diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 0c21057..f0a5f83 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -16,7 +16,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout
-        uses: actions/checkout@v2 # v2 minimum required
+        uses: actions/checkout@v3 # v2 minimum required
       - name: Run check style
         uses: nikitasavinov/checkstyle-action@master
         with:
@@ -33,21 +33,30 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout
-        uses: actions/checkout@v2 # v2 minimum required
+        uses: actions/checkout@v3 # v2 minimum required
       - name: Run Spell Check
         uses: codespell-project/actions-codespell@master
         with:
           check_filenames: true
+  merge_conflict:
+    runs-on: ubuntu-latest
+    name: Find merge conflicts
+    steps:
+      # Checkout the source code so there are some files to look at.
+      - uses: actions/checkout@v3
+      # Run the actual merge conflict finder
+      - name: Merge Conflict finder
+        uses: olivernybroe/action-conflict-finder@v4.0
   build:
     name: Build
     # The type of runner that the job will run on
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     # This grabs the WPILib docker container
-    container: wpilib/roborio-cross-ubuntu:2022-18.04
+    container: wpilib/roborio-cross-ubuntu:2023-22.04
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
     # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
     # Grant execute permission for gradlew
     - name: Grant execute permission for gradlew
       run: chmod +x gradlew
diff --git a/build.gradle b/build.gradle
index 4dc2bb0..60df2a3 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.2.1"
+    id "edu.wpi.first.GradleRIO" version "2023.4.1"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11
diff --git a/vendordeps/NavX.json b/vendordeps/NavX.json
index 250544a..29ec93a 100644
--- a/vendordeps/NavX.json
+++ b/vendordeps/NavX.json
@@ -1,7 +1,7 @@
 {
     "fileName": "NavX.json",
     "name": "KauaiLabs_navX_FRC",
-    "version": "2023.0.1",
+    "version": "2023.0.3",
     "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
     "mavenUrls": [
         "https://dev.studica.com/maven/release/2023/"
@@ -11,7 +11,7 @@
         {
             "groupId": "com.kauailabs.navx.frc",
             "artifactId": "navx-frc-java",
-            "version": "2023.0.1"
+            "version": "2023.0.3"
         }
     ],
     "jniDependencies": [],
@@ -19,7 +19,7 @@
         {
             "groupId": "com.kauailabs.navx.frc",
             "artifactId": "navx-frc-cpp",
-            "version": "2023.0.1",
+            "version": "2023.0.3",
             "headerClassifier": "headers",
             "sourcesClassifier": "sources",
             "sharedLibrary": false,
@@ -28,6 +28,10 @@
             "binaryPlatforms": [
                 "linuxathena",
                 "linuxraspbian",
+                "linuxarm32",
+                "linuxarm64",
+                "linux86-64",
+                "osxuniversal",
                 "windowsx86-64"
             ]
         }
diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json
index 65655e2..68a48fc 100644
--- a/vendordeps/PathplannerLib.json
+++ b/vendordeps/PathplannerLib.json
@@ -1,7 +1,7 @@
 {
     "fileName": "PathplannerLib.json",
     "name": "PathplannerLib",
-    "version": "2023.3.3",
+    "version": "2023.4.2",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
     "mavenUrls": [
         "https://3015rangerrobotics.github.io/pathplannerlib/repo"
@@ -11,7 +11,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2023.3.3"
+            "version": "2023.4.2"
         }
     ],
     "jniDependencies": [],
@@ -19,7 +19,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2023.3.3",
+            "version": "2023.4.2",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
diff --git a/vendordeps/Phoenix.json b/vendordeps/Phoenix.json
index 72041eb..27ee06e 100644
--- a/vendordeps/Phoenix.json
+++ b/vendordeps/Phoenix.json
@@ -1,7 +1,7 @@
 {
     "fileName": "Phoenix.json",
     "name": "CTRE-Phoenix (v5)",
-    "version": "5.30.3",
+    "version": "5.30.4+23.0.8",
     "frcYear": 2023,
     "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
     "mavenUrls": [
@@ -12,19 +12,19 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "api-java",
-            "version": "5.30.3"
+            "version": "5.30.4"
         },
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "wpiapi-java",
-            "version": "5.30.3"
+            "version": "5.30.4"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "cci",
-            "version": "5.30.3",
+            "version": "5.30.4",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -37,7 +37,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "cci-sim",
-            "version": "5.30.3",
+            "version": "5.30.4",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -50,7 +50,7 @@
         {
             "groupId": "com.ctre.phoenixpro",
             "artifactId": "tools",
-            "version": "23.0.3",
+            "version": "23.0.8",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -63,7 +63,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "tools-sim",
-            "version": "23.0.3",
+            "version": "23.0.8",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -76,7 +76,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.0.3",
+            "version": "23.0.8",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -89,7 +89,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simTalonFX",
-            "version": "23.0.3",
+            "version": "23.0.8",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -102,7 +102,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.0.3",
+            "version": "23.0.8",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -115,7 +115,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.0.3",
+            "version": "23.0.8",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -128,7 +128,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simCANCoder",
-            "version": "23.0.3",
+            "version": "23.0.8",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -141,7 +141,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.0.3",
+            "version": "23.0.8",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -154,7 +154,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.0.3",
+            "version": "23.0.8",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -167,7 +167,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.0.3",
+            "version": "23.0.8",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -182,7 +182,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "wpiapi-cpp",
-            "version": "5.30.3",
+            "version": "5.30.4",
             "libName": "CTRE_Phoenix_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -197,7 +197,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "api-cpp",
-            "version": "5.30.3",
+            "version": "5.30.4",
             "libName": "CTRE_Phoenix",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -212,7 +212,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "cci",
-            "version": "5.30.3",
+            "version": "5.30.4",
             "libName": "CTRE_PhoenixCCI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -227,7 +227,7 @@
         {
             "groupId": "com.ctre.phoenixpro",
             "artifactId": "tools",
-            "version": "23.0.3",
+            "version": "23.0.8",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -242,7 +242,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "5.30.3",
+            "version": "5.30.4",
             "libName": "CTRE_Phoenix_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -257,7 +257,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "api-cpp-sim",
-            "version": "5.30.3",
+            "version": "5.30.4",
             "libName": "CTRE_PhoenixSim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -272,7 +272,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "cci-sim",
-            "version": "5.30.3",
+            "version": "5.30.4",
             "libName": "CTRE_PhoenixCCISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -287,7 +287,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "tools-sim",
-            "version": "23.0.3",
+            "version": "23.0.8",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -302,7 +302,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.0.3",
+            "version": "23.0.8",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -317,7 +317,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simTalonFX",
-            "version": "23.0.3",
+            "version": "23.0.8",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -332,7 +332,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.0.3",
+            "version": "23.0.8",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -347,7 +347,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.0.3",
+            "version": "23.0.8",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -362,7 +362,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simCANCoder",
-            "version": "23.0.3",
+            "version": "23.0.8",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -377,7 +377,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.0.3",
+            "version": "23.0.8",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -392,7 +392,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.0.3",
+            "version": "23.0.8",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -407,7 +407,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.0.3",
+            "version": "23.0.8",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json
index cdbbe6e..f2d0b7d 100644
--- a/vendordeps/REVLib.json
+++ b/vendordeps/REVLib.json
@@ -1,7 +1,7 @@
 {
     "fileName": "REVLib.json",
     "name": "REVLib",
-    "version": "2023.1.2",
+    "version": "2023.1.3",
     "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
     "mavenUrls": [
         "https://maven.revrobotics.com/"
@@ -11,14 +11,14 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-java",
-            "version": "2023.1.2"
+            "version": "2023.1.3"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2023.1.2",
+            "version": "2023.1.3",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
@@ -36,7 +36,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-cpp",
-            "version": "2023.1.2",
+            "version": "2023.1.3",
             "libName": "REVLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -54,7 +54,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2023.1.2",
+            "version": "2023.1.3",
             "libName": "REVLibDriver",
             "headerClassifier": "headers",
             "sharedLibrary": false,
diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json
index 1112658..ace8f2b 100644
--- a/vendordeps/photonlib.json
+++ b/vendordeps/photonlib.json
@@ -1,7 +1,7 @@
 {
     "fileName": "photonlib.json",
     "name": "photonlib",
-    "version": "v2023.2.1",
+    "version": "v2023.4.1",
     "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004 ",
     "mavenUrls": [
         "https://maven.photonvision.org/repository/internal",
@@ -13,7 +13,7 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "PhotonLib-cpp",
-            "version": "v2023.2.1",
+            "version": "v2023.4.1",
             "libName": "Photon",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -30,12 +30,12 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "PhotonLib-java",
-            "version": "v2023.2.1"
+            "version": "v2023.4.1"
         },
         {
             "groupId": "org.photonvision",
             "artifactId": "PhotonTargeting-java",
-            "version": "v2023.2.1"
+            "version": "v2023.4.1"
         }
     ]
 }
\ No newline at end of file