diff --git a/include/VOSS/chassis/AbstractChassis.hpp b/include/VOSS/chassis/AbstractChassis.hpp
index b0b54d5..3711f8e 100644
--- a/include/VOSS/chassis/AbstractChassis.hpp
+++ b/include/VOSS/chassis/AbstractChassis.hpp
@@ -12,30 +12,32 @@
 
 namespace voss::chassis {
 
+using controller_ptr = std::shared_ptr<controller::AbstractController>;
+
 class AbstractChassis {
 
   protected:
     pros::Mutex m;
-    controller::AbstractController* default_controller;
+    controller_ptr default_controller;
 
-    void move_task(controller::AbstractController* controller, double max,
+    void move_task(controller_ptr controller, double max,
                    voss::Flags flags, double exitTime);
 
-    void turn_task(controller::AbstractController* controller, double max,
+    void turn_task(controller_ptr controller, double max,
                    voss::Flags flags, double exitTime);
 
   public:
-    AbstractChassis(controller::AbstractController& default_controller);
+    AbstractChassis(controller_ptr default_controller);
 
     virtual void tank(double left_speed, double right_speed) = 0;
     virtual void arcade(double forward_speed, double turn_speed) = 0;
 
     virtual bool execute(ChassisCommand cmd, double max) = 0;
 
-    void move(Point target, controller::AbstractController* controller,
+    void move(Point target, controller_ptr controller,
               double max = 100.0, voss::Flags flags = voss::Flags::NONE,
               double exitTime = 22500);
-    void move(Pose target, controller::AbstractController* controller,
+    void move(Pose target, controller_ptr controller,
               double max = 100.0, voss::Flags flags = voss::Flags::NONE,
               double exitTime = 22500);
     void move(Point target, double max = 100.0,
@@ -43,12 +45,12 @@ class AbstractChassis {
     void move(Pose target, double max = 100.0,
               voss::Flags flags = voss::Flags::NONE, double exitTime = 22500);
 
-    void turn(double target, controller::AbstractController* controller,
+    void turn(double target, controller_ptr controller,
               double max = 100.0, voss::Flags flags = voss::Flags::NONE,
               double exitTime = 22500);
     void turn(double target, double max = 100.0,
               voss::Flags flags = voss::Flags::NONE, double exitTime = 22500);
-    void turn_to(Point target, controller::AbstractController* controller,
+    void turn_to(Point target, controller_ptr controller,
                  double max = 100.0, voss::Flags flags = voss::Flags::NONE,
                  double exitTime = 22500);
     void turn_to(Point target, double max = 100.0,
diff --git a/include/VOSS/chassis/DiffChassis.hpp b/include/VOSS/chassis/DiffChassis.hpp
index c6822d7..2e832ce 100644
--- a/include/VOSS/chassis/DiffChassis.hpp
+++ b/include/VOSS/chassis/DiffChassis.hpp
@@ -22,7 +22,7 @@ class DiffChassis : public AbstractChassis {
   public:
     DiffChassis(std::initializer_list<int8_t> left_motors,
                 std::initializer_list<int8_t> right_motors,
-                controller::AbstractController& default_controller,
+                controller_ptr default_controller,
                 double slew_step = 8);
 
     void tank(double left_speed, double right_speed);
diff --git a/include/VOSS/controller/ArcPIDControllerBuilder.hpp b/include/VOSS/controller/ArcPIDControllerBuilder.hpp
index 5dd844c..668eba3 100644
--- a/include/VOSS/controller/ArcPIDControllerBuilder.hpp
+++ b/include/VOSS/controller/ArcPIDControllerBuilder.hpp
@@ -27,7 +27,7 @@ class ArcPIDControllerBuilder {
     ArcPIDControllerBuilder& with_settle_time(double time);
     ArcPIDControllerBuilder& with_slew(double slew);
 
-    ArcPIDController build();
+    std::shared_ptr<ArcPIDController> build();
 };
 
 } // namespace voss::controller
\ No newline at end of file
diff --git a/include/VOSS/controller/BoomerangControllerBuilder.hpp b/include/VOSS/controller/BoomerangControllerBuilder.hpp
index 142088c..ef00a07 100644
--- a/include/VOSS/controller/BoomerangControllerBuilder.hpp
+++ b/include/VOSS/controller/BoomerangControllerBuilder.hpp
@@ -25,7 +25,7 @@ class BoomerangControllerBuilder {
     BoomerangControllerBuilder& with_lead_pct(double lead_pct);
     BoomerangControllerBuilder& with_settle_time(double time);
 
-    BoomerangController build();
+    std::shared_ptr<BoomerangController> build();
 };
 
 } // namespace voss::controller
\ No newline at end of file
diff --git a/include/VOSS/controller/PIDControllerBuilder.hpp b/include/VOSS/controller/PIDControllerBuilder.hpp
index 16942b2..c4152cf 100644
--- a/include/VOSS/controller/PIDControllerBuilder.hpp
+++ b/include/VOSS/controller/PIDControllerBuilder.hpp
@@ -24,7 +24,7 @@ class PIDControllerBuilder {
     PIDControllerBuilder& with_min_error(double error);
     PIDControllerBuilder& with_settle_time(double time);
 
-    PIDController build();
+    std::shared_ptr<PIDController> build();
 };
 
 } // namespace voss::controller
\ No newline at end of file
diff --git a/include/VOSS/controller/SwingControllerBuilder.hpp b/include/VOSS/controller/SwingControllerBuilder.hpp
index 5a66c86..2f0d65a 100644
--- a/include/VOSS/controller/SwingControllerBuilder.hpp
+++ b/include/VOSS/controller/SwingControllerBuilder.hpp
@@ -22,7 +22,7 @@ class SwingControllerBuilder {
     SwingControllerBuilder& with_settle_time(double time);
     //    SwingControllerBuilder& with_slew(double slew);
 
-    SwingController build();
+    std::shared_ptr<SwingController> build();
 };
 
 } // namespace voss::controller
\ No newline at end of file
diff --git a/src/VOSS/chassis/AbstractChassis.cpp b/src/VOSS/chassis/AbstractChassis.cpp
index f97b092..8fdcdf6 100644
--- a/src/VOSS/chassis/AbstractChassis.cpp
+++ b/src/VOSS/chassis/AbstractChassis.cpp
@@ -5,11 +5,11 @@
 namespace voss::chassis {
 
 AbstractChassis::AbstractChassis(
-    controller::AbstractController& default_controller) {
-    this->default_controller = &default_controller;
+    controller_ptr default_controller) {
+    this->default_controller = default_controller;
 }
 
-void AbstractChassis::move_task(controller::AbstractController* controller,
+void AbstractChassis::move_task(controller_ptr controller,
                                 double max, voss::Flags flags,
                                 double exitTime) {
     int t = 0;
@@ -42,7 +42,7 @@ void AbstractChassis::move_task(controller::AbstractController* controller,
     // this->m.give();
 }
 
-void AbstractChassis::turn_task(controller::AbstractController* controller,
+void AbstractChassis::turn_task(controller_ptr controller,
                                 double max, voss::Flags flags,
                                 double exitTime) {
     int t = 0;
@@ -83,14 +83,14 @@ void AbstractChassis::move(Pose target, double max, voss::Flags flags,
 }
 
 void AbstractChassis::move(Point target,
-                           controller::AbstractController* controller,
+                           controller_ptr controller,
                            double max, voss::Flags flags, double exitTime) {
     Pose pose_target = Pose{target.x, target.y, 361};
     this->move(pose_target, controller, max, flags, exitTime);
 }
 
 void AbstractChassis::move(Pose target,
-                           controller::AbstractController* controller,
+                           controller_ptr controller,
                            double max, voss::Flags flags, double exitTime) {
     // this->m.take();
 
@@ -105,7 +105,7 @@ void AbstractChassis::turn(double target, double max, voss::Flags flags,
 }
 
 void AbstractChassis::turn(double target,
-                           controller::AbstractController* controller,
+                           controller_ptr controller,
                            double max, voss::Flags flags, double exitTime) {
     // this->m.take();
 
@@ -121,7 +121,7 @@ void AbstractChassis::turn_to(Point target, double max, voss::Flags flags,
 }
 
 void AbstractChassis::turn_to(Point target,
-                              controller::AbstractController* controller,
+                              controller_ptr controller,
                               double max, voss::Flags flags, double exitTime) {
     // this->m.take();
 
diff --git a/src/VOSS/chassis/DiffChassis.cpp b/src/VOSS/chassis/DiffChassis.cpp
index 2f32041..610861a 100644
--- a/src/VOSS/chassis/DiffChassis.cpp
+++ b/src/VOSS/chassis/DiffChassis.cpp
@@ -24,7 +24,7 @@ double DiffChassis::slew(double target, bool is_left) {
 
 DiffChassis::DiffChassis(std::initializer_list<int8_t> left_motors,
                          std::initializer_list<int8_t> right_motors,
-                         controller::AbstractController& default_controller,
+                         controller_ptr default_controller,
                          double slew_step)
     : AbstractChassis(default_controller) {
     this->left_motors = std::make_unique<pros::MotorGroup>(left_motors);
diff --git a/src/VOSS/controller/ArcPIDControllerBuilder.cpp b/src/VOSS/controller/ArcPIDControllerBuilder.cpp
index c12775a..fb24e41 100644
--- a/src/VOSS/controller/ArcPIDControllerBuilder.cpp
+++ b/src/VOSS/controller/ArcPIDControllerBuilder.cpp
@@ -50,8 +50,8 @@ ArcPIDControllerBuilder& ArcPIDControllerBuilder::with_slew(double slew) {
     return *this;
 }
 
-ArcPIDController ArcPIDControllerBuilder::build() {
-    return this->ctrl;
+std::shared_ptr<ArcPIDController> ArcPIDControllerBuilder::build() {
+    return std::make_shared<ArcPIDController>(this->ctrl);
 }
 
 } // namespace voss::controller
\ No newline at end of file
diff --git a/src/VOSS/controller/BoomerangControllerBuilder.cpp b/src/VOSS/controller/BoomerangControllerBuilder.cpp
index 7700619..4f31ce4 100644
--- a/src/VOSS/controller/BoomerangControllerBuilder.cpp
+++ b/src/VOSS/controller/BoomerangControllerBuilder.cpp
@@ -70,8 +70,8 @@ BoomerangControllerBuilder::with_settle_time(double time) {
     return *this;
 }
 
-BoomerangController BoomerangControllerBuilder::build() {
-    return this->ctrl;
+std::shared_ptr<BoomerangController> BoomerangControllerBuilder::build() {
+    return std::make_shared<BoomerangController>(this->ctrl);
 }
 
 } // namespace voss::controller
\ No newline at end of file
diff --git a/src/VOSS/controller/PIDControllerBuilder.cpp b/src/VOSS/controller/PIDControllerBuilder.cpp
index a876abd..9690ea5 100644
--- a/src/VOSS/controller/PIDControllerBuilder.cpp
+++ b/src/VOSS/controller/PIDControllerBuilder.cpp
@@ -58,8 +58,8 @@ PIDControllerBuilder& PIDControllerBuilder::with_settle_time(double time) {
     return *this;
 }
 
-PIDController PIDControllerBuilder::build() {
-    return this->ctrl;
+std::shared_ptr<PIDController> PIDControllerBuilder::build() {
+    return std::make_shared<PIDController>(this->ctrl);
 }
 
 } // namespace voss::controller
\ No newline at end of file
diff --git a/src/VOSS/controller/SwingControllerBuilder.cpp b/src/VOSS/controller/SwingControllerBuilder.cpp
index d85b08e..d982164 100644
--- a/src/VOSS/controller/SwingControllerBuilder.cpp
+++ b/src/VOSS/controller/SwingControllerBuilder.cpp
@@ -36,8 +36,8 @@ SwingControllerBuilder& SwingControllerBuilder::with_settle_time(double time) {
     return *this;
 }
 
-SwingController SwingControllerBuilder::build() {
-    return this->ctrl;
+std::shared_ptr<SwingController> SwingControllerBuilder::build() {
+    return std::make_shared<SwingController>(this->ctrl);
 }
 
 } // namespace voss::controller
\ No newline at end of file
diff --git a/src/main.cpp b/src/main.cpp
index 22bfa64..28f0ca6 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -108,6 +108,7 @@ void opcontrol() {
         if (master.get_digital_new_press(DIGITAL_Y)) {
             odom->set_pose(voss::Pose{0.0, 0.0, 0});
             chassis.turn(180, 100, voss::Flags::NONE, 10000);
+            chassis.turn(0, swing);
         }
 
         pros::lcd::clear_line(1);