diff --git a/build.gradle b/build.gradle
index 345c00f4..fc993018 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,93 +1,78 @@
-buildscript {
-  ext {
-    kotlinVersion = '1.3.60'
-    moshiVersion = '1.8.0'
-    jettyVersion = '9.4.19.v20190610'
-    okhttpVersion = '3.12.5'
-    slf4jVersion = '1.7.28'
-    logbackVersion = '1.2.3'
-    kotlinLoggingVersion = '1.7.6'
-    dokkaVersion = '0.9.18'
-    junitVersion = '5.+'
-    jsonAssert = '1.+'
-    assertJVersion = '3.+'
-    mockitoVersion = '2.+'
-    gradleRioVersion = '2019.4.1'
-    bintrayVersion = '1.+'
-    spotlessVersion = '3.+'
-    wpiVersion = '2019.4.1'
-  }
-  repositories {
-    jcenter()
-    maven { url "https://plugins.gradle.org/m2/" }
-  }
-  dependencies {
-    classpath "com.jfrog.bintray.gradle:gradle-bintray-plugin:$bintrayVersion"
-    classpath "edu.wpi.first:GradleRIO:$gradleRioVersion"
-    classpath "com.diffplug.spotless:spotless-plugin-gradle:$spotlessVersion"
-    classpath "org.jetbrains.kotlin:kotlin-gradle-plugin:$kotlinVersion"
-    classpath "org.jetbrains.dokka:dokka-gradle-plugin:$dokkaVersion"
-  }
+plugins {
+    id "java"
+    id "idea"
+    id "maven-publish"
+    id "org.jetbrains.kotlin.jvm" version "1.3.61"
+    id "org.jetbrains.kotlin.kapt" version "1.3.61"
+    id "edu.wpi.first.GradleRIO" version "2020.1.2"
 }
 
-// applies to all sub-projects
-configure(subprojects) {
-  group = 'org.strykeforce.thirdcoast'
-  version = '19.5.1'
+group = 'org.strykeforce'
+version = '20.0.1'
 
-  apply plugin: 'java-library'
-  apply plugin: 'idea'
+sourceCompatibility = JavaVersion.VERSION_11
+targetCompatibility = JavaVersion.VERSION_11
 
-  sourceCompatibility = 11
+// Set this to true to enable desktop support.
+def includeDesktopSupport = false
+
+// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
+// Also defines JUnit 4.
+dependencies {
+    implementation wpi.deps.wpilib()
+    nativeZip wpi.deps.wpilibJni(wpi.platforms.roborio)
+    nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop)
 
-  repositories {
-    jcenter()
-  }
 
-  dependencies {
-    implementation "org.slf4j:slf4j-api:$slf4jVersion"
+    implementation wpi.deps.vendor.java()
+    nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
+    nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
+
+    implementation "org.jetbrains.kotlin:kotlin-stdlib"
+    implementation "org.slf4j:slf4j-api:1.7.28"
+    implementation "org.eclipse.jetty:jetty-server:9.4.19.v20190610"
+    implementation "com.squareup.okhttp3:okhttp:3.12.5"
+    implementation "io.github.microutils:kotlin-logging:1.7.6"
+    implementation "com.squareup.moshi:moshi:1.8.0"
+    kapt "com.squareup.moshi:moshi-kotlin-codegen:1.8.0"
 
     // Testing
-    testImplementation "org.junit.jupiter:junit-jupiter-params:$junitVersion"
-    testImplementation "org.junit.jupiter:junit-jupiter-api:$junitVersion"
-    testImplementation "org.assertj:assertj-core:$assertJVersion"
-    testImplementation "org.mockito:mockito-junit-jupiter:$mockitoVersion"
-    testRuntime "org.junit.jupiter:junit-jupiter-engine:$junitVersion"
-    testRuntime "ch.qos.logback:logback-classic:$logbackVersion"
-  }
+    testImplementation "org.junit.jupiter:junit-jupiter-params:5.+"
+    testImplementation "org.junit.jupiter:junit-jupiter-api:5.+"
+    testImplementation "org.assertj:assertj-core:3.+"
+    testImplementation "org.mockito:mockito-junit-jupiter:2.+"
+    testImplementation "org.skyscreamer:jsonassert:1.+"
+    testRuntimeOnly "org.junit.jupiter:junit-jupiter-engine:5.+"
+    testRuntimeOnly "ch.qos.logback:logback-classic:1.2.+"
 
-  idea {
+    compileOnly 'org.jetbrains:annotations:15.0'
+}
+
+java {
+  withSourcesJar()
+}
+
+idea {
     module {
       downloadJavadoc = true
       downloadSources = true
     }
-  }
-
-  test {
-    useJUnitPlatform()
-  }
 }
 
-// applies to all sub-projects except for deadeye
-configure(subprojects - project(":deadeye")) {
-  apply plugin: "edu.wpi.first.GradleRIO"
-
-  dependencies {
-    implementation wpi.deps.wpilib()
-    implementation wpi.deps.vendor.java()
-  }
-}
-
-// applies to all Kotlin sub-projects
-configure(subprojects - project(":swerve")) {
-  apply plugin: "kotlin"
-  apply plugin: "kotlin-kapt"
-  apply plugin: 'org.jetbrains.dokka'
+publishing {
+    publications {
+        thirdcoastLibrary(MavenPublication) {
+            from components.java
+        }
+    }
 
-  dependencies {
-    implementation "org.jetbrains.kotlin:kotlin-stdlib-jdk8:$kotlinVersion"
-    implementation "io.github.microutils:kotlin-logging:$kotlinLoggingVersion"
-    implementation "com.squareup.moshi:moshi:$moshiVersion"
-    kapt "com.squareup.moshi:moshi-kotlin-codegen:$moshiVersion"
-  }
+    repositories {
+      maven {
+        url "s3://maven.strykeforce.org/repo"
+        credentials(AwsCredentials) {
+          accessKey "${System.getenv('STRYKEFORCE_AWS_KEY')}"
+          secretKey "${System.getenv('STRYKEFORCE_AWS_SECRET')}"
+      }
+    }
+    }
 }
diff --git a/deadeye/build.gradle b/deadeye/build.gradle
deleted file mode 100644
index 98174227..00000000
--- a/deadeye/build.gradle
+++ /dev/null
@@ -1,23 +0,0 @@
-repositories {
-  maven { url = "http://first.wpi.edu/FRC/roborio/maven/release" }
-}
-
-dependencies {
-  implementation("edu.wpi.first.ntcore:ntcore-java:$wpiVersion")
-}
-//
-//task dokkaJavadoc(type: org.jetbrains.dokka.gradle.DokkaTask) {
-//  includes = ['packages.md']
-//  outputDirectory = javadoc.destinationDir
-//  reportUndocumented = false
-//}
-//
-//
-//task javadocJar(type: Jar, dependsOn: dokkaJavadoc) {
-//  classifier = 'javadoc'
-//  from javadoc.destinationDir
-//}
-//
-//
-//apply from: "${rootDir}/gradle/publish.gradle" // needs to come after javadocJar
-
diff --git a/deadeye/gradle.properties b/deadeye/gradle.properties
deleted file mode 100644
index 277500ab..00000000
--- a/deadeye/gradle.properties
+++ /dev/null
@@ -1 +0,0 @@
-projectDescription=Third Coast Deadeye library
diff --git a/deadeye/packages.md b/deadeye/packages.md
deleted file mode 100644
index e69de29b..00000000
diff --git a/deadeye/src/main/kotlin/org/strykeforce/deadeye/Camera.kt b/deadeye/src/main/kotlin/org/strykeforce/deadeye/Camera.kt
deleted file mode 100644
index 7a8987f9..00000000
--- a/deadeye/src/main/kotlin/org/strykeforce/deadeye/Camera.kt
+++ /dev/null
@@ -1,27 +0,0 @@
-package org.strykeforce.deadeye
-
-import com.squareup.moshi.Json
-import com.squareup.moshi.JsonAdapter
-import com.squareup.moshi.JsonClass
-import okio.Buffer
-
-interface Camera<T : TargetData> {
-  val id: String
-  var enabled: Boolean
-  val error: Boolean
-  val config: Config
-  val stream: Stream
-  var targetDataListener: TargetDataListener?
-  var jsonAdapter: JsonAdapter<T>
-  fun parse(buffer: Buffer)
-
-  @JsonClass(generateAdapter = true)
-  data class Config(
-    @Json(name = "sn") val serial: Int, val exposure: Double,
-    val hue: List<Int>, @Json(name = "sat") val saturation: List<Int>, @Json(name = "val") val value: List<Int>
-  )
-
-  @JsonClass(generateAdapter = true)
-  data class Stream(@Json(name = "sn") val serial: Int, val contour: String, val view: String, val url: String)
-
-}
diff --git a/deadeye/src/main/kotlin/org/strykeforce/deadeye/CameraImpl.kt b/deadeye/src/main/kotlin/org/strykeforce/deadeye/CameraImpl.kt
deleted file mode 100644
index 3c40ce10..00000000
--- a/deadeye/src/main/kotlin/org/strykeforce/deadeye/CameraImpl.kt
+++ /dev/null
@@ -1,54 +0,0 @@
-package org.strykeforce.deadeye
-
-import com.squareup.moshi.JsonAdapter
-import com.squareup.moshi.JsonDataException
-import com.squareup.moshi.Moshi
-import edu.wpi.first.networktables.NetworkTable
-import edu.wpi.first.networktables.NetworkTableInstance
-import okio.Buffer
-
-private const val ON = "On"
-private const val OFF = "Off"
-private const val ERROR = "Error"
-private const val CONFIG = "Config"
-private const val STREAM = "Stream"
-
-internal class CameraImpl<T : TargetData>(override val id: String) : Camera<T> {
-
-  override var targetDataListener: TargetDataListener? = null
-
-  @Suppress("MemberVisibilityCanBePrivate")
-  var targetData: TargetData = TargetData("")
-
-  private val table: NetworkTable by lazy { NetworkTableInstance.getDefault().getTable("/Deadeye/${id[0]}/${id[1]}") }
-
-  private val moshi: Moshi by lazy { Moshi.Builder().build() }
-
-  override lateinit var jsonAdapter: JsonAdapter<T>
-
-  override var enabled: Boolean
-    set(value) {
-      table.getEntry(if (value) ON else OFF).apply { setBoolean(true) }
-    }
-    get() = table.getEntry(ON).getBoolean(false)
-
-  override val error: Boolean
-    get() = table.getEntry(ERROR).getBoolean(false)
-
-  override val config: Camera.Config
-    get() = with(table.getEntry(CONFIG).getString("{}")) {
-      Camera_ConfigJsonAdapter(moshi).fromJson(this) ?: throw JsonDataException("Config: $this")
-    }
-
-  override val stream: Camera.Stream
-    get() = with(table.getEntry(STREAM).getString("{}")) {
-      Camera_StreamJsonAdapter(moshi).fromJson(this) ?: throw JsonDataException("Stream: $this")
-    }
-
-  override fun parse(buffer: Buffer) {
-    var targetData = jsonAdapter.fromJson(buffer) ?: throw JsonDataException("parse error")
-    this.targetData = targetData
-    targetDataListener?.onTargetData(targetData)
-  }
-
-}
diff --git a/deadeye/src/main/kotlin/org/strykeforce/deadeye/CenterTargetData.kt b/deadeye/src/main/kotlin/org/strykeforce/deadeye/CenterTargetData.kt
deleted file mode 100644
index 70310819..00000000
--- a/deadeye/src/main/kotlin/org/strykeforce/deadeye/CenterTargetData.kt
+++ /dev/null
@@ -1,12 +0,0 @@
-package org.strykeforce.deadeye
-
-import com.squareup.moshi.JsonClass
-
-@JsonClass(generateAdapter = true)
-class CenterTargetData(
-  id: String = "NA",
-  sn: Int = 0,
-  valid: Boolean = false,
-  val x: Double = 0.0,
-  val y: Double = 0.0
-) : TargetData(id, sn, valid)
diff --git a/deadeye/src/main/kotlin/org/strykeforce/deadeye/Deadeye.kt b/deadeye/src/main/kotlin/org/strykeforce/deadeye/Deadeye.kt
deleted file mode 100644
index a53b76a1..00000000
--- a/deadeye/src/main/kotlin/org/strykeforce/deadeye/Deadeye.kt
+++ /dev/null
@@ -1,67 +0,0 @@
-package org.strykeforce.deadeye
-
-import com.squareup.moshi.JsonClass
-import com.squareup.moshi.JsonDataException
-import com.squareup.moshi.Moshi
-import edu.wpi.first.networktables.NetworkTable
-import edu.wpi.first.networktables.NetworkTableInstance
-import okio.Buffer
-import java.net.DatagramPacket
-import java.net.DatagramSocket
-import kotlin.concurrent.thread
-
-private const val LINK = "Config"
-
-object Deadeye {
-  private val cameraCache = mutableMapOf<String, Camera<*>>()
-
-
-  private val cameraIds: List<String>
-    get() = with(NetworkTableInstance.getDefault().getTable("Deadeye")) {
-      subTables.flatMap { unit ->
-        getSubTable(unit).subTables.map { "$unit$it" }
-      }
-    }
-
-//  val cameras: Collection<Camera>
-//    get() {
-//      cameraIds.filterNot { cameraCache.containsKey(it) }.forEach { cameraCache[it] = CameraImpl(it) }
-//      return cameraCache.values
-//    }
-
-  private val table: NetworkTable by lazy { NetworkTableInstance.getDefault().getTable("/Deadeye") }
-  private val moshi: Moshi by lazy { Moshi.Builder().build() }
-
-  var config: Config
-    get() = with(table.getEntry(LINK).getString("{}")) {
-      Deadeye_ConfigJsonAdapter(moshi).fromJson(this) ?: throw JsonDataException("Config: $this")
-    }
-    set(value) = with(table.getEntry(LINK)) {
-      setString(Deadeye_ConfigJsonAdapter(moshi).toJson(value))
-    }
-
-  init {
-    thread(isDaemon = true) {
-      val socket = DatagramSocket(5800)
-      val bytes = ByteArray(512)
-      val buffer = Buffer()
-      val packet = DatagramPacket(bytes, bytes.size)
-
-      while (true) {
-        socket.receive(packet)
-        val id = String(packet.data, 0, 2)
-        val camera = cameraCache[id] ?: throw JsonDataException("Unrecognized camera id: $id")
-        buffer.write(packet.data, 2, packet.length - 2)
-        camera.parse(buffer)
-      }
-    }
-  }
-
-  @Suppress("UNCHECKED_CAST")
-  fun <T : TargetData> getCamera(id: String): Camera<T> = cameraCache.getOrPut(id) { CameraImpl<T>(id) } as Camera<T>
-
-
-  @JsonClass(generateAdapter = true)
-  data class Config(val address: String, val port: Int, val enabled: Boolean)
-
-}
diff --git a/deadeye/src/main/kotlin/org/strykeforce/deadeye/TargetData.kt b/deadeye/src/main/kotlin/org/strykeforce/deadeye/TargetData.kt
deleted file mode 100644
index f8bc6a9f..00000000
--- a/deadeye/src/main/kotlin/org/strykeforce/deadeye/TargetData.kt
+++ /dev/null
@@ -1,10 +0,0 @@
-package org.strykeforce.deadeye
-
-import com.squareup.moshi.JsonClass
-
-@JsonClass(generateAdapter = true)
-open class TargetData(
-  val id: String = "NA",
-  val sn: Int = 0,
-  val valid: Boolean = false
-)
diff --git a/deadeye/src/main/kotlin/org/strykeforce/deadeye/TargetDataListener.kt b/deadeye/src/main/kotlin/org/strykeforce/deadeye/TargetDataListener.kt
deleted file mode 100644
index 4e91979e..00000000
--- a/deadeye/src/main/kotlin/org/strykeforce/deadeye/TargetDataListener.kt
+++ /dev/null
@@ -1,6 +0,0 @@
-package org.strykeforce.deadeye
-
-@FunctionalInterface
-interface TargetDataListener {
-  fun onTargetData(data: TargetData)
-}
diff --git a/gradle/publish.gradle b/gradle/publish.gradle
index db6a4a04..d38ec2eb 100644
--- a/gradle/publish.gradle
+++ b/gradle/publish.gradle
@@ -9,7 +9,7 @@ task sourcesJar(type: Jar, dependsOn: classes) {
 
 artifacts {
     archives sourcesJar
-    archives javadocJar
+//    archives javadocJar
 }
 
 publishing {
@@ -18,7 +18,7 @@ publishing {
             from components.java
 
             artifact sourcesJar
-            artifact javadocJar
+//            artifact javadocJar
 
             groupId project.group
             artifactId project.name
diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar
index 457aad0d..cc4fdc29 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 8ce242a1..893d8033 100644
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,6 +1,6 @@
-#Thu Nov 21 13:49:38 EST 2019
-distributionUrl=https\://services.gradle.org/distributions/gradle-5.6.2-all.zip
+#Wed Jan 08 19:45:35 EST 2020
+distributionUrl=https\://services.gradle.org/distributions/gradle-6.0.1-all.zip
 distributionBase=GRADLE_USER_HOME
-distributionPath=wrapper/dists
-zipStorePath=wrapper/dists
+distributionPath=permwrapper/dists
+zipStorePath=permwrapper/dists
 zipStoreBase=GRADLE_USER_HOME
diff --git a/gradlew b/gradlew
index af6708ff..2fe81a7d 100755
--- 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 0f8d5937..24467a14 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 e7f7e6b5..58a36102 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -1,4 +1,28 @@
-rootProject.name = 'thirdcoast'
-include 'swerve'
-include 'telemetry'
-include 'deadeye'
+import org.gradle.internal.os.OperatingSystem
+
+pluginManagement {
+    repositories {
+        mavenLocal()
+        gradlePluginPortal()
+        String frcYear = '2020'
+        File frcHome
+        if (OperatingSystem.current().isWindows()) {
+            String publicFolder = System.getenv('PUBLIC')
+            if (publicFolder == null) {
+                publicFolder = "C:\\Users\\Public"
+            }
+            def homeRoot = new File(publicFolder, "wpilib")
+            frcHome = new File(homeRoot, frcYear)
+        } else {
+            def userFolder = System.getProperty("user.home")
+            def homeRoot = new File(userFolder, "wpilib")
+            frcHome = new File(homeRoot, frcYear)
+        }
+        def frcHomeMaven = new File(frcHome, 'maven')
+        maven {
+            name 'frcHome'
+            url frcHomeMaven
+        }
+    }
+}
+
diff --git a/swerve/src/main/java/org/strykeforce/thirdcoast/swerve/SwerveDrive.java b/src/main/java/org/strykeforce/thirdcoast/swerve/SwerveDrive.java
similarity index 100%
rename from swerve/src/main/java/org/strykeforce/thirdcoast/swerve/SwerveDrive.java
rename to src/main/java/org/strykeforce/thirdcoast/swerve/SwerveDrive.java
diff --git a/swerve/src/main/java/org/strykeforce/thirdcoast/swerve/SwerveDriveConfig.java b/src/main/java/org/strykeforce/thirdcoast/swerve/SwerveDriveConfig.java
similarity index 100%
rename from swerve/src/main/java/org/strykeforce/thirdcoast/swerve/SwerveDriveConfig.java
rename to src/main/java/org/strykeforce/thirdcoast/swerve/SwerveDriveConfig.java
diff --git a/swerve/src/main/java/org/strykeforce/thirdcoast/swerve/Wheel.java b/src/main/java/org/strykeforce/thirdcoast/swerve/Wheel.java
similarity index 100%
rename from swerve/src/main/java/org/strykeforce/thirdcoast/swerve/Wheel.java
rename to src/main/java/org/strykeforce/thirdcoast/swerve/Wheel.java
diff --git a/swerve/src/main/java/org/strykeforce/thirdcoast/swerve/package-info.java b/src/main/java/org/strykeforce/thirdcoast/swerve/package-info.java
similarity index 100%
rename from swerve/src/main/java/org/strykeforce/thirdcoast/swerve/package-info.java
rename to src/main/java/org/strykeforce/thirdcoast/swerve/package-info.java
diff --git a/swerve/src/main/java/org/strykeforce/thirdcoast/talon/Errors.java b/src/main/java/org/strykeforce/thirdcoast/talon/Errors.java
similarity index 100%
rename from swerve/src/main/java/org/strykeforce/thirdcoast/talon/Errors.java
rename to src/main/java/org/strykeforce/thirdcoast/talon/Errors.java
diff --git a/swerve/src/main/java/org/strykeforce/thirdcoast/util/ExpoScale.java b/src/main/java/org/strykeforce/thirdcoast/util/ExpoScale.java
similarity index 100%
rename from swerve/src/main/java/org/strykeforce/thirdcoast/util/ExpoScale.java
rename to src/main/java/org/strykeforce/thirdcoast/util/ExpoScale.java
diff --git a/swerve/src/main/java/org/strykeforce/thirdcoast/util/RateLimit.java b/src/main/java/org/strykeforce/thirdcoast/util/RateLimit.java
similarity index 100%
rename from swerve/src/main/java/org/strykeforce/thirdcoast/util/RateLimit.java
rename to src/main/java/org/strykeforce/thirdcoast/util/RateLimit.java
diff --git a/swerve/src/main/java/overview.html b/src/main/java/overview.html
similarity index 100%
rename from swerve/src/main/java/overview.html
rename to src/main/java/overview.html
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/AbstractInventory.kt b/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/AbstractInventory.kt
similarity index 100%
rename from telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/AbstractInventory.kt
rename to src/main/kotlin/org/strykeforce/thirdcoast/telemetry/AbstractInventory.kt
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/Inventory.kt b/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/Inventory.kt
similarity index 100%
rename from telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/Inventory.kt
rename to src/main/kotlin/org/strykeforce/thirdcoast/telemetry/Inventory.kt
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/RobotInventory.kt b/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/RobotInventory.kt
similarity index 100%
rename from telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/RobotInventory.kt
rename to src/main/kotlin/org/strykeforce/thirdcoast/telemetry/RobotInventory.kt
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/TelemetryController.kt b/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/TelemetryController.kt
similarity index 100%
rename from telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/TelemetryController.kt
rename to src/main/kotlin/org/strykeforce/thirdcoast/telemetry/TelemetryController.kt
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/TelemetryService.kt b/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/TelemetryService.kt
similarity index 88%
rename from telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/TelemetryService.kt
rename to src/main/kotlin/org/strykeforce/thirdcoast/telemetry/TelemetryService.kt
index 60ac33a7..b1abd673 100644
--- a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/TelemetryService.kt
+++ b/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/TelemetryService.kt
@@ -1,10 +1,12 @@
 package org.strykeforce.thirdcoast.telemetry
 
+import com.ctre.phoenix.motorcontrol.can.TalonFX
 import com.ctre.phoenix.motorcontrol.can.TalonSRX
 import mu.KotlinLogging
 import org.strykeforce.thirdcoast.swerve.SwerveDrive
+import org.strykeforce.thirdcoast.talon.TalonFXItem
 import org.strykeforce.thirdcoast.telemetry.item.Measurable
-import org.strykeforce.thirdcoast.telemetry.item.TalonItem
+import org.strykeforce.thirdcoast.telemetry.item.TalonSRXItem
 import java.util.*
 import java.util.function.Function
 
@@ -97,7 +99,17 @@ class TelemetryService(private val telemetryControllerFactory: Function<Inventor
    * @throws IllegalStateException if TelemetryService is running.
    */
   fun register(talon: TalonSRX) {
-    register(TalonItem(talon))
+    register(TalonSRXItem(talon))
+  }
+
+  /**
+   * Convenience method to register a `TalonFX` for telemetry sending.
+   *
+   * @param talon the TalonSRX to register for data collection
+   * @throws IllegalStateException if TelemetryService is running.
+   */
+  fun register(talon: TalonFX) {
+    register(TalonFXItem(talon))
   }
 
   /**
@@ -106,8 +118,8 @@ class TelemetryService(private val telemetryControllerFactory: Function<Inventor
    * @throws IllegalStateException if TelemetryService is running.
    */
   fun register(swerveDrive: SwerveDrive) = swerveDrive.wheels.forEach {
-    register(TalonItem(it.azimuthTalon))
-    register(TalonItem(it.driveTalon))
+    register(TalonSRXItem(it.azimuthTalon))
+    register(TalonSRXItem(it.driveTalon))
   }
 
   /**
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/grapher/ClientHandler.kt b/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/grapher/ClientHandler.kt
similarity index 100%
rename from telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/grapher/ClientHandler.kt
rename to src/main/kotlin/org/strykeforce/thirdcoast/telemetry/grapher/ClientHandler.kt
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/grapher/Subscription.kt b/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/grapher/Subscription.kt
similarity index 100%
rename from telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/grapher/Subscription.kt
rename to src/main/kotlin/org/strykeforce/thirdcoast/telemetry/grapher/Subscription.kt
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/CanifierItem.kt b/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/CanifierItem.kt
similarity index 100%
rename from telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/CanifierItem.kt
rename to src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/CanifierItem.kt
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/DigitalInputItem.kt b/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/DigitalInputItem.kt
similarity index 100%
rename from telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/DigitalInputItem.kt
rename to src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/DigitalInputItem.kt
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/DigitalOutputItem.kt b/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/DigitalOutputItem.kt
similarity index 100%
rename from telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/DigitalOutputItem.kt
rename to src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/DigitalOutputItem.kt
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/Measurable.kt b/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/Measurable.kt
similarity index 100%
rename from telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/Measurable.kt
rename to src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/Measurable.kt
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/Measure.kt b/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/Measure.kt
similarity index 100%
rename from telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/Measure.kt
rename to src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/Measure.kt
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/PowerDistributionPanelItem.kt b/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/PowerDistributionPanelItem.kt
similarity index 100%
rename from telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/PowerDistributionPanelItem.kt
rename to src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/PowerDistributionPanelItem.kt
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/ServoItem.kt b/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/ServoItem.kt
similarity index 100%
rename from telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/ServoItem.kt
rename to src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/ServoItem.kt
diff --git a/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/TalonFXItem.kt b/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/TalonFXItem.kt
new file mode 100644
index 00000000..755e1e7f
--- /dev/null
+++ b/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/TalonFXItem.kt
@@ -0,0 +1,98 @@
+package org.strykeforce.thirdcoast.talon
+
+import com.ctre.phoenix.motorcontrol.can.TalonFX
+import org.strykeforce.thirdcoast.telemetry.item.Measurable
+import org.strykeforce.thirdcoast.telemetry.item.Measure
+import java.util.function.DoubleSupplier
+
+internal const val CLOSED_LOOP_TARGET = "CLOSED_LOOP_TARGET"
+internal const val STATOR_CURRENT = "STATOR_CURRENT"
+internal const val SUPPLY_CURRENT = "SUPPLY_CURRENT"
+internal const val OUTPUT_VOLTAGE = "OUTPUT_VOLTAGE"
+internal const val OUTPUT_PERCENT = "OUTPUT_PERCENT"
+internal const val INTEGRATED_SENSOR_POSITION = "INTEGRATED_SENSOR_POSITION"
+internal const val INTEGRATED_SENSOR_VELOCITY = "INTEGRATED_SENSOR_VELOCITY"
+internal const val INTEGRATED_SENSOR_ABSOLUTE_POSITION = "INTEGRATED_SENSOR_ABSOLUTE_POSITION"
+internal const val SELECTED_SENSOR_POSITION = "SELECTED_SENSOR_POSITION"
+internal const val SELECTED_SENSOR_VELOCITY = "SELECTED_SENSOR_VELOCITY"
+internal const val ACTIVE_TRAJECTORY_POSITION = "ACTIVE_TRAJECTORY_POSITION"
+internal const val ACTIVE_TRAJECTORY_VELOCITY = "ACTIVE_TRAJECTORY_VELOCITY"
+internal const val ACTIVE_TRAJECTORY_ARB_FEED_FWD = "ACTIVE_TRAJECTORY_ARB_FEED_FWD"
+internal const val CLOSED_LOOP_ERROR = "CLOSED_LOOP_ERROR"
+internal const val BUS_VOLTAGE = "BUS_VOLTAGE"
+internal const val ERROR_DERIVATIVE = "ERROR_DERIVATIVE"
+internal const val INTEGRAL_ACCUMULATOR = "INTEGRAL_ACCUMULATOR"
+internal const val FORWARD_LIMIT_SWITCH_CLOSED = "FORWARD_LIMIT_SWITCH_CLOSED"
+internal const val REVERSE_LIMIT_SWITCH_CLOSED = "REVERSE_LIMIT_SWITCH_CLOSED"
+internal const val TEMPERATURE = "TEMPERATURE"
+
+class TalonFXItem @JvmOverloads constructor(
+    private val talonFX: TalonFX,
+    override val description: String = "TalonFX ${talonFX.deviceID}"
+) : Measurable {
+
+    override val deviceId = talonFX.deviceID
+    override val type = "talonFX"
+    override val measures = setOf(
+        Measure(CLOSED_LOOP_TARGET, "Closed-loop Setpoint (PID 0)"),
+        Measure(STATOR_CURRENT, "Stator Current"),
+        Measure(SUPPLY_CURRENT, "Supply Current"),
+        Measure(OUTPUT_VOLTAGE, "Output Voltage"),
+        Measure(OUTPUT_PERCENT, "Output Percent"),
+        Measure(INTEGRATED_SENSOR_POSITION, "Integrated Sensor Position"),
+        Measure(INTEGRATED_SENSOR_ABSOLUTE_POSITION, "Integrated Sensor ABS Position"),
+        Measure(INTEGRATED_SENSOR_VELOCITY, "Integrated Sensor Velocity"),
+        Measure(SELECTED_SENSOR_POSITION, "Selected Sensor Position"),
+        Measure(SELECTED_SENSOR_VELOCITY, "Selected Sensor Velocity"),
+        Measure(ACTIVE_TRAJECTORY_POSITION, "Active Trajectory Position"),
+        Measure(ACTIVE_TRAJECTORY_VELOCITY, "Active Trajectory Velocity"),
+        Measure(ACTIVE_TRAJECTORY_ARB_FEED_FWD, "Active Trajectory Arb. Feed FWD"),
+        Measure(CLOSED_LOOP_ERROR, "Closed Loop Error (PID 0)"),
+        Measure(BUS_VOLTAGE, "Bus Voltage"),
+        Measure(ERROR_DERIVATIVE, "Error Derivative (PID 0)"),
+        Measure(INTEGRAL_ACCUMULATOR, "Integral Accumulator (PID 0)"),
+        Measure(FORWARD_LIMIT_SWITCH_CLOSED, "Forward Limit Switch Closed"),
+        Measure(REVERSE_LIMIT_SWITCH_CLOSED, "Reverse Limit Switch Closed"),
+        Measure(TEMPERATURE, "Controller Temperature")
+
+    )
+
+    private val sensorCollection = requireNotNull(talonFX.sensorCollection)
+
+
+    override fun measurementFor(measure: Measure): DoubleSupplier {
+        return when (measure.name) {
+            CLOSED_LOOP_TARGET -> DoubleSupplier { talonFX.closedLoopTarget }
+            STATOR_CURRENT -> DoubleSupplier { talonFX.statorCurrent }
+            SUPPLY_CURRENT -> DoubleSupplier { talonFX.supplyCurrent }
+            OUTPUT_VOLTAGE -> DoubleSupplier { talonFX.motorOutputVoltage }
+            OUTPUT_PERCENT -> DoubleSupplier { talonFX.motorOutputPercent }
+            INTEGRATED_SENSOR_VELOCITY -> DoubleSupplier { sensorCollection.integratedSensorVelocity }
+            SELECTED_SENSOR_POSITION -> DoubleSupplier { talonFX.selectedSensorPosition.toDouble() }
+            SELECTED_SENSOR_VELOCITY -> DoubleSupplier { talonFX.selectedSensorVelocity.toDouble() }
+            ACTIVE_TRAJECTORY_POSITION -> DoubleSupplier { talonFX.activeTrajectoryPosition.toDouble() }
+            ACTIVE_TRAJECTORY_VELOCITY -> DoubleSupplier { talonFX.activeTrajectoryVelocity.toDouble() }
+            ACTIVE_TRAJECTORY_ARB_FEED_FWD -> DoubleSupplier { talonFX.activeTrajectoryArbFeedFwd }
+            CLOSED_LOOP_ERROR -> DoubleSupplier { talonFX.closedLoopError.toDouble() }
+            BUS_VOLTAGE -> DoubleSupplier { talonFX.busVoltage }
+            ERROR_DERIVATIVE -> DoubleSupplier { talonFX.errorDerivative }
+            INTEGRAL_ACCUMULATOR -> DoubleSupplier { talonFX.integralAccumulator }
+            FORWARD_LIMIT_SWITCH_CLOSED -> DoubleSupplier { sensorCollection.isFwdLimitSwitchClosed.toDouble() }
+            REVERSE_LIMIT_SWITCH_CLOSED -> DoubleSupplier { sensorCollection.isRevLimitSwitchClosed.toDouble() }
+            INTEGRATED_SENSOR_POSITION -> DoubleSupplier { sensorCollection.integratedSensorPosition }
+            INTEGRATED_SENSOR_ABSOLUTE_POSITION -> DoubleSupplier { sensorCollection.integratedSensorAbsolutePosition }
+            TEMPERATURE -> DoubleSupplier { talonFX.temperature }
+            else -> DoubleSupplier { 2767.0 }
+        }
+    }
+
+    override fun equals(other: Any?): Boolean {
+        if (this == other) return true
+        if (javaClass != other?.javaClass) return false
+        other as TalonFXItem
+        if (deviceId != other.deviceId) return false
+        return true
+    }
+
+    override fun hashCode() = deviceId
+}
\ No newline at end of file
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/TalonItem.kt b/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/TalonSRXItem.kt
similarity index 92%
rename from telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/TalonItem.kt
rename to src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/TalonSRXItem.kt
index 474c657f..339bfb6d 100644
--- a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/TalonItem.kt
+++ b/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/TalonSRXItem.kt
@@ -4,7 +4,8 @@ import com.ctre.phoenix.motorcontrol.can.TalonSRX
 import java.util.function.DoubleSupplier
 
 internal const val CLOSED_LOOP_TARGET = "CLOSED_LOOP_TARGET"
-internal const val OUTPUT_CURRENT = "OUTPUT_CURRENT"
+internal const val STATOR_CURRENT = "STATOR_CURRENT"
+internal const val SUPPLY_CURRENT = "SUPPLY_CURRENT"
 internal const val OUTPUT_VOLTAGE = "OUTPUT_VOLTAGE"
 internal const val OUTPUT_PERCENT = "OUTPUT_PERCENT"
 internal const val SELECTED_SENSOR_POSITION = "SELECTED_SENSOR_POSITION"
@@ -30,7 +31,7 @@ internal const val REVERSE_LIMIT_SWITCH_CLOSED = "REVERSE_LIMIT_SWITCH_CLOSED"
 internal const val TEMPERATURE = "TEMPERATURE"
 
 /** Represents a [TalonSRX] telemetry-enable `Measurable` item.  */
-class TalonItem @JvmOverloads constructor(
+class TalonSRXItem @JvmOverloads constructor(
   private val talon: TalonSRX,
   override val description: String = "TalonSRX ${talon.deviceID}"
 ) : Measurable {
@@ -39,7 +40,8 @@ class TalonItem @JvmOverloads constructor(
   override val type = "talon"
   override val measures = setOf(
     Measure(CLOSED_LOOP_TARGET, "Closed-loop Setpoint (PID 0)"),
-    Measure(OUTPUT_CURRENT, "Output Current"),
+    Measure(org.strykeforce.thirdcoast.talon.STATOR_CURRENT, "Stator Current"),
+    Measure(org.strykeforce.thirdcoast.talon.SUPPLY_CURRENT, "Supply Current"),
     Measure(OUTPUT_VOLTAGE, "Output Voltage"),
     Measure(OUTPUT_PERCENT, "Output Percentage"),
     Measure(SELECTED_SENSOR_POSITION, "Selected Sensor Position (PID 0)"),
@@ -72,7 +74,8 @@ class TalonItem @JvmOverloads constructor(
   override fun measurementFor(measure: Measure): DoubleSupplier {
     return when (measure.name) {
       CLOSED_LOOP_TARGET -> DoubleSupplier { talon.getClosedLoopTarget(0) }
-      OUTPUT_CURRENT -> DoubleSupplier { talon.outputCurrent }
+      org.strykeforce.thirdcoast.talon.STATOR_CURRENT -> DoubleSupplier { talon.statorCurrent }
+      org.strykeforce.thirdcoast.talon.SUPPLY_CURRENT -> DoubleSupplier { talon.supplyCurrent }
       OUTPUT_VOLTAGE -> DoubleSupplier { talon.motorOutputVoltage }
       OUTPUT_PERCENT -> DoubleSupplier { talon.motorOutputPercent }
       SELECTED_SENSOR_POSITION -> DoubleSupplier { talon.getSelectedSensorPosition(0).toDouble() }
@@ -106,7 +109,7 @@ class TalonItem @JvmOverloads constructor(
     if (this === other) return true
     if (javaClass != other?.javaClass) return false
 
-    other as TalonItem
+    other as TalonSRXItem
 
     if (deviceId != other.deviceId) return false
 
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/UltrasonicRangefinderItem.kt b/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/UltrasonicRangefinderItem.kt
similarity index 100%
rename from telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/UltrasonicRangefinderItem.kt
rename to src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/UltrasonicRangefinderItem.kt
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/util/SawtoothSignalGenerator.kt b/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/util/SawtoothSignalGenerator.kt
similarity index 100%
rename from telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/util/SawtoothSignalGenerator.kt
rename to src/main/kotlin/org/strykeforce/thirdcoast/telemetry/util/SawtoothSignalGenerator.kt
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/util/SignalGenerator.kt b/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/util/SignalGenerator.kt
similarity index 100%
rename from telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/util/SignalGenerator.kt
rename to src/main/kotlin/org/strykeforce/thirdcoast/telemetry/util/SignalGenerator.kt
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/util/SineSignalGenerator.kt b/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/util/SineSignalGenerator.kt
similarity index 100%
rename from telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/util/SineSignalGenerator.kt
rename to src/main/kotlin/org/strykeforce/thirdcoast/telemetry/util/SineSignalGenerator.kt
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/util/SquareSignalGenerator.kt b/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/util/SquareSignalGenerator.kt
similarity index 100%
rename from telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/util/SquareSignalGenerator.kt
rename to src/main/kotlin/org/strykeforce/thirdcoast/telemetry/util/SquareSignalGenerator.kt
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/util/TriangleSignalGenerator.kt b/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/util/TriangleSignalGenerator.kt
similarity index 100%
rename from telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/util/TriangleSignalGenerator.kt
rename to src/main/kotlin/org/strykeforce/thirdcoast/telemetry/util/TriangleSignalGenerator.kt
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/trapper/Action.kt b/src/main/kotlin/org/strykeforce/thirdcoast/trapper/Action.kt
similarity index 100%
rename from telemetry/src/main/kotlin/org/strykeforce/thirdcoast/trapper/Action.kt
rename to src/main/kotlin/org/strykeforce/thirdcoast/trapper/Action.kt
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/trapper/Activity.kt b/src/main/kotlin/org/strykeforce/thirdcoast/trapper/Activity.kt
similarity index 100%
rename from telemetry/src/main/kotlin/org/strykeforce/thirdcoast/trapper/Activity.kt
rename to src/main/kotlin/org/strykeforce/thirdcoast/trapper/Activity.kt
diff --git a/telemetry/src/main/kotlin/org/strykeforce/thirdcoast/trapper/Session.kt b/src/main/kotlin/org/strykeforce/thirdcoast/trapper/Session.kt
similarity index 100%
rename from telemetry/src/main/kotlin/org/strykeforce/thirdcoast/trapper/Session.kt
rename to src/main/kotlin/org/strykeforce/thirdcoast/trapper/Session.kt
diff --git a/swerve/src/test/java/org/strykeforce/thirdcoast/swerve/SwerveDriveTest.java b/src/test/java/org/strykeforce/thirdcoast/swerve/SwerveDriveTest.java
similarity index 100%
rename from swerve/src/test/java/org/strykeforce/thirdcoast/swerve/SwerveDriveTest.java
rename to src/test/java/org/strykeforce/thirdcoast/swerve/SwerveDriveTest.java
diff --git a/swerve/src/test/java/org/strykeforce/thirdcoast/swerve/WheelTest.java b/src/test/java/org/strykeforce/thirdcoast/swerve/WheelTest.java
similarity index 100%
rename from swerve/src/test/java/org/strykeforce/thirdcoast/swerve/WheelTest.java
rename to src/test/java/org/strykeforce/thirdcoast/swerve/WheelTest.java
diff --git a/telemetry/src/test/java/org/strykeforce/thirdcoast/telemetry/RobotInventoryTest.java b/src/test/java/org/strykeforce/thirdcoast/telemetry/RobotInventoryTest.java
similarity index 100%
rename from telemetry/src/test/java/org/strykeforce/thirdcoast/telemetry/RobotInventoryTest.java
rename to src/test/java/org/strykeforce/thirdcoast/telemetry/RobotInventoryTest.java
diff --git a/telemetry/src/test/java/org/strykeforce/thirdcoast/telemetry/grapher/ResourceHelper.java b/src/test/java/org/strykeforce/thirdcoast/telemetry/grapher/ResourceHelper.java
similarity index 100%
rename from telemetry/src/test/java/org/strykeforce/thirdcoast/telemetry/grapher/ResourceHelper.java
rename to src/test/java/org/strykeforce/thirdcoast/telemetry/grapher/ResourceHelper.java
diff --git a/telemetry/src/test/java/org/strykeforce/thirdcoast/telemetry/grapher/SubscriptionTest.java b/src/test/java/org/strykeforce/thirdcoast/telemetry/grapher/SubscriptionTest.java
similarity index 100%
rename from telemetry/src/test/java/org/strykeforce/thirdcoast/telemetry/grapher/SubscriptionTest.java
rename to src/test/java/org/strykeforce/thirdcoast/telemetry/grapher/SubscriptionTest.java
diff --git a/telemetry/src/test/resources/inventory.json b/src/test/resources/inventory.json
similarity index 100%
rename from telemetry/src/test/resources/inventory.json
rename to src/test/resources/inventory.json
diff --git a/swerve/src/test/resources/logback-test.xml b/src/test/resources/logback-test.xml
similarity index 100%
rename from swerve/src/test/resources/logback-test.xml
rename to src/test/resources/logback-test.xml
diff --git a/swerve/src/test/resources/mockito-extensions/org.mockito.plugins.MockMaker b/src/test/resources/mockito-extensions/org.mockito.plugins.MockMaker
similarity index 100%
rename from swerve/src/test/resources/mockito-extensions/org.mockito.plugins.MockMaker
rename to src/test/resources/mockito-extensions/org.mockito.plugins.MockMaker
diff --git a/telemetry/src/test/resources/request.json b/src/test/resources/request.json
similarity index 100%
rename from telemetry/src/test/resources/request.json
rename to src/test/resources/request.json
diff --git a/telemetry/src/test/resources/subscription.json b/src/test/resources/subscription.json
similarity index 100%
rename from telemetry/src/test/resources/subscription.json
rename to src/test/resources/subscription.json
diff --git a/swerve/src/test/resources/swervedrive_drive_cases.csv b/src/test/resources/swervedrive_drive_cases.csv
similarity index 100%
rename from swerve/src/test/resources/swervedrive_drive_cases.csv
rename to src/test/resources/swervedrive_drive_cases.csv
diff --git a/swerve/src/test/resources/wheel_set_cases.csv b/src/test/resources/wheel_set_cases.csv
similarity index 100%
rename from swerve/src/test/resources/wheel_set_cases.csv
rename to src/test/resources/wheel_set_cases.csv
diff --git a/swerve/build.gradle b/swerve/build.gradle
deleted file mode 100644
index f426481c..00000000
--- a/swerve/build.gradle
+++ /dev/null
@@ -1,26 +0,0 @@
-apply plugin: 'com.diffplug.gradle.spotless'
-
-sourceCompatibility = 11
-
-dependencies {
-    compileOnly 'org.jetbrains:annotations:15.0'
-}
-
-javadoc {
-    title = "Third Coast Swerve Drive Library"
-    options.overview = "src/main/java/overview.html"
-}
-
-task javadocJar(type: Jar, dependsOn: javadoc) {
-    classifier = 'javadoc'
-    from javadoc.destinationDir
-}
-
-spotless {
-    java {
-        googleJavaFormat()
-        target '**/*.java'
-    }
-}
-
-apply from: "${rootDir}/gradle/publish.gradle" // needs to come after javadocJar
\ No newline at end of file
diff --git a/swerve/gradle.properties b/swerve/gradle.properties
deleted file mode 100644
index 7cdc4f09..00000000
--- a/swerve/gradle.properties
+++ /dev/null
@@ -1,2 +0,0 @@
-projectDescription=Third Coast swerve drive library
-
diff --git a/swerve/vendordeps/phoenix.json b/swerve/vendordeps/phoenix.json
deleted file mode 100644
index d4da1ceb..00000000
--- a/swerve/vendordeps/phoenix.json
+++ /dev/null
@@ -1,87 +0,0 @@
-{
-    "fileName": "Phoenix.json",
-    "name": "CTRE-Phoenix",
-    "version": "5.12.0",
-    "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
-    "mavenUrls": [
-        "http://devsite.ctr-electronics.com/maven/release/"
-    ],
-    "jsonUrl": "http://devsite.ctr-electronics.com/maven/release/com/ctre/phoenix/Phoenix-latest.json",
-    "javaDependencies": [
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "api-java",
-            "version": "5.12.0"
-        },
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "wpiapi-java",
-            "version": "5.12.0"
-        }
-    ],
-    "jniDependencies": [
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "cci",
-            "version": "5.12.0",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "linuxathena",
-                "windowsx86-64",
-                "linuxx86-64"
-            ]
-        }
-    ],
-    "cppDependencies": [
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "wpiapi-cpp",
-            "version": "5.12.0",
-            "libName": "CTRE_Phoenix_WPI",
-            "headerClassifier": "headers",
-            "sharedLibrary": false,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "linuxathena",
-                "windowsx86-64",
-                "linuxx86-64"
-            ]
-        },
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "api-cpp",
-            "version": "5.12.0",
-            "libName": "CTRE_Phoenix",
-            "headerClassifier": "headers",
-            "sharedLibrary": false,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "linuxathena",
-                "windowsx86-64",
-                "linuxx86-64"
-            ]
-        },
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "cci",
-            "version": "5.12.0",
-            "libName": "CTRE_PhoenixCCI",
-            "headerClassifier": "headers",
-            "sharedLibrary": false,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "linuxathena",
-                "windowsx86-64",
-                "linuxx86-64"
-            ]
-        },
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "core",
-            "version": "5.12.0",
-            "libName": "CTRE_PhoenixCore",
-            "headerClassifier": "headers"
-        }
-    ]
-}
\ No newline at end of file
diff --git a/telemetry/build.gradle b/telemetry/build.gradle
deleted file mode 100644
index 08c4d16a..00000000
--- a/telemetry/build.gradle
+++ /dev/null
@@ -1,27 +0,0 @@
-dependencies {
-  // telemetry
-  implementation "org.eclipse.jetty:jetty-server:$jettyVersion"
-  implementation "com.squareup.okhttp3:okhttp:$okhttpVersion"
-  implementation project(':swerve')
-
-  // unit tests
-  testImplementation "org.skyscreamer:jsonassert:$jsonAssert"
-
-}
-
-task dokkaJavadoc(type: org.jetbrains.dokka.gradle.DokkaTask) {
-  includes = ['packages.md']
-  outputDirectory = javadoc.destinationDir
-  reportUndocumented = false
-  externalDocumentationLink {
-    url = new URL('https://first.wpi.edu/FRC/roborio/release/docs/java/')
-  }
-}
-
-
-task javadocJar(type: Jar, dependsOn: dokkaJavadoc) {
-  classifier = 'javadoc'
-  from javadoc.destinationDir
-}
-
-apply from: "${rootDir}/gradle/publish.gradle" // needs to come after javadocJar
diff --git a/telemetry/gradle.properties b/telemetry/gradle.properties
deleted file mode 100644
index 422b9a74..00000000
--- a/telemetry/gradle.properties
+++ /dev/null
@@ -1,2 +0,0 @@
-projectDescription=Third Coast telemetry library
-kotlin.code.style=official
\ No newline at end of file
diff --git a/telemetry/packages.md b/telemetry/packages.md
deleted file mode 100644
index 7ee04a55..00000000
--- a/telemetry/packages.md
+++ /dev/null
@@ -1,17 +0,0 @@
-# Module telemetry
-
-# Package org.strykeforce.thirdcoast.telemetry
-
-Provides a data streaming service for robot sensors, actuators or subsystems. Documentation for client-server communication is [here](https://strykeforce.github.io/posts/thirdcoast-telemetry/).
-
-# Package org.strykeforce.thirdcoast.telemetry.item
-
-Robot sensors, actuators or subsystems that are telemetry-enabled.
-
-# Package org.strykeforce.thirdcoast.telemetry.grapher
-
-Support for Third Coast Telemetry Grapher client.
-
-# Package org.strykeforce.thirdcoast.telemetry.util
-
-Contains waveform generators for the Telemetry simulator development tool and other utility classes.
diff --git a/telemetry/vendordeps/navx.json b/telemetry/vendordeps/navx.json
deleted file mode 100644
index 9261700b..00000000
--- a/telemetry/vendordeps/navx.json
+++ /dev/null
@@ -1,33 +0,0 @@
-{
-    "fileName": "navx_frc.json",
-    "name": "KauaiLabs_navX_FRC",
-    "version": "3.1.344",
-    "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
-    "mavenUrls": [
-        "https://repo1.maven.org/maven2/"
-    ],
-    "jsonUrl": "https://www.kauailabs.com/dist/frc/2019/navx_frc.json",
-    "javaDependencies": [
-        {
-            "groupId": "com.kauailabs.navx.frc",
-            "artifactId": "navx-java",
-            "version": "3.1.344"
-        }
-    ],
-    "jniDependencies": [],
-    "cppDependencies": [
-        {
-            "groupId": "com.kauailabs.navx.frc",
-            "artifactId": "navx-cpp",
-            "version": "3.1.344",
-            "headerClassifier": "headers",
-            "sourcesClassifier": "sources",
-            "sharedLibrary": false,
-            "libName": "navx_frc",
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "linuxathena"
-            ]
-        }
-    ]
-}
diff --git a/telemetry/vendordeps/phoenix.json b/telemetry/vendordeps/phoenix.json
deleted file mode 100644
index d4da1ceb..00000000
--- a/telemetry/vendordeps/phoenix.json
+++ /dev/null
@@ -1,87 +0,0 @@
-{
-    "fileName": "Phoenix.json",
-    "name": "CTRE-Phoenix",
-    "version": "5.12.0",
-    "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
-    "mavenUrls": [
-        "http://devsite.ctr-electronics.com/maven/release/"
-    ],
-    "jsonUrl": "http://devsite.ctr-electronics.com/maven/release/com/ctre/phoenix/Phoenix-latest.json",
-    "javaDependencies": [
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "api-java",
-            "version": "5.12.0"
-        },
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "wpiapi-java",
-            "version": "5.12.0"
-        }
-    ],
-    "jniDependencies": [
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "cci",
-            "version": "5.12.0",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "linuxathena",
-                "windowsx86-64",
-                "linuxx86-64"
-            ]
-        }
-    ],
-    "cppDependencies": [
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "wpiapi-cpp",
-            "version": "5.12.0",
-            "libName": "CTRE_Phoenix_WPI",
-            "headerClassifier": "headers",
-            "sharedLibrary": false,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "linuxathena",
-                "windowsx86-64",
-                "linuxx86-64"
-            ]
-        },
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "api-cpp",
-            "version": "5.12.0",
-            "libName": "CTRE_Phoenix",
-            "headerClassifier": "headers",
-            "sharedLibrary": false,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "linuxathena",
-                "windowsx86-64",
-                "linuxx86-64"
-            ]
-        },
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "cci",
-            "version": "5.12.0",
-            "libName": "CTRE_PhoenixCCI",
-            "headerClassifier": "headers",
-            "sharedLibrary": false,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "linuxathena",
-                "windowsx86-64",
-                "linuxx86-64"
-            ]
-        },
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "core",
-            "version": "5.12.0",
-            "libName": "CTRE_PhoenixCore",
-            "headerClassifier": "headers"
-        }
-    ]
-}
\ No newline at end of file
diff --git a/vendordeps/Phoenix.json b/vendordeps/Phoenix.json
new file mode 100644
index 00000000..f8d42a42
--- /dev/null
+++ b/vendordeps/Phoenix.json
@@ -0,0 +1,180 @@
+{
+    "fileName": "Phoenix.json",
+    "name": "CTRE-Phoenix",
+    "version": "5.17.3",
+    "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
+    "mavenUrls": [
+        "http://devsite.ctr-electronics.com/maven/release/"
+    ],
+    "jsonUrl": "http://devsite.ctr-electronics.com/maven/release/com/ctre/phoenix/Phoenix-latest.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "api-java",
+            "version": "5.17.3"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "wpiapi-java",
+            "version": "5.17.3"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "cci",
+            "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": [
+                "linuxathena",
+                "windowsx86-64",
+                "linuxx86-64"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "wpiapi-cpp",
+            "version": "5.17.3",
+            "libName": "CTRE_Phoenix_WPI",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena",
+                "windowsx86-64",
+                "linuxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "api-cpp",
+            "version": "5.17.3",
+            "libName": "CTRE_Phoenix",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena",
+                "windowsx86-64",
+                "linuxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "cci",
+            "version": "5.17.3",
+            "libName": "CTRE_PhoenixCCI",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena",
+                "windowsx86-64",
+                "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": "5.17.3",
+            "libName": "CTRE_PhoenixCore",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena",
+                "windowsx86-64",
+                "linuxx86-64"
+            ]
+        }
+    ]
+}
\ No newline at end of file
diff --git a/swerve/vendordeps/navx.json b/vendordeps/navx_frc.json
similarity index 77%
rename from swerve/vendordeps/navx.json
rename to vendordeps/navx_frc.json
index 9261700b..82810d34 100644
--- a/swerve/vendordeps/navx.json
+++ b/vendordeps/navx_frc.json
@@ -1,17 +1,17 @@
 {
     "fileName": "navx_frc.json",
     "name": "KauaiLabs_navX_FRC",
-    "version": "3.1.344",
+    "version": "3.1.400",
     "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
     "mavenUrls": [
         "https://repo1.maven.org/maven2/"
     ],
-    "jsonUrl": "https://www.kauailabs.com/dist/frc/2019/navx_frc.json",
+    "jsonUrl": "https://www.kauailabs.com/dist/frc/2020/navx_frc.json",
     "javaDependencies": [
         {
             "groupId": "com.kauailabs.navx.frc",
             "artifactId": "navx-java",
-            "version": "3.1.344"
+            "version": "3.1.400"
         }
     ],
     "jniDependencies": [],
@@ -19,15 +19,16 @@
         {
             "groupId": "com.kauailabs.navx.frc",
             "artifactId": "navx-cpp",
-            "version": "3.1.344",
+            "version": "3.1.400",
             "headerClassifier": "headers",
             "sourcesClassifier": "sources",
             "sharedLibrary": false,
             "libName": "navx_frc",
             "skipInvalidPlatforms": true,
             "binaryPlatforms": [
-                "linuxathena"
+                "linuxathena",
+                "linuxraspbian"
             ]
         }
     ]
-}
+}
\ No newline at end of file