diff --git a/build.gradle b/build.gradle
index fa7c9187..0dcb3e17 100644
--- a/build.gradle
+++ b/build.gradle
@@ -12,7 +12,7 @@ buildscript {
 
 configure(subprojects) {
     group = 'org.strykeforce.thirdcoast'
-    version = '19.2.0'
+    version = '19.3.0'
 
     apply plugin: 'java-library'
     apply plugin: 'idea'
@@ -51,7 +51,7 @@ configure(subprojects) {
 
 configure(subprojects - project(":deadeye")) {
     apply plugin: "edu.wpi.first.GradleRIO"
-    
+
     dependencies {
         compile wpi.deps.wpilib()
         compile wpi.deps.vendor.java()
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/AbstractInventory.kt b/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/AbstractInventory.kt
index 09edad42..8cd94d7a 100644
--- a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/AbstractInventory.kt
+++ b/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/AbstractInventory.kt
@@ -2,13 +2,13 @@ package org.strykeforce.thirdcoast.telemetry
 
 import com.squareup.moshi.JsonWriter
 import okio.BufferedSink
-import org.strykeforce.thirdcoast.telemetry.item.Item
+import org.strykeforce.thirdcoast.telemetry.item.Measurable
 import java.io.IOException
 
 /**
- * An abstract base class intended to be subclassed by concrete implmentations of [Inventory].
+ * An abstract base class intended to be subclassed by concrete implementations of [Inventory].
  */
-abstract class AbstractInventory(items: Collection<Item>) : Inventory {
+abstract class AbstractInventory(items: Collection<Measurable>) : Inventory {
 
     protected val items = items.sorted()
 
@@ -29,7 +29,7 @@ abstract class AbstractInventory(items: Collection<Item>) : Inventory {
     override fun toString() = "AbstractInventory(items=$items)"
 }
 
-private fun JsonWriter.writeItems(items: List<Item>): JsonWriter {
+private fun JsonWriter.writeItems(items: List<Measurable>): JsonWriter {
     beginArray()
     items.forEachIndexed { index, item ->
         beginObject()
@@ -41,7 +41,7 @@ private fun JsonWriter.writeItems(items: List<Item>): JsonWriter {
     return endArray()
 }
 
-private fun JsonWriter.writeMeasures(items: List<Item>): JsonWriter {
+private fun JsonWriter.writeMeasures(items: List<Measurable>): JsonWriter {
     beginArray()
     items.associateBy({ it.type }, { it.measures }).forEach { type, measures ->
         beginObject()
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/Inventory.kt b/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/Inventory.kt
index 665b9308..391024eb 100644
--- a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/Inventory.kt
+++ b/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/Inventory.kt
@@ -1,29 +1,28 @@
 package org.strykeforce.thirdcoast.telemetry
 
 import okio.BufferedSink
-import org.strykeforce.thirdcoast.telemetry.item.Item
+import org.strykeforce.thirdcoast.telemetry.item.Measurable
 import java.io.IOException
 
 /** Represents the inventory of robot hardware and subsystems that can have telemetry streaming.  */
 interface Inventory {
 
-    /**
-     * Gets an item by its inventory ID. The inventory ID is an index to an item in inventory and
-     * should **not** be confused with the device ID of the underlying device the `Item`
-     * represents.
-     *
-     * @param id the inventory ID to look up.
-     * @return the found Item.
-     */
-    fun itemForId(id: Int): Item
+  /**
+   * Gets a measurable item by its inventory ID. The inventory ID is an index to a measurable item in inventory and
+   * should **not** be confused with the device ID of the underlying device the `Measurable` represents.
+   *
+   * @param id the inventory ID to look up.
+   * @return the found Measurable item.
+   */
+  fun itemForId(id: Int): Measurable
 
-    /**
-     * Writes the grapher-format JSON inventory to the supplied sink.
-     *
-     * @param sink the sink to write to.
-     * @throws IOException if an IO error occurs during writing.
-     */
-    @Throws(IOException::class)
-    fun writeInventory(sink: BufferedSink)
+  /**
+   * Writes the grapher-format JSON inventory to the supplied sink.
+   *
+   * @param sink the sink to write to.
+   * @throws IOException if an IO error occurs during writing.
+   */
+  @Throws(IOException::class)
+  fun writeInventory(sink: BufferedSink)
 
 }
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/RobotInventory.kt b/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/RobotInventory.kt
index c8fcab7a..97ecc1f1 100644
--- a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/RobotInventory.kt
+++ b/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/RobotInventory.kt
@@ -1,6 +1,6 @@
 package org.strykeforce.thirdcoast.telemetry
 
-import org.strykeforce.thirdcoast.telemetry.item.Item
+import org.strykeforce.thirdcoast.telemetry.item.Measurable
 
 /** Default implementation of [Inventory] for a robot.  */
-class RobotInventory(items: Collection<Item>) : AbstractInventory(items)
+class RobotInventory(items: Collection<Measurable>) : AbstractInventory(items)
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/TelemetryService.kt b/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/TelemetryService.kt
index 834f90c2..ab4511fc 100644
--- a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/TelemetryService.kt
+++ b/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/TelemetryService.kt
@@ -3,7 +3,7 @@ package org.strykeforce.thirdcoast.telemetry
 import com.ctre.phoenix.motorcontrol.can.TalonSRX
 import mu.KotlinLogging
 import org.strykeforce.thirdcoast.swerve.SwerveDrive
-import org.strykeforce.thirdcoast.telemetry.item.Item
+import org.strykeforce.thirdcoast.telemetry.item.Measurable
 import org.strykeforce.thirdcoast.telemetry.item.TalonItem
 import java.util.*
 import java.util.function.Function
@@ -11,7 +11,7 @@ import java.util.function.Function
 private val logger = KotlinLogging.logger {}
 
 /**
- * The Telemetry service registers [Item] instances for data collection and controls the
+ * The Telemetry service registers [Measurable] instances for data collection and controls the
  * starting and stopping of the service. When active, the services listens for incoming config
  * messages via a HTTP REST service and sends data over UDP.
  */
@@ -21,7 +21,7 @@ class TelemetryService(private val telemetryControllerFactory: Function<Inventor
     // when start is called. The inventory copies this collection into a List, using its index in
     // this list as the inventory id.
 
-    private val items = LinkedHashSet<Item>()
+    private val items = LinkedHashSet<Measurable>()
     private var telemetryController: TelemetryController? = null
 
     /** Start the Telemetry service and listen for client connections.  */
@@ -62,7 +62,7 @@ class TelemetryService(private val telemetryControllerFactory: Function<Inventor
      * @param item the Item to register for data collection
      * @throws IllegalStateException if TelemetryService is running.
      */
-    fun register(item: Item) {
+    fun register(item: Measurable) {
         checkNotStarted()
         if (items.add(item)) {
             logger.info { "registered item ${item.description}" }
@@ -77,7 +77,7 @@ class TelemetryService(private val telemetryControllerFactory: Function<Inventor
      * @param collection the collection of Items to register for data collection
      * @throws IllegalStateException if TelemetryService is running.
      */
-    fun registerAll(collection: Collection<Item>) {
+    fun registerAll(collection: Collection<Measurable>) {
         checkNotStarted()
         items.addAll(collection)
         logger.info { "registered all: $collection" }
@@ -108,7 +108,7 @@ class TelemetryService(private val telemetryControllerFactory: Function<Inventor
      *
      * @return an unmodifiable Set of Items.
      */
-    fun getItems(): Set<Item> {
+    fun getItems(): Set<Measurable> {
         return Collections.unmodifiableSet(items)
     }
 
@@ -117,7 +117,7 @@ class TelemetryService(private val telemetryControllerFactory: Function<Inventor
      *
      * @throws AssertionError if TelemetryService is running.
      */
-    fun remove(item: Item) {
+    fun remove(item: Measurable) {
         checkNotStarted()
         if (items.remove(item)) {
             logger.info { "removed $item" }
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/grapher/ClientHandler.kt b/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/grapher/ClientHandler.kt
index 099cd329..97af1b50 100644
--- a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/grapher/ClientHandler.kt
+++ b/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/grapher/ClientHandler.kt
@@ -19,9 +19,9 @@ class ClientHandler(private val port: Int, private val socket: DatagramSocket) {
     private var scheduler: ScheduledExecutorService? = null
 
     /**
-     * Start streaming the items specified in the subscription.
+     * Start streaming the `Measurable` items specified in the subscription.
      *
-     * @param subscription Items to stream to client
+     * @param subscription items to stream to client
      */
     fun start(subscription: Subscription) {
         if (scheduler != null) return
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/CanifierItem.kt b/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/CanifierItem.kt
index 56243bc3..bd17a7d7 100644
--- a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/CanifierItem.kt
+++ b/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/CanifierItem.kt
@@ -7,11 +7,11 @@ import org.strykeforce.thirdcoast.telemetry.grapher.Measure
 import org.strykeforce.thirdcoast.telemetry.grapher.Measure.*
 import java.util.function.DoubleSupplier
 
-/** Represents a [TalonSRX] telemetry-enable Item.  */
+/** Represents a [TalonSRX] telemetry-enable `Measurable` item.  */
 class CanifierItem @JvmOverloads constructor(
     private val canifier: CANifier,
     override val description: String = "CANifier ${canifier.deviceID}"
-) : Item {
+) : Measurable {
 
     override val deviceId = canifier.deviceID
     override val type = "canifier"
@@ -87,4 +87,4 @@ class CanifierItem @JvmOverloads constructor(
             PWM3_PERIOD
         )
     }
-}
\ No newline at end of file
+}
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/DigitalInputItem.kt b/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/DigitalInputItem.kt
index 92b8b90e..1c0e9a3c 100644
--- a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/DigitalInputItem.kt
+++ b/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/DigitalInputItem.kt
@@ -6,11 +6,11 @@ import org.strykeforce.thirdcoast.telemetry.grapher.Measure.VALUE
 import java.util.function.DoubleSupplier
 
 
-/** Represents a [DigitalInput] telemetry-enable Item.  */
+/** Represents a [DigitalInput] telemetry-enable `Measurable` item.  */
 class DigitalInputItem @JvmOverloads constructor(
     private val digitalInput: DigitalInput,
     override val description: String = "Digital Input ${digitalInput.channel}"
-) : Item {
+) : Measurable {
 
     override val deviceId = digitalInput.channel
     override val type = "digitalInput"
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/DigitalOutputItem.kt b/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/DigitalOutputItem.kt
index bf20da65..31152fa8 100644
--- a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/DigitalOutputItem.kt
+++ b/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/DigitalOutputItem.kt
@@ -7,11 +7,11 @@ import org.strykeforce.thirdcoast.telemetry.grapher.Measure.VALUE
 import java.util.function.DoubleSupplier
 
 
-/** Represents a [DigitalInput] telemetry-enable Item.  */
+/** Represents a [DigitalInput] telemetry-enable `Measurable` item.  */
 class DigitalOutputItem @JvmOverloads constructor(
     private val digitalOutput: DigitalOutput,
     override val description: String = "Digital Output ${digitalOutput.channel}"
-) : Item {
+) : Measurable {
 
     override val deviceId = digitalOutput.channel
     override val type = "digitalOutput"
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/Item.kt b/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/Measurable.kt
similarity index 65%
rename from telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/Item.kt
rename to telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/Measurable.kt
index 4b5afbcc..62a21aa3 100644
--- a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/Item.kt
+++ b/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/Measurable.kt
@@ -4,14 +4,14 @@ import org.strykeforce.thirdcoast.telemetry.grapher.Measure
 import java.util.function.DoubleSupplier
 
 /**
- * An item that can be graphed. These are used as `Set` elements and implementing classes
+ * An item that can be measured and graphed. These are used as `Set` elements and implementing classes
  * should implement an identity-based version of equals and hashCode.
  *
  *
- * The abstract base class implementing `Item` implements `Comparable` by comparing
- * the results returned by `Item#deviceId()`.
+ * The abstract base class implementing `Measurable` implements `Comparable` by comparing
+ * the results returned by `Measurable#deviceId()`.
  */
-interface Item : Comparable<Item> {
+interface Measurable : Comparable<Measurable> {
 
     /**
      * Returns the underlying device id, for example, CAN bus address or PWM port.
@@ -29,7 +29,7 @@ interface Item : Comparable<Item> {
     val description: String
 
     /**
-     * `Set` of `Measure` items applicable to this item type.
+     * `Set` of `Measure` parameters applicable to this item type.
      */
     val measures: Set<Measure>
 
@@ -39,11 +39,11 @@ interface Item : Comparable<Item> {
      */
     fun measurementFor(measure: Measure): DoubleSupplier
 
-    override fun compareTo(other: Item): Int {
+    override fun compareTo(other: Measurable): Int {
         val result = type.compareTo(other.type)
         return if (result != 0) result else deviceId.compareTo(other.deviceId)
     }
 
 }
 
-internal fun Boolean.toDouble() = if (this) 1.0 else 0.0
\ No newline at end of file
+internal fun Boolean.toDouble() = if (this) 1.0 else 0.0
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/ServoItem.kt b/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/ServoItem.kt
index 003451e8..5d82a0d0 100644
--- a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/ServoItem.kt
+++ b/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/ServoItem.kt
@@ -6,11 +6,11 @@ import org.strykeforce.thirdcoast.telemetry.grapher.Measure.ANGLE
 import org.strykeforce.thirdcoast.telemetry.grapher.Measure.POSITION
 import java.util.function.DoubleSupplier
 
-/** Represents a [Servo] telemetry-enable Item.  */
+/** Represents a [Servo] telemetry-enable `Measurable` item.  */
 class ServoItem @JvmOverloads constructor(
     private val servo: Servo,
     override val description: String = "Servo ${servo.channel}"
-) : Item {
+) : Measurable {
 
     override val deviceId = servo.channel
     override val type = "servo"
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/TalonItem.kt b/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/TalonItem.kt
index b2a8cf15..4e0d8790 100644
--- a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/TalonItem.kt
+++ b/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/TalonItem.kt
@@ -5,11 +5,11 @@ import org.strykeforce.thirdcoast.telemetry.grapher.Measure
 import org.strykeforce.thirdcoast.telemetry.grapher.Measure.*
 import java.util.function.DoubleSupplier
 
-/** Represents a [TalonSRX] telemetry-enable Item.  */
+/** Represents a [TalonSRX] telemetry-enable `Measurable` item.  */
 class TalonItem @JvmOverloads constructor(
     private val talon: TalonSRX,
     override val description: String = "TalonSRX ${talon.deviceID}"
-) : Item {
+) : Measurable {
 
     override val deviceId = talon.deviceID
     override val type = "talon"
@@ -94,4 +94,4 @@ class TalonItem @JvmOverloads constructor(
             REVERSE_LIMIT_SWITCH_CLOSED
         )
     }
-}
\ No newline at end of file
+}
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/UltrasonicRangefinderItem.kt b/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/UltrasonicRangefinderItem.kt
index 8a815f1a..9bb106f0 100644
--- a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/UltrasonicRangefinderItem.kt
+++ b/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/UltrasonicRangefinderItem.kt
@@ -6,11 +6,12 @@ import org.strykeforce.thirdcoast.telemetry.grapher.Measure
 import org.strykeforce.thirdcoast.telemetry.grapher.Measure.VALUE
 import java.util.function.DoubleSupplier
 
+/** Represents a PWM ultrasonic rangefinder telemetry-enable `Measurable` item.  */
 class UltrasonicRangefinderItem @JvmOverloads constructor(
     canId: Int,
     private val pwmChannel: PWMChannel,
     override val description: String = "Sensor ${canId * 10 + pwmChannel.value}"
-) : Item {
+) : Measurable {
 
     override val deviceId = canId * 10 + pwmChannel.value
     override val type = "sensor"
diff --git a/telemetry/src/test/java/org/strykeforce/thirdcoast/telemetry/RobotInventoryTest.java b/telemetry/src/test/java/org/strykeforce/thirdcoast/telemetry/RobotInventoryTest.java
index 37d414bc..9e551cb4 100644
--- a/telemetry/src/test/java/org/strykeforce/thirdcoast/telemetry/RobotInventoryTest.java
+++ b/telemetry/src/test/java/org/strykeforce/thirdcoast/telemetry/RobotInventoryTest.java
@@ -9,7 +9,7 @@
 import org.mockito.junit.jupiter.MockitoExtension;
 import org.skyscreamer.jsonassert.JSONAssert;
 import org.strykeforce.thirdcoast.telemetry.grapher.ResourceHelper;
-import org.strykeforce.thirdcoast.telemetry.item.Item;
+import org.strykeforce.thirdcoast.telemetry.item.Measurable;
 
 import java.io.IOException;
 import java.nio.charset.Charset;
@@ -22,9 +22,9 @@
 @ExtendWith(MockitoExtension.class)
 class RobotInventoryTest {
 
-  @Mock private Item itemOne;
-  @Mock private Item itemTwo;
-  private Collection<Item> items;
+  @Mock private Measurable itemOne;
+  @Mock private Measurable itemTwo;
+  private Collection<Measurable> items;
 
   @BeforeEach
   void setUp() {
diff --git a/telemetry/src/test/java/org/strykeforce/thirdcoast/telemetry/grapher/SubscriptionTest.java b/telemetry/src/test/java/org/strykeforce/thirdcoast/telemetry/grapher/SubscriptionTest.java
index 70daa924..1f55bd0d 100644
--- a/telemetry/src/test/java/org/strykeforce/thirdcoast/telemetry/grapher/SubscriptionTest.java
+++ b/telemetry/src/test/java/org/strykeforce/thirdcoast/telemetry/grapher/SubscriptionTest.java
@@ -11,7 +11,7 @@
 import org.skyscreamer.jsonassert.JSONAssert;
 import org.skyscreamer.jsonassert.JSONParser;
 import org.strykeforce.thirdcoast.telemetry.Inventory;
-import org.strykeforce.thirdcoast.telemetry.item.Item;
+import org.strykeforce.thirdcoast.telemetry.item.Measurable;
 
 import java.io.IOException;
 import java.nio.charset.Charset;
@@ -24,7 +24,8 @@
 @ExtendWith(MockitoExtension.class)
 class SubscriptionTest {
 
-  @Mock Item itemZero, itemOne;
+  @Mock
+  Measurable itemZero, itemOne;
   @Mock Inventory inventory;
 
   @BeforeEach