diff --git a/src/main/java/frc/robot/Config.java b/src/main/java/frc/robot/Config.java
index 0705e3d..06d5e6f 100644
--- a/src/main/java/frc/robot/Config.java
+++ b/src/main/java/frc/robot/Config.java
@@ -35,6 +35,20 @@ public final class Config {
    */
   private static int robotId = -1;
 
+  /**
+   * CAN IDs, ports, channels, etc.
+   */
+  public static class CANID {
+    // Arm Subsystem
+    public static final int TOP_ARM_SPARK_CAN_ID = robotSpecific(5,0,0,0,0,18,18);
+    public static final int BOTTOM_ARM_SPARK_CAN_ID = robotSpecific(4,0,0,0,0,19,19);
+
+    //Arm Subsystem
+    public static final int BOTTOM_CANCODER_CAN_ID = 2;
+    
+
+  }
+
   /**
    * Returns one of the values passed based on the robot ID
    *
@@ -94,12 +108,14 @@ public static int getRobotId() {
 
 
    /** ADD CONSTANTS BELOW THIS LINE */
-  // PCM Can ID
-  public static final int CTRE_PCM_CAN_ID = 1;
 
-  // Constants for arm pneumatics
-  public static final int ARMLOW_PNEUMATIC_FORWARD_CHANNEL = 0;
-  public static final int ARMLOW_PNEUMATIC_REVERSE_CHANNEL = 1;
+   //PCM Can ID 
+   public static final int CTRE_PCM_CAN_ID = 1;
+
+   //Constants for arm pneumatics 
+   public static final int ARMLOW_PNEUMATIC_FORWARD_CHANNEL=0;
+   public static final int ARMLOW_PNEUMATIC_REVERSE_CHANNEL = 1;
+   
   public static final int ARMHIGH_PNEUMATIC_FORWARD_CHANNEL = 2;
   public static final int ARMHIGH_PNEUMATIC_REVERSE_CHANNEL = 3;
   
diff --git a/src/main/java/frc/robot/ErrorCheck.java b/src/main/java/frc/robot/ErrorCheck.java
new file mode 100644
index 0000000..9ce8bfd
--- /dev/null
+++ b/src/main/java/frc/robot/ErrorCheck.java
@@ -0,0 +1,25 @@
+package frc.robot;
+
+import com.ctre.phoenix.ErrorCode;
+import com.revrobotics.REVLibError;
+
+import edu.wpi.first.wpilibj.DriverStation;
+
+public class ErrorCheck {
+    public static int count = -1;
+    public static boolean errREV(REVLibError error) {
+        if (error == REVLibError.kOk) {
+            return true;
+        }
+    DriverStation.reportError("REV DEVICE Error" + error.toString(), true);
+    return false;
+}
+public static boolean errCTRE(ErrorCode error) {
+    if (error == ErrorCode.OK) {
+        return true;
+    }
+
+    DriverStation.reportError("CTRE Device Error: " + error.toString(), true);
+    return false;
+}
+}
diff --git a/src/main/java/frc/robot/ProfiledPIDFFController.java b/src/main/java/frc/robot/ProfiledPIDFFController.java
new file mode 100644
index 0000000..84e42db
--- /dev/null
+++ b/src/main/java/frc/robot/ProfiledPIDFFController.java
@@ -0,0 +1,55 @@
+package frc.robot;
+
+import edu.wpi.first.math.controller.ProfiledPIDController;
+import edu.wpi.first.math.controller.SimpleMotorFeedforward;
+import edu.wpi.first.math.trajectory.TrapezoidProfile;
+import edu.wpi.first.wpilibj.Timer;
+import frc.robot.subsystems.ArmConfig;
+
+public class ProfiledPIDFFController {
+    private double lastVel = 0; 
+    private double lastTime = Timer.getFPGATimestamp();
+
+    private final TrapezoidProfile.Constraints m_constraints = 
+    new TrapezoidProfile.Constraints(ArmConfig.TOP_MAX_VEL, ArmConfig.TOP_MAX_ACCEL);
+    private final ProfiledPIDController m_ProfiledPIDController = 
+    new ProfiledPIDController(1.6,0.002,40, m_constraints, 0.02);
+
+    private final SimpleMotorFeedforward m_FFController = new SimpleMotorFeedforward(0,0);
+
+    public ProfiledPIDFFController ()
+    {
+
+    }
+
+    public void setFinalGoal( TrapezoidProfile.State finalGoal) 
+    {
+        m_ProfiledPIDController.setGoal(finalGoal);
+    }
+
+    public double getProfiledPIDVoltage (double measuredPos, double finalPos)
+    {
+        return m_ProfiledPIDController.calculate(measuredPos, finalPos);
+    }
+
+    public double getProfiledPIDFFVoltage(double measuredPos, double finalPos)
+    {
+        double pidVal = getProfiledPIDVoltage(measuredPos, finalPos);
+
+        double currVel = m_ProfiledPIDController.getSetpoint().velocity;
+        double currAccel = (m_ProfiledPIDController.getSetpoint().velocity - lastVel)/(Timer.getFPGATimestamp() - lastTime);
+        double ffVal = m_FFController.calculate(currVel, currAccel);
+
+        lastVel = currVel;
+        lastTime = Timer.getFPGATimestamp();
+
+        return ffVal;
+    }
+
+    public double getNextProfiledPIDPos(double measuredPos, double finalPos) {
+        double pidVal = getProfiledPIDVoltage(measuredPos, finalPos);
+
+        double currPos = m_ProfiledPIDController.getSetpoint().position;
+        return currPos;
+    }
+}
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 9fa643b..5b0a94d 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -8,6 +8,11 @@
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import edu.wpi.first.wpilibj2.command.ScheduleCommand;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
+import frc.robot.SubsystemChecker.SubsystemType;
+import frc.robot.commands.CheckArmEncodersSync;
+import frc.robot.commands.SyncArmEncoders;
 import frc.robot.robotcontainers.BeetleContainer;
 import frc.robot.robotcontainers.ClutchContainer;
 import frc.robot.robotcontainers.CosmobotContainer;
@@ -33,6 +38,13 @@ public void robotInit() {
     // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
     // autonomous chooser on the dashboard.
     createRobotContainer();
+ 
+    if (SubsystemChecker.canSubsystemConstruct(SubsystemType.ArmSubsystem)) {
+      System.out.println("*****robotInit*****");
+      //new WaitCommand(10).andThen(new CheckArmEncodersSync()).schedule();
+      new WaitCommand(10).andThen(new ScheduleCommand(new CheckArmEncodersSync())).schedule();
+    }
+
   }
 
   private void createRobotContainer() {
diff --git a/src/main/java/frc/lib/lib2706/SubsystemChecker.java b/src/main/java/frc/robot/SubsystemChecker.java
similarity index 98%
rename from src/main/java/frc/lib/lib2706/SubsystemChecker.java
rename to src/main/java/frc/robot/SubsystemChecker.java
index e1e5949..3234c4a 100644
--- a/src/main/java/frc/lib/lib2706/SubsystemChecker.java
+++ b/src/main/java/frc/robot/SubsystemChecker.java
@@ -2,9 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package frc.lib.lib2706;
-
-import frc.robot.Config;
+package frc.robot;
 
 /** Add your docs here. */
 public class SubsystemChecker {
diff --git a/src/main/java/frc/robot/commands/CheckArmEncodersSync.java b/src/main/java/frc/robot/commands/CheckArmEncodersSync.java
new file mode 100644
index 0000000..e39170d
--- /dev/null
+++ b/src/main/java/frc/robot/commands/CheckArmEncodersSync.java
@@ -0,0 +1,51 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.ArmSubsystem;
+
+public class CheckArmEncodersSync extends CommandBase {
+  /** Creates a new CheckArmEncodersSync. */
+  public CheckArmEncodersSync() {
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(ArmSubsystem.getInstance());
+
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if (ArmSubsystem.getInstance().areEncodersSynced()==false) {
+      DriverStation.reportWarning ("CheckArmEncoders: Arm encoders are not synced", false);
+      System.out.println("*****CheckArmEncoders: Arm encoders are not synced*****");
+    }
+    else {
+      DriverStation.reportWarning ("CheckArmEncoders: Arm encoders are synced", false);
+      System.out.println("*****CheckArmEncoders: Arm encoders are synced*****");
+    }
+    
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return true;
+  }
+
+  @Override 
+  public boolean runsWhenDisabled() {
+    return true;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/SetBottomArm.java b/src/main/java/frc/robot/commands/SetBottomArm.java
new file mode 100644
index 0000000..5933662
--- /dev/null
+++ b/src/main/java/frc/robot/commands/SetBottomArm.java
@@ -0,0 +1,62 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.ArmPneumaticsSubsystem;
+import frc.robot.subsystems.ArmSubsystem;
+
+public class SetBottomArm extends CommandBase {
+  double bottomArmAngleRadians;
+  final double TIMEOUT_S=2;
+
+  Timer m_timer = new Timer();
+  /** Creates a new SetBottomArm. */
+  public SetBottomArm(double angleDegree) {
+    bottomArmAngleRadians = Math.toRadians(angleDegree);
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(ArmSubsystem.getInstance());
+    addRequirements(ArmPneumaticsSubsystem.getInstance());
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    //ArmSubsystem.getInstance().controlBottomArmBrake(false);
+    ArmPneumaticsSubsystem.getInstance().controlBottomBrake(false, false);
+    m_timer.stop();
+    m_timer.reset();
+    //todo: 
+    m_timer.start();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    ArmSubsystem.getInstance().setBottomJointAngle(bottomArmAngleRadians);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    ArmSubsystem.getInstance().stopMotors();
+    if (interrupted == false)
+     {
+      //ArmSubsystem.getInstance().controlBottomArmBrake(true);
+      ArmPneumaticsSubsystem.getInstance().controlBottomBrake(true, true);
+
+    }
+    m_timer.stop();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    //todo: check if bottom arm reaches the position 
+    //time out, finished
+    return m_timer.hasElapsed(TIMEOUT_S);
+  }
+}
diff --git a/src/main/java/frc/robot/commands/SetTopArm.java b/src/main/java/frc/robot/commands/SetTopArm.java
new file mode 100644
index 0000000..450ece4
--- /dev/null
+++ b/src/main/java/frc/robot/commands/SetTopArm.java
@@ -0,0 +1,48 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.ArmPneumaticsSubsystem;
+import frc.robot.subsystems.ArmSubsystem;
+
+public class SetTopArm extends CommandBase{
+    double topArmAngleRadians;
+    final double TIMEOUT_S= 1.5;
+
+    Timer m_timer = new Timer();
+    /*Creates a new SetTopArm */
+    public SetTopArm(double angleDegree) {
+        topArmAngleRadians = Math.toRadians(angleDegree);
+        //addRequirements() used to set subsystem dependencies
+        addRequirements(ArmSubsystem.getInstance());
+        addRequirements(ArmPneumaticsSubsystem.getInstance());
+    }
+
+    // called when command is initially scheduled
+    @Override 
+    public void initialize() {
+        ArmPneumaticsSubsystem.getInstance().controlTopBrake(false, false);
+        m_timer.stop();
+        m_timer.reset();
+        m_timer.start();
+    }
+
+    @Override 
+    public void execute() {
+        ArmSubsystem.getInstance().setTopJointAngle(topArmAngleRadians);
+    }
+
+    @Override 
+    public void end(boolean interrupted) {
+        ArmSubsystem.getInstance().stopMotors();
+        if (interrupted == false)
+        {
+            ArmPneumaticsSubsystem.getInstance().controlTopBrake(true, true);
+        }
+        m_timer.stop();
+    }
+    @Override 
+    public boolean isFinished() {
+        return m_timer.hasElapsed(TIMEOUT_S);
+    }
+}
diff --git a/src/main/java/frc/robot/commands/SyncArmEncoders.java b/src/main/java/frc/robot/commands/SyncArmEncoders.java
new file mode 100644
index 0000000..13a106d
--- /dev/null
+++ b/src/main/java/frc/robot/commands/SyncArmEncoders.java
@@ -0,0 +1,65 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.ArmSubsystem;
+
+public class SyncArmEncoders extends CommandBase {
+  int counter;
+  boolean bSynced;
+  /** Creates a new SyncArmEncoders. */
+  public SyncArmEncoders() {
+    counter = 0;
+    bSynced = false;
+    addRequirements(ArmSubsystem.getInstance());
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    counter ++;
+    if (ArmSubsystem.getInstance().areEncodersSynced()==false) {
+      DriverStation.reportWarning ("Arm encoders are not synced", false);
+      System.out.println("*****Arm encoders are not synced*****");
+    }
+    else {
+      DriverStation.reportWarning ("Arm encoders are synced", false);
+      System.out.println("*****Arm encoders are synced*****");
+      bSynced = true;
+      ArmSubsystem.getInstance().burnFlash();
+    }
+    
+
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  @Override 
+  public boolean runsWhenDisabled() {
+    return true;
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    if (counter >= 10 || bSynced == true) {
+    return true;
+    }
+    else {
+
+      return false;
+    }
+  }
+}
diff --git a/src/main/java/frc/robot/robotcontainers/PoseidonContainer.java b/src/main/java/frc/robot/robotcontainers/PoseidonContainer.java
index 7072d4b..b5f8af3 100644
--- a/src/main/java/frc/robot/robotcontainers/PoseidonContainer.java
+++ b/src/main/java/frc/robot/robotcontainers/PoseidonContainer.java
@@ -8,6 +8,9 @@
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.Robot;
+import frc.robot.commands.SetBottomArm;
+import frc.robot.commands.SetTopArm;
+import frc.robot.commands.SyncArmEncoders;
 import frc.robot.commands.ArmPneumaticsCommands.*;
 import frc.robot.subsystems.GripperSubsystem;
 
@@ -41,6 +44,8 @@ public PoseidonContainer() {
    * created via the {@link CommandXboxController} or other ways.
    */
   private void configureButtonBindings() {
+    CommandXboxController driver = new CommandXboxController(0);
+    CommandXboxController operator = new CommandXboxController (1);
     /* Driver Controls */
     
     //ArmPneumaticsSubsystem commands
@@ -63,7 +68,14 @@ private void configureButtonBindings() {
     driver.a().onTrue(GripperSubsystem.getInstance().lowPressureCommand());
     // B - High Pressure
     driver.b().onTrue(GripperSubsystem.getInstance().highPressureCommand());
+
+
     /* Operator Controls */
+    operator.a().onTrue(new SetBottomArm(90));
+    operator.b().onTrue(new SetBottomArm(80));
+    operator.x().onTrue(new SetTopArm(10));
+    operator.y().onTrue(new SetTopArm(30));
+  
   }
 
   /**
@@ -75,3 +87,4 @@ public Command getAutonomousCommand() {
     return new InstantCommand();
   }
 }
+
diff --git a/src/main/java/frc/robot/subsystems/ArmConfig.java b/src/main/java/frc/robot/subsystems/ArmConfig.java
new file mode 100644
index 0000000..aff61fe
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/ArmConfig.java
@@ -0,0 +1,74 @@
+package frc.robot.subsystems;
+
+import frc.robot.Config;
+
+public class ArmConfig {
+    public static final boolean TOP_SET_INVERTED = true;
+    public static final boolean BOTTOM_SET_INVERTED = true;
+
+    public static final int CURRENT_LIMIT = 60;
+
+    //soft limit constants for top arm
+    public static final float top_arm_forward_limit = (float)Math.toRadians(190); //converts degree to radian
+    public static final float top_arm_reverse_limit = (float)Math.toRadians(7); 
+    public static final boolean TOP_SOFT_LIMIT_ENABLE = true;
+
+    //soft limit constant for bottom arm
+    public static final float bottom_arm_forward_limit = (float)Math.toRadians(135);
+    public static final float bottom_arm_reverse_limit = (float)Math.toRadians(40);
+    public static final boolean BOTTOM_SOFT_LIMIT_ENABLE = true;
+    
+    //PID constants
+    public static final double bottom_arm_kP = 1.4;
+    public static final double bottom_arm_kI = 0.0003;
+    public static final double bottom_arm_kD = 0.9;
+    public static final double bottom_arm_kIz = 0.3;
+    public static final double bottom_arm_kFF = 0;
+    public static final double min_output = -1;
+    public static final double max_output = 1;
+
+    //unfinalized top values
+    public static final double top_arm_kP = 1.6;
+    public static final double top_arm_kI = 0.002;
+    public static final double top_arm_kD = 40;
+    public static final double top_arm_kIz = 0.3;
+    public static final double top_arm_kFF = 0;
+
+
+
+
+
+    //duty cycle encoders
+    //public static final int bottom_duty_cycle_channel = 7;
+    //public static final int top_duty_cycle_channel = 0;
+
+    //arm offsets
+    //public static final double bottom_arm_offset = 307.800000;
+    //public static final double top_arm_offset = 0;
+
+    //syncing encoders
+    public static double ENCODER_SYNCING_TOLERANCE = 0.01; //radians
+
+    //public static final double BOTTOM_NEO_GEAR_RATIO =  Config.robotSpecific(62.5,0.0,0.0,0.0);
+    //public static final double TOP_NEO_GEAR_RATIO =  Config.robotSpecific(62.5,0.0,0.0,0.0);
+
+
+    //public static final double bottomArmPositionConversionFactor = 2 * Math.PI / BOTTOM_NEO_GEAR_RATIO;
+    //public static final double bottomArmVelocityConversionFactor = bottomArmPositionConversionFactor / 60.0;
+
+    //public static final double topArmPositionConversionFactor = 2 * Math.PI / BOTTOM_NEO_GEAR_RATIO;
+    //public static final double topArmVelocityConversionFactor = bottomArmPositionConversionFactor / 60.0;
+
+
+    public static final double BOTTOM_MAX_VEL = Math.PI * 3;
+    public static final double BOTTOM_MAX_ACCEL = Math.PI *3;
+    
+    public static final double TOP_MAX_VEL = Math.PI * 0.5;
+    public static final double TOP_MAX_ACCEL = Math.PI *0.5;
+
+
+
+    
+
+
+}
diff --git a/src/main/java/frc/robot/subsystems/ArmSubsystem.java b/src/main/java/frc/robot/subsystems/ArmSubsystem.java
new file mode 100644
index 0000000..4b2724f
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/ArmSubsystem.java
@@ -0,0 +1,353 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+import com.ctre.phoenix.sensors.AbsoluteSensorRange;
+import com.ctre.phoenix.sensors.CANCoder;
+import com.ctre.phoenix.sensors.CANCoderConfiguration;
+import com.ctre.phoenix.sensors.SensorInitializationStrategy;
+import com.ctre.phoenix.sensors.SensorTimeBase;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMax.ControlType;
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.SparkMaxAbsoluteEncoder;
+import com.revrobotics.SparkMaxPIDController;
+import com.revrobotics.CANSparkMax.IdleMode;
+import com.revrobotics.CANSparkMax.SoftLimitDirection;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+import com.revrobotics.CANSparkMaxLowLevel.PeriodicFrame;
+import com.revrobotics.SparkMaxAbsoluteEncoder.Type;
+
+import frc.robot.Config;
+import frc.robot.ErrorCheck;
+import frc.robot.ProfiledPIDFFController;
+import frc.robot.SubsystemChecker;
+import frc.robot.SubsystemChecker.SubsystemType;
+import edu.wpi.first.networktables.DoubleEntry;
+import edu.wpi.first.networktables.DoublePublisher;
+import edu.wpi.first.networktables.DoubleSubscriber;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.networktables.PubSubOption;
+import edu.wpi.first.networktables.Topic;
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.DutyCycleEncoder;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class ArmSubsystem extends SubsystemBase {
+  private static ArmSubsystem instance = null; //static object that contains all movement controls
+
+  private static final MotorType motorType = MotorType.kBrushless; //defines brushless motortype
+  public final CANSparkMax m_bottomArm; //bottom SparkMax motor controller
+  public final CANSparkMax m_topArm; //bottom SparkMax motor controller
+
+  
+  //network table entry
+  private final String m_tuningTableBottom = "Arm/BottomArmTuning";
+  private final String m_dataTableBottom = "Arm/BottomArmData";
+  private final String m_tuningTableTop = "Arm/TopArmTuning";
+  private final String m_dataTableTop = "Arm/TopArmData";
+  
+  //network table entries for bottom arm
+  private DoubleEntry m_bottomArmPSubs;
+  private DoubleEntry m_bottomArmISubs;
+  private DoubleEntry m_bottomArmDSubs;
+  private DoubleEntry m_bottomArmIzSubs;
+  private DoubleEntry m_bottomArmFFSubs;
+  private DoublePublisher m_bottomArmSetpointPub;   
+  private DoublePublisher m_bottomArmVelPub;
+  private DoubleEntry m_bottomArmMomentToVoltage;
+  private DoublePublisher m_bottomArmFFTestingVolts;
+  private DoubleEntry m_bottomArmOffset;
+  private DoublePublisher m_bottomTargetAngle;
+  private DoublePublisher m_bottomArmPosPub;
+
+  //network tables entries for top arm 
+  private DoubleEntry m_topArmPSubs;
+  private DoubleEntry m_topArmISubs;
+  private DoubleEntry m_topArmDSubs;
+  private DoubleEntry m_topArmIzSubs;
+  private DoubleEntry m_topArmFFSubs;
+  private DoublePublisher m_topArmSetpointPub;   
+  private DoublePublisher m_topArmVelPub;
+  private DoubleEntry m_topArmMomentToVoltage;
+  private DoublePublisher m_topArmFFTestingVolts;
+  private DoubleEntry m_topArmOffset;
+  private DoublePublisher m_topTargetAngle;
+  private DoublePublisher m_topArmPosPub;
+
+  //for bottom arm ff
+  private DoubleSubscriber momentToVoltageConversion;
+  private double m_bottomVoltageConversion;
+  //for top arm ff 
+  private double m_topVoltageConversion;
+
+
+  //spark max absolute encoder
+  SparkMaxAbsoluteEncoder m_bottomAbsEncoder;
+  SparkMaxAbsoluteEncoder m_topAbsEncoder;
+
+  //embedded relative encoder
+  //private RelativeEncoder m_bottomEncoder;
+  public SparkMaxPIDController m_pidControllerBottomArm;  
+  public SparkMaxPIDController m_pidControllerTopArm;
+
+  ProfiledPIDFFController m_profiledFFController = new ProfiledPIDFFController();
+
+
+  public static ArmSubsystem getInstance() { //gets arm subsystem object to control movement
+    if (instance == null) {
+      SubsystemChecker.subsystemConstructed(SubsystemType.ArmSubsystem);
+      instance = new ArmSubsystem();
+    }
+    return instance;
+  }
+
+  /** Creates a new ArmSubsystem. */
+  public ArmSubsystem() {
+
+    m_bottomArm = new CANSparkMax(Config.CANID.BOTTOM_ARM_SPARK_CAN_ID, motorType); //creates SparkMax motor controller for bottom joint
+    ErrorCheck.errREV(m_bottomArm.restoreFactoryDefaults());
+    ErrorCheck.errREV(m_bottomArm.setSmartCurrentLimit(ArmConfig.CURRENT_LIMIT));
+    m_bottomArm.setInverted(ArmConfig.BOTTOM_SET_INVERTED); //sets movement direction
+    ErrorCheck.errREV(m_bottomArm.setIdleMode(IdleMode.kBrake)); //sets brakes when there is no motion
+    
+    ErrorCheck.errREV(m_bottomArm.setSoftLimit(SoftLimitDirection.kForward, ArmConfig.bottom_arm_forward_limit));
+    ErrorCheck.errREV(m_bottomArm.setSoftLimit(SoftLimitDirection.kReverse, ArmConfig.bottom_arm_reverse_limit));
+    ErrorCheck.errREV(m_bottomArm.enableSoftLimit(SoftLimitDirection.kForward, ArmConfig.BOTTOM_SOFT_LIMIT_ENABLE));
+    ErrorCheck.errREV(m_bottomArm.enableSoftLimit(SoftLimitDirection.kReverse, ArmConfig.BOTTOM_SOFT_LIMIT_ENABLE));
+
+    m_topArm = new CANSparkMax(Config.CANID.TOP_ARM_SPARK_CAN_ID, motorType);
+    ErrorCheck.errREV(m_topArm.restoreFactoryDefaults());
+    ErrorCheck.errREV(m_topArm.setSmartCurrentLimit(ArmConfig.CURRENT_LIMIT));
+    m_topArm.setInverted(ArmConfig.TOP_SET_INVERTED);
+    ErrorCheck.errREV(m_topArm.setIdleMode(IdleMode.kBrake));
+
+    ErrorCheck.errREV(m_topArm.setSoftLimit(SoftLimitDirection.kForward, ArmConfig.top_arm_forward_limit));
+    ErrorCheck.errREV(m_topArm.setSoftLimit(SoftLimitDirection.kReverse, ArmConfig.top_arm_reverse_limit));
+    ErrorCheck.errREV(m_topArm.enableSoftLimit(SoftLimitDirection.kForward, ArmConfig.TOP_SOFT_LIMIT_ENABLE));
+    ErrorCheck.errREV(m_topArm.enableSoftLimit(SoftLimitDirection.kReverse, ArmConfig.TOP_SOFT_LIMIT_ENABLE));
+
+    m_topArm.setPeriodicFramePeriod(PeriodicFrame.kStatus5, 20);
+    m_topArm.setPeriodicFramePeriod(PeriodicFrame.kStatus6, 20);
+
+    m_bottomArm.setPeriodicFramePeriod(PeriodicFrame.kStatus5, 20);
+    m_bottomArm.setPeriodicFramePeriod(PeriodicFrame.kStatus6, 20);
+
+
+    //unit: radius
+    m_bottomAbsEncoder = m_bottomArm.getAbsoluteEncoder(Type.kDutyCycle);
+    m_bottomAbsEncoder.setInverted(true);
+    m_bottomAbsEncoder.setPositionConversionFactor(2*Math.PI);
+    m_bottomAbsEncoder.setVelocityConversionFactor(2*Math.PI/60.0);
+    m_bottomAbsEncoder.setZeroOffset(Math.toRadians(52));
+
+    m_topAbsEncoder = m_topArm.getAbsoluteEncoder(Type.kDutyCycle);
+    m_topAbsEncoder.setInverted(false);
+    m_topAbsEncoder.setPositionConversionFactor(2*Math.PI);
+    m_topAbsEncoder.setVelocityConversionFactor(2*Math.PI/60.0);
+    m_topAbsEncoder.setZeroOffset(Math.toRadians(286));
+
+    m_pidControllerBottomArm = m_bottomArm.getPIDController();
+    m_pidControllerBottomArm.setFeedbackDevice(m_bottomAbsEncoder);
+
+    m_pidControllerTopArm = m_topArm.getPIDController();
+    m_pidControllerTopArm.setFeedbackDevice(m_topAbsEncoder);
+
+    NetworkTable topArmTuningTable = NetworkTableInstance.getDefault().getTable(m_tuningTableTop);
+    m_topArmPSubs = topArmTuningTable.getDoubleTopic("P").getEntry(ArmConfig.top_arm_kP, PubSubOption.periodic(0.02));
+    m_topArmISubs = topArmTuningTable.getDoubleTopic("I").getEntry(ArmConfig.top_arm_kI);
+    m_topArmDSubs = topArmTuningTable.getDoubleTopic("D").getEntry(ArmConfig.top_arm_kD);
+    m_topArmIzSubs = topArmTuningTable.getDoubleTopic("IZone").getEntry(ArmConfig.top_arm_kIz);
+    m_topArmFFSubs = topArmTuningTable.getDoubleTopic("FF").getEntry(ArmConfig.top_arm_kFF);
+   //m_topArmOffset = topArmTuningTable.getDoubleTopic("Offset").getEntry(ArmConfig.top_arm_offset);
+    momentToVoltageConversion = topArmTuningTable.getDoubleTopic("VoltageConversion").subscribe(m_topVoltageConversion);
+
+    NetworkTable bottomArmTuningTable = NetworkTableInstance.getDefault().getTable(m_tuningTableBottom);
+    m_bottomArmPSubs = bottomArmTuningTable.getDoubleTopic("P").getEntry(ArmConfig.bottom_arm_kP);
+    m_bottomArmISubs = bottomArmTuningTable.getDoubleTopic("I").getEntry(ArmConfig.bottom_arm_kI);
+    m_bottomArmDSubs = bottomArmTuningTable.getDoubleTopic("D").getEntry(ArmConfig.bottom_arm_kD);
+    m_bottomArmIzSubs = bottomArmTuningTable.getDoubleTopic("IZone").getEntry(ArmConfig.bottom_arm_kIz);
+    m_bottomArmFFSubs = bottomArmTuningTable.getDoubleTopic("FF").getEntry(ArmConfig.bottom_arm_kFF);
+    //m_bottomArmOffset = bottomArmTuningTable.getDoubleTopic("Offset").getEntry(ArmConfig.bottom_arm_offset);
+    momentToVoltageConversion = bottomArmTuningTable.getDoubleTopic("VoltageConversion").subscribe(m_bottomVoltageConversion);
+
+    m_bottomArmFFSubs.accept(ArmConfig.bottom_arm_kFF);
+    m_bottomArmPSubs.accept(ArmConfig.bottom_arm_kP);
+    m_bottomArmISubs.accept(ArmConfig.bottom_arm_kI);
+    m_bottomArmDSubs.accept(ArmConfig.bottom_arm_kD);
+    m_bottomArmIzSubs.accept(ArmConfig.bottom_arm_kIz);
+    //m_bottomArmOffset.accept(ArmConfig.bottom_arm_offset);
+
+    m_topArmFFSubs.accept(ArmConfig.top_arm_kFF);
+    m_topArmPSubs.accept(ArmConfig.top_arm_kP);
+    m_topArmISubs.accept(ArmConfig.top_arm_kI);
+    m_topArmDSubs.accept(ArmConfig.top_arm_kD);
+    m_topArmIzSubs.accept(ArmConfig.top_arm_kIz);
+
+    //m_bottomArmOffset = bottomArmTuningTable.getDoubleTopic("Offset").getEntry(ArmConfig.bottom_arm_offset);
+    //m_bottomArmOffset.accept(ArmConfig.bottom_arm_offset);
+
+    NetworkTable bottomArmDataTable = NetworkTableInstance.getDefault().getTable(m_dataTableBottom);
+    NetworkTable topArmDataTable = NetworkTableInstance.getDefault().getTable(m_dataTableTop);
+
+    
+    m_bottomArmPosPub = bottomArmDataTable.getDoubleTopic("MeasuredAngle").publish(PubSubOption.periodic(0.02));
+    m_bottomTargetAngle = bottomArmDataTable.getDoubleTopic("TargetAngle").publish(PubSubOption.periodic(0.02));
+    m_bottomArmVelPub = bottomArmDataTable.getDoubleTopic("Vel").publish(PubSubOption.periodic(0.02));
+
+    m_topArmPosPub = topArmDataTable.getDoubleTopic("MeasuredAngle").publish(PubSubOption.periodic(0.02));
+    m_topTargetAngle = topArmDataTable.getDoubleTopic("TargetAngle").publish(PubSubOption.periodic(0.02));
+    m_topArmVelPub = topArmDataTable.getDoubleTopic("Vel").publish(PubSubOption.periodic(0.02));
+
+
+    ErrorCheck.errREV(m_pidControllerBottomArm.setFF(m_bottomArmFFSubs.get()));
+    ErrorCheck.errREV(m_pidControllerBottomArm.setP(m_bottomArmPSubs.get()));
+    ErrorCheck.errREV(m_pidControllerBottomArm.setI(m_bottomArmISubs.get()));
+    ErrorCheck.errREV(m_pidControllerBottomArm.setD(m_bottomArmDSubs.get()));
+    ErrorCheck.errREV(m_pidControllerBottomArm.setIZone(m_bottomArmIzSubs.get())); 
+    ErrorCheck.errREV(m_pidControllerBottomArm.setOutputRange(ArmConfig.min_output, ArmConfig.max_output));
+
+    ErrorCheck.errREV(m_pidControllerTopArm.setFF(m_topArmFFSubs.get()));
+    ErrorCheck.errREV(m_pidControllerTopArm.setP(m_topArmPSubs.get()));
+    ErrorCheck.errREV(m_pidControllerTopArm.setI(m_topArmISubs.get()));
+    ErrorCheck.errREV(m_pidControllerTopArm.setD(m_topArmDSubs.get()));
+    ErrorCheck.errREV(m_pidControllerTopArm.setIZone(m_topArmIzSubs.get())); 
+    ErrorCheck.errREV(m_pidControllerTopArm.setOutputRange(ArmConfig.min_output, ArmConfig.max_output));
+
+
+    //to do: could be moved to another spot
+    updatePIDSettings();
+    //updateFromAbsoluteBottom();
+  }
+
+  public void updatePIDSettings() {
+    ErrorCheck.errREV(m_pidControllerBottomArm.setFF(m_bottomArmFFSubs.get()));
+    ErrorCheck.errREV(m_pidControllerBottomArm.setP(m_bottomArmPSubs.get()));
+    ErrorCheck.errREV(m_pidControllerBottomArm.setI(m_bottomArmISubs.get()));
+    ErrorCheck.errREV(m_pidControllerBottomArm.setD(m_bottomArmDSubs.get()));
+    ErrorCheck.errREV(m_pidControllerBottomArm.setIZone(m_bottomArmIzSubs.get()));
+    ErrorCheck.errREV(m_pidControllerBottomArm.setOutputRange(ArmConfig.min_output, ArmConfig.max_output));
+
+    ErrorCheck.errREV(m_pidControllerTopArm.setFF(m_topArmFFSubs.get()));
+    ErrorCheck.errREV(m_pidControllerTopArm.setP(m_topArmPSubs.get()));
+    ErrorCheck.errREV(m_pidControllerTopArm.setI(m_topArmISubs.get()));
+    ErrorCheck.errREV(m_pidControllerTopArm.setD(m_topArmDSubs.get()));
+    ErrorCheck.errREV(m_pidControllerTopArm.setIZone(m_topArmIzSubs.get()));
+    ErrorCheck.errREV(m_pidControllerTopArm.setOutputRange(ArmConfig.min_output, ArmConfig.max_output));
+
+  }
+  
+
+  @Override
+  public void periodic() {
+    m_bottomArmPosPub.accept(Math.toDegrees(m_bottomAbsEncoder.getPosition()));
+    m_bottomArmVelPub.accept(m_bottomAbsEncoder.getVelocity());
+    m_bottomTargetAngle.accept(Math.toDegrees(getAbsoluteBottom()));
+
+    m_topArmPosPub.accept(Math.toDegrees(m_topAbsEncoder.getPosition()));
+    m_topArmVelPub.accept(m_topAbsEncoder.getVelocity());
+    // This method will be called once per scheduler run
+  }
+
+  //input angle_bottom in radians
+  public void setBottomJointAngle(double angle_bottom) {
+    if (angle_bottom<Math.toRadians(0) || angle_bottom>Math.toRadians(95)) {
+      angle_bottom = Math.toRadians(95);
+    }
+    //setReference angle is in radians)
+    //todo: tune FF 
+    m_pidControllerBottomArm.setReference((angle_bottom), ControlType.kPosition, 0,0.1);
+  }
+
+  public void setTopJointAngle(double angle_top) {
+    if (angle_top<Math.toRadians(0) || angle_top>Math.toRadians(35)) {
+      angle_top = Math.toRadians(10);
+    }
+    //setReference angle is in radians)
+    //todo: tune FF 
+    double targetPos = m_profiledFFController.getNextProfiledPIDPos(getTopPosition(), angle_top);
+    m_pidControllerTopArm.setReference((targetPos), ControlType.kPosition, 0, calculateFFTop());
+    m_topTargetAngle.accept(Math.toDegrees(targetPos));
+    System.out.println(targetPos);
+
+  }
+
+  /*public void controlBottomArmBrake( boolean bBrakeOn) {
+    if (bBrakeOn == true) {
+      //set brake on the arm 
+      brakeSolenoidLow.set(Value.kForward);
+    }
+    else {
+      brakeSolenoidLow.set(Value.kReverse);
+    }
+  }
+  */
+
+  //return radius
+  public double getBottomPosition() {
+    return m_bottomAbsEncoder.getPosition();
+  }
+  public double getTopPosition() {
+    return m_topAbsEncoder.getPosition();
+  }
+
+  public double getAbsoluteBottom() {
+    //getAbsolutePosition() return in [0,1]
+   //return Math.toRadians(m_bottomDutyCycleEncoder.getAbsolutePosition() * -360 + m_bottomArmOffset.get());
+  //double absPosition = m_bottomAbsEncoder.getPosition();
+  //double adjAbsPosition = absPosition-((int) absPosition/360)*360.0;
+   //System.out.println("Get abs position(degree) " + absPosition);
+   //System.out.println("adjusted abs position " + adjAbsPosition);
+   return m_bottomAbsEncoder.getPosition(); //+ m_bottomArmOffset.get());
+  }
+
+  public double getAbsoluteTop() {
+    return m_topAbsEncoder.getPosition();
+  }
+
+  //public void updateFromAbsoluteBottom() { 
+    //todo: check REV system error
+    //ErrorCheck.errREV(m_bottomEncoder.setPosition(getAbsoluteBottom()));
+  //}
+
+  public boolean areEncodersSynced() {
+    System.out.println("*****areEncodersSynced*****");
+    boolean syncResult;
+      //set sparkmax encoder position
+    //updateFromAbsoluteBottom();
+    System.out.println("getAbsoluteBottom " + getAbsoluteBottom());
+    System.out.println("getBottomPosition " + getBottomPosition());
+    syncResult = Math.abs(getAbsoluteBottom() - getBottomPosition()) < ArmConfig.ENCODER_SYNCING_TOLERANCE;
+    System.out.println("******SyncIteration****** " + "******Result******"  + syncResult);
+
+    System.out.println("getAbsoluteTop " + getAbsoluteTop());
+    System.out.println("getTopPosition " + getTopPosition());
+    syncResult = Math.abs(getAbsoluteTop() - getTopPosition()) < ArmConfig.ENCODER_SYNCING_TOLERANCE;
+    System.out.println("******SyncIteration****** " + "******Result******"  + syncResult);
+
+    return syncResult; 
+  }
+  public void stopMotors() {
+    m_bottomArm.stopMotor();
+    m_topArm.stopMotor();
+  }
+  public void burnFlash() {
+    ErrorCheck.errREV(m_bottomArm.burnFlash());
+    ErrorCheck.errREV(m_topArm.burnFlash());
+  }
+  private double calculateFFTop() {
+    double enc2AtHorizontal = getTopPosition() - (Math.PI - getBottomPosition());
+    double voltsAtHorizontal;
+    voltsAtHorizontal = 2.0;
+    //System.out.println("top position " + getTopPosition());
+    //System.out.println("bottom position " + getBottomPosition());
+    //System.out.println("calculated position " + enc2AtHorizontal);
+    System.out.println("return voltage " + voltsAtHorizontal * Math.cos(enc2AtHorizontal));
+    return voltsAtHorizontal * Math.cos(enc2AtHorizontal);
+  }
+}
diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json
index 8e61586..e1f6e52 100644
--- a/vendordeps/PathplannerLib.json
+++ b/vendordeps/PathplannerLib.json
@@ -1,8 +1,9 @@
 {
     "fileName": "PathplannerLib.json",
     "name": "PathplannerLib",
-    "version": "2023.4.4",
+    "version": "2024.0.0-beta-5.1",
     "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-5.1"
         }
     ],
     "jniDependencies": [],
@@ -19,7 +20,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2023.4.4",
+            "version": "2024.0.0-beta-5.1",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -28,7 +29,9 @@
                 "windowsx86-64",
                 "linuxx86-64",
                 "osxuniversal",
-                "linuxathena"
+                "linuxathena",
+                "linuxarm32",
+                "linuxarm64"
             ]
         }
     ]
diff --git a/vendordeps/Phoenix5.json b/vendordeps/Phoenix5.json
new file mode 100644
index 0000000..41fa3f1
--- /dev/null
+++ b/vendordeps/Phoenix5.json
@@ -0,0 +1,151 @@
+{
+    "fileName": "Phoenix5.json",
+    "name": "CTRE-Phoenix (v5)",
+    "version": "5.32.0-beta-2",
+    "frcYear": 2024,
+    "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
+    "mavenUrls": [
+        "https://maven.ctr-electronics.com/release/"
+    ],
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2024-beta-latest.json",
+    "requires": [
+        {
+            "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
+            "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6.  Please add the Phoenix 6 vendordep before adding Phoenix 5.",
+            "offlineFileName": "Phoenix6.json",
+            "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-beta-latest.json"
+        }
+    ],
+    "javaDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "api-java",
+            "version": "5.32.0-beta-2"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "wpiapi-java",
+            "version": "5.32.0-beta-2"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "cci",
+            "version": "5.32.0-beta-2",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "cci-sim",
+            "version": "5.32.0-beta-2",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "wpiapi-cpp",
+            "version": "5.32.0-beta-2",
+            "libName": "CTRE_Phoenix_WPI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "api-cpp",
+            "version": "5.32.0-beta-2",
+            "libName": "CTRE_Phoenix",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "cci",
+            "version": "5.32.0-beta-2",
+            "libName": "CTRE_PhoenixCCI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "wpiapi-cpp-sim",
+            "version": "5.32.0-beta-2",
+            "libName": "CTRE_Phoenix_WPISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "api-cpp-sim",
+            "version": "5.32.0-beta-2",
+            "libName": "CTRE_PhoenixSim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "cci-sim",
+            "version": "5.32.0-beta-2",
+            "libName": "CTRE_PhoenixCCISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ]
+}
\ No newline at end of file
diff --git a/vendordeps/Phoenix6.json b/vendordeps/Phoenix6.json
new file mode 100644
index 0000000..c64ffa2
--- /dev/null
+++ b/vendordeps/Phoenix6.json
@@ -0,0 +1,339 @@
+{
+    "fileName": "Phoenix6.json",
+    "name": "CTRE-Phoenix (v6)",
+    "version": "24.0.0-beta-4",
+    "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-frc2024-beta-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": "24.0.0-beta-4"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "tools",
+            "version": "24.0.0-beta-4",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "tools-sim",
+            "version": "24.0.0-beta-4",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simTalonSRX",
+            "version": "24.0.0-beta-4",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simTalonFX",
+            "version": "24.0.0-beta-4",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simVictorSPX",
+            "version": "24.0.0-beta-4",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simPigeonIMU",
+            "version": "24.0.0-beta-4",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simCANCoder",
+            "version": "24.0.0-beta-4",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFX",
+            "version": "24.0.0-beta-4",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANcoder",
+            "version": "24.0.0-beta-4",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProPigeon2",
+            "version": "24.0.0-beta-4",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "wpiapi-cpp",
+            "version": "24.0.0-beta-4",
+            "libName": "CTRE_Phoenix6_WPI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "tools",
+            "version": "24.0.0-beta-4",
+            "libName": "CTRE_PhoenixTools",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "wpiapi-cpp-sim",
+            "version": "24.0.0-beta-4",
+            "libName": "CTRE_Phoenix6_WPISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "tools-sim",
+            "version": "24.0.0-beta-4",
+            "libName": "CTRE_PhoenixTools_Sim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simTalonSRX",
+            "version": "24.0.0-beta-4",
+            "libName": "CTRE_SimTalonSRX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simTalonFX",
+            "version": "24.0.0-beta-4",
+            "libName": "CTRE_SimTalonFX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simVictorSPX",
+            "version": "24.0.0-beta-4",
+            "libName": "CTRE_SimVictorSPX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simPigeonIMU",
+            "version": "24.0.0-beta-4",
+            "libName": "CTRE_SimPigeonIMU",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simCANCoder",
+            "version": "24.0.0-beta-4",
+            "libName": "CTRE_SimCANCoder",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFX",
+            "version": "24.0.0-beta-4",
+            "libName": "CTRE_SimProTalonFX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANcoder",
+            "version": "24.0.0-beta-4",
+            "libName": "CTRE_SimProCANcoder",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProPigeon2",
+            "version": "24.0.0-beta-4",
+            "libName": "CTRE_SimProPigeon2",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ]
+}
\ No newline at end of file
diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json
index f2d0b7d..7eb3755 100644
--- a/vendordeps/REVLib.json
+++ b/vendordeps/REVLib.json
@@ -1,24 +1,25 @@
 {
     "fileName": "REVLib.json",
     "name": "REVLib",
-    "version": "2023.1.3",
+    "version": "2024.0.0",
+    "frcYear": "2024",
     "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
     "mavenUrls": [
         "https://maven.revrobotics.com/"
     ],
-    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2023.json",
+    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2024.json",
     "javaDependencies": [
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-java",
-            "version": "2023.1.3"
+            "version": "2024.0.0"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2023.1.3",
+            "version": "2024.0.0",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
@@ -36,7 +37,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-cpp",
-            "version": "2023.1.3",
+            "version": "2024.0.0",
             "libName": "REVLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -54,7 +55,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2023.1.3",
+            "version": "2024.0.0",
             "libName": "REVLibDriver",
             "headerClassifier": "headers",
             "sharedLibrary": false,
diff --git a/vendordeps/WPILibNewCommands.json b/vendordeps/WPILibNewCommands.json
index bd535bf..67bf389 100644
--- a/vendordeps/WPILibNewCommands.json
+++ b/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/vendordeps/photonlib.json b/vendordeps/photonlib.json
index dad3105..c940b75 100644
--- a/vendordeps/photonlib.json
+++ b/vendordeps/photonlib.json
@@ -1,8 +1,9 @@
 {
     "fileName": "photonlib.json",
     "name": "photonlib",
-    "version": "v2023.4.2",
-    "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004 ",
+    "version": "v2024.1.1-beta-3.2",
+    "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
+    "frcYear": "2024",
     "mavenUrls": [
         "https://maven.photonvision.org/repository/internal",
         "https://maven.photonvision.org/repository/snapshots"
@@ -13,7 +14,7 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "PhotonLib-cpp",
-            "version": "v2023.4.2",
+            "version": "v2024.1.1-beta-3.2",
             "libName": "Photon",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -30,12 +31,12 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "PhotonLib-java",
-            "version": "v2023.4.2"
+            "version": "v2024.1.1-beta-3.2"
         },
         {
             "groupId": "org.photonvision",
             "artifactId": "PhotonTargeting-java",
-            "version": "v2023.4.2"
+            "version": "v2024.1.1-beta-3.2"
         }
     ]
 }
\ No newline at end of file