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/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/WPILibOldCommands.json b/vendordeps/WPILibOldCommands.json
new file mode 100644
index 0000000..7bdad21
--- /dev/null
+++ b/vendordeps/WPILibOldCommands.json
@@ -0,0 +1,37 @@
+{
+  "fileName": "WPILibOldCommands.json",
+  "name": "WPILib-Old-Commands",
+  "version": "2020.0.0",
+  "uuid": "b066afc2-5c18-43c4-b758-43381fcb275e",
+  "mavenUrls": [],
+  "jsonUrl": "",
+  "javaDependencies": [
+      {
+          "groupId": "edu.wpi.first.wpilibOldCommands",
+          "artifactId": "wpilibOldCommands-java",
+          "version": "wpilib"
+      }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+      {
+          "groupId": "edu.wpi.first.wpilibOldCommands",
+          "artifactId": "wpilibOldCommands-cpp",
+          "version": "wpilib",
+          "libName": "wpilibOldCommands",
+          "headerClassifier": "headers",
+          "sourcesClassifier": "sources",
+          "sharedLibrary": true,
+          "skipInvalidPlatforms": true,
+          "binaryPlatforms": [
+              "linuxathena",
+              "linuxraspbian",
+              "linuxaarch64bionic",
+              "windowsx86-64",
+              "windowsx86",
+              "linuxx86-64",
+              "osxx86-64"
+          ]
+      }
+  ]
+}