diff --git a/src/hub/controllers/OdometryController.ts b/src/hub/controllers/OdometryController.ts
index 81096eeb..13a5c9d7 100644
--- a/src/hub/controllers/OdometryController.ts
+++ b/src/hub/controllers/OdometryController.ts
@@ -275,7 +275,13 @@ export default class OdometryController implements TabController {
       }
 
       // Get pose data
-      let numberArrayFormat: "Translation2d" | "Translation3d" | "Pose2d" | "Pose3d" = "Pose2d";
+      let numberArrayFormat:
+        | "Translation2d"
+        | "Translation3d"
+        | "DifferentialSample"
+        | "SwerveSample"
+        | "Pose2d"
+        | "Pose3d" = "Pose2d";
       let numberArrayUnits: "radians" | "degrees" = "radians";
       if ("format" in source.options) {
         let formatRaw = source.options.format;
@@ -283,7 +289,9 @@ export default class OdometryController implements TabController {
           formatRaw === "Pose2d" ||
           formatRaw === "Pose3d" ||
           formatRaw === "Translation2d" ||
-          formatRaw === "Translation3d"
+          formatRaw === "Translation3d" ||
+          formatRaw === "DifferentialSample" ||
+          formatRaw === "SwerveSample"
             ? formatRaw
             : "Pose2d";
       }
diff --git a/src/hub/controllers/OdometryController_Config.ts b/src/hub/controllers/OdometryController_Config.ts
index f262f09e..caa17de5 100644
--- a/src/hub/controllers/OdometryController_Config.ts
+++ b/src/hub/controllers/OdometryController_Config.ts
@@ -23,7 +23,11 @@ const OdometryController_Config: SourceListConfig = {
         "Transform2d",
         "Transform3d",
         "Transform2d[]",
-        "Transform3d[]"
+        "Transform3d[]",
+        "DifferentialSample",
+        "DifferentialSample[]",
+        "SwerveSample",
+        "SwerveSample[]"
       ],
       showDocs: true,
       options: [],
@@ -79,7 +83,11 @@ const OdometryController_Config: SourceListConfig = {
         "Transform2d",
         "Transform3d",
         "Transform2d[]",
-        "Transform3d[]"
+        "Transform3d[]",
+        "DifferentialSample",
+        "DifferentialSample[]",
+        "SwerveSample",
+        "SwerveSample[]"
       ],
       showDocs: true,
       options: [
@@ -174,7 +182,11 @@ const OdometryController_Config: SourceListConfig = {
         "Translation2d",
         "Translation3d",
         "Translation2d[]",
-        "Translation3d[]"
+        "Translation3d[]",
+        "DifferentialSample",
+        "DifferentialSample[]",
+        "SwerveSample",
+        "SwerveSample[]"
       ],
       showDocs: true,
       options: [
@@ -348,7 +360,9 @@ const OdometryController_Config: SourceListConfig = {
         "Transform3d[]",
         "Translation2d[]",
         "Translation3d[]",
-        "Trajectory"
+        "Trajectory",
+        "DifferentialSample[]",
+        "SwerveSample[]"
       ],
       showDocs: true,
       options: [
@@ -428,6 +442,10 @@ const OdometryController_Config: SourceListConfig = {
         "Translation3d",
         "Translation2d[]",
         "Translation3d[]",
+        "DifferentialSample",
+        "DifferentialSample[]",
+        "SwerveSample",
+        "SwerveSample[]",
         "ZebraTranslation"
       ],
       showDocs: true,
@@ -501,7 +519,11 @@ const OdometryController_Config: SourceListConfig = {
         "Transform3d",
         "Transform2d[]",
         "Transform3d[]",
-        "Trajectory"
+        "Trajectory",
+        "DifferentialSample",
+        "DifferentialSample[]",
+        "SwerveSample",
+        "SwerveSample[]"
       ],
       showDocs: true,
       options: [
diff --git a/src/shared/geometry.ts b/src/shared/geometry.ts
index e8931fbd..ce6dc75d 100644
--- a/src/shared/geometry.ts
+++ b/src/shared/geometry.ts
@@ -161,7 +161,7 @@ export function grabPosesAuto(
   logType: string,
   timestamp: number,
   uuid?: string,
-  numberArrayFormat?: "Translation2d" | "Translation3d" | "Pose2d" | "Pose3d",
+  numberArrayFormat?: "Translation2d" | "Translation3d" | "Pose2d" | "Pose3d" | "DifferentialSample" | "SwerveSample",
   numberArrayUnits?: "radians" | "degrees",
   zebraOrigin?: "blue" | "red",
   zebraFieldWidth?: number,
@@ -214,6 +214,12 @@ export function grabPosesAuto(
       } else {
         return [];
       }
+    case "DifferentialSample":
+    case "SwerveSample":
+      return grabSample(log, key, timestamp, uuid);
+    case "DifferentialSample[]":
+    case "SwerveSample[]":
+      return grabSampleArray(log, key, timestamp, uuid);
     default:
       return [];
   }
@@ -247,7 +253,7 @@ export function grabNumberArray(
   log: Log,
   key: string,
   timestamp: number,
-  format: "Translation2d" | "Translation3d" | "Pose2d" | "Pose3d",
+  format: "Translation2d" | "Translation3d" | "Pose2d" | "Pose3d" | "DifferentialSample" | "SwerveSample",
   unit?: "radians" | "degrees",
   uuid?: string
 ): AnnotatedPose3d[] {
@@ -294,6 +300,10 @@ export function grabNumberArray(
         });
       }
       break;
+    case "DifferentialSample":
+    case "SwerveSample":
+      //TODO
+      break;
     case "Pose3d":
       for (let i = 0; i < value.length - 6; i += 7) {
         poses.push({
@@ -438,6 +448,21 @@ export function grabPose2d(log: Log, key: string, timestamp: number, uuid?: stri
   ];
 }
 
+export function grabSample(log: Log, key: string, timestamp: number, uuid?: string): AnnotatedPose3d[] {
+  return [
+    {
+      pose: pose2dTo3d({
+        translation: [
+          getOrDefault(log, key + "/pose/translation/x", LoggableType.Number, timestamp, 0, uuid),
+          getOrDefault(log, key + "/pose/translation/y", LoggableType.Number, timestamp, 0, uuid)
+        ],
+        rotation: getOrDefault(log, key + "/pose/rotation/value", LoggableType.Number, timestamp, 0, uuid)
+      }),
+      annotation: { is2DSource: true }
+    }
+  ];
+}
+
 export function grabPose3d(log: Log, key: string, timestamp: number, uuid?: string): AnnotatedPose3d[] {
   return [
     {
@@ -466,6 +491,13 @@ export function grabPose2dArray(log: Log, key: string, timestamp: number, uuid?:
   );
 }
 
+export function grabSampleArray(log: Log, key: string, timestamp: number, uuid?: string): AnnotatedPose3d[] {
+  return indexArray(getOrDefault(log, key + "/length", LoggableType.Number, timestamp, 0, uuid)).reduce(
+    (array, index) => array.concat(grabSample(log, key + "/" + index.toString(), timestamp)),
+    [] as AnnotatedPose3d[]
+  );
+}
+
 export function grabPose3dArray(log: Log, key: string, timestamp: number, uuid?: string): AnnotatedPose3d[] {
   return indexArray(getOrDefault(log, key + "/length", LoggableType.Number, timestamp, 0, uuid)).reduce(
     (array, index) => array.concat(grabPose3d(log, key + "/" + index.toString(), timestamp)),
@@ -577,7 +609,7 @@ export function grabHeatmapData(
   logType: string,
   timeRange: "enabled" | "auto" | "teleop" | "teleop-no-endgame" | "full",
   uuid?: string,
-  numberArrayFormat?: "Translation2d" | "Translation3d" | "Pose2d" | "Pose3d",
+  numberArrayFormat?: "Translation2d" | "Translation3d" | "Pose2d" | "Pose3d" | "DifferentialSample" | "SwerveSample",
   numberArrayUnits?: "radians" | "degrees",
   zebraOrigin?: "blue" | "red",
   zebraFieldWidth?: number,