diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json
index 69fddcd..8e61586 100644
--- a/vendordeps/PathplannerLib.json
+++ b/vendordeps/PathplannerLib.json
@@ -1,7 +1,7 @@
 {
     "fileName": "PathplannerLib.json",
     "name": "PathplannerLib",
-    "version": "2023.4.3",
+    "version": "2023.4.4",
     "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": "2023.4.3"
+            "version": "2023.4.4"
         }
     ],
     "jniDependencies": [],
@@ -19,7 +19,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2023.4.3",
+            "version": "2023.4.4",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
diff --git a/vendordeps/Phoenix.json b/vendordeps/Phoenix.json
index 04bb659..282d536 100644
--- a/vendordeps/Phoenix.json
+++ b/vendordeps/Phoenix.json
@@ -1,7 +1,7 @@
 {
     "fileName": "Phoenix.json",
     "name": "CTRE-Phoenix (v5)",
-    "version": "5.30.4+23.0.11",
+    "version": "5.30.4+23.0.12",
     "frcYear": 2023,
     "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
     "mavenUrls": [
@@ -50,7 +50,7 @@
         {
             "groupId": "com.ctre.phoenixpro",
             "artifactId": "tools",
-            "version": "23.0.11",
+            "version": "23.0.12",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -63,7 +63,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "tools-sim",
-            "version": "23.0.11",
+            "version": "23.0.12",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -76,7 +76,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.0.11",
+            "version": "23.0.12",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -89,7 +89,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simTalonFX",
-            "version": "23.0.11",
+            "version": "23.0.12",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -102,7 +102,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.0.11",
+            "version": "23.0.12",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -115,7 +115,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.0.11",
+            "version": "23.0.12",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -128,7 +128,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simCANCoder",
-            "version": "23.0.11",
+            "version": "23.0.12",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -141,7 +141,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.0.11",
+            "version": "23.0.12",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -154,7 +154,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.0.11",
+            "version": "23.0.12",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -167,7 +167,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.0.11",
+            "version": "23.0.12",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -227,7 +227,7 @@
         {
             "groupId": "com.ctre.phoenixpro",
             "artifactId": "tools",
-            "version": "23.0.11",
+            "version": "23.0.12",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -287,7 +287,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "tools-sim",
-            "version": "23.0.11",
+            "version": "23.0.12",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -302,7 +302,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.0.11",
+            "version": "23.0.12",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -317,7 +317,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simTalonFX",
-            "version": "23.0.11",
+            "version": "23.0.12",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -332,7 +332,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.0.11",
+            "version": "23.0.12",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -347,7 +347,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.0.11",
+            "version": "23.0.12",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -362,7 +362,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simCANCoder",
-            "version": "23.0.11",
+            "version": "23.0.12",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -377,7 +377,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.0.11",
+            "version": "23.0.12",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -392,7 +392,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.0.11",
+            "version": "23.0.12",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -407,7 +407,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.0.11",
+            "version": "23.0.12",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,