diff --git a/.gitignore b/.gitignore
index 61f25ce..983678a 100644
--- a/.gitignore
+++ b/.gitignore
@@ -155,6 +155,7 @@ gradle-app.setting
 .project
 .settings/
 bin/
+imgui.ini
 
 
 # End of https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 860e319..5200b5c 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -7,8 +7,9 @@
     "**/CVS": true,
     "**/.DS_Store": true,
     "bin/": true,
-    ".classpath": true,
-    ".project": true
-  },
-  "wpilib.online": true
+    "**/.classpath": true,
+    "**/.project": true,
+    "**/.settings": true,
+    "**/.factorypath": true
+  }
 }
diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json
index 95c6671..a5920a4 100644
--- a/.wpilib/wpilib_preferences.json
+++ b/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2019",
+    "projectYear": "2020",
     "teamNumber": 4388
 }
\ No newline at end of file
diff --git a/build.gradle b/build.gradle
index 9216a46..6ae9dcf 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,8 +1,11 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2019.1.1"
+    id "edu.wpi.first.GradleRIO" version "2020.1.2"
 }
 
+sourceCompatibility = JavaVersion.VERSION_11
+targetCompatibility = JavaVersion.VERSION_11
+
 def ROBOT_MAIN_CLASS = "frc4388.robot.Main"
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
@@ -35,27 +38,31 @@ deploy {
 }
 
 // Set this to true to enable desktop support.
-def includeDesktopSupport = false
-
-// Maven central needed for JUnit
-repositories {
-    mavenCentral()
-}
+def includeDesktopSupport = true
 
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 4.
 dependencies {
-    compile wpi.deps.wpilib()
-    compile wpi.deps.vendor.java()
+    implementation wpi.deps.wpilib()
+    nativeZip wpi.deps.wpilibJni(wpi.platforms.roborio)
+    nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop)
+
+
+    implementation wpi.deps.vendor.java()
     nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
     nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
-    testCompile 'junit:junit:4.12'
+
+    testImplementation 'junit:junit:4.12'
+
+    // Enable simulation gui support. Must check the box in vscode to enable support
+    // upon debugging
+    simulation wpi.deps.sim.gui(wpi.platforms.desktop, false)
 }
 
 // Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
 // 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.compile.collect { it.isDirectory() ? it : zipTree(it) } }
+    from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
     manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
 }
diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar
index 457aad0..cc4fdc2 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 d08253c..d050f17 100644
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-5.0-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-6.0.1-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
diff --git a/gradlew b/gradlew
index af6708f..2fe81a7 100644
--- a/gradlew
+++ b/gradlew
@@ -1,5 +1,21 @@
 #!/usr/bin/env sh
 
+#
+# Copyright 2015 the original author or authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+
 ##############################################################################
 ##
 ##  Gradle start up script for UN*X
@@ -28,7 +44,7 @@ APP_NAME="Gradle"
 APP_BASE_NAME=`basename "$0"`
 
 # Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-DEFAULT_JVM_OPTS='"-Xmx64m"'
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD="maximum"
@@ -109,8 +125,8 @@ if $darwin; then
     GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
 fi
 
-# For Cygwin, switch paths to Windows format before running java
-if $cygwin ; then
+# For Cygwin or MSYS, switch paths to Windows format before running java
+if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
     APP_HOME=`cygpath --path --mixed "$APP_HOME"`
     CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
     JAVACMD=`cygpath --unix "$JAVACMD"`
@@ -138,19 +154,19 @@ if $cygwin ; then
         else
             eval `echo args$i`="\"$arg\""
         fi
-        i=$((i+1))
+        i=`expr $i + 1`
     done
     case $i in
-        (0) set -- ;;
-        (1) set -- "$args0" ;;
-        (2) set -- "$args0" "$args1" ;;
-        (3) set -- "$args0" "$args1" "$args2" ;;
-        (4) set -- "$args0" "$args1" "$args2" "$args3" ;;
-        (5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
-        (6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
-        (7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
-        (8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
-        (9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
+        0) set -- ;;
+        1) set -- "$args0" ;;
+        2) set -- "$args0" "$args1" ;;
+        3) set -- "$args0" "$args1" "$args2" ;;
+        4) set -- "$args0" "$args1" "$args2" "$args3" ;;
+        5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
+        6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
+        7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
+        8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
+        9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
     esac
 fi
 
@@ -159,14 +175,9 @@ save () {
     for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
     echo " "
 }
-APP_ARGS=$(save "$@")
+APP_ARGS=`save "$@"`
 
 # Collect all arguments for the java command, following the shell quoting and substitution rules
 eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
 
-# by default we should be in the correct project dir, but when run from Finder on Mac, the cwd is wrong
-if [ "$(uname)" = "Darwin" ] && [ "$HOME" = "$PWD" ]; then
-  cd "$(dirname "$0")"
-fi
-
 exec "$JAVACMD" "$@"
diff --git a/gradlew.bat b/gradlew.bat
index 6d57edc..9618d8d 100644
--- a/gradlew.bat
+++ b/gradlew.bat
@@ -1,3 +1,19 @@
+@rem
+@rem Copyright 2015 the original author or authors.
+@rem
+@rem Licensed under the Apache License, Version 2.0 (the "License");
+@rem you may not use this file except in compliance with the License.
+@rem You may obtain a copy of the License at
+@rem
+@rem      https://www.apache.org/licenses/LICENSE-2.0
+@rem
+@rem Unless required by applicable law or agreed to in writing, software
+@rem distributed under the License is distributed on an "AS IS" BASIS,
+@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+@rem See the License for the specific language governing permissions and
+@rem limitations under the License.
+@rem
+
 @if "%DEBUG%" == "" @echo off
 @rem ##########################################################################
 @rem
@@ -14,7 +30,7 @@ set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
 @rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-set DEFAULT_JVM_OPTS="-Xmx64m"
+set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
 
 @rem Find java.exe
 if defined JAVA_HOME goto findJavaFromJavaHome
diff --git a/settings.gradle b/settings.gradle
index b0f4d48..81f96ab 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -4,17 +4,19 @@ pluginManagement {
     repositories {
         mavenLocal()
         gradlePluginPortal()
-        String frcYear = '2019'
+        String frcYear = '2020'
         File frcHome
         if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')
             if (publicFolder == null) {
                 publicFolder = "C:\\Users\\Public"
             }
-            frcHome = new File(publicFolder, "frc${frcYear}")
+            def homeRoot = new File(publicFolder, "wpilib")
+            frcHome = new File(homeRoot, frcYear)
         } else {
             def userFolder = System.getProperty("user.home")
-            frcHome = new File(userFolder, "frc${frcYear}")
+            def homeRoot = new File(userFolder, "wpilib")
+            frcHome = new File(homeRoot, frcYear)
         }
         def frcHomeMaven = new File(frcHome, 'maven')
         maven {
diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
new file mode 100644
index 0000000..d5ab37e
--- /dev/null
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -0,0 +1,34 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot;
+
+/**
+ * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
+ * constants.  This class should not be used for any other purpose.  All constants should be
+ * declared globally (i.e. public static).  Do not put anything functional in this class.
+ *
+ * <p>It is advised to statically import this class (or one of its inner classes) wherever the
+ * constants are needed, to reduce verbosity.
+ */
+public final class Constants {
+    public static final class DriveConstants {
+        public static final int DRIVE_LEFT_FRONT_CAN_ID = 2;
+        public static final int DRIVE_RIGHT_FRONT_CAN_ID = 4;
+	    public static final int DRIVE_LEFT_BACK_CAN_ID = 3;
+	    public static final int DRIVE_RIGHT_BACK_CAN_ID = 5;
+    }
+
+    public static final class LEDConstants {
+        public static final int LED_SPARK_ID = 0;
+    }
+
+    public static final class OIConstants {
+        public static final int XBOX_DRIVER_ID = 0;
+        public static final int XBOX_OPERATOR_ID = 1;
+    }
+}
diff --git a/src/main/java/frc4388/robot/OI.java b/src/main/java/frc4388/robot/OI.java
deleted file mode 100644
index e97b4bb..0000000
--- a/src/main/java/frc4388/robot/OI.java
+++ /dev/null
@@ -1,89 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc4388.robot;
-
-import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.buttons.JoystickButton;
-import frc4388.robot.commands.Drive.DriveWithJoystick;
-import frc4388.robot.commands.Drive.GamerMove;
-import frc4388.utility.controller.IHandController;
-import frc4388.utility.controller.XboxController;
-
-/**
- * This class is the glue that binds the controls on the physical operator
- * interface to the commands and command groups that allow control of the robot.
- */
-public class OI {
-  //// CREATING BUTTONS
-  // One type of button is a joystick button which is any button on a
-  //// joystick.
-  // You create one by telling it which joystick it's on and which button
-  // number it is.
-  // Joystick stick = new Joystick(port);
-  // Button button = new JoystickButton(stick, buttonNumber);
-
-  // There are a few additional built in buttons you can use. Additionally,
-  // by subclassing Button you can create custom triggers and bind those to
-  // commands the same as any other Button.
-
-  //// TRIGGERING COMMANDS WITH BUTTONS
-  // Once you have a button, it's trivial to bind it to a button in one of
-  // three ways:
-
-  // Start the command when the button is pressed and let it run the command
-  // until it is finished as determined by it's isFinished method.
-  // button.whenPressed(new ExampleCommand());
-
-  // Run the command while the button is being held down and interrupt it once
-  // the button is released.
-  // button.whileHeld(new ExampleCommand());
-
-  // Start the command when the button is released and let it run the command
-  // until it is finished as determined by it's isFinished method.
-  // button.whenReleased(new ExampleCommand());
-
-  private static OI instance;
-  
-  public static XboxController m_driverXbox;
-  private static XboxController m_operatorXbox;
-
-  public OI() {
-    m_driverXbox = new XboxController(RobotMap.XBOX_DRIVER_ID);
-    m_operatorXbox = new XboxController(RobotMap.XBOX_OPERATOR_ID);
-
-    JoystickButton GamerMove = new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON);
-    GamerMove.whenPressed(new GamerMove());
-    GamerMove.whenReleased(new DriveWithJoystick());
-  }
-
-  public static OI getInstance() {
-    if(instance == null) {
-      instance = new OI();
-    }
-    return instance;
-  }
-
-  public IHandController getDriverController() {
-    return m_driverXbox;
-  }
-
-  public IHandController getOperatorController()
-  {
-    return m_operatorXbox;
-  }
-
-  public Joystick getOperatorJoystick()
-  {
-    return m_operatorXbox.getJoyStick();
-  }
-
-  public Joystick getDriverJoystick()
-  {
-    return m_driverXbox.getJoyStick();
-  }
-}
diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java
index aa44e07..7735364 100644
--- a/src/main/java/frc4388/robot/Robot.java
+++ b/src/main/java/frc4388/robot/Robot.java
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -8,15 +8,8 @@
 package frc4388.robot;
 
 import edu.wpi.first.wpilibj.TimedRobot;
-import edu.wpi.first.wpilibj.command.Command;
-import edu.wpi.first.wpilibj.command.Scheduler;
-import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import frc4388.robot.commands.ExampleCommand;
-import frc4388.robot.subsystems.Drive;
-import frc4388.robot.subsystems.ExampleSubsystem;
-import frc4388.robot.subsystems.LED;
-import frc4388.utility.controller.XboxController;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
 
 /**
  * The VM is configured to automatically run this class, and to call the
@@ -26,13 +19,9 @@ import frc4388.utility.controller.XboxController;
  * project.
  */
 public class Robot extends TimedRobot {
-  public static ExampleSubsystem m_subsystem = new ExampleSubsystem();
-  public static LED m_led = new LED();
-  public static Drive m_Drive = new Drive();
-  public static OI m_oi;
-
   Command m_autonomousCommand;
-  SendableChooser<Command> m_chooser = new SendableChooser<>();
+
+  private RobotContainer m_robotContainer;
 
   /**
    * This function is run when the robot is first started up and should be
@@ -40,10 +29,9 @@ public class Robot extends TimedRobot {
    */
   @Override
   public void robotInit() {
-    m_oi = new OI();
-    m_chooser.setDefaultOption("Default Auto", new ExampleCommand());
-    // chooser.addOption("My Auto", new MyAutoCommand());
-    SmartDashboard.putData("Auto mode", m_chooser);
+    // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
+    // autonomous chooser on the dashboard.
+    m_robotContainer = new RobotContainer();
   }
 
   /**
@@ -56,6 +44,11 @@ public class Robot extends TimedRobot {
    */
   @Override
   public void robotPeriodic() {
+    // Runs the Scheduler.  This is responsible for polling buttons, adding newly-scheduled
+    // commands, running already-scheduled commands, removing finished or interrupted commands,
+    // and running subsystem periodic() methods.  This must be called from the robot's periodic
+    // block in order for anything in the Command-based framework to work.
+    CommandScheduler.getInstance().run();
   }
 
   /**
@@ -69,23 +62,14 @@ public class Robot extends TimedRobot {
 
   @Override
   public void disabledPeriodic() {
-    Scheduler.getInstance().run();
   }
 
   /**
-   * This autonomous (along with the chooser code above) shows how to select
-   * between different autonomous modes using the dashboard. The sendable
-   * chooser code works with the Java SmartDashboard. If you prefer the
-   * LabVIEW Dashboard, remove all of the chooser code and uncomment the
-   * getString code to get the auto name from the text box below the Gyro
-   *
-   * <p>You can add additional auto modes by adding additional commands to the
-   * chooser code above (like the commented example) or additional comparisons
-   * to the switch structure below with additional strings & commands.
+   * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
    */
   @Override
   public void autonomousInit() {
-    m_autonomousCommand = m_chooser.getSelected();
+    m_autonomousCommand = m_robotContainer.getAutonomousCommand();
 
     /*
      * String autoSelected = SmartDashboard.getString("Auto Selector",
@@ -96,7 +80,7 @@ public class Robot extends TimedRobot {
 
     // schedule the autonomous command (example)
     if (m_autonomousCommand != null) {
-      m_autonomousCommand.start();
+      m_autonomousCommand.schedule();
     }
   }
 
@@ -105,7 +89,6 @@ public class Robot extends TimedRobot {
    */
   @Override
   public void autonomousPeriodic() {
-    Scheduler.getInstance().run();
   }
 
   @Override
@@ -124,7 +107,7 @@ public class Robot extends TimedRobot {
    */
   @Override
   public void teleopPeriodic() {
-    Scheduler.getInstance().run();
+    
   }
 
   /**
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
new file mode 100644
index 0000000..9ba1572
--- /dev/null
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -0,0 +1,91 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot;
+
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+import frc4388.robot.Constants.*;
+import frc4388.robot.commands.Drive.DriveWithJoystick;
+import frc4388.robot.commands.Drive.GamerMove;
+import frc4388.robot.commands.LED.UpdateLED;
+import frc4388.robot.subsystems.Drive;
+import frc4388.robot.subsystems.LED;
+import frc4388.utility.controller.IHandController;
+import frc4388.utility.controller.XboxController;
+
+/**
+ * This class is where the bulk of the robot should be declared. Since
+ * Command-based is a "declarative" paradigm, very little robot logic should
+ * actually be handled in the {@link Robot} periodic methods (other than the
+ * scheduler calls). Instead, the structure of the robot (including subsystems,
+ * commands, and button mappings) should be declared here.
+ */
+public class RobotContainer {
+    /* Subsystems */
+    private final Drive m_robotDrive = new Drive();
+    private final LED m_robotLED = new LED();
+
+    /* Controllers */
+    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.
+     */
+    public RobotContainer() {
+        configureButtonBindings();
+
+        /* Default Commands */
+        m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
+        m_robotLED.setDefaultCommand(new UpdateLED(m_robotLED));
+    }
+
+    /**
+    * Use this method to define your button->command mappings.  Buttons can be created by
+    * instantiating a {@link GenericHID} or one of its subclasses ({@link
+    * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
+    * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
+    */
+    private void configureButtonBindings() {
+        new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
+            .whenPressed(new GamerMove(m_robotDrive))
+            .whenReleased(new DriveWithJoystick(m_robotDrive, getDriverController()));
+    }
+
+    /**
+     * Use this to pass the autonomous command to the main {@link Robot} class.
+     *
+     * @return the command to run in autonomous
+     */
+    public Command getAutonomousCommand() {
+        // no auto
+        return new InstantCommand();
+    }
+
+    
+    public IHandController getDriverController() {
+        return m_driverXbox;
+    }
+    
+    public IHandController getOperatorController()
+    {
+        return m_operatorXbox;
+    }
+    
+    public Joystick getOperatorJoystick()
+    {
+        return m_operatorXbox.getJoyStick();
+    }
+    
+    public Joystick getDriverJoystick()
+    {
+        return m_driverXbox.getJoyStick();
+    }
+}
diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
deleted file mode 100644
index fe7fe7e..0000000
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ /dev/null
@@ -1,41 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc4388.robot;
-
-import frc4388.utility.controller.XboxController;
-
-/**
- * The RobotMap is a mapping from the ports sensors and actuators are wired into
- * to a variable name. This provides flexibility changing wiring, makes checking
- * the wiring easier and significantly reduces the number of magic numbers
- * floating around.
- */
-public class RobotMap {
-  // For example to map the left and right motors, you could define the
-  // following variables to use with your drivetrain subsystem.
-  // public static int leftMotor = 1;
-  // public static int rightMotor = 2;
-
-  // If you are using multiple modules, make sure to define both the port
-  // number and the module. For example you with a rangefinder:
-  // public static int rangefinderPort = 1;
-  // public static int rangefinderModule = 1;
-
-  /* Xbox Controllers */
-  public static final int XBOX_DRIVER_ID = 0;
-  public static final int XBOX_OPERATOR_ID = 1;
-
-  /* Blinkin LED Strip */
-  public static final int LED_SPARK_ID = 0;
-
-  /* Drive Train */
-  public static final int DRIVE_LEFT_FRONT_CAN_ID = 2;
-  public static final int DRIVE_RIGHT_FRONT_CAN_ID = 4;
-	public static final int DRIVE_LEFT_BACK_CAN_ID = 3;
-	public static final int DRIVE_RIGHT_BACK_CAN_ID = 5;
-}
diff --git a/src/main/java/frc4388/robot/commands/Drive/DriveWithJoystick.java b/src/main/java/frc4388/robot/commands/Drive/DriveWithJoystick.java
index 572b875..04b6870 100644
--- a/src/main/java/frc4388/robot/commands/Drive/DriveWithJoystick.java
+++ b/src/main/java/frc4388/robot/commands/Drive/DriveWithJoystick.java
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,47 +7,46 @@
 
 package frc4388.robot.commands.Drive;
 
-import edu.wpi.first.wpilibj.command.Command;
-import frc4388.robot.OI;
-import frc4388.robot.Robot;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.Drive;
+import frc4388.utility.controller.IHandController;
 
-public class DriveWithJoystick extends Command {
+public class DriveWithJoystick extends CommandBase {
 
+  private final Drive m_drive;
+  private final IHandController m_driverXbox;
   public double m_inputMove, m_inputSteer;
 
-  public DriveWithJoystick() {
-    // Use requires() here to declare subsystem dependencies
-    // eg. requires(chassis);
-    requires(Robot.m_Drive);
+  /**
+   * Creates a new DriveWithJoystick, driving the robot with the given controller
+   */
+  public DriveWithJoystick(Drive subsystem, IHandController controller) {
+    m_drive = subsystem;
+    m_driverXbox = controller;
+    addRequirements(m_drive);
   }
 
-  // Called just before this Command runs the first time
+  // Called when the command is initially scheduled.
   @Override
-  protected void initialize() {
+  public void initialize() {
   }
 
-  // Called repeatedly when this Command is scheduled to run
+  // Called every time the scheduler runs while the command is scheduled.
   @Override
-  protected void execute() {
-    m_inputMove = OI.getInstance().getDriverController().getLeftYAxis();
-    m_inputSteer = -(OI.getInstance().getDriverController().getRightXAxis());
-    Robot.m_Drive.driveWithInput(m_inputMove, m_inputSteer);
+  public void execute() {
+    m_inputMove = m_driverXbox.getLeftYAxis();
+    m_inputSteer = m_driverXbox.getRightXAxis();
+    m_drive.driveWithInput(m_inputMove, m_inputSteer);
   }
 
-  // Make this return true when this Command no longer needs to run execute()
+  // Called once the command ends or is interrupted.
   @Override
-  protected boolean isFinished() {
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
     return false;
   }
-
-  // Called once after isFinished returns true
-  @Override
-  protected void end() {
-  }
-
-  // Called when another command which requires one or more of the same
-  // subsystems is scheduled to run
-  @Override
-  protected void interrupted() {
-  }
 }
diff --git a/src/main/java/frc4388/robot/commands/Drive/GamerMove.java b/src/main/java/frc4388/robot/commands/Drive/GamerMove.java
index b890aa5..d42fe4a 100644
--- a/src/main/java/frc4388/robot/commands/Drive/GamerMove.java
+++ b/src/main/java/frc4388/robot/commands/Drive/GamerMove.java
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,41 +7,41 @@
 
 package frc4388.robot.commands.Drive;
 
-import edu.wpi.first.wpilibj.command.Command;
-import frc4388.robot.Robot;
+import edu.wpi.first.wpilibj2.command.CommandBase;
 
-public class GamerMove extends Command {
-  public GamerMove() {
-    // Use requires() here to declare subsystem dependencies
-    // eg. requires(chassis);
-    requires(Robot.m_Drive);
+import frc4388.robot.subsystems.Drive;
+
+public class GamerMove extends CommandBase {
+  
+  private final Drive m_drive;
+  
+  /**
+   * Creates a new GamerMove.
+   */
+  public GamerMove(Drive subsystem) {
+    m_drive = subsystem;
+    addRequirements(m_drive);
   }
 
-  // Called just before this Command runs the first time
+  // Called when the command is initially scheduled.
   @Override
-  protected void initialize() {
+  public void initialize() {
   }
 
-  // Called repeatedly when this Command is scheduled to run
+  // Called every time the scheduler runs while the command is scheduled.
   @Override
-  protected void execute() {
-    Robot.m_Drive.driveWithInput(0, 1);
+  public void execute() {
+    m_drive.driveWithInput(0, 1);
   }
 
-  // Make this return true when this Command no longer needs to run execute()
+  // Called once the command ends or is interrupted.
   @Override
-  protected boolean isFinished() {
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
     return false;
   }
-
-  // Called once after isFinished returns true
-  @Override
-  protected void end() {
-  }
-
-  // Called when another command which requires one or more of the same
-  // subsystems is scheduled to run
-  @Override
-  protected void interrupted() {
-  }
 }
diff --git a/src/main/java/frc4388/robot/commands/ExampleCommand.java b/src/main/java/frc4388/robot/commands/ExampleCommand.java
deleted file mode 100644
index cb8a9f6..0000000
--- a/src/main/java/frc4388/robot/commands/ExampleCommand.java
+++ /dev/null
@@ -1,48 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc4388.robot.commands;
-
-import edu.wpi.first.wpilibj.command.Command;
-import frc4388.robot.Robot;
-
-/**
- * An example command.  You can replace me with your own command.
- */
-public class ExampleCommand extends Command {
-  public ExampleCommand() {
-    // Use requires() here to declare subsystem dependencies
-    requires(Robot.m_subsystem);
-  }
-
-  // Called just before this Command runs the first time
-  @Override
-  protected void initialize() {
-  }
-
-  // Called repeatedly when this Command is scheduled to run
-  @Override
-  protected void execute() {
-  }
-
-  // Make this return true when this Command no longer needs to run execute()
-  @Override
-  protected boolean isFinished() {
-    return false;
-  }
-
-  // Called once after isFinished returns true
-  @Override
-  protected void end() {
-  }
-
-  // Called when another command which requires one or more of the same
-  // subsystems is scheduled to run
-  @Override
-  protected void interrupted() {
-  }
-}
diff --git a/src/main/java/frc4388/robot/commands/LED/SetLEDPattern.java b/src/main/java/frc4388/robot/commands/LED/SetLEDPattern.java
index 11c4447..785d23b 100644
--- a/src/main/java/frc4388/robot/commands/LED/SetLEDPattern.java
+++ b/src/main/java/frc4388/robot/commands/LED/SetLEDPattern.java
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,45 +7,28 @@
 
 package frc4388.robot.commands.LED;
 
-import frc4388.robot.Robot;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+
 import frc4388.robot.constants.LEDPatterns;
+import frc4388.robot.subsystems.LED;
 
-import edu.wpi.first.wpilibj.command.Command;
-
-public class SetLEDPattern extends Command {
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
+public class SetLEDPattern extends InstantCommand {
 
+  private final LED m_led;
   public static LEDPatterns m_pattern;
 
-  public SetLEDPattern(LEDPatterns pattern) {
-    requires(Robot.m_led);
+  public SetLEDPattern(LED subsystem, LEDPatterns pattern) {
+    m_led = subsystem;
     m_pattern = pattern;
+    addRequirements(m_led);
   }
 
-  // Called just before this Command runs the first time
+  // Called when the command is initially scheduled.
   @Override
-  protected void initialize() {
-  }
-
-  // Called repeatedly when this Command is scheduled to run
-  @Override
-  protected void execute() {
-    Robot.m_led.setPattern(m_pattern);
-  }
-
-  // Make this return true when this Command no longer needs to run execute()
-  @Override
-  protected boolean isFinished() {
-    return true;
-  }
-
-  // Called once after isFinished returns true
-  @Override
-  protected void end() {
-  }
-
-  // Called when another command which requires one or more of the same
-  // subsystems is scheduled to run
-  @Override
-  protected void interrupted() {
+  public void initialize() {
+    m_led.setPattern(m_pattern);
   }
 }
diff --git a/src/main/java/frc4388/robot/commands/LED/UpdateLED.java b/src/main/java/frc4388/robot/commands/LED/UpdateLED.java
index 3d6c374..7baab4e 100644
--- a/src/main/java/frc4388/robot/commands/LED/UpdateLED.java
+++ b/src/main/java/frc4388/robot/commands/LED/UpdateLED.java
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,40 +7,41 @@
 
 package frc4388.robot.commands.LED;
 
-import edu.wpi.first.wpilibj.command.Command;
-import frc4388.robot.Robot;
+import edu.wpi.first.wpilibj2.command.CommandBase;
 
-public class UpdateLED extends Command {
-  public UpdateLED() {
-    // Use requires() here to declare subsystem dependencies
-    requires(Robot.m_led);
+import frc4388.robot.subsystems.LED;
+
+public class UpdateLED extends CommandBase {
+
+  private final LED m_LED;
+
+  /**
+   * Creates a new UpdateLED that continually runs updateLED in the LED subsystem.
+   */
+  public UpdateLED(LED subsystem) {
+    m_LED = subsystem;
+    addRequirements(m_LED);
   }
 
-  // Called just before this Command runs the first time
+  // Called when the command is initially scheduled.
   @Override
-  protected void initialize() {
+  public void initialize() {
   }
 
-  // Called repeatedly when this Command is scheduled to run
+  // Called every time the scheduler runs while the command is scheduled.
   @Override
-  protected void execute() {
-    Robot.m_led.updateLED();
+  public void execute() {
+    m_LED.updateLED();
   }
 
-  // Make this return true when this Command no longer needs to run execute()
+  // Called once the command ends or is interrupted.
   @Override
-  protected boolean isFinished() {
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
     return false;
   }
-
-  // Called once after isFinished returns true
-  @Override
-  protected void end() {
-  }
-
-  // Called when another command which requires one or more of the same
-  // subsystems is scheduled to run
-  @Override
-  protected void interrupted() {
-  }
 }
diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
index 8090480..b5edc2f 100644
--- a/src/main/java/frc4388/robot/subsystems/Drive.java
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -7,37 +7,28 @@
 
 package frc4388.robot.subsystems;
 
-import com.ctre.phoenix.motorcontrol.Faults;
 import com.ctre.phoenix.motorcontrol.InvertType;
 import com.ctre.phoenix.motorcontrol.NeutralMode;
-import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 
-import edu.wpi.first.wpilibj.Talon;
-import edu.wpi.first.wpilibj.command.Subsystem;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
-import frc4388.robot.RobotMap;
-import frc4388.robot.commands.Drive.DriveWithJoystick;
-import frc4388.robot.commands.Drive.GamerMove;
-import frc4388.robot.OI;
-import frc4388.robot.Robot;
-import frc4388.utility.controller.XboxController;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+import frc4388.robot.Constants.DriveConstants;
 
 /**
  * Add your docs here.
  */
-public class Drive extends Subsystem {
+public class Drive extends SubsystemBase {
   // Put methods for controlling this subsystem
   // here. Call these from Commands.
 
-  public static WPI_TalonSRX m_leftFrontMotor = new WPI_TalonSRX(RobotMap.DRIVE_LEFT_FRONT_CAN_ID);
-  public static WPI_TalonSRX m_rightFrontMotor = new WPI_TalonSRX(RobotMap.DRIVE_RIGHT_FRONT_CAN_ID);
-  public static WPI_TalonSRX m_leftBackMotor = new WPI_TalonSRX(RobotMap.DRIVE_LEFT_BACK_CAN_ID);
-  public static WPI_TalonSRX m_rightBackMotor = new WPI_TalonSRX(RobotMap.DRIVE_RIGHT_BACK_CAN_ID);
+  public static WPI_TalonSRX m_leftFrontMotor = new WPI_TalonSRX(DriveConstants.DRIVE_LEFT_FRONT_CAN_ID);
+  public static WPI_TalonSRX m_rightFrontMotor = new WPI_TalonSRX(DriveConstants.DRIVE_RIGHT_FRONT_CAN_ID);
+  public static WPI_TalonSRX m_leftBackMotor = new WPI_TalonSRX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID);
+  public static WPI_TalonSRX m_rightBackMotor = new WPI_TalonSRX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
 
   public static DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
-  
-  private static double m_inputMove, m_inputSteer;
 
   public Drive(){
     /* factory default values */
@@ -67,10 +58,10 @@ public class Drive extends Subsystem {
     m_driveTrain.arcadeDrive(move, steer);
   }
 
-  @Override
+  /* @Override
   public void initDefaultCommand(){
     // Set the default command for a subsystem here.
     // setDefaultCommand(new MySpecialCommand());
     setDefaultCommand(new DriveWithJoystick());
-  }
+  } */
 }
diff --git a/src/main/java/frc4388/robot/subsystems/ExampleSubsystem.java b/src/main/java/frc4388/robot/subsystems/ExampleSubsystem.java
deleted file mode 100644
index 50ace89..0000000
--- a/src/main/java/frc4388/robot/subsystems/ExampleSubsystem.java
+++ /dev/null
@@ -1,24 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc4388.robot.subsystems;
-
-import edu.wpi.first.wpilibj.command.Subsystem;
-
-/**
- * An example subsystem.  You can replace me with your own Subsystem.
- */
-public class ExampleSubsystem extends Subsystem {
-  // Put methods for controlling this subsystem
-  // here. Call these from Commands.
-
-  @Override
-  public void initDefaultCommand() {
-    // Set the default command for a subsystem here.
-    // setDefaultCommand(new MySpecialCommand());
-  }
-}
diff --git a/src/main/java/frc4388/robot/subsystems/LED.java b/src/main/java/frc4388/robot/subsystems/LED.java
index 3e94807..c7ed045 100644
--- a/src/main/java/frc4388/robot/subsystems/LED.java
+++ b/src/main/java/frc4388/robot/subsystems/LED.java
@@ -7,23 +7,24 @@
 
 package frc4388.robot.subsystems;
 
-import frc4388.robot.RobotMap;
-import frc4388.robot.commands.LED.UpdateLED;
-import frc4388.robot.constants.LEDPatterns;
 import edu.wpi.first.wpilibj.Spark;
-import edu.wpi.first.wpilibj.command.Subsystem;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+import frc4388.robot.Constants.LEDConstants;
+import frc4388.robot.constants.LEDPatterns;
 
 /**
- * Allows for the control of a 5v LED Strip using a Rev Robotics Blinkin LED Driver
+ * Allows for the control of a 5v LED Strip using a Rev Robotics Blinkin LED
+ * Driver
  */
- public class LED extends Subsystem {
+public class LED extends SubsystemBase {
 
   public static float currentLED;
   public static Spark LEDController;
 
   public LED(){
-    LEDController = new Spark(RobotMap.LED_SPARK_ID);
+    LEDController = new Spark(LEDConstants.LED_SPARK_ID);
     setPattern(LEDPatterns.FOREST_WAVES);
     LEDController.set(currentLED);
     System.err.println("In the Beginning, there was Joe.\nAnd he said, 'Let there be LEDs.'\nAnd it was good.");
@@ -43,10 +44,10 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
     SmartDashboard.putNumber("LED", currentLED);
   }
 
-  @Override
+  /* @Override
 	public void initDefaultCommand() {
     // Set the default command for a subsystem here.
     // setDefaultCommand(new MySpecialCommand());
     setDefaultCommand(new UpdateLED());
-  }
+  } */
 }
\ No newline at end of file
diff --git a/src/main/java/frc4388/utility/controller/XboxTriggerButton.java b/src/main/java/frc4388/utility/controller/XboxTriggerButton.java
index aed4436..26372c2 100644
--- a/src/main/java/frc4388/utility/controller/XboxTriggerButton.java
+++ b/src/main/java/frc4388/utility/controller/XboxTriggerButton.java
@@ -1,9 +1,8 @@
 package frc4388.utility.controller;
 
+import edu.wpi.first.wpilibj2.command.button.Button;
 import frc4388.utility.controller.XboxController;
 
-import edu.wpi.first.wpilibj.buttons.Button;
-
 /**
  * Mapping for the Xbox controller triggers to allow triggers to be defined as
  * buttons in {@link frc4388.robot.OI}. Checks to see if the given trigger 
diff --git a/vendordeps/Phoenix.json b/vendordeps/Phoenix.json
index d4da1ce..f8d42a4 100644
--- a/vendordeps/Phoenix.json
+++ b/vendordeps/Phoenix.json
@@ -1,7 +1,7 @@
 {
     "fileName": "Phoenix.json",
     "name": "CTRE-Phoenix",
-    "version": "5.12.0",
+    "version": "5.17.3",
     "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
     "mavenUrls": [
         "http://devsite.ctr-electronics.com/maven/release/"
@@ -11,19 +11,65 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "api-java",
-            "version": "5.12.0"
+            "version": "5.17.3"
         },
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "wpiapi-java",
-            "version": "5.12.0"
+            "version": "5.17.3"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "cci",
-            "version": "5.12.0",
+            "version": "5.17.3",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "linuxathena",
+                "windowsx86-64",
+                "linuxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "diagnostics",
+            "version": "5.17.3",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "linuxathena",
+                "windowsx86-64",
+                "linuxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "canutils",
+            "version": "5.17.3",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "platform-stub",
+            "version": "5.17.3",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "core",
+            "version": "5.17.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -37,7 +83,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "wpiapi-cpp",
-            "version": "5.12.0",
+            "version": "5.17.3",
             "libName": "CTRE_Phoenix_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -51,7 +97,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "api-cpp",
-            "version": "5.12.0",
+            "version": "5.17.3",
             "libName": "CTRE_Phoenix",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -65,7 +111,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "cci",
-            "version": "5.12.0",
+            "version": "5.17.3",
             "libName": "CTRE_PhoenixCCI",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -76,12 +122,59 @@
                 "linuxx86-64"
             ]
         },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "diagnostics",
+            "version": "5.17.3",
+            "libName": "CTRE_PhoenixDiagnostics",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena",
+                "windowsx86-64",
+                "linuxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "canutils",
+            "version": "5.17.3",
+            "libName": "CTRE_PhoenixCanutils",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "platform-stub",
+            "version": "5.17.3",
+            "libName": "CTRE_PhoenixPlatform",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64"
+            ]
+        },
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "core",
-            "version": "5.12.0",
+            "version": "5.17.3",
             "libName": "CTRE_PhoenixCore",
-            "headerClassifier": "headers"
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena",
+                "windowsx86-64",
+                "linuxx86-64"
+            ]
         }
     ]
 }
\ No newline at end of file
diff --git a/vendordeps/WPILibNewCommands.json b/vendordeps/WPILibNewCommands.json
new file mode 100644
index 0000000..83de291
--- /dev/null
+++ b/vendordeps/WPILibNewCommands.json
@@ -0,0 +1,37 @@
+{
+    "fileName": "WPILibNewCommands.json",
+    "name": "WPILib-New-Commands",
+    "version": "2020.0.0",
+    "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
+    "mavenUrls": [],
+    "jsonUrl": "",
+    "javaDependencies": [
+        {
+            "groupId": "edu.wpi.first.wpilibNewCommands",
+            "artifactId": "wpilibNewCommands-java",
+            "version": "wpilib"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "edu.wpi.first.wpilibNewCommands",
+            "artifactId": "wpilibNewCommands-cpp",
+            "version": "wpilib",
+            "libName": "wpilibNewCommands",
+            "headerClassifier": "headers",
+            "sourcesClassifier": "sources",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena",
+                "linuxraspbian",
+                "linuxaarch64bionic",
+                "windowsx86-64",
+                "windowsx86",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        }
+    ]
+}
\ No newline at end of file