diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
deleted file mode 100644
index 41a45fc..0000000
--- a/.pathplanner/settings.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "robotWidth": 0.75,
-  "robotLength": 0.98,
-  "holonomicMode": true,
-  "generateJSON": false,
-  "generateCSV": false
-}
\ No newline at end of file
diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json
index 570a061..320d0b9 100644
--- a/.wpilib/wpilib_preferences.json
+++ b/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2023",
+    "projectYear": "2024",
     "teamNumber": 3081
 }
\ No newline at end of file
diff --git a/LICENSE b/LICENSE
deleted file mode 100644
index d2d0cee..0000000
--- a/LICENSE
+++ /dev/null
@@ -1,21 +0,0 @@
-MIT License
-
-Copyright (c) 2022 Team BJORG
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
diff --git a/README.md b/README.md
deleted file mode 100644
index 4515e36..0000000
--- a/README.md
+++ /dev/null
@@ -1 +0,0 @@
-# FRC-2022-swerve-main
diff --git a/WPILib-License.md b/WPILib-License.md
index ba35a02..e7cd597 100644
--- a/WPILib-License.md
+++ b/WPILib-License.md
@@ -1,4 +1,4 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2024 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
diff --git a/build.gradle b/build.gradle
index 5d7335a..1e8da00 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,11 +1,12 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.4.3"
-    // id 'com.diffplug.spotless' version '6.12.0'
+    id "edu.wpi.first.GradleRIO" version "2024.2.1"
 }
 
-sourceCompatibility = JavaVersion.VERSION_11
-targetCompatibility = JavaVersion.VERSION_11
+java {
+    sourceCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
+}
 
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
@@ -66,9 +67,8 @@ dependencies {
     nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
     simulationRelease wpi.sim.enableRelease()
 
-    testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.2'
-    testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2'
-    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2'
+    testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
+    testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
 }
 
 test {
@@ -85,6 +85,7 @@ wpi.sim.addDriverstation()
 // knows where to look for our Robot Class.
 jar {
     from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+    from sourceSets.main.allSource
     manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
     duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }
@@ -98,46 +99,3 @@ wpi.java.configureTestTasks(test)
 tasks.withType(JavaCompile) {
     options.compilerArgs.add '-XDstringConcat=inline'
 }
-
-// spotless {
-//     java {
-//         target fileTree('.') {
-//             include '**/*.java'
-//             exclude '**/build/**', '**/build-*/**'
-//         }
-//         toggleOffOn()
-//         googleJavaFormat()
-//         removeUnusedImports()
-//         trimTrailingWhitespace()
-//         endWithNewline()
-//     }
-//     groovyGradle {
-//         target fileTree('.') {
-//             include '**/*.gradle'
-//             exclude '**/build/**', '**/build-*/**'
-//         }
-//         greclipse()
-//         indentWithSpaces(4)
-//         trimTrailingWhitespace()
-//         endWithNewline()
-//     }
-//     format 'xml', {
-//         target fileTree('.') {
-//             include '**/*.xml'
-//             exclude '**/build/**', '**/build-*/**'
-//         }
-//         eclipseWtp('xml')
-//         trimTrailingWhitespace()
-//         indentWithSpaces(2)
-//         endWithNewline()
-//     }
-//     format 'misc', {
-//         target fileTree('.') {
-//             include '**/*.md', '**/.gitignore'
-//             exclude '**/build/**', '**/build-*/**'
-//         }
-//         trimTrailingWhitespace()
-//         indentWithSpaces(2)
-//         endWithNewline()
-//     }
-// }
diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar
index 249e583..d64cd49 100644
Binary files a/gradle/wrapper/gradle-wrapper.jar and b/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
index 7414769..7015f6b 100644
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
diff --git a/gradlew b/gradlew
index a69d9cb..1aa94a4 100755
--- a/gradlew
+++ b/gradlew
@@ -55,7 +55,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,13 +80,11 @@ do
     esac
 done
 
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-APP_NAME="Gradle"
+# This is normally unused
+# shellcheck disable=SC2034
 APP_BASE_NAME=${0##*/}
-
-# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -133,22 +131,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -193,11 +198,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
-#     shell script including quotes and variable substitutions, so put them in
-#     double quotes to make sure that they get re-expanded; and
-#   * put everything else in single quotes, so that it's not re-expanded.
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
diff --git a/gradlew.bat b/gradlew.bat
index 53a6b23..6689b85 100644
--- a/gradlew.bat
+++ b/gradlew.bat
@@ -26,6 +26,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
diff --git a/networktables.json b/networktables.json
deleted file mode 100644
index fe51488..0000000
--- a/networktables.json
+++ /dev/null
@@ -1 +0,0 @@
-[]
diff --git a/settings.gradle b/settings.gradle
index ae1af1c..3e30f84 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -4,7 +4,7 @@ pluginManagement {
     repositories {
         mavenLocal()
         gradlePluginPortal()
-        String frcYear = '2023'
+        String frcYear = '2024'
         File frcHome
         if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')
@@ -25,3 +25,6 @@ pluginManagement {
         }
     }
 }
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
diff --git a/src/main/deploy/pathplanner/autos/New Auto.auto b/src/main/deploy/pathplanner/autos/New Auto.auto
new file mode 100644
index 0000000..70e50dd
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/New Auto.auto	
@@ -0,0 +1,25 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 2.0,
+      "y": 7.0
+    },
+    "rotation": -1.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Example Path"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/navgrid.json b/src/main/deploy/pathplanner/navgrid.json
new file mode 100644
index 0000000..bab0da9
--- /dev/null
+++ b/src/main/deploy/pathplanner/navgrid.json
@@ -0,0 +1 @@
+{"field_size":{"x":16.54,"y":8.21},"nodeSizeMeters":0.3,"grid":[[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true],[true,true,true,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true],[true,true,true,true,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true]]}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Example Path.path b/src/main/deploy/pathplanner/paths/Example Path.path
new file mode 100644
index 0000000..bbdcec0
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Example Path.path	
@@ -0,0 +1,49 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 7.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.828145140888627,
+        "y": 6.985544672795801
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.64241490982982,
+        "y": 7.0
+      },
+      "prevControl": {
+        "x": 3.12754000508001,
+        "y": 6.99536151415533
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 0821cf7..3a8a5c5 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -4,7 +4,7 @@
 
 package frc.robot;
 
-import com.pathplanner.lib.auto.PIDConstants;
+import com.pathplanner.lib.util.PIDConstants;
 import com.swervedrivespecialties.swervelib.SdsModuleConfigurations;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Rotation3d;
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 7d05780..210ed7b 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -6,7 +6,8 @@
 
 import com.kennedyrobotics.auto.AutoSelector;
 import com.kennedyrobotics.hardware.misc.RevDigit;
-import com.pathplanner.lib.server.PathPlannerServer;
+import com.pathplanner.lib.path.PathConstraints;
+
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.PrintCommand;
@@ -55,7 +56,7 @@ public RobotContainer() {
     // Configure the button bindings
     configureButtonBindings();
 
-    PathPlannerServer.startServer(5811);
+    // PathPlannerServer.startServer(5811);`
 
     // Auto Selector
     m_revDigit = new RevDigit();
@@ -65,6 +66,12 @@ public RobotContainer() {
 
     // Initialize other autos here
     // TODO
+    m_autoSelector.registerCommand("Test", "TEST", m_drivetrain.createAutoPath(
+      null, "New Auto", 
+      new PathConstraints(3, 2, 
+        Constants.DriveConstants.kMaxAngularVelocityRadiansPerSecond, 
+        Constants.DriveConstants.kMaxAngularVelocityRadiansPerSecond)
+    ));
 
     m_autoSelector.initialize();
   }
diff --git a/src/main/java/frc/robot/commands/DriveWithController.java b/src/main/java/frc/robot/commands/DriveWithController.java
index 795b331..c44dfdb 100644
--- a/src/main/java/frc/robot/commands/DriveWithController.java
+++ b/src/main/java/frc/robot/commands/DriveWithController.java
@@ -10,7 +10,7 @@
 import edu.wpi.first.math.trajectory.TrapezoidProfile.State;
 import edu.wpi.first.util.CircularBuffer;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.Constants;
 import frc.robot.Constants.AutoConstants;
 import frc.robot.Constants.DriveConstants;
@@ -19,7 +19,7 @@
 import java.util.function.DoubleSupplier;
 import java.util.function.Supplier;
 
-public class DriveWithController extends CommandBase {
+public class DriveWithController extends Command {
   private static final double kDeadband = 0.15;
 
   private final Drivetrain drive;
@@ -184,10 +184,10 @@ public void execute() {
         // position
         latchedModuleStates =
             new SwerveModuleState[] {
-              new SwerveModuleState(0, Rotation2d.fromDegrees(lastModuleAngles[0].get(0))),
-              new SwerveModuleState(0, Rotation2d.fromDegrees(lastModuleAngles[1].get(0))),
-              new SwerveModuleState(0, Rotation2d.fromDegrees(lastModuleAngles[2].get(0))),
-              new SwerveModuleState(0, Rotation2d.fromDegrees(lastModuleAngles[3].get(0))),
+              new SwerveModuleState(0, Rotation2d.fromDegrees((double)lastModuleAngles[0].get(0))),
+              new SwerveModuleState(0, Rotation2d.fromDegrees((double)lastModuleAngles[1].get(0))),
+              new SwerveModuleState(0, Rotation2d.fromDegrees((double)lastModuleAngles[2].get(0))),
+              new SwerveModuleState(0, Rotation2d.fromDegrees((double)lastModuleAngles[3].get(0))),
             };
         SmartDashboard.putNumber(
             "Latched Module Angle 0", latchedModuleStates[0].angle.getDegrees());
diff --git a/src/main/java/frc/robot/commands/RobotTurnToAngle.java b/src/main/java/frc/robot/commands/RobotTurnToAngle.java
index cea938c..33c579a 100644
--- a/src/main/java/frc/robot/commands/RobotTurnToAngle.java
+++ b/src/main/java/frc/robot/commands/RobotTurnToAngle.java
@@ -6,10 +6,10 @@
 
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Drivetrain;
 
-public class RobotTurnToAngle extends CommandBase {
+public class RobotTurnToAngle extends Command {
 
   private Drivetrain m_drivetrain;
   private PIDController m_Controller = new PIDController(.1, 0, 0);
diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java
index e483fb2..8ee1268 100644
--- a/src/main/java/frc/robot/subsystems/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -2,10 +2,16 @@
 
 import com.ctre.phoenix.sensors.CANCoder;
 import com.ctre.phoenix.sensors.Pigeon2;
-import com.pathplanner.lib.PathConstraints;
-import com.pathplanner.lib.PathPlanner;
-import com.pathplanner.lib.PathPlannerTrajectory;
-import com.pathplanner.lib.auto.SwerveAutoBuilder;
+import com.ctre.phoenix6.mechanisms.swerve.SwerveModule.DriveRequestType;
+import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.commands.PathPlannerAuto;
+import com.pathplanner.lib.path.PathConstraints;
+import com.pathplanner.lib.path.PathPlannerPath;
+import com.pathplanner.lib.path.PathPlannerTrajectory;
+import com.pathplanner.lib.util.HolonomicPathFollowerConfig;
+import com.pathplanner.lib.util.PIDConstants;
+import com.pathplanner.lib.util.PathPlannerLogging;
+import com.pathplanner.lib.util.ReplanningConfig;
 import com.revrobotics.CANSparkMax;
 import com.swervedrivespecialties.swervelib.Mk4ModuleConfiguration;
 import com.swervedrivespecialties.swervelib.Mk4iSwerveModuleHelper;
@@ -19,6 +25,7 @@
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
@@ -203,6 +210,10 @@ public void drive(double xSpeed, double ySpeed, double rotation, boolean feildRe
       chassisSpeeds = new ChassisSpeeds(xSpeed, ySpeed, rotation);
     }
 
+    setChassisSpeeds(chassisSpeeds);
+  }
+
+  private void setChassisSpeeds(ChassisSpeeds chassisSpeeds) {
     setModuleStates(Constants.DriveConstants.kDriveKinematics.toSwerveModuleStates(chassisSpeeds));
   }
 
@@ -291,22 +302,43 @@ public Command xStop() {
   }
 
   // : uses drivetrain member
-  public Command createAutoPath(
-      HashMap<String, Command> eventMap, String pathName, PathConstraints pathConstraints) {
-    List<PathPlannerTrajectory> pathGroup = PathPlanner.loadPathGroup(pathName, pathConstraints);
-
-    SwerveAutoBuilder autoBuilder =
-        new SwerveAutoBuilder(
-            this::getPose,
-            this::resetOdometry,
-            Constants.DriveConstants.kDriveKinematics,
-            AutoConstants.kPIDTranslation,
-            AutoConstants.kPIDRotation,
-            this::setModuleStates,
-            eventMap,
-            true,
-            this);
-
-    return autoBuilder.fullAuto(pathGroup);
+  /** DOES NOT WORK CURRENTLY WITH NEW PATHPLANNER */
+  public Command createAutoPath(HashMap<String, Command> events, String pathFile, PathConstraints pathConstraints) {
+    AutoBuilder.configureHolonomic(
+      this::getPose, this::resetOdometry, 
+      () -> DriveConstants.kDriveKinematics.toChassisSpeeds(getModuleStates()),
+      this::setChassisSpeeds, 
+      new HolonomicPathFollowerConfig(
+        new PIDConstants(5d,0d,0d),
+        new PIDConstants(2d,0d,0d),
+        3.5, //: max speed (m/s)
+        0.4, //: distance between modules and center of robot
+        new ReplanningConfig()
+      ), () -> {
+        var alliances = DriverStation.getAlliance();
+        if (alliances.isPresent()) {
+          return alliances.get() == DriverStation.Alliance.Red;
+        } return false;
+      }, this);
+
+      return AutoBuilder.buildAuto(pathFile);
   }
+  // public Command createAutoPath(
+  //     HashMap<String, Command> eventMap, String pathName, PathConstraints pathConstraints) {
+  //   List<PathPlannerTrajectory> pathGroup = PathPlannerPath.fromChoreoTrajectory(pathName, pathConstraints);
+
+  //   SwerveAutoBuilder autoBuilder =
+  //       new SwerveAutoBuilder(
+  //           this::getPose,
+  //           this::resetOdometry,
+  //           Constants.DriveConstants.kDriveKinematics,
+  //           AutoConstants.kPIDTranslation,
+  //           AutoConstants.kPIDRotation,
+  //           this::setModuleStates,
+  //           eventMap,
+  //           true,
+  //           this);
+
+  //   return autoBuilder.fullAuto(pathGroup);
+  // }
 }
diff --git a/src/main/java/frc/robot/util/FieldConstants.java b/src/main/java/frc/robot/util/FieldConstants.java
index b5fe73f..c1ca957 100644
--- a/src/main/java/frc/robot/util/FieldConstants.java
+++ b/src/main/java/frc/robot/util/FieldConstants.java
@@ -12,7 +12,7 @@ public class FieldConstants {
   public static final double FIELD_LENGTH_M = Units.feetToMeters(54.0);
   public static AprilTagFieldLayout BLUE_FIELD_LAYOUT;
   public static AprilTagFieldLayout RED_FIELD_LAYOUT;
-  private static DriverStation.Alliance storedAlliance = DriverStation.Alliance.Invalid;
+  private static DriverStation.Alliance storedAlliance = DriverStation.Alliance.Blue; // DriverStation.Alliance.Invalid;
 
   static {
     try {
@@ -96,7 +96,7 @@ public class FieldConstants {
   };
 
   public static AprilTagFieldLayout getFieldLayout() {
-    if (DriverStation.getAlliance() == DriverStation.Alliance.Blue) {
+    if (DriverStation.getAlliance().get() == DriverStation.Alliance.Blue) {
       return BLUE_FIELD_LAYOUT;
     } else {
       return RED_FIELD_LAYOUT;
@@ -104,8 +104,8 @@ public static AprilTagFieldLayout getFieldLayout() {
   }
 
   public static void update() {
-    if (DriverStation.getAlliance() != storedAlliance) {
-      storedAlliance = DriverStation.getAlliance();
+    if (DriverStation.getAlliance().get() != storedAlliance) {
+      storedAlliance = DriverStation.getAlliance().get();
       System.out.println(storedAlliance);
 
       PORTAL_TAG_X =
diff --git a/src/main/java/frc/robot/vision/VisionIOPhoton.java b/src/main/java/frc/robot/vision/VisionIOPhoton.java
index 6d0cc35..1ec6912 100644
--- a/src/main/java/frc/robot/vision/VisionIOPhoton.java
+++ b/src/main/java/frc/robot/vision/VisionIOPhoton.java
@@ -34,7 +34,7 @@ public VisionIOPhoton(String name, Transform3d pose) {
     odometry =
         new PhotonPoseEstimator(
             FieldConstants.BLUE_FIELD_LAYOUT,
-            PhotonPoseEstimator.PoseStrategy.MULTI_TAG_PNP,
+            PhotonPoseEstimator.PoseStrategy.MULTI_TAG_PNP_ON_RIO,
             camera,
             pose);
     odometry.setMultiTagFallbackStrategy(PhotonPoseEstimator.PoseStrategy.LOWEST_AMBIGUITY);
diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json
index 9e91343..0bf11fb 100644
--- a/vendordeps/PathplannerLib.json
+++ b/vendordeps/PathplannerLib.json
@@ -1,8 +1,9 @@
 {
     "fileName": "PathplannerLib.json",
     "name": "PathplannerLib",
-    "version": "2023.4.4",
+    "version": "2024.1.4",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
+    "frcYear": "2024",
     "mavenUrls": [
         "https://3015rangerrobotics.github.io/pathplannerlib/repo"
     ],
@@ -11,7 +12,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2023.4.4"
+            "version": "2024.1.4"
         }
     ],
     "jniDependencies": [],
@@ -19,7 +20,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2023.4.4",
+            "version": "2024.1.4",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -28,8 +29,10 @@
                 "windowsx86-64",
                 "linuxx86-64",
                 "osxuniversal",
-                "linuxathena"
+                "linuxathena",
+                "linuxarm32",
+                "linuxarm64"
             ]
         }
     ]
-}
+}
\ No newline at end of file
diff --git a/vendordeps/Phoenix5.json b/vendordeps/Phoenix5.json
new file mode 100644
index 0000000..88a68dd
--- /dev/null
+++ b/vendordeps/Phoenix5.json
@@ -0,0 +1,151 @@
+{
+    "fileName": "Phoenix5.json",
+    "name": "CTRE-Phoenix (v5)",
+    "version": "5.33.0",
+    "frcYear": 2024,
+    "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
+    "mavenUrls": [
+        "https://maven.ctr-electronics.com/release/"
+    ],
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2024-latest.json",
+    "requires": [
+        {
+            "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
+            "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6.  Please add the Phoenix 6 vendordep before adding Phoenix 5.",
+            "offlineFileName": "Phoenix6.json",
+            "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json"
+        }
+    ],
+    "javaDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "api-java",
+            "version": "5.33.0"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "wpiapi-java",
+            "version": "5.33.0"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "cci",
+            "version": "5.33.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "cci-sim",
+            "version": "5.33.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "wpiapi-cpp",
+            "version": "5.33.0",
+            "libName": "CTRE_Phoenix_WPI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "api-cpp",
+            "version": "5.33.0",
+            "libName": "CTRE_Phoenix",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "cci",
+            "version": "5.33.0",
+            "libName": "CTRE_PhoenixCCI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "wpiapi-cpp-sim",
+            "version": "5.33.0",
+            "libName": "CTRE_Phoenix_WPISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "api-cpp-sim",
+            "version": "5.33.0",
+            "libName": "CTRE_PhoenixSim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "cci-sim",
+            "version": "5.33.0",
+            "libName": "CTRE_PhoenixCCISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ]
+}
\ No newline at end of file
diff --git a/vendordeps/Phoenix.json b/vendordeps/Phoenix6.json
similarity index 61%
rename from vendordeps/Phoenix.json
rename to vendordeps/Phoenix6.json
index 848dedc..69a4079 100644
--- a/vendordeps/Phoenix.json
+++ b/vendordeps/Phoenix6.json
@@ -1,56 +1,32 @@
 {
-    "fileName": "Phoenix.json",
-    "name": "CTRE-Phoenix (v5)",
-    "version": "5.30.4+23.0.10",
-    "frcYear": 2023,
-    "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
+    "fileName": "Phoenix6.json",
+    "name": "CTRE-Phoenix (v6)",
+    "version": "24.1.0",
+    "frcYear": 2024,
+    "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2023-latest.json",
-    "javaDependencies": [
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
+    "conflictsWith": [
         {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "api-java",
-            "version": "5.30.4"
-        },
+            "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
+            "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
+            "offlineFileName": "Phoenix6And5.json"
+        }
+    ],
+    "javaDependencies": [
         {
-            "groupId": "com.ctre.phoenix",
+            "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "5.30.4"
+            "version": "24.1.0"
         }
     ],
     "jniDependencies": [
         {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "cci",
-            "version": "5.30.4",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxathena"
-            ],
-            "simMode": "hwsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix.sim",
-            "artifactId": "cci-sim",
-            "version": "5.30.4",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenixpro",
+            "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.0.10",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -61,9 +37,9 @@
             "simMode": "hwsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.0.10",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -74,9 +50,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.0.10",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -87,9 +63,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.0.10",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -100,9 +76,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.0.10",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -113,9 +89,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.0.10",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -126,9 +102,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.0.10",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -139,9 +115,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.0.10",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -152,9 +128,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.0.10",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -165,9 +141,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.0.10",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -180,10 +156,10 @@
     ],
     "cppDependencies": [
         {
-            "groupId": "com.ctre.phoenix",
+            "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "5.30.4",
-            "libName": "CTRE_Phoenix_WPI",
+            "version": "24.1.0",
+            "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
             "skipInvalidPlatforms": true,
@@ -195,39 +171,9 @@
             "simMode": "hwsim"
         },
         {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "api-cpp",
-            "version": "5.30.4",
-            "libName": "CTRE_Phoenix",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxathena"
-            ],
-            "simMode": "hwsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "cci",
-            "version": "5.30.4",
-            "libName": "CTRE_PhoenixCCI",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxathena"
-            ],
-            "simMode": "hwsim"
-        },
-        {
-            "groupId": "com.ctre.phoenixpro",
+            "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.0.10",
+            "version": "24.1.0",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -240,40 +186,10 @@
             "simMode": "hwsim"
         },
         {
-            "groupId": "com.ctre.phoenix.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "5.30.4",
-            "libName": "CTRE_Phoenix_WPISim",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix.sim",
-            "artifactId": "api-cpp-sim",
-            "version": "5.30.4",
-            "libName": "CTRE_PhoenixSim",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix.sim",
-            "artifactId": "cci-sim",
-            "version": "5.30.4",
-            "libName": "CTRE_PhoenixCCISim",
+            "version": "24.1.0",
+            "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
             "skipInvalidPlatforms": true,
@@ -285,9 +201,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.0.10",
+            "version": "24.1.0",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -300,9 +216,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.0.10",
+            "version": "24.1.0",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -315,9 +231,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.0.10",
+            "version": "24.1.0",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -330,9 +246,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.0.10",
+            "version": "24.1.0",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -345,9 +261,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.0.10",
+            "version": "24.1.0",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -360,9 +276,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.0.10",
+            "version": "24.1.0",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -375,9 +291,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.0.10",
+            "version": "24.1.0",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -390,9 +306,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.0.10",
+            "version": "24.1.0",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -405,9 +321,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.0.10",
+            "version": "24.1.0",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json
index f2d0b7d..0f3520e 100644
--- a/vendordeps/REVLib.json
+++ b/vendordeps/REVLib.json
@@ -1,24 +1,25 @@
 {
     "fileName": "REVLib.json",
     "name": "REVLib",
-    "version": "2023.1.3",
+    "version": "2024.2.0",
+    "frcYear": "2024",
     "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
     "mavenUrls": [
         "https://maven.revrobotics.com/"
     ],
-    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2023.json",
+    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2024.json",
     "javaDependencies": [
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-java",
-            "version": "2023.1.3"
+            "version": "2024.2.0"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2023.1.3",
+            "version": "2024.2.0",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
@@ -36,7 +37,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-cpp",
-            "version": "2023.1.3",
+            "version": "2024.2.0",
             "libName": "REVLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -54,7 +55,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2023.1.3",
+            "version": "2024.2.0",
             "libName": "REVLibDriver",
             "headerClassifier": "headers",
             "sharedLibrary": false,
diff --git a/vendordeps/WPILibNewCommands.json b/vendordeps/WPILibNewCommands.json
index da4bc52..67bf389 100644
--- a/vendordeps/WPILibNewCommands.json
+++ b/vendordeps/WPILibNewCommands.json
@@ -1,37 +1,38 @@
-{
-  "fileName": "WPILibNewCommands.json",
-  "name": "WPILib-New-Commands",
-  "version": "1.0.0",
-  "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "mavenUrls": [],
-  "jsonUrl": "",
-  "javaDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-java",
-          "version": "wpilib"
-      }
-  ],
-  "jniDependencies": [],
-  "cppDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-cpp",
-          "version": "wpilib",
-          "libName": "wpilibNewCommands",
-          "headerClassifier": "headers",
-          "sourcesClassifier": "sources",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "linuxathena",
-              "linuxarm32",
-              "linuxarm64",
-              "windowsx86-64",
-              "windowsx86",
-              "linuxx86-64",
-              "osxuniversal"
-          ]
-      }
-  ]
-}
+{
+  "fileName": "WPILibNewCommands.json",
+  "name": "WPILib-New-Commands",
+  "version": "1.0.0",
+  "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
+  "frcYear": "2024",
+  "mavenUrls": [],
+  "jsonUrl": "",
+  "javaDependencies": [
+    {
+      "groupId": "edu.wpi.first.wpilibNewCommands",
+      "artifactId": "wpilibNewCommands-java",
+      "version": "wpilib"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "groupId": "edu.wpi.first.wpilibNewCommands",
+      "artifactId": "wpilibNewCommands-cpp",
+      "version": "wpilib",
+      "libName": "wpilibNewCommands",
+      "headerClassifier": "headers",
+      "sourcesClassifier": "sources",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "linuxathena",
+        "linuxarm32",
+        "linuxarm64",
+        "windowsx86-64",
+        "windowsx86",
+        "linuxx86-64",
+        "osxuniversal"
+      ]
+    }
+  ]
+}
diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json
index 897d55b..2d7c546 100644
--- a/vendordeps/photonlib.json
+++ b/vendordeps/photonlib.json
@@ -1,21 +1,36 @@
 {
     "fileName": "photonlib.json",
     "name": "photonlib",
-    "version": "v2024.1.1-beta-3.2",
+    "version": "v2024.2.1",
     "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
     "frcYear": "2024",
     "mavenUrls": [
         "https://maven.photonvision.org/repository/internal",
         "https://maven.photonvision.org/repository/snapshots"
     ],
-    "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/PhotonLib-json/1.0/PhotonLib-json-1.0.json",
+    "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json",
     "jniDependencies": [],
     "cppDependencies": [
         {
             "groupId": "org.photonvision",
-            "artifactId": "PhotonLib-cpp",
-            "version": "v2023.4.2",
-            "libName": "Photon",
+            "artifactId": "photonlib-cpp",
+            "version": "v2024.2.1",
+            "libName": "photonlib",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxathena",
+                "linuxx86-64",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photontargeting-cpp",
+            "version": "v2024.2.1",
+            "libName": "photontargeting",
             "headerClassifier": "headers",
             "sharedLibrary": true,
             "skipInvalidPlatforms": true,
@@ -30,13 +45,13 @@
     "javaDependencies": [
         {
             "groupId": "org.photonvision",
-            "artifactId": "PhotonLib-java",
-            "version": "v2023.4.2"
+            "artifactId": "photonlib-java",
+            "version": "v2024.2.1"
         },
         {
             "groupId": "org.photonvision",
-            "artifactId": "PhotonTargeting-java",
-            "version": "v2023.4.2"
+            "artifactId": "photontargeting-java",
+            "version": "v2024.2.1"
         }
     ]
 }
\ No newline at end of file