diff --git a/src/main/java/org/murraybridgebunyips/bunyipslib/Motor.java b/src/main/java/org/murraybridgebunyips/bunyipslib/Motor.java
index 6e54da478..d38e20f47 100644
--- a/src/main/java/org/murraybridgebunyips/bunyipslib/Motor.java
+++ b/src/main/java/org/murraybridgebunyips/bunyipslib/Motor.java
@@ -237,6 +237,7 @@ public void setVelocity(double vel, AngleUnit unit) {
      */
     @Override
     public void setPower(double power) {
+        // TODO: currently not working, needs testing
         switch (mode) {
             case RUN_TO_POSITION:
                 if (rtpController == null) {
diff --git a/src/main/java/org/murraybridgebunyips/bunyipslib/drive/MecanumDrive.java b/src/main/java/org/murraybridgebunyips/bunyipslib/drive/MecanumDrive.java
index 84218bd9a..c27d068d2 100644
--- a/src/main/java/org/murraybridgebunyips/bunyipslib/drive/MecanumDrive.java
+++ b/src/main/java/org/murraybridgebunyips/bunyipslib/drive/MecanumDrive.java
@@ -60,6 +60,15 @@ public MecanumDrive(DriveConstants constants, MecanumCoefficients mecanumCoeffic
         updatePoseFromMemory();
     }
 
+//    public MecanumDrive useFallbackLocalizer() {
+//        return this;
+//    }
+//
+//    public MecanumDrive useFallbackLocalizer(Localizer fallback) {
+//        // TODO: part of SwitchableLocalizer, may need to reconsider Localizers for drives as they are common
+//        return this;
+//    }
+
     /**
      * Reset the IMU's yaw to 0.
      */
diff --git a/src/main/java/org/murraybridgebunyips/bunyipslib/roadrunner/drive/localizers/SwitchableLocalizer.java b/src/main/java/org/murraybridgebunyips/bunyipslib/roadrunner/drive/localizers/SwitchableLocalizer.java
new file mode 100644
index 000000000..527a9578c
--- /dev/null
+++ b/src/main/java/org/murraybridgebunyips/bunyipslib/roadrunner/drive/localizers/SwitchableLocalizer.java
@@ -0,0 +1,10 @@
+package org.murraybridgebunyips.bunyipslib.roadrunner.drive.localizers;
+
+/**
+ * SwitchableLocalizer is a composite localizer that allows self-tests to be performed, and to allow a "fallback"
+ * localizer to kick in if the self-test fails.
+ *
+ * @author Lucas Bubner, 2024
+ */
+/* TODO: WIP */ class SwitchableLocalizer {
+}
diff --git a/src/main/java/org/murraybridgebunyips/bunyipslib/subsystems/HoldableActuator.java b/src/main/java/org/murraybridgebunyips/bunyipslib/subsystems/HoldableActuator.java
index 6541c4d3f..8e61beb68 100644
--- a/src/main/java/org/murraybridgebunyips/bunyipslib/subsystems/HoldableActuator.java
+++ b/src/main/java/org/murraybridgebunyips/bunyipslib/subsystems/HoldableActuator.java
@@ -384,7 +384,7 @@ public class Tasks {
          * @return a task to move the actuator
          */
         public Task control(DoubleSupplier powerSupplier) {
-            return new ContinuousTask(() -> setPower(powerSupplier.getAsDouble()))
+            return new ContinuousTask(() -> HoldableActuator.this.setPower(powerSupplier.getAsDouble()))
                     .onSubsystem(HoldableActuator.this, false)
                     .withName("Supplier Control");
         }
@@ -396,7 +396,7 @@ public Task control(DoubleSupplier powerSupplier) {
          * @return a task to set the power
          */
         public Task setPower(double p) {
-            return new RunTask(() -> setPower(p))
+            return new RunTask(() -> HoldableActuator.this.setPower(p))
                     .onSubsystem(HoldableActuator.this, false)
                     .withName("Set Power");
         }