diff --git a/.github/workflows/build-all-parallel.yml b/.github/workflows/build-all-parallel.yml
index 4dbc2928..dd17ec9b 100644
--- a/.github/workflows/build-all-parallel.yml
+++ b/.github/workflows/build-all-parallel.yml
@@ -76,7 +76,7 @@ jobs:
     runs-on: ubuntu-latest
 
     # This grabs the WPILib docker container
-    container: wpilib/roborio-cross-ubuntu:2023-22.04
+    container: wpilib/roborio-cross-ubuntu:2024-22.04
 
     steps:
     - uses: actions/checkout@v3
diff --git a/build_all_frc_projects.ps1 b/build_all_frc_projects.ps1
index d146e46b..cc3682dd 100644
--- a/build_all_frc_projects.ps1
+++ b/build_all_frc_projects.ps1
@@ -1,9 +1,9 @@
-$Depth = 2
+$Depth = 1
 $Levels = '/*' * $Depth
 
 $ErrorActionPreference = "Stop"
 
-Get-ChildItem -Directory "./$Levels" |
+Get-ChildItem -Directory "./$Levels" -Exclude ".github" |
     ForEach-Object {
         Push-Location $_.FullName
         echo "Building example $_"
diff --git a/cpp/BasicLatencyCompensation/.gitignore b/cpp/BasicLatencyCompensation/.gitignore
index 4b2a8965..3325f5c0 100644
--- a/cpp/BasicLatencyCompensation/.gitignore
+++ b/cpp/BasicLatencyCompensation/.gitignore
@@ -158,5 +158,15 @@ gradle-app.setting
 .settings/
 bin/
 
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
 # Simulation GUI and other tools window save file
 *-window.json
diff --git a/cpp/BasicLatencyCompensation/.wpilib/wpilib_preferences.json b/cpp/BasicLatencyCompensation/.wpilib/wpilib_preferences.json
index 6c3c5ae3..c64d8d3d 100644
--- a/cpp/BasicLatencyCompensation/.wpilib/wpilib_preferences.json
+++ b/cpp/BasicLatencyCompensation/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": true,
     "currentLanguage": "cpp",
-    "projectYear": "2023",
+    "projectYear": "2024beta",
     "teamNumber": 7762
 }
\ No newline at end of file
diff --git a/cpp/BasicLatencyCompensation/WPILib-License.md b/cpp/BasicLatencyCompensation/WPILib-License.md
index ba35a02c..84349440 100644
--- a/cpp/BasicLatencyCompensation/WPILib-License.md
+++ b/cpp/BasicLatencyCompensation/WPILib-License.md
@@ -1,4 +1,4 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2023 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
diff --git a/cpp/BasicLatencyCompensation/build.gradle b/cpp/BasicLatencyCompensation/build.gradle
index e573ba94..07f7fc67 100644
--- a/cpp/BasicLatencyCompensation/build.gradle
+++ b/cpp/BasicLatencyCompensation/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-1"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
diff --git a/cpp/BasicLatencyCompensation/gradle/wrapper/gradle-wrapper.jar b/cpp/BasicLatencyCompensation/gradle/wrapper/gradle-wrapper.jar
index 249e5832..7f93135c 100644
Binary files a/cpp/BasicLatencyCompensation/gradle/wrapper/gradle-wrapper.jar and b/cpp/BasicLatencyCompensation/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/cpp/BasicLatencyCompensation/gradle/wrapper/gradle-wrapper.properties b/cpp/BasicLatencyCompensation/gradle/wrapper/gradle-wrapper.properties
index 74147692..c5c27066 100644
--- a/cpp/BasicLatencyCompensation/gradle/wrapper/gradle-wrapper.properties
+++ b/cpp/BasicLatencyCompensation/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
diff --git a/cpp/BasicLatencyCompensation/gradlew b/cpp/BasicLatencyCompensation/gradlew
index a69d9cb6..1aa94a42 100644
--- a/cpp/BasicLatencyCompensation/gradlew
+++ b/cpp/BasicLatencyCompensation/gradlew
@@ -55,7 +55,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,13 +80,11 @@ do
     esac
 done
 
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-APP_NAME="Gradle"
+# This is normally unused
+# shellcheck disable=SC2034
 APP_BASE_NAME=${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" "-Xms64m"'
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -133,22 +131,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -193,11 +198,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
-#     shell script including quotes and variable substitutions, so put them in
-#     double quotes to make sure that they get re-expanded; and
-#   * put everything else in single quotes, so that it's not re-expanded.
+
+# 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" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
diff --git a/cpp/BasicLatencyCompensation/gradlew.bat b/cpp/BasicLatencyCompensation/gradlew.bat
index 53a6b238..6689b85b 100644
--- a/cpp/BasicLatencyCompensation/gradlew.bat
+++ b/cpp/BasicLatencyCompensation/gradlew.bat
@@ -26,6 +26,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
diff --git a/cpp/BasicLatencyCompensation/settings.gradle b/cpp/BasicLatencyCompensation/settings.gradle
index ae1af1c0..3e30f84f 100644
--- a/cpp/BasicLatencyCompensation/settings.gradle
+++ b/cpp/BasicLatencyCompensation/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')
@@ -25,3 +25,6 @@ pluginManagement {
         }
     }
 }
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
diff --git a/cpp/BasicLatencyCompensation/vendordeps/Phoenix6.json b/cpp/BasicLatencyCompensation/vendordeps/Phoenix6.json
index a5620fa9..1f9f4411 100644
--- a/cpp/BasicLatencyCompensation/vendordeps/Phoenix6.json
+++ b/cpp/BasicLatencyCompensation/vendordeps/Phoenix6.json
@@ -1,25 +1,32 @@
 {
     "fileName": "Phoenix6.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "23.2.2",
-    "frcYear": 2023,
+    "version": "24.0.0-beta-1",
+    "frcYear": 2024,
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2023-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
+    "conflictsWith": [
+        {
+            "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
+            "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
+            "offlineFileName": "Phoenix6And5.json"
+        }
+    ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "23.2.2"
+            "version": "24.0.0-beta-1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -32,7 +39,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -45,7 +52,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -58,7 +65,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -71,7 +78,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -84,7 +91,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -97,7 +104,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +117,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -123,7 +130,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -136,7 +143,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -151,7 +158,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -166,7 +173,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -181,7 +188,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -196,7 +203,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -211,7 +218,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -226,7 +233,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -241,7 +248,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -256,7 +263,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -271,7 +278,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -286,7 +293,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -301,7 +308,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -316,7 +323,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/cpp/BasicLatencyCompensation/vendordeps/WPILibNewCommands.json b/cpp/BasicLatencyCompensation/vendordeps/WPILibNewCommands.json
index da4bc529..67bf3898 100644
--- a/cpp/BasicLatencyCompensation/vendordeps/WPILibNewCommands.json
+++ b/cpp/BasicLatencyCompensation/vendordeps/WPILibNewCommands.json
@@ -1,37 +1,38 @@
-{
-  "fileName": "WPILibNewCommands.json",
-  "name": "WPILib-New-Commands",
-  "version": "1.0.0",
-  "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "mavenUrls": [],
-  "jsonUrl": "",
-  "javaDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-java",
-          "version": "wpilib"
-      }
-  ],
-  "jniDependencies": [],
-  "cppDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-cpp",
-          "version": "wpilib",
-          "libName": "wpilibNewCommands",
-          "headerClassifier": "headers",
-          "sourcesClassifier": "sources",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "linuxathena",
-              "linuxarm32",
-              "linuxarm64",
-              "windowsx86-64",
-              "windowsx86",
-              "linuxx86-64",
-              "osxuniversal"
-          ]
-      }
-  ]
-}
+{
+  "fileName": "WPILibNewCommands.json",
+  "name": "WPILib-New-Commands",
+  "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"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "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/cpp/CANcoder/.gitignore b/cpp/CANcoder/.gitignore
index 4b2a8965..3325f5c0 100644
--- a/cpp/CANcoder/.gitignore
+++ b/cpp/CANcoder/.gitignore
@@ -158,5 +158,15 @@ gradle-app.setting
 .settings/
 bin/
 
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
 # Simulation GUI and other tools window save file
 *-window.json
diff --git a/cpp/CANcoder/.vscode/settings.json b/cpp/CANcoder/.vscode/settings.json
index 5627d44c..d2d2fe11 100644
--- a/cpp/CANcoder/.vscode/settings.json
+++ b/cpp/CANcoder/.vscode/settings.json
@@ -14,79 +14,5 @@
     "**/.factorypath": true,
     "**/*~": true
   },
-  "C_Cpp.default.configurationProvider": "vscode-wpilib",
-  "files.associations": {
-    "*.inc": "cpp",
-    "array": "cpp",
-    "atomic": "cpp",
-    "bit": "cpp",
-    "*.tcc": "cpp",
-    "bitset": "cpp",
-    "cctype": "cpp",
-    "cfenv": "cpp",
-    "chrono": "cpp",
-    "clocale": "cpp",
-    "cmath": "cpp",
-    "codecvt": "cpp",
-    "compare": "cpp",
-    "complex": "cpp",
-    "concepts": "cpp",
-    "condition_variable": "cpp",
-    "cstdarg": "cpp",
-    "cstddef": "cpp",
-    "cstdint": "cpp",
-    "cstdio": "cpp",
-    "cstdlib": "cpp",
-    "cstring": "cpp",
-    "ctime": "cpp",
-    "cwchar": "cpp",
-    "cwctype": "cpp",
-    "deque": "cpp",
-    "list": "cpp",
-    "map": "cpp",
-    "set": "cpp",
-    "string": "cpp",
-    "unordered_map": "cpp",
-    "unordered_set": "cpp",
-    "vector": "cpp",
-    "exception": "cpp",
-    "algorithm": "cpp",
-    "functional": "cpp",
-    "iterator": "cpp",
-    "memory": "cpp",
-    "memory_resource": "cpp",
-    "numeric": "cpp",
-    "optional": "cpp",
-    "random": "cpp",
-    "ratio": "cpp",
-    "regex": "cpp",
-    "string_view": "cpp",
-    "system_error": "cpp",
-    "tuple": "cpp",
-    "type_traits": "cpp",
-    "utility": "cpp",
-    "fstream": "cpp",
-    "future": "cpp",
-    "initializer_list": "cpp",
-    "iomanip": "cpp",
-    "iosfwd": "cpp",
-    "iostream": "cpp",
-    "istream": "cpp",
-    "limits": "cpp",
-    "mutex": "cpp",
-    "new": "cpp",
-    "numbers": "cpp",
-    "ostream": "cpp",
-    "semaphore": "cpp",
-    "span": "cpp",
-    "sstream": "cpp",
-    "stdexcept": "cpp",
-    "stop_token": "cpp",
-    "streambuf": "cpp",
-    "thread": "cpp",
-    "cinttypes": "cpp",
-    "typeindex": "cpp",
-    "typeinfo": "cpp",
-    "variant": "cpp"
-  }
+  "C_Cpp.default.configurationProvider": "vscode-wpilib"
 }
diff --git a/cpp/CANcoder/.wpilib/wpilib_preferences.json b/cpp/CANcoder/.wpilib/wpilib_preferences.json
index 87c04e30..c64d8d3d 100644
--- a/cpp/CANcoder/.wpilib/wpilib_preferences.json
+++ b/cpp/CANcoder/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
-{
-    "enableCppIntellisense": true,
-    "currentLanguage": "cpp",
-    "projectYear": "2023",
-    "teamNumber": 7762
-}
+{
+    "enableCppIntellisense": true,
+    "currentLanguage": "cpp",
+    "projectYear": "2024beta",
+    "teamNumber": 7762
+}
\ No newline at end of file
diff --git a/cpp/CANcoder/WPILib-License.md b/cpp/CANcoder/WPILib-License.md
index ba35a02c..84349440 100644
--- a/cpp/CANcoder/WPILib-License.md
+++ b/cpp/CANcoder/WPILib-License.md
@@ -1,4 +1,4 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2023 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
diff --git a/cpp/CANcoder/build.gradle b/cpp/CANcoder/build.gradle
index e573ba94..07f7fc67 100644
--- a/cpp/CANcoder/build.gradle
+++ b/cpp/CANcoder/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-1"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
diff --git a/cpp/CANcoder/gradle/wrapper/gradle-wrapper.jar b/cpp/CANcoder/gradle/wrapper/gradle-wrapper.jar
index 249e5832..7f93135c 100644
Binary files a/cpp/CANcoder/gradle/wrapper/gradle-wrapper.jar and b/cpp/CANcoder/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/cpp/CANcoder/gradle/wrapper/gradle-wrapper.properties b/cpp/CANcoder/gradle/wrapper/gradle-wrapper.properties
index 74147692..c5c27066 100644
--- a/cpp/CANcoder/gradle/wrapper/gradle-wrapper.properties
+++ b/cpp/CANcoder/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
diff --git a/cpp/CANcoder/gradlew b/cpp/CANcoder/gradlew
index a69d9cb6..1aa94a42 100644
--- a/cpp/CANcoder/gradlew
+++ b/cpp/CANcoder/gradlew
@@ -55,7 +55,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,13 +80,11 @@ do
     esac
 done
 
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-APP_NAME="Gradle"
+# This is normally unused
+# shellcheck disable=SC2034
 APP_BASE_NAME=${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" "-Xms64m"'
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -133,22 +131,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -193,11 +198,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
-#     shell script including quotes and variable substitutions, so put them in
-#     double quotes to make sure that they get re-expanded; and
-#   * put everything else in single quotes, so that it's not re-expanded.
+
+# 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" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
diff --git a/cpp/CANcoder/gradlew.bat b/cpp/CANcoder/gradlew.bat
index 53a6b238..6689b85b 100644
--- a/cpp/CANcoder/gradlew.bat
+++ b/cpp/CANcoder/gradlew.bat
@@ -26,6 +26,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
diff --git a/cpp/CANcoder/settings.gradle b/cpp/CANcoder/settings.gradle
index ae1af1c0..3e30f84f 100644
--- a/cpp/CANcoder/settings.gradle
+++ b/cpp/CANcoder/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')
@@ -25,3 +25,6 @@ pluginManagement {
         }
     }
 }
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
diff --git a/cpp/CANcoder/vendordeps/Phoenix6.json b/cpp/CANcoder/vendordeps/Phoenix6.json
index a5620fa9..1f9f4411 100644
--- a/cpp/CANcoder/vendordeps/Phoenix6.json
+++ b/cpp/CANcoder/vendordeps/Phoenix6.json
@@ -1,25 +1,32 @@
 {
     "fileName": "Phoenix6.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "23.2.2",
-    "frcYear": 2023,
+    "version": "24.0.0-beta-1",
+    "frcYear": 2024,
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2023-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
+    "conflictsWith": [
+        {
+            "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
+            "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
+            "offlineFileName": "Phoenix6And5.json"
+        }
+    ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "23.2.2"
+            "version": "24.0.0-beta-1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -32,7 +39,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -45,7 +52,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -58,7 +65,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -71,7 +78,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -84,7 +91,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -97,7 +104,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +117,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -123,7 +130,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -136,7 +143,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -151,7 +158,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -166,7 +173,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -181,7 +188,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -196,7 +203,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -211,7 +218,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -226,7 +233,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -241,7 +248,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -256,7 +263,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -271,7 +278,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -286,7 +293,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -301,7 +308,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -316,7 +323,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/cpp/CANcoder/vendordeps/WPILibNewCommands.json b/cpp/CANcoder/vendordeps/WPILibNewCommands.json
index da4bc529..67bf3898 100644
--- a/cpp/CANcoder/vendordeps/WPILibNewCommands.json
+++ b/cpp/CANcoder/vendordeps/WPILibNewCommands.json
@@ -1,37 +1,38 @@
-{
-  "fileName": "WPILibNewCommands.json",
-  "name": "WPILib-New-Commands",
-  "version": "1.0.0",
-  "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "mavenUrls": [],
-  "jsonUrl": "",
-  "javaDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-java",
-          "version": "wpilib"
-      }
-  ],
-  "jniDependencies": [],
-  "cppDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-cpp",
-          "version": "wpilib",
-          "libName": "wpilibNewCommands",
-          "headerClassifier": "headers",
-          "sourcesClassifier": "sources",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "linuxathena",
-              "linuxarm32",
-              "linuxarm64",
-              "windowsx86-64",
-              "windowsx86",
-              "linuxx86-64",
-              "osxuniversal"
-          ]
-      }
-  ]
-}
+{
+  "fileName": "WPILibNewCommands.json",
+  "name": "WPILib-New-Commands",
+  "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"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "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/cpp/CommandBasedDrive/.gitignore b/cpp/CommandBasedDrive/.gitignore
index 4b2a8965..3325f5c0 100644
--- a/cpp/CommandBasedDrive/.gitignore
+++ b/cpp/CommandBasedDrive/.gitignore
@@ -158,5 +158,15 @@ gradle-app.setting
 .settings/
 bin/
 
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
 # Simulation GUI and other tools window save file
 *-window.json
diff --git a/cpp/CommandBasedDrive/.vscode/settings.json b/cpp/CommandBasedDrive/.vscode/settings.json
index d4e42011..fce7893c 100644
--- a/cpp/CommandBasedDrive/.vscode/settings.json
+++ b/cpp/CommandBasedDrive/.vscode/settings.json
@@ -16,76 +16,6 @@
   },
   "C_Cpp.default.configurationProvider": "vscode-wpilib",
   "files.associations": {
-    "array": "cpp",
-    "atomic": "cpp",
-    "bit": "cpp",
-    "*.tcc": "cpp",
-    "bitset": "cpp",
-    "cctype": "cpp",
-    "cfenv": "cpp",
-    "chrono": "cpp",
-    "clocale": "cpp",
-    "cmath": "cpp",
-    "codecvt": "cpp",
-    "compare": "cpp",
-    "complex": "cpp",
-    "concepts": "cpp",
-    "condition_variable": "cpp",
-    "cstdarg": "cpp",
-    "cstddef": "cpp",
-    "cstdint": "cpp",
-    "cstdio": "cpp",
-    "cstdlib": "cpp",
-    "cstring": "cpp",
-    "ctime": "cpp",
-    "cwchar": "cpp",
-    "cwctype": "cpp",
-    "deque": "cpp",
-    "list": "cpp",
-    "map": "cpp",
-    "set": "cpp",
-    "string": "cpp",
-    "unordered_map": "cpp",
-    "unordered_set": "cpp",
-    "vector": "cpp",
-    "exception": "cpp",
-    "algorithm": "cpp",
-    "functional": "cpp",
-    "iterator": "cpp",
-    "memory": "cpp",
-    "memory_resource": "cpp",
-    "numeric": "cpp",
-    "optional": "cpp",
-    "random": "cpp",
-    "ratio": "cpp",
-    "regex": "cpp",
-    "string_view": "cpp",
-    "system_error": "cpp",
-    "tuple": "cpp",
-    "type_traits": "cpp",
-    "utility": "cpp",
-    "fstream": "cpp",
-    "future": "cpp",
-    "initializer_list": "cpp",
-    "iomanip": "cpp",
-    "iosfwd": "cpp",
-    "iostream": "cpp",
-    "istream": "cpp",
-    "limits": "cpp",
-    "mutex": "cpp",
-    "new": "cpp",
-    "numbers": "cpp",
-    "ostream": "cpp",
-    "semaphore": "cpp",
-    "span": "cpp",
-    "sstream": "cpp",
-    "stdexcept": "cpp",
-    "stop_token": "cpp",
-    "streambuf": "cpp",
-    "thread": "cpp",
-    "cinttypes": "cpp",
-    "typeindex": "cpp",
-    "typeinfo": "cpp",
-    "variant": "cpp"
+    "concepts": "cpp"
   }
 }
diff --git a/cpp/CommandBasedDrive/.wpilib/wpilib_preferences.json b/cpp/CommandBasedDrive/.wpilib/wpilib_preferences.json
index 87c04e30..c64d8d3d 100644
--- a/cpp/CommandBasedDrive/.wpilib/wpilib_preferences.json
+++ b/cpp/CommandBasedDrive/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
-{
-    "enableCppIntellisense": true,
-    "currentLanguage": "cpp",
-    "projectYear": "2023",
-    "teamNumber": 7762
-}
+{
+    "enableCppIntellisense": true,
+    "currentLanguage": "cpp",
+    "projectYear": "2024beta",
+    "teamNumber": 7762
+}
\ No newline at end of file
diff --git a/cpp/CommandBasedDrive/WPILib-License.md b/cpp/CommandBasedDrive/WPILib-License.md
index ba35a02c..84349440 100644
--- a/cpp/CommandBasedDrive/WPILib-License.md
+++ b/cpp/CommandBasedDrive/WPILib-License.md
@@ -1,4 +1,4 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2023 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
diff --git a/cpp/CommandBasedDrive/build.gradle b/cpp/CommandBasedDrive/build.gradle
index e573ba94..07f7fc67 100644
--- a/cpp/CommandBasedDrive/build.gradle
+++ b/cpp/CommandBasedDrive/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-1"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
diff --git a/cpp/CommandBasedDrive/gradle/wrapper/gradle-wrapper.jar b/cpp/CommandBasedDrive/gradle/wrapper/gradle-wrapper.jar
index 249e5832..7f93135c 100644
Binary files a/cpp/CommandBasedDrive/gradle/wrapper/gradle-wrapper.jar and b/cpp/CommandBasedDrive/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/cpp/CommandBasedDrive/gradle/wrapper/gradle-wrapper.properties b/cpp/CommandBasedDrive/gradle/wrapper/gradle-wrapper.properties
index 74147692..c5c27066 100644
--- a/cpp/CommandBasedDrive/gradle/wrapper/gradle-wrapper.properties
+++ b/cpp/CommandBasedDrive/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
diff --git a/cpp/CommandBasedDrive/gradlew b/cpp/CommandBasedDrive/gradlew
index a69d9cb6..1aa94a42 100644
--- a/cpp/CommandBasedDrive/gradlew
+++ b/cpp/CommandBasedDrive/gradlew
@@ -55,7 +55,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,13 +80,11 @@ do
     esac
 done
 
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-APP_NAME="Gradle"
+# This is normally unused
+# shellcheck disable=SC2034
 APP_BASE_NAME=${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" "-Xms64m"'
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -133,22 +131,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -193,11 +198,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
-#     shell script including quotes and variable substitutions, so put them in
-#     double quotes to make sure that they get re-expanded; and
-#   * put everything else in single quotes, so that it's not re-expanded.
+
+# 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" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
diff --git a/cpp/CommandBasedDrive/gradlew.bat b/cpp/CommandBasedDrive/gradlew.bat
index 53a6b238..6689b85b 100644
--- a/cpp/CommandBasedDrive/gradlew.bat
+++ b/cpp/CommandBasedDrive/gradlew.bat
@@ -26,6 +26,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
diff --git a/cpp/CommandBasedDrive/settings.gradle b/cpp/CommandBasedDrive/settings.gradle
index ae1af1c0..3e30f84f 100644
--- a/cpp/CommandBasedDrive/settings.gradle
+++ b/cpp/CommandBasedDrive/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')
@@ -25,3 +25,6 @@ pluginManagement {
         }
     }
 }
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
diff --git a/cpp/CommandBasedDrive/src/main/cpp/RobotContainer.cpp b/cpp/CommandBasedDrive/src/main/cpp/RobotContainer.cpp
index 82c5c555..15d6defb 100644
--- a/cpp/CommandBasedDrive/src/main/cpp/RobotContainer.cpp
+++ b/cpp/CommandBasedDrive/src/main/cpp/RobotContainer.cpp
@@ -8,7 +8,13 @@
 RobotContainer::RobotContainer()
 {
   // Initialize all of your commands and subsystems here
-  m_driveSubsystem.SetDefaultCommand(m_teleopDrive);
+  frc2::RunCommand teleopDrive {[this]()
+                                 {
+                                   /* invert the joystick Y because forward Y is negative */
+                                   m_driveSubsystem.ArcadeDrive(-m_joystick.GetLeftY(), m_joystick.GetRightX());
+                                 },
+                                 {&m_driveSubsystem}};
+  m_driveSubsystem.SetDefaultCommand(std::move(teleopDrive));
 
   // Configure the button bindings
   ConfigureButtonBindings();
diff --git a/cpp/CommandBasedDrive/src/main/cpp/subsystems/DriveSubsystem.cpp b/cpp/CommandBasedDrive/src/main/cpp/subsystems/DriveSubsystem.cpp
index 9a613d31..bcdfae60 100644
--- a/cpp/CommandBasedDrive/src/main/cpp/subsystems/DriveSubsystem.cpp
+++ b/cpp/CommandBasedDrive/src/main/cpp/subsystems/DriveSubsystem.cpp
@@ -72,7 +72,7 @@ void DriveSubsystem::InitializeLeftDriveTalonFX(ctre::phoenix6::configs::TalonFX
     cfg.Apply(toApply);
 
     /* And initialize position to 0 */
-    cfg.SetRotorPosition(0_tr);
+    cfg.SetPosition(0_tr);
 }
 void DriveSubsystem::InitializeRightDriveTalonFX(ctre::phoenix6::configs::TalonFXConfigurator &cfg)
 {
@@ -84,7 +84,7 @@ void DriveSubsystem::InitializeRightDriveTalonFX(ctre::phoenix6::configs::TalonF
     cfg.Apply(toApply);
 
     /* And initialize position to 0 */
-    cfg.SetRotorPosition(0_tr);
+    cfg.SetPosition(0_tr);
 }
 void DriveSubsystem::InitializePigeon2(ctre::phoenix6::configs::Pigeon2Configurator &cfg)
 {
diff --git a/cpp/CommandBasedDrive/src/main/include/RobotContainer.h b/cpp/CommandBasedDrive/src/main/include/RobotContainer.h
index 47ca3210..fb2efa6c 100644
--- a/cpp/CommandBasedDrive/src/main/include/RobotContainer.h
+++ b/cpp/CommandBasedDrive/src/main/include/RobotContainer.h
@@ -29,13 +29,6 @@ class RobotContainer
   frc::XboxController m_joystick{0};
 
   DriveSubsystem m_driveSubsystem{};
-
-  frc2::RunCommand m_teleopDrive{[this]()
-                                 {
-                                   /* invert the joystick Y because forward Y is negative */
-                                   m_driveSubsystem.ArcadeDrive(-m_joystick.GetLeftY(), m_joystick.GetRightX());
-                                 },
-                                 {&m_driveSubsystem}};
   DriveStraightCommand m_driveStraightCommand{m_driveSubsystem,
                                               [this]()
                                               { return -m_joystick.GetLeftY(); }};
diff --git a/cpp/CommandBasedDrive/src/main/include/commands/DriveStraightCommand.h b/cpp/CommandBasedDrive/src/main/include/commands/DriveStraightCommand.h
index 14692bda..531fe383 100644
--- a/cpp/CommandBasedDrive/src/main/include/commands/DriveStraightCommand.h
+++ b/cpp/CommandBasedDrive/src/main/include/commands/DriveStraightCommand.h
@@ -5,13 +5,13 @@
 #pragma once
 
 #include "subsystems/DriveSubsystem.h"
-#include <frc2/command/CommandBase.h>
+#include <frc2/command/Command.h>
 #include <frc2/command/CommandHelper.h>
 #include <frc/Notifier.h>
 #include <units/time.h>
 
 class DriveStraightCommand
-    : public frc2::CommandHelper<frc2::CommandBase, DriveStraightCommand> {
+    : public frc2::CommandHelper<frc2::Command, DriveStraightCommand> {
 private:
     static constexpr units::time::second_t MAX_UPDATE_PERIOD{0.050_s};
 
diff --git a/cpp/CommandBasedDrive/vendordeps/Phoenix6.json b/cpp/CommandBasedDrive/vendordeps/Phoenix6.json
index a5620fa9..1f9f4411 100644
--- a/cpp/CommandBasedDrive/vendordeps/Phoenix6.json
+++ b/cpp/CommandBasedDrive/vendordeps/Phoenix6.json
@@ -1,25 +1,32 @@
 {
     "fileName": "Phoenix6.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "23.2.2",
-    "frcYear": 2023,
+    "version": "24.0.0-beta-1",
+    "frcYear": 2024,
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2023-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
+    "conflictsWith": [
+        {
+            "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
+            "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
+            "offlineFileName": "Phoenix6And5.json"
+        }
+    ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "23.2.2"
+            "version": "24.0.0-beta-1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -32,7 +39,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -45,7 +52,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -58,7 +65,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -71,7 +78,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -84,7 +91,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -97,7 +104,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +117,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -123,7 +130,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -136,7 +143,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -151,7 +158,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -166,7 +173,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -181,7 +188,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -196,7 +203,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -211,7 +218,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -226,7 +233,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -241,7 +248,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -256,7 +263,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -271,7 +278,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -286,7 +293,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -301,7 +308,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -316,7 +323,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/cpp/CommandBasedDrive/vendordeps/WPILibNewCommands.json b/cpp/CommandBasedDrive/vendordeps/WPILibNewCommands.json
index da4bc529..67bf3898 100644
--- a/cpp/CommandBasedDrive/vendordeps/WPILibNewCommands.json
+++ b/cpp/CommandBasedDrive/vendordeps/WPILibNewCommands.json
@@ -1,37 +1,38 @@
-{
-  "fileName": "WPILibNewCommands.json",
-  "name": "WPILib-New-Commands",
-  "version": "1.0.0",
-  "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "mavenUrls": [],
-  "jsonUrl": "",
-  "javaDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-java",
-          "version": "wpilib"
-      }
-  ],
-  "jniDependencies": [],
-  "cppDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-cpp",
-          "version": "wpilib",
-          "libName": "wpilibNewCommands",
-          "headerClassifier": "headers",
-          "sourcesClassifier": "sources",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "linuxathena",
-              "linuxarm32",
-              "linuxarm64",
-              "windowsx86-64",
-              "windowsx86",
-              "linuxx86-64",
-              "osxuniversal"
-          ]
-      }
-  ]
-}
+{
+  "fileName": "WPILibNewCommands.json",
+  "name": "WPILib-New-Commands",
+  "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"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "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/cpp/CurrentLimits/.gitignore b/cpp/CurrentLimits/.gitignore
index 4b2a8965..3325f5c0 100644
--- a/cpp/CurrentLimits/.gitignore
+++ b/cpp/CurrentLimits/.gitignore
@@ -158,5 +158,15 @@ gradle-app.setting
 .settings/
 bin/
 
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
 # Simulation GUI and other tools window save file
 *-window.json
diff --git a/cpp/CurrentLimits/.vscode/settings.json b/cpp/CurrentLimits/.vscode/settings.json
index 26e29fe7..d2d2fe11 100644
--- a/cpp/CurrentLimits/.vscode/settings.json
+++ b/cpp/CurrentLimits/.vscode/settings.json
@@ -14,79 +14,5 @@
     "**/.factorypath": true,
     "**/*~": true
   },
-  "C_Cpp.default.configurationProvider": "vscode-wpilib",
-  "files.associations": {
-    "*.fmap": "json",
-    "array": "cpp",
-    "atomic": "cpp",
-    "bit": "cpp",
-    "*.tcc": "cpp",
-    "bitset": "cpp",
-    "cctype": "cpp",
-    "cfenv": "cpp",
-    "chrono": "cpp",
-    "clocale": "cpp",
-    "cmath": "cpp",
-    "codecvt": "cpp",
-    "compare": "cpp",
-    "complex": "cpp",
-    "concepts": "cpp",
-    "condition_variable": "cpp",
-    "cstdarg": "cpp",
-    "cstddef": "cpp",
-    "cstdint": "cpp",
-    "cstdio": "cpp",
-    "cstdlib": "cpp",
-    "cstring": "cpp",
-    "ctime": "cpp",
-    "cwchar": "cpp",
-    "cwctype": "cpp",
-    "deque": "cpp",
-    "list": "cpp",
-    "map": "cpp",
-    "set": "cpp",
-    "string": "cpp",
-    "unordered_map": "cpp",
-    "unordered_set": "cpp",
-    "vector": "cpp",
-    "exception": "cpp",
-    "algorithm": "cpp",
-    "functional": "cpp",
-    "iterator": "cpp",
-    "memory": "cpp",
-    "memory_resource": "cpp",
-    "numeric": "cpp",
-    "optional": "cpp",
-    "random": "cpp",
-    "ratio": "cpp",
-    "regex": "cpp",
-    "string_view": "cpp",
-    "system_error": "cpp",
-    "tuple": "cpp",
-    "type_traits": "cpp",
-    "utility": "cpp",
-    "fstream": "cpp",
-    "future": "cpp",
-    "initializer_list": "cpp",
-    "iomanip": "cpp",
-    "iosfwd": "cpp",
-    "iostream": "cpp",
-    "istream": "cpp",
-    "limits": "cpp",
-    "mutex": "cpp",
-    "new": "cpp",
-    "numbers": "cpp",
-    "ostream": "cpp",
-    "semaphore": "cpp",
-    "span": "cpp",
-    "sstream": "cpp",
-    "stdexcept": "cpp",
-    "stop_token": "cpp",
-    "streambuf": "cpp",
-    "thread": "cpp",
-    "cinttypes": "cpp",
-    "typeindex": "cpp",
-    "typeinfo": "cpp",
-    "variant": "cpp"
-  }
+  "C_Cpp.default.configurationProvider": "vscode-wpilib"
 }
diff --git a/cpp/CurrentLimits/.wpilib/wpilib_preferences.json b/cpp/CurrentLimits/.wpilib/wpilib_preferences.json
index 6c3c5ae3..c64d8d3d 100644
--- a/cpp/CurrentLimits/.wpilib/wpilib_preferences.json
+++ b/cpp/CurrentLimits/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": true,
     "currentLanguage": "cpp",
-    "projectYear": "2023",
+    "projectYear": "2024beta",
     "teamNumber": 7762
 }
\ No newline at end of file
diff --git a/cpp/CurrentLimits/WPILib-License.md b/cpp/CurrentLimits/WPILib-License.md
index ba35a02c..84349440 100644
--- a/cpp/CurrentLimits/WPILib-License.md
+++ b/cpp/CurrentLimits/WPILib-License.md
@@ -1,4 +1,4 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2023 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
diff --git a/cpp/CurrentLimits/build.gradle b/cpp/CurrentLimits/build.gradle
index e573ba94..07f7fc67 100644
--- a/cpp/CurrentLimits/build.gradle
+++ b/cpp/CurrentLimits/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-1"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
diff --git a/cpp/CurrentLimits/gradle/wrapper/gradle-wrapper.jar b/cpp/CurrentLimits/gradle/wrapper/gradle-wrapper.jar
index 249e5832..7f93135c 100644
Binary files a/cpp/CurrentLimits/gradle/wrapper/gradle-wrapper.jar and b/cpp/CurrentLimits/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/cpp/CurrentLimits/gradle/wrapper/gradle-wrapper.properties b/cpp/CurrentLimits/gradle/wrapper/gradle-wrapper.properties
index 74147692..c5c27066 100644
--- a/cpp/CurrentLimits/gradle/wrapper/gradle-wrapper.properties
+++ b/cpp/CurrentLimits/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
diff --git a/cpp/CurrentLimits/gradlew b/cpp/CurrentLimits/gradlew
index a69d9cb6..1aa94a42 100644
--- a/cpp/CurrentLimits/gradlew
+++ b/cpp/CurrentLimits/gradlew
@@ -55,7 +55,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,13 +80,11 @@ do
     esac
 done
 
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-APP_NAME="Gradle"
+# This is normally unused
+# shellcheck disable=SC2034
 APP_BASE_NAME=${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" "-Xms64m"'
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -133,22 +131,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -193,11 +198,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
-#     shell script including quotes and variable substitutions, so put them in
-#     double quotes to make sure that they get re-expanded; and
-#   * put everything else in single quotes, so that it's not re-expanded.
+
+# 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" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
diff --git a/cpp/CurrentLimits/gradlew.bat b/cpp/CurrentLimits/gradlew.bat
index 53a6b238..6689b85b 100644
--- a/cpp/CurrentLimits/gradlew.bat
+++ b/cpp/CurrentLimits/gradlew.bat
@@ -26,6 +26,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
diff --git a/cpp/CurrentLimits/settings.gradle b/cpp/CurrentLimits/settings.gradle
index ae1af1c0..3e30f84f 100644
--- a/cpp/CurrentLimits/settings.gradle
+++ b/cpp/CurrentLimits/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')
@@ -25,3 +25,6 @@ pluginManagement {
         }
     }
 }
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
diff --git a/cpp/CurrentLimits/vendordeps/Phoenix6.json b/cpp/CurrentLimits/vendordeps/Phoenix6.json
index a5620fa9..1f9f4411 100644
--- a/cpp/CurrentLimits/vendordeps/Phoenix6.json
+++ b/cpp/CurrentLimits/vendordeps/Phoenix6.json
@@ -1,25 +1,32 @@
 {
     "fileName": "Phoenix6.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "23.2.2",
-    "frcYear": 2023,
+    "version": "24.0.0-beta-1",
+    "frcYear": 2024,
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2023-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
+    "conflictsWith": [
+        {
+            "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
+            "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
+            "offlineFileName": "Phoenix6And5.json"
+        }
+    ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "23.2.2"
+            "version": "24.0.0-beta-1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -32,7 +39,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -45,7 +52,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -58,7 +65,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -71,7 +78,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -84,7 +91,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -97,7 +104,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +117,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -123,7 +130,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -136,7 +143,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -151,7 +158,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -166,7 +173,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -181,7 +188,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -196,7 +203,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -211,7 +218,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -226,7 +233,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -241,7 +248,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -256,7 +263,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -271,7 +278,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -286,7 +293,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -301,7 +308,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -316,7 +323,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/cpp/CurrentLimits/vendordeps/WPILibNewCommands.json b/cpp/CurrentLimits/vendordeps/WPILibNewCommands.json
index bd535bfa..67bf3898 100644
--- a/cpp/CurrentLimits/vendordeps/WPILibNewCommands.json
+++ b/cpp/CurrentLimits/vendordeps/WPILibNewCommands.json
@@ -3,6 +3,7 @@
   "name": "WPILib-New-Commands",
   "version": "1.0.0",
   "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
+  "frcYear": "2024",
   "mavenUrls": [],
   "jsonUrl": "",
   "javaDependencies": [
diff --git a/cpp/Falcon500ArcadeDrive/.gitignore b/cpp/Falcon500ArcadeDrive/.gitignore
index 4b2a8965..3325f5c0 100644
--- a/cpp/Falcon500ArcadeDrive/.gitignore
+++ b/cpp/Falcon500ArcadeDrive/.gitignore
@@ -158,5 +158,15 @@ gradle-app.setting
 .settings/
 bin/
 
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
 # Simulation GUI and other tools window save file
 *-window.json
diff --git a/cpp/Falcon500ArcadeDrive/.wpilib/wpilib_preferences.json b/cpp/Falcon500ArcadeDrive/.wpilib/wpilib_preferences.json
index 87c04e30..c64d8d3d 100644
--- a/cpp/Falcon500ArcadeDrive/.wpilib/wpilib_preferences.json
+++ b/cpp/Falcon500ArcadeDrive/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
-{
-    "enableCppIntellisense": true,
-    "currentLanguage": "cpp",
-    "projectYear": "2023",
-    "teamNumber": 7762
-}
+{
+    "enableCppIntellisense": true,
+    "currentLanguage": "cpp",
+    "projectYear": "2024beta",
+    "teamNumber": 7762
+}
\ No newline at end of file
diff --git a/cpp/Falcon500ArcadeDrive/WPILib-License.md b/cpp/Falcon500ArcadeDrive/WPILib-License.md
index ba35a02c..84349440 100644
--- a/cpp/Falcon500ArcadeDrive/WPILib-License.md
+++ b/cpp/Falcon500ArcadeDrive/WPILib-License.md
@@ -1,4 +1,4 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2023 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
diff --git a/cpp/Falcon500ArcadeDrive/build.gradle b/cpp/Falcon500ArcadeDrive/build.gradle
index e573ba94..07f7fc67 100644
--- a/cpp/Falcon500ArcadeDrive/build.gradle
+++ b/cpp/Falcon500ArcadeDrive/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-1"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
diff --git a/cpp/Falcon500ArcadeDrive/gradle/wrapper/gradle-wrapper.jar b/cpp/Falcon500ArcadeDrive/gradle/wrapper/gradle-wrapper.jar
index 249e5832..7f93135c 100644
Binary files a/cpp/Falcon500ArcadeDrive/gradle/wrapper/gradle-wrapper.jar and b/cpp/Falcon500ArcadeDrive/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/cpp/Falcon500ArcadeDrive/gradle/wrapper/gradle-wrapper.properties b/cpp/Falcon500ArcadeDrive/gradle/wrapper/gradle-wrapper.properties
index 74147692..c5c27066 100644
--- a/cpp/Falcon500ArcadeDrive/gradle/wrapper/gradle-wrapper.properties
+++ b/cpp/Falcon500ArcadeDrive/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
diff --git a/cpp/Falcon500ArcadeDrive/gradlew b/cpp/Falcon500ArcadeDrive/gradlew
index a69d9cb6..1aa94a42 100644
--- a/cpp/Falcon500ArcadeDrive/gradlew
+++ b/cpp/Falcon500ArcadeDrive/gradlew
@@ -55,7 +55,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,13 +80,11 @@ do
     esac
 done
 
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-APP_NAME="Gradle"
+# This is normally unused
+# shellcheck disable=SC2034
 APP_BASE_NAME=${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" "-Xms64m"'
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -133,22 +131,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -193,11 +198,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
-#     shell script including quotes and variable substitutions, so put them in
-#     double quotes to make sure that they get re-expanded; and
-#   * put everything else in single quotes, so that it's not re-expanded.
+
+# 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" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
diff --git a/cpp/Falcon500ArcadeDrive/gradlew.bat b/cpp/Falcon500ArcadeDrive/gradlew.bat
index 53a6b238..6689b85b 100644
--- a/cpp/Falcon500ArcadeDrive/gradlew.bat
+++ b/cpp/Falcon500ArcadeDrive/gradlew.bat
@@ -26,6 +26,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
diff --git a/cpp/Falcon500ArcadeDrive/settings.gradle b/cpp/Falcon500ArcadeDrive/settings.gradle
index ae1af1c0..3e30f84f 100644
--- a/cpp/Falcon500ArcadeDrive/settings.gradle
+++ b/cpp/Falcon500ArcadeDrive/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')
@@ -25,3 +25,6 @@ pluginManagement {
         }
     }
 }
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
diff --git a/cpp/Falcon500ArcadeDrive/vendordeps/Phoenix6.json b/cpp/Falcon500ArcadeDrive/vendordeps/Phoenix6.json
index a5620fa9..1f9f4411 100644
--- a/cpp/Falcon500ArcadeDrive/vendordeps/Phoenix6.json
+++ b/cpp/Falcon500ArcadeDrive/vendordeps/Phoenix6.json
@@ -1,25 +1,32 @@
 {
     "fileName": "Phoenix6.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "23.2.2",
-    "frcYear": 2023,
+    "version": "24.0.0-beta-1",
+    "frcYear": 2024,
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2023-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
+    "conflictsWith": [
+        {
+            "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
+            "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
+            "offlineFileName": "Phoenix6And5.json"
+        }
+    ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "23.2.2"
+            "version": "24.0.0-beta-1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -32,7 +39,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -45,7 +52,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -58,7 +65,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -71,7 +78,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -84,7 +91,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -97,7 +104,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +117,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -123,7 +130,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -136,7 +143,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -151,7 +158,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -166,7 +173,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -181,7 +188,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -196,7 +203,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -211,7 +218,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -226,7 +233,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -241,7 +248,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -256,7 +263,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -271,7 +278,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -286,7 +293,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -301,7 +308,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -316,7 +323,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/cpp/Falcon500ArcadeDrive/vendordeps/WPILibNewCommands.json b/cpp/Falcon500ArcadeDrive/vendordeps/WPILibNewCommands.json
index da4bc529..67bf3898 100644
--- a/cpp/Falcon500ArcadeDrive/vendordeps/WPILibNewCommands.json
+++ b/cpp/Falcon500ArcadeDrive/vendordeps/WPILibNewCommands.json
@@ -1,37 +1,38 @@
-{
-  "fileName": "WPILibNewCommands.json",
-  "name": "WPILib-New-Commands",
-  "version": "1.0.0",
-  "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "mavenUrls": [],
-  "jsonUrl": "",
-  "javaDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-java",
-          "version": "wpilib"
-      }
-  ],
-  "jniDependencies": [],
-  "cppDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-cpp",
-          "version": "wpilib",
-          "libName": "wpilibNewCommands",
-          "headerClassifier": "headers",
-          "sourcesClassifier": "sources",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "linuxathena",
-              "linuxarm32",
-              "linuxarm64",
-              "windowsx86-64",
-              "windowsx86",
-              "linuxx86-64",
-              "osxuniversal"
-          ]
-      }
-  ]
-}
+{
+  "fileName": "WPILibNewCommands.json",
+  "name": "WPILib-New-Commands",
+  "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"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "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/cpp/FusedCANcoder/.gitignore b/cpp/FusedCANcoder/.gitignore
index 4b2a8965..3325f5c0 100644
--- a/cpp/FusedCANcoder/.gitignore
+++ b/cpp/FusedCANcoder/.gitignore
@@ -158,5 +158,15 @@ gradle-app.setting
 .settings/
 bin/
 
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
 # Simulation GUI and other tools window save file
 *-window.json
diff --git a/cpp/FusedCANcoder/.vscode/settings.json b/cpp/FusedCANcoder/.vscode/settings.json
index 90bb7900..d2d2fe11 100644
--- a/cpp/FusedCANcoder/.vscode/settings.json
+++ b/cpp/FusedCANcoder/.vscode/settings.json
@@ -14,78 +14,5 @@
     "**/.factorypath": true,
     "**/*~": true
   },
-  "C_Cpp.default.configurationProvider": "vscode-wpilib",
-  "files.associations": {
-    "ostream": "cpp",
-    "array": "cpp",
-    "atomic": "cpp",
-    "bit": "cpp",
-    "*.tcc": "cpp",
-    "bitset": "cpp",
-    "cctype": "cpp",
-    "cfenv": "cpp",
-    "chrono": "cpp",
-    "clocale": "cpp",
-    "cmath": "cpp",
-    "codecvt": "cpp",
-    "compare": "cpp",
-    "complex": "cpp",
-    "concepts": "cpp",
-    "condition_variable": "cpp",
-    "cstdarg": "cpp",
-    "cstddef": "cpp",
-    "cstdint": "cpp",
-    "cstdio": "cpp",
-    "cstdlib": "cpp",
-    "cstring": "cpp",
-    "ctime": "cpp",
-    "cwchar": "cpp",
-    "cwctype": "cpp",
-    "deque": "cpp",
-    "list": "cpp",
-    "map": "cpp",
-    "set": "cpp",
-    "string": "cpp",
-    "unordered_map": "cpp",
-    "unordered_set": "cpp",
-    "vector": "cpp",
-    "exception": "cpp",
-    "algorithm": "cpp",
-    "functional": "cpp",
-    "iterator": "cpp",
-    "memory": "cpp",
-    "memory_resource": "cpp",
-    "numeric": "cpp",
-    "optional": "cpp",
-    "random": "cpp",
-    "ratio": "cpp",
-    "regex": "cpp",
-    "string_view": "cpp",
-    "system_error": "cpp",
-    "tuple": "cpp",
-    "type_traits": "cpp",
-    "utility": "cpp",
-    "fstream": "cpp",
-    "future": "cpp",
-    "initializer_list": "cpp",
-    "iomanip": "cpp",
-    "iosfwd": "cpp",
-    "iostream": "cpp",
-    "istream": "cpp",
-    "limits": "cpp",
-    "mutex": "cpp",
-    "new": "cpp",
-    "numbers": "cpp",
-    "semaphore": "cpp",
-    "span": "cpp",
-    "sstream": "cpp",
-    "stdexcept": "cpp",
-    "stop_token": "cpp",
-    "streambuf": "cpp",
-    "thread": "cpp",
-    "cinttypes": "cpp",
-    "typeindex": "cpp",
-    "typeinfo": "cpp",
-    "variant": "cpp"
-  }
+  "C_Cpp.default.configurationProvider": "vscode-wpilib"
 }
diff --git a/cpp/FusedCANcoder/.wpilib/wpilib_preferences.json b/cpp/FusedCANcoder/.wpilib/wpilib_preferences.json
index 6c3c5ae3..c64d8d3d 100644
--- a/cpp/FusedCANcoder/.wpilib/wpilib_preferences.json
+++ b/cpp/FusedCANcoder/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": true,
     "currentLanguage": "cpp",
-    "projectYear": "2023",
+    "projectYear": "2024beta",
     "teamNumber": 7762
 }
\ No newline at end of file
diff --git a/cpp/FusedCANcoder/WPILib-License.md b/cpp/FusedCANcoder/WPILib-License.md
index ba35a02c..84349440 100644
--- a/cpp/FusedCANcoder/WPILib-License.md
+++ b/cpp/FusedCANcoder/WPILib-License.md
@@ -1,4 +1,4 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2023 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
diff --git a/cpp/FusedCANcoder/build.gradle b/cpp/FusedCANcoder/build.gradle
index e573ba94..07f7fc67 100644
--- a/cpp/FusedCANcoder/build.gradle
+++ b/cpp/FusedCANcoder/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-1"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
diff --git a/cpp/FusedCANcoder/gradle/wrapper/gradle-wrapper.jar b/cpp/FusedCANcoder/gradle/wrapper/gradle-wrapper.jar
index 249e5832..7f93135c 100644
Binary files a/cpp/FusedCANcoder/gradle/wrapper/gradle-wrapper.jar and b/cpp/FusedCANcoder/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/cpp/FusedCANcoder/gradle/wrapper/gradle-wrapper.properties b/cpp/FusedCANcoder/gradle/wrapper/gradle-wrapper.properties
index 74147692..c5c27066 100644
--- a/cpp/FusedCANcoder/gradle/wrapper/gradle-wrapper.properties
+++ b/cpp/FusedCANcoder/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
diff --git a/cpp/FusedCANcoder/gradlew b/cpp/FusedCANcoder/gradlew
index a69d9cb6..1aa94a42 100644
--- a/cpp/FusedCANcoder/gradlew
+++ b/cpp/FusedCANcoder/gradlew
@@ -55,7 +55,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,13 +80,11 @@ do
     esac
 done
 
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-APP_NAME="Gradle"
+# This is normally unused
+# shellcheck disable=SC2034
 APP_BASE_NAME=${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" "-Xms64m"'
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -133,22 +131,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -193,11 +198,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
-#     shell script including quotes and variable substitutions, so put them in
-#     double quotes to make sure that they get re-expanded; and
-#   * put everything else in single quotes, so that it's not re-expanded.
+
+# 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" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
diff --git a/cpp/FusedCANcoder/gradlew.bat b/cpp/FusedCANcoder/gradlew.bat
index 53a6b238..6689b85b 100644
--- a/cpp/FusedCANcoder/gradlew.bat
+++ b/cpp/FusedCANcoder/gradlew.bat
@@ -26,6 +26,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
diff --git a/cpp/FusedCANcoder/settings.gradle b/cpp/FusedCANcoder/settings.gradle
index ae1af1c0..3e30f84f 100644
--- a/cpp/FusedCANcoder/settings.gradle
+++ b/cpp/FusedCANcoder/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')
@@ -25,3 +25,6 @@ pluginManagement {
         }
     }
 }
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
diff --git a/cpp/FusedCANcoder/src/main/cpp/Robot.cpp b/cpp/FusedCANcoder/src/main/cpp/Robot.cpp
index f26231b5..429ee6f7 100644
--- a/cpp/FusedCANcoder/src/main/cpp/Robot.cpp
+++ b/cpp/FusedCANcoder/src/main/cpp/Robot.cpp
@@ -29,9 +29,9 @@ void Robot::RobotPeriodic() {
     // If any faults happen, print them out. Sticky faults will always be present if live-fault occurs
     f_fusedSensorOutOfSync.Refresh();
     sf_fusedSensorOutOfSync.Refresh();
-    f_missingRemoteSensor.Refresh();
-    sf_missingRemoteSensor.Refresh();
-    bool anyFault = sf_fusedSensorOutOfSync.GetValue() || sf_missingRemoteSensor.GetValue();
+    f_remoteSensorInvalid.Refresh();
+    sf_remoteSensorInvalid.Refresh();
+    bool anyFault = sf_fusedSensorOutOfSync.GetValue() || sf_remoteSensorInvalid.GetValue();
     if(anyFault) {
       std::cout << "A fault has occurred:" << std::endl;;
       /* If we're live, indicate live, otherwise if we're sticky indicate sticky, otherwise do nothing */
@@ -41,9 +41,9 @@ void Robot::RobotPeriodic() {
         std::cout << "Fused sensor out of sync sticky-faulted" << std::endl;
       }
       /* If we're live, indicate live, otherwise if we're sticky indicate sticky, otherwise do nothing */
-      if(f_missingRemoteSensor.GetValue()) {
+      if(f_remoteSensorInvalid.GetValue()) {
         std::cout << "Missing remote sensor live-faulted" << std::endl;
-      } else if (sf_missingRemoteSensor.GetValue()) {
+      } else if (sf_remoteSensorInvalid.GetValue()) {
         std::cout << "Missing remote sensor sticky-faulted" << std::endl;
       }
     }
diff --git a/cpp/FusedCANcoder/src/main/include/Robot.h b/cpp/FusedCANcoder/src/main/include/Robot.h
index 334068c6..aab419c7 100644
--- a/cpp/FusedCANcoder/src/main/include/Robot.h
+++ b/cpp/FusedCANcoder/src/main/include/Robot.h
@@ -34,8 +34,8 @@ class Robot : public frc::TimedRobot {
   ctre::phoenix6::hardware::CANcoder m_cc{1, "fred"};
   ctre::phoenix6::StatusSignal<bool> f_fusedSensorOutOfSync = m_fx.GetFault_FusedSensorOutOfSync();
   ctre::phoenix6::StatusSignal<bool> sf_fusedSensorOutOfSync = m_fx.GetStickyFault_FusedSensorOutOfSync();
-  ctre::phoenix6::StatusSignal<bool> f_missingRemoteSensor = m_fx.GetFault_MissingRemoteSensor();
-  ctre::phoenix6::StatusSignal<bool> sf_missingRemoteSensor = m_fx.GetStickyFault_MissingRemoteSensor();
+  ctre::phoenix6::StatusSignal<bool> f_remoteSensorInvalid = m_fx.GetFault_RemoteSensorDataInvalid();
+  ctre::phoenix6::StatusSignal<bool> sf_remoteSensorInvalid = m_fx.GetStickyFault_RemoteSensorDataInvalid();
 
   ctre::phoenix6::StatusSignal<units::turn_t> fx_pos = m_fx.GetPosition();
   ctre::phoenix6::StatusSignal<units::turns_per_second_t> fx_vel = m_fx.GetVelocity();
diff --git a/cpp/FusedCANcoder/vendordeps/Phoenix6.json b/cpp/FusedCANcoder/vendordeps/Phoenix6.json
index a5620fa9..1f9f4411 100644
--- a/cpp/FusedCANcoder/vendordeps/Phoenix6.json
+++ b/cpp/FusedCANcoder/vendordeps/Phoenix6.json
@@ -1,25 +1,32 @@
 {
     "fileName": "Phoenix6.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "23.2.2",
-    "frcYear": 2023,
+    "version": "24.0.0-beta-1",
+    "frcYear": 2024,
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2023-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
+    "conflictsWith": [
+        {
+            "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
+            "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
+            "offlineFileName": "Phoenix6And5.json"
+        }
+    ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "23.2.2"
+            "version": "24.0.0-beta-1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -32,7 +39,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -45,7 +52,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -58,7 +65,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -71,7 +78,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -84,7 +91,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -97,7 +104,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +117,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -123,7 +130,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -136,7 +143,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -151,7 +158,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -166,7 +173,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -181,7 +188,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -196,7 +203,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -211,7 +218,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -226,7 +233,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -241,7 +248,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -256,7 +263,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -271,7 +278,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -286,7 +293,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -301,7 +308,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -316,7 +323,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/cpp/FusedCANcoder/vendordeps/WPILibNewCommands.json b/cpp/FusedCANcoder/vendordeps/WPILibNewCommands.json
index da4bc529..67bf3898 100644
--- a/cpp/FusedCANcoder/vendordeps/WPILibNewCommands.json
+++ b/cpp/FusedCANcoder/vendordeps/WPILibNewCommands.json
@@ -1,37 +1,38 @@
-{
-  "fileName": "WPILibNewCommands.json",
-  "name": "WPILib-New-Commands",
-  "version": "1.0.0",
-  "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "mavenUrls": [],
-  "jsonUrl": "",
-  "javaDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-java",
-          "version": "wpilib"
-      }
-  ],
-  "jniDependencies": [],
-  "cppDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-cpp",
-          "version": "wpilib",
-          "libName": "wpilibNewCommands",
-          "headerClassifier": "headers",
-          "sourcesClassifier": "sources",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "linuxathena",
-              "linuxarm32",
-              "linuxarm64",
-              "windowsx86-64",
-              "windowsx86",
-              "linuxx86-64",
-              "osxuniversal"
-          ]
-      }
-  ]
-}
+{
+  "fileName": "WPILibNewCommands.json",
+  "name": "WPILib-New-Commands",
+  "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"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "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/cpp/MotionMagic/.gitignore b/cpp/MotionMagic/.gitignore
index 4b2a8965..3325f5c0 100644
--- a/cpp/MotionMagic/.gitignore
+++ b/cpp/MotionMagic/.gitignore
@@ -158,5 +158,15 @@ gradle-app.setting
 .settings/
 bin/
 
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
 # Simulation GUI and other tools window save file
 *-window.json
diff --git a/cpp/MotionMagic/.vscode/settings.json b/cpp/MotionMagic/.vscode/settings.json
index bd1c4adf..d2d2fe11 100644
--- a/cpp/MotionMagic/.vscode/settings.json
+++ b/cpp/MotionMagic/.vscode/settings.json
@@ -14,78 +14,5 @@
     "**/.factorypath": true,
     "**/*~": true
   },
-  "C_Cpp.default.configurationProvider": "vscode-wpilib",
-  "files.associations": {
-    "compare": "c",
-    "list": "cpp",
-    "array": "cpp",
-    "atomic": "cpp",
-    "bit": "cpp",
-    "*.tcc": "cpp",
-    "bitset": "cpp",
-    "cctype": "cpp",
-    "cfenv": "cpp",
-    "chrono": "cpp",
-    "clocale": "cpp",
-    "cmath": "cpp",
-    "codecvt": "cpp",
-    "complex": "cpp",
-    "concepts": "cpp",
-    "condition_variable": "cpp",
-    "cstdarg": "cpp",
-    "cstddef": "cpp",
-    "cstdint": "cpp",
-    "cstdio": "cpp",
-    "cstdlib": "cpp",
-    "cstring": "cpp",
-    "ctime": "cpp",
-    "cwchar": "cpp",
-    "cwctype": "cpp",
-    "deque": "cpp",
-    "map": "cpp",
-    "set": "cpp",
-    "string": "cpp",
-    "unordered_map": "cpp",
-    "unordered_set": "cpp",
-    "vector": "cpp",
-    "exception": "cpp",
-    "algorithm": "cpp",
-    "functional": "cpp",
-    "iterator": "cpp",
-    "memory": "cpp",
-    "memory_resource": "cpp",
-    "numeric": "cpp",
-    "optional": "cpp",
-    "random": "cpp",
-    "ratio": "cpp",
-    "regex": "cpp",
-    "string_view": "cpp",
-    "system_error": "cpp",
-    "tuple": "cpp",
-    "type_traits": "cpp",
-    "utility": "cpp",
-    "fstream": "cpp",
-    "future": "cpp",
-    "initializer_list": "cpp",
-    "iomanip": "cpp",
-    "iosfwd": "cpp",
-    "iostream": "cpp",
-    "istream": "cpp",
-    "limits": "cpp",
-    "mutex": "cpp",
-    "new": "cpp",
-    "numbers": "cpp",
-    "ostream": "cpp",
-    "semaphore": "cpp",
-    "span": "cpp",
-    "sstream": "cpp",
-    "stdexcept": "cpp",
-    "stop_token": "cpp",
-    "streambuf": "cpp",
-    "thread": "cpp",
-    "cinttypes": "cpp",
-    "typeindex": "cpp",
-    "typeinfo": "cpp",
-    "variant": "cpp"
-  }
+  "C_Cpp.default.configurationProvider": "vscode-wpilib"
 }
diff --git a/cpp/MotionMagic/.wpilib/wpilib_preferences.json b/cpp/MotionMagic/.wpilib/wpilib_preferences.json
index 6c3c5ae3..c64d8d3d 100644
--- a/cpp/MotionMagic/.wpilib/wpilib_preferences.json
+++ b/cpp/MotionMagic/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": true,
     "currentLanguage": "cpp",
-    "projectYear": "2023",
+    "projectYear": "2024beta",
     "teamNumber": 7762
 }
\ No newline at end of file
diff --git a/cpp/MotionMagic/WPILib-License.md b/cpp/MotionMagic/WPILib-License.md
index ba35a02c..84349440 100644
--- a/cpp/MotionMagic/WPILib-License.md
+++ b/cpp/MotionMagic/WPILib-License.md
@@ -1,4 +1,4 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2023 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
diff --git a/cpp/MotionMagic/build.gradle b/cpp/MotionMagic/build.gradle
index e573ba94..07f7fc67 100644
--- a/cpp/MotionMagic/build.gradle
+++ b/cpp/MotionMagic/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-1"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
diff --git a/cpp/MotionMagic/gradle/wrapper/gradle-wrapper.jar b/cpp/MotionMagic/gradle/wrapper/gradle-wrapper.jar
index 249e5832..7f93135c 100644
Binary files a/cpp/MotionMagic/gradle/wrapper/gradle-wrapper.jar and b/cpp/MotionMagic/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/cpp/MotionMagic/gradle/wrapper/gradle-wrapper.properties b/cpp/MotionMagic/gradle/wrapper/gradle-wrapper.properties
index 74147692..c5c27066 100644
--- a/cpp/MotionMagic/gradle/wrapper/gradle-wrapper.properties
+++ b/cpp/MotionMagic/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
diff --git a/cpp/MotionMagic/gradlew b/cpp/MotionMagic/gradlew
index a69d9cb6..1aa94a42 100644
--- a/cpp/MotionMagic/gradlew
+++ b/cpp/MotionMagic/gradlew
@@ -55,7 +55,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,13 +80,11 @@ do
     esac
 done
 
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-APP_NAME="Gradle"
+# This is normally unused
+# shellcheck disable=SC2034
 APP_BASE_NAME=${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" "-Xms64m"'
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -133,22 +131,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -193,11 +198,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
-#     shell script including quotes and variable substitutions, so put them in
-#     double quotes to make sure that they get re-expanded; and
-#   * put everything else in single quotes, so that it's not re-expanded.
+
+# 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" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
diff --git a/cpp/MotionMagic/gradlew.bat b/cpp/MotionMagic/gradlew.bat
index 53a6b238..6689b85b 100644
--- a/cpp/MotionMagic/gradlew.bat
+++ b/cpp/MotionMagic/gradlew.bat
@@ -26,6 +26,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
diff --git a/cpp/MotionMagic/settings.gradle b/cpp/MotionMagic/settings.gradle
index ae1af1c0..3e30f84f 100644
--- a/cpp/MotionMagic/settings.gradle
+++ b/cpp/MotionMagic/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')
@@ -25,3 +25,6 @@ pluginManagement {
         }
     }
 }
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
diff --git a/cpp/MotionMagic/vendordeps/Phoenix6.json b/cpp/MotionMagic/vendordeps/Phoenix6.json
index a5620fa9..1f9f4411 100644
--- a/cpp/MotionMagic/vendordeps/Phoenix6.json
+++ b/cpp/MotionMagic/vendordeps/Phoenix6.json
@@ -1,25 +1,32 @@
 {
     "fileName": "Phoenix6.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "23.2.2",
-    "frcYear": 2023,
+    "version": "24.0.0-beta-1",
+    "frcYear": 2024,
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2023-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
+    "conflictsWith": [
+        {
+            "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
+            "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
+            "offlineFileName": "Phoenix6And5.json"
+        }
+    ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "23.2.2"
+            "version": "24.0.0-beta-1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -32,7 +39,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -45,7 +52,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -58,7 +65,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -71,7 +78,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -84,7 +91,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -97,7 +104,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +117,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -123,7 +130,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -136,7 +143,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -151,7 +158,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -166,7 +173,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -181,7 +188,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -196,7 +203,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -211,7 +218,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -226,7 +233,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -241,7 +248,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -256,7 +263,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -271,7 +278,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -286,7 +293,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -301,7 +308,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -316,7 +323,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/cpp/MotionMagic/vendordeps/WPILibNewCommands.json b/cpp/MotionMagic/vendordeps/WPILibNewCommands.json
index da4bc529..67bf3898 100644
--- a/cpp/MotionMagic/vendordeps/WPILibNewCommands.json
+++ b/cpp/MotionMagic/vendordeps/WPILibNewCommands.json
@@ -1,37 +1,38 @@
-{
-  "fileName": "WPILibNewCommands.json",
-  "name": "WPILib-New-Commands",
-  "version": "1.0.0",
-  "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "mavenUrls": [],
-  "jsonUrl": "",
-  "javaDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-java",
-          "version": "wpilib"
-      }
-  ],
-  "jniDependencies": [],
-  "cppDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-cpp",
-          "version": "wpilib",
-          "libName": "wpilibNewCommands",
-          "headerClassifier": "headers",
-          "sourcesClassifier": "sources",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "linuxathena",
-              "linuxarm32",
-              "linuxarm64",
-              "windowsx86-64",
-              "windowsx86",
-              "linuxx86-64",
-              "osxuniversal"
-          ]
-      }
-  ]
-}
+{
+  "fileName": "WPILibNewCommands.json",
+  "name": "WPILib-New-Commands",
+  "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"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "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/cpp/Pigeon2/.gitignore b/cpp/Pigeon2/.gitignore
index 4b2a8965..3325f5c0 100644
--- a/cpp/Pigeon2/.gitignore
+++ b/cpp/Pigeon2/.gitignore
@@ -158,5 +158,15 @@ gradle-app.setting
 .settings/
 bin/
 
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
 # Simulation GUI and other tools window save file
 *-window.json
diff --git a/cpp/Pigeon2/.vscode/settings.json b/cpp/Pigeon2/.vscode/settings.json
index 5627d44c..d2d2fe11 100644
--- a/cpp/Pigeon2/.vscode/settings.json
+++ b/cpp/Pigeon2/.vscode/settings.json
@@ -14,79 +14,5 @@
     "**/.factorypath": true,
     "**/*~": true
   },
-  "C_Cpp.default.configurationProvider": "vscode-wpilib",
-  "files.associations": {
-    "*.inc": "cpp",
-    "array": "cpp",
-    "atomic": "cpp",
-    "bit": "cpp",
-    "*.tcc": "cpp",
-    "bitset": "cpp",
-    "cctype": "cpp",
-    "cfenv": "cpp",
-    "chrono": "cpp",
-    "clocale": "cpp",
-    "cmath": "cpp",
-    "codecvt": "cpp",
-    "compare": "cpp",
-    "complex": "cpp",
-    "concepts": "cpp",
-    "condition_variable": "cpp",
-    "cstdarg": "cpp",
-    "cstddef": "cpp",
-    "cstdint": "cpp",
-    "cstdio": "cpp",
-    "cstdlib": "cpp",
-    "cstring": "cpp",
-    "ctime": "cpp",
-    "cwchar": "cpp",
-    "cwctype": "cpp",
-    "deque": "cpp",
-    "list": "cpp",
-    "map": "cpp",
-    "set": "cpp",
-    "string": "cpp",
-    "unordered_map": "cpp",
-    "unordered_set": "cpp",
-    "vector": "cpp",
-    "exception": "cpp",
-    "algorithm": "cpp",
-    "functional": "cpp",
-    "iterator": "cpp",
-    "memory": "cpp",
-    "memory_resource": "cpp",
-    "numeric": "cpp",
-    "optional": "cpp",
-    "random": "cpp",
-    "ratio": "cpp",
-    "regex": "cpp",
-    "string_view": "cpp",
-    "system_error": "cpp",
-    "tuple": "cpp",
-    "type_traits": "cpp",
-    "utility": "cpp",
-    "fstream": "cpp",
-    "future": "cpp",
-    "initializer_list": "cpp",
-    "iomanip": "cpp",
-    "iosfwd": "cpp",
-    "iostream": "cpp",
-    "istream": "cpp",
-    "limits": "cpp",
-    "mutex": "cpp",
-    "new": "cpp",
-    "numbers": "cpp",
-    "ostream": "cpp",
-    "semaphore": "cpp",
-    "span": "cpp",
-    "sstream": "cpp",
-    "stdexcept": "cpp",
-    "stop_token": "cpp",
-    "streambuf": "cpp",
-    "thread": "cpp",
-    "cinttypes": "cpp",
-    "typeindex": "cpp",
-    "typeinfo": "cpp",
-    "variant": "cpp"
-  }
+  "C_Cpp.default.configurationProvider": "vscode-wpilib"
 }
diff --git a/cpp/Pigeon2/.wpilib/wpilib_preferences.json b/cpp/Pigeon2/.wpilib/wpilib_preferences.json
index 87c04e30..c64d8d3d 100644
--- a/cpp/Pigeon2/.wpilib/wpilib_preferences.json
+++ b/cpp/Pigeon2/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
-{
-    "enableCppIntellisense": true,
-    "currentLanguage": "cpp",
-    "projectYear": "2023",
-    "teamNumber": 7762
-}
+{
+    "enableCppIntellisense": true,
+    "currentLanguage": "cpp",
+    "projectYear": "2024beta",
+    "teamNumber": 7762
+}
\ No newline at end of file
diff --git a/cpp/Pigeon2/WPILib-License.md b/cpp/Pigeon2/WPILib-License.md
index ba35a02c..84349440 100644
--- a/cpp/Pigeon2/WPILib-License.md
+++ b/cpp/Pigeon2/WPILib-License.md
@@ -1,4 +1,4 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2023 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
diff --git a/cpp/Pigeon2/build.gradle b/cpp/Pigeon2/build.gradle
index e573ba94..07f7fc67 100644
--- a/cpp/Pigeon2/build.gradle
+++ b/cpp/Pigeon2/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-1"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
diff --git a/cpp/Pigeon2/gradle/wrapper/gradle-wrapper.jar b/cpp/Pigeon2/gradle/wrapper/gradle-wrapper.jar
index 249e5832..7f93135c 100644
Binary files a/cpp/Pigeon2/gradle/wrapper/gradle-wrapper.jar and b/cpp/Pigeon2/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/cpp/Pigeon2/gradle/wrapper/gradle-wrapper.properties b/cpp/Pigeon2/gradle/wrapper/gradle-wrapper.properties
index 74147692..c5c27066 100644
--- a/cpp/Pigeon2/gradle/wrapper/gradle-wrapper.properties
+++ b/cpp/Pigeon2/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
diff --git a/cpp/Pigeon2/gradlew b/cpp/Pigeon2/gradlew
index a69d9cb6..1aa94a42 100644
--- a/cpp/Pigeon2/gradlew
+++ b/cpp/Pigeon2/gradlew
@@ -55,7 +55,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,13 +80,11 @@ do
     esac
 done
 
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-APP_NAME="Gradle"
+# This is normally unused
+# shellcheck disable=SC2034
 APP_BASE_NAME=${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" "-Xms64m"'
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -133,22 +131,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -193,11 +198,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
-#     shell script including quotes and variable substitutions, so put them in
-#     double quotes to make sure that they get re-expanded; and
-#   * put everything else in single quotes, so that it's not re-expanded.
+
+# 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" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
diff --git a/cpp/Pigeon2/gradlew.bat b/cpp/Pigeon2/gradlew.bat
index 53a6b238..6689b85b 100644
--- a/cpp/Pigeon2/gradlew.bat
+++ b/cpp/Pigeon2/gradlew.bat
@@ -26,6 +26,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
diff --git a/cpp/Pigeon2/settings.gradle b/cpp/Pigeon2/settings.gradle
index ae1af1c0..3e30f84f 100644
--- a/cpp/Pigeon2/settings.gradle
+++ b/cpp/Pigeon2/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')
@@ -25,3 +25,6 @@ pluginManagement {
         }
     }
 }
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
diff --git a/cpp/Pigeon2/vendordeps/Phoenix6.json b/cpp/Pigeon2/vendordeps/Phoenix6.json
index a5620fa9..1f9f4411 100644
--- a/cpp/Pigeon2/vendordeps/Phoenix6.json
+++ b/cpp/Pigeon2/vendordeps/Phoenix6.json
@@ -1,25 +1,32 @@
 {
     "fileName": "Phoenix6.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "23.2.2",
-    "frcYear": 2023,
+    "version": "24.0.0-beta-1",
+    "frcYear": 2024,
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2023-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
+    "conflictsWith": [
+        {
+            "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
+            "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
+            "offlineFileName": "Phoenix6And5.json"
+        }
+    ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "23.2.2"
+            "version": "24.0.0-beta-1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -32,7 +39,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -45,7 +52,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -58,7 +65,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -71,7 +78,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -84,7 +91,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -97,7 +104,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +117,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -123,7 +130,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -136,7 +143,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -151,7 +158,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -166,7 +173,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -181,7 +188,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -196,7 +203,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -211,7 +218,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -226,7 +233,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -241,7 +248,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -256,7 +263,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -271,7 +278,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -286,7 +293,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -301,7 +308,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -316,7 +323,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/cpp/Pigeon2/vendordeps/WPILibNewCommands.json b/cpp/Pigeon2/vendordeps/WPILibNewCommands.json
index da4bc529..67bf3898 100644
--- a/cpp/Pigeon2/vendordeps/WPILibNewCommands.json
+++ b/cpp/Pigeon2/vendordeps/WPILibNewCommands.json
@@ -1,37 +1,38 @@
-{
-  "fileName": "WPILibNewCommands.json",
-  "name": "WPILib-New-Commands",
-  "version": "1.0.0",
-  "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "mavenUrls": [],
-  "jsonUrl": "",
-  "javaDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-java",
-          "version": "wpilib"
-      }
-  ],
-  "jniDependencies": [],
-  "cppDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-cpp",
-          "version": "wpilib",
-          "libName": "wpilibNewCommands",
-          "headerClassifier": "headers",
-          "sourcesClassifier": "sources",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "linuxathena",
-              "linuxarm32",
-              "linuxarm64",
-              "windowsx86-64",
-              "windowsx86",
-              "linuxx86-64",
-              "osxuniversal"
-          ]
-      }
-  ]
-}
+{
+  "fileName": "WPILibNewCommands.json",
+  "name": "WPILib-New-Commands",
+  "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"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "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/cpp/PositionClosedLoop/.gitignore b/cpp/PositionClosedLoop/.gitignore
index 4b2a8965..3325f5c0 100644
--- a/cpp/PositionClosedLoop/.gitignore
+++ b/cpp/PositionClosedLoop/.gitignore
@@ -158,5 +158,15 @@ gradle-app.setting
 .settings/
 bin/
 
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
 # Simulation GUI and other tools window save file
 *-window.json
diff --git a/cpp/PositionClosedLoop/.wpilib/wpilib_preferences.json b/cpp/PositionClosedLoop/.wpilib/wpilib_preferences.json
index 87c04e30..c64d8d3d 100644
--- a/cpp/PositionClosedLoop/.wpilib/wpilib_preferences.json
+++ b/cpp/PositionClosedLoop/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
-{
-    "enableCppIntellisense": true,
-    "currentLanguage": "cpp",
-    "projectYear": "2023",
-    "teamNumber": 7762
-}
+{
+    "enableCppIntellisense": true,
+    "currentLanguage": "cpp",
+    "projectYear": "2024beta",
+    "teamNumber": 7762
+}
\ No newline at end of file
diff --git a/cpp/PositionClosedLoop/WPILib-License.md b/cpp/PositionClosedLoop/WPILib-License.md
index ba35a02c..84349440 100644
--- a/cpp/PositionClosedLoop/WPILib-License.md
+++ b/cpp/PositionClosedLoop/WPILib-License.md
@@ -1,4 +1,4 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2023 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
diff --git a/cpp/PositionClosedLoop/build.gradle b/cpp/PositionClosedLoop/build.gradle
index e573ba94..07f7fc67 100644
--- a/cpp/PositionClosedLoop/build.gradle
+++ b/cpp/PositionClosedLoop/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-1"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
diff --git a/cpp/PositionClosedLoop/gradle/wrapper/gradle-wrapper.jar b/cpp/PositionClosedLoop/gradle/wrapper/gradle-wrapper.jar
index 249e5832..7f93135c 100644
Binary files a/cpp/PositionClosedLoop/gradle/wrapper/gradle-wrapper.jar and b/cpp/PositionClosedLoop/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/cpp/PositionClosedLoop/gradle/wrapper/gradle-wrapper.properties b/cpp/PositionClosedLoop/gradle/wrapper/gradle-wrapper.properties
index 74147692..c5c27066 100644
--- a/cpp/PositionClosedLoop/gradle/wrapper/gradle-wrapper.properties
+++ b/cpp/PositionClosedLoop/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
diff --git a/cpp/PositionClosedLoop/gradlew b/cpp/PositionClosedLoop/gradlew
index a69d9cb6..1aa94a42 100644
--- a/cpp/PositionClosedLoop/gradlew
+++ b/cpp/PositionClosedLoop/gradlew
@@ -55,7 +55,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,13 +80,11 @@ do
     esac
 done
 
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-APP_NAME="Gradle"
+# This is normally unused
+# shellcheck disable=SC2034
 APP_BASE_NAME=${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" "-Xms64m"'
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -133,22 +131,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -193,11 +198,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
-#     shell script including quotes and variable substitutions, so put them in
-#     double quotes to make sure that they get re-expanded; and
-#   * put everything else in single quotes, so that it's not re-expanded.
+
+# 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" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
diff --git a/cpp/PositionClosedLoop/gradlew.bat b/cpp/PositionClosedLoop/gradlew.bat
index 53a6b238..6689b85b 100644
--- a/cpp/PositionClosedLoop/gradlew.bat
+++ b/cpp/PositionClosedLoop/gradlew.bat
@@ -26,6 +26,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
diff --git a/cpp/PositionClosedLoop/settings.gradle b/cpp/PositionClosedLoop/settings.gradle
index ae1af1c0..3e30f84f 100644
--- a/cpp/PositionClosedLoop/settings.gradle
+++ b/cpp/PositionClosedLoop/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')
@@ -25,3 +25,6 @@ pluginManagement {
         }
     }
 }
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
diff --git a/cpp/PositionClosedLoop/src/main/cpp/Robot.cpp b/cpp/PositionClosedLoop/src/main/cpp/Robot.cpp
index f2ae8eea..56e4b4f7 100644
--- a/cpp/PositionClosedLoop/src/main/cpp/Robot.cpp
+++ b/cpp/PositionClosedLoop/src/main/cpp/Robot.cpp
@@ -29,7 +29,7 @@ void Robot::RobotInit() {
   m_fx.GetConfigurator().Apply(configs);
 
   /* Make sure we start at 0 */
-  m_fx.SetRotorPosition(0_tr);
+  m_fx.SetPosition(0_tr);
 }
 void Robot::RobotPeriodic() {}
 
diff --git a/cpp/PositionClosedLoop/src/main/include/Robot.h b/cpp/PositionClosedLoop/src/main/include/Robot.h
index 990e9de5..f534bb01 100644
--- a/cpp/PositionClosedLoop/src/main/include/Robot.h
+++ b/cpp/PositionClosedLoop/src/main/include/Robot.h
@@ -10,8 +10,8 @@
 
 class Robot : public frc::TimedRobot {
   ctre::phoenix6::hardware::TalonFX m_fx{0};
-  ctre::phoenix6::controls::PositionVoltage m_voltagePosition{0_tr, true, 0_V, 0, false};
-  ctre::phoenix6::controls::PositionTorqueCurrentFOC m_torquePosition{0_tr, 0_A, 1, false};
+  ctre::phoenix6::controls::PositionVoltage m_voltagePosition{0_tr, 0_tps, true, 0_V, 0, false};
+  ctre::phoenix6::controls::PositionTorqueCurrentFOC m_torquePosition{0_tr, 0_tps, 0_A, 1, false};
   ctre::phoenix6::controls::StaticBrake m_brake{};
 
   frc::XboxController m_joystick{0};
diff --git a/cpp/PositionClosedLoop/vendordeps/Phoenix6.json b/cpp/PositionClosedLoop/vendordeps/Phoenix6.json
index a5620fa9..1f9f4411 100644
--- a/cpp/PositionClosedLoop/vendordeps/Phoenix6.json
+++ b/cpp/PositionClosedLoop/vendordeps/Phoenix6.json
@@ -1,25 +1,32 @@
 {
     "fileName": "Phoenix6.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "23.2.2",
-    "frcYear": 2023,
+    "version": "24.0.0-beta-1",
+    "frcYear": 2024,
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2023-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
+    "conflictsWith": [
+        {
+            "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
+            "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
+            "offlineFileName": "Phoenix6And5.json"
+        }
+    ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "23.2.2"
+            "version": "24.0.0-beta-1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -32,7 +39,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -45,7 +52,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -58,7 +65,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -71,7 +78,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -84,7 +91,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -97,7 +104,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +117,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -123,7 +130,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -136,7 +143,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -151,7 +158,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -166,7 +173,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -181,7 +188,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -196,7 +203,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -211,7 +218,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -226,7 +233,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -241,7 +248,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -256,7 +263,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -271,7 +278,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -286,7 +293,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -301,7 +308,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -316,7 +323,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/cpp/PositionClosedLoop/vendordeps/WPILibNewCommands.json b/cpp/PositionClosedLoop/vendordeps/WPILibNewCommands.json
index da4bc529..67bf3898 100644
--- a/cpp/PositionClosedLoop/vendordeps/WPILibNewCommands.json
+++ b/cpp/PositionClosedLoop/vendordeps/WPILibNewCommands.json
@@ -1,37 +1,38 @@
-{
-  "fileName": "WPILibNewCommands.json",
-  "name": "WPILib-New-Commands",
-  "version": "1.0.0",
-  "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "mavenUrls": [],
-  "jsonUrl": "",
-  "javaDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-java",
-          "version": "wpilib"
-      }
-  ],
-  "jniDependencies": [],
-  "cppDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-cpp",
-          "version": "wpilib",
-          "libName": "wpilibNewCommands",
-          "headerClassifier": "headers",
-          "sourcesClassifier": "sources",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "linuxathena",
-              "linuxarm32",
-              "linuxarm64",
-              "windowsx86-64",
-              "windowsx86",
-              "linuxx86-64",
-              "osxuniversal"
-          ]
-      }
-  ]
-}
+{
+  "fileName": "WPILibNewCommands.json",
+  "name": "WPILib-New-Commands",
+  "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"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "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/cpp/Simulation/.gitignore b/cpp/Simulation/.gitignore
index 4b2a8965..3325f5c0 100644
--- a/cpp/Simulation/.gitignore
+++ b/cpp/Simulation/.gitignore
@@ -158,5 +158,15 @@ gradle-app.setting
 .settings/
 bin/
 
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
 # Simulation GUI and other tools window save file
 *-window.json
diff --git a/cpp/Simulation/.wpilib/wpilib_preferences.json b/cpp/Simulation/.wpilib/wpilib_preferences.json
index 87c04e30..c64d8d3d 100644
--- a/cpp/Simulation/.wpilib/wpilib_preferences.json
+++ b/cpp/Simulation/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
-{
-    "enableCppIntellisense": true,
-    "currentLanguage": "cpp",
-    "projectYear": "2023",
-    "teamNumber": 7762
-}
+{
+    "enableCppIntellisense": true,
+    "currentLanguage": "cpp",
+    "projectYear": "2024beta",
+    "teamNumber": 7762
+}
\ No newline at end of file
diff --git a/cpp/Simulation/WPILib-License.md b/cpp/Simulation/WPILib-License.md
index ba35a02c..84349440 100644
--- a/cpp/Simulation/WPILib-License.md
+++ b/cpp/Simulation/WPILib-License.md
@@ -1,4 +1,4 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2023 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
diff --git a/cpp/Simulation/build.gradle b/cpp/Simulation/build.gradle
index e573ba94..07f7fc67 100644
--- a/cpp/Simulation/build.gradle
+++ b/cpp/Simulation/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-1"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
diff --git a/cpp/Simulation/gradle/wrapper/gradle-wrapper.jar b/cpp/Simulation/gradle/wrapper/gradle-wrapper.jar
index 249e5832..7f93135c 100644
Binary files a/cpp/Simulation/gradle/wrapper/gradle-wrapper.jar and b/cpp/Simulation/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/cpp/Simulation/gradle/wrapper/gradle-wrapper.properties b/cpp/Simulation/gradle/wrapper/gradle-wrapper.properties
index 74147692..c5c27066 100644
--- a/cpp/Simulation/gradle/wrapper/gradle-wrapper.properties
+++ b/cpp/Simulation/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
diff --git a/cpp/Simulation/gradlew b/cpp/Simulation/gradlew
index a69d9cb6..1aa94a42 100644
--- a/cpp/Simulation/gradlew
+++ b/cpp/Simulation/gradlew
@@ -55,7 +55,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,13 +80,11 @@ do
     esac
 done
 
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-APP_NAME="Gradle"
+# This is normally unused
+# shellcheck disable=SC2034
 APP_BASE_NAME=${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" "-Xms64m"'
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -133,22 +131,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -193,11 +198,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
-#     shell script including quotes and variable substitutions, so put them in
-#     double quotes to make sure that they get re-expanded; and
-#   * put everything else in single quotes, so that it's not re-expanded.
+
+# 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" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
diff --git a/cpp/Simulation/gradlew.bat b/cpp/Simulation/gradlew.bat
index 53a6b238..6689b85b 100644
--- a/cpp/Simulation/gradlew.bat
+++ b/cpp/Simulation/gradlew.bat
@@ -26,6 +26,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
diff --git a/cpp/Simulation/settings.gradle b/cpp/Simulation/settings.gradle
index ae1af1c0..3e30f84f 100644
--- a/cpp/Simulation/settings.gradle
+++ b/cpp/Simulation/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')
@@ -25,3 +25,6 @@ pluginManagement {
         }
     }
 }
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
diff --git a/cpp/Simulation/vendordeps/Phoenix6.json b/cpp/Simulation/vendordeps/Phoenix6.json
index a5620fa9..1f9f4411 100644
--- a/cpp/Simulation/vendordeps/Phoenix6.json
+++ b/cpp/Simulation/vendordeps/Phoenix6.json
@@ -1,25 +1,32 @@
 {
     "fileName": "Phoenix6.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "23.2.2",
-    "frcYear": 2023,
+    "version": "24.0.0-beta-1",
+    "frcYear": 2024,
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2023-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
+    "conflictsWith": [
+        {
+            "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
+            "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
+            "offlineFileName": "Phoenix6And5.json"
+        }
+    ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "23.2.2"
+            "version": "24.0.0-beta-1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -32,7 +39,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -45,7 +52,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -58,7 +65,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -71,7 +78,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -84,7 +91,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -97,7 +104,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +117,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -123,7 +130,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -136,7 +143,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -151,7 +158,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -166,7 +173,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -181,7 +188,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -196,7 +203,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -211,7 +218,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -226,7 +233,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -241,7 +248,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -256,7 +263,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -271,7 +278,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -286,7 +293,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -301,7 +308,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -316,7 +323,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/cpp/Simulation/vendordeps/WPILibNewCommands.json b/cpp/Simulation/vendordeps/WPILibNewCommands.json
index da4bc529..67bf3898 100644
--- a/cpp/Simulation/vendordeps/WPILibNewCommands.json
+++ b/cpp/Simulation/vendordeps/WPILibNewCommands.json
@@ -1,37 +1,38 @@
-{
-  "fileName": "WPILibNewCommands.json",
-  "name": "WPILib-New-Commands",
-  "version": "1.0.0",
-  "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "mavenUrls": [],
-  "jsonUrl": "",
-  "javaDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-java",
-          "version": "wpilib"
-      }
-  ],
-  "jniDependencies": [],
-  "cppDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-cpp",
-          "version": "wpilib",
-          "libName": "wpilibNewCommands",
-          "headerClassifier": "headers",
-          "sourcesClassifier": "sources",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "linuxathena",
-              "linuxarm32",
-              "linuxarm64",
-              "windowsx86-64",
-              "windowsx86",
-              "linuxx86-64",
-              "osxuniversal"
-          ]
-      }
-  ]
-}
+{
+  "fileName": "WPILibNewCommands.json",
+  "name": "WPILib-New-Commands",
+  "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"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "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/cpp/VelocityClosedLoop/.gitignore b/cpp/VelocityClosedLoop/.gitignore
index 4b2a8965..3325f5c0 100644
--- a/cpp/VelocityClosedLoop/.gitignore
+++ b/cpp/VelocityClosedLoop/.gitignore
@@ -158,5 +158,15 @@ gradle-app.setting
 .settings/
 bin/
 
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
 # Simulation GUI and other tools window save file
 *-window.json
diff --git a/cpp/VelocityClosedLoop/.wpilib/wpilib_preferences.json b/cpp/VelocityClosedLoop/.wpilib/wpilib_preferences.json
index 87c04e30..c64d8d3d 100644
--- a/cpp/VelocityClosedLoop/.wpilib/wpilib_preferences.json
+++ b/cpp/VelocityClosedLoop/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
-{
-    "enableCppIntellisense": true,
-    "currentLanguage": "cpp",
-    "projectYear": "2023",
-    "teamNumber": 7762
-}
+{
+    "enableCppIntellisense": true,
+    "currentLanguage": "cpp",
+    "projectYear": "2024beta",
+    "teamNumber": 7762
+}
\ No newline at end of file
diff --git a/cpp/VelocityClosedLoop/WPILib-License.md b/cpp/VelocityClosedLoop/WPILib-License.md
index ba35a02c..84349440 100644
--- a/cpp/VelocityClosedLoop/WPILib-License.md
+++ b/cpp/VelocityClosedLoop/WPILib-License.md
@@ -1,4 +1,4 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2023 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
diff --git a/cpp/VelocityClosedLoop/build.gradle b/cpp/VelocityClosedLoop/build.gradle
index e573ba94..07f7fc67 100644
--- a/cpp/VelocityClosedLoop/build.gradle
+++ b/cpp/VelocityClosedLoop/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-1"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
diff --git a/cpp/VelocityClosedLoop/gradle/wrapper/gradle-wrapper.jar b/cpp/VelocityClosedLoop/gradle/wrapper/gradle-wrapper.jar
index 249e5832..7f93135c 100644
Binary files a/cpp/VelocityClosedLoop/gradle/wrapper/gradle-wrapper.jar and b/cpp/VelocityClosedLoop/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/cpp/VelocityClosedLoop/gradle/wrapper/gradle-wrapper.properties b/cpp/VelocityClosedLoop/gradle/wrapper/gradle-wrapper.properties
index 74147692..c5c27066 100644
--- a/cpp/VelocityClosedLoop/gradle/wrapper/gradle-wrapper.properties
+++ b/cpp/VelocityClosedLoop/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
diff --git a/cpp/VelocityClosedLoop/gradlew b/cpp/VelocityClosedLoop/gradlew
index a69d9cb6..1aa94a42 100644
--- a/cpp/VelocityClosedLoop/gradlew
+++ b/cpp/VelocityClosedLoop/gradlew
@@ -55,7 +55,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,13 +80,11 @@ do
     esac
 done
 
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-APP_NAME="Gradle"
+# This is normally unused
+# shellcheck disable=SC2034
 APP_BASE_NAME=${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" "-Xms64m"'
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -133,22 +131,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -193,11 +198,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
-#     shell script including quotes and variable substitutions, so put them in
-#     double quotes to make sure that they get re-expanded; and
-#   * put everything else in single quotes, so that it's not re-expanded.
+
+# 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" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
diff --git a/cpp/VelocityClosedLoop/gradlew.bat b/cpp/VelocityClosedLoop/gradlew.bat
index 53a6b238..6689b85b 100644
--- a/cpp/VelocityClosedLoop/gradlew.bat
+++ b/cpp/VelocityClosedLoop/gradlew.bat
@@ -26,6 +26,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
diff --git a/cpp/VelocityClosedLoop/settings.gradle b/cpp/VelocityClosedLoop/settings.gradle
index ae1af1c0..3e30f84f 100644
--- a/cpp/VelocityClosedLoop/settings.gradle
+++ b/cpp/VelocityClosedLoop/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')
@@ -25,3 +25,6 @@ pluginManagement {
         }
     }
 }
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
diff --git a/cpp/VelocityClosedLoop/src/main/include/Robot.h b/cpp/VelocityClosedLoop/src/main/include/Robot.h
index 30f31a25..7b0b9132 100644
--- a/cpp/VelocityClosedLoop/src/main/include/Robot.h
+++ b/cpp/VelocityClosedLoop/src/main/include/Robot.h
@@ -10,8 +10,8 @@
 
 class Robot : public frc::TimedRobot {
   ctre::phoenix6::hardware::TalonFX m_fx{0};
-  ctre::phoenix6::controls::VelocityVoltage m_voltageVelocity{0_tps, true, 0_V, 0, false};
-  ctre::phoenix6::controls::VelocityTorqueCurrentFOC m_torqueVelocity{0_tps, 0_A, 1, false};
+  ctre::phoenix6::controls::VelocityVoltage m_voltageVelocity{0_tps, 0_tr_per_s_sq, true, 0_V, 0, false};
+  ctre::phoenix6::controls::VelocityTorqueCurrentFOC m_torqueVelocity{0_tps, 0_tr_per_s_sq, 0_A, 1, false};
   ctre::phoenix6::controls::StaticBrake m_brake{};
 
   frc::XboxController m_joystick{0};
diff --git a/cpp/VelocityClosedLoop/vendordeps/Phoenix6.json b/cpp/VelocityClosedLoop/vendordeps/Phoenix6.json
index a5620fa9..1f9f4411 100644
--- a/cpp/VelocityClosedLoop/vendordeps/Phoenix6.json
+++ b/cpp/VelocityClosedLoop/vendordeps/Phoenix6.json
@@ -1,25 +1,32 @@
 {
     "fileName": "Phoenix6.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "23.2.2",
-    "frcYear": 2023,
+    "version": "24.0.0-beta-1",
+    "frcYear": 2024,
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2023-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
+    "conflictsWith": [
+        {
+            "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
+            "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
+            "offlineFileName": "Phoenix6And5.json"
+        }
+    ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "23.2.2"
+            "version": "24.0.0-beta-1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -32,7 +39,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -45,7 +52,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -58,7 +65,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -71,7 +78,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -84,7 +91,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -97,7 +104,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +117,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -123,7 +130,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -136,7 +143,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -151,7 +158,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -166,7 +173,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -181,7 +188,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -196,7 +203,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -211,7 +218,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -226,7 +233,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -241,7 +248,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -256,7 +263,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -271,7 +278,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -286,7 +293,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -301,7 +308,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -316,7 +323,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/cpp/VelocityClosedLoop/vendordeps/WPILibNewCommands.json b/cpp/VelocityClosedLoop/vendordeps/WPILibNewCommands.json
index da4bc529..67bf3898 100644
--- a/cpp/VelocityClosedLoop/vendordeps/WPILibNewCommands.json
+++ b/cpp/VelocityClosedLoop/vendordeps/WPILibNewCommands.json
@@ -1,37 +1,38 @@
-{
-  "fileName": "WPILibNewCommands.json",
-  "name": "WPILib-New-Commands",
-  "version": "1.0.0",
-  "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "mavenUrls": [],
-  "jsonUrl": "",
-  "javaDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-java",
-          "version": "wpilib"
-      }
-  ],
-  "jniDependencies": [],
-  "cppDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-cpp",
-          "version": "wpilib",
-          "libName": "wpilibNewCommands",
-          "headerClassifier": "headers",
-          "sourcesClassifier": "sources",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "linuxathena",
-              "linuxarm32",
-              "linuxarm64",
-              "windowsx86-64",
-              "windowsx86",
-              "linuxx86-64",
-              "osxuniversal"
-          ]
-      }
-  ]
-}
+{
+  "fileName": "WPILibNewCommands.json",
+  "name": "WPILib-New-Commands",
+  "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"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "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/cpp/WaitForAll/.gitignore b/cpp/WaitForAll/.gitignore
index 4b2a8965..3325f5c0 100644
--- a/cpp/WaitForAll/.gitignore
+++ b/cpp/WaitForAll/.gitignore
@@ -158,5 +158,15 @@ gradle-app.setting
 .settings/
 bin/
 
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
 # Simulation GUI and other tools window save file
 *-window.json
diff --git a/cpp/WaitForAll/.vscode/settings.json b/cpp/WaitForAll/.vscode/settings.json
index 934a2825..d2d2fe11 100644
--- a/cpp/WaitForAll/.vscode/settings.json
+++ b/cpp/WaitForAll/.vscode/settings.json
@@ -14,79 +14,5 @@
     "**/.factorypath": true,
     "**/*~": true
   },
-  "C_Cpp.default.configurationProvider": "vscode-wpilib",
-  "files.associations": {
-    "array": "cpp",
-    "atomic": "cpp",
-    "bit": "cpp",
-    "*.tcc": "cpp",
-    "bitset": "cpp",
-    "cctype": "cpp",
-    "cfenv": "cpp",
-    "chrono": "cpp",
-    "clocale": "cpp",
-    "cmath": "cpp",
-    "codecvt": "cpp",
-    "compare": "cpp",
-    "complex": "cpp",
-    "concepts": "cpp",
-    "condition_variable": "cpp",
-    "cstdarg": "cpp",
-    "cstddef": "cpp",
-    "cstdint": "cpp",
-    "cstdio": "cpp",
-    "cstdlib": "cpp",
-    "cstring": "cpp",
-    "ctime": "cpp",
-    "cwchar": "cpp",
-    "cwctype": "cpp",
-    "deque": "cpp",
-    "list": "cpp",
-    "map": "cpp",
-    "set": "cpp",
-    "string": "cpp",
-    "unordered_map": "cpp",
-    "unordered_set": "cpp",
-    "vector": "cpp",
-    "exception": "cpp",
-    "algorithm": "cpp",
-    "functional": "cpp",
-    "iterator": "cpp",
-    "memory": "cpp",
-    "memory_resource": "cpp",
-    "numeric": "cpp",
-    "optional": "cpp",
-    "random": "cpp",
-    "ratio": "cpp",
-    "regex": "cpp",
-    "string_view": "cpp",
-    "system_error": "cpp",
-    "tuple": "cpp",
-    "type_traits": "cpp",
-    "utility": "cpp",
-    "fstream": "cpp",
-    "future": "cpp",
-    "initializer_list": "cpp",
-    "iomanip": "cpp",
-    "iosfwd": "cpp",
-    "iostream": "cpp",
-    "istream": "cpp",
-    "limits": "cpp",
-    "mutex": "cpp",
-    "new": "cpp",
-    "numbers": "cpp",
-    "ostream": "cpp",
-    "semaphore": "cpp",
-    "span": "cpp",
-    "sstream": "cpp",
-    "stdexcept": "cpp",
-    "stop_token": "cpp",
-    "streambuf": "cpp",
-    "thread": "cpp",
-    "cinttypes": "cpp",
-    "typeindex": "cpp",
-    "typeinfo": "cpp",
-    "variant": "cpp",
-    "*.inc": "cpp"
-  }
+  "C_Cpp.default.configurationProvider": "vscode-wpilib"
 }
diff --git a/cpp/WaitForAll/.wpilib/wpilib_preferences.json b/cpp/WaitForAll/.wpilib/wpilib_preferences.json
index 6c3c5ae3..c64d8d3d 100644
--- a/cpp/WaitForAll/.wpilib/wpilib_preferences.json
+++ b/cpp/WaitForAll/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": true,
     "currentLanguage": "cpp",
-    "projectYear": "2023",
+    "projectYear": "2024beta",
     "teamNumber": 7762
 }
\ No newline at end of file
diff --git a/cpp/WaitForAll/WPILib-License.md b/cpp/WaitForAll/WPILib-License.md
index ba35a02c..84349440 100644
--- a/cpp/WaitForAll/WPILib-License.md
+++ b/cpp/WaitForAll/WPILib-License.md
@@ -1,4 +1,4 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2023 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
diff --git a/cpp/WaitForAll/build.gradle b/cpp/WaitForAll/build.gradle
index e573ba94..07f7fc67 100644
--- a/cpp/WaitForAll/build.gradle
+++ b/cpp/WaitForAll/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-1"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
diff --git a/cpp/WaitForAll/gradle/wrapper/gradle-wrapper.jar b/cpp/WaitForAll/gradle/wrapper/gradle-wrapper.jar
index 249e5832..7f93135c 100644
Binary files a/cpp/WaitForAll/gradle/wrapper/gradle-wrapper.jar and b/cpp/WaitForAll/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/cpp/WaitForAll/gradle/wrapper/gradle-wrapper.properties b/cpp/WaitForAll/gradle/wrapper/gradle-wrapper.properties
index 74147692..c5c27066 100644
--- a/cpp/WaitForAll/gradle/wrapper/gradle-wrapper.properties
+++ b/cpp/WaitForAll/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
diff --git a/cpp/WaitForAll/gradlew b/cpp/WaitForAll/gradlew
index a69d9cb6..1aa94a42 100644
--- a/cpp/WaitForAll/gradlew
+++ b/cpp/WaitForAll/gradlew
@@ -55,7 +55,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,13 +80,11 @@ do
     esac
 done
 
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-APP_NAME="Gradle"
+# This is normally unused
+# shellcheck disable=SC2034
 APP_BASE_NAME=${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" "-Xms64m"'
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -133,22 +131,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -193,11 +198,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
-#     shell script including quotes and variable substitutions, so put them in
-#     double quotes to make sure that they get re-expanded; and
-#   * put everything else in single quotes, so that it's not re-expanded.
+
+# 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" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
diff --git a/cpp/WaitForAll/gradlew.bat b/cpp/WaitForAll/gradlew.bat
index 53a6b238..6689b85b 100644
--- a/cpp/WaitForAll/gradlew.bat
+++ b/cpp/WaitForAll/gradlew.bat
@@ -26,6 +26,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
diff --git a/cpp/WaitForAll/settings.gradle b/cpp/WaitForAll/settings.gradle
index ae1af1c0..3e30f84f 100644
--- a/cpp/WaitForAll/settings.gradle
+++ b/cpp/WaitForAll/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')
@@ -25,3 +25,6 @@ pluginManagement {
         }
     }
 }
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
diff --git a/cpp/WaitForAll/src/main/cpp/Robot.cpp b/cpp/WaitForAll/src/main/cpp/Robot.cpp
index bae20ff5..306a95b8 100644
--- a/cpp/WaitForAll/src/main/cpp/Robot.cpp
+++ b/cpp/WaitForAll/src/main/cpp/Robot.cpp
@@ -22,7 +22,7 @@ void Robot::RobotPeriodic() {
       ctre::phoenix::StatusCode status = ctre::phoenix6::BaseStatusSignal::WaitForAll(m_waitForAllTimeout, m_lotsOfSignals);
       std::cout << "Status of waiting on signals (normal use case): " << status.GetName() << std::endl;
       for(auto const &sig : m_lotsOfSignals) {
-        std::cout << "Signal status: " << sig->GetError().GetName() << std::endl;
+        std::cout << "Signal status: " << sig->GetStatus().GetName() << std::endl;
       }
     }
     /* If we press the B button, test what happens when we wait on signals from different busses */
@@ -30,7 +30,7 @@ void Robot::RobotPeriodic() {
       ctre::phoenix::StatusCode status = ctre::phoenix6::BaseStatusSignal::WaitForAll(m_waitForAllTimeout, m_signalsAcrossCANbuses);
       std::cout << "Status of waiting on signals across different CAN busses: " << status.GetName() << std::endl;
       for(auto const& sig : m_signalsAcrossCANbuses) {
-        std::cout << "Signal status: " << sig->GetError().GetName() << std::endl;
+        std::cout << "Signal status: " << sig->GetStatus().GetName() << std::endl;
       }
     }
     /* If we press the Y button, test what happens when we wait on no signals */
@@ -38,7 +38,7 @@ void Robot::RobotPeriodic() {
       ctre::phoenix::StatusCode status = ctre::phoenix6::BaseStatusSignal::WaitForAll(m_waitForAllTimeout, m_noSignals);
       std::cout << "Status of waiting on no signals: " << status.GetName() << std::endl;
       for(auto const& sig : m_noSignals) {
-        std::cout << "Signal status: " << sig->GetError().GetName() << std::endl;
+        std::cout << "Signal status: " << sig->GetStatus().GetName() << std::endl;
       }
     }
     /* If we press the X button, test what happens when we wait on signals with the transcient motor controller */
@@ -49,7 +49,7 @@ void Robot::RobotPeriodic() {
     &m_canbus1transcient2});
       std::cout << "Status of waiting on transcient signals: " << status.GetName() << std::endl;
       for(auto const& sig : m_tanscientSignals) {
-        std::cout << "Signal status: " << sig->GetError().GetName() << std::endl;
+        std::cout << "Signal status: " << sig->GetStatus().GetName() << std::endl;
       }
     }
 }
diff --git a/cpp/WaitForAll/vendordeps/Phoenix6.json b/cpp/WaitForAll/vendordeps/Phoenix6.json
index a5620fa9..1f9f4411 100644
--- a/cpp/WaitForAll/vendordeps/Phoenix6.json
+++ b/cpp/WaitForAll/vendordeps/Phoenix6.json
@@ -1,25 +1,32 @@
 {
     "fileName": "Phoenix6.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "23.2.2",
-    "frcYear": 2023,
+    "version": "24.0.0-beta-1",
+    "frcYear": 2024,
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2023-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
+    "conflictsWith": [
+        {
+            "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
+            "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
+            "offlineFileName": "Phoenix6And5.json"
+        }
+    ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "23.2.2"
+            "version": "24.0.0-beta-1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -32,7 +39,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -45,7 +52,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -58,7 +65,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -71,7 +78,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -84,7 +91,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -97,7 +104,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +117,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -123,7 +130,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -136,7 +143,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -151,7 +158,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -166,7 +173,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -181,7 +188,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -196,7 +203,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -211,7 +218,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -226,7 +233,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -241,7 +248,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -256,7 +263,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -271,7 +278,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -286,7 +293,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -301,7 +308,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -316,7 +323,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/cpp/WaitForAll/vendordeps/WPILibNewCommands.json b/cpp/WaitForAll/vendordeps/WPILibNewCommands.json
index bd535bfa..67bf3898 100644
--- a/cpp/WaitForAll/vendordeps/WPILibNewCommands.json
+++ b/cpp/WaitForAll/vendordeps/WPILibNewCommands.json
@@ -3,6 +3,7 @@
   "name": "WPILib-New-Commands",
   "version": "1.0.0",
   "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
+  "frcYear": "2024",
   "mavenUrls": [],
   "jsonUrl": "",
   "javaDependencies": [
diff --git a/java/BasicLatencyCompensation/.gitignore b/java/BasicLatencyCompensation/.gitignore
index 4b2a8965..3325f5c0 100644
--- a/java/BasicLatencyCompensation/.gitignore
+++ b/java/BasicLatencyCompensation/.gitignore
@@ -158,5 +158,15 @@ gradle-app.setting
 .settings/
 bin/
 
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
 # Simulation GUI and other tools window save file
 *-window.json
diff --git a/java/BasicLatencyCompensation/.wpilib/wpilib_preferences.json b/java/BasicLatencyCompensation/.wpilib/wpilib_preferences.json
index 6f4d9de6..cbe8abee 100644
--- a/java/BasicLatencyCompensation/.wpilib/wpilib_preferences.json
+++ b/java/BasicLatencyCompensation/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2023",
+    "projectYear": "2024beta",
     "teamNumber": 7762
 }
\ No newline at end of file
diff --git a/java/BasicLatencyCompensation/WPILib-License.md b/java/BasicLatencyCompensation/WPILib-License.md
index ba35a02c..84349440 100644
--- a/java/BasicLatencyCompensation/WPILib-License.md
+++ b/java/BasicLatencyCompensation/WPILib-License.md
@@ -1,4 +1,4 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2023 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
diff --git a/java/BasicLatencyCompensation/build.gradle b/java/BasicLatencyCompensation/build.gradle
index d2fd7514..359cf8ac 100644
--- a/java/BasicLatencyCompensation/build.gradle
+++ b/java/BasicLatencyCompensation/build.gradle
@@ -1,10 +1,12 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.4.3"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
 }
 
-sourceCompatibility = JavaVersion.VERSION_11
-targetCompatibility = JavaVersion.VERSION_11
+java {
+    sourceCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
+}
 
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
@@ -84,6 +86,7 @@ wpi.sim.addDriverstation()
 // knows where to look for our Robot Class.
 jar {
     from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+    from sourceSets.main.allSource
     manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
     duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }
diff --git a/java/BasicLatencyCompensation/gradle/wrapper/gradle-wrapper.jar b/java/BasicLatencyCompensation/gradle/wrapper/gradle-wrapper.jar
index 249e5832..7f93135c 100644
Binary files a/java/BasicLatencyCompensation/gradle/wrapper/gradle-wrapper.jar and b/java/BasicLatencyCompensation/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/java/BasicLatencyCompensation/gradle/wrapper/gradle-wrapper.properties b/java/BasicLatencyCompensation/gradle/wrapper/gradle-wrapper.properties
index 74147692..c5c27066 100644
--- a/java/BasicLatencyCompensation/gradle/wrapper/gradle-wrapper.properties
+++ b/java/BasicLatencyCompensation/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
diff --git a/java/BasicLatencyCompensation/gradlew b/java/BasicLatencyCompensation/gradlew
index a69d9cb6..1aa94a42 100644
--- a/java/BasicLatencyCompensation/gradlew
+++ b/java/BasicLatencyCompensation/gradlew
@@ -55,7 +55,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,13 +80,11 @@ do
     esac
 done
 
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-APP_NAME="Gradle"
+# This is normally unused
+# shellcheck disable=SC2034
 APP_BASE_NAME=${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" "-Xms64m"'
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -133,22 +131,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -193,11 +198,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
-#     shell script including quotes and variable substitutions, so put them in
-#     double quotes to make sure that they get re-expanded; and
-#   * put everything else in single quotes, so that it's not re-expanded.
+
+# 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" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
diff --git a/java/BasicLatencyCompensation/gradlew.bat b/java/BasicLatencyCompensation/gradlew.bat
index 53a6b238..6689b85b 100644
--- a/java/BasicLatencyCompensation/gradlew.bat
+++ b/java/BasicLatencyCompensation/gradlew.bat
@@ -26,6 +26,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
diff --git a/java/BasicLatencyCompensation/settings.gradle b/java/BasicLatencyCompensation/settings.gradle
index ae1af1c0..3e30f84f 100644
--- a/java/BasicLatencyCompensation/settings.gradle
+++ b/java/BasicLatencyCompensation/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')
@@ -25,3 +25,6 @@ pluginManagement {
         }
     }
 }
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
diff --git a/java/BasicLatencyCompensation/src/main/java/frc/robot/Robot.java b/java/BasicLatencyCompensation/src/main/java/frc/robot/Robot.java
index 18e7d093..71b42de7 100644
--- a/java/BasicLatencyCompensation/src/main/java/frc/robot/Robot.java
+++ b/java/BasicLatencyCompensation/src/main/java/frc/robot/Robot.java
@@ -21,7 +21,7 @@
  * project.
  */
 public class Robot extends TimedRobot {
-  private final String CANBUS_NAME = "";
+  private final String CANBUS_NAME = "Fred";
   private CANcoder m_cc = new CANcoder(0, CANBUS_NAME);
   private TalonFX m_fx = new TalonFX(0, CANBUS_NAME);
   private Pigeon2 m_p2 = new Pigeon2(0, CANBUS_NAME);
diff --git a/java/BasicLatencyCompensation/src/test/java/LatencyCompensationTests.java b/java/BasicLatencyCompensation/src/test/java/LatencyCompensationTests.java
index 13ee3f15..4816b4fe 100644
--- a/java/BasicLatencyCompensation/src/test/java/LatencyCompensationTests.java
+++ b/java/BasicLatencyCompensation/src/test/java/LatencyCompensationTests.java
@@ -30,7 +30,7 @@ public void testLatencyCompensator() {
         final double position = 35;
         final double velocity = 24;
         /* Initialize by making all the positions 0 */
-        talonfx.setRotorPosition(0);
+        talonfx.setPosition(0);
         cancoder.setPosition(0);
 
         /* Set the simulated state of device positions */
diff --git a/java/BasicLatencyCompensation/vendordeps/Phoenix6.json b/java/BasicLatencyCompensation/vendordeps/Phoenix6.json
index a5620fa9..1f9f4411 100644
--- a/java/BasicLatencyCompensation/vendordeps/Phoenix6.json
+++ b/java/BasicLatencyCompensation/vendordeps/Phoenix6.json
@@ -1,25 +1,32 @@
 {
     "fileName": "Phoenix6.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "23.2.2",
-    "frcYear": 2023,
+    "version": "24.0.0-beta-1",
+    "frcYear": 2024,
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2023-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
+    "conflictsWith": [
+        {
+            "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
+            "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
+            "offlineFileName": "Phoenix6And5.json"
+        }
+    ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "23.2.2"
+            "version": "24.0.0-beta-1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -32,7 +39,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -45,7 +52,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -58,7 +65,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -71,7 +78,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -84,7 +91,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -97,7 +104,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +117,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -123,7 +130,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -136,7 +143,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -151,7 +158,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -166,7 +173,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -181,7 +188,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -196,7 +203,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -211,7 +218,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -226,7 +233,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -241,7 +248,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -256,7 +263,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -271,7 +278,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -286,7 +293,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -301,7 +308,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -316,7 +323,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/java/BasicLatencyCompensation/vendordeps/WPILibNewCommands.json b/java/BasicLatencyCompensation/vendordeps/WPILibNewCommands.json
index da4bc529..67bf3898 100644
--- a/java/BasicLatencyCompensation/vendordeps/WPILibNewCommands.json
+++ b/java/BasicLatencyCompensation/vendordeps/WPILibNewCommands.json
@@ -1,37 +1,38 @@
-{
-  "fileName": "WPILibNewCommands.json",
-  "name": "WPILib-New-Commands",
-  "version": "1.0.0",
-  "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "mavenUrls": [],
-  "jsonUrl": "",
-  "javaDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-java",
-          "version": "wpilib"
-      }
-  ],
-  "jniDependencies": [],
-  "cppDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-cpp",
-          "version": "wpilib",
-          "libName": "wpilibNewCommands",
-          "headerClassifier": "headers",
-          "sourcesClassifier": "sources",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "linuxathena",
-              "linuxarm32",
-              "linuxarm64",
-              "windowsx86-64",
-              "windowsx86",
-              "linuxx86-64",
-              "osxuniversal"
-          ]
-      }
-  ]
-}
+{
+  "fileName": "WPILibNewCommands.json",
+  "name": "WPILib-New-Commands",
+  "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"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "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/java/CANcoder/.gitignore b/java/CANcoder/.gitignore
index 4b2a8965..3325f5c0 100644
--- a/java/CANcoder/.gitignore
+++ b/java/CANcoder/.gitignore
@@ -158,5 +158,15 @@ gradle-app.setting
 .settings/
 bin/
 
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
 # Simulation GUI and other tools window save file
 *-window.json
diff --git a/java/CANcoder/.wpilib/wpilib_preferences.json b/java/CANcoder/.wpilib/wpilib_preferences.json
index 49d7fc3c..cbe8abee 100644
--- a/java/CANcoder/.wpilib/wpilib_preferences.json
+++ b/java/CANcoder/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
-{
-    "enableCppIntellisense": false,
-    "currentLanguage": "java",
-    "projectYear": "2023",
-    "teamNumber": 7762
-}
+{
+    "enableCppIntellisense": false,
+    "currentLanguage": "java",
+    "projectYear": "2024beta",
+    "teamNumber": 7762
+}
\ No newline at end of file
diff --git a/java/CANcoder/WPILib-License.md b/java/CANcoder/WPILib-License.md
index ba35a02c..84349440 100644
--- a/java/CANcoder/WPILib-License.md
+++ b/java/CANcoder/WPILib-License.md
@@ -1,4 +1,4 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2023 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
diff --git a/java/CANcoder/build.gradle b/java/CANcoder/build.gradle
index d2fd7514..359cf8ac 100644
--- a/java/CANcoder/build.gradle
+++ b/java/CANcoder/build.gradle
@@ -1,10 +1,12 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.4.3"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
 }
 
-sourceCompatibility = JavaVersion.VERSION_11
-targetCompatibility = JavaVersion.VERSION_11
+java {
+    sourceCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
+}
 
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
@@ -84,6 +86,7 @@ wpi.sim.addDriverstation()
 // knows where to look for our Robot Class.
 jar {
     from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+    from sourceSets.main.allSource
     manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
     duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }
diff --git a/java/CANcoder/gradle/wrapper/gradle-wrapper.jar b/java/CANcoder/gradle/wrapper/gradle-wrapper.jar
index 249e5832..7f93135c 100644
Binary files a/java/CANcoder/gradle/wrapper/gradle-wrapper.jar and b/java/CANcoder/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/java/CANcoder/gradle/wrapper/gradle-wrapper.properties b/java/CANcoder/gradle/wrapper/gradle-wrapper.properties
index 74147692..c5c27066 100644
--- a/java/CANcoder/gradle/wrapper/gradle-wrapper.properties
+++ b/java/CANcoder/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
diff --git a/java/CANcoder/gradlew b/java/CANcoder/gradlew
index a69d9cb6..1aa94a42 100644
--- a/java/CANcoder/gradlew
+++ b/java/CANcoder/gradlew
@@ -55,7 +55,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,13 +80,11 @@ do
     esac
 done
 
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-APP_NAME="Gradle"
+# This is normally unused
+# shellcheck disable=SC2034
 APP_BASE_NAME=${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" "-Xms64m"'
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -133,22 +131,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -193,11 +198,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
-#     shell script including quotes and variable substitutions, so put them in
-#     double quotes to make sure that they get re-expanded; and
-#   * put everything else in single quotes, so that it's not re-expanded.
+
+# 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" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
diff --git a/java/CANcoder/gradlew.bat b/java/CANcoder/gradlew.bat
index 53a6b238..6689b85b 100644
--- a/java/CANcoder/gradlew.bat
+++ b/java/CANcoder/gradlew.bat
@@ -26,6 +26,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
diff --git a/java/CANcoder/settings.gradle b/java/CANcoder/settings.gradle
index ae1af1c0..3e30f84f 100644
--- a/java/CANcoder/settings.gradle
+++ b/java/CANcoder/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')
@@ -25,3 +25,6 @@ pluginManagement {
         }
     }
 }
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
diff --git a/java/CANcoder/vendordeps/Phoenix6.json b/java/CANcoder/vendordeps/Phoenix6.json
index a5620fa9..1f9f4411 100644
--- a/java/CANcoder/vendordeps/Phoenix6.json
+++ b/java/CANcoder/vendordeps/Phoenix6.json
@@ -1,25 +1,32 @@
 {
     "fileName": "Phoenix6.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "23.2.2",
-    "frcYear": 2023,
+    "version": "24.0.0-beta-1",
+    "frcYear": 2024,
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2023-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
+    "conflictsWith": [
+        {
+            "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
+            "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
+            "offlineFileName": "Phoenix6And5.json"
+        }
+    ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "23.2.2"
+            "version": "24.0.0-beta-1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -32,7 +39,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -45,7 +52,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -58,7 +65,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -71,7 +78,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -84,7 +91,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -97,7 +104,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +117,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -123,7 +130,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -136,7 +143,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -151,7 +158,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -166,7 +173,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -181,7 +188,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -196,7 +203,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -211,7 +218,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -226,7 +233,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -241,7 +248,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -256,7 +263,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -271,7 +278,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -286,7 +293,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -301,7 +308,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -316,7 +323,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/java/CANcoder/vendordeps/WPILibNewCommands.json b/java/CANcoder/vendordeps/WPILibNewCommands.json
index da4bc529..67bf3898 100644
--- a/java/CANcoder/vendordeps/WPILibNewCommands.json
+++ b/java/CANcoder/vendordeps/WPILibNewCommands.json
@@ -1,37 +1,38 @@
-{
-  "fileName": "WPILibNewCommands.json",
-  "name": "WPILib-New-Commands",
-  "version": "1.0.0",
-  "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "mavenUrls": [],
-  "jsonUrl": "",
-  "javaDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-java",
-          "version": "wpilib"
-      }
-  ],
-  "jniDependencies": [],
-  "cppDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-cpp",
-          "version": "wpilib",
-          "libName": "wpilibNewCommands",
-          "headerClassifier": "headers",
-          "sourcesClassifier": "sources",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "linuxathena",
-              "linuxarm32",
-              "linuxarm64",
-              "windowsx86-64",
-              "windowsx86",
-              "linuxx86-64",
-              "osxuniversal"
-          ]
-      }
-  ]
-}
+{
+  "fileName": "WPILibNewCommands.json",
+  "name": "WPILib-New-Commands",
+  "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"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "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/java/CommandBasedDrive/.gitignore b/java/CommandBasedDrive/.gitignore
index 4b2a8965..3325f5c0 100644
--- a/java/CommandBasedDrive/.gitignore
+++ b/java/CommandBasedDrive/.gitignore
@@ -158,5 +158,15 @@ gradle-app.setting
 .settings/
 bin/
 
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
 # Simulation GUI and other tools window save file
 *-window.json
diff --git a/java/CommandBasedDrive/.wpilib/wpilib_preferences.json b/java/CommandBasedDrive/.wpilib/wpilib_preferences.json
index 49d7fc3c..cbe8abee 100644
--- a/java/CommandBasedDrive/.wpilib/wpilib_preferences.json
+++ b/java/CommandBasedDrive/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
-{
-    "enableCppIntellisense": false,
-    "currentLanguage": "java",
-    "projectYear": "2023",
-    "teamNumber": 7762
-}
+{
+    "enableCppIntellisense": false,
+    "currentLanguage": "java",
+    "projectYear": "2024beta",
+    "teamNumber": 7762
+}
\ No newline at end of file
diff --git a/java/CommandBasedDrive/WPILib-License.md b/java/CommandBasedDrive/WPILib-License.md
index ba35a02c..84349440 100644
--- a/java/CommandBasedDrive/WPILib-License.md
+++ b/java/CommandBasedDrive/WPILib-License.md
@@ -1,4 +1,4 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2023 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
diff --git a/java/CommandBasedDrive/build.gradle b/java/CommandBasedDrive/build.gradle
index d2fd7514..359cf8ac 100644
--- a/java/CommandBasedDrive/build.gradle
+++ b/java/CommandBasedDrive/build.gradle
@@ -1,10 +1,12 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.4.3"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
 }
 
-sourceCompatibility = JavaVersion.VERSION_11
-targetCompatibility = JavaVersion.VERSION_11
+java {
+    sourceCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
+}
 
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
@@ -84,6 +86,7 @@ wpi.sim.addDriverstation()
 // knows where to look for our Robot Class.
 jar {
     from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+    from sourceSets.main.allSource
     manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
     duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }
diff --git a/java/CommandBasedDrive/gradle/wrapper/gradle-wrapper.jar b/java/CommandBasedDrive/gradle/wrapper/gradle-wrapper.jar
index 249e5832..7f93135c 100644
Binary files a/java/CommandBasedDrive/gradle/wrapper/gradle-wrapper.jar and b/java/CommandBasedDrive/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/java/CommandBasedDrive/gradle/wrapper/gradle-wrapper.properties b/java/CommandBasedDrive/gradle/wrapper/gradle-wrapper.properties
index 74147692..c5c27066 100644
--- a/java/CommandBasedDrive/gradle/wrapper/gradle-wrapper.properties
+++ b/java/CommandBasedDrive/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
diff --git a/java/CommandBasedDrive/gradlew b/java/CommandBasedDrive/gradlew
index a69d9cb6..1aa94a42 100644
--- a/java/CommandBasedDrive/gradlew
+++ b/java/CommandBasedDrive/gradlew
@@ -55,7 +55,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,13 +80,11 @@ do
     esac
 done
 
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-APP_NAME="Gradle"
+# This is normally unused
+# shellcheck disable=SC2034
 APP_BASE_NAME=${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" "-Xms64m"'
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -133,22 +131,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -193,11 +198,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
-#     shell script including quotes and variable substitutions, so put them in
-#     double quotes to make sure that they get re-expanded; and
-#   * put everything else in single quotes, so that it's not re-expanded.
+
+# 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" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
diff --git a/java/CommandBasedDrive/gradlew.bat b/java/CommandBasedDrive/gradlew.bat
index 53a6b238..6689b85b 100644
--- a/java/CommandBasedDrive/gradlew.bat
+++ b/java/CommandBasedDrive/gradlew.bat
@@ -26,6 +26,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
diff --git a/java/CommandBasedDrive/settings.gradle b/java/CommandBasedDrive/settings.gradle
index ae1af1c0..3e30f84f 100644
--- a/java/CommandBasedDrive/settings.gradle
+++ b/java/CommandBasedDrive/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')
@@ -25,3 +25,6 @@ pluginManagement {
         }
     }
 }
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
diff --git a/java/CommandBasedDrive/src/main/java/frc/robot/commands/DriveStraightCommand.java b/java/CommandBasedDrive/src/main/java/frc/robot/commands/DriveStraightCommand.java
index a583b504..32d75750 100644
--- a/java/CommandBasedDrive/src/main/java/frc/robot/commands/DriveStraightCommand.java
+++ b/java/CommandBasedDrive/src/main/java/frc/robot/commands/DriveStraightCommand.java
@@ -5,10 +5,10 @@
 import com.ctre.phoenix6.StatusSignal;
 
 import edu.wpi.first.wpilibj.Notifier;
-import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.DriveSubsystem;
 
-public class DriveStraightCommand extends CommandBase {
+public class DriveStraightCommand extends Command {
     private final double MAX_UPDATE_PERIOD = 0.05; // Wait up to 50ms
     private final DoubleSupplier m_throttle;
     private final DriveSubsystem m_drivebase;
diff --git a/java/CommandBasedDrive/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/java/CommandBasedDrive/src/main/java/frc/robot/subsystems/DriveSubsystem.java
index 94bae4a1..80019a3d 100644
--- a/java/CommandBasedDrive/src/main/java/frc/robot/subsystems/DriveSubsystem.java
+++ b/java/CommandBasedDrive/src/main/java/frc/robot/subsystems/DriveSubsystem.java
@@ -254,7 +254,7 @@ private void initializeLeftDriveTalonFX(TalonFXConfigurator cfg) {
         cfg.apply(toApply);
 
         /* And initialize position to 0 */
-        cfg.setRotorPosition(0);
+        cfg.setPosition(0);
     }
 
     /**
@@ -273,7 +273,7 @@ private void initializeRightDriveTalonFX(TalonFXConfigurator cfg) {
         cfg.apply(toApply);
 
         /* And initialize position to 0 */
-        cfg.setRotorPosition(0);
+        cfg.setPosition(0);
     }
 
     /**
diff --git a/java/CommandBasedDrive/vendordeps/Phoenix6.json b/java/CommandBasedDrive/vendordeps/Phoenix6.json
index a5620fa9..1f9f4411 100644
--- a/java/CommandBasedDrive/vendordeps/Phoenix6.json
+++ b/java/CommandBasedDrive/vendordeps/Phoenix6.json
@@ -1,25 +1,32 @@
 {
     "fileName": "Phoenix6.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "23.2.2",
-    "frcYear": 2023,
+    "version": "24.0.0-beta-1",
+    "frcYear": 2024,
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2023-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
+    "conflictsWith": [
+        {
+            "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
+            "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
+            "offlineFileName": "Phoenix6And5.json"
+        }
+    ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "23.2.2"
+            "version": "24.0.0-beta-1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -32,7 +39,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -45,7 +52,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -58,7 +65,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -71,7 +78,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -84,7 +91,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -97,7 +104,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +117,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -123,7 +130,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -136,7 +143,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -151,7 +158,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -166,7 +173,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -181,7 +188,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -196,7 +203,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -211,7 +218,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -226,7 +233,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -241,7 +248,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -256,7 +263,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -271,7 +278,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -286,7 +293,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -301,7 +308,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -316,7 +323,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/java/CommandBasedDrive/vendordeps/WPILibNewCommands.json b/java/CommandBasedDrive/vendordeps/WPILibNewCommands.json
index da4bc529..67bf3898 100644
--- a/java/CommandBasedDrive/vendordeps/WPILibNewCommands.json
+++ b/java/CommandBasedDrive/vendordeps/WPILibNewCommands.json
@@ -1,37 +1,38 @@
-{
-  "fileName": "WPILibNewCommands.json",
-  "name": "WPILib-New-Commands",
-  "version": "1.0.0",
-  "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "mavenUrls": [],
-  "jsonUrl": "",
-  "javaDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-java",
-          "version": "wpilib"
-      }
-  ],
-  "jniDependencies": [],
-  "cppDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-cpp",
-          "version": "wpilib",
-          "libName": "wpilibNewCommands",
-          "headerClassifier": "headers",
-          "sourcesClassifier": "sources",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "linuxathena",
-              "linuxarm32",
-              "linuxarm64",
-              "windowsx86-64",
-              "windowsx86",
-              "linuxx86-64",
-              "osxuniversal"
-          ]
-      }
-  ]
-}
+{
+  "fileName": "WPILibNewCommands.json",
+  "name": "WPILib-New-Commands",
+  "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"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "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/java/CurrentLimits/.gitignore b/java/CurrentLimits/.gitignore
index 4b2a8965..3325f5c0 100644
--- a/java/CurrentLimits/.gitignore
+++ b/java/CurrentLimits/.gitignore
@@ -158,5 +158,15 @@ gradle-app.setting
 .settings/
 bin/
 
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
 # Simulation GUI and other tools window save file
 *-window.json
diff --git a/java/CurrentLimits/.wpilib/wpilib_preferences.json b/java/CurrentLimits/.wpilib/wpilib_preferences.json
index 6f4d9de6..cbe8abee 100644
--- a/java/CurrentLimits/.wpilib/wpilib_preferences.json
+++ b/java/CurrentLimits/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2023",
+    "projectYear": "2024beta",
     "teamNumber": 7762
 }
\ No newline at end of file
diff --git a/java/CurrentLimits/WPILib-License.md b/java/CurrentLimits/WPILib-License.md
index ba35a02c..84349440 100644
--- a/java/CurrentLimits/WPILib-License.md
+++ b/java/CurrentLimits/WPILib-License.md
@@ -1,4 +1,4 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2023 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
diff --git a/java/CurrentLimits/build.gradle b/java/CurrentLimits/build.gradle
index d2fd7514..359cf8ac 100644
--- a/java/CurrentLimits/build.gradle
+++ b/java/CurrentLimits/build.gradle
@@ -1,10 +1,12 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.4.3"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
 }
 
-sourceCompatibility = JavaVersion.VERSION_11
-targetCompatibility = JavaVersion.VERSION_11
+java {
+    sourceCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
+}
 
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
@@ -84,6 +86,7 @@ wpi.sim.addDriverstation()
 // knows where to look for our Robot Class.
 jar {
     from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+    from sourceSets.main.allSource
     manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
     duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }
diff --git a/java/CurrentLimits/gradle/wrapper/gradle-wrapper.jar b/java/CurrentLimits/gradle/wrapper/gradle-wrapper.jar
index 249e5832..7f93135c 100644
Binary files a/java/CurrentLimits/gradle/wrapper/gradle-wrapper.jar and b/java/CurrentLimits/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/java/CurrentLimits/gradle/wrapper/gradle-wrapper.properties b/java/CurrentLimits/gradle/wrapper/gradle-wrapper.properties
index 74147692..c5c27066 100644
--- a/java/CurrentLimits/gradle/wrapper/gradle-wrapper.properties
+++ b/java/CurrentLimits/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
diff --git a/java/CurrentLimits/gradlew b/java/CurrentLimits/gradlew
index a69d9cb6..1aa94a42 100644
--- a/java/CurrentLimits/gradlew
+++ b/java/CurrentLimits/gradlew
@@ -55,7 +55,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,13 +80,11 @@ do
     esac
 done
 
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-APP_NAME="Gradle"
+# This is normally unused
+# shellcheck disable=SC2034
 APP_BASE_NAME=${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" "-Xms64m"'
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -133,22 +131,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -193,11 +198,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
-#     shell script including quotes and variable substitutions, so put them in
-#     double quotes to make sure that they get re-expanded; and
-#   * put everything else in single quotes, so that it's not re-expanded.
+
+# 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" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
diff --git a/java/CurrentLimits/gradlew.bat b/java/CurrentLimits/gradlew.bat
index 53a6b238..6689b85b 100644
--- a/java/CurrentLimits/gradlew.bat
+++ b/java/CurrentLimits/gradlew.bat
@@ -26,6 +26,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
diff --git a/java/CurrentLimits/settings.gradle b/java/CurrentLimits/settings.gradle
index ae1af1c0..3e30f84f 100644
--- a/java/CurrentLimits/settings.gradle
+++ b/java/CurrentLimits/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')
@@ -25,3 +25,6 @@ pluginManagement {
         }
     }
 }
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
diff --git a/java/CurrentLimits/vendordeps/Phoenix6.json b/java/CurrentLimits/vendordeps/Phoenix6.json
index a5620fa9..1f9f4411 100644
--- a/java/CurrentLimits/vendordeps/Phoenix6.json
+++ b/java/CurrentLimits/vendordeps/Phoenix6.json
@@ -1,25 +1,32 @@
 {
     "fileName": "Phoenix6.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "23.2.2",
-    "frcYear": 2023,
+    "version": "24.0.0-beta-1",
+    "frcYear": 2024,
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2023-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
+    "conflictsWith": [
+        {
+            "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
+            "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
+            "offlineFileName": "Phoenix6And5.json"
+        }
+    ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "23.2.2"
+            "version": "24.0.0-beta-1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -32,7 +39,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -45,7 +52,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -58,7 +65,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -71,7 +78,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -84,7 +91,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -97,7 +104,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +117,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -123,7 +130,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -136,7 +143,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -151,7 +158,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -166,7 +173,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -181,7 +188,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -196,7 +203,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -211,7 +218,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -226,7 +233,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -241,7 +248,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -256,7 +263,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -271,7 +278,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -286,7 +293,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -301,7 +308,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -316,7 +323,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/java/CurrentLimits/vendordeps/WPILibNewCommands.json b/java/CurrentLimits/vendordeps/WPILibNewCommands.json
index bd535bfa..67bf3898 100644
--- a/java/CurrentLimits/vendordeps/WPILibNewCommands.json
+++ b/java/CurrentLimits/vendordeps/WPILibNewCommands.json
@@ -3,6 +3,7 @@
   "name": "WPILib-New-Commands",
   "version": "1.0.0",
   "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
+  "frcYear": "2024",
   "mavenUrls": [],
   "jsonUrl": "",
   "javaDependencies": [
diff --git a/java/Falcon500ArcadeDrive/.gitignore b/java/Falcon500ArcadeDrive/.gitignore
index 4b2a8965..3325f5c0 100644
--- a/java/Falcon500ArcadeDrive/.gitignore
+++ b/java/Falcon500ArcadeDrive/.gitignore
@@ -158,5 +158,15 @@ gradle-app.setting
 .settings/
 bin/
 
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
 # Simulation GUI and other tools window save file
 *-window.json
diff --git a/java/Falcon500ArcadeDrive/.wpilib/wpilib_preferences.json b/java/Falcon500ArcadeDrive/.wpilib/wpilib_preferences.json
index 49d7fc3c..cbe8abee 100644
--- a/java/Falcon500ArcadeDrive/.wpilib/wpilib_preferences.json
+++ b/java/Falcon500ArcadeDrive/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
-{
-    "enableCppIntellisense": false,
-    "currentLanguage": "java",
-    "projectYear": "2023",
-    "teamNumber": 7762
-}
+{
+    "enableCppIntellisense": false,
+    "currentLanguage": "java",
+    "projectYear": "2024beta",
+    "teamNumber": 7762
+}
\ No newline at end of file
diff --git a/java/Falcon500ArcadeDrive/WPILib-License.md b/java/Falcon500ArcadeDrive/WPILib-License.md
index ba35a02c..84349440 100644
--- a/java/Falcon500ArcadeDrive/WPILib-License.md
+++ b/java/Falcon500ArcadeDrive/WPILib-License.md
@@ -1,4 +1,4 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2023 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
diff --git a/java/Falcon500ArcadeDrive/build.gradle b/java/Falcon500ArcadeDrive/build.gradle
index d2fd7514..359cf8ac 100644
--- a/java/Falcon500ArcadeDrive/build.gradle
+++ b/java/Falcon500ArcadeDrive/build.gradle
@@ -1,10 +1,12 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.4.3"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
 }
 
-sourceCompatibility = JavaVersion.VERSION_11
-targetCompatibility = JavaVersion.VERSION_11
+java {
+    sourceCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
+}
 
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
@@ -84,6 +86,7 @@ wpi.sim.addDriverstation()
 // knows where to look for our Robot Class.
 jar {
     from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+    from sourceSets.main.allSource
     manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
     duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }
diff --git a/java/Falcon500ArcadeDrive/gradle/wrapper/gradle-wrapper.jar b/java/Falcon500ArcadeDrive/gradle/wrapper/gradle-wrapper.jar
index 249e5832..7f93135c 100644
Binary files a/java/Falcon500ArcadeDrive/gradle/wrapper/gradle-wrapper.jar and b/java/Falcon500ArcadeDrive/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/java/Falcon500ArcadeDrive/gradle/wrapper/gradle-wrapper.properties b/java/Falcon500ArcadeDrive/gradle/wrapper/gradle-wrapper.properties
index 74147692..c5c27066 100644
--- a/java/Falcon500ArcadeDrive/gradle/wrapper/gradle-wrapper.properties
+++ b/java/Falcon500ArcadeDrive/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
diff --git a/java/Falcon500ArcadeDrive/gradlew b/java/Falcon500ArcadeDrive/gradlew
index a69d9cb6..1aa94a42 100644
--- a/java/Falcon500ArcadeDrive/gradlew
+++ b/java/Falcon500ArcadeDrive/gradlew
@@ -55,7 +55,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,13 +80,11 @@ do
     esac
 done
 
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-APP_NAME="Gradle"
+# This is normally unused
+# shellcheck disable=SC2034
 APP_BASE_NAME=${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" "-Xms64m"'
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -133,22 +131,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -193,11 +198,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
-#     shell script including quotes and variable substitutions, so put them in
-#     double quotes to make sure that they get re-expanded; and
-#   * put everything else in single quotes, so that it's not re-expanded.
+
+# 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" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
diff --git a/java/Falcon500ArcadeDrive/gradlew.bat b/java/Falcon500ArcadeDrive/gradlew.bat
index 53a6b238..6689b85b 100644
--- a/java/Falcon500ArcadeDrive/gradlew.bat
+++ b/java/Falcon500ArcadeDrive/gradlew.bat
@@ -26,6 +26,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
diff --git a/java/Falcon500ArcadeDrive/settings.gradle b/java/Falcon500ArcadeDrive/settings.gradle
index ae1af1c0..3e30f84f 100644
--- a/java/Falcon500ArcadeDrive/settings.gradle
+++ b/java/Falcon500ArcadeDrive/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')
@@ -25,3 +25,6 @@ pluginManagement {
         }
     }
 }
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
diff --git a/java/Falcon500ArcadeDrive/vendordeps/Phoenix6.json b/java/Falcon500ArcadeDrive/vendordeps/Phoenix6.json
index a5620fa9..1f9f4411 100644
--- a/java/Falcon500ArcadeDrive/vendordeps/Phoenix6.json
+++ b/java/Falcon500ArcadeDrive/vendordeps/Phoenix6.json
@@ -1,25 +1,32 @@
 {
     "fileName": "Phoenix6.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "23.2.2",
-    "frcYear": 2023,
+    "version": "24.0.0-beta-1",
+    "frcYear": 2024,
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2023-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
+    "conflictsWith": [
+        {
+            "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
+            "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
+            "offlineFileName": "Phoenix6And5.json"
+        }
+    ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "23.2.2"
+            "version": "24.0.0-beta-1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -32,7 +39,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -45,7 +52,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -58,7 +65,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -71,7 +78,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -84,7 +91,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -97,7 +104,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +117,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -123,7 +130,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -136,7 +143,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -151,7 +158,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -166,7 +173,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -181,7 +188,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -196,7 +203,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -211,7 +218,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -226,7 +233,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -241,7 +248,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -256,7 +263,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -271,7 +278,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -286,7 +293,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -301,7 +308,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -316,7 +323,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/java/Falcon500ArcadeDrive/vendordeps/WPILibNewCommands.json b/java/Falcon500ArcadeDrive/vendordeps/WPILibNewCommands.json
index da4bc529..67bf3898 100644
--- a/java/Falcon500ArcadeDrive/vendordeps/WPILibNewCommands.json
+++ b/java/Falcon500ArcadeDrive/vendordeps/WPILibNewCommands.json
@@ -1,37 +1,38 @@
-{
-  "fileName": "WPILibNewCommands.json",
-  "name": "WPILib-New-Commands",
-  "version": "1.0.0",
-  "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "mavenUrls": [],
-  "jsonUrl": "",
-  "javaDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-java",
-          "version": "wpilib"
-      }
-  ],
-  "jniDependencies": [],
-  "cppDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-cpp",
-          "version": "wpilib",
-          "libName": "wpilibNewCommands",
-          "headerClassifier": "headers",
-          "sourcesClassifier": "sources",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "linuxathena",
-              "linuxarm32",
-              "linuxarm64",
-              "windowsx86-64",
-              "windowsx86",
-              "linuxx86-64",
-              "osxuniversal"
-          ]
-      }
-  ]
-}
+{
+  "fileName": "WPILibNewCommands.json",
+  "name": "WPILib-New-Commands",
+  "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"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "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/java/FusedCANcoder/.gitignore b/java/FusedCANcoder/.gitignore
index 4b2a8965..3325f5c0 100644
--- a/java/FusedCANcoder/.gitignore
+++ b/java/FusedCANcoder/.gitignore
@@ -158,5 +158,15 @@ gradle-app.setting
 .settings/
 bin/
 
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
 # Simulation GUI and other tools window save file
 *-window.json
diff --git a/java/FusedCANcoder/.wpilib/wpilib_preferences.json b/java/FusedCANcoder/.wpilib/wpilib_preferences.json
index 6f4d9de6..cbe8abee 100644
--- a/java/FusedCANcoder/.wpilib/wpilib_preferences.json
+++ b/java/FusedCANcoder/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2023",
+    "projectYear": "2024beta",
     "teamNumber": 7762
 }
\ No newline at end of file
diff --git a/java/FusedCANcoder/WPILib-License.md b/java/FusedCANcoder/WPILib-License.md
index ba35a02c..84349440 100644
--- a/java/FusedCANcoder/WPILib-License.md
+++ b/java/FusedCANcoder/WPILib-License.md
@@ -1,4 +1,4 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2023 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
diff --git a/java/FusedCANcoder/build.gradle b/java/FusedCANcoder/build.gradle
index d2fd7514..359cf8ac 100644
--- a/java/FusedCANcoder/build.gradle
+++ b/java/FusedCANcoder/build.gradle
@@ -1,10 +1,12 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.4.3"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
 }
 
-sourceCompatibility = JavaVersion.VERSION_11
-targetCompatibility = JavaVersion.VERSION_11
+java {
+    sourceCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
+}
 
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
@@ -84,6 +86,7 @@ wpi.sim.addDriverstation()
 // knows where to look for our Robot Class.
 jar {
     from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+    from sourceSets.main.allSource
     manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
     duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }
diff --git a/java/FusedCANcoder/gradle/wrapper/gradle-wrapper.jar b/java/FusedCANcoder/gradle/wrapper/gradle-wrapper.jar
index 249e5832..7f93135c 100644
Binary files a/java/FusedCANcoder/gradle/wrapper/gradle-wrapper.jar and b/java/FusedCANcoder/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/java/FusedCANcoder/gradle/wrapper/gradle-wrapper.properties b/java/FusedCANcoder/gradle/wrapper/gradle-wrapper.properties
index 74147692..c5c27066 100644
--- a/java/FusedCANcoder/gradle/wrapper/gradle-wrapper.properties
+++ b/java/FusedCANcoder/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
diff --git a/java/FusedCANcoder/gradlew b/java/FusedCANcoder/gradlew
index a69d9cb6..1aa94a42 100644
--- a/java/FusedCANcoder/gradlew
+++ b/java/FusedCANcoder/gradlew
@@ -55,7 +55,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,13 +80,11 @@ do
     esac
 done
 
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-APP_NAME="Gradle"
+# This is normally unused
+# shellcheck disable=SC2034
 APP_BASE_NAME=${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" "-Xms64m"'
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -133,22 +131,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -193,11 +198,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
-#     shell script including quotes and variable substitutions, so put them in
-#     double quotes to make sure that they get re-expanded; and
-#   * put everything else in single quotes, so that it's not re-expanded.
+
+# 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" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
diff --git a/java/FusedCANcoder/gradlew.bat b/java/FusedCANcoder/gradlew.bat
index 53a6b238..6689b85b 100644
--- a/java/FusedCANcoder/gradlew.bat
+++ b/java/FusedCANcoder/gradlew.bat
@@ -26,6 +26,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
diff --git a/java/FusedCANcoder/settings.gradle b/java/FusedCANcoder/settings.gradle
index ae1af1c0..3e30f84f 100644
--- a/java/FusedCANcoder/settings.gradle
+++ b/java/FusedCANcoder/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')
@@ -25,3 +25,6 @@ pluginManagement {
         }
     }
 }
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
diff --git a/java/FusedCANcoder/src/main/java/frc/robot/Robot.java b/java/FusedCANcoder/src/main/java/frc/robot/Robot.java
index 8e14d017..5c54bd29 100644
--- a/java/FusedCANcoder/src/main/java/frc/robot/Robot.java
+++ b/java/FusedCANcoder/src/main/java/frc/robot/Robot.java
@@ -28,8 +28,8 @@ public class Robot extends TimedRobot {
   CANcoder m_cc = new CANcoder(1, "fred");
   StatusSignal<Boolean> f_fusedSensorOutOfSync = m_fx.getFault_FusedSensorOutOfSync();
   StatusSignal<Boolean> sf_fusedSensorOutOfSync = m_fx.getStickyFault_FusedSensorOutOfSync();
-  StatusSignal<Boolean> f_missingRemoteSensor = m_fx.getFault_MissingRemoteSensor();
-  StatusSignal<Boolean> sf_missingRemoteSensor = m_fx.getStickyFault_MissingRemoteSensor();
+  StatusSignal<Boolean> f_remoteSensorInvalid = m_fx.getFault_RemoteSensorDataInvalid();
+  StatusSignal<Boolean> sf_remoteSensorInvalid = m_fx.getStickyFault_RemoteSensorDataInvalid();
 
   StatusSignal<Double> fx_pos = m_fx.getPosition();
   StatusSignal<Double> fx_vel = m_fx.getVelocity();
@@ -71,9 +71,9 @@ public void robotPeriodic() {
       // If any faults happen, print them out. Sticky faults will always be present if live-fault occurs
       f_fusedSensorOutOfSync.refresh();
       sf_fusedSensorOutOfSync.refresh();
-      f_missingRemoteSensor.refresh();
-      sf_missingRemoteSensor.refresh();
-      boolean anyFault = sf_fusedSensorOutOfSync.getValue() || sf_missingRemoteSensor.getValue();
+      f_remoteSensorInvalid.refresh();
+      sf_remoteSensorInvalid.refresh();
+      boolean anyFault = sf_fusedSensorOutOfSync.getValue() || sf_remoteSensorInvalid.getValue();
       if(anyFault) {
         System.out.println("A fault has occurred:");
         /* If we're live, indicate live, otherwise if we're sticky indicate sticky, otherwise do nothing */
@@ -83,9 +83,9 @@ public void robotPeriodic() {
           System.out.println("Fused sensor out of sync sticky-faulted");
         }
         /* If we're live, indicate live, otherwise if we're sticky indicate sticky, otherwise do nothing */
-        if(f_missingRemoteSensor.getValue()) {
+        if(f_remoteSensorInvalid.getValue()) {
           System.out.println("Missing remote sensor live-faulted");
-        } else if (sf_missingRemoteSensor.getValue()) {
+        } else if (sf_remoteSensorInvalid.getValue()) {
           System.out.println("Missing remote sensor sticky-faulted");
         }
       }
diff --git a/java/FusedCANcoder/src/test/java/FusedCANcoderTests.java b/java/FusedCANcoder/src/test/java/FusedCANcoderTests.java
index 94f596ce..2ddb1961 100644
--- a/java/FusedCANcoder/src/test/java/FusedCANcoderTests.java
+++ b/java/FusedCANcoder/src/test/java/FusedCANcoderTests.java
@@ -50,7 +50,7 @@ public void testIndividualPos() {
         /* Make sure both are initially set to 0 before messing with sim state */
         retryConfigApply(()->talonSimState.setRawRotorPosition(0));
         retryConfigApply(()->cancoderSimState.setRawPosition(0));
-        retryConfigApply(()->talon.setRotorPosition(0));
+        retryConfigApply(()->talon.setPosition(0));
         retryConfigApply(()->cancoder.setPosition(0));
         /* Wait for sets to take affect */
         BaseStatusSignal.waitForAll(1.0, talonPos, cancoderPos);
@@ -90,7 +90,7 @@ public void testFusedCANcoderPos() {
         /* Make sure both are initially set to 0 before messing with sim state */
         retryConfigApply(()->talonSimState.setRawRotorPosition(0));
         retryConfigApply(()->cancoderSimState.setRawPosition(0));
-        retryConfigApply(()->talon.setRotorPosition(0));
+        retryConfigApply(()->talon.setPosition(0));
         retryConfigApply(()->cancoder.setPosition(0));
         /* Wait for sets to take affect */
         BaseStatusSignal.waitForAll(1.0, talonPos, cancoderPos);
@@ -134,7 +134,7 @@ public void testRemoteCANcoderPos() {
         /* Make sure both are initially set to 0 before messing with sim state */
         retryConfigApply(()->talonSimState.setRawRotorPosition(0));
         retryConfigApply(()->cancoderSimState.setRawPosition(0));
-        retryConfigApply(()->talon.setRotorPosition(0));
+        retryConfigApply(()->talon.setPosition(0));
         retryConfigApply(()->cancoder.setPosition(0));
         /* Wait for sets to take affect */
         BaseStatusSignal.waitForAll(1.0, talonPos, cancoderPos);
diff --git a/java/FusedCANcoder/vendordeps/Phoenix6.json b/java/FusedCANcoder/vendordeps/Phoenix6.json
index a5620fa9..1f9f4411 100644
--- a/java/FusedCANcoder/vendordeps/Phoenix6.json
+++ b/java/FusedCANcoder/vendordeps/Phoenix6.json
@@ -1,25 +1,32 @@
 {
     "fileName": "Phoenix6.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "23.2.2",
-    "frcYear": 2023,
+    "version": "24.0.0-beta-1",
+    "frcYear": 2024,
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2023-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
+    "conflictsWith": [
+        {
+            "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
+            "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
+            "offlineFileName": "Phoenix6And5.json"
+        }
+    ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "23.2.2"
+            "version": "24.0.0-beta-1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -32,7 +39,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -45,7 +52,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -58,7 +65,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -71,7 +78,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -84,7 +91,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -97,7 +104,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +117,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -123,7 +130,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -136,7 +143,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -151,7 +158,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -166,7 +173,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -181,7 +188,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -196,7 +203,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -211,7 +218,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -226,7 +233,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -241,7 +248,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -256,7 +263,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -271,7 +278,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -286,7 +293,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -301,7 +308,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -316,7 +323,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/java/FusedCANcoder/vendordeps/WPILibNewCommands.json b/java/FusedCANcoder/vendordeps/WPILibNewCommands.json
index da4bc529..67bf3898 100644
--- a/java/FusedCANcoder/vendordeps/WPILibNewCommands.json
+++ b/java/FusedCANcoder/vendordeps/WPILibNewCommands.json
@@ -1,37 +1,38 @@
-{
-  "fileName": "WPILibNewCommands.json",
-  "name": "WPILib-New-Commands",
-  "version": "1.0.0",
-  "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "mavenUrls": [],
-  "jsonUrl": "",
-  "javaDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-java",
-          "version": "wpilib"
-      }
-  ],
-  "jniDependencies": [],
-  "cppDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-cpp",
-          "version": "wpilib",
-          "libName": "wpilibNewCommands",
-          "headerClassifier": "headers",
-          "sourcesClassifier": "sources",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "linuxathena",
-              "linuxarm32",
-              "linuxarm64",
-              "windowsx86-64",
-              "windowsx86",
-              "linuxx86-64",
-              "osxuniversal"
-          ]
-      }
-  ]
-}
+{
+  "fileName": "WPILibNewCommands.json",
+  "name": "WPILib-New-Commands",
+  "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"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "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/java/MotionMagic/.gitignore b/java/MotionMagic/.gitignore
index 4b2a8965..3325f5c0 100644
--- a/java/MotionMagic/.gitignore
+++ b/java/MotionMagic/.gitignore
@@ -158,5 +158,15 @@ gradle-app.setting
 .settings/
 bin/
 
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
 # Simulation GUI and other tools window save file
 *-window.json
diff --git a/java/MotionMagic/.wpilib/wpilib_preferences.json b/java/MotionMagic/.wpilib/wpilib_preferences.json
index 6f4d9de6..cbe8abee 100644
--- a/java/MotionMagic/.wpilib/wpilib_preferences.json
+++ b/java/MotionMagic/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2023",
+    "projectYear": "2024beta",
     "teamNumber": 7762
 }
\ No newline at end of file
diff --git a/java/MotionMagic/WPILib-License.md b/java/MotionMagic/WPILib-License.md
index ba35a02c..84349440 100644
--- a/java/MotionMagic/WPILib-License.md
+++ b/java/MotionMagic/WPILib-License.md
@@ -1,4 +1,4 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2023 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
diff --git a/java/MotionMagic/build.gradle b/java/MotionMagic/build.gradle
index d2fd7514..359cf8ac 100644
--- a/java/MotionMagic/build.gradle
+++ b/java/MotionMagic/build.gradle
@@ -1,10 +1,12 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.4.3"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
 }
 
-sourceCompatibility = JavaVersion.VERSION_11
-targetCompatibility = JavaVersion.VERSION_11
+java {
+    sourceCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
+}
 
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
@@ -84,6 +86,7 @@ wpi.sim.addDriverstation()
 // knows where to look for our Robot Class.
 jar {
     from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+    from sourceSets.main.allSource
     manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
     duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }
diff --git a/java/MotionMagic/gradle/wrapper/gradle-wrapper.jar b/java/MotionMagic/gradle/wrapper/gradle-wrapper.jar
index 249e5832..7f93135c 100644
Binary files a/java/MotionMagic/gradle/wrapper/gradle-wrapper.jar and b/java/MotionMagic/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/java/MotionMagic/gradle/wrapper/gradle-wrapper.properties b/java/MotionMagic/gradle/wrapper/gradle-wrapper.properties
index 74147692..c5c27066 100644
--- a/java/MotionMagic/gradle/wrapper/gradle-wrapper.properties
+++ b/java/MotionMagic/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
diff --git a/java/MotionMagic/gradlew b/java/MotionMagic/gradlew
index a69d9cb6..1aa94a42 100644
--- a/java/MotionMagic/gradlew
+++ b/java/MotionMagic/gradlew
@@ -55,7 +55,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,13 +80,11 @@ do
     esac
 done
 
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-APP_NAME="Gradle"
+# This is normally unused
+# shellcheck disable=SC2034
 APP_BASE_NAME=${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" "-Xms64m"'
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -133,22 +131,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -193,11 +198,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
-#     shell script including quotes and variable substitutions, so put them in
-#     double quotes to make sure that they get re-expanded; and
-#   * put everything else in single quotes, so that it's not re-expanded.
+
+# 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" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
diff --git a/java/MotionMagic/gradlew.bat b/java/MotionMagic/gradlew.bat
index 53a6b238..6689b85b 100644
--- a/java/MotionMagic/gradlew.bat
+++ b/java/MotionMagic/gradlew.bat
@@ -26,6 +26,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
diff --git a/java/MotionMagic/settings.gradle b/java/MotionMagic/settings.gradle
index ae1af1c0..3e30f84f 100644
--- a/java/MotionMagic/settings.gradle
+++ b/java/MotionMagic/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')
@@ -25,3 +25,6 @@ pluginManagement {
         }
     }
 }
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
diff --git a/java/MotionMagic/src/main/java/frc/robot/Robot.java b/java/MotionMagic/src/main/java/frc/robot/Robot.java
index db28b0f4..b56a67f7 100644
--- a/java/MotionMagic/src/main/java/frc/robot/Robot.java
+++ b/java/MotionMagic/src/main/java/frc/robot/Robot.java
@@ -103,7 +103,7 @@ public void teleopPeriodic() {
 
     m_motor.setControl(m_mmReq.withPosition(leftY * 10).withSlot(0));
     if(m_joystick.getBButton()) {
-      m_motor.setRotorPosition(1);
+      m_motor.setPosition(1);
     }
   }
 
diff --git a/java/MotionMagic/vendordeps/Phoenix6.json b/java/MotionMagic/vendordeps/Phoenix6.json
index a5620fa9..1f9f4411 100644
--- a/java/MotionMagic/vendordeps/Phoenix6.json
+++ b/java/MotionMagic/vendordeps/Phoenix6.json
@@ -1,25 +1,32 @@
 {
     "fileName": "Phoenix6.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "23.2.2",
-    "frcYear": 2023,
+    "version": "24.0.0-beta-1",
+    "frcYear": 2024,
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2023-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
+    "conflictsWith": [
+        {
+            "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
+            "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
+            "offlineFileName": "Phoenix6And5.json"
+        }
+    ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "23.2.2"
+            "version": "24.0.0-beta-1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -32,7 +39,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -45,7 +52,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -58,7 +65,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -71,7 +78,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -84,7 +91,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -97,7 +104,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +117,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -123,7 +130,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -136,7 +143,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -151,7 +158,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -166,7 +173,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -181,7 +188,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -196,7 +203,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -211,7 +218,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -226,7 +233,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -241,7 +248,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -256,7 +263,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -271,7 +278,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -286,7 +293,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -301,7 +308,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -316,7 +323,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/java/MotionMagic/vendordeps/WPILibNewCommands.json b/java/MotionMagic/vendordeps/WPILibNewCommands.json
index da4bc529..67bf3898 100644
--- a/java/MotionMagic/vendordeps/WPILibNewCommands.json
+++ b/java/MotionMagic/vendordeps/WPILibNewCommands.json
@@ -1,37 +1,38 @@
-{
-  "fileName": "WPILibNewCommands.json",
-  "name": "WPILib-New-Commands",
-  "version": "1.0.0",
-  "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "mavenUrls": [],
-  "jsonUrl": "",
-  "javaDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-java",
-          "version": "wpilib"
-      }
-  ],
-  "jniDependencies": [],
-  "cppDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-cpp",
-          "version": "wpilib",
-          "libName": "wpilibNewCommands",
-          "headerClassifier": "headers",
-          "sourcesClassifier": "sources",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "linuxathena",
-              "linuxarm32",
-              "linuxarm64",
-              "windowsx86-64",
-              "windowsx86",
-              "linuxx86-64",
-              "osxuniversal"
-          ]
-      }
-  ]
-}
+{
+  "fileName": "WPILibNewCommands.json",
+  "name": "WPILib-New-Commands",
+  "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"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "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/java/Pigeon2/.gitignore b/java/Pigeon2/.gitignore
index 4b2a8965..3325f5c0 100644
--- a/java/Pigeon2/.gitignore
+++ b/java/Pigeon2/.gitignore
@@ -158,5 +158,15 @@ gradle-app.setting
 .settings/
 bin/
 
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
 # Simulation GUI and other tools window save file
 *-window.json
diff --git a/java/Pigeon2/.wpilib/wpilib_preferences.json b/java/Pigeon2/.wpilib/wpilib_preferences.json
index 49d7fc3c..cbe8abee 100644
--- a/java/Pigeon2/.wpilib/wpilib_preferences.json
+++ b/java/Pigeon2/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
-{
-    "enableCppIntellisense": false,
-    "currentLanguage": "java",
-    "projectYear": "2023",
-    "teamNumber": 7762
-}
+{
+    "enableCppIntellisense": false,
+    "currentLanguage": "java",
+    "projectYear": "2024beta",
+    "teamNumber": 7762
+}
\ No newline at end of file
diff --git a/java/Pigeon2/WPILib-License.md b/java/Pigeon2/WPILib-License.md
index ba35a02c..84349440 100644
--- a/java/Pigeon2/WPILib-License.md
+++ b/java/Pigeon2/WPILib-License.md
@@ -1,4 +1,4 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2023 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
diff --git a/java/Pigeon2/build.gradle b/java/Pigeon2/build.gradle
index d2fd7514..359cf8ac 100644
--- a/java/Pigeon2/build.gradle
+++ b/java/Pigeon2/build.gradle
@@ -1,10 +1,12 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.4.3"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
 }
 
-sourceCompatibility = JavaVersion.VERSION_11
-targetCompatibility = JavaVersion.VERSION_11
+java {
+    sourceCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
+}
 
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
@@ -84,6 +86,7 @@ wpi.sim.addDriverstation()
 // knows where to look for our Robot Class.
 jar {
     from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+    from sourceSets.main.allSource
     manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
     duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }
diff --git a/java/Pigeon2/gradle/wrapper/gradle-wrapper.jar b/java/Pigeon2/gradle/wrapper/gradle-wrapper.jar
index 249e5832..7f93135c 100644
Binary files a/java/Pigeon2/gradle/wrapper/gradle-wrapper.jar and b/java/Pigeon2/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/java/Pigeon2/gradle/wrapper/gradle-wrapper.properties b/java/Pigeon2/gradle/wrapper/gradle-wrapper.properties
index 74147692..c5c27066 100644
--- a/java/Pigeon2/gradle/wrapper/gradle-wrapper.properties
+++ b/java/Pigeon2/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
diff --git a/java/Pigeon2/gradlew b/java/Pigeon2/gradlew
index a69d9cb6..1aa94a42 100644
--- a/java/Pigeon2/gradlew
+++ b/java/Pigeon2/gradlew
@@ -55,7 +55,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,13 +80,11 @@ do
     esac
 done
 
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-APP_NAME="Gradle"
+# This is normally unused
+# shellcheck disable=SC2034
 APP_BASE_NAME=${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" "-Xms64m"'
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -133,22 +131,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -193,11 +198,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
-#     shell script including quotes and variable substitutions, so put them in
-#     double quotes to make sure that they get re-expanded; and
-#   * put everything else in single quotes, so that it's not re-expanded.
+
+# 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" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
diff --git a/java/Pigeon2/gradlew.bat b/java/Pigeon2/gradlew.bat
index 53a6b238..6689b85b 100644
--- a/java/Pigeon2/gradlew.bat
+++ b/java/Pigeon2/gradlew.bat
@@ -26,6 +26,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
diff --git a/java/Pigeon2/settings.gradle b/java/Pigeon2/settings.gradle
index ae1af1c0..3e30f84f 100644
--- a/java/Pigeon2/settings.gradle
+++ b/java/Pigeon2/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')
@@ -25,3 +25,6 @@ pluginManagement {
         }
     }
 }
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
diff --git a/java/Pigeon2/vendordeps/Phoenix6.json b/java/Pigeon2/vendordeps/Phoenix6.json
index a5620fa9..1f9f4411 100644
--- a/java/Pigeon2/vendordeps/Phoenix6.json
+++ b/java/Pigeon2/vendordeps/Phoenix6.json
@@ -1,25 +1,32 @@
 {
     "fileName": "Phoenix6.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "23.2.2",
-    "frcYear": 2023,
+    "version": "24.0.0-beta-1",
+    "frcYear": 2024,
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2023-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
+    "conflictsWith": [
+        {
+            "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
+            "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
+            "offlineFileName": "Phoenix6And5.json"
+        }
+    ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "23.2.2"
+            "version": "24.0.0-beta-1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -32,7 +39,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -45,7 +52,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -58,7 +65,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -71,7 +78,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -84,7 +91,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -97,7 +104,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +117,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -123,7 +130,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -136,7 +143,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -151,7 +158,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -166,7 +173,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -181,7 +188,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -196,7 +203,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -211,7 +218,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -226,7 +233,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -241,7 +248,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -256,7 +263,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -271,7 +278,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -286,7 +293,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -301,7 +308,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -316,7 +323,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/java/Pigeon2/vendordeps/WPILibNewCommands.json b/java/Pigeon2/vendordeps/WPILibNewCommands.json
index da4bc529..67bf3898 100644
--- a/java/Pigeon2/vendordeps/WPILibNewCommands.json
+++ b/java/Pigeon2/vendordeps/WPILibNewCommands.json
@@ -1,37 +1,38 @@
-{
-  "fileName": "WPILibNewCommands.json",
-  "name": "WPILib-New-Commands",
-  "version": "1.0.0",
-  "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "mavenUrls": [],
-  "jsonUrl": "",
-  "javaDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-java",
-          "version": "wpilib"
-      }
-  ],
-  "jniDependencies": [],
-  "cppDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-cpp",
-          "version": "wpilib",
-          "libName": "wpilibNewCommands",
-          "headerClassifier": "headers",
-          "sourcesClassifier": "sources",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "linuxathena",
-              "linuxarm32",
-              "linuxarm64",
-              "windowsx86-64",
-              "windowsx86",
-              "linuxx86-64",
-              "osxuniversal"
-          ]
-      }
-  ]
-}
+{
+  "fileName": "WPILibNewCommands.json",
+  "name": "WPILib-New-Commands",
+  "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"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "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/java/PositionClosedLoop/.gitignore b/java/PositionClosedLoop/.gitignore
index 4b2a8965..3325f5c0 100644
--- a/java/PositionClosedLoop/.gitignore
+++ b/java/PositionClosedLoop/.gitignore
@@ -158,5 +158,15 @@ gradle-app.setting
 .settings/
 bin/
 
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
 # Simulation GUI and other tools window save file
 *-window.json
diff --git a/java/PositionClosedLoop/.wpilib/wpilib_preferences.json b/java/PositionClosedLoop/.wpilib/wpilib_preferences.json
index 49d7fc3c..cbe8abee 100644
--- a/java/PositionClosedLoop/.wpilib/wpilib_preferences.json
+++ b/java/PositionClosedLoop/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
-{
-    "enableCppIntellisense": false,
-    "currentLanguage": "java",
-    "projectYear": "2023",
-    "teamNumber": 7762
-}
+{
+    "enableCppIntellisense": false,
+    "currentLanguage": "java",
+    "projectYear": "2024beta",
+    "teamNumber": 7762
+}
\ No newline at end of file
diff --git a/java/PositionClosedLoop/WPILib-License.md b/java/PositionClosedLoop/WPILib-License.md
index ba35a02c..84349440 100644
--- a/java/PositionClosedLoop/WPILib-License.md
+++ b/java/PositionClosedLoop/WPILib-License.md
@@ -1,4 +1,4 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2023 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
diff --git a/java/PositionClosedLoop/build.gradle b/java/PositionClosedLoop/build.gradle
index d2fd7514..359cf8ac 100644
--- a/java/PositionClosedLoop/build.gradle
+++ b/java/PositionClosedLoop/build.gradle
@@ -1,10 +1,12 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.4.3"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
 }
 
-sourceCompatibility = JavaVersion.VERSION_11
-targetCompatibility = JavaVersion.VERSION_11
+java {
+    sourceCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
+}
 
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
@@ -84,6 +86,7 @@ wpi.sim.addDriverstation()
 // knows where to look for our Robot Class.
 jar {
     from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+    from sourceSets.main.allSource
     manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
     duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }
diff --git a/java/PositionClosedLoop/gradle/wrapper/gradle-wrapper.jar b/java/PositionClosedLoop/gradle/wrapper/gradle-wrapper.jar
index 249e5832..7f93135c 100644
Binary files a/java/PositionClosedLoop/gradle/wrapper/gradle-wrapper.jar and b/java/PositionClosedLoop/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/java/PositionClosedLoop/gradle/wrapper/gradle-wrapper.properties b/java/PositionClosedLoop/gradle/wrapper/gradle-wrapper.properties
index 74147692..c5c27066 100644
--- a/java/PositionClosedLoop/gradle/wrapper/gradle-wrapper.properties
+++ b/java/PositionClosedLoop/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
diff --git a/java/PositionClosedLoop/gradlew b/java/PositionClosedLoop/gradlew
index a69d9cb6..1aa94a42 100644
--- a/java/PositionClosedLoop/gradlew
+++ b/java/PositionClosedLoop/gradlew
@@ -55,7 +55,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,13 +80,11 @@ do
     esac
 done
 
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-APP_NAME="Gradle"
+# This is normally unused
+# shellcheck disable=SC2034
 APP_BASE_NAME=${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" "-Xms64m"'
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -133,22 +131,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -193,11 +198,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
-#     shell script including quotes and variable substitutions, so put them in
-#     double quotes to make sure that they get re-expanded; and
-#   * put everything else in single quotes, so that it's not re-expanded.
+
+# 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" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
diff --git a/java/PositionClosedLoop/gradlew.bat b/java/PositionClosedLoop/gradlew.bat
index 53a6b238..6689b85b 100644
--- a/java/PositionClosedLoop/gradlew.bat
+++ b/java/PositionClosedLoop/gradlew.bat
@@ -26,6 +26,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
diff --git a/java/PositionClosedLoop/settings.gradle b/java/PositionClosedLoop/settings.gradle
index ae1af1c0..3e30f84f 100644
--- a/java/PositionClosedLoop/settings.gradle
+++ b/java/PositionClosedLoop/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')
@@ -25,3 +25,6 @@ pluginManagement {
         }
     }
 }
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
diff --git a/java/PositionClosedLoop/src/main/java/frc/robot/Robot.java b/java/PositionClosedLoop/src/main/java/frc/robot/Robot.java
index 7d7700ff..847e6eb3 100644
--- a/java/PositionClosedLoop/src/main/java/frc/robot/Robot.java
+++ b/java/PositionClosedLoop/src/main/java/frc/robot/Robot.java
@@ -25,9 +25,9 @@ public class Robot extends TimedRobot {
   
   /* Be able to switch which control request to use based on a button press */
   /* Start at position 0, enable FOC, no feed forward, use slot 0 */
-  private final PositionVoltage m_voltagePosition = new PositionVoltage(0, true, 0, 0, false);
+  private final PositionVoltage m_voltagePosition = new PositionVoltage(0, 0, true, 0, 0, false);
   /* Start at position 0, no feed forward, use slot 1 */
-  private final PositionTorqueCurrentFOC m_torquePosition = new PositionTorqueCurrentFOC(0, 0, 1, false);
+  private final PositionTorqueCurrentFOC m_torquePosition = new PositionTorqueCurrentFOC(0, 0, 0, 1, false);
   /* Keep a brake request so we can disable the motor */
   private final NeutralOut m_brake = new NeutralOut();
 
@@ -63,7 +63,7 @@ public void robotInit() {
     }
 
     /* Make sure we start at 0 */
-    m_fx.setRotorPosition(0);
+    m_fx.setPosition(0);
   }
 
   @Override
diff --git a/java/PositionClosedLoop/vendordeps/Phoenix6.json b/java/PositionClosedLoop/vendordeps/Phoenix6.json
index a5620fa9..1f9f4411 100644
--- a/java/PositionClosedLoop/vendordeps/Phoenix6.json
+++ b/java/PositionClosedLoop/vendordeps/Phoenix6.json
@@ -1,25 +1,32 @@
 {
     "fileName": "Phoenix6.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "23.2.2",
-    "frcYear": 2023,
+    "version": "24.0.0-beta-1",
+    "frcYear": 2024,
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2023-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
+    "conflictsWith": [
+        {
+            "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
+            "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
+            "offlineFileName": "Phoenix6And5.json"
+        }
+    ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "23.2.2"
+            "version": "24.0.0-beta-1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -32,7 +39,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -45,7 +52,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -58,7 +65,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -71,7 +78,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -84,7 +91,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -97,7 +104,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +117,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -123,7 +130,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -136,7 +143,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -151,7 +158,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -166,7 +173,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -181,7 +188,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -196,7 +203,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -211,7 +218,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -226,7 +233,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -241,7 +248,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -256,7 +263,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -271,7 +278,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -286,7 +293,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -301,7 +308,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -316,7 +323,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/java/PositionClosedLoop/vendordeps/WPILibNewCommands.json b/java/PositionClosedLoop/vendordeps/WPILibNewCommands.json
index da4bc529..67bf3898 100644
--- a/java/PositionClosedLoop/vendordeps/WPILibNewCommands.json
+++ b/java/PositionClosedLoop/vendordeps/WPILibNewCommands.json
@@ -1,37 +1,38 @@
-{
-  "fileName": "WPILibNewCommands.json",
-  "name": "WPILib-New-Commands",
-  "version": "1.0.0",
-  "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "mavenUrls": [],
-  "jsonUrl": "",
-  "javaDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-java",
-          "version": "wpilib"
-      }
-  ],
-  "jniDependencies": [],
-  "cppDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-cpp",
-          "version": "wpilib",
-          "libName": "wpilibNewCommands",
-          "headerClassifier": "headers",
-          "sourcesClassifier": "sources",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "linuxathena",
-              "linuxarm32",
-              "linuxarm64",
-              "windowsx86-64",
-              "windowsx86",
-              "linuxx86-64",
-              "osxuniversal"
-          ]
-      }
-  ]
-}
+{
+  "fileName": "WPILibNewCommands.json",
+  "name": "WPILib-New-Commands",
+  "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"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "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/java/Simulation/.gitignore b/java/Simulation/.gitignore
index 4b2a8965..3325f5c0 100644
--- a/java/Simulation/.gitignore
+++ b/java/Simulation/.gitignore
@@ -158,5 +158,15 @@ gradle-app.setting
 .settings/
 bin/
 
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
 # Simulation GUI and other tools window save file
 *-window.json
diff --git a/java/Simulation/.wpilib/wpilib_preferences.json b/java/Simulation/.wpilib/wpilib_preferences.json
index 49d7fc3c..cbe8abee 100644
--- a/java/Simulation/.wpilib/wpilib_preferences.json
+++ b/java/Simulation/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
-{
-    "enableCppIntellisense": false,
-    "currentLanguage": "java",
-    "projectYear": "2023",
-    "teamNumber": 7762
-}
+{
+    "enableCppIntellisense": false,
+    "currentLanguage": "java",
+    "projectYear": "2024beta",
+    "teamNumber": 7762
+}
\ No newline at end of file
diff --git a/java/Simulation/WPILib-License.md b/java/Simulation/WPILib-License.md
index ba35a02c..84349440 100644
--- a/java/Simulation/WPILib-License.md
+++ b/java/Simulation/WPILib-License.md
@@ -1,4 +1,4 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2023 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
diff --git a/java/Simulation/build.gradle b/java/Simulation/build.gradle
index d2fd7514..359cf8ac 100644
--- a/java/Simulation/build.gradle
+++ b/java/Simulation/build.gradle
@@ -1,10 +1,12 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.4.3"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
 }
 
-sourceCompatibility = JavaVersion.VERSION_11
-targetCompatibility = JavaVersion.VERSION_11
+java {
+    sourceCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
+}
 
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
@@ -84,6 +86,7 @@ wpi.sim.addDriverstation()
 // knows where to look for our Robot Class.
 jar {
     from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+    from sourceSets.main.allSource
     manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
     duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }
diff --git a/java/Simulation/gradle/wrapper/gradle-wrapper.jar b/java/Simulation/gradle/wrapper/gradle-wrapper.jar
index 249e5832..7f93135c 100644
Binary files a/java/Simulation/gradle/wrapper/gradle-wrapper.jar and b/java/Simulation/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/java/Simulation/gradle/wrapper/gradle-wrapper.properties b/java/Simulation/gradle/wrapper/gradle-wrapper.properties
index 74147692..c5c27066 100644
--- a/java/Simulation/gradle/wrapper/gradle-wrapper.properties
+++ b/java/Simulation/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
diff --git a/java/Simulation/gradlew b/java/Simulation/gradlew
index a69d9cb6..1aa94a42 100644
--- a/java/Simulation/gradlew
+++ b/java/Simulation/gradlew
@@ -55,7 +55,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,13 +80,11 @@ do
     esac
 done
 
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-APP_NAME="Gradle"
+# This is normally unused
+# shellcheck disable=SC2034
 APP_BASE_NAME=${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" "-Xms64m"'
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -133,22 +131,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -193,11 +198,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
-#     shell script including quotes and variable substitutions, so put them in
-#     double quotes to make sure that they get re-expanded; and
-#   * put everything else in single quotes, so that it's not re-expanded.
+
+# 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" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
diff --git a/java/Simulation/gradlew.bat b/java/Simulation/gradlew.bat
index 53a6b238..6689b85b 100644
--- a/java/Simulation/gradlew.bat
+++ b/java/Simulation/gradlew.bat
@@ -26,6 +26,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
diff --git a/java/Simulation/settings.gradle b/java/Simulation/settings.gradle
index ae1af1c0..3e30f84f 100644
--- a/java/Simulation/settings.gradle
+++ b/java/Simulation/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')
@@ -25,3 +25,6 @@ pluginManagement {
         }
     }
 }
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
diff --git a/java/Simulation/vendordeps/Phoenix6.json b/java/Simulation/vendordeps/Phoenix6.json
index a5620fa9..1f9f4411 100644
--- a/java/Simulation/vendordeps/Phoenix6.json
+++ b/java/Simulation/vendordeps/Phoenix6.json
@@ -1,25 +1,32 @@
 {
     "fileName": "Phoenix6.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "23.2.2",
-    "frcYear": 2023,
+    "version": "24.0.0-beta-1",
+    "frcYear": 2024,
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2023-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
+    "conflictsWith": [
+        {
+            "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
+            "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
+            "offlineFileName": "Phoenix6And5.json"
+        }
+    ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "23.2.2"
+            "version": "24.0.0-beta-1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -32,7 +39,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -45,7 +52,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -58,7 +65,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -71,7 +78,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -84,7 +91,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -97,7 +104,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +117,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -123,7 +130,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -136,7 +143,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -151,7 +158,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -166,7 +173,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -181,7 +188,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -196,7 +203,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -211,7 +218,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -226,7 +233,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -241,7 +248,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -256,7 +263,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -271,7 +278,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -286,7 +293,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -301,7 +308,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -316,7 +323,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/java/Simulation/vendordeps/WPILibNewCommands.json b/java/Simulation/vendordeps/WPILibNewCommands.json
index da4bc529..67bf3898 100644
--- a/java/Simulation/vendordeps/WPILibNewCommands.json
+++ b/java/Simulation/vendordeps/WPILibNewCommands.json
@@ -1,37 +1,38 @@
-{
-  "fileName": "WPILibNewCommands.json",
-  "name": "WPILib-New-Commands",
-  "version": "1.0.0",
-  "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "mavenUrls": [],
-  "jsonUrl": "",
-  "javaDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-java",
-          "version": "wpilib"
-      }
-  ],
-  "jniDependencies": [],
-  "cppDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-cpp",
-          "version": "wpilib",
-          "libName": "wpilibNewCommands",
-          "headerClassifier": "headers",
-          "sourcesClassifier": "sources",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "linuxathena",
-              "linuxarm32",
-              "linuxarm64",
-              "windowsx86-64",
-              "windowsx86",
-              "linuxx86-64",
-              "osxuniversal"
-          ]
-      }
-  ]
-}
+{
+  "fileName": "WPILibNewCommands.json",
+  "name": "WPILib-New-Commands",
+  "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"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "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/java/SwerveWithPathPlanner/.gitignore b/java/SwerveWithPathPlanner/.gitignore
index afd0d4e2..e6c427e5 100644
--- a/java/SwerveWithPathPlanner/.gitignore
+++ b/java/SwerveWithPathPlanner/.gitignore
@@ -158,8 +158,17 @@ gradle-app.setting
 .settings/
 bin/
 
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
 # Simulation GUI and other tools window save file
 *-window.json
 
-
-ctre_sim/
\ No newline at end of file
+ctre_sim/
diff --git a/java/SwerveWithPathPlanner/.vscode/launch.json b/java/SwerveWithPathPlanner/.vscode/launch.json
new file mode 100644
index 00000000..c9c9713d
--- /dev/null
+++ b/java/SwerveWithPathPlanner/.vscode/launch.json
@@ -0,0 +1,21 @@
+{
+  // Use IntelliSense to learn about possible attributes.
+  // Hover to view descriptions of existing attributes.
+  // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+  "version": "0.2.0",
+  "configurations": [
+
+    {
+      "type": "wpilib",
+      "name": "WPILib Desktop Debug",
+      "request": "launch",
+      "desktop": true,
+    },
+    {
+      "type": "wpilib",
+      "name": "WPILib roboRIO Debug",
+      "request": "launch",
+      "desktop": false,
+    }
+  ]
+}
diff --git a/java/SwerveWithPathPlanner/.vscode/settings.json b/java/SwerveWithPathPlanner/.vscode/settings.json
new file mode 100644
index 00000000..4ed293b7
--- /dev/null
+++ b/java/SwerveWithPathPlanner/.vscode/settings.json
@@ -0,0 +1,29 @@
+{
+  "java.configuration.updateBuildConfiguration": "automatic",
+  "java.server.launchMode": "Standard",
+  "files.exclude": {
+    "**/.git": true,
+    "**/.svn": true,
+    "**/.hg": true,
+    "**/CVS": true,
+    "**/.DS_Store": true,
+    "bin/": true,
+    "**/.classpath": true,
+    "**/.project": true,
+    "**/.settings": true,
+    "**/.factorypath": true,
+    "**/*~": true
+  },
+  "java.test.config": [
+    {
+      "name": "WPIlibUnitTests",
+      "workingDirectory": "${workspaceFolder}/build/jni/release",
+      "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ],
+      "env": {
+        "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" ,
+        "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release"
+      }
+    },
+  ],
+  "java.test.defaultConfig": "WPIlibUnitTests"
+}
diff --git a/java/SwerveWithPathPlanner/.wpilib/wpilib_preferences.json b/java/SwerveWithPathPlanner/.wpilib/wpilib_preferences.json
index 6f4d9de6..cbe8abee 100644
--- a/java/SwerveWithPathPlanner/.wpilib/wpilib_preferences.json
+++ b/java/SwerveWithPathPlanner/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2023",
+    "projectYear": "2024beta",
     "teamNumber": 7762
 }
\ No newline at end of file
diff --git a/java/SwerveWithPathPlanner/WPILib-License.md b/java/SwerveWithPathPlanner/WPILib-License.md
index 3d5a824c..43b62ec2 100644
--- a/java/SwerveWithPathPlanner/WPILib-License.md
+++ b/java/SwerveWithPathPlanner/WPILib-License.md
@@ -1,4 +1,4 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2023 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
diff --git a/java/SwerveWithPathPlanner/build.gradle b/java/SwerveWithPathPlanner/build.gradle
index b3109acc..94b78617 100644
--- a/java/SwerveWithPathPlanner/build.gradle
+++ b/java/SwerveWithPathPlanner/build.gradle
@@ -1,10 +1,12 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.4.3"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
 }
 
-sourceCompatibility = JavaVersion.VERSION_11
-targetCompatibility = JavaVersion.VERSION_11
+java {
+    sourceCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
+}
 
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
@@ -13,6 +15,7 @@ def ROBOT_MAIN_CLASS = "frc.robot.Main"
 deploy {
     targets {
         roborio(getTargetTypeClass('RoboRIO')) {
+            checkImage = false
             // Team number is loaded either from the .wpilib/wpilib_preferences.json
             // or from command line. If not found an exception will be thrown.
             // You can use getTeamOrDefault(team) instead of getTeamNumber if you
@@ -84,6 +87,7 @@ wpi.sim.addDriverstation()
 // knows where to look for our Robot Class.
 jar {
     from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+    from sourceSets.main.allSource
     manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
     duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }
diff --git a/java/SwerveWithPathPlanner/gradle/wrapper/gradle-wrapper.jar b/java/SwerveWithPathPlanner/gradle/wrapper/gradle-wrapper.jar
index 249e5832..7f93135c 100644
Binary files a/java/SwerveWithPathPlanner/gradle/wrapper/gradle-wrapper.jar and b/java/SwerveWithPathPlanner/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/java/SwerveWithPathPlanner/gradle/wrapper/gradle-wrapper.properties b/java/SwerveWithPathPlanner/gradle/wrapper/gradle-wrapper.properties
index c23a1b31..10587529 100644
--- a/java/SwerveWithPathPlanner/gradle/wrapper/gradle-wrapper.properties
+++ b/java/SwerveWithPathPlanner/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
diff --git a/java/SwerveWithPathPlanner/gradlew b/java/SwerveWithPathPlanner/gradlew
index a69d9cb6..1aa94a42 100644
--- a/java/SwerveWithPathPlanner/gradlew
+++ b/java/SwerveWithPathPlanner/gradlew
@@ -55,7 +55,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,13 +80,11 @@ do
     esac
 done
 
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-APP_NAME="Gradle"
+# This is normally unused
+# shellcheck disable=SC2034
 APP_BASE_NAME=${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" "-Xms64m"'
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -133,22 +131,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -193,11 +198,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
-#     shell script including quotes and variable substitutions, so put them in
-#     double quotes to make sure that they get re-expanded; and
-#   * put everything else in single quotes, so that it's not re-expanded.
+
+# 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" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
diff --git a/java/SwerveWithPathPlanner/gradlew.bat b/java/SwerveWithPathPlanner/gradlew.bat
index f127cfd4..93e3f59f 100644
--- a/java/SwerveWithPathPlanner/gradlew.bat
+++ b/java/SwerveWithPathPlanner/gradlew.bat
@@ -26,6 +26,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
diff --git a/java/SwerveWithPathPlanner/networktables.json b/java/SwerveWithPathPlanner/networktables.json
deleted file mode 100644
index fe51488c..00000000
--- a/java/SwerveWithPathPlanner/networktables.json
+++ /dev/null
@@ -1 +0,0 @@
-[]
diff --git a/java/SwerveWithPathPlanner/settings.gradle b/java/SwerveWithPathPlanner/settings.gradle
index 48c039ed..d94f73c6 100644
--- a/java/SwerveWithPathPlanner/settings.gradle
+++ b/java/SwerveWithPathPlanner/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')
@@ -25,3 +25,6 @@ pluginManagement {
         }
     }
 }
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
diff --git a/java/SwerveWithPathPlanner/simgui-ds.json b/java/SwerveWithPathPlanner/simgui-ds.json
deleted file mode 100644
index c4b7efd3..00000000
--- a/java/SwerveWithPathPlanner/simgui-ds.json
+++ /dev/null
@@ -1,98 +0,0 @@
-{
-  "keyboardJoysticks": [
-    {
-      "axisConfig": [
-        {
-          "decKey": 65,
-          "incKey": 68
-        },
-        {
-          "decKey": 87,
-          "incKey": 83
-        },
-        {
-          "decKey": 69,
-          "decayRate": 0.0,
-          "incKey": 82,
-          "keyRate": 0.009999999776482582
-        }
-      ],
-      "axisCount": 3,
-      "buttonCount": 4,
-      "buttonKeys": [
-        90,
-        88,
-        67,
-        86
-      ],
-      "povConfig": [
-        {
-          "key0": 328,
-          "key135": 323,
-          "key180": 322,
-          "key225": 321,
-          "key270": 324,
-          "key315": 327,
-          "key45": 329,
-          "key90": 326
-        }
-      ],
-      "povCount": 1
-    },
-    {
-      "axisConfig": [
-        {
-          "decKey": 74,
-          "incKey": 76
-        },
-        {
-          "decKey": 73,
-          "incKey": 75
-        }
-      ],
-      "axisCount": 2,
-      "buttonCount": 4,
-      "buttonKeys": [
-        77,
-        44,
-        46,
-        47
-      ],
-      "povCount": 0
-    },
-    {
-      "axisConfig": [
-        {
-          "decKey": 263,
-          "incKey": 262
-        },
-        {
-          "decKey": 265,
-          "incKey": 264
-        }
-      ],
-      "axisCount": 2,
-      "buttonCount": 6,
-      "buttonKeys": [
-        260,
-        268,
-        266,
-        261,
-        269,
-        267
-      ],
-      "povCount": 0
-    },
-    {
-      "axisCount": 0,
-      "buttonCount": 0,
-      "povCount": 0
-    }
-  ],
-  "robotJoysticks": [
-    {
-      "guid": "78696e70757401000000000000000000",
-      "useGamepad": true
-    }
-  ]
-}
diff --git a/java/SwerveWithPathPlanner/simgui.json b/java/SwerveWithPathPlanner/simgui.json
deleted file mode 100644
index 36e4ab40..00000000
--- a/java/SwerveWithPathPlanner/simgui.json
+++ /dev/null
@@ -1,136 +0,0 @@
-{
-  "HALProvider": {
-    "Other Devices": {
-      "CANCoder (Pro)[1]": {
-        "header": {
-          "open": true
-        }
-      }
-    }
-  },
-  "NTProvider": {
-    "types": {
-      "/FMSInfo": "FMSInfo",
-      "/LiveWindow/Ungrouped/Pigeon 2 (Pro) [1]": "Gyro",
-      "/LiveWindow/Ungrouped/Scheduler": "Scheduler",
-      "/LiveWindow/Ungrouped/Talon FX (Pro) [0]": "Motor Controller",
-      "/LiveWindow/Ungrouped/Talon FX (Pro) [1]": "Motor Controller",
-      "/LiveWindow/Ungrouped/Talon FX (Pro) [2]": "Motor Controller",
-      "/LiveWindow/Ungrouped/Talon FX (Pro) [3]": "Motor Controller",
-      "/LiveWindow/Ungrouped/Talon FX (Pro) [4]": "Motor Controller",
-      "/LiveWindow/Ungrouped/Talon FX (Pro) [5]": "Motor Controller",
-      "/LiveWindow/Ungrouped/Talon FX (Pro) [6]": "Motor Controller",
-      "/LiveWindow/Ungrouped/Talon FX (Pro) [7]": "Motor Controller",
-      "/Pose": "Field2d",
-      "/SmartDashboard/Current Pose": "Field2d",
-      "/SmartDashboard/Module 0": "Mechanism2d",
-      "/SmartDashboard/Module 1": "Mechanism2d",
-      "/SmartDashboard/Module 2": "Mechanism2d",
-      "/SmartDashboard/Module 3": "Mechanism2d"
-    },
-    "windows": {
-      "/Pose": {
-        "window": {
-          "visible": true
-        }
-      },
-      "/SmartDashboard/Module 0": {
-        "window": {
-          "visible": true
-        }
-      },
-      "/SmartDashboard/Module 1": {
-        "window": {
-          "visible": true
-        }
-      },
-      "/SmartDashboard/Module 2": {
-        "window": {
-          "visible": true
-        }
-      },
-      "/SmartDashboard/Module 3": {
-        "window": {
-          "visible": true
-        }
-      }
-    }
-  },
-  "NetworkTables": {
-    "Retained Values": {
-      "open": false
-    },
-    "transitory": {
-      "Pose": {
-        "open": true
-      }
-    }
-  },
-  "Plot": {
-    "Plot <0>": {
-      "plots": [
-        {
-          "axis": [
-            {
-              "autoFit": true
-            }
-          ],
-          "height": 0,
-          "series": [
-            {
-              "color": [
-                0.2980392277240753,
-                0.44705885648727417,
-                0.6901960968971252,
-                1.0
-              ],
-              "id": "NT:/Drive/Velocity X"
-            },
-            {
-              "color": [
-                0.8666667342185974,
-                0.5176470875740051,
-                0.32156863808631897,
-                1.0
-              ],
-              "id": "NT:/Drive/Velocity Y"
-            },
-            {
-              "color": [
-                0.3333333432674408,
-                0.658823549747467,
-                0.4078431725502014,
-                1.0
-              ],
-              "id": "NT:/Drive/Speed"
-            }
-          ]
-        }
-      ],
-      "window": {
-        "visible": false
-      }
-    },
-    "Plot <1>": {
-      "plots": [
-        {
-          "height": 0,
-          "series": [
-            {
-              "color": [
-                0.2980392277240753,
-                0.44705885648727417,
-                0.6901960968971252,
-                1.0
-              ],
-              "id": "NT:/Drive/Odometry Period"
-            }
-          ]
-        }
-      ],
-      "window": {
-        "visible": false
-      }
-    }
-  }
-}
diff --git a/java/SwerveWithPathPlanner/src/main/deploy/pathplanner/autos/Tests.auto b/java/SwerveWithPathPlanner/src/main/deploy/pathplanner/autos/Tests.auto
new file mode 100644
index 00000000..feb22dfb
--- /dev/null
+++ b/java/SwerveWithPathPlanner/src/main/deploy/pathplanner/autos/Tests.auto
@@ -0,0 +1,24 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 4.061722123444247,
+      "y": 5.038789506150441
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "SimplePath"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null
+}
\ No newline at end of file
diff --git a/java/SwerveWithPathPlanner/src/main/deploy/pathplanner/navgrid.json b/java/SwerveWithPathPlanner/src/main/deploy/pathplanner/navgrid.json
new file mode 100644
index 00000000..20474f71
--- /dev/null
+++ b/java/SwerveWithPathPlanner/src/main/deploy/pathplanner/navgrid.json
@@ -0,0 +1 @@
+{"field_size":{"x":16.540513081026162,"y":8.016256032512064},"nodeSizeMeters":0.2,"grid":[[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,false,false,false,false,false,false,false,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,false,false,false,true,true,true,true,true,true,true,true,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,false,false,true,true,true,true,true,true,true,true,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,tru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\ No newline at end of file
diff --git a/java/SwerveWithPathPlanner/src/main/deploy/pathplanner/paths/SimplePath.path b/java/SwerveWithPathPlanner/src/main/deploy/pathplanner/paths/SimplePath.path
new file mode 100644
index 00000000..d070be0e
--- /dev/null
+++ b/java/SwerveWithPathPlanner/src/main/deploy/pathplanner/paths/SimplePath.path
@@ -0,0 +1,64 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.061722123444247,
+        "y": 5.038789506150441
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.204869552596248,
+        "y": 4.652291447440038
+      },
+      "isLocked": false
+    },
+    {
+      "anchor": {
+        "x": 5.292790014151457,
+        "y": 4.494829275372837
+      },
+      "prevControl": {
+        "x": 4.5197938967306515,
+        "y": 4.4805145324576365
+      },
+      "nextControl": {
+        "x": 5.979928957731629,
+        "y": 4.507554070624321
+      },
+      "isLocked": false
+    },
+    {
+      "anchor": {
+        "x": 6.151674589063464,
+        "y": 5.2964548786240435
+      },
+      "prevControl": {
+        "x": 6.065786131572263,
+        "y": 4.80975361950724
+      },
+      "nextControl": null,
+      "isLocked": false
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1.0,
+      "rotationDegrees": 90.0
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3,
+    "maxAcceleration": 3,
+    "maxAngularVelocity": 540,
+    "maxAngularAcceleration": 720
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0
+  },
+  "reversed": false,
+  "folder": null
+}
\ No newline at end of file
diff --git a/java/SwerveWithPathPlanner/src/main/java/frc/robot/CommandSwerveDrivetrain.java b/java/SwerveWithPathPlanner/src/main/java/frc/robot/CommandSwerveDrivetrain.java
index 2daa9665..d5cc6689 100644
--- a/java/SwerveWithPathPlanner/src/main/java/frc/robot/CommandSwerveDrivetrain.java
+++ b/java/SwerveWithPathPlanner/src/main/java/frc/robot/CommandSwerveDrivetrain.java
@@ -6,10 +6,16 @@
 import com.ctre.phoenix6.mechanisms.swerve.SwerveDrivetrainConstants;
 import com.ctre.phoenix6.mechanisms.swerve.SwerveModuleConstants;
 import com.ctre.phoenix6.mechanisms.swerve.SwerveRequest;
+import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.commands.PathPlannerAuto;
+import com.pathplanner.lib.util.HolonomicPathFollowerConfig;
+import com.pathplanner.lib.util.PIDConstants;
+import com.pathplanner.lib.util.ReplanningConfig;
 
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.Subsystem;
 
@@ -18,17 +24,39 @@
  * so it can be used in command-based projects easily.
  */
 public class CommandSwerveDrivetrain extends SwerveDrivetrain implements Subsystem {
+    private SwerveRequest.ApplyChassisSpeeds autoRequest = new SwerveRequest.ApplyChassisSpeeds();
     public CommandSwerveDrivetrain(SwerveDrivetrainConstants driveTrainConstants, double OdometryUpdateFrequency, SwerveModuleConstants... modules) {
         super(driveTrainConstants, OdometryUpdateFrequency, modules);
+        configurePathPlanner();
     }
     public CommandSwerveDrivetrain(SwerveDrivetrainConstants driveTrainConstants, SwerveModuleConstants... modules) {
         super(driveTrainConstants, modules);
+        configurePathPlanner();
     }
 
-    public CommandBase applyRequest(Supplier<SwerveRequest> requestSupplier) {
+    private void configurePathPlanner() {
+        AutoBuilder.configureHolonomic(
+            ()->this.getState().Pose, // Supplier of current robot pose
+            this::seedFieldRelative,  // Consumer for seeding pose against auto
+            ()->new ChassisSpeeds(),
+            (speeds)->this.setControl(autoRequest.withSpeeds(speeds)), // Consumer of ChassisSpeeds to drive the robot
+            new HolonomicPathFollowerConfig(new PIDConstants(10, 0, 0),
+                                            new PIDConstants(10, 0, 0),
+                                            1,
+                                            1,
+                                            new ReplanningConfig(),
+                                            0.004),
+            this); // Subsystem for requirements
+    }
+
+    public Command applyRequest(Supplier<SwerveRequest> requestSupplier) {
         return new RunCommand(()->{this.setControl(requestSupplier.get());}, this);
     }
 
+    public Command getAutoPath(String pathName) {
+        return new PathPlannerAuto(pathName);
+    }
+
     @Override
     public void simulationPeriodic() {
         /* Assume  */
diff --git a/java/SwerveWithPathPlanner/src/main/java/frc/robot/Robot.java b/java/SwerveWithPathPlanner/src/main/java/frc/robot/Robot.java
index f8d12b14..1d1e3837 100644
--- a/java/SwerveWithPathPlanner/src/main/java/frc/robot/Robot.java
+++ b/java/SwerveWithPathPlanner/src/main/java/frc/robot/Robot.java
@@ -18,7 +18,7 @@ public class Robot extends TimedRobot {
 
   private RobotContainer m_robotContainer;
 
-  private final boolean UseLimelight = true;
+  private final boolean UseLimelight = false;
 
   @Override
   public void robotInit() {
@@ -26,7 +26,7 @@ public void robotInit() {
 
     m_robotContainer.drivetrain.getDaqThread().setThreadPriority(99);
 
-    SignalLogger.startLogger();
+    SignalLogger.start();
   }
   @Override
   public void robotPeriodic() {
@@ -78,7 +78,6 @@ public void teleopPeriodic() {}
 
   @Override
   public void teleopExit() {
-    SignalLogger.stopLogger();
   }
 
   @Override
diff --git a/java/SwerveWithPathPlanner/src/main/java/frc/robot/RobotContainer.java b/java/SwerveWithPathPlanner/src/main/java/frc/robot/RobotContainer.java
index f8f5a081..cabed9b0 100644
--- a/java/SwerveWithPathPlanner/src/main/java/frc/robot/RobotContainer.java
+++ b/java/SwerveWithPathPlanner/src/main/java/frc/robot/RobotContainer.java
@@ -4,21 +4,12 @@
 
 package frc.robot;
 
-import java.util.HashMap;
-import java.util.List;
-import java.util.Map;
-
 import com.ctre.phoenix6.mechanisms.swerve.SwerveRequest;
-import com.pathplanner.lib.PathConstraints;
-import com.pathplanner.lib.PathPlanner;
-import com.pathplanner.lib.PathPlannerTrajectory;
-import com.pathplanner.lib.auto.PIDConstants;
-import com.pathplanner.lib.auto.SwerveAutoBuilder;
 
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.PrintCommand;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.generated.TunerConstants;
 
@@ -35,29 +26,12 @@ public class RobotContainer {
   SwerveRequest.RobotCentric forwardStraight = new SwerveRequest.RobotCentric().withIsOpenLoop(true);
   SwerveRequest.PointWheelsAt point = new SwerveRequest.PointWheelsAt();
 
-  private final double Velocity = 3;
-  private final double Acceleration = 10;
   /* Path follower */
-  List<PathPlannerTrajectory> pathGroup = PathPlanner.loadPathGroup("Tests", new PathConstraints(Velocity, Acceleration), new PathConstraints(Velocity, Acceleration));
-  Map<String, Command> eventMap = new HashMap<>() {{
-    put("marker", new PrintCommand("Passed Marker"));
-  }};
-  SwerveRequest.ApplyChassisSpeeds autoRequest = new SwerveRequest.ApplyChassisSpeeds();
-  SwerveAutoBuilder autoBuilder = new SwerveAutoBuilder(
-      ()->drivetrain.getState().Pose, // Supplier of current robot pose
-      drivetrain::seedFieldRelative,  // Consumer for seeding pose against auto
-      new PIDConstants(10, 0, 0), // Translation gains
-      new PIDConstants(10, 0, 0), // Rotation gains
-      (speeds)->drivetrain.setControl(autoRequest.withSpeeds(speeds)), // Consumer of ChassisSpeeds to drive the robot
-      eventMap, // Map of events to trigger commands based on where the robot is in the path
-      true, // Mirror the path based on red or blue
-      drivetrain); // Subsystem for requirements
-
-  Command runAuto = autoBuilder.fullAuto(pathGroup);
+  // Command runAuto = drivetrain.getAutoPath("Tests");
 
   Telemetry logger = new Telemetry(MaxSpeed);
 
-  Pose2d odomStart = pathGroup.get(0).getInitialHolonomicPose();
+  Pose2d odomStart = new Pose2d(0, 0, new Rotation2d(0, 0));
 
   private void configureBindings() {
     drivetrain.setDefaultCommand( // Drivetrain will execute this command periodically
@@ -86,7 +60,7 @@ public RobotContainer() {
 
   public Command getAutonomousCommand() {
     /* First put the drivetrain into auto run mode, then run the auto */
-    return runAuto;
+    return new InstantCommand(()->{});
   }
 
   public boolean seedPoseButtonDown() {
diff --git a/java/SwerveWithPathPlanner/src/main/java/frc/robot/generated/TunerConstants.java b/java/SwerveWithPathPlanner/src/main/java/frc/robot/generated/TunerConstants.java
index 7df5789a..28ce7eec 100644
--- a/java/SwerveWithPathPlanner/src/main/java/frc/robot/generated/TunerConstants.java
+++ b/java/SwerveWithPathPlanner/src/main/java/frc/robot/generated/TunerConstants.java
@@ -30,7 +30,7 @@ public CustomSlotGains(double kP, double kI, double kD, double kV, double kS) {
     private static final double kWheelRadiusInches = 2.167; // Estimated at first, then fudge-factored to make odom match record
     private static final int kPigeonId = 1;
     private static final boolean kSteerMotorReversed = true;
-    private static final String kCANbusName = "Fred";
+    private static final String kCANbusName = "rio";
     private static final boolean kInvertLeftSide = false;
     private static final boolean kInvertRightSide = true;
 
diff --git a/java/SwerveWithPathPlanner/vendordeps/PathplannerLib.json b/java/SwerveWithPathPlanner/vendordeps/PathplannerLib.json
index 8e61586b..aeaa3ba5 100644
--- a/java/SwerveWithPathPlanner/vendordeps/PathplannerLib.json
+++ b/java/SwerveWithPathPlanner/vendordeps/PathplannerLib.json
@@ -1,8 +1,9 @@
 {
     "fileName": "PathplannerLib.json",
     "name": "PathplannerLib",
-    "version": "2023.4.4",
+    "version": "2024.0.0-beta-1",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
+    "frcYear": "2024",
     "mavenUrls": [
         "https://3015rangerrobotics.github.io/pathplannerlib/repo"
     ],
@@ -11,7 +12,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2023.4.4"
+            "version": "2024.0.0-beta-1"
         }
     ],
     "jniDependencies": [],
@@ -19,7 +20,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2023.4.4",
+            "version": "2024.0.0-beta-1",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
diff --git a/java/SwerveWithPathPlanner/vendordeps/Phoenix6.json b/java/SwerveWithPathPlanner/vendordeps/Phoenix6.json
index cda8eecf..1f9f4411 100644
--- a/java/SwerveWithPathPlanner/vendordeps/Phoenix6.json
+++ b/java/SwerveWithPathPlanner/vendordeps/Phoenix6.json
@@ -1,25 +1,32 @@
 {
     "fileName": "Phoenix6.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "23.10.0-alpha-8",
-    "frcYear": 2023,
+    "version": "24.0.0-beta-1",
+    "frcYear": 2024,
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2023-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
+    "conflictsWith": [
+        {
+            "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
+            "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
+            "offlineFileName": "Phoenix6And5.json"
+        }
+    ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "23.10.0-alpha-8"
+            "version": "24.0.0-beta-1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.10.0-alpha-8",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -32,7 +39,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.10.0-alpha-8",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -45,7 +52,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.10.0-alpha-8",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -58,7 +65,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.10.0-alpha-8",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -71,7 +78,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.10.0-alpha-8",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -84,7 +91,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.10.0-alpha-8",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -97,7 +104,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.10.0-alpha-8",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +117,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.10.0-alpha-8",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -123,7 +130,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.10.0-alpha-8",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -136,7 +143,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.10.0-alpha-8",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -151,7 +158,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "23.10.0-alpha-8",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -166,7 +173,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.10.0-alpha-8",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -181,7 +188,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "23.10.0-alpha-8",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -196,7 +203,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.10.0-alpha-8",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -211,7 +218,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.10.0-alpha-8",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -226,7 +233,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.10.0-alpha-8",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -241,7 +248,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.10.0-alpha-8",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -256,7 +263,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.10.0-alpha-8",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -271,7 +278,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.10.0-alpha-8",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -286,7 +293,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.10.0-alpha-8",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -301,7 +308,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.10.0-alpha-8",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -316,7 +323,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.10.0-alpha-8",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/java/SwerveWithPathPlanner/vendordeps/WPILibNewCommands.json b/java/SwerveWithPathPlanner/vendordeps/WPILibNewCommands.json
index bd535bfa..67bf3898 100644
--- a/java/SwerveWithPathPlanner/vendordeps/WPILibNewCommands.json
+++ b/java/SwerveWithPathPlanner/vendordeps/WPILibNewCommands.json
@@ -3,6 +3,7 @@
   "name": "WPILib-New-Commands",
   "version": "1.0.0",
   "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
+  "frcYear": "2024",
   "mavenUrls": [],
   "jsonUrl": "",
   "javaDependencies": [
diff --git a/java/VelocityClosedLoop/.gitignore b/java/VelocityClosedLoop/.gitignore
index 4b2a8965..3325f5c0 100644
--- a/java/VelocityClosedLoop/.gitignore
+++ b/java/VelocityClosedLoop/.gitignore
@@ -158,5 +158,15 @@ gradle-app.setting
 .settings/
 bin/
 
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
 # Simulation GUI and other tools window save file
 *-window.json
diff --git a/java/VelocityClosedLoop/.wpilib/wpilib_preferences.json b/java/VelocityClosedLoop/.wpilib/wpilib_preferences.json
index 49d7fc3c..cbe8abee 100644
--- a/java/VelocityClosedLoop/.wpilib/wpilib_preferences.json
+++ b/java/VelocityClosedLoop/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
-{
-    "enableCppIntellisense": false,
-    "currentLanguage": "java",
-    "projectYear": "2023",
-    "teamNumber": 7762
-}
+{
+    "enableCppIntellisense": false,
+    "currentLanguage": "java",
+    "projectYear": "2024beta",
+    "teamNumber": 7762
+}
\ No newline at end of file
diff --git a/java/VelocityClosedLoop/WPILib-License.md b/java/VelocityClosedLoop/WPILib-License.md
index ba35a02c..84349440 100644
--- a/java/VelocityClosedLoop/WPILib-License.md
+++ b/java/VelocityClosedLoop/WPILib-License.md
@@ -1,4 +1,4 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2023 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
diff --git a/java/VelocityClosedLoop/build.gradle b/java/VelocityClosedLoop/build.gradle
index d2fd7514..359cf8ac 100644
--- a/java/VelocityClosedLoop/build.gradle
+++ b/java/VelocityClosedLoop/build.gradle
@@ -1,10 +1,12 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.4.3"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
 }
 
-sourceCompatibility = JavaVersion.VERSION_11
-targetCompatibility = JavaVersion.VERSION_11
+java {
+    sourceCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
+}
 
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
@@ -84,6 +86,7 @@ wpi.sim.addDriverstation()
 // knows where to look for our Robot Class.
 jar {
     from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+    from sourceSets.main.allSource
     manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
     duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }
diff --git a/java/VelocityClosedLoop/gradle/wrapper/gradle-wrapper.jar b/java/VelocityClosedLoop/gradle/wrapper/gradle-wrapper.jar
index 249e5832..7f93135c 100644
Binary files a/java/VelocityClosedLoop/gradle/wrapper/gradle-wrapper.jar and b/java/VelocityClosedLoop/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/java/VelocityClosedLoop/gradle/wrapper/gradle-wrapper.properties b/java/VelocityClosedLoop/gradle/wrapper/gradle-wrapper.properties
index 74147692..c5c27066 100644
--- a/java/VelocityClosedLoop/gradle/wrapper/gradle-wrapper.properties
+++ b/java/VelocityClosedLoop/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
diff --git a/java/VelocityClosedLoop/gradlew b/java/VelocityClosedLoop/gradlew
index a69d9cb6..1aa94a42 100644
--- a/java/VelocityClosedLoop/gradlew
+++ b/java/VelocityClosedLoop/gradlew
@@ -55,7 +55,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,13 +80,11 @@ do
     esac
 done
 
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-APP_NAME="Gradle"
+# This is normally unused
+# shellcheck disable=SC2034
 APP_BASE_NAME=${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" "-Xms64m"'
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -133,22 +131,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -193,11 +198,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
-#     shell script including quotes and variable substitutions, so put them in
-#     double quotes to make sure that they get re-expanded; and
-#   * put everything else in single quotes, so that it's not re-expanded.
+
+# 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" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
diff --git a/java/VelocityClosedLoop/gradlew.bat b/java/VelocityClosedLoop/gradlew.bat
index 53a6b238..6689b85b 100644
--- a/java/VelocityClosedLoop/gradlew.bat
+++ b/java/VelocityClosedLoop/gradlew.bat
@@ -26,6 +26,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
diff --git a/java/VelocityClosedLoop/settings.gradle b/java/VelocityClosedLoop/settings.gradle
index ae1af1c0..3e30f84f 100644
--- a/java/VelocityClosedLoop/settings.gradle
+++ b/java/VelocityClosedLoop/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')
@@ -25,3 +25,6 @@ pluginManagement {
         }
     }
 }
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
diff --git a/java/VelocityClosedLoop/src/main/java/frc/robot/Robot.java b/java/VelocityClosedLoop/src/main/java/frc/robot/Robot.java
index c63a2dad..a025f9ce 100644
--- a/java/VelocityClosedLoop/src/main/java/frc/robot/Robot.java
+++ b/java/VelocityClosedLoop/src/main/java/frc/robot/Robot.java
@@ -27,9 +27,9 @@ public class Robot extends TimedRobot {
   
   /* Be able to switch which control request to use based on a button press */
   /* Start at velocity 0, enable FOC, no feed forward, use slot 0 */
-  private final VelocityVoltage m_voltageVelocity = new VelocityVoltage(0, true, 0, 0, false);
+  private final VelocityVoltage m_voltageVelocity = new VelocityVoltage(0, 0, true, 0, 0, false);
   /* Start at velocity 0, no feed forward, use slot 1 */
-  private final VelocityTorqueCurrentFOC m_torqueVelocity = new VelocityTorqueCurrentFOC(0, 0, 1, false);
+  private final VelocityTorqueCurrentFOC m_torqueVelocity = new VelocityTorqueCurrentFOC(0, 0, 0, 1, false);
   /* Keep a neutral out so we can disable the motor */
   private final NeutralOut m_brake = new NeutralOut();
 
diff --git a/java/VelocityClosedLoop/vendordeps/Phoenix6.json b/java/VelocityClosedLoop/vendordeps/Phoenix6.json
index a5620fa9..1f9f4411 100644
--- a/java/VelocityClosedLoop/vendordeps/Phoenix6.json
+++ b/java/VelocityClosedLoop/vendordeps/Phoenix6.json
@@ -1,25 +1,32 @@
 {
     "fileName": "Phoenix6.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "23.2.2",
-    "frcYear": 2023,
+    "version": "24.0.0-beta-1",
+    "frcYear": 2024,
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2023-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
+    "conflictsWith": [
+        {
+            "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
+            "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
+            "offlineFileName": "Phoenix6And5.json"
+        }
+    ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "23.2.2"
+            "version": "24.0.0-beta-1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -32,7 +39,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -45,7 +52,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -58,7 +65,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -71,7 +78,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -84,7 +91,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -97,7 +104,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +117,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -123,7 +130,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -136,7 +143,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -151,7 +158,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -166,7 +173,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -181,7 +188,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -196,7 +203,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -211,7 +218,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -226,7 +233,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -241,7 +248,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -256,7 +263,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -271,7 +278,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -286,7 +293,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -301,7 +308,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -316,7 +323,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/java/VelocityClosedLoop/vendordeps/WPILibNewCommands.json b/java/VelocityClosedLoop/vendordeps/WPILibNewCommands.json
index da4bc529..67bf3898 100644
--- a/java/VelocityClosedLoop/vendordeps/WPILibNewCommands.json
+++ b/java/VelocityClosedLoop/vendordeps/WPILibNewCommands.json
@@ -1,37 +1,38 @@
-{
-  "fileName": "WPILibNewCommands.json",
-  "name": "WPILib-New-Commands",
-  "version": "1.0.0",
-  "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "mavenUrls": [],
-  "jsonUrl": "",
-  "javaDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-java",
-          "version": "wpilib"
-      }
-  ],
-  "jniDependencies": [],
-  "cppDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-cpp",
-          "version": "wpilib",
-          "libName": "wpilibNewCommands",
-          "headerClassifier": "headers",
-          "sourcesClassifier": "sources",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "linuxathena",
-              "linuxarm32",
-              "linuxarm64",
-              "windowsx86-64",
-              "windowsx86",
-              "linuxx86-64",
-              "osxuniversal"
-          ]
-      }
-  ]
-}
+{
+  "fileName": "WPILibNewCommands.json",
+  "name": "WPILib-New-Commands",
+  "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"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "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/java/WaitForAll/.gitignore b/java/WaitForAll/.gitignore
index 4b2a8965..3325f5c0 100644
--- a/java/WaitForAll/.gitignore
+++ b/java/WaitForAll/.gitignore
@@ -158,5 +158,15 @@ gradle-app.setting
 .settings/
 bin/
 
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
 # Simulation GUI and other tools window save file
 *-window.json
diff --git a/java/WaitForAll/.wpilib/wpilib_preferences.json b/java/WaitForAll/.wpilib/wpilib_preferences.json
index 6f4d9de6..cbe8abee 100644
--- a/java/WaitForAll/.wpilib/wpilib_preferences.json
+++ b/java/WaitForAll/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2023",
+    "projectYear": "2024beta",
     "teamNumber": 7762
 }
\ No newline at end of file
diff --git a/java/WaitForAll/WPILib-License.md b/java/WaitForAll/WPILib-License.md
index ba35a02c..84349440 100644
--- a/java/WaitForAll/WPILib-License.md
+++ b/java/WaitForAll/WPILib-License.md
@@ -1,4 +1,4 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2023 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
diff --git a/java/WaitForAll/build.gradle b/java/WaitForAll/build.gradle
index d2fd7514..359cf8ac 100644
--- a/java/WaitForAll/build.gradle
+++ b/java/WaitForAll/build.gradle
@@ -1,10 +1,12 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.4.3"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
 }
 
-sourceCompatibility = JavaVersion.VERSION_11
-targetCompatibility = JavaVersion.VERSION_11
+java {
+    sourceCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
+}
 
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
@@ -84,6 +86,7 @@ wpi.sim.addDriverstation()
 // knows where to look for our Robot Class.
 jar {
     from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+    from sourceSets.main.allSource
     manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
     duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }
diff --git a/java/WaitForAll/gradle/wrapper/gradle-wrapper.jar b/java/WaitForAll/gradle/wrapper/gradle-wrapper.jar
index 249e5832..7f93135c 100644
Binary files a/java/WaitForAll/gradle/wrapper/gradle-wrapper.jar and b/java/WaitForAll/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/java/WaitForAll/gradle/wrapper/gradle-wrapper.properties b/java/WaitForAll/gradle/wrapper/gradle-wrapper.properties
index 74147692..c5c27066 100644
--- a/java/WaitForAll/gradle/wrapper/gradle-wrapper.properties
+++ b/java/WaitForAll/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
diff --git a/java/WaitForAll/gradlew b/java/WaitForAll/gradlew
index a69d9cb6..1aa94a42 100644
--- a/java/WaitForAll/gradlew
+++ b/java/WaitForAll/gradlew
@@ -55,7 +55,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,13 +80,11 @@ do
     esac
 done
 
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-APP_NAME="Gradle"
+# This is normally unused
+# shellcheck disable=SC2034
 APP_BASE_NAME=${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" "-Xms64m"'
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -133,22 +131,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -193,11 +198,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
-#     shell script including quotes and variable substitutions, so put them in
-#     double quotes to make sure that they get re-expanded; and
-#   * put everything else in single quotes, so that it's not re-expanded.
+
+# 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" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
diff --git a/java/WaitForAll/gradlew.bat b/java/WaitForAll/gradlew.bat
index 53a6b238..6689b85b 100644
--- a/java/WaitForAll/gradlew.bat
+++ b/java/WaitForAll/gradlew.bat
@@ -26,6 +26,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
diff --git a/java/WaitForAll/settings.gradle b/java/WaitForAll/settings.gradle
index ae1af1c0..3e30f84f 100644
--- a/java/WaitForAll/settings.gradle
+++ b/java/WaitForAll/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')
@@ -25,3 +25,6 @@ pluginManagement {
         }
     }
 }
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
diff --git a/java/WaitForAll/src/main/java/frc/robot/Robot.java b/java/WaitForAll/src/main/java/frc/robot/Robot.java
index 683d92a9..b5788878 100644
--- a/java/WaitForAll/src/main/java/frc/robot/Robot.java
+++ b/java/WaitForAll/src/main/java/frc/robot/Robot.java
@@ -81,7 +81,7 @@ public void robotPeriodic() {
       var status = BaseStatusSignal.waitForAll(m_waitForAllTimeout, m_lotsOfSignals);
       System.out.println("Status of waiting on signals (normal use case): " + status);
       for(var sig : m_lotsOfSignals) {
-        System.out.println("Signal status: " + sig.getError());
+        System.out.println("Signal status: " + sig.getStatus());
       }
     }
     /* If we press the B button, test what happens when we wait on signals from different busses */
@@ -89,7 +89,7 @@ public void robotPeriodic() {
       var status = BaseStatusSignal.waitForAll(m_waitForAllTimeout, m_signalsAcrossCANbuses);
       System.out.println("Status of waiting on signals across different CAN busses: " + status);
       for(var sig : m_signalsAcrossCANbuses) {
-        System.out.println("Signal status: " + sig.getError());
+        System.out.println("Signal status: " + sig.getStatus());
       }
     }
     /* If we press the Y button, test what happens when we wait on no signals */
@@ -97,7 +97,7 @@ public void robotPeriodic() {
       var status = BaseStatusSignal.waitForAll(m_waitForAllTimeout, m_noSignals);
       System.out.println("Status of waiting on no signals: " + status);
       for(var sig : m_noSignals) {
-        System.out.println("Signal status: " + sig.getError());
+        System.out.println("Signal status: " + sig.getStatus());
       }
     }
     /* If we press the X button, test what happens when we wait on signals with the transcient motor controller */
@@ -105,7 +105,7 @@ public void robotPeriodic() {
       var status = BaseStatusSignal.waitForAll(m_waitForAllTimeout, m_tanscientSignals);
       System.out.println("Status of waiting on transcient signals: " + status);
       for(var sig : m_tanscientSignals) {
-        System.out.println("Signal status: " + sig.getError());
+        System.out.println("Signal status: " + sig.getStatus());
       }
     }
   }
diff --git a/java/WaitForAll/vendordeps/Phoenix6.json b/java/WaitForAll/vendordeps/Phoenix6.json
index a5620fa9..1f9f4411 100644
--- a/java/WaitForAll/vendordeps/Phoenix6.json
+++ b/java/WaitForAll/vendordeps/Phoenix6.json
@@ -1,25 +1,32 @@
 {
     "fileName": "Phoenix6.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "23.2.2",
-    "frcYear": 2023,
+    "version": "24.0.0-beta-1",
+    "frcYear": 2024,
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2023-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
+    "conflictsWith": [
+        {
+            "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
+            "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
+            "offlineFileName": "Phoenix6And5.json"
+        }
+    ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "23.2.2"
+            "version": "24.0.0-beta-1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -32,7 +39,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -45,7 +52,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -58,7 +65,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -71,7 +78,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -84,7 +91,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -97,7 +104,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +117,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -123,7 +130,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -136,7 +143,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -151,7 +158,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -166,7 +173,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -181,7 +188,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -196,7 +203,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -211,7 +218,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -226,7 +233,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -241,7 +248,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -256,7 +263,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -271,7 +278,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -286,7 +293,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -301,7 +308,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -316,7 +323,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/java/WaitForAll/vendordeps/WPILibNewCommands.json b/java/WaitForAll/vendordeps/WPILibNewCommands.json
index bd535bfa..67bf3898 100644
--- a/java/WaitForAll/vendordeps/WPILibNewCommands.json
+++ b/java/WaitForAll/vendordeps/WPILibNewCommands.json
@@ -3,6 +3,7 @@
   "name": "WPILib-New-Commands",
   "version": "1.0.0",
   "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
+  "frcYear": "2024",
   "mavenUrls": [],
   "jsonUrl": "",
   "javaDependencies": [