diff --git a/networktables.json b/networktables.json
new file mode 100644
index 0000000..fe51488
--- /dev/null
+++ b/networktables.json
@@ -0,0 +1 @@
+[]
diff --git a/simgui-ds.json b/simgui-ds.json
new file mode 100644
index 0000000..73cc713
--- /dev/null
+++ b/simgui-ds.json
@@ -0,0 +1,92 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ]
+}
diff --git a/simgui.json b/simgui.json
new file mode 100644
index 0000000..5f9d275
--- /dev/null
+++ b/simgui.json
@@ -0,0 +1,10 @@
+{
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo"
+    }
+  },
+  "NetworkTables Info": {
+    "visible": true
+  }
+}
diff --git a/src/main/java/com/team841/calliope/Robot.java b/src/main/java/com/team841/calliope/Robot.java
index 2bdc0dd..c6ff595 100644
--- a/src/main/java/com/team841/calliope/Robot.java
+++ b/src/main/java/com/team841/calliope/Robot.java
@@ -19,11 +19,13 @@
 public class Robot extends LoggedRobot {
     private Command m_autonomousCommand;
 
-    private RobotContainer m_robotContainer = RobotContainer.getInstance();
+    public static RobotContainer m_robotContainer;
 
     @Override
     public void robotInit() {
 
+        this.m_robotContainer = RobotContainer.getInstance();
+
         Logger.recordMetadata("ProjectName", "Calliope-software");
         Logger.recordMetadata("TuningMode", Boolean.toString(RC.robotType == RC.RunType.DEV));
         Logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME);
diff --git a/src/main/java/com/team841/calliope/RobotContainer.java b/src/main/java/com/team841/calliope/RobotContainer.java
index c7e8dfc..20ef2fa 100644
--- a/src/main/java/com/team841/calliope/RobotContainer.java
+++ b/src/main/java/com/team841/calliope/RobotContainer.java
@@ -65,11 +65,15 @@ public class RobotContainer {
 
     private final Telemetry telemetry = new Telemetry(Swerve.MaxSpeed);
 
-    private static RobotContainer instance;
+    private static volatile RobotContainer instance;
 
     public static RobotContainer getInstance() {
         if (instance == null) {
-            instance = new RobotContainer();
+            synchronized (RobotContainer.class) {
+                if (instance == null){
+                    instance = new RobotContainer();
+                }
+            }
         }
         return instance;
     }
diff --git a/src/main/java/com/team841/calliope/superstructure/indexer/IndexerIOTalonFX.java b/src/main/java/com/team841/calliope/superstructure/indexer/IndexerIOTalonFX.java
index ed34bd4..888d2a7 100644
--- a/src/main/java/com/team841/calliope/superstructure/indexer/IndexerIOTalonFX.java
+++ b/src/main/java/com/team841/calliope/superstructure/indexer/IndexerIOTalonFX.java
@@ -10,13 +10,15 @@ public class IndexerIOTalonFX implements IndexerIO{
 
     private final TalonFX indexerTalon = new TalonFX(RC.SC_CAN_ID.kIndexerTalon, "rio");
 
-    private DigitalInput rightSensor = new DigitalInput(SC.Indexer.k_RightSensorChannel);
-    private DigitalInput leftSensor = new DigitalInput(SC.Indexer.k_LeftSensorChannel);
+    private final DigitalInput rightSensor;
+    private final DigitalInput leftSensor;
 
     private DutyCycleOut output = new DutyCycleOut(0);
 
     public IndexerIOTalonFX(){
         indexerTalon.getConfigurator().apply(SC.Indexer.k_IndexerConfiguration);
+        this.rightSensor = new DigitalInput(SC.Indexer.k_RightSensorChannel);
+        this.leftSensor = new DigitalInput(SC.Indexer.k_LeftSensorChannel);
     }
 
     @Override
diff --git a/src/main/java/com/team841/calliope/superstructure/lights/LED.java b/src/main/java/com/team841/calliope/superstructure/lights/LED.java
index ed60d28..b7f1405 100644
--- a/src/main/java/com/team841/calliope/superstructure/lights/LED.java
+++ b/src/main/java/com/team841/calliope/superstructure/lights/LED.java
@@ -1,5 +1,6 @@
 package com.team841.calliope.superstructure.lights;
 
+import com.team841.calliope.Robot;
 import com.team841.calliope.RobotContainer;
 import com.team841.calliope.superstructure.indexer.Indexer;
 import com.team841.calliope.superstructure.intake.Intake;
@@ -11,9 +12,9 @@ public class LED extends SubsystemBase {
     private final LEDIO io;
     private final LedIOInputsAutoLogged inputs = new LedIOInputsAutoLogged();
 
-    private Indexer indexer = RobotContainer.getInstance().indexer;
+    private Indexer indexer;
 
-    private Intake intake = RobotContainer.getInstance().intake;
+    private Intake intake;
 
     private int count = 0;
 
@@ -27,6 +28,11 @@ public void periodic() {
         io.updateInputs(inputs);
         Logger.processInputs("LED", inputs);
 
+        if (this.indexer == null)
+            this.indexer = Robot.m_robotContainer.indexer;
+        if (this.intake == null)
+            this.intake = Robot.m_robotContainer.intake;
+
         // if (intake.)
         if (indexer.getRightIndexerSensor() && indexer.getLeftIndexerSensor()) {
             io.setColor("Green");