diff --git a/docs/Docs/auton_selector.md b/docs/Docs/auton_selector.md
index fdf3e040..8585db91 100644
--- a/docs/Docs/auton_selector.md
+++ b/docs/Docs/auton_selector.md
@@ -84,7 +84,7 @@ void initialize() {
 
 
 ## add_autons();
-Adds autonomous routines to the autonomous selector. Uses `ez::print_to_screen()` to display to the brain.  
+Adds autonomous routines to the autonomous selector. Uses `ez::screen_print()` to display to the brain.  
 **Prototype**
 ```cpp
 void add_autons(std::vector<Auton> autons);
diff --git a/docs/Docs/pid.md b/docs/Docs/pid.md
index dd53fdb8..08dd763a 100644
--- a/docs/Docs/pid.md
+++ b/docs/Docs/pid.md
@@ -193,10 +193,10 @@ void opcontrol() {
 # Exit Conditions
 
 ## No Motor
-Outputs one of the `exit_output` states.  This exit condition checks `small_error`, `big_error` and `velocity` if they are enabled.    
+Outputs one of the `e_exit_output` states.  This exit condition checks `small_error`, `big_error` and `velocity` if they are enabled.    
 **Prototype**
 ```cpp
-ez::exit_output exit_condition(bool print = false);
+ez::e_exit_output exit_condition(bool print = false);
 ```
 
 **Example** 
@@ -229,10 +229,10 @@ void autonomous() {
 
 
 ## One Motor
-Outputs one of the `exit_output` states.  This exit condition checks `small_error`, `big_error`, `velocity` and `mA` if they are enabled.    
+Outputs one of the `e_exit_output` states.  This exit condition checks `small_error`, `big_error`, `velocity` and `mA` if they are enabled.    
 **Prototype**
 ```cpp
-ez::exit_output exit_condition(pros::Motor sensor, bool print = false);
+ez::e_exit_output exit_condition(pros::Motor sensor, bool print = false);
 ```
 
 **Example** 
@@ -265,10 +265,10 @@ void autonomous() {
 
 
 ## Multiple Motors
-Outputs one of the `exit_output` states.  This exit condition checks `small_error`, `big_error`, `velocity` and `mA` if they are enabled.  When any of the motors trip `mA`, it returns `mA_EXIT`.    
+Outputs one of the `e_exit_output` states.  This exit condition checks `small_error`, `big_error`, `velocity` and `mA` if they are enabled.  When any of the motors trip `mA`, it returns `mA_EXIT`.    
 **Prototype**
 ```cpp
-ez::exit_output exit_condition(std::vector<pros::Motor> sensor, bool print = false);
+ez::e_exit_output exit_condition(std::vector<pros::Motor> sensor, bool print = false);
 ```
 
 **Example** 
diff --git a/docs/Docs/util.md b/docs/Docs/util.md
index 8ec457a7..559cf335 100644
--- a/docs/Docs/util.md
+++ b/docs/Docs/util.md
@@ -44,13 +44,13 @@ void opcontrol() {
 ---
 
 
-## print_to_screen() 
+## screen_print() 
 Prints to the LLEMU.  This function handles text that's too long for a line by finding the last word and starting it on a new line, and takes `\n` to set a new line.   
 `text` input string.  
 `line` starting line.  
 **Prototype**
 ```cpp
-void print_to_screen(, std::string text, int line)
+void screen_print(, std::string text, int line)
 ```
 
 **Example 1**  
@@ -59,7 +59,7 @@ hello, this is line 0
 this is line 1
 ```cpp
 void initialize() {
-  ez::print_to_screen("hello, this is line 0\nthis is line 1");
+  ez::screen_print("hello, this is line 0\nthis is line 1");
 }
 ```
 
@@ -70,7 +70,7 @@ hello
 ```cpp
 void initialize() {
   std::string 32char = 01234567890123456789012345678901;
-  ez::print_to_screen(32char + "hello");
+  ez::screen_print(32char + "hello");
 }
 ```
 
@@ -78,17 +78,17 @@ void initialize() {
 ---
 
 
-## print_ez_template() 
+## ez_template_print() 
 Prints our branding on your terimnal :D.   
 **Prototype**
 ```cpp
-void print_ez_template();
+void ez_template_print();
 ```
 
 **Example**
 ```cpp
 void initialize() {
-  print_ez_template();
+  ez_template_print();
 }
 ```
 
@@ -96,18 +96,18 @@ void initialize() {
 ---
 
 
-## sgn() 
-Returns the sgn of the input.  Returns 1 if positive, -1 if negative, and 0 if 0.    
+## sign() 
+Returns the sign of the input.  Returns 1 if positive, -1 if negative, and 0 if 0.    
 **Prototype**
 ```cpp
-double sgn(double input);
+double sign(double input);
 ```
 
 **Example**
 ```cpp
 void opcontrol() {
   while (true) {
-    printf("Sgn of Controller: %i \n", sgn(master.get_analog(ANALOG_LEFT_Y)));
+    printf("Sign of Controller: %i \n", sign(master.get_analog(ANALOG_LEFT_Y)));
 
     pros::delay(ez::util::DELAY_TIME);
   }
@@ -118,11 +118,11 @@ void opcontrol() {
 ---
 
 
-## clip_num() 
+## clamp_number() 
 Checks if `input` is within range of `max` and `min`.  If it's out, this returns `max` or `min` respectively.    
 **Prototype**
 ```cpp
-double clip_num(double input, double max, double min);
+double clamp_number(double input, double max, double min);
 ```
 
 **Example**
@@ -133,7 +133,7 @@ void opcontrol() {
 
     // When the joystick is between 100 and 127
     // (or -100 and -127) this will print 100 (or -100).
-    printf("Clipped Controller: %i \n", clip_num(joy, 100, -100)); 
+    printf("Clipped Controller: %i \n", clamp_number(joy, 100, -100)); 
   }
 }
 ```
diff --git a/docs/Tutorials/pid.md b/docs/Tutorials/pid.md
index 6fca181d..53c9e101 100644
--- a/docs/Tutorials/pid.md
+++ b/docs/Tutorials/pid.md
@@ -34,7 +34,7 @@ PID liftPID{0.45, 0, 0, 0, "Lift"};
 
 void lift_auto(double target) {
   liftPID.set_target(target);
-  ez::exit_output exit = ez::RUNNING;
+  ez::e_exit_output exit = ez::RUNNING;
   while (liftPID.exit_condition({l_lift, r_lift}, true) == ez::RUNNING) {
     double output = liftPID.compute(l_lift.get_position());
     set_lift(output);
diff --git a/include/EZ-Template/PID.hpp b/include/EZ-Template/PID.hpp
index 6af283b0..80d7e1ae 100644
--- a/include/EZ-Template/PID.hpp
+++ b/include/EZ-Template/PID.hpp
@@ -27,8 +27,8 @@ class PID {
    *        kD
    * \param p_start_i
    *        error value that i starts within
-    * \param name
-   *        std::string of name that prints 
+   * \param name
+   *        std::string of name that prints
    */
   PID(double p, double i = 0, double d = 0, double start_i = 0, std::string name = "");
 
@@ -131,7 +131,7 @@ class PID {
    * \param print = false
    *        if true, prints when complete.
    */
-  ez::exit_output exit_condition(bool print = false);
+  ez::e_exit_output exit_condition(bool print = false);
 
   /**
    * Iterative exit condition for PID.
@@ -141,7 +141,7 @@ class PID {
    * \param print = false
    *        if true, prints when complete.
    */
-  ez::exit_output exit_condition(pros::Motor sensor, bool print = false);
+  ez::e_exit_output exit_condition(pros::Motor sensor, bool print = false);
 
   /**
    * Iterative exit condition for PID.
@@ -151,10 +151,10 @@ class PID {
    * \param print = false
    *        if true, prints when complete.
    */
-  ez::exit_output exit_condition(std::vector<pros::Motor> sensor, bool print = false);
+  ez::e_exit_output exit_condition(std::vector<pros::Motor> sensor, bool print = false);
 
   /**
-   * Sets the name of the PID that prints during exit conditions. 
+   * Sets the name of the PID that prints during exit conditions.
    *
    * \param name
    *        a string that is the name you want to print
@@ -162,7 +162,7 @@ class PID {
   void set_name(std::string name);
 
   /**
-   * PID variables. 
+   * PID variables.
    */
   double output;
   double cur;
@@ -180,5 +180,5 @@ class PID {
   void reset_timers();
   std::string name;
   bool is_name = false;
-  void print_exit(ez::exit_output exit_type);
+  void print_exit(ez::e_exit_output exit_type);
 };
diff --git a/include/EZ-Template/util.hpp b/include/EZ-Template/util.hpp
index 7cfc0ce2..e7f3b5d9 100644
--- a/include/EZ-Template/util.hpp
+++ b/include/EZ-Template/util.hpp
@@ -22,7 +22,7 @@ namespace ez {
 /**
  * Prints our branding all over your pros terminal
  */
-void print_ez_template();
+void ez_template_print();
 
 /**
  * Prints to the brain screen in one string.  Splits input between lines with
@@ -33,7 +33,7 @@ void print_ez_template();
  * @param line
  *        Starting line to print on, defaults to 0
  */
-void print_to_screen(std::string text, int line = 0);
+void screen_print(std::string text, int line = 0);
 
 /////
 //
@@ -56,12 +56,12 @@ enum e_swing { LEFT_SWING = 0,
 /**
  * Enum for PID::exit_condition outputs.
  */
-enum exit_output { RUNNING = 1,
-                   SMALL_EXIT = 2,
-                   BIG_EXIT = 3,
-                   VELOCITY_EXIT = 4,
-                   mA_EXIT = 5,
-                   ERROR_NO_CONSTANTS = 6 };
+enum e_exit_output { RUNNING = 1,
+                     SMALL_EXIT = 2,
+                     BIG_EXIT = 3,
+                     VELOCITY_EXIT = 4,
+                     mA_EXIT = 5,
+                     ERROR_NO_CONSTANTS = 6 };
 
 /**
  * Enum for split and single stick arcade.
@@ -74,7 +74,7 @@ enum e_mode { DISABLE = 0,
 /**
  * Outputs string for exit_condition enum.
  */
-std::string exit_to_string(exit_output input);
+std::string exit_to_string(e_exit_output input);
 
 namespace util {
 extern bool AUTON_RAN;
@@ -82,17 +82,17 @@ extern bool AUTON_RAN;
 /**
  * Returns 1 if input is positive and -1 if input is negative
  */
-int sgn(double input);
+int sign(double input);
 
 /**
  * Returns true if the input is < 0
  */
-bool is_reversed(double input);
+bool reversed_active(double input);
 
 /**
  * Returns input restricted to min-max threshold
  */
-double clip_num(double input, double max, double min);
+double clamp_number(double input, double max, double min);
 
 /**
  * Is the SD card plugged in?
diff --git a/src/EZ-Template/PID.cpp b/src/EZ-Template/PID.cpp
index bcecb293..5b4dcec0 100644
--- a/src/EZ-Template/PID.cpp
+++ b/src/EZ-Template/PID.cpp
@@ -62,7 +62,7 @@ double PID::compute(double current) {
     if (fabs(error) < constants.start_i)
       integral += error;
 
-    if (util::sgn(error) != util::sgn(prev_error))
+    if (util::sign(error) != util::sign(prev_error))
       integral = 0;
   }
 
@@ -86,7 +86,7 @@ void PID::set_name(std::string p_name) {
   is_name = name == "" ? false : true;
 }
 
-void PID::print_exit(ez::exit_output exit_type) {
+void PID::print_exit(ez::e_exit_output exit_type) {
   std::cout << " ";
   if (is_name)
     std::cout << name << " PID " << exit_to_string(exit_type) << " Exit.\n";
@@ -94,7 +94,7 @@ void PID::print_exit(ez::exit_output exit_type) {
     std::cout << exit_to_string(exit_type) << " Exit.\n";
 }
 
-exit_output PID::exit_condition(bool print) {
+e_exit_output PID::exit_condition(bool print) {
   // If this function is called while all exit constants are 0, print an error
   if (!(exit.small_error && exit.small_exit_time && exit.big_error && exit.big_exit_time && exit.velocity_exit_time && exit.mA_timeout)) {
     print_exit(ERROR_NO_CONSTANTS);
@@ -148,7 +148,7 @@ exit_output PID::exit_condition(bool print) {
   return RUNNING;
 }
 
-exit_output PID::exit_condition(pros::Motor sensor, bool print) {
+e_exit_output PID::exit_condition(pros::Motor sensor, bool print) {
   // If the motors are pulling too many mA, the code will timeout and set interfered to true.
   if (exit.mA_timeout != 0) {  // Check if this condition is enabled
     if (sensor.is_over_current()) {
@@ -166,7 +166,7 @@ exit_output PID::exit_condition(pros::Motor sensor, bool print) {
   return exit_condition(print);
 }
 
-exit_output PID::exit_condition(std::vector<pros::Motor> sensor, bool print) {
+e_exit_output PID::exit_condition(std::vector<pros::Motor> sensor, bool print) {
   // If the motors are pulling too many mA, the code will timeout and set interfered to true.
   if (exit.mA_timeout != 0) {  // Check if this condition is enabled
     for (auto i : sensor) {
diff --git a/src/EZ-Template/auton_selector.cpp b/src/EZ-Template/auton_selector.cpp
index aa11204f..78b16aac 100644
--- a/src/EZ-Template/auton_selector.cpp
+++ b/src/EZ-Template/auton_selector.cpp
@@ -23,7 +23,7 @@ void AutonSelector::print_selected_auton() {
   if (auton_count == 0) return;
   for (int i = 0; i < 8; i++)
     pros::lcd::clear_line(i);
-  ez::print_to_screen("Page " + std::to_string(current_auton_page + 1) + "\n" + Autons[current_auton_page].Name);
+  ez::screen_print("Page " + std::to_string(current_auton_page + 1) + "\n" + Autons[current_auton_page].Name);
 }
 
 void AutonSelector::call_selected_auton() {
diff --git a/src/EZ-Template/drive/drive.cpp b/src/EZ-Template/drive/drive.cpp
index 84ed6b33..79c99685 100644
--- a/src/EZ-Template/drive/drive.cpp
+++ b/src/EZ-Template/drive/drive.cpp
@@ -27,11 +27,11 @@ Drive::Drive(std::vector<int> left_motor_ports, std::vector<int> right_motor_por
 
   // Set ports to a global vector
   for (auto i : left_motor_ports) {
-    pros::Motor temp(abs(i), util::is_reversed(i));
+    pros::Motor temp(abs(i), util::reversed_active(i));
     left_motors.push_back(temp);
   }
   for (auto i : right_motor_ports) {
-    pros::Motor temp(abs(i), util::is_reversed(i));
+    pros::Motor temp(abs(i), util::reversed_active(i));
     right_motors.push_back(temp);
   }
 
@@ -49,8 +49,8 @@ Drive::Drive(std::vector<int> left_motor_ports, std::vector<int> right_motor_por
              int imu_port, double wheel_diameter, double ticks, double ratio,
              std::vector<int> left_tracker_ports, std::vector<int> right_tracker_ports)
     : imu(imu_port),
-      left_tracker(abs(left_tracker_ports[0]), abs(left_tracker_ports[1]), util::is_reversed(left_tracker_ports[0])),
-      right_tracker(abs(right_tracker_ports[0]), abs(right_tracker_ports[1]), util::is_reversed(right_tracker_ports[0])),
+      left_tracker(abs(left_tracker_ports[0]), abs(left_tracker_ports[1]), util::reversed_active(left_tracker_ports[0])),
+      right_tracker(abs(right_tracker_ports[0]), abs(right_tracker_ports[1]), util::reversed_active(right_tracker_ports[0])),
       left_rotation(-1),
       right_rotation(-1),
       ez_auto([this] { this->ez_auto_task(); }) {
@@ -58,11 +58,11 @@ Drive::Drive(std::vector<int> left_motor_ports, std::vector<int> right_motor_por
 
   // Set ports to a global vector
   for (auto i : left_motor_ports) {
-    pros::Motor temp(abs(i), util::is_reversed(i));
+    pros::Motor temp(abs(i), util::reversed_active(i));
     left_motors.push_back(temp);
   }
   for (auto i : right_motor_ports) {
-    pros::Motor temp(abs(i), util::is_reversed(i));
+    pros::Motor temp(abs(i), util::reversed_active(i));
     right_motors.push_back(temp);
   }
 
@@ -80,8 +80,8 @@ Drive::Drive(std::vector<int> left_motor_ports, std::vector<int> right_motor_por
              int imu_port, double wheel_diameter, double ticks, double ratio,
              std::vector<int> left_tracker_ports, std::vector<int> right_tracker_ports, int expander_smart_port)
     : imu(imu_port),
-      left_tracker({expander_smart_port, abs(left_tracker_ports[0]), abs(left_tracker_ports[1])}, util::is_reversed(left_tracker_ports[0])),
-      right_tracker({expander_smart_port, abs(right_tracker_ports[0]), abs(right_tracker_ports[1])}, util::is_reversed(right_tracker_ports[0])),
+      left_tracker({expander_smart_port, abs(left_tracker_ports[0]), abs(left_tracker_ports[1])}, util::reversed_active(left_tracker_ports[0])),
+      right_tracker({expander_smart_port, abs(right_tracker_ports[0]), abs(right_tracker_ports[1])}, util::reversed_active(right_tracker_ports[0])),
       left_rotation(-1),
       right_rotation(-1),
       ez_auto([this] { this->ez_auto_task(); }) {
@@ -89,11 +89,11 @@ Drive::Drive(std::vector<int> left_motor_ports, std::vector<int> right_motor_por
 
   // Set ports to a global vector
   for (auto i : left_motor_ports) {
-    pros::Motor temp(abs(i), util::is_reversed(i));
+    pros::Motor temp(abs(i), util::reversed_active(i));
     left_motors.push_back(temp);
   }
   for (auto i : right_motor_ports) {
-    pros::Motor temp(abs(i), util::is_reversed(i));
+    pros::Motor temp(abs(i), util::reversed_active(i));
     right_motors.push_back(temp);
   }
 
@@ -117,16 +117,16 @@ Drive::Drive(std::vector<int> left_motor_ports, std::vector<int> right_motor_por
       right_rotation(abs(right_rotation_port)),
       ez_auto([this] { this->ez_auto_task(); }) {
   is_tracker = DRIVE_ROTATION;
-  left_rotation.set_reversed(util::is_reversed(left_rotation_port));
-  right_rotation.set_reversed(util::is_reversed(right_rotation_port));
+  left_rotation.set_reversed(util::reversed_active(left_rotation_port));
+  right_rotation.set_reversed(util::reversed_active(right_rotation_port));
 
   // Set ports to a global vector
   for (auto i : left_motor_ports) {
-    pros::Motor temp(abs(i), util::is_reversed(i));
+    pros::Motor temp(abs(i), util::reversed_active(i));
     left_motors.push_back(temp);
   }
   for (auto i : right_motor_ports) {
-    pros::Motor temp(abs(i), util::is_reversed(i));
+    pros::Motor temp(abs(i), util::reversed_active(i));
     right_motors.push_back(temp);
   }
 
diff --git a/src/EZ-Template/drive/exit_conditions.cpp b/src/EZ-Template/drive/exit_conditions.cpp
index 1a22d24d..c7f12dab 100644
--- a/src/EZ-Template/drive/exit_conditions.cpp
+++ b/src/EZ-Template/drive/exit_conditions.cpp
@@ -27,8 +27,8 @@ void Drive::wait_drive() {
   pros::delay(util::DELAY_TIME);
 
   if (mode == DRIVE) {
-    exit_output left_exit = RUNNING;
-    exit_output right_exit = RUNNING;
+    e_exit_output left_exit = RUNNING;
+    e_exit_output right_exit = RUNNING;
     while (left_exit == RUNNING || right_exit == RUNNING) {
       left_exit = left_exit != RUNNING ? left_exit : leftPID.exit_condition(left_motors[0]);
       right_exit = right_exit != RUNNING ? right_exit : rightPID.exit_condition(right_motors[0]);
@@ -43,7 +43,7 @@ void Drive::wait_drive() {
 
   // Turn Exit
   else if (mode == TURN) {
-    exit_output turn_exit = RUNNING;
+    e_exit_output turn_exit = RUNNING;
     while (turn_exit == RUNNING) {
       turn_exit = turn_exit != RUNNING ? turn_exit : turnPID.exit_condition({left_motors[0], right_motors[0]});
       pros::delay(util::DELAY_TIME);
@@ -57,7 +57,7 @@ void Drive::wait_drive() {
 
   // Swing Exit
   else if (mode == SWING) {
-    exit_output swing_exit = RUNNING;
+    e_exit_output swing_exit = RUNNING;
     pros::Motor& sensor = current_swing == ez::LEFT_SWING ? left_motors[0] : right_motors[0];
     while (swing_exit == RUNNING) {
       swing_exit = swing_exit != RUNNING ? swing_exit : swingPID.exit_condition(sensor);
@@ -79,18 +79,18 @@ void Drive::wait_until_drive(double target) {
     int r_tar = r_start + target;
     int l_error = l_tar - left_sensor();
     int r_error = r_tar - right_sensor();
-    int l_sgn = util::sgn(l_error);
-    int r_sgn = util::sgn(r_error);
+    int l_sgn = util::sign(l_error);
+    int r_sgn = util::sign(r_error);
 
-    exit_output left_exit = RUNNING;
-    exit_output right_exit = RUNNING;
+    e_exit_output left_exit = RUNNING;
+    e_exit_output right_exit = RUNNING;
 
     while (true) {
       l_error = l_tar - left_sensor();
       r_error = r_tar - right_sensor();
 
       // Before robot has reached target, use the exit conditions to avoid getting stuck in this while loop
-      if (util::sgn(l_error) == l_sgn || util::sgn(r_error) == r_sgn) {
+      if (util::sign(l_error) == l_sgn || util::sign(r_error) == r_sgn) {
         if (left_exit == RUNNING || right_exit == RUNNING) {
           left_exit = left_exit != RUNNING ? left_exit : leftPID.exit_condition(left_motors[0]);
           right_exit = right_exit != RUNNING ? right_exit : rightPID.exit_condition(right_motors[0]);
@@ -105,7 +105,7 @@ void Drive::wait_until_drive(double target) {
         }
       }
       // Once we've past target, return
-      else if (util::sgn(l_error) != l_sgn || util::sgn(r_error) != r_sgn) {
+      else if (util::sign(l_error) != l_sgn || util::sign(r_error) != r_sgn) {
         if (print_toggle) std::cout << "  Drive Wait Until Exit.\n";
         return;
       }
@@ -135,10 +135,10 @@ void Drive::wait_until(double target) {
   else if (mode == TURN || mode == SWING) {
     // Calculate error between current and target (target needs to be an in between position)
     int g_error = target - get_gyro();
-    int g_sgn = util::sgn(g_error);
+    int g_sgn = util::sign(g_error);
 
-    exit_output turn_exit = RUNNING;
-    exit_output swing_exit = RUNNING;
+    e_exit_output turn_exit = RUNNING;
+    e_exit_output swing_exit = RUNNING;
 
     pros::Motor& sensor = current_swing == ez::LEFT_SWING ? left_motors[0] : right_motors[0];
 
@@ -148,7 +148,7 @@ void Drive::wait_until(double target) {
       // If turning...
       if (mode == TURN) {
         // Before robot has reached target, use the exit conditions to avoid getting stuck in this while loop
-        if (util::sgn(g_error) == g_sgn) {
+        if (util::sign(g_error) == g_sgn) {
           if (turn_exit == RUNNING) {
             turn_exit = turn_exit != RUNNING ? turn_exit : turnPID.exit_condition({left_motors[0], right_motors[0]});
             pros::delay(util::DELAY_TIME);
@@ -162,7 +162,7 @@ void Drive::wait_until(double target) {
           }
         }
         // Once we've past target, return
-        else if (util::sgn(g_error) != g_sgn) {
+        else if (util::sign(g_error) != g_sgn) {
           if (print_toggle) std::cout << "  Turn Wait Until Exit.\n";
           return;
         }
@@ -171,7 +171,7 @@ void Drive::wait_until(double target) {
       // If swinging...
       else {
         // Before robot has reached target, use the exit conditions to avoid getting stuck in this while loop
-        if (util::sgn(g_error) == g_sgn) {
+        if (util::sign(g_error) == g_sgn) {
           if (swing_exit == RUNNING) {
             swing_exit = swing_exit != RUNNING ? swing_exit : swingPID.exit_condition(sensor);
             pros::delay(util::DELAY_TIME);
@@ -185,7 +185,7 @@ void Drive::wait_until(double target) {
           }
         }
         // Once we've past target, return
-        else if (util::sgn(g_error) != g_sgn) {
+        else if (util::sign(g_error) != g_sgn) {
           if (print_toggle) std::cout << "  Swing Wait Until Exit.\n";
           return;
         }
diff --git a/src/EZ-Template/drive/pid_tasks.cpp b/src/EZ-Template/drive/pid_tasks.cpp
index 59d90b50..2559b04f 100644
--- a/src/EZ-Template/drive/pid_tasks.cpp
+++ b/src/EZ-Template/drive/pid_tasks.cpp
@@ -45,8 +45,8 @@ void Drive::drive_pid_task() {
   double r_slew_out = slew_calculate(right_slew, right_sensor());
 
   // Clip leftPID and rightPID to slew (if slew is disabled, it returns max_speed)
-  double l_drive_out = util::clip_num(leftPID.output, l_slew_out, -l_slew_out);
-  double r_drive_out = util::clip_num(rightPID.output, r_slew_out, -r_slew_out);
+  double l_drive_out = util::clamp_number(leftPID.output, l_slew_out, -l_slew_out);
+  double r_drive_out = util::clamp_number(rightPID.output, r_slew_out, -r_slew_out);
 
   // Toggle heading
   double gyro_out = heading_on ? headingPID.output : 0;
@@ -66,12 +66,12 @@ void Drive::turn_pid_task() {
   turnPID.compute(get_gyro());
 
   // Clip gyroPID to max speed
-  double gyro_out = util::clip_num(turnPID.output, max_speed, -max_speed);
+  double gyro_out = util::clamp_number(turnPID.output, max_speed, -max_speed);
 
   // Clip the speed of the turn when the robot is within StartI, only do this when target is larger then StartI
   if (turnPID.constants.ki != 0 && (fabs(turnPID.get_target()) > turnPID.constants.start_i && fabs(turnPID.error) < turnPID.constants.start_i)) {
     if (get_turn_min() != 0)
-      gyro_out = util::clip_num(gyro_out, get_turn_min(), -get_turn_min());
+      gyro_out = util::clamp_number(gyro_out, get_turn_min(), -get_turn_min());
   }
 
   // Set motors
@@ -85,12 +85,12 @@ void Drive::swing_pid_task() {
   swingPID.compute(get_gyro());
 
   // Clip swingPID to max speed
-  double swing_out = util::clip_num(swingPID.output, max_speed, -max_speed);
+  double swing_out = util::clamp_number(swingPID.output, max_speed, -max_speed);
 
   // Clip the speed of the turn when the robot is within StartI, only do this when target is larger then StartI
   if (swingPID.constants.ki != 0 && (fabs(swingPID.get_target()) > swingPID.constants.start_i && fabs(swingPID.error) < swingPID.constants.start_i)) {
     if (get_swing_min() != 0)
-      swing_out = util::clip_num(swing_out, get_swing_min(), -get_swing_min());
+      swing_out = util::clamp_number(swing_out, get_swing_min(), -get_swing_min());
   }
 
   if (drive_toggle) {
diff --git a/src/EZ-Template/drive/set_pid.cpp b/src/EZ-Template/drive/set_pid.cpp
index c155034e..639a8634 100644
--- a/src/EZ-Template/drive/set_pid.cpp
+++ b/src/EZ-Template/drive/set_pid.cpp
@@ -34,7 +34,7 @@ void Drive::set_heading_pid_constants(double p, double i, double d, double p_sta
 
 // Updates max speed
 void Drive::set_max_speed(int speed) {
-  max_speed = util::clip_num(abs(speed), 127, -127);
+  max_speed = util::clamp_number(abs(speed), 127, -127);
 }
 
 void Drive::reset_pid_targets() {
@@ -125,7 +125,7 @@ void Drive::set_turn_pid(double target, int speed) {
 void Drive::set_relative_turn_pid(double target, int speed) {
   // Compute absolute target by adding to current heading
   double absolute_target = turnPID.get_target() + target;
-  
+
   // Print targets
   if (print_toggle) printf("Turn Started... Target Value: %f\n", absolute_target);
 
diff --git a/src/EZ-Template/drive/slew.cpp b/src/EZ-Template/drive/slew.cpp
index 9159af08..f4f7bfeb 100644
--- a/src/EZ-Template/drive/slew.cpp
+++ b/src/EZ-Template/drive/slew.cpp
@@ -25,7 +25,7 @@ void Drive::slew_initialize(slew_ &input, bool slew_on, double max_speed, double
   input.enabled = slew_on;
   input.max_speed = max_speed;
 
-  input.sign = util::sgn(target - current);
+  input.sign = util::sign(target - current);
   input.x_intercept = start + ((SLEW_DISTANCE[backwards] * input.sign));
   input.y_intercept = max_speed * input.sign;
   input.slope = ((input.sign * SLEW_MIN_POWER[backwards]) - input.y_intercept) / (input.x_intercept - 0 - start);  // y2-y1 / x2-x1
@@ -39,11 +39,11 @@ double Drive::slew_calculate(slew_ &input, double current) {
     input.error = input.x_intercept - current;
 
     // When the sign of error flips, slew is completed
-    if (util::sgn(input.error) != input.sign)
+    if (util::sign(input.error) != input.sign)
       input.enabled = false;
 
     // Return y=mx+b
-    else if (util::sgn(input.error) == input.sign)
+    else if (util::sign(input.error) == input.sign)
       return ((input.slope * input.error) + input.y_intercept) * input.sign;
   }
   // When slew is completed, return max speed
diff --git a/src/EZ-Template/util.cpp b/src/EZ-Template/util.cpp
index dd3f30b9..2eea60ce 100644
--- a/src/EZ-Template/util.cpp
+++ b/src/EZ-Template/util.cpp
@@ -11,7 +11,7 @@ pros::Controller master(pros::E_CONTROLLER_MASTER);
 namespace ez {
 int mode = DISABLE;
 
-void print_ez_template() {
+void ez_template_print() {
   std::cout << R"(
 
 
@@ -51,8 +51,8 @@ std::string get_rest_of_the_word(std::string text, int position) {
   }
   return word;
 }
-//All iance\n\nWE WIN THESE!!!!! 
-void print_to_screen(std::string text, int line) {
+// All iance\n\nWE WIN THESE!!!!!
+void screen_print(std::string text, int line) {
   int CurrAutoLine = line;
   std::vector<string> texts = {};
   std::string temp = "";
@@ -64,9 +64,9 @@ void print_to_screen(std::string text, int line) {
         texts.push_back(temp);
         temp = text[i];
       } else {
-        int size = last_word.length(); 
+        int size = last_word.length();
 
-        auto rest_of_word = get_rest_of_the_word(text, i); 
+        auto rest_of_word = get_rest_of_the_word(text, i);
         temp.erase(temp.length() - size, size);
         texts.push_back(temp);
         last_word += rest_of_word;
@@ -76,7 +76,6 @@ void print_to_screen(std::string text, int line) {
           texts.push_back(temp);
           break;
         }
-        
       }
     }
     if (i >= text.length() - 1) {
@@ -103,7 +102,7 @@ void print_to_screen(std::string text, int line) {
   }
 }
 
-std::string exit_to_string(exit_output input) {
+std::string exit_to_string(e_exit_output input) {
   switch ((int)input) {
     case RUNNING:
       return "Running";
@@ -126,12 +125,12 @@ std::string exit_to_string(exit_output input) {
 namespace util {
 bool AUTON_RAN = true;
 
-bool is_reversed(double input) {
+bool reversed_active(double input) {
   if (input < 0) return true;
   return false;
 }
 
-int sgn(double input) {
+int sign(double input) {
   if (input > 0)
     return 1;
   else if (input < 0)
@@ -139,7 +138,7 @@ int sgn(double input) {
   return 0;
 }
 
-double clip_num(double input, double max, double min) {
+double clamp_number(double input, double max, double min) {
   if (input > max)
     return max;
   else if (input < min)
diff --git a/src/main.cpp b/src/main.cpp
index 5534f3d0..50acddc2 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -52,7 +52,7 @@ Drive chassis (
  */
 void initialize() {
   // Print our branding over your terminal :D
-  ez::print_ez_template();
+  ez::ez_template_print();
   
   pros::delay(500); // Stop the user from doing anything while legacy ports configure.