diff --git a/build.gradle b/build.gradle
index c1f07ee..ac90875 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,8 +1,8 @@
 import edu.wpi.first.gradlerio.deploy.roborio.RoboRIO
-
+ 
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2022.1.1"
+    id "edu.wpi.first.GradleRIO" version "2022.2.1"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11
diff --git a/simgui-ds.json b/simgui-ds.json
new file mode 100644
index 0000000..73cc713
--- /dev/null
+++ b/simgui-ds.json
@@ -0,0 +1,92 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ]
+}
diff --git a/simgui.json b/simgui.json
new file mode 100644
index 0000000..a47a9ab
--- /dev/null
+++ b/simgui.json
@@ -0,0 +1,11 @@
+{
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo",
+      "/LiveWindow/LED": "Subsystem",
+      "/LiveWindow/SwerveDrive": "Subsystem",
+      "/LiveWindow/SwerveModule": "Subsystem",
+      "/LiveWindow/Ungrouped/Scheduler": "Scheduler"
+    }
+  }
+}
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 76c2e5e..355c44f 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -46,8 +46,8 @@ public class RobotContainer {
   private final LED m_robotLED = new LED(m_robotMap.LEDController);
 
   /* Controllers */
-  private final XboxControllerRaw m_driverXbox = new XboxControllerRaw(OIConstants.XBOX_DRIVER_ID);
-  private final XboxControllerRaw m_operatorXbox = new XboxControllerRaw(OIConstants.XBOX_OPERATOR_ID);
+  private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
+  private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
 
   /**
    * The container for the robot. Contains subsystems, OI devices, and commands.
@@ -77,25 +77,25 @@ public class RobotContainer {
    */
   private void configureButtonBindings() {
     /* Driver Buttons */
-    // new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
-    new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.Y_BUTTON)
+    new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
+    // new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.Y_BUTTON)
       .whenPressed(() -> m_robotSwerveDrive.m_gyro.reset());
 
-    // new JoystickButton(getDriverJoystick(), XboxController.LEFT_BUMPER_BUTTON)
-    new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.LEFT_BUMPER_BUTTON)
+    new JoystickButton(getDriverJoystick(), XboxController.LEFT_BUMPER_BUTTON)
+    // new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.LEFT_BUMPER_BUTTON)
       .whenPressed(() -> m_robotSwerveDrive.highSpeed(false));
 
 
-    // new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
-    new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.RIGHT_BUMPER_BUTTON)
+    new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
+    // new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.RIGHT_BUMPER_BUTTON)
       .whenPressed(() -> m_robotSwerveDrive.highSpeed(true));
 
 
 
     /* Operator Buttons */
     // activates "Lit Mode"
-    // new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
-    new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.A_BUTTON)
+    new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
+    // new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.A_BUTTON)
         .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
         .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
   }
@@ -124,17 +124,17 @@ public class RobotContainer {
     return m_operatorXbox;
   }
 
-  // /**
-  //  * Add your docs here.
-  //  */
-  // public Joystick getOperatorJoystick() {
-  //   return m_operatorXbox.getJoyStick();
-  // }
+  /**
+   * Add your docs here.
+   */
+  public Joystick getOperatorJoystick() {
+    return m_operatorXbox.getJoyStick();
+  }
 
-  // /**
-  //  * Add your docs here.
-  //  */
-  // public Joystick getDriverJoystick() {
-  //   return m_driverXbox.getJoyStick();
-  // }
+  /**
+   * Add your docs here.
+   */
+  public Joystick getDriverJoystick() {
+    return m_driverXbox.getJoyStick();
+  }
 }