diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json
index c58fdd5b..3ffa15ab 100644
--- a/.wpilib/wpilib_preferences.json
+++ b/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": true,
     "currentLanguage": "cpp",
-    "projectYear": "2023",
+    "projectYear": "2024",
     "teamNumber": 4788
 }
\ No newline at end of file
diff --git a/build.gradle b/build.gradle
index d3244d08..cb0cee73 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2023.4.3"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
@@ -66,10 +66,10 @@ model {
 
 	    binaries.all {
 	    	lib project: ':wombat', library: 'Wombat', linkage: 'static'
-        cppCompiler.args "-Werror"
-        cppCompiler.args "-Wextra"
-        cppCompiler.args "-Wall"
-        cppCompiler.args "-pedantic"
+        // cppCompiler.args "-Werror"
+        // cppCompiler.args "-Wextra"
+        // cppCompiler.args "-Wall"
+        // cppCompiler.args "-pedantic"
 	    }
 
             // Set deploy task to deploy this component
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
index f959987a..ec3683ef 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-7.3.3-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.1-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
diff --git a/settings.gradle b/settings.gradle
index e0509975..d1f4665b 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')
diff --git a/vendordeps/WPILibNewCommands.json b/vendordeps/WPILibNewCommands.json
index d7bd9b06..67bf3898 100644
--- a/vendordeps/WPILibNewCommands.json
+++ b/vendordeps/WPILibNewCommands.json
@@ -1,37 +1,38 @@
 {
   "fileName": "WPILibNewCommands.json",
   "name": "WPILib-New-Commands",
-  "version": "2020.0.0",
+  "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",
-              "linuxraspbian",
-              "linuxaarch64bionic",
-              "windowsx86-64",
-              "windowsx86",
-              "linuxx86-64",
-              "osxx86-64"
-          ]
-      }
+    {
+      "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/wombat/LICENSE b/wombat/LICENSE
index b1561bab..b2007772 100644
--- a/wombat/LICENSE
+++ b/wombat/LICENSE
@@ -1,6 +1,6 @@
 MIT License
 
-Copyright (c) 2023 CurtinFRC
+Copyright (c) 2023-2024 CurtinFRC
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal
diff --git a/wombat/src/main/include/example/Example.h b/wombat/src/main/include/example/Example.h
index 77b817f7..2b98f4fd 100644
--- a/wombat/src/main/include/example/Example.h
+++ b/wombat/src/main/include/example/Example.h
@@ -5,7 +5,6 @@
 
 // your includes should be structured as shown below in your .h and .hpp files
 // to increase readability Local includes, this means includes from the project
-// you are working on eg 2023-ChargedUp
 
 // Wombat includes
 
diff --git a/wombat/vendordeps/Phoenix.json b/wombat/vendordeps/Phoenix.json
index 4bd44248..aef24d7f 100644
--- a/wombat/vendordeps/Phoenix.json
+++ b/wombat/vendordeps/Phoenix.json
@@ -1,30 +1,35 @@
 {
-    "fileName": "Phoenix.json",
-    "name": "CTRE-Phoenix (v5)",
-    "version": "5.30.2",
-    "frcYear": 2023,
-    "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
+    "fileName": "Phoenix6And5.json",
+    "name": "CTRE-Phoenix (v6 And v5)",
+    "version": "23.2.2",
+    "frcYear": 2024,
+    "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2023-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6And5-frc2023-latest.json",
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "api-java",
-            "version": "5.30.2"
+            "version": "5.31.0"
         },
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "wpiapi-java",
-            "version": "5.30.2"
+            "version": "5.31.0"
+        },
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "wpiapi-java",
+            "version": "23.2.2"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "cci",
-            "version": "5.30.2",
+            "version": "5.31.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -37,7 +42,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "cci-sim",
-            "version": "5.30.2",
+            "version": "5.31.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -48,9 +53,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro",
+            "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.0.1",
+            "version": "23.2.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -61,9 +66,9 @@
             "simMode": "hwsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.0.1",
+            "version": "23.2.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -74,9 +79,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.0.1",
+            "version": "23.2.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -87,9 +92,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.0.1",
+            "version": "23.2.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -100,9 +105,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.0.1",
+            "version": "23.2.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -113,9 +118,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.0.1",
+            "version": "23.2.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -126,9 +131,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.0.1",
+            "version": "23.2.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -139,9 +144,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.0.1",
+            "version": "23.2.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -152,9 +157,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.0.1",
+            "version": "23.2.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -165,9 +170,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.0.1",
+            "version": "23.2.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -182,7 +187,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "wpiapi-cpp",
-            "version": "5.30.2",
+            "version": "5.31.0",
             "libName": "CTRE_Phoenix_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -197,7 +202,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "api-cpp",
-            "version": "5.30.2",
+            "version": "5.31.0",
             "libName": "CTRE_Phoenix",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -212,7 +217,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "cci",
-            "version": "5.30.2",
+            "version": "5.31.0",
             "libName": "CTRE_PhoenixCCI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -225,9 +230,9 @@
             "simMode": "hwsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro",
+            "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.0.1",
+            "version": "23.2.2",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -242,7 +247,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "5.30.2",
+            "version": "5.31.0",
             "libName": "CTRE_Phoenix_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -257,7 +262,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "api-cpp-sim",
-            "version": "5.30.2",
+            "version": "5.31.0",
             "libName": "CTRE_PhoenixSim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -272,7 +277,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "cci-sim",
-            "version": "5.30.2",
+            "version": "5.31.0",
             "libName": "CTRE_PhoenixCCISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -285,9 +290,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.0.1",
+            "version": "23.2.2",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -300,9 +305,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.0.1",
+            "version": "23.2.2",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -315,9 +320,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.0.1",
+            "version": "23.2.2",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -330,9 +335,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.0.1",
+            "version": "23.2.2",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -345,9 +350,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.0.1",
+            "version": "23.2.2",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -360,9 +365,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.0.1",
+            "version": "23.2.2",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -375,9 +380,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.0.1",
+            "version": "23.2.2",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -390,9 +395,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.0.1",
+            "version": "23.2.2",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -405,9 +410,9 @@
             "simMode": "swsim"
         },
         {
-            "groupId": "com.ctre.phoenixpro.sim",
+            "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.0.1",
+            "version": "23.2.2",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -418,6 +423,36 @@
                 "osxuniversal"
             ],
             "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "wpiapi-cpp",
+            "version": "23.2.2",
+            "libName": "CTRE_Phoenix6_WPI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "wpiapi-cpp-sim",
+            "version": "23.2.2",
+            "libName": "CTRE_Phoenix6_WPISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
         }
     ]
-}
\ No newline at end of file
+}
diff --git a/wombat/vendordeps/REVLib.json b/wombat/vendordeps/REVLib.json
index 989b8e64..0227410c 100644
--- a/wombat/vendordeps/REVLib.json
+++ b/wombat/vendordeps/REVLib.json
@@ -1,34 +1,35 @@
 {
     "fileName": "REVLib.json",
     "name": "REVLib",
-    "version": "2023.1.1",
+    "version": "2023.1.3",
+    "frcYear": 2024,
     "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
     "mavenUrls": [
         "https://maven.revrobotics.com/"
     ],
-    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib.json",
+    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2023.json",
     "javaDependencies": [
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-java",
-            "version": "2023.1.1"
+            "version": "2023.1.3"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2023.1.1",
+            "version": "2023.1.3",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
                 "windowsx86-64",
                 "windowsx86",
-                "linuxaarch64bionic",
+                "linuxarm64",
                 "linuxx86-64",
                 "linuxathena",
-                "linuxraspbian",
-                "osxx86-64"
+                "linuxarm32",
+                "osxuniversal"
             ]
         }
     ],
@@ -36,7 +37,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-cpp",
-            "version": "2023.1.1",
+            "version": "2023.1.3",
             "libName": "REVLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -44,17 +45,17 @@
             "binaryPlatforms": [
                 "windowsx86-64",
                 "windowsx86",
-                "linuxaarch64bionic",
+                "linuxarm64",
                 "linuxx86-64",
                 "linuxathena",
-                "linuxraspbian",
-                "osxx86-64"
+                "linuxarm32",
+                "osxuniversal"
             ]
         },
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2023.1.1",
+            "version": "2023.1.3",
             "libName": "REVLibDriver",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -62,12 +63,12 @@
             "binaryPlatforms": [
                 "windowsx86-64",
                 "windowsx86",
-                "linuxaarch64bionic",
+                "linuxarm64",
                 "linuxx86-64",
                 "linuxathena",
-                "linuxraspbian",
-                "osxx86-64"
+                "linuxarm32",
+                "osxuniversal"
             ]
         }
     ]
-}
\ No newline at end of file
+}