diff --git a/src/main/java/frc/Utils/PathPlanner/PathPlannerHelper.java b/src/main/java/frc/Utils/PathPlanner/PathPlannerHelper.java
index ff213ef..a0f4f41 100644
--- a/src/main/java/frc/Utils/PathPlanner/PathPlannerHelper.java
+++ b/src/main/java/frc/Utils/PathPlanner/PathPlannerHelper.java
@@ -7,13 +7,11 @@
 import java.util.List;
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.path.GoalEndState;
-import com.pathplanner.lib.path.PathConstraints;
 import com.pathplanner.lib.path.PathPlannerPath;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 
diff --git a/src/main/java/frc/Utils/shuffleboardAlike/AutoContainer.java b/src/main/java/frc/Utils/shuffleboardAlike/AutoContainer.java
index 3b96ceb..b51604a 100644
--- a/src/main/java/frc/Utils/shuffleboardAlike/AutoContainer.java
+++ b/src/main/java/frc/Utils/shuffleboardAlike/AutoContainer.java
@@ -10,7 +10,6 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction;
 import frc.Utils.PathPlanner.PathPlannerHelper;
-import frc.robot.Constants.Swerve;
 import frc.robot.subsystems.SwerveSubsystem;
 
 /** Add your docs here. */
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 75c5127..92b05e9 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -1,9 +1,6 @@
 package frc.robot;
 
 import com.pathplanner.lib.path.GoalEndState;
-import com.pathplanner.lib.path.PathPlannerPath;
-
-import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj.GenericHID;
diff --git a/src/main/java/frc/robot/subsystems/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/SwerveSubsystem.java
index 497e893..d76054e 100644
--- a/src/main/java/frc/robot/subsystems/SwerveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/SwerveSubsystem.java
@@ -11,7 +11,6 @@
 
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
-import edu.wpi.first.math.kinematics.SwerveDriveOdometry;
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 
 import com.ctre.phoenix.motorcontrol.can.TalonSRX;
@@ -325,8 +324,8 @@ public void simulationPeriodic() {
         simModPose.angle = getSimStates()[0].angle;
         simModPose.distanceMeters += getSimStates()[0].speedMetersPerSecond * 0.02;
         
-        for (SwerveModulePosition pose : poses) {
-            pose = simModPose;
+        for (int i = 0; i<4; i++) {
+            poses[i] = simModPose;
         }
         
         poseEstimation.update(simYaw, poses);
diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json
index f658f52..282cfa8 100644
--- a/vendordeps/photonlib.json
+++ b/vendordeps/photonlib.json
@@ -1,20 +1,20 @@
 {
     "fileName": "photonlib.json",
     "name": "photonlib",
-    "version": "v2024.1.2",
+    "version": "v2024.2.0",
     "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
     "frcYear": "2024",
     "mavenUrls": [
         "https://maven.photonvision.org/repository/internal",
         "https://maven.photonvision.org/repository/snapshots"
     ],
-    "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/PhotonLib-json/1.0/PhotonLib-json-1.0.json",
+    "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json",
     "jniDependencies": [],
     "cppDependencies": [
         {
             "groupId": "org.photonvision",
             "artifactId": "photonlib-cpp",
-            "version": "v2024.1.2",
+            "version": "v2024.2.0",
             "libName": "photonlib",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -29,7 +29,7 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "photontargeting-cpp",
-            "version": "v2024.1.2",
+            "version": "v2024.2.0",
             "libName": "photontargeting",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -46,12 +46,12 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "photonlib-java",
-            "version": "v2024.1.2"
+            "version": "v2024.2.0"
         },
         {
             "groupId": "org.photonvision",
             "artifactId": "photontargeting-java",
-            "version": "v2024.1.2"
+            "version": "v2024.2.0"
         }
     ]
 }
\ No newline at end of file