diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardware.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardware.java
index 231c2e09d19..9af5d3e1584 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardware.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardware.java
@@ -3,19 +3,31 @@
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 
-public class Hardware {
+import org.firstinspires.ftc.teamcode.hardware.HardwareName;
+import org.firstinspires.ftc.teamcode.hardware.Reversed;
+
+public class Hardware extends HardwareMapper {
     // left = left motor = exp 0 frontLeft
     // right = right motor = ctr 0 frontRight
     // center = ctr 3 intake
 
-    public final DcMotor frontLeft;
-    public final DcMotor frontRight;
-    public final DcMotor backLeft;
-    public final DcMotor backRight;
-
-    public final DcMotor encoderLeft;
-    public final DcMotor encoderCenter;
-    public final DcMotor encoderRight;
+    @HardwareName("frontLeft")
+    @Reversed
+    public DcMotor frontLeft;
+    @HardwareName("frontRight")
+    public DcMotor frontRight;
+    @HardwareName("backLeft")
+    @Reversed
+    public DcMotor backLeft;
+    @HardwareName("backRight")
+    public DcMotor backRight;
+
+    @HardwareName("frontLeft")
+    public DcMotor encoderLeft;
+    @HardwareName("intake")
+    public DcMotor encoderCenter;
+    @HardwareName("frontRight")
+    public DcMotor encoderRight;
 
     private void resetEncoder(DcMotor target) {
         DcMotor.RunMode mode = target.getMode();
@@ -24,6 +36,7 @@ private void resetEncoder(DcMotor target) {
     }
 
     public Hardware(HardwareMap hwMap) {
+        super(hwMap);
         frontLeft = hwMap.dcMotor.get("frontLeft");
         frontRight = hwMap.dcMotor.get("frontRight");
         backLeft = hwMap.dcMotor.get("backLeft");
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/HardwareMapper.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/HardwareMapper.java
new file mode 100644
index 00000000000..22188c4fe05
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/HardwareMapper.java
@@ -0,0 +1,30 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+import org.firstinspires.ftc.teamcode.hardware.HardwareName;
+
+import java.lang.reflect.Field;
+
+public abstract class HardwareMapper {
+    public HardwareMapper(HardwareMap map) {
+        Field[] fields = this.getClass().getDeclaredFields();
+        for (Field field : fields) {
+            boolean accessible = field.isAccessible();
+            if (!accessible) field.setAccessible(true);
+            try {
+                Class<?> targetType = field.getType();
+                HardwareName annotation = field.getAnnotation(HardwareName.class);
+                if (annotation == null) continue;
+                field.set(this, map.get(targetType, field.getName()));
+            } catch (IllegalAccessException e) {
+                throw new RuntimeException(e);
+            } catch (IllegalArgumentException e) {
+                throw new RuntimeException("Field " + field.getName() + " typecast failed");
+            } finally {
+                // lock the field back if it was locked
+                field.setAccessible(accessible);
+            }
+        }
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/HardwareName.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/HardwareName.java
similarity index 53%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/HardwareName.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/HardwareName.java
index 6ec070dfe72..6134c6ebd65 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/HardwareName.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/HardwareName.java
@@ -1,9 +1,12 @@
-package org.firstinspires.ftc.teamcode;
+package org.firstinspires.ftc.teamcode.hardware;
 
+import java.lang.annotation.ElementType;
 import java.lang.annotation.Retention;
 import java.lang.annotation.RetentionPolicy;
+import java.lang.annotation.Target;
 
 @Retention(RetentionPolicy.RUNTIME)
+@Target(ElementType.FIELD)
 public @interface HardwareName {
     String value();
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Reversed.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Reversed.java
new file mode 100644
index 00000000000..123682038c0
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Reversed.java
@@ -0,0 +1,10 @@
+package org.firstinspires.ftc.teamcode.hardware;
+
+import java.lang.annotation.ElementType;
+import java.lang.annotation.Retention;
+import java.lang.annotation.RetentionPolicy;
+import java.lang.annotation.Target;
+
+@Retention(RetentionPolicy.RUNTIME)
+@Target(ElementType.FIELD)
+public @interface Reversed {}