diff --git a/.github/workflows/gradle-build.yml b/.github/workflows/gradle-build.yml
index a349598..0a24eec 100644
--- a/.github/workflows/gradle-build.yml
+++ b/.github/workflows/gradle-build.yml
@@ -18,13 +18,13 @@ jobs:
     runs-on: ubuntu-latest
 
     # This grabs the WPILib docker container
-    container: wpilib/roborio-cross-ubuntu:2023-22.04
+    container: wpilib/roborio-cross-ubuntu:2024-22.04
 
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
     # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
     - uses: gradle/gradle-build-action@v2 # enables fancy caching.
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - uses: gradle/wrapper-validation-action@v1 # this validates the jar file
 
     # Declares the repository safe and not under dubious ownership.
@@ -44,13 +44,13 @@ jobs:
     runs-on: ubuntu-latest
 
     # This grabs the WPILib docker container
-    container: wpilib/roborio-cross-ubuntu:2023-22.04
+    container: wpilib/roborio-cross-ubuntu:2024-22.04
 
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
     # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
     - uses: gradle/gradle-build-action@v2 # enables fancy caching.
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - uses: gradle/wrapper-validation-action@v1 # this validates the jar file
 
     # Declares the repository safe and not under dubious ownership.
diff --git a/.gitignore b/.gitignore
index ef842c2..84cf896 100644
--- a/.gitignore
+++ b/.gitignore
@@ -63,9 +63,8 @@ hs_err_pid*
 # idea
 .idea/
 
-#exclude git info files.
-src/main/deploy/branch.txt
-src/main/deploy/commit.txt
+#exclude git info file.
+src/main/java/frc/robot/BuildConstants.java
 
 ### Linux ###
 *~
@@ -165,5 +164,21 @@ gradle-app.setting
 .settings/
 bin/
 
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
 # Simulation GUI and other tools window save file
 *-window.json
+
+# Simulation data log directory
+logs/
+
+# Folder that has CTRE Phoenix Sim device config storage
+ctre_sim/
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
index f15c9db..acd4977 100644
--- a/.pathplanner/settings.json
+++ b/.pathplanner/settings.json
@@ -2,6 +2,14 @@
   "robotWidth": 0.75,
   "robotLength": 1.0,
   "holonomicMode": false,
-  "generateJSON": false,
-  "generateCSV": false
+  "pathFolders": [
+    "New Folder"
+  ],
+  "autoFolders": [],
+  "defaultMaxVel": 3.0,
+  "defaultMaxAccel": 3.0,
+  "defaultMaxAngVel": 540.0,
+  "defaultMaxAngAccel": 720.0,
+  "maxModuleSpeed": 4.5,
+  "choreoProjectPath": null
 }
\ No newline at end of file
diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json
index 2260011..0aa5ada 100644
--- a/.wpilib/wpilib_preferences.json
+++ b/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2023",
+    "projectYear": "2024",
     "teamNumber": 7652
 }
\ No newline at end of file
diff --git a/WPILib-License.md b/WPILib-License.md
index 3d5a824..43b62ec 100644
--- a/WPILib-License.md
+++ b/WPILib-License.md
@@ -1,4 +1,4 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2023 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 6b88226..f907561 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,11 +1,14 @@
 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 "2024.1.1"
+    id 'com.diffplug.spotless' version '6.20.0'
+    id "com.peterabeles.gversion" version "1.10"
 }
 
-sourceCompatibility = JavaVersion.VERSION_11
-targetCompatibility = JavaVersion.VERSION_11
+java {
+    sourceCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
+}
 
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
@@ -44,7 +47,7 @@ def deployArtifact = deploy.targets.roborio.artifacts.frcJava
 wpi.java.debugJni = false
 
 // Set this to true to enable desktop support.
-def includeDesktopSupport = true  // groovylint-disable-line
+def includeDesktopSupport = true
 
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 5.
@@ -66,9 +69,8 @@ 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 {
@@ -84,7 +86,12 @@ wpi.sim.addDriverstation()
 // in order to make them all available at runtime. Also adding the manifest so WPILib
 // knows where to look for our Robot Class.
 jar {
-    from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+    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
 }
@@ -103,7 +110,7 @@ spotless {
     java {
         target fileTree('.') {
             include '**/*.java'
-            exclude '**/build/**', '**/build-*/**'
+            exclude '**/build/**', '**/build-*/**', '**/BuildConstants.java'
         }
         toggleOffOn()
         googleJavaFormat()
@@ -142,45 +149,13 @@ spotless {
     }
 }
 
-// Git Tasks
-tasks.register("writeBranchName") {
-    // Define an output stream to write to instead of terminal
-    def stdout = new ByteArrayOutputStream()
-
-    // Execute the git command
-    exec {
-        commandLine "git", "rev-parse", "--abbrev-ref", "HEAD"
-        // Write to the output stream instead of terminal
-        standardOutput = stdout
-    }
-
-    // Parse the output into a string
-    def branch = stdout.toString().trim()
-
-    // Create a new file
-    new File(
-            // Join project directory and deploy directory
-            projectDir.toString() + "/src/main/deploy",
-            // File name to write to
-            "branch.txt"
-            ).text = branch // Set the contents of the file to the variable branch
-}
-
-tasks.register("writeCommitHash") {
-    def stdout = new ByteArrayOutputStream()
-
-    exec {
-        commandLine "git", "rev-parse", "--short", "HEAD"
-        standardOutput = stdout
-    }
-
-    def commitHash = stdout.toString().trim()
-
-    new File(
-            projectDir.toString() + "/src/main/deploy",
-            "commit.txt"
-            ).text = commitHash
+// Git Task
+project.compileJava.dependsOn(createVersionFile)
+gversion {
+    srcDir       = "src/main/java/"
+    classPackage = "frc.robot"
+    className    = "BuildConstants"
+    dateFormat   = "yyyy-MM-dd HH:mm:ss z"
+    timeZone     = "America/New_York" // Use preferred time zone
+    indent       = "  "
 }
-// Make deploy depend on these tasks
-deploy.targets.roborio.artifacts.frcStaticFileDeploy.dependsOn(writeBranchName)
-deploy.targets.roborio.artifacts.frcStaticFileDeploy.dependsOn(writeCommitHash)
diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar
index 943f0cb..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 763a8bf..5e82d67 100644
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,6 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.6-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 65dcd68..1aa94a4 100755
--- a/gradlew
+++ b/gradlew
@@ -83,10 +83,8 @@ done
 # This is normally unused
 # shellcheck disable=SC2034
 APP_BASE_NAME=${0##*/}
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-# 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
@@ -133,10 +131,13 @@ 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.
@@ -144,7 +145,7 @@ if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
         # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
-        # shellcheck disable=SC3045 
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
@@ -152,7 +153,7 @@ if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
       '' | soft) :;; #(
       *)
         # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
-        # shellcheck disable=SC3045 
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -197,11 +198,15 @@ if "$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/settings.gradle b/settings.gradle
index 48c039e..d94f73c 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/DoNothing.path b/src/main/deploy/pathplanner/DoNothing.path
deleted file mode 100644
index f7a23c6..0000000
--- a/src/main/deploy/pathplanner/DoNothing.path
+++ /dev/null
@@ -1,53 +0,0 @@
-{
-  "waypoints": [
-    {
-      "anchorPoint": {
-        "x": 1.9121419127289037,
-        "y": 3.0
-      },
-      "prevControl": null,
-      "nextControl": {
-        "x": 2.9121419127289037,
-        "y": 3.0
-      },
-      "holonomicAngle": 0,
-      "isReversal": false,
-      "velOverride": null,
-      "isLocked": false,
-      "isStopPoint": false,
-      "stopEvent": {
-        "names": [
-          "PlaceCube"
-        ],
-        "executionBehavior": "sequential",
-        "waitBehavior": "minimum",
-        "waitTime": 3.0
-      }
-    },
-    {
-      "anchorPoint": {
-        "x": 4.0,
-        "y": 3.0
-      },
-      "prevControl": {
-        "x": 3.6964541952294248,
-        "y": 3.0
-      },
-      "nextControl": null,
-      "holonomicAngle": 0,
-      "isReversal": false,
-      "velOverride": null,
-      "isLocked": false,
-      "isStopPoint": false,
-      "stopEvent": {
-        "names": [
-          "BalanceRobot"
-        ],
-        "executionBehavior": "parallel",
-        "waitBehavior": "none",
-        "waitTime": 0
-      }
-    }
-  ],
-  "markers": []
-}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/EndAtCones.path b/src/main/deploy/pathplanner/EndAtCones.path
deleted file mode 100644
index ed0e5d6..0000000
--- a/src/main/deploy/pathplanner/EndAtCones.path
+++ /dev/null
@@ -1,49 +0,0 @@
-{
-  "waypoints": [
-    {
-      "anchorPoint": {
-        "x": 2.0,
-        "y": 4.5
-      },
-      "prevControl": null,
-      "nextControl": {
-        "x": 3.0405716965280085,
-        "y": 4.5
-      },
-      "holonomicAngle": 0,
-      "isReversal": false,
-      "velOverride": null,
-      "isLocked": false,
-      "isStopPoint": false,
-      "stopEvent": {
-        "names": [],
-        "executionBehavior": "sequential",
-        "waitBehavior": "minimum",
-        "waitTime": 3.0
-      }
-    },
-    {
-      "anchorPoint": {
-        "x": 6.0,
-        "y": 4.5
-      },
-      "prevControl": {
-        "x": 5.662926093511121,
-        "y": 4.5
-      },
-      "nextControl": null,
-      "holonomicAngle": 0,
-      "isReversal": false,
-      "velOverride": null,
-      "isLocked": false,
-      "isStopPoint": false,
-      "stopEvent": {
-        "names": [],
-        "executionBehavior": "parallel",
-        "waitBehavior": "none",
-        "waitTime": 0
-      }
-    }
-  ],
-  "markers": []
-}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/FullAuto.path b/src/main/deploy/pathplanner/FullAuto.path
deleted file mode 100644
index 7470940..0000000
--- a/src/main/deploy/pathplanner/FullAuto.path
+++ /dev/null
@@ -1,54 +0,0 @@
-{
-  "waypoints": [
-    {
-      "anchorPoint": {
-        "x": 1.9121419127289037,
-        "y": 3.0
-      },
-      "prevControl": null,
-      "nextControl": {
-        "x": 2.9121419127289037,
-        "y": 3.0
-      },
-      "holonomicAngle": 0,
-      "isReversal": false,
-      "velOverride": null,
-      "isLocked": false,
-      "isStopPoint": false,
-      "stopEvent": {
-        "names": [],
-        "executionBehavior": "sequential",
-        "waitBehavior": "minimum",
-        "waitTime": 3.0
-      }
-    },
-    {
-      "anchorPoint": {
-        "x": 4.0,
-        "y": 3.0
-      },
-      "prevControl": {
-        "x": 3.6964541952294248,
-        "y": 3.0
-      },
-      "nextControl": null,
-      "holonomicAngle": 0,
-      "isReversal": false,
-      "velOverride": null,
-      "isLocked": false,
-      "isStopPoint": false,
-      "stopEvent": {
-        "names": [
-          "BalanceRobot"
-        ],
-        "executionBehavior": "parallel",
-        "waitBehavior": "none",
-        "waitTime": 0
-      }
-    }
-  ],
-  "maxVelocity": null,
-  "maxAcceleration": null,
-  "isReversed": false,
-  "markers": []
-}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/New Path.path b/src/main/deploy/pathplanner/New Path.path
deleted file mode 100644
index 5162d58..0000000
--- a/src/main/deploy/pathplanner/New Path.path	
+++ /dev/null
@@ -1,24 +0,0 @@
-{
-  "waypoints": [
-    {
-      "anchorPoint": {
-        "x": 1.0,
-        "y": 3.0
-      },
-      "prevControl": null,
-      "nextControl": null,
-      "holonomicAngle": 0,
-      "isReversal": false,
-      "velOverride": null,
-      "isLocked": false,
-      "isStopPoint": false,
-      "stopEvent": {
-        "names": [],
-        "executionBehavior": "parallel",
-        "waitBehavior": "none",
-        "waitTime": 0
-      }
-    }
-  ],
-  "markers": []
-}
\ 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..3d929c7
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Example Path.path	
@@ -0,0 +1,65 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 7.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.0,
+        "y": 6.5
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.0,
+        "y": 5.0
+      },
+      "prevControl": {
+        "x": 4.0,
+        "y": 6.0
+      },
+      "nextControl": {
+        "x": 6.0,
+        "y": 4.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.0,
+        "y": 1.0
+      },
+      "prevControl": {
+        "x": 6.75,
+        "y": 2.5
+      },
+      "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/deploy/pathplanner/paths/TeleopSpeakerPath.path b/src/main/deploy/pathplanner/paths/TeleopSpeakerPath.path
new file mode 100644
index 0000000..09f662d
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/TeleopSpeakerPath.path
@@ -0,0 +1,49 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 5.0,
+        "y": 5.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 6.0,
+        "y": 4.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.0,
+        "y": 1.0
+      },
+      "prevControl": {
+        "x": 6.75,
+        "y": 2.5
+      },
+      "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 c1e442f..3047f6a 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -19,6 +19,11 @@ public static final class CANConstants {
     public static final int MOTORBACKRIGHTID = 12;
     public static final int MOTORFRONTLEFTID = 13;
     public static final int MOTORBACKLEFTID = 14;
+    /// Arm Motors
+    public static final int MOTORARMMAINID = 21;
+    public static final int MOTORARMSECONDARYID = 22;
+    /// Shooter Motors
+    public static final int MOTORSHOOTERID = 31;
   }
 
   public static final double MAX_SPEED = 0.8;
@@ -32,10 +37,11 @@ public static final class CANConstants {
 
   // Joystick buttons
   public static final int AIMBUTTON = 12;
+  public static final int FIREBUTTON = 0;
 
   // Analog Ports
   /// Ultrasonic Sensors and ports.
-  public static final int ULTRASONIC1PORT = 0;
+  public static final int ULTRASONICSHOOTERPORT = 0;
 
   // Digital Ports
   /// Encoder Ports
diff --git a/src/main/java/frc/robot/DriveConstants.java b/src/main/java/frc/robot/DriveConstants.java
index e1412f1..7e2b56c 100644
--- a/src/main/java/frc/robot/DriveConstants.java
+++ b/src/main/java/frc/robot/DriveConstants.java
@@ -1,6 +1,6 @@
 package frc.robot;
 
-import com.pathplanner.lib.PathConstraints;
+import com.pathplanner.lib.util.ReplanningConfig;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
 import edu.wpi.first.math.util.Units;
@@ -36,12 +36,6 @@ public final class DriveConstants {
   public static final double kTrackwidthMeters = 0.60048;
   public static final DifferentialDriveKinematics kDriveKinematics =
       new DifferentialDriveKinematics(kTrackwidthMeters);
-  // MAX Acceleration & Velocity
-  public static final double kMaxSpeed = 1; // MetersPerSecond
-  public static final double kMaxAcceleration = 5; // MetersPerSecondSquared
-  public static final PathConstraints autoPathConstraints =
-      new PathConstraints(kMaxSpeed, kMaxAcceleration);
-  // Reasonable baseline values for a RAMSETE follower in units of meters and seconds
-  public static final double kRamseteB = 2;
-  public static final double kRamseteZeta = 0.7;
+  // Default path replanning config. See the API for the options
+  public static final ReplanningConfig autoReplanningConfig = new ReplanningConfig();
 }
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index a7e23ad..7179afb 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -4,20 +4,15 @@
 
 package frc.robot;
 
-import com.pathplanner.lib.server.PathPlannerServer;
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.cscore.UsbCamera;
 import edu.wpi.first.cscore.VideoSink;
 // import edu.wpi.first.cscore.VideoSource.ConnectionStrategy;
-import edu.wpi.first.wpilibj.Filesystem;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
-import java.io.IOException;
-import java.nio.file.Files;
-import java.nio.file.Path;
 
 /**
  * The VM is configured to automatically run this class, and to call the functions corresponding to
@@ -44,7 +39,6 @@ public void robotInit() {
     // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
     // autonomous chooser on the dashboard.
     m_robotContainer = new RobotContainer();
-    PathPlannerServer.startServer(5811); // 5811 = port number. adjust this according to your needs
 
     camera1 = CameraServer.startAutomaticCapture(0);
     camera2 = CameraServer.startAutomaticCapture(1);
@@ -53,22 +47,21 @@ public void robotInit() {
     // camera1.setConnectionStrategy(ConnectionStrategy.kKeepOpen);
     // camera2.setConnectionStrategy(ConnectionStrategy.kKeepOpen);
 
-    // this is to put git info in the dashboard & Logs
-    String deployDir = Filesystem.getDeployDirectory().getPath();
-    String branchName = "unknown";
-    String commitHash = "unknown";
-    try {
-      branchName = Files.readString(Path.of(deployDir, "branch.txt"));
-      commitHash = Files.readString(Path.of(deployDir, "commit.txt"));
-
-    } catch (IOException e) {
-      e.printStackTrace();
-      System.out.println("Parsing Git metadata Files Failed");
-    }
+    // this is to put git info in the dashboard & Logs, uses new 2024 BuildConstants.java
+    String branchName = BuildConstants.GIT_BRANCH;
+    String commitHash = BuildConstants.GIT_SHA;
+    String commitTime = BuildConstants.GIT_DATE;
+    String buildTime = BuildConstants.BUILD_DATE;
+
     System.out.println("Branch: " + branchName);
     System.out.println("Commit: " + commitHash);
+    System.out.println("Commit Time: " + commitTime);
+    System.out.println("Build Time: " + buildTime);
+
     SmartDashboard.putString("Branch", branchName);
     SmartDashboard.putString("Commit", commitHash);
+    SmartDashboard.putString("CommitTime", commitTime);
+    SmartDashboard.putString("BuildTime", buildTime);
   }
 
   /**
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 63e29b8..03db73e 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -4,12 +4,15 @@
 
 package frc.robot;
 
-import com.pathplanner.lib.PathPlanner;
-import com.pathplanner.lib.PathPlannerTrajectory;
-import com.pathplanner.lib.auto.PIDConstants;
-import com.pathplanner.lib.auto.RamseteAutoBuilder;
-import edu.wpi.first.math.controller.RamseteController;
+import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.auto.NamedCommands;
+import com.pathplanner.lib.commands.PathPlannerAuto;
+import com.pathplanner.lib.path.PathConstraints;
+import com.pathplanner.lib.path.PathPlannerPath;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -18,13 +21,17 @@
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.robot.commands.AimCommand;
+import frc.robot.commands.ArmCommand;
 import frc.robot.commands.BalanceCommand;
 import frc.robot.commands.DefaultDrive;
+import frc.robot.commands.ShooterCommand;
 import frc.robot.commands.StraightCommand;
+import frc.robot.commands.UltrasonicShooterCommand;
+import frc.robot.subsystems.ArmSubsystem;
+import frc.robot.subsystems.CameraSubsystem;
 import frc.robot.subsystems.DriveSubsystem;
+import frc.robot.subsystems.ShooterSubsystem;
 import frc.robot.subsystems.UltrasonicSubsystem;
-import java.util.HashMap;
-import java.util.List;
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
@@ -33,6 +40,9 @@
  * subsystems, commands, and button mappings) should be declared here.
  */
 public class RobotContainer {
+  // These states are used to pass data between commands.
+  private final ShooterState m_shooterState = new ShooterState();
+
   // Init joysticks
   private final CommandXboxController m_controller1 =
       new CommandXboxController(Constants.CONTROLLERUSBINDEX);
@@ -42,39 +52,56 @@ public class RobotContainer {
   // private final ExampleSubsystem m_exampleSubsystem = new ExampleSubsystem();
 
   // Init Gyro & ultrasonic
-  private final UltrasonicSubsystem m_ultrasonic1 =
-      new UltrasonicSubsystem(Constants.ULTRASONIC1PORT);
+  private final UltrasonicSubsystem m_ultrasonicShooterSubsystem =
+      new UltrasonicSubsystem(Constants.ULTRASONICSHOOTERPORT);
 
   private final DriveSubsystem m_driveSubsystem = new DriveSubsystem();
+  private final CameraSubsystem m_cameraSubsystem = new CameraSubsystem(m_driveSubsystem);
+  private final ArmSubsystem m_armSubsystem = new ArmSubsystem();
+  private final ShooterSubsystem m_shooterSubsytem = new ShooterSubsystem();
   // The robots commands are defined here..
   // private final ExampleCommand m_autoCommand = new ExampleCommand(m_exampleSubsystem);
 
-  private final AimCommand m_aimCommand = new AimCommand(m_driveSubsystem);
+  private final AimCommand m_aimCommand = new AimCommand(m_driveSubsystem, m_cameraSubsystem);
   private final BalanceCommand m_balanceCommand = new BalanceCommand(m_driveSubsystem);
   private final DefaultDrive m_defaultDrive =
       new DefaultDrive(m_driveSubsystem, this::getControllerLeftY, this::getControllerRightY);
   private final StraightCommand m_straightCommand =
       new StraightCommand(m_driveSubsystem, this::getControllerLeftY, this::getControllerRightY);
-  // misc init
+  private final UltrasonicShooterCommand m_ultrasonicShooterCommand =
+      new UltrasonicShooterCommand(m_ultrasonicShooterSubsystem, m_shooterState);
+  private final ArmCommand m_armCommand =
+      new ArmCommand(m_armSubsystem, m_shooterState, this::GetFlightStickY);
+  private final ShooterCommand m_shooterCommand = new ShooterCommand(m_shooterSubsytem);
+  private Command m_driveToSpeaker;
+  // Init Buttons
   private Trigger m_switchCameraButton;
   private Trigger m_balanceButton;
   private Trigger m_straightButton;
+  private Trigger m_brakeButton;
+  private Trigger m_coastButton;
   private JoystickButton m_aimButton;
+  private JoystickButton m_fireButton;
+  private Trigger m_driveToSpeakerButton;
   // Init For Autonomous
-  private RamseteAutoBuilder autoBuilder;
-  private final HashMap<String, Command> autonomousEventMap = new HashMap<String, Command>();
+  // private RamseteAutoBuilder autoBuilder;
   private SendableChooser<String> autoDashboardChooser = new SendableChooser<String>();
-  private List<PathPlannerTrajectory> pathGroup;
 
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
-    // Configure the button bindings
-    configureButtonBindings();
     // Initialize the autonomous command
     initializeAutonomous();
+    // Setup On the Fly Path Planning
+    configureTeleopPaths();
+    // Configure the button bindings
+    configureButtonBindings();
 
     // set default drive command
     m_driveSubsystem.setDefaultCommand(m_defaultDrive);
+    // set default command for shooter ultrasonic sensor
+    m_ultrasonicShooterSubsystem.setDefaultCommand(m_ultrasonicShooterCommand);
+    // set default command for arm
+    m_armSubsystem.setDefaultCommand(m_armCommand);
   }
 
   /**
@@ -86,17 +113,23 @@ public RobotContainer() {
   private void configureButtonBindings() {
     // Controller buttons
     m_switchCameraButton = m_controller1.x();
+    m_brakeButton = m_controller1.a();
+    m_coastButton = m_controller1.b();
     m_balanceButton = m_controller1.rightBumper();
     m_straightButton = m_controller1.rightTrigger();
+    m_driveToSpeakerButton = m_controller1.y();
     // Joystick buttons
     m_aimButton = new JoystickButton(m_flightStick, Constants.AIMBUTTON);
+    m_fireButton = new JoystickButton(m_flightStick, Constants.FIREBUTTON);
     // commands
     m_balanceButton.whileTrue(m_balanceCommand);
     m_straightButton.whileTrue(m_straightCommand);
     m_aimButton.whileTrue(m_aimCommand);
+    m_fireButton.whileTrue(m_shooterCommand);
+    m_driveToSpeakerButton.whileTrue(m_driveToSpeaker);
 
-    m_controller1.a().whileTrue(new InstantCommand(() -> m_driveSubsystem.SetBrakemode()));
-    m_controller1.b().whileTrue(new InstantCommand(() -> m_driveSubsystem.SetCoastmode()));
+    m_brakeButton.whileTrue(new InstantCommand(() -> m_driveSubsystem.SetBrakemode()));
+    m_coastButton.whileTrue(new InstantCommand(() -> m_driveSubsystem.SetCoastmode()));
   }
 
   private void initializeAutonomous() {
@@ -106,35 +139,44 @@ private void initializeAutonomous() {
     autoDashboardChooser.addOption("Do Nothing", "DoNothing");
     SmartDashboard.putData(autoDashboardChooser);
 
-    // Events
+    // Named Commands
     // ex:
-    // autonomousEventMap.put("A", new PathFollowingCommand(m_driveSubsystem, pathGroup.get(0)));
-    autonomousEventMap.put("BalanceRobot", m_balanceCommand);
-
-    // Create the AutoBuilder. This only needs to be created once when robot code starts, not every
-    // time you want to create an auto command.
-    // Use blue side of field when designing!
-    autoBuilder =
-        new RamseteAutoBuilder(
-            m_driveSubsystem::getPose, // Pose2d supplier
-            m_driveSubsystem
-                ::resetPose, // Pose2d consumer, used to reset odometry at the beginning of auto
-            new RamseteController(
-                DriveConstants.kRamseteB, DriveConstants.kRamseteZeta), // RamseteController
-            DriveConstants.kDriveKinematics, // DifferentialDriveKinematics
-            DriveConstants
-                .FeedForward, // A feedforward value to apply to the drive subsystem's controllers
-            m_driveSubsystem
-                ::getWheelSpeeds, // A method for getting the current wheel speeds of the drive
-            new PIDConstants(
-                DriveConstants.kPDriveVel, 0, 0), // A PID controller for wheel velocity control
-            m_driveSubsystem
-                ::tankDriveVolts, // A consumer that takes left and right wheel voltages and sets
-            // them to the drive subsystem's controllers
-            autonomousEventMap,
-            true, // change for either team
-            m_driveSubsystem //  Requirements of the commands (should be the drive subsystem)
-            );
+    // NamedCommands.registerCommand("A", new PathFollowingCommand(m_driveSubsystem,
+    // pathGroup.get(0)));
+    NamedCommands.registerCommand("BalanceRobot", m_balanceCommand);
+
+    // autoBuilder =
+    //     new RamseteAutoBuilder(
+    //         m_driveSubsystem::getPose, // Pose2d supplier
+    //         m_driveSubsystem
+    //             ::resetPose, // Pose2d consumer, used to reset odometry at the beginning of auto
+    //         new RamseteController(
+    //             DriveConstants.kRamseteB, DriveConstants.kRamseteZeta), // RamseteController
+    //         DriveConstants.kDriveKinematics, // DifferentialDriveKinematics
+    //         DriveConstants
+    //             .FeedForward, // A feedforward value to apply to the drive subsystem's
+    // controllers
+    //         m_driveSubsystem::getWheelSpeeds, // A method for getting the current wheel speeds of
+    // the drive
+    //         new PIDConstants(
+    //             DriveConstants.kPDriveVel, 0, 0), // A PID controller for wheel velocity control
+    //         m_driveSubsystem
+    //             ::tankDriveVolts, // A consumer that takes left and right wheel voltages and sets
+    //         // them to the drive subsystem's controllers
+    //         autonomousEventMap,
+    //         true, // change for either team
+    //         m_driveSubsystem //  Requirements of the commands (should be the drive subsystem)
+    //         );
+  }
+
+  private void configureTeleopPaths() {
+    // Limits for all Paths
+    PathConstraints constraints =
+        new PathConstraints(3.0, 4.0, Units.degreesToRadians(540), Units.degreesToRadians(720));
+
+    PathPlannerPath speakerPath = PathPlannerPath.fromPathFile("TeleopSpeakerPath");
+
+    m_driveToSpeaker = AutoBuilder.pathfindThenFollowPath(speakerPath, constraints);
   }
 
   public double getControllerRightY() {
@@ -145,18 +187,20 @@ public double getControllerLeftY() {
     return -m_controller1.getLeftY();
   }
 
+  public double GetFlightStickY() {
+    return m_flightStick.getY();
+  }
+
   // for autonomous
   public DefaultDrive getDefaultDrive() {
     return m_defaultDrive;
   }
-  // for autonomous
-  public UltrasonicSubsystem getUltrasonic1() {
-    return m_ultrasonic1;
-  }
+
   // to swap camera type.
   public Trigger getCameraButton() {
     return m_switchCameraButton;
   }
+
   // for future SmartDashboard uses.
   public CommandXboxController getController1() {
     return this.m_controller1;
@@ -173,10 +217,9 @@ public Joystick getFlightStick() {
    * @return the command to run in autonomous
    */
   public Command getAutonomousCommand() {
-    pathGroup =
-        PathPlanner.loadPathGroup(
-            autoDashboardChooser.getSelected(), DriveConstants.autoPathConstraints);
-    // Generate the auto command from the auto builder using the routine selected in the dashboard.
-    return autoBuilder.fullAuto(pathGroup);
+    // get the name of the auto from network tables, as the rest is preconfigured by the drive
+    // subsystem.
+    String autoName = autoDashboardChooser.getSelected();
+    return new PathPlannerAuto(autoName);
   }
 }
diff --git a/src/main/java/frc/robot/ShooterState.java b/src/main/java/frc/robot/ShooterState.java
new file mode 100644
index 0000000..fd4358c
--- /dev/null
+++ b/src/main/java/frc/robot/ShooterState.java
@@ -0,0 +1,25 @@
+package frc.robot;
+
+/*
+ * ShooterState.java
+ * Tracks the status of a ring loaded in the shooter
+ */
+public class ShooterState {
+  public boolean isLoaded = false;
+  public boolean isLowered = false;
+
+  public ShooterState() {}
+
+  public void setLoaded() {
+    isLoaded = true;
+  }
+
+  public void setFired() {
+    isLoaded = false;
+    isLowered = false;
+  }
+
+  public void setLowered() {
+    isLowered = true;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/AimCommand.java b/src/main/java/frc/robot/commands/AimCommand.java
index 1a01d94..fe6a50d 100644
--- a/src/main/java/frc/robot/commands/AimCommand.java
+++ b/src/main/java/frc/robot/commands/AimCommand.java
@@ -6,39 +6,30 @@
 
 import edu.wpi.first.math.util.Units;
 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.CameraSubsystem;
 import frc.robot.subsystems.DriveSubsystem;
-import org.photonvision.PhotonCamera;
 import org.photonvision.PhotonUtils;
 import org.photonvision.targeting.PhotonPipelineResult;
 
 /** The Aim command that uses the camera + gyro to control the robot. */
-public class AimCommand extends CommandBase {
+public class AimCommand extends Command {
   private final DriveSubsystem m_driveSubsystem;
-  private final PhotonCamera m_camera;
-  private final String CAMERANAME = "OV5647";
-  // Constants such as camera and target height stored. Change per robot and goal!
-  final double CAMERA_HEIGHT_METERS = Units.inchesToMeters(24);
-  final double TARGET_HEIGHT_METERS = Units.feetToMeters(0.5);
+  private final CameraSubsystem m_cameraSubsystem;
 
-  // Angle between horizontal and the camera.
-  final double CAMERA_PITCH_RADIANS = Units.degreesToRadians(0);
-
-  // How far from the target we want to be
-  final double GOAL_RANGE_METERS = Units.feetToMeters(3);
   /**
    * Creates a new AimCommand.
    *
    * @param d_subsystem The drive subsystem used by this command.
    */
-  public AimCommand(DriveSubsystem d_subsystem) {
+  public AimCommand(DriveSubsystem d_subsystem, CameraSubsystem c_subsystem) {
     m_driveSubsystem = d_subsystem;
+    m_cameraSubsystem = c_subsystem;
 
     // Change this to match the name of your camera
-    m_camera = new PhotonCamera(CAMERANAME);
 
     // Use addRequirements() here to declare subsystem dependencies.
-    addRequirements(d_subsystem);
+    addRequirements(d_subsystem, c_subsystem);
   }
 
   // Called when the command is initially scheduled.
@@ -48,7 +39,7 @@ public void initialize() {}
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    PhotonPipelineResult CamResult = m_camera.getLatestResult();
+    PhotonPipelineResult CamResult = m_cameraSubsystem.frontCameraResult;
     // will not work if cam is defined incorrectly, but will not tell you
     if (CamResult.hasTargets()) {
       SmartDashboard.putBoolean("CameraTargetDetected", true);
@@ -56,11 +47,11 @@ public void execute() {
       SmartDashboard.putNumber("CameraTargetPitch", angleGoal);
       double distanceFromTarget =
           PhotonUtils.calculateDistanceToTargetMeters(
-                  CAMERA_HEIGHT_METERS,
-                  TARGET_HEIGHT_METERS,
-                  CAMERA_PITCH_RADIANS,
+                  m_cameraSubsystem.frontCameraHeightMeters,
+                  m_cameraSubsystem.frontCameraTargetHeightMeters,
+                  m_cameraSubsystem.frontCameraTargetPitchRadians,
                   Units.degreesToRadians(CamResult.getBestTarget().getPitch()))
-              - GOAL_RANGE_METERS;
+              - m_cameraSubsystem.frontCameraGoalRangeMeters;
       // turn and move towards target.
       m_driveSubsystem.driveAndTurn(m_driveSubsystem.getYaw(), angleGoal, distanceFromTarget);
       // we reset the angle everytime as the target could change / move.
diff --git a/src/main/java/frc/robot/commands/ArmCommand.java b/src/main/java/frc/robot/commands/ArmCommand.java
new file mode 100644
index 0000000..e40e835
--- /dev/null
+++ b/src/main/java/frc/robot/commands/ArmCommand.java
@@ -0,0 +1,59 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.ShooterState;
+import frc.robot.subsystems.ArmSubsystem;
+import java.util.function.DoubleSupplier;
+
+/** An example command that uses an example subsystem. */
+public class ArmCommand extends Command {
+  @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
+  private final ArmSubsystem m_ArmSubsystem;
+
+  private final ShooterState m_shooterState;
+  private final DoubleSupplier m_yAxis;
+  private final double kMaxRotationsPerInput = 1000;
+
+  /**
+   * Creates a new ExampleCommand.
+   *
+   * @param subsystem The subsystem used by this command.
+   */
+  public ArmCommand(ArmSubsystem a_subsystem, ShooterState shooterState, DoubleSupplier yAxis) {
+    m_ArmSubsystem = a_subsystem;
+    m_shooterState = shooterState;
+    m_yAxis = yAxis;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(m_ArmSubsystem);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if (m_yAxis.getAsDouble() != 0.0) {
+      m_ArmSubsystem.MoveArmRelative(m_yAxis.getAsDouble() * kMaxRotationsPerInput);
+
+    } else if (m_shooterState.isLoaded & !m_shooterState.isLowered) {
+      m_ArmSubsystem.lowerArm();
+      m_shooterState.setLowered();
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/BalanceCommand.java b/src/main/java/frc/robot/commands/BalanceCommand.java
index 6354cd7..817bec1 100644
--- a/src/main/java/frc/robot/commands/BalanceCommand.java
+++ b/src/main/java/frc/robot/commands/BalanceCommand.java
@@ -4,11 +4,11 @@
 
 package frc.robot.commands;
 
-import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.DriveSubsystem;
 
 /** A Balancing command that uses the gyro subsystem. */
-public class BalanceCommand extends CommandBase {
+public class BalanceCommand extends Command {
   private final DriveSubsystem m_driveSubsystem;
 
   /**
diff --git a/src/main/java/frc/robot/commands/DefaultDrive.java b/src/main/java/frc/robot/commands/DefaultDrive.java
index 6787b13..7b075f8 100644
--- a/src/main/java/frc/robot/commands/DefaultDrive.java
+++ b/src/main/java/frc/robot/commands/DefaultDrive.java
@@ -2,13 +2,13 @@
 
 package frc.robot.commands;
 
-import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.Constants;
 import frc.robot.subsystems.DriveSubsystem;
 import java.util.function.DoubleSupplier;
 
 /** The default drive command that uses the drive subsystem. */
-public class DefaultDrive extends CommandBase {
+public class DefaultDrive extends Command {
   private final DriveSubsystem m_driveSubsystem;
   private final DoubleSupplier m_left_y; // this gives us the left y axis for current controller
   private final DoubleSupplier m_right_y; // this gives us the right y axis for current controller
diff --git a/src/main/java/frc/robot/commands/ExampleCommand.java b/src/main/java/frc/robot/commands/ExampleCommand.java
index 5150ec7..318de13 100644
--- a/src/main/java/frc/robot/commands/ExampleCommand.java
+++ b/src/main/java/frc/robot/commands/ExampleCommand.java
@@ -4,11 +4,11 @@
 
 package frc.robot.commands;
 
-import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.ExampleSubsystem;
 
 /** An example command that uses an example subsystem. */
-public class ExampleCommand extends CommandBase {
+public class ExampleCommand extends Command {
   @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
   private final ExampleSubsystem m_subsystem;
 
diff --git a/src/main/java/frc/robot/commands/ShooterCommand.java b/src/main/java/frc/robot/commands/ShooterCommand.java
new file mode 100644
index 0000000..1366a38
--- /dev/null
+++ b/src/main/java/frc/robot/commands/ShooterCommand.java
@@ -0,0 +1,46 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.ShooterSubsystem;
+
+/** A Shooter Command that uses an example subsystem. */
+public class ShooterCommand extends Command {
+  @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
+  private final ShooterSubsystem m_shooterSubsystem;
+
+  /**
+   * Creates a new ShooterCommand.
+   *
+   * @param subsystem The subsystem used by this command.
+   */
+  public ShooterCommand(ShooterSubsystem s_subsystem) {
+    m_shooterSubsystem = s_subsystem;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(s_subsystem);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    // TODO: Implement ShooterCommand
+    System.out.println("ShooterCommand Activated");
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/StraightCommand.java b/src/main/java/frc/robot/commands/StraightCommand.java
index 32fc813..39b0cdb 100644
--- a/src/main/java/frc/robot/commands/StraightCommand.java
+++ b/src/main/java/frc/robot/commands/StraightCommand.java
@@ -4,15 +4,16 @@
 
 package frc.robot.commands;
 
-import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.DriveSubsystem;
 import java.util.function.DoubleSupplier;
 
 /** An example command that uses an example subsystem. */
-public class StraightCommand extends CommandBase {
+public class StraightCommand extends Command {
   private final DriveSubsystem m_driveSubsystem;
   private final DoubleSupplier m_left_y; // this gives us the left y axis for current controller
   private final DoubleSupplier m_right_y; // this gives us the right y axis for current controller
+
   /**
    * Creates a new StraightCommand.
    *
diff --git a/src/main/java/frc/robot/commands/UltrasonicShooterCommand.java b/src/main/java/frc/robot/commands/UltrasonicShooterCommand.java
new file mode 100644
index 0000000..793bab6
--- /dev/null
+++ b/src/main/java/frc/robot/commands/UltrasonicShooterCommand.java
@@ -0,0 +1,54 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.ShooterState;
+import frc.robot.subsystems.UltrasonicSubsystem;
+
+/** An example command that uses an example subsystem. */
+public class UltrasonicShooterCommand extends Command {
+  @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
+  private final UltrasonicSubsystem m_ultrasonicSubsystem;
+
+  private final ShooterState m_shooterState;
+
+  /**
+   * Creates a new ExampleCommand.
+   *
+   * @param subsystem The subsystem used by this command.
+   */
+  public UltrasonicShooterCommand(UltrasonicSubsystem u_subsystem, ShooterState shooterState) {
+    m_ultrasonicSubsystem = u_subsystem;
+    m_shooterState = shooterState;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(m_ultrasonicSubsystem);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double distance = m_ultrasonicSubsystem.DistanceCM();
+    if (distance <= 30) {
+      m_shooterState.setLoaded();
+    } else {
+      m_shooterState.setFired();
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/subsystems/ArmSubsystem.java b/src/main/java/frc/robot/subsystems/ArmSubsystem.java
new file mode 100644
index 0000000..145d361
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/ArmSubsystem.java
@@ -0,0 +1,100 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+import com.revrobotics.CANSparkBase;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.SparkPIDController;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants.CANConstants;
+
+public class ArmSubsystem extends SubsystemBase {
+  private final CANSparkMax m_armMotorMain, m_armMotorSecondary;
+  private final SparkPIDController m_armMainPIDController;
+  private RelativeEncoder m_MainEncoder;
+  private final double kP, kI, kD, kIz, kFF, kMaxOutput, kMinOutput, kLoweredArmPosition;
+
+  /** Creates a new ArmSubsystem. */
+  public ArmSubsystem() {
+    // create the arm motors
+    m_armMotorMain = new CANSparkMax(CANConstants.MOTORARMMAINID, CANSparkMax.MotorType.kBrushless);
+    m_armMotorSecondary =
+        new CANSparkMax(CANConstants.MOTORARMMAINID, CANSparkMax.MotorType.kBrushless);
+
+    // set the idle mode to brake
+    m_armMotorMain.setIdleMode(CANSparkMax.IdleMode.kBrake);
+    m_armMotorSecondary.setIdleMode(CANSparkMax.IdleMode.kBrake);
+
+    // set the secondary motor to follow the main motor
+    m_armMotorSecondary.follow(m_armMotorMain);
+
+    // connect to built in PID controller
+    m_armMainPIDController = m_armMotorMain.getPIDController();
+    // allow us to read the encoder
+    m_MainEncoder = m_armMotorMain.getEncoder();
+    // PID coefficients
+    kP = 0.1;
+    kI = 1e-4;
+    kD = 1;
+    kIz = 0;
+    kFF = 0;
+    kMaxOutput = 1;
+    kMinOutput = -1;
+    kLoweredArmPosition = 0;
+
+    // set PID coefficients
+    m_armMainPIDController.setP(kP);
+    m_armMainPIDController.setI(kI);
+    m_armMainPIDController.setD(kD);
+    m_armMainPIDController.setIZone(kIz);
+    m_armMainPIDController.setFF(kFF);
+    m_armMainPIDController.setOutputRange(kMinOutput, kMaxOutput);
+  }
+
+  /*
+   * Move arm relative to current position
+   */
+  public void MoveArmRelative(double rotations) {
+    rotations = rotations + m_MainEncoder.getPosition();
+    // update the PID controller with current encoder position
+    MoveArmToPosition(rotations);
+  }
+
+  public void lowerArm() {
+    // move to set lowered arm position
+    MoveArmToPosition(kLoweredArmPosition);
+  }
+
+  /*
+   * Move arm to global position
+   */
+  public void MoveArmToPosition(double rotations) {
+    // update the PID controller with current encoder position
+    m_armMainPIDController.setReference(rotations, CANSparkBase.ControlType.kPosition);
+  }
+
+  /*
+   * attempt to hold arm at current location
+   */
+  public void stop() {
+    // update the PID controller with current encoder position
+    MoveArmToPosition(m_MainEncoder.getPosition());
+  }
+
+  public void zero() {
+    m_MainEncoder.setPosition(0);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+
+  @Override
+  public void simulationPeriodic() {
+    // This method will be called once per scheduler run during simulation
+  }
+}
diff --git a/src/main/java/frc/robot/subsystems/CameraSubsystem.java b/src/main/java/frc/robot/subsystems/CameraSubsystem.java
new file mode 100644
index 0000000..f518a12
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/CameraSubsystem.java
@@ -0,0 +1,91 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+import edu.wpi.first.apriltag.AprilTagFieldLayout;
+import edu.wpi.first.apriltag.AprilTagFields;
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.math.geometry.Translation3d;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import java.util.Optional;
+import org.photonvision.EstimatedRobotPose;
+import org.photonvision.PhotonCamera;
+import org.photonvision.PhotonPoseEstimator;
+import org.photonvision.PhotonPoseEstimator.PoseStrategy;
+import org.photonvision.targeting.PhotonPipelineResult;
+
+public class CameraSubsystem extends SubsystemBase {
+  private final DriveSubsystem m_driveSubsystem;
+  public final AprilTagFieldLayout aprilTagFieldLayout;
+  private final String frontCameraName = "OV5647";
+  private final PhotonCamera frontCamera;
+  public PhotonPipelineResult frontCameraResult;
+  // Physical location of camera relative to center
+  private final double CameraLocationXMeters = 0.5;
+  private final double CameraLocationYMeters = 0.0;
+  private final double CameraLocationZMeters = 0.5;
+  // angle of camera / orientation
+
+  // Cam mounted facing forward, half a meter forward of center, half a meter up from center.
+  private final double CameraRollRadians = Units.degreesToRadians(0.5);
+  private final double CameraPitchRadians = Units.degreesToRadians(0.0);
+  private final double CameraYawRadians = Units.degreesToRadians(0.5);
+
+  private final Transform3d frontCameraLocation =
+      new Transform3d(
+          new Translation3d(CameraLocationXMeters, CameraLocationYMeters, CameraLocationZMeters),
+          new Rotation3d(CameraRollRadians, CameraPitchRadians, CameraYawRadians));
+
+  private final PhotonPoseEstimator frontCameraPoseEstimator;
+  // Constants such as camera and target height stored. Change per robot and goal!
+  public final double frontCameraHeightMeters = Units.inchesToMeters(24);
+
+  // Target Configruation for the front camera
+  public final double frontCameraTargetHeightMeters = Units.feetToMeters(0.5);
+  // Angle between horizontal and the camera.
+  public final double frontCameraTargetPitchRadians = Units.degreesToRadians(0);
+  // How far from the target we want to be
+  public final double frontCameraGoalRangeMeters = Units.feetToMeters(3);
+
+  /** Creates a new CameraSubsystem. */
+  public CameraSubsystem(DriveSubsystem d_subsystem) {
+    m_driveSubsystem = d_subsystem;
+    aprilTagFieldLayout = AprilTagFields.k2024Crescendo.loadAprilTagLayoutField();
+    frontCamera = new PhotonCamera(frontCameraName);
+    frontCameraPoseEstimator =
+        new PhotonPoseEstimator(
+            aprilTagFieldLayout,
+            PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR,
+            frontCamera,
+            frontCameraLocation);
+  }
+
+  public Optional<EstimatedRobotPose> getEstimatedGlobalPose() {
+    return frontCameraPoseEstimator.update();
+  }
+
+  @Override
+  public void periodic() {
+    Optional<EstimatedRobotPose> pose = getEstimatedGlobalPose();
+    if (pose.isPresent()) {
+      SmartDashboard.putBoolean("CameraConnnected", true);
+      m_driveSubsystem.updateVisionPose(
+          pose.get().estimatedPose.toPose2d(), pose.get().timestampSeconds);
+    } else {
+      SmartDashboard.putBoolean("CameraConnnected", false);
+    }
+    frontCameraResult = frontCamera.getLatestResult();
+    // This method will be called once per scheduler run
+    SmartDashboard.putNumber("Front Camera Latency", frontCameraResult.getLatencyMillis() / 1000.0);
+  }
+
+  @Override
+  public void simulationPeriodic() {
+    // This method will be called once per scheduler run during simulation
+  }
+}
diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
index 5d9d4f2..e757ad9 100644
--- a/src/main/java/frc/robot/subsystems/DriveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
@@ -6,17 +6,20 @@
 // import motor & frc dependencies
 import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX;
 import com.kauailabs.navx.frc.AHRS;
+import com.pathplanner.lib.auto.AutoBuilder;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.controller.ProfiledPIDController;
+import edu.wpi.first.math.estimator.DifferentialDrivePoseEstimator;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.kinematics.DifferentialDriveOdometry;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.SPI;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
-import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
+import edu.wpi.first.wpilibj.smartdashboard.Field2d;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
@@ -29,13 +32,10 @@ public class DriveSubsystem extends SubsystemBase {
   private final AHRS m_Gyro;
 
   // motors
-  private final WPI_VictorSPX m_backLeft;
-  private final WPI_VictorSPX m_frontLeft;
-  private final WPI_VictorSPX m_backRight;
-  private final WPI_VictorSPX m_frontRight;
-  // Motor Controllers
-  private final MotorControllerGroup m_motorsLeft;
-  private final MotorControllerGroup m_motorsRight;
+  private final WPI_VictorSPX m_backLeft; // Main / Master Motor for Left
+  private final WPI_VictorSPX m_frontLeft; // Slave Motor for Left (Follow Master)
+  private final WPI_VictorSPX m_backRight; // Main / Master Motor for Right
+  private final WPI_VictorSPX m_frontRight; // Slave Motor for Right (Follow Master)
   // Main drive function
   private final DifferentialDrive m_ddrive;
 
@@ -44,7 +44,7 @@ public class DriveSubsystem extends SubsystemBase {
   private final Encoder m_encoderRight;
 
   // Odometry class for tracking robot pose (position on field)
-  private final DifferentialDriveOdometry m_driveOdometry;
+  private final DifferentialDrivePoseEstimator m_driveOdometry;
 
   // Angle PID / RotateToAngle
   static final double turn_P = 0.1;
@@ -103,6 +103,9 @@ public class DriveSubsystem extends SubsystemBase {
           new TrapezoidProfile.Constraints(
               MaxBalanceRateDegPerS, MaxBalanceAccelerationDegPerSSquared));
 
+  // track robot field location for dashboard
+  private Field2d field = new Field2d();
+
   /** Creates a new DriveSubsystem. */
   public DriveSubsystem() {
     // Init gyro
@@ -114,13 +117,14 @@ public DriveSubsystem() {
     m_frontRight = new WPI_VictorSPX(CANConstants.MOTORFRONTRIGHTID);
     m_backRight = new WPI_VictorSPX(CANConstants.MOTORBACKRIGHTID);
 
-    // init motor controller groups
-    m_motorsLeft = new MotorControllerGroup(m_backLeft, m_frontLeft);
-    m_motorsRight = new MotorControllerGroup(m_frontRight, m_backRight);
-    m_motorsRight.setInverted(true); // invert left side
+    // setup main and secondary motors
+    m_frontLeft.follow(m_backLeft); // set front left to follow back left
+    m_frontRight.follow(m_backRight); // set front right to follow back right
+
+    m_backRight.setInverted(true); // invert right side
 
     // init drive function
-    m_ddrive = new DifferentialDrive(m_motorsLeft, m_motorsRight);
+    m_ddrive = new DifferentialDrive(m_backLeft, m_backRight);
 
     // init Encoders
     m_encoderLeft = new Encoder(Constants.DRIVEENCODERLEFTA, Constants.DRIVEENCODERLEFTB);
@@ -140,8 +144,12 @@ public DriveSubsystem() {
 
     // configure Odemetry
     m_driveOdometry =
-        new DifferentialDriveOdometry(
-            getRotation2d(), m_encoderLeft.getDistance(), m_encoderRight.getDistance());
+        new DifferentialDrivePoseEstimator(
+            DriveConstants.kDriveKinematics,
+            getRotation2d(),
+            m_encoderLeft.getDistance(),
+            m_encoderRight.getDistance(),
+            new Pose2d());
 
     // config turn pid controller.
     m_turnController.enableContinuousInput(-180.0f, 180.0f);
@@ -151,18 +159,29 @@ public DriveSubsystem() {
     // this is the target pitch/ tilt error.
     m_balanceController.setGoal(0);
     m_balanceController.setTolerance(BalanceToleranceDeg); // max error in degrees
-  }
 
-  /**
-   * Controls the left and right sides of the drive directly with voltages.
-   *
-   * @param leftVolts the commanded left output
-   * @param rightVolts the commanded right output
-   */
-  public void tankDriveVolts(double leftVolts, double rightVolts) {
-    m_motorsLeft.setVoltage(leftVolts);
-    m_motorsRight.setVoltage(rightVolts);
-    m_ddrive.feed();
+    // Setup Base AutoBuilder (Autonomous)
+    AutoBuilder.configureRamsete(
+        this::getPose, // Pose2d supplier
+        this::resetPose, // Pose2d consumer, used to reset odometry at the beginning of auto
+        this::getSpeeds, // A method for getting the chassis' current speed and direction
+        this::setSpeeds, // A consumer that takes the desired chassis speed and direction
+        DriveConstants.autoReplanningConfig,
+        () -> {
+          // Boolean supplier that controls when the path will be mirrored for the red alliance
+          // This will flip the path being followed to the red side of the field.
+          // THE ORIGIN WILL REMAIN ON THE BLUE SIDE
+
+          var alliance = DriverStation.getAlliance();
+          if (alliance.isPresent()) {
+            return alliance.get() == DriverStation.Alliance.Red;
+          }
+          return false;
+        },
+        this // Reference to this subsystem to set requirements
+        );
+
+    SmartDashboard.putData("Field", field); // add field to dashboard
   }
 
   // default tank drive function
@@ -286,13 +305,43 @@ public void driveStraight(
     this.tankDrive(leftStickValue, rightStickValue);
   }
 
-  // for odemetry (path following)
+  /*
+   * This function can return our robots DiffernentialDriveWheelSpeeds, which is the speed of each side of the robot.
+   */
   public DifferentialDriveWheelSpeeds getWheelSpeeds() {
     return new DifferentialDriveWheelSpeeds(m_encoderLeft.getRate(), m_encoderRight.getRate());
   }
 
+  /*
+   * This function can return our robots ChassisSpeeds, which is vx (m/s), vy (m/s), and omega (rad/s).
+   */
+  public ChassisSpeeds getSpeeds() {
+    return DriveConstants.kDriveKinematics.toChassisSpeeds(getWheelSpeeds());
+  }
+
+  /*
+   * This function can set our robots ChassisSpeeds, which is vx (m/s), vy (m/s), and omega (rad/s).
+   * vy is always 0 as we are not strafing.
+   */
+  public void setSpeeds(ChassisSpeeds speeds) {
+    setWheelVelocities(DriveConstants.kDriveKinematics.toWheelSpeeds(speeds));
+  }
+
+  /*
+   * This function can set our robots DifferentialDriveWheelSpeeds, which is the speed of each side of the robot.
+   */
+  public void setWheelVelocities(DifferentialDriveWheelSpeeds speeds) {
+    // TODO: Implement, this makes everything more accurate and allows auto to work.
+    // https://docs.wpilib.org/en/stable/docs/software/advanced-controls/trajectories/ramsete.html#ramsete-in-the-command-based-framework
+    // we should use in controller velocity PID
+  }
+
   public Pose2d getPose() {
-    return m_driveOdometry.getPoseMeters();
+    return m_driveOdometry.getEstimatedPosition();
+  }
+
+  public void updateVisionPose(Pose2d visionRobotPose, double timestamp) {
+    m_driveOdometry.addVisionMeasurement(visionRobotPose, timestamp);
   }
 
   public void resetEncoders() {
@@ -333,10 +382,6 @@ public void stop() {
     this.tankDrive(0, 0);
   }
 
-  public void calibrate() {
-    m_Gyro.calibrate();
-  }
-
   public Rotation2d getRotation2d() {
     return m_Gyro.getRotation2d();
   }
@@ -372,9 +417,11 @@ public void periodic() {
     SmartDashboard.putNumber("Average Distance Traveled", AverageDistance());
     SmartDashboard.putNumber("Current Gyro Pitch", getPitch());
     SmartDashboard.putNumber("Current Gyro Yaw", getYaw());
+    SmartDashboard.putBoolean("Gyro Calibrating", m_Gyro.isCalibrating());
     // Update the odometry in the periodic block
     m_driveOdometry.update(
         getRotation2d(), m_encoderLeft.getDistance(), m_encoderRight.getDistance());
+    field.setRobotPose(getPose());
   }
 
   @Override
diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
new file mode 100644
index 0000000..9e4e8a4
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -0,0 +1,97 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+import com.revrobotics.CANSparkBase;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.SparkPIDController;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants.CANConstants;
+
+public class ShooterSubsystem extends SubsystemBase {
+  private final CANSparkMax m_ShooterMotorMain;
+  private final SparkPIDController m_ShooterMainPIDController;
+  private RelativeEncoder m_ShooterMainEncoder;
+  private final double kP, kI, kD, kIz, kFF, kMaxOutput, kMinOutput, maxRPM;
+
+  /** Creates a new ShooterSubsystem. */
+  public ShooterSubsystem() {
+    // create the shooter motors
+    m_ShooterMotorMain =
+        new CANSparkMax(CANConstants.MOTORSHOOTERID, CANSparkMax.MotorType.kBrushless);
+    // set the idle mode to coast
+    m_ShooterMotorMain.setIdleMode(CANSparkMax.IdleMode.kCoast);
+
+    // connect to built in PID controller
+    m_ShooterMainPIDController = m_ShooterMotorMain.getPIDController();
+
+    // allow us to read the encoder
+    m_ShooterMainEncoder = m_ShooterMotorMain.getEncoder();
+    // PID coefficients
+    kP = 6e-5;
+    kI = 0;
+    kD = 0;
+    kIz = 0;
+    kFF = 0.000015;
+    kMaxOutput = 1;
+    kMinOutput = -1;
+    maxRPM = 5700;
+
+    // set PID coefficients
+    m_ShooterMainPIDController.setP(kP);
+    m_ShooterMainPIDController.setI(kI);
+    m_ShooterMainPIDController.setD(kD);
+    m_ShooterMainPIDController.setIZone(kIz);
+    m_ShooterMainPIDController.setFF(kFF);
+    m_ShooterMainPIDController.setOutputRange(kMinOutput, kMaxOutput);
+  }
+
+  /*
+   * Spin shooter at a given RPM
+   */
+  public void SpinShooter(double RPM) {
+    m_ShooterMainPIDController.setReference(RPM, CANSparkBase.ControlType.kVelocity);
+  }
+
+  /*
+   * Stop the shooter
+   */
+  public void StopShooter() {
+    SpinShooter(0);
+  }
+
+  /*
+   * Spin Shooter at max RPM
+   */
+  public void SpinShooterFull() {
+    SpinShooter(maxRPM);
+  }
+
+  /*
+   * Check if shooter is at a given RPM
+   */
+  public Boolean isAtRPMTolerance(double RPM) {
+    return (m_ShooterMainEncoder.getVelocity() > RPM - 100
+        && m_ShooterMainEncoder.getVelocity() < RPM + 100);
+  }
+
+  /*
+   * Check if shooter is at max RPM
+   */
+  public Boolean isAtMaxRPM() {
+    return isAtRPMTolerance(maxRPM);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+
+  @Override
+  public void simulationPeriodic() {
+    // This method will be called once per scheduler run during simulation
+  }
+}
diff --git a/vendordeps/NavX.json b/vendordeps/NavX.json
index 29ec93a..e978a5f 100644
--- a/vendordeps/NavX.json
+++ b/vendordeps/NavX.json
@@ -1,17 +1,18 @@
 {
     "fileName": "NavX.json",
-    "name": "KauaiLabs_navX_FRC",
-    "version": "2023.0.3",
+    "name": "NavX",
+    "version": "2024.1.0",
     "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
+    "frcYear": "2024",
     "mavenUrls": [
-        "https://dev.studica.com/maven/release/2023/"
+        "https://dev.studica.com/maven/release/2024/"
     ],
-    "jsonUrl": "https://dev.studica.com/releases/2023/NavX.json",
+    "jsonUrl": "https://dev.studica.com/releases/2024/NavX.json",
     "javaDependencies": [
         {
             "groupId": "com.kauailabs.navx.frc",
             "artifactId": "navx-frc-java",
-            "version": "2023.0.3"
+            "version": "2024.1.0"
         }
     ],
     "jniDependencies": [],
@@ -19,7 +20,7 @@
         {
             "groupId": "com.kauailabs.navx.frc",
             "artifactId": "navx-frc-cpp",
-            "version": "2023.0.3",
+            "version": "2024.1.0",
             "headerClassifier": "headers",
             "sourcesClassifier": "sources",
             "sharedLibrary": false,
@@ -30,7 +31,7 @@
                 "linuxraspbian",
                 "linuxarm32",
                 "linuxarm64",
-                "linux86-64",
+                "linuxx86-64",
                 "osxuniversal",
                 "windowsx86-64"
             ]
diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json
index 8e61586..3c74146 100644
--- a/vendordeps/PathplannerLib.json
+++ b/vendordeps/PathplannerLib.json
@@ -1,8 +1,9 @@
 {
     "fileName": "PathplannerLib.json",
     "name": "PathplannerLib",
-    "version": "2023.4.4",
+    "version": "2024.1.2",
     "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": "2024.1.2"
         }
     ],
     "jniDependencies": [],
@@ -19,7 +20,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2023.4.4",
+            "version": "2024.1.2",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -28,7 +29,9 @@
                 "windowsx86-64",
                 "linuxx86-64",
                 "osxuniversal",
-                "linuxathena"
+                "linuxathena",
+                "linuxarm32",
+                "linuxarm64"
             ]
         }
     ]
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 69%
rename from vendordeps/Phoenix.json
rename to vendordeps/Phoenix6.json
index 614dc3a..69a4079 100644
--- a/vendordeps/Phoenix.json
+++ b/vendordeps/Phoenix6.json
@@ -1,56 +1,32 @@
 {
-    "fileName": "Phoenix.json",
-    "name": "CTRE-Phoenix (v5)",
-    "version": "5.31.0+23.2.2",
-    "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": "5.31.0"
-        },
+            "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": "5.31.0"
+            "version": "24.1.0"
         }
     ],
     "jniDependencies": [
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "cci",
-            "version": "5.31.0",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxathena"
-            ],
-            "simMode": "hwsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix.sim",
-            "artifactId": "cci-sim",
-            "version": "5.31.0",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -63,7 +39,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -76,7 +52,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -89,7 +65,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -102,7 +78,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -115,7 +91,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -128,7 +104,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -141,7 +117,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -154,7 +130,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -167,7 +143,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -180,40 +156,10 @@
     ],
     "cppDependencies": [
         {
-            "groupId": "com.ctre.phoenix",
+            "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "5.31.0",
-            "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": "5.31.0",
-            "libName": "CTRE_Phoenix",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxathena"
-            ],
-            "simMode": "hwsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "cci",
-            "version": "5.31.0",
-            "libName": "CTRE_PhoenixCCI",
+            "version": "24.1.0",
+            "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
             "skipInvalidPlatforms": true,
@@ -227,7 +173,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "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": "5.31.0",
-            "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": "5.31.0",
-            "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": "5.31.0",
-            "libName": "CTRE_PhoenixCCISim",
+            "version": "24.1.0",
+            "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
             "skipInvalidPlatforms": true,
@@ -287,7 +203,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.1.0",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -302,7 +218,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.1.0",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -317,7 +233,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.1.0",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -332,7 +248,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.1.0",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -347,7 +263,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.1.0",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -362,7 +278,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.1.0",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -377,7 +293,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.1.0",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -392,7 +308,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.1.0",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -407,7 +323,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "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 65dcc03..67bf389 100644
--- a/vendordeps/WPILibNewCommands.json
+++ b/vendordeps/WPILibNewCommands.json
@@ -3,35 +3,36 @@
   "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"
-      }
+    {
+      "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"
-          ]
-      }
+    {
+      "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 dad3105..8a0e424 100644
--- a/vendordeps/photonlib.json
+++ b/vendordeps/photonlib.json
@@ -1,41 +1,57 @@
 {
-    "fileName": "photonlib.json",
-    "name": "photonlib",
-    "version": "v2023.4.2",
-    "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004 ",
-    "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",
-    "jniDependencies": [],
-    "cppDependencies": [
-        {
-            "groupId": "org.photonvision",
-            "artifactId": "PhotonLib-cpp",
-            "version": "v2023.4.2",
-            "libName": "Photon",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxathena",
-                "linuxx86-64",
-                "osxuniversal"
-            ]
-        }
-    ],
-    "javaDependencies": [
-        {
-            "groupId": "org.photonvision",
-            "artifactId": "PhotonLib-java",
-            "version": "v2023.4.2"
-        },
-        {
-            "groupId": "org.photonvision",
-            "artifactId": "PhotonTargeting-java",
-            "version": "v2023.4.2"
-        }
-    ]
-}
\ No newline at end of file
+  "fileName": "photonlib.json",
+  "name": "photonlib",
+  "version": "v2024.1.2",
+  "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",
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "groupId": "org.photonvision",
+      "artifactId": "photonlib-cpp",
+      "version": "v2024.1.2",
+      "libName": "photonlib",
+      "headerClassifier": "headers",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxathena",
+        "linuxx86-64",
+        "osxuniversal"
+      ]
+    },
+    {
+      "groupId": "org.photonvision",
+      "artifactId": "photontargeting-cpp",
+      "version": "v2024.1.2",
+      "libName": "photontargeting",
+      "headerClassifier": "headers",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxathena",
+        "linuxx86-64",
+        "osxuniversal"
+      ]
+    }
+  ],
+  "javaDependencies": [
+    {
+      "groupId": "org.photonvision",
+      "artifactId": "photonlib-java",
+      "version": "v2024.1.2"
+    },
+    {
+      "groupId": "org.photonvision",
+      "artifactId": "photontargeting-java",
+      "version": "v2024.1.2"
+    }
+  ]
+}