
    */
diff --git a/src/main/java/swervelib/motors/SparkFlexSwerve.java b/src/main/java/swervelib/motors/SparkFlexSwerve.java
index 75c16fd25..fe273e438 100644
--- a/src/main/java/swervelib/motors/SparkFlexSwerve.java
+++ b/src/main/java/swervelib/motors/SparkFlexSwerve.java
@@ -129,6 +129,11 @@ private void configureSparkFlex(Supplier<REVLibError> config)
     failureConfiguring.set(true);
   }
 
+  @Override
+  public void close() {
+    motor.close();
+  }
+
   /**
    * Get the current configuration of the {@link SparkFlex}
    *
diff --git a/src/main/java/swervelib/motors/SparkMaxBrushedMotorSwerve.java b/src/main/java/swervelib/motors/SparkMaxBrushedMotorSwerve.java
index cf39b1f1f..8f7641f1e 100644
--- a/src/main/java/swervelib/motors/SparkMaxBrushedMotorSwerve.java
+++ b/src/main/java/swervelib/motors/SparkMaxBrushedMotorSwerve.java
@@ -195,6 +195,11 @@ private void configureSparkMax(Supplier<REVLibError> config)
     failureConfiguringAlert.set(true);
   }
 
+  @Override
+  public void close() {
+    motor.close();
+  }
+
   /**
    * Get the current configuration of the {@link SparkMax}
    *
diff --git a/src/main/java/swervelib/motors/SparkMaxSwerve.java b/src/main/java/swervelib/motors/SparkMaxSwerve.java
index 41fc5b2f7..85b89cc13 100644
--- a/src/main/java/swervelib/motors/SparkMaxSwerve.java
+++ b/src/main/java/swervelib/motors/SparkMaxSwerve.java
@@ -127,6 +127,11 @@ private void configureSparkMax(Supplier<REVLibError> config)
     DriverStation.reportWarning("Failure configuring motor " + motor.getDeviceId(), true);
   }
 
+  @Override
+  public void close() {
+    motor.close();
+  }
+
   /**
    * Get the current configuration of the {@link SparkMax}
    *
diff --git a/src/main/java/swervelib/motors/SwerveMotor.java b/src/main/java/swervelib/motors/SwerveMotor.java
index 06940c6ba..f2b4c625c 100644
--- a/src/main/java/swervelib/motors/SwerveMotor.java
+++ b/src/main/java/swervelib/motors/SwerveMotor.java
@@ -7,9 +7,12 @@
 /**
  * Swerve motor abstraction which defines a standard interface for motors within a swerve module.
  */
-public abstract class SwerveMotor
+public abstract class SwerveMotor implements AutoCloseable
 {
 
+  @Override
+  public abstract void close();
+
   /**
    * The maximum amount of times the swerve motor will attempt to configure a motor if failures occur.
    */
diff --git a/src/main/java/swervelib/motors/TalonFXSwerve.java b/src/main/java/swervelib/motors/TalonFXSwerve.java
index 7d3b98a61..66c114429 100644
--- a/src/main/java/swervelib/motors/TalonFXSwerve.java
+++ b/src/main/java/swervelib/motors/TalonFXSwerve.java
@@ -131,6 +131,12 @@ public void factoryDefaults()
     }
   }
 
+  @Override
+  public void close() {
+    motor.close();
+  }
+
+
   /**
    * Clear the sticky faults on the motor controller.
    */
diff --git a/src/main/java/swervelib/motors/TalonSRXSwerve.java b/src/main/java/swervelib/motors/TalonSRXSwerve.java
index 00958e869..b93126e19 100644
--- a/src/main/java/swervelib/motors/TalonSRXSwerve.java
+++ b/src/main/java/swervelib/motors/TalonSRXSwerve.java
@@ -84,6 +84,11 @@ public TalonSRXSwerve(int id, boolean isDriveMotor, DCMotor motorType)
     this(new WPI_TalonSRX(id), isDriveMotor, motorType);
   }
 
+  @Override
+  public void close() {
+    motor.close();
+  }
+
   /**
    * Configure the factory defaults.
    */
diff --git a/src/main/java/swervelib/motors/ThriftyNovaSwerve.java b/src/main/java/swervelib/motors/ThriftyNovaSwerve.java
index 30a18dfe6..cdcbd22b2 100644
--- a/src/main/java/swervelib/motors/ThriftyNovaSwerve.java
+++ b/src/main/java/swervelib/motors/ThriftyNovaSwerve.java
@@ -105,6 +105,16 @@ public ThriftyNovaSwerve(int id, boolean isDriveMotor, DCMotor motor)
     this(new ThriftyNova(id), isDriveMotor, motor);
   }
 
+  @Override
+  public void close() {
+    try {
+    motor.close();
+    } catch (Exception e) {
+      throw new RuntimeException(e);
+    }
+  }
+
+
   /**
    * Set factory defaults on the motor controller.
    */