diff --git a/.github/actions/run-system-test/action.yml b/.github/actions/run-system-test/action.yml
index 2af1bb50..abb3c3e1 100644
--- a/.github/actions/run-system-test/action.yml
+++ b/.github/actions/run-system-test/action.yml
@@ -7,7 +7,7 @@ runs:
       run: |
         # This is also a test that our plugin installs DeepBlueSim if one of WPILib's simulate
         # tasks is executed.
-        ./gradlew :example:externalSimulate --info --stacktrace
+        ./gradlew :example:simulateExternalJavaRelease --info --stacktrace
       shell: bash
 
     - name: Start Webots
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index d4c77f38..6bafd8fc 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -8,7 +8,7 @@ on:
 
 jobs:
   build:
-    strategy: 
+    strategy:
       fail-fast: false
       matrix:
         os: [ windows-latest, macos-latest, ubuntu-latest ]
@@ -16,45 +16,35 @@ jobs:
 
     steps:
     - name: Checkout source
-      uses: actions/checkout@v2
+      uses: actions/checkout@v3
       with:
         submodules: "recursive"
         fetch-depth: 0
 
-    - name: Set up JDK 11
-      uses: actions/setup-java@v1
+    - name: Set up JDK 17
+      uses: actions/setup-java@v3
       with:
-        java-version: 11
-
-    - name: Get Webots cache path
-      id: getWebotsCachePath
-      uses: DeepBlueRobotics/setup-webots@v1
-      with:
-        install: false
-    
-    - name: Cache Webots
-      uses: actions/cache@v2
-      with:
-        path: ${{ steps.getWebotsCachePath.outputs.cachePath }}
-        key: webots-v2021a-install-${{ runner.os }}
-
+        distribution: 'temurin'
+        java-version: 17
 
     - name: Setup Webots
       id: setupWebots
-      uses: DeepBlueRobotics/setup-webots@v1
+      uses: DeepBlueRobotics/setup-webots@v2
+      with:
+        webotsVersion: R2023b
 
     - name: Do the system test
       uses: ./.github/actions/run-system-test
 
     - name: Archive the example folder
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v3
       if: always()
       with:
         name: Resulting example project for ${{ runner.os }}
         path: example/
 
     - name: Archive Webots log
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v3
       if: always()
       with:
         name: Webots log for ${{ runner.os }}
@@ -68,38 +58,29 @@ jobs:
 
     steps:
     - name: Cancel any existing workflow runs
-      uses: fkirc/skip-duplicate-actions@v3.3.0
+      uses: fkirc/skip-duplicate-actions@v5
 
-    - name: Set up JDK 11
-      uses: actions/setup-java@v1
+    - name: Set up JDK 17
+      uses: actions/setup-java@v3
       with:
-        java-version: 11
-
-    - name: Get Webots cache path
-      id: getWebotsCachePath
-      uses: DeepBlueRobotics/setup-webots@v1
-      with:
-        install: false
-    
-    - name: Cache Webots
-      uses: actions/cache@v2
-      with:
-        path: ${{ steps.getWebotsCachePath.outputs.cachePath }}
-        key: webots-v2021a-install-${{ runner.os }}
+        distribution: 'temurin'
+        java-version: 17
 
     - name: Setup Webots
       id: setupWebots
-      uses: DeepBlueRobotics/setup-webots@v1
+      uses: DeepBlueRobotics/setup-webots@versioning-and-caching
+      with:
+        webotsVersion: R2023b
 
     - name: Checkout source
-      uses: actions/checkout@v2
+      uses: actions/checkout@v3
       with:
         submodules: "recursive"
         fetch-depth: 0
 
     - name: Compute next semantic version
       id: version
-      uses: paulhatch/semantic-version@v3.3.1
+      uses: paulhatch/semantic-version@v5
       with:
         branch: "master"
 
@@ -108,10 +89,12 @@ jobs:
 
     - name: Tag
       run: git tag ${{ steps.version.outputs.version_tag }}
-    
+
     - name: Push
       run: git push origin ${{ steps.version.outputs.version_tag }}
 
     - name: Publish to Gradle Plugin Portal
-      run: ./gradlew :plugin:publishPlugins -Pversion=${{ steps.version.outputs.version }} -Pgradle.publish.key=${{ secrets.GRADLE_PUBLISH_KEY }} -Pgradle.publish.secret=${{ secrets.GRADLE_PUBLISH_SECRET }} --info --stacktrace
-
+      env:
+        GRADLE_PUBLISH_KEY: ${{ secrets.GRADLE_PUBLISH_KEY }}
+        GRADLE_PUBLISH_SECRET: ${{ secrets.GRADLE_PUBLISH_SECRET }}
+      run: ./gradlew :plugin:publishPlugins -Pversion=${{ steps.version.outputs.version }} -Pgradle.publish.key=$GRADLE_PUBLISH_KEY -Pgradle.publish.secret=$GRADLE_PUBLISH_SECRET --info --stacktrace
diff --git a/.vscode/launch.json b/.vscode/launch.json
index 941f7511..7c5c4507 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -4,7 +4,13 @@
     // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
     "version": "0.2.0",
     "configurations": [
-
+        {
+            "type": "java",
+            "name": "Launch DeepBlueSim",
+            "request": "launch",
+            "mainClass": "DeepBlueSim",
+            "projectName": "controller"
+        },
         {
             "type": "java",
             "name": "WPILibWebSocketsToWebots",
diff --git a/README.md b/README.md
index a126d566..48987188 100644
--- a/README.md
+++ b/README.md
@@ -39,5 +39,25 @@ advantage of the WPILib's WebSockets server desktop simulation extension.
  1. In the HALSim GUI, select `Autonomous` to see the robot drive forward for 2 seconds, or
  select `Teleop` and use the keyboard on joystick to drive the robot around.
 
-
+## Details
+
+### Time synchronization
+
+By default, the robot code and Webots run at their own speeds so their clocks
+will not necessarily match. This can be particularly problematic when trying to
+write tests which should be as deterministic as possible. To synchronize the
+clocks, the robot code can create a `SimDeviceSim` named `TimeSynchronizer` with
+2 `double` values: `robotTimeSec` (output direction) and `simTimeSec` (input
+direction). To start the synchronization and force Webots to reload the world
+(so that it is in a known state with time = 0), the robot code should set
+`robotTimeSec` to -2. The simulator will respond by setting `simTimeSec` to -2.
+At that point the robot code can set `robotTimeSec` to the current robot time
+and the simulator will run until it's time is greater than that. As it runs, it
+will also updae `simTimeSec`. The robot code can ensure that it doesn't get
+ahead of the simulator by using `SimHooks.pauseTiming()` to pause the robot code
+when the robot time is ahead of the simulation time and
+`SimHooks.resumeTiming()` when it is not. See the `webotsInit()` method of the
+example's
+[`SystemTestRobot.java`](example/src/systemTest/java/frc/robot/SystemTestRobot.java)
+for an example implementation.
 
diff --git a/WPIWebSockets b/WPIWebSockets
index e131336b..fe44c974 160000
--- a/WPIWebSockets
+++ b/WPIWebSockets
@@ -1 +1 @@
-Subproject commit e131336bfa9dd2333dad0237f03315c0d80fc4ff
+Subproject commit fe44c9742fe5992f3f0bd9302e5c6f5dc98d3752
diff --git a/example/.gitignore b/example/.gitignore
index 5f50cd6b..18aed26e 100644
--- a/example/.gitignore
+++ b/example/.gitignore
@@ -161,5 +161,9 @@ imgui.ini
 # End of https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode
 
 # For testing purposes, we want to ensure that this project starts without DeepBlueSim installed.
-Webots/controllers/DeepBlueSim.jar
-Webots/*/DBS*
+Webots/*
+
+# Ignore Simulation GUI settings
+/networktables.json
+/simgui.json
+/simgui-*.json
diff --git a/example/.wpilib/wpilib_preferences.json b/example/.wpilib/wpilib_preferences.json
index a387f26c..128942ae 100644
--- a/example/.wpilib/wpilib_preferences.json
+++ b/example/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2021",
+    "projectYear": "2023",
     "teamNumber": 199
 }
\ No newline at end of file
diff --git a/example/build.gradle b/example/build.gradle
index 990b20e4..99e55262 100644
--- a/example/build.gradle
+++ b/example/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2021.1.2"
+    id "edu.wpi.first.GradleRIO" version "2023.4.3"
     id "org.team199.deepbluesim" version "0.0.12"
 }
 
@@ -13,27 +13,27 @@ def ROBOT_MAIN_CLASS = "frc.robot.Main"
 // This is added by GradleRIO's backing project EmbeddedTools.
 deploy {
     targets {
-        roboRIO("roborio") {
+        roborio(getTargetTypeClass('RoboRIO')) {
             // 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
             // want to store a team number in this file.
-            team = frc.getTeamNumber()
-        }
-    }
-    artifacts {
-        frcJavaArtifact('frcJava') {
-            targets << "roborio"
-            // Debug can be overridden by command line, for use with VSCode
-            debug = frc.getDebugOrDefault(false)
-        }
-        // Built in artifact to deploy arbitrary files to the roboRIO.
-        fileTreeArtifact('frcStaticFileDeploy') {
-            // The directory below is the local directory to deploy
-            files = fileTree(dir: 'src/main/deploy')
-            // Deploy to RoboRIO target, into /home/lvuser/deploy
-            targets << "roborio"
-            directory = '/home/lvuser/deploy'
+            team = project.frc.getTeamNumber()
+            debug = project.frc.getDebugOrDefault(false)
+
+            artifacts {
+                // First part is artifact name, 2nd is artifact type
+                // getTargetTypeClass is a shortcut to get the class type using a string
+
+                frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
+                }
+
+                // Static files artifact
+                frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
+                    files = project.fileTree('src/main/deploy')
+                    directory = '/home/lvuser/deploy'
+                }
+            }
         }
     }
 }
@@ -44,35 +44,42 @@ def includeDesktopSupport = true
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 4.
 dependencies {
-    implementation wpi.deps.wpilib()
-    nativeZip wpi.deps.wpilibJni(wpi.platforms.roborio)
-    nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop)
+    implementation wpi.java.deps.wpilib()
+    implementation wpi.java.vendor.java()
 
+    roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
+    roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
 
-    implementation wpi.deps.vendor.java()
-    nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
-    nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
+    roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
+    roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
 
-    testImplementation 'junit:junit:4.12'
+    nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
+    nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
+    simulationDebug wpi.sim.enableDebug()
 
-    // Enable simulation gui support (except during Continuous Integration).
-    // Must check the box in vscode to enable support upon debugging
-    if (System.getenv()['CI'] == null) {
-        simulation wpi.deps.sim.gui(wpi.platforms.desktop, false)
-        simulation wpi.deps.sim.driverstation(wpi.platforms.desktop, false)
-    }
+    nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
+    nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
+    simulationRelease wpi.sim.enableRelease()
+
+    testImplementation 'junit:junit:4.12'
+}
 
-    // Websocket extensions require additional configuration.
-    simulation wpi.deps.sim.ws_server(wpi.platforms.desktop, false)
-    // simulation wpi.deps.sim.ws_client(wpi.platforms.desktop, false)
+// Enable simulation gui support (except during Continuous Integration).
+// Must check the box in vscode to enable support upon debugging
+if (System.getenv()['CI'] == null) {
+    wpi.sim.addGui().defaultEnabled = true
+    wpi.sim.addDriverstation()
 }
 
+wpi.sim.addWebsocketsServer()
+
 // Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
 // in order to make them all available at runtime. Also adding the manifest so WPILib
 // knows where to look for our Robot Class.
 jar {
     from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
     manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
+    duplicatesStrategy = DuplicatesStrategy.EXCLUDE
 }
 
 // Support a systemTest task that runs a system level functional test in the simulator
@@ -86,7 +93,7 @@ sourceSets {
 
 configurations {
     systemTestImplementation.extendsFrom testImplementation
-    systemTestRuntimeOnly.extendsFrom runtimeOnly    
+    systemTestRuntimeOnly.extendsFrom runtimeOnly
 }
 
 task('systemTestJar', type: Jar) {
@@ -95,66 +102,39 @@ task('systemTestJar', type: Jar) {
     from sourceSets.systemTest.output
     from { configurations.systemTestRuntimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
     manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest("frc.robot.SystemTestRobot")
+    duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }
 
-task('systemTest', type: SynchronousJavaSimulationTask) {
+import org.gradle.internal.os.OperatingSystem
+task('systemTest', type: JavaExec) {
+    // Run the jar file
     dependsOn 'systemTestJar'
-    dependsOn 'extractTestJNI'
+    classpath = files(tasks.systemTestJar)
+
+    String pathSeparator = File.pathSeparator
+
+    // Load native libraries
+    // See https://github.com/wpilibsuite/GradleRIO/blob/88f3420b1fe554d78b7b682e2adf2080c124ba42/src/main/java/edu/wpi/first/gradlerio/wpi/java/TestTaskDoFirstAction.java#L28C14-L28C14
+    dependsOn 'extractReleaseNative'
+    String nativeDir = tasks.extractReleaseNative.getDestinationDirectory().getAsFile().get().getAbsolutePath()
+    if(OperatingSystem.current().isUnix() || OperatingSystem.current().isMacOsX() || OperatingSystem.current().isLinux()) {
+        environment "LD_LIBRARY_PATH", nativeDir
+        environment "DYLD_FALLBACK_LIBRARY_PATH", nativeDir
+        environment "DYLD_LIBRARY_PATH", nativeDir
+    } else if(OperatingSystem.current().isWindows()) {
+        environment 'PATH', System.getenv('PATH') + pathSeparator + nativeDir
+    }
+    systemProperty "java.library.path", systemProperties["java.library.path"] + pathSeparator + nativeDir
+
+    afterEvaluate { // We have to wait until after the project is evaluated so WPILibPlugin can setup the repositories to load the HALSim extensions from
+        // Load HALSim extensions (See https://github.com/wpilibsuite/GradleRIO/blob/88f3420b1fe554d78b7b682e2adf2080c124ba42/src/main/java/edu/wpi/first/gradlerio/wpi/java/WPIJavaExtension.java#L139)
+        File ldPath = tasks.extractReleaseNative.getDestinationDirectory().getAsFile().get()
+        def simExtension = project.extensions.getByType(edu.wpi.first.gradlerio.wpi.WPIExtension).getSim()
+        def halsimExtensions = simExtension.getHalSimLocations(List.of(ldPath), false)
+        environment 'HALSIM_EXTENSIONS', halsimExtensions.stream().map { it.libName }.reduce("", { a, b -> a + pathSeparator + b })
+    }
 }
 
 assemble.dependsOn installDeepBlueSim
 
 check.dependsOn 'systemTest'
-
-class SynchronousJavaSimulationTask extends edu.wpi.first.gradlerio.test.JavaSimulationTask {
-    @Override
-    Process launch(List<String> cmd) {
-        // Let the base class handle these situations
-        if (scriptOnly || project.hasProperty('headless')) {
-            return super.launch(cmd)
-        }
-        // Remove the extraneous double quotes added by the caller
-        cmd = cmd*.replace('"','')
-        def builder = new ProcessBuilder(cmd)
-        // Incorporate the task's env and the simulation extension's env (e.g. HALSIM_EXTENSIONS)
-        def env = builder.environment()
-        env.putAll environment
-        env.putAll project.extensions.getByType(edu.wpi.first.gradlerio.wpi.simulation.SimulationExtension).environment
-        // Set the working dir if specified
-        if (workingDir != null) {
-            workingDir.mkdirs()
-            builder.directory(workingDir)
-        }
-        // Redirect stderr to stdout
-        builder.redirectErrorStream(true)
-        // Start the process
-        Process p = builder.start()
-        println "Waiting for simulation to finish..."
-        // Copy the output asynchronously so that the current thread can be interrupted
-        // (e.g. if the task times out)
-        try {
-            p.inputStream.withStream { stream ->
-                def executor = java.util.concurrent.Executors.newFixedThreadPool(1)
-                def copyStreamCallable = new java.util.concurrent.Callable<Integer>() {
-                    def buf = new byte[8192]
-                    @Override
-                    Integer call() {
-                        int length = stream.read(buf)
-                        if (length > 0) 
-                            System.out.write(buf, 0, length)
-                        return length
-                    }
-                }
-                while (executor.submit(copyStreamCallable).get() > 0) {
-                }
-            }
-        } catch (InterruptedException) {
-            p.destroy()
-        }
-        p.waitFor()
-        if (p.exitValue() != 0)
-            throw new RuntimeException("Simulation failed with exit code ${p.exitValue()}.")
-        return p
-    }
-}
-
diff --git a/example/gradle/wrapper/gradle-wrapper.jar b/example/gradle/wrapper/gradle-wrapper.jar
index cc4fdc29..7454180f 100644
Binary files a/example/gradle/wrapper/gradle-wrapper.jar and b/example/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/example/gradle/wrapper/gradle-wrapper.properties b/example/gradle/wrapper/gradle-wrapper.properties
index d050f177..a0450b88 100644
--- a/example/gradle/wrapper/gradle-wrapper.properties
+++ b/example/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-6.0.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.2.1-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
diff --git a/example/gradlew b/example/gradlew
index 2fe81a7d..c53aefaa 100755
--- a/example/gradlew
+++ b/example/gradlew
@@ -1,7 +1,7 @@
-#!/usr/bin/env sh
+#!/bin/sh
 
 #
-# Copyright 2015 the original author or authors.
+# Copyright © 2015-2021 the original authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -17,78 +17,113 @@
 #
 
 ##############################################################################
-##
-##  Gradle start up script for UN*X
-##
+#
+#   Gradle start up script for POSIX generated by Gradle.
+#
+#   Important for running:
+#
+#   (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is
+#       noncompliant, but you have some other compliant shell such as ksh or
+#       bash, then to run this script, type that shell name before the whole
+#       command line, like:
+#
+#           ksh Gradle
+#
+#       Busybox and similar reduced shells will NOT work, because this script
+#       requires all of these POSIX shell features:
+#         * functions;
+#         * expansions «$var», «${var}», «${var:-default}», «${var+SET}»,
+#           «${var#prefix}», «${var%suffix}», and «$( cmd )»;
+#         * compound commands having a testable exit status, especially «case»;
+#         * various built-in commands including «command», «set», and «ulimit».
+#
+#   Important for patching:
+#
+#   (2) This script targets any POSIX shell, so it avoids extensions provided
+#       by Bash, Ksh, etc; in particular arrays are avoided.
+#
+#       The "traditional" practice of packing multiple parameters into a
+#       space-separated string is a well documented source of bugs and security
+#       problems, so this is (mostly) avoided, by progressively accumulating
+#       options in "$@", and eventually passing that to Java.
+#
+#       Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS,
+#       and GRADLE_OPTS) rely on word-splitting, this is performed explicitly;
+#       see the in-line comments for details.
+#
+#       There are tweaks for specific operating systems such as AIX, CygWin,
+#       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
+#       within the Gradle project.
+#
+#       You can find Gradle at https://github.com/gradle/gradle/.
+#
 ##############################################################################
 
 # Attempt to set APP_HOME
+
 # Resolve links: $0 may be a link
-PRG="$0"
-# Need this for relative symlinks.
-while [ -h "$PRG" ] ; do
-    ls=`ls -ld "$PRG"`
-    link=`expr "$ls" : '.*-> \(.*\)$'`
-    if expr "$link" : '/.*' > /dev/null; then
-        PRG="$link"
-    else
-        PRG=`dirname "$PRG"`"/$link"
-    fi
+app_path=$0
+
+# Need this for daisy-chained symlinks.
+while
+    APP_HOME=${app_path%"${app_path##*/}"}  # leaves a trailing /; empty if no leading path
+    [ -h "$app_path" ]
+do
+    ls=$( ls -ld "$app_path" )
+    link=${ls#*' -> '}
+    case $link in             #(
+      /*)   app_path=$link ;; #(
+      *)    app_path=$APP_HOME$link ;;
+    esac
 done
-SAVED="`pwd`"
-cd "`dirname \"$PRG\"`/" >/dev/null
-APP_HOME="`pwd -P`"
-cd "$SAVED" >/dev/null
+
+APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
 
 APP_NAME="Gradle"
-APP_BASE_NAME=`basename "$0"`
+APP_BASE_NAME=${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"'
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
-MAX_FD="maximum"
+MAX_FD=maximum
 
 warn () {
     echo "$*"
-}
+} >&2
 
 die () {
     echo
     echo "$*"
     echo
     exit 1
-}
+} >&2
 
 # OS specific support (must be 'true' or 'false').
 cygwin=false
 msys=false
 darwin=false
 nonstop=false
-case "`uname`" in
-  CYGWIN* )
-    cygwin=true
-    ;;
-  Darwin* )
-    darwin=true
-    ;;
-  MINGW* )
-    msys=true
-    ;;
-  NONSTOP* )
-    nonstop=true
-    ;;
+case "$( uname )" in                #(
+  CYGWIN* )         cygwin=true  ;; #(
+  Darwin* )         darwin=true  ;; #(
+  MSYS* | MINGW* )  msys=true    ;; #(
+  NONSTOP* )        nonstop=true ;;
 esac
 
 CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
 
+
 # Determine the Java command to use to start the JVM.
 if [ -n "$JAVA_HOME" ] ; then
     if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
         # IBM's JDK on AIX uses strange locations for the executables
-        JAVACMD="$JAVA_HOME/jre/sh/java"
+        JAVACMD=$JAVA_HOME/jre/sh/java
     else
-        JAVACMD="$JAVA_HOME/bin/java"
+        JAVACMD=$JAVA_HOME/bin/java
     fi
     if [ ! -x "$JAVACMD" ] ; then
         die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
@@ -97,7 +132,7 @@ Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
     fi
 else
-    JAVACMD="java"
+    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.
 
 Please set the JAVA_HOME variable in your environment to match the
@@ -105,79 +140,95 @@ location of your Java installation."
 fi
 
 # Increase the maximum file descriptors if we can.
-if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
-    MAX_FD_LIMIT=`ulimit -H -n`
-    if [ $? -eq 0 ] ; then
-        if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
-            MAX_FD="$MAX_FD_LIMIT"
-        fi
-        ulimit -n $MAX_FD
-        if [ $? -ne 0 ] ; then
-            warn "Could not set maximum file descriptor limit: $MAX_FD"
-        fi
-    else
-        warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
-    fi
+if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
+    case $MAX_FD in #(
+      max*)
+        MAX_FD=$( ulimit -H -n ) ||
+            warn "Could not query maximum file descriptor limit"
+    esac
+    case $MAX_FD in  #(
+      '' | soft) :;; #(
+      *)
+        ulimit -n "$MAX_FD" ||
+            warn "Could not set maximum file descriptor limit to $MAX_FD"
+    esac
 fi
 
-# For Darwin, add options to specify how the application appears in the dock
-if $darwin; then
-    GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
-fi
+# Collect all arguments for the java command, stacking in reverse order:
+#   * args from the command line
+#   * the main class name
+#   * -classpath
+#   * -D...appname settings
+#   * --module-path (only if needed)
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables.
 
 # For Cygwin or MSYS, switch paths to Windows format before running java
-if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
-    APP_HOME=`cygpath --path --mixed "$APP_HOME"`
-    CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
-    JAVACMD=`cygpath --unix "$JAVACMD"`
-
-    # We build the pattern for arguments to be converted via cygpath
-    ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
-    SEP=""
-    for dir in $ROOTDIRSRAW ; do
-        ROOTDIRS="$ROOTDIRS$SEP$dir"
-        SEP="|"
-    done
-    OURCYGPATTERN="(^($ROOTDIRS))"
-    # Add a user-defined pattern to the cygpath arguments
-    if [ "$GRADLE_CYGPATTERN" != "" ] ; then
-        OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
-    fi
+if "$cygwin" || "$msys" ; then
+    APP_HOME=$( cygpath --path --mixed "$APP_HOME" )
+    CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" )
+
+    JAVACMD=$( cygpath --unix "$JAVACMD" )
+
     # Now convert the arguments - kludge to limit ourselves to /bin/sh
-    i=0
-    for arg in "$@" ; do
-        CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
-        CHECK2=`echo "$arg"|egrep -c "^-"`                                 ### Determine if an option
-
-        if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then                    ### Added a condition
-            eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
-        else
-            eval `echo args$i`="\"$arg\""
+    for arg do
+        if
+            case $arg in                                #(
+              -*)   false ;;                            # don't mess with options #(
+              /?*)  t=${arg#/} t=/${t%%/*}              # looks like a POSIX filepath
+                    [ -e "$t" ] ;;                      #(
+              *)    false ;;
+            esac
+        then
+            arg=$( cygpath --path --ignore --mixed "$arg" )
         fi
-        i=`expr $i + 1`
+        # Roll the args list around exactly as many times as the number of
+        # args, so each arg winds up back in the position where it started, but
+        # possibly modified.
+        #
+        # NB: a `for` loop captures its iteration list before it begins, so
+        # changing the positional parameters here affects neither the number of
+        # iterations, nor the values presented in `arg`.
+        shift                   # remove old arg
+        set -- "$@" "$arg"      # push replacement arg
     done
-    case $i in
-        0) set -- ;;
-        1) set -- "$args0" ;;
-        2) set -- "$args0" "$args1" ;;
-        3) set -- "$args0" "$args1" "$args2" ;;
-        4) set -- "$args0" "$args1" "$args2" "$args3" ;;
-        5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
-        6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
-        7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
-        8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
-        9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
-    esac
 fi
 
-# Escape application args
-save () {
-    for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
-    echo " "
-}
-APP_ARGS=`save "$@"`
+# Collect all arguments for the java command;
+#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
+#     shell script including quotes and variable substitutions, so put them in
+#     double quotes to make sure that they get re-expanded; and
+#   * put everything else in single quotes, so that it's not re-expanded.
+
+set -- \
+        "-Dorg.gradle.appname=$APP_BASE_NAME" \
+        -classpath "$CLASSPATH" \
+        org.gradle.wrapper.GradleWrapperMain \
+        "$@"
+
+# Use "xargs" to parse quoted args.
+#
+# With -n1 it outputs one arg per line, with the quotes and backslashes removed.
+#
+# In Bash we could simply go:
+#
+#   readarray ARGS < <( xargs -n1 <<<"$var" ) &&
+#   set -- "${ARGS[@]}" "$@"
+#
+# but POSIX shell has neither arrays nor command substitution, so instead we
+# post-process each arg (as a line of input to sed) to backslash-escape any
+# character that might be a shell metacharacter, then use eval to reverse
+# that process (while maintaining the separation between arguments), and wrap
+# the whole thing up as a single "set" statement.
+#
+# This will of course break if any of these variables contains a newline or
+# an unmatched quote.
+#
 
-# Collect all arguments for the java command, following the shell quoting and substitution rules
-eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
+eval "set -- $(
+        printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" |
+        xargs -n1 |
+        sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' |
+        tr '\n' ' '
+    )" '"$@"'
 
 exec "$JAVACMD" "$@"
diff --git a/example/gradlew.bat b/example/gradlew.bat
index 9618d8d9..107acd32 100644
--- a/example/gradlew.bat
+++ b/example/gradlew.bat
@@ -29,6 +29,9 @@ if "%DIRNAME%" == "" set DIRNAME=.
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
+@rem Resolve any "." and ".." in APP_HOME to make it shorter.
+for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
+
 @rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
 set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
 
@@ -37,7 +40,7 @@ if defined JAVA_HOME goto findJavaFromJavaHome
 
 set JAVA_EXE=java.exe
 %JAVA_EXE% -version >NUL 2>&1
-if "%ERRORLEVEL%" == "0" goto init
+if "%ERRORLEVEL%" == "0" goto execute
 
 echo.
 echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
@@ -51,7 +54,7 @@ goto fail
 set JAVA_HOME=%JAVA_HOME:"=%
 set JAVA_EXE=%JAVA_HOME%/bin/java.exe
 
-if exist "%JAVA_EXE%" goto init
+if exist "%JAVA_EXE%" goto execute
 
 echo.
 echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
@@ -61,28 +64,14 @@ echo location of your Java installation.
 
 goto fail
 
-:init
-@rem Get command-line arguments, handling Windows variants
-
-if not "%OS%" == "Windows_NT" goto win9xME_args
-
-:win9xME_args
-@rem Slurp the command line arguments.
-set CMD_LINE_ARGS=
-set _SKIP=2
-
-:win9xME_args_slurp
-if "x%~1" == "x" goto execute
-
-set CMD_LINE_ARGS=%*
-
 :execute
 @rem Setup the command line
 
 set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
 
+
 @rem Execute Gradle
-"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS%
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
 
 :end
 @rem End local scope for the variables with windows NT shell
diff --git a/example/settings.gradle b/example/settings.gradle
index 0bc697ad..48c039ed 100644
--- a/example/settings.gradle
+++ b/example/settings.gradle
@@ -4,7 +4,7 @@ pluginManagement {
     repositories {
         mavenLocal()
         gradlePluginPortal()
-        String frcYear = '2021'
+        String frcYear = '2023'
         File frcHome
         if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')
diff --git a/example/src/main/java/frc/robot/Robot.java b/example/src/main/java/frc/robot/Robot.java
index 940229fd..6ccf00e3 100644
--- a/example/src/main/java/frc/robot/Robot.java
+++ b/example/src/main/java/frc/robot/Robot.java
@@ -8,10 +8,11 @@
 package frc.robot;
 
 import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.PWMVictorSPX;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
+import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
 
 /**
  * The VM is configured to automatically run this class, and to call the
@@ -21,10 +22,10 @@
  * directory.
  */
 public class Robot extends TimedRobot {
-  private final DifferentialDrive m_robotDrive
-      = new DifferentialDrive(new PWMVictorSPX(0), new PWMVictorSPX(1));
+
   private final Joystick m_stick = new Joystick(0);
   private final Timer m_timer = new Timer();
+  private DifferentialDrive m_robotDrive;
 
   /**
    * This function is run when the robot is first started up and should be
@@ -32,6 +33,16 @@ public class Robot extends TimedRobot {
    */
   @Override
   public void robotInit() {
+    MotorControllerGroup leftMotors = new MotorControllerGroup(
+      new PWMVictorSPX(0),
+      new PWMVictorSPX(1)
+    );
+    MotorControllerGroup rightMotors = new MotorControllerGroup(
+      new PWMVictorSPX(2),
+      new PWMVictorSPX(3)
+    );
+    rightMotors.setInverted(true);
+    m_robotDrive = new DifferentialDrive(leftMotors, rightMotors);
   }
 
   /**
diff --git a/example/src/systemTest/java/frc/robot/SystemTestRobot.java b/example/src/systemTest/java/frc/robot/SystemTestRobot.java
index 76e14e62..641ca176 100644
--- a/example/src/systemTest/java/frc/robot/SystemTestRobot.java
+++ b/example/src/systemTest/java/frc/robot/SystemTestRobot.java
@@ -1,9 +1,6 @@
 package frc.robot;
 
-import edu.wpi.first.wpilibj.RobotBase;
-
-import static org.junit.Assert.assertEquals;
-import static org.junit.Assert.assertTrue;
+import static org.junit.Assert.*;
 
 import java.util.concurrent.CompletableFuture;
 import java.util.concurrent.ExecutionException;
@@ -15,15 +12,24 @@
 import edu.wpi.first.hal.SimDevice;
 import edu.wpi.first.hal.SimDouble;
 import edu.wpi.first.hal.simulation.SimValueCallback;
+import edu.wpi.first.math.Vector;
+import edu.wpi.first.math.numbers.N3;
 import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.Notifier;
+import edu.wpi.first.wpilibj.RobotBase;
+import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.simulation.DriverStationSim;
 import edu.wpi.first.wpilibj.simulation.SimDeviceSim;
 import edu.wpi.first.wpilibj.simulation.SimHooks;
-import edu.wpi.first.wpiutil.math.Vector;
-import edu.wpi.first.wpiutil.math.numbers.N3;
 
 public class SystemTestRobot extends Robot {
 
+    /**
+     * Time value set by the simulator and the robot to indicate that the simulation should start.
+     */
+    private static final double START_SIMULATION = -2.0;
+    private static Notifier pauser;
+
     public static void main(String... args) {
         RobotBase.startRobot(SystemTestRobot::new);
     }
@@ -53,49 +59,12 @@ public void startCompetition() {
     @Override
     public void simulationInit() {
         webotsSupervisor = SimDevice.create("WebotsSupervisor");
-        SimDouble simStartMs = webotsSupervisor.createDouble("simStartMs", SimDevice.Direction.kInput, 0.0);
         positionX = webotsSupervisor.createDouble("self.position.x", SimDevice.Direction.kInput, 0.0);
         positionY = webotsSupervisor.createDouble("self.position.y", SimDevice.Direction.kInput, 0.0);
         positionZ = webotsSupervisor.createDouble("self.position.z", SimDevice.Direction.kInput, 0.0);
-        SimDeviceSim webotsSupervisorSim = new SimDeviceSim("WebotsSupervisor");
-
-        // Wait for the Webots supervisor to be ready
-        final var future = new CompletableFuture<Boolean>();
-        try (var callback = webotsSupervisorSim.registerValueChangedCallback(simStartMs, new SimValueCallback() {
-            public void callback(String name, int handle, boolean readonly, HALValue value) {
-                if (value.getDouble() > 0.0) {
-                    System.out.println("WebotsSupervisor is ready");
-                    future.complete(true);
-                }
-            }
-        }, true)) {
-            System.out.println("Telling WebotsSupervisor that we're ready");
-            SimDouble robotStartMs = webotsSupervisor.createDouble("robotStartMs", SimDevice.Direction.kOutput, 0.0);
-            robotStartMs.set(System.currentTimeMillis());
-            if (simStartMs.get() > 0.0) {
-                System.out.println("WebotsSupervisor is ready");
-                future.complete(true);
-            }
-            // Wait up to 10 minutes for Webots to respond. On GitHub's MacOS Continuous
-            // Integration servers, it can take over 8 minutes for Webots to start.
-            var startedWaitingTimeMs = System.currentTimeMillis();
-            var isReady = false;
-            while (!isReady && System.currentTimeMillis() - startedWaitingTimeMs < 600000) {
-                try {
-                    isReady = future.get(1, TimeUnit.SECONDS);
-                } catch (TimeoutException ex) {
-                    System.err.println("Waiting for WebotsSupervisor to be ready. Please open example/Webots/worlds/DBSExample.wbt in Webots.");
-                } catch (InterruptedException|ExecutionException e) {
-                    throw new RuntimeException("Error while waiting for WebotsSupervisor to be ready", e);
-                }
-            }
-            assertTrue("Webots ready in time", isReady);
-        }
+        webotsInit();
 
-        // Reset the clock. Without this, *Periodic calls that should have 
-        // occurred while we waited, will be considered behind schedule and
-        // will all happen at once.
-        SimHooks.restartTiming();
+        System.out.println("Webots has started. Enabling in autonomous."); System.out.flush();
         // Simulate starting autonomous
         DriverStationSim.setAutonomous(true);
         DriverStationSim.setEnabled(true);
@@ -104,14 +73,118 @@ public void callback(String name, int handle, boolean readonly, HALValue value)
         super.simulationInit();
     }
 
-    private int count = 0;
+    private final Timer robotTime = new Timer();
+
+    private void webotsInit() {
+        // Start robot time right before the first periodic call is made so that we ignore
+        // startup time.
+        robotTime.stop();
+        robotTime.reset();
+        // Set the offset to -period to run before other WPILib periodic methods
+        addPeriodic(robotTime::start, getPeriod(), -getPeriod());
+        SimDevice timeSynchronizer = SimDevice.create("TimeSynchronizer");
+        SimDouble simTimeSecSim = timeSynchronizer.createDouble("simTimeSec", SimDevice.Direction.kInput, -1.0);
+        final SimDouble robotTimeSecSim = timeSynchronizer.createDouble("robotTimeSec", SimDevice.Direction.kOutput, -1.0);
+        SimDeviceSim timeSynchronizerSim = new SimDeviceSim("TimeSynchronizer");
+
+        pauser = new Notifier(() -> {
+            // This is replaced on the next line
+        });
+        pauser.setHandler(() -> {
+            double simTimeSec = simTimeSecSim.get();
+            double robotTimeSec = robotTime.get();
+            double deltaSecs = simTimeSec - robotTimeSec;
+            // If we still haven't caught up to the simulator, then wait longer.
+            // This would typically happen when robot time hasn't yet started.
+            if (deltaSecs > 0) {
+                pauser.stop();
+                pauser.startSingle(deltaSecs);
+                return;
+            }
+            // We're caught up, so pause and tell the sim what our new time is so that it can continue.
+            SimHooks.pauseTiming();
+            robotTimeSecSim.set(robotTimeSec);
+        });
+
+        final var isReadyFuture = new CompletableFuture<Boolean>();
+
+        timeSynchronizerSim.registerValueChangedCallback(simTimeSecSim, new SimValueCallback() {
+            @Override
+            public synchronized void callback(String name, int handle, int direction, HALValue value) {
+                double simTimeSec = value.getDouble();
+                double robotTimeSec = robotTime.get();
+
+                // Ignore the default initial value
+                if (simTimeSec == -1.0) {
+                    return;
+                }
+                // If we asked for the simulation to start and it has started, say that we're ready.
+                if (robotTimeSecSim.get() == START_SIMULATION) {
+                    if (simTimeSec == START_SIMULATION) {
+                        isReadyFuture.complete(true);
+                        robotTimeSecSim.set(robotTimeSec);
+                    }
+                    return;
+                }
+                // Otherwise, ignore notifications that the sim has started.
+                if (simTimeSec == START_SIMULATION) {
+                    return;
+                }
+
+                // If we're not behind the sim time, there is nothing to do.
+                double deltaSecs = simTimeSec - robotTimeSec;
+                if (deltaSecs < 0.0) {
+                    return;
+                }
+
+                // We are behind the sim time, so run until we've caught up.
+                // We use a Notifier instead of SimHooks.stepTiming() because
+                // using SimHooks.stepTiming() causes accesses to sim data to block.
+                pauser.stop();
+                pauser.startSingle(deltaSecs);
+                SimHooks.resumeTiming();
+            }
+        }, true);
+
+        // Reset the clock. Without this, *Periodic calls that should have
+        // occurred while we waited, will be considered behind schedule and
+        // will all happen at once.
+        SimHooks.restartTiming();
+
+        // Pause the clock so that we can step it in sync with the simulator
+        SimHooks.pauseTiming();
+
+        // Tell sim to start
+        robotTimeSecSim.set(START_SIMULATION);
+
+        // Wait up to 15 minutes for Webots to respond. On GitHub's MacOS Continuous
+        // Integration servers, it can take over 8 minutes for Webots to start.
+        var startedWaitingTimeMs = System.currentTimeMillis();
+        var isReady = false;
+        System.err.println("Waiting for Webots to be ready. Please open example/Webots/worlds/DBSExample.wbt in Webots.");
+        while (!isReady && System.currentTimeMillis() - startedWaitingTimeMs < 900000) {
+            try {
+                long elapsedTime = System.currentTimeMillis() - startedWaitingTimeMs;
+                long remainingTime = 900000 - elapsedTime;
+                if(remainingTime > 0) {
+                    isReady = isReadyFuture.get(remainingTime, TimeUnit.MILLISECONDS);
+                }
+                else break;
+            } catch (TimeoutException ex) {
+                System.err.println("Waiting for Webots to be ready. Please open example/Webots/worlds/DBSExample.wbt in Webots.");
+            } catch (InterruptedException|ExecutionException e) {
+                throw new RuntimeException("Error while waiting for Webots to be ready", e);
+            }
+        }
+        assertTrue("Webots ready in time", isReady);
+    }
 
     @Override
     public void simulationPeriodic() {
         super.simulationPeriodic();
 
-        count++;
-        if (count > 50*10) {
+        // The motors are on for 2 secs. We wait an extra second to give the robot time to stop.
+        if (robotTime.get() > 3.0) {
             // Simulate disabling the robot
             DriverStationSim.setEnabled(false);
             DriverStationSim.notifyNewData();
@@ -135,8 +208,7 @@ public void simulationPeriodic() {
 
             assertEquals("Robot close to target position", 0.0, distance, 1.0);
 
-            // Call endCompetition() to end the test and report success.
-            // NOTE: throwing an exception will end the test and report failure.
+            // If the assert didn't throw, then just end normally.
             endCompetition();
         }
     }
diff --git a/example/vendordeps/WPILibNewCommands.json b/example/vendordeps/WPILibNewCommands.json
index d7bd9b06..65dcc03c 100644
--- a/example/vendordeps/WPILibNewCommands.json
+++ b/example/vendordeps/WPILibNewCommands.json
@@ -1,7 +1,7 @@
 {
   "fileName": "WPILibNewCommands.json",
   "name": "WPILib-New-Commands",
-  "version": "2020.0.0",
+  "version": "1.0.0",
   "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
   "mavenUrls": [],
   "jsonUrl": "",
@@ -25,12 +25,12 @@
           "skipInvalidPlatforms": true,
           "binaryPlatforms": [
               "linuxathena",
-              "linuxraspbian",
-              "linuxaarch64bionic",
+              "linuxarm32",
+              "linuxarm64",
               "windowsx86-64",
               "windowsx86",
               "linuxx86-64",
-              "osxx86-64"
+              "osxuniversal"
           ]
       }
   ]
diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar
index e708b1c0..7454180f 100644
Binary files a/gradle/wrapper/gradle-wrapper.jar and b/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
index da9702f9..84a0b92f 100644
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-6.8-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.2.1-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
diff --git a/gradlew b/gradlew
index 4f906e0c..c53aefaa 100755
--- a/gradlew
+++ b/gradlew
@@ -1,7 +1,7 @@
-#!/usr/bin/env sh
+#!/bin/sh
 
 #
-# Copyright 2015 the original author or authors.
+# Copyright © 2015-2021 the original authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -17,67 +17,101 @@
 #
 
 ##############################################################################
-##
-##  Gradle start up script for UN*X
-##
+#
+#   Gradle start up script for POSIX generated by Gradle.
+#
+#   Important for running:
+#
+#   (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is
+#       noncompliant, but you have some other compliant shell such as ksh or
+#       bash, then to run this script, type that shell name before the whole
+#       command line, like:
+#
+#           ksh Gradle
+#
+#       Busybox and similar reduced shells will NOT work, because this script
+#       requires all of these POSIX shell features:
+#         * functions;
+#         * expansions «$var», «${var}», «${var:-default}», «${var+SET}»,
+#           «${var#prefix}», «${var%suffix}», and «$( cmd )»;
+#         * compound commands having a testable exit status, especially «case»;
+#         * various built-in commands including «command», «set», and «ulimit».
+#
+#   Important for patching:
+#
+#   (2) This script targets any POSIX shell, so it avoids extensions provided
+#       by Bash, Ksh, etc; in particular arrays are avoided.
+#
+#       The "traditional" practice of packing multiple parameters into a
+#       space-separated string is a well documented source of bugs and security
+#       problems, so this is (mostly) avoided, by progressively accumulating
+#       options in "$@", and eventually passing that to Java.
+#
+#       Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS,
+#       and GRADLE_OPTS) rely on word-splitting, this is performed explicitly;
+#       see the in-line comments for details.
+#
+#       There are tweaks for specific operating systems such as AIX, CygWin,
+#       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
+#       within the Gradle project.
+#
+#       You can find Gradle at https://github.com/gradle/gradle/.
+#
 ##############################################################################
 
 # Attempt to set APP_HOME
+
 # Resolve links: $0 may be a link
-PRG="$0"
-# Need this for relative symlinks.
-while [ -h "$PRG" ] ; do
-    ls=`ls -ld "$PRG"`
-    link=`expr "$ls" : '.*-> \(.*\)$'`
-    if expr "$link" : '/.*' > /dev/null; then
-        PRG="$link"
-    else
-        PRG=`dirname "$PRG"`"/$link"
-    fi
+app_path=$0
+
+# Need this for daisy-chained symlinks.
+while
+    APP_HOME=${app_path%"${app_path##*/}"}  # leaves a trailing /; empty if no leading path
+    [ -h "$app_path" ]
+do
+    ls=$( ls -ld "$app_path" )
+    link=${ls#*' -> '}
+    case $link in             #(
+      /*)   app_path=$link ;; #(
+      *)    app_path=$APP_HOME$link ;;
+    esac
 done
-SAVED="`pwd`"
-cd "`dirname \"$PRG\"`/" >/dev/null
-APP_HOME="`pwd -P`"
-cd "$SAVED" >/dev/null
+
+APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
 
 APP_NAME="Gradle"
-APP_BASE_NAME=`basename "$0"`
+APP_BASE_NAME=${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"'
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
-MAX_FD="maximum"
+MAX_FD=maximum
 
 warn () {
     echo "$*"
-}
+} >&2
 
 die () {
     echo
     echo "$*"
     echo
     exit 1
-}
+} >&2
 
 # OS specific support (must be 'true' or 'false').
 cygwin=false
 msys=false
 darwin=false
 nonstop=false
-case "`uname`" in
-  CYGWIN* )
-    cygwin=true
-    ;;
-  Darwin* )
-    darwin=true
-    ;;
-  MINGW* )
-    msys=true
-    ;;
-  NONSTOP* )
-    nonstop=true
-    ;;
+case "$( uname )" in                #(
+  CYGWIN* )         cygwin=true  ;; #(
+  Darwin* )         darwin=true  ;; #(
+  MSYS* | MINGW* )  msys=true    ;; #(
+  NONSTOP* )        nonstop=true ;;
 esac
 
 CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
@@ -87,9 +121,9 @@ CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
 if [ -n "$JAVA_HOME" ] ; then
     if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
         # IBM's JDK on AIX uses strange locations for the executables
-        JAVACMD="$JAVA_HOME/jre/sh/java"
+        JAVACMD=$JAVA_HOME/jre/sh/java
     else
-        JAVACMD="$JAVA_HOME/bin/java"
+        JAVACMD=$JAVA_HOME/bin/java
     fi
     if [ ! -x "$JAVACMD" ] ; then
         die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
@@ -98,7 +132,7 @@ Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
     fi
 else
-    JAVACMD="java"
+    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.
 
 Please set the JAVA_HOME variable in your environment to match the
@@ -106,80 +140,95 @@ location of your Java installation."
 fi
 
 # Increase the maximum file descriptors if we can.
-if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
-    MAX_FD_LIMIT=`ulimit -H -n`
-    if [ $? -eq 0 ] ; then
-        if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
-            MAX_FD="$MAX_FD_LIMIT"
-        fi
-        ulimit -n $MAX_FD
-        if [ $? -ne 0 ] ; then
-            warn "Could not set maximum file descriptor limit: $MAX_FD"
-        fi
-    else
-        warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
-    fi
+if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
+    case $MAX_FD in #(
+      max*)
+        MAX_FD=$( ulimit -H -n ) ||
+            warn "Could not query maximum file descriptor limit"
+    esac
+    case $MAX_FD in  #(
+      '' | soft) :;; #(
+      *)
+        ulimit -n "$MAX_FD" ||
+            warn "Could not set maximum file descriptor limit to $MAX_FD"
+    esac
 fi
 
-# For Darwin, add options to specify how the application appears in the dock
-if $darwin; then
-    GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
-fi
+# Collect all arguments for the java command, stacking in reverse order:
+#   * args from the command line
+#   * the main class name
+#   * -classpath
+#   * -D...appname settings
+#   * --module-path (only if needed)
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables.
 
 # For Cygwin or MSYS, switch paths to Windows format before running java
-if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
-    APP_HOME=`cygpath --path --mixed "$APP_HOME"`
-    CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
-
-    JAVACMD=`cygpath --unix "$JAVACMD"`
-
-    # We build the pattern for arguments to be converted via cygpath
-    ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
-    SEP=""
-    for dir in $ROOTDIRSRAW ; do
-        ROOTDIRS="$ROOTDIRS$SEP$dir"
-        SEP="|"
-    done
-    OURCYGPATTERN="(^($ROOTDIRS))"
-    # Add a user-defined pattern to the cygpath arguments
-    if [ "$GRADLE_CYGPATTERN" != "" ] ; then
-        OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
-    fi
+if "$cygwin" || "$msys" ; then
+    APP_HOME=$( cygpath --path --mixed "$APP_HOME" )
+    CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" )
+
+    JAVACMD=$( cygpath --unix "$JAVACMD" )
+
     # Now convert the arguments - kludge to limit ourselves to /bin/sh
-    i=0
-    for arg in "$@" ; do
-        CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
-        CHECK2=`echo "$arg"|egrep -c "^-"`                                 ### Determine if an option
-
-        if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then                    ### Added a condition
-            eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
-        else
-            eval `echo args$i`="\"$arg\""
+    for arg do
+        if
+            case $arg in                                #(
+              -*)   false ;;                            # don't mess with options #(
+              /?*)  t=${arg#/} t=/${t%%/*}              # looks like a POSIX filepath
+                    [ -e "$t" ] ;;                      #(
+              *)    false ;;
+            esac
+        then
+            arg=$( cygpath --path --ignore --mixed "$arg" )
         fi
-        i=`expr $i + 1`
+        # Roll the args list around exactly as many times as the number of
+        # args, so each arg winds up back in the position where it started, but
+        # possibly modified.
+        #
+        # NB: a `for` loop captures its iteration list before it begins, so
+        # changing the positional parameters here affects neither the number of
+        # iterations, nor the values presented in `arg`.
+        shift                   # remove old arg
+        set -- "$@" "$arg"      # push replacement arg
     done
-    case $i in
-        0) set -- ;;
-        1) set -- "$args0" ;;
-        2) set -- "$args0" "$args1" ;;
-        3) set -- "$args0" "$args1" "$args2" ;;
-        4) set -- "$args0" "$args1" "$args2" "$args3" ;;
-        5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
-        6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
-        7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
-        8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
-        9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
-    esac
 fi
 
-# Escape application args
-save () {
-    for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
-    echo " "
-}
-APP_ARGS=`save "$@"`
+# Collect all arguments for the java command;
+#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
+#     shell script including quotes and variable substitutions, so put them in
+#     double quotes to make sure that they get re-expanded; and
+#   * put everything else in single quotes, so that it's not re-expanded.
+
+set -- \
+        "-Dorg.gradle.appname=$APP_BASE_NAME" \
+        -classpath "$CLASSPATH" \
+        org.gradle.wrapper.GradleWrapperMain \
+        "$@"
+
+# Use "xargs" to parse quoted args.
+#
+# With -n1 it outputs one arg per line, with the quotes and backslashes removed.
+#
+# In Bash we could simply go:
+#
+#   readarray ARGS < <( xargs -n1 <<<"$var" ) &&
+#   set -- "${ARGS[@]}" "$@"
+#
+# but POSIX shell has neither arrays nor command substitution, so instead we
+# post-process each arg (as a line of input to sed) to backslash-escape any
+# character that might be a shell metacharacter, then use eval to reverse
+# that process (while maintaining the separation between arguments), and wrap
+# the whole thing up as a single "set" statement.
+#
+# This will of course break if any of these variables contains a newline or
+# an unmatched quote.
+#
 
-# Collect all arguments for the java command, following the shell quoting and substitution rules
-eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
+eval "set -- $(
+        printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" |
+        xargs -n1 |
+        sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' |
+        tr '\n' ' '
+    )" '"$@"'
 
 exec "$JAVACMD" "$@"
diff --git a/plugin/build.gradle b/plugin/build.gradle
index 3c99101e..b5342636 100644
--- a/plugin/build.gradle
+++ b/plugin/build.gradle
@@ -14,30 +14,25 @@ plugins {
     id 'maven-publish'
 
     // Support publishing to the Gradle Plugin Portal
-    id 'com.gradle.plugin-publish' version '0.12.0'
+    id 'com.gradle.plugin-publish' version '1.1.0'
 
     // Apply the Groovy plugin to add support for Groovy
     id 'groovy'
 }
 
 repositories {
-    // Use JCenter for resolving dependencies.
-    jcenter()
+    mavenCentral()
     maven {
       url "https://plugins.gradle.org/m2/"
     }
 }
 
-dependencies {
-    // Use the awesome Spock testing and specification framework
-    testImplementation 'org.spockframework:spock-core:1.3-groovy-2.5'
-    testImplementation 'edu.wpi.first:GradleRIO:2021.1.2'
-    implementation 'commons-io:commons-io:2.8.0'
-}
-
 group 'org.team199'
 
+// Info for publishing to the Gradle Plugin Portal
 gradlePlugin {
+    website = 'https://github.com/DeepBlueRobotics/DeepBlueSim'
+    vcsUrl = 'https://github.com/DeepBlueRobotics/DeepBlueSim.git'
     // Define the plugin
     plugins {
         deepbluesim {
@@ -45,17 +40,11 @@ gradlePlugin {
             displayName = 'DeepBlueSim Plugin'
             description = 'A plugin that simplifies developing WPILib projects that use Webots for simulation.'
             implementationClass = 'org.team199.deepbluesim.gradle.DeepBlueSimPlugin'
+            tags.set(['FRC', 'WPILib', 'Webots'])
         }
     }
 }
 
-// Info for publishing to the Gradle Plugin Portal
-pluginBundle {
-    website = 'https://github.com/DeepBlueRobotics/DeepBlueSim' 
-    vcsUrl = 'https://github.com/DeepBlueRobotics/DeepBlueSim.git' 
-    tags = ['FRC', 'WPILib', 'Webots']     
-}
-
 // Add a source set for the functional test suite
 sourceSets {
     functionalTest {
@@ -82,6 +71,10 @@ configurations {
 }
 
 dependencies {
+    // Use the awesome Spock testing and specification framework
+    testImplementation 'org.spockframework:spock-core:2.3-groovy-3.0'
+    testImplementation 'edu.wpi.first:GradleRIO:2023.4.3'
+    implementation 'commons-io:commons-io:2.8.0'
     // include the Webots.zip artifact produced by the controller's webotsFolder configuration
     extraFiles project(path: ':controller', configuration: 'webotsFolder')
 }
diff --git a/plugin/controller/.gitignore b/plugin/controller/.gitignore
index 10261e49..ff57e321 100644
--- a/plugin/controller/.gitignore
+++ b/plugin/controller/.gitignore
@@ -162,3 +162,4 @@ imgui.ini
 *.dylib
 *.jnilib
 *.so
+.DBSExample.jpg
diff --git a/plugin/controller/build.gradle b/plugin/controller/build.gradle
index b64b07db..104c2dd6 100644
--- a/plugin/controller/build.gradle
+++ b/plugin/controller/build.gradle
@@ -16,13 +16,17 @@ plugins {
     id 'distribution'
 
     // Support building a fat jar (aka shadowJar) containing needed dependencies
-    id 'com.github.johnrengelman.shadow' version '6.1.0'
+    id 'com.github.johnrengelman.shadow' version '8.1.1'
 
     // Support finding the local webots installation and adding it as a dependency
-    id "org.carlmontrobotics.webots" version "0.13.0"
+    id "org.carlmontrobotics.webots" version "1.0.0"
 
     // Support creating a license report of all dependencies
     id 'com.jaredsburrows.license' version '0.8.80'
+
+    // Support WPILib
+    id "edu.wpi.first.GradleRIO" version "2023.4.3"
+    id 'edu.wpi.first.WpilibTools' version '1.1.0'
 }
 
 group 'org.team199'
@@ -33,6 +37,18 @@ targetCompatibility = 1.8
 // The name of the main class in the application jar.
 mainClassName = 'DeepBlueSim'
 
+wpilibTools.deps.wpilibVersion = wpi.versions.wpilibVersion.get()
+
+def nativeConfigName = 'wpilibNatives'
+def nativeConfig = configurations.create(nativeConfigName)
+
+def nativeTasks = wpilibTools.createExtractionTasks {
+    configurationName = nativeConfigName
+}
+
+nativeTasks.addToSourceSetResources(sourceSets.main)
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpimath")
+
 // Add repositories containing project dependencies
 repositories {
     mavenCentral()
@@ -43,21 +59,28 @@ repositories {
 dependencies {
     implementation 'org.carlmontrobotics:WPIWebSockets:unspecified'
     testImplementation 'junit:junit:4.13'
+
+    implementation wpilibTools.deps.wpilibJava("wpimath")
+
+    implementation group: "com.fasterxml.jackson.core", name: "jackson-annotations", version: wpi.versions.jacksonVersion.get()
+    implementation group: "com.fasterxml.jackson.core", name: "jackson-core", version: wpi.versions.jacksonVersion.get()
+    implementation group: "com.fasterxml.jackson.core", name: "jackson-databind", version: wpi.versions.jacksonVersion.get()
+
+    implementation group: "org.ejml", name: "ejml-simple", version: wpi.versions.ejmlVersion.get()
 }
 
-// Configure the building of the fat jar 
+// Configure the building of the fat jar
 shadowJar {
     // Force name, so it doesn't contain the version number.
-    archiveName = "DeepBlueSim.jar"
+    archiveBaseName.set("DeepBlueSim") // DeepBlueSim.jar
+    archiveClassifier.set('')
+    archiveVersion.set('')
 
     // Make sure the licenseReport task runs first
     dependsOn "licenseReport"
     // dependsOn jar
-    
-    // Don't add "-all" to the jar filename.
-    archiveClassifier.set('')
 
-    // Webots puts the correct version of its libs on the classpath before 
+    // Webots puts the correct version of its libs on the classpath before
     // launching the controller, so don't include them.
     exclude 'com/cyberbotics/**/*'
 
@@ -89,7 +112,9 @@ distributions {
 
 webotsFolderDistZip {
     // Force name, so it doesn't contain the version number.
-    archiveName = "Webots.zip"
+    archiveBaseName.set("Webots") // Webots.zip
+    archiveClassifier.set('')
+    archiveVersion.set('')
 }
 
 artifacts {
diff --git a/plugin/controller/src/main/java/DeepBlueSim.java b/plugin/controller/src/main/java/DeepBlueSim.java
index 9f66f9a2..0dc8e010 100644
--- a/plugin/controller/src/main/java/DeepBlueSim.java
+++ b/plugin/controller/src/main/java/DeepBlueSim.java
@@ -1,5 +1,10 @@
+import java.lang.Thread.UncaughtExceptionHandler;
 import java.net.URISyntaxException;
-import java.util.concurrent.ConcurrentLinkedDeque;
+import java.util.concurrent.BlockingDeque;
+import java.util.concurrent.LinkedBlockingDeque;
+import java.util.concurrent.CompletableFuture;
+import java.util.Timer;
+import java.util.TimerTask;
 
 import com.cyberbotics.webots.controller.Node;
 import com.cyberbotics.webots.controller.Supervisor;
@@ -7,87 +12,213 @@
 import org.team199.wpiws.Pair;
 import org.team199.wpiws.ScopedObject;
 import org.team199.wpiws.connection.ConnectionProcessor;
+import org.team199.wpiws.connection.RunningObject;
 import org.team199.wpiws.connection.WSConnection;
 import org.team199.wpiws.devices.SimDeviceSim;
 import org.team199.wpiws.interfaces.StringCallback;
-
-import org.team199.deepbluesim.SimConfig;
+import org.java_websocket.client.WebSocketClient;
+import org.team199.deepbluesim.SimRegisterer;
 import org.team199.deepbluesim.Simulation;
 
 // NOTE: Webots expects the controller class to *not* be in a package and have a name that matches the
 // the name of the jar.
 public class DeepBlueSim {
 
-    private static final ConcurrentLinkedDeque<Runnable> queuedMessages = new ConcurrentLinkedDeque<>();
+    private static final BlockingDeque<Runnable> queuedMessages = new LinkedBlockingDeque<>();
+
+    @SuppressWarnings("unused")
+    private static ScopedObject<Pair<String, StringCallback>> robotTimeSecCallbackStore = null;
+    private static RunningObject<WebSocketClient> wsConnection = null;
+
+    /**
+     * Time value set by the simulator and the robot to indicate that the simulation should start.
+     */
+    private static final double START_SIMULATION = -2.0;
+
+    /**
+     * The time in milliseconds since the last timestep update from the robot.
+     */
+    private static volatile long lastStepMillis = 0;
+
+    private static int usersSimulationSpeed = 0;
+    
+    // Remember the current simulation speed (default to real time if paused)
+    private static void updateUsersSimulationSpeed(Supervisor robot) {
+        usersSimulationSpeed = robot.simulationGetMode() == Supervisor.SIMULATION_MODE_PAUSE ? Supervisor.SIMULATION_MODE_REAL_TIME : robot.simulationGetMode();
+    }
 
-    private static ScopedObject<Pair<String, StringCallback>> callbackStore = null;
     public static void main(String[] args) {
+        // Set up exception handling to log to stderr and exit
+        {
+            UncaughtExceptionHandler eh = new UncaughtExceptionHandler() {
+                @Override
+                public void uncaughtException(Thread arg0, Throwable arg1) {
+                    arg1.printStackTrace(System.err);
+                    System.err.flush();
+                    System.exit(1);
+                }
+            };
+            Thread.setDefaultUncaughtExceptionHandler(eh);
+            Thread.currentThread().setUncaughtExceptionHandler(eh);
+        }
+
         ConnectionProcessor.setThreadExecutor(queuedMessages::add);
+
         final Supervisor robot = new Supervisor();
         Runtime.getRuntime().addShutdownHook(new Thread(robot::delete));
-        int basicTimeStep = (int)Math.round(robot.getBasicTimeStep());
-        
-        SimConfig.initConfig();
+
+        if (!robot.getSupervisor()) {
+            System.err.println("The robot does not have supervisor=true. This is required to detect devices.");
+            System.exit(1);
+        }
+        // Get the basic timestep to use for calls to robot.step()
+        final int basicTimeStep = (int)Math.round(robot.getBasicTimeStep());
+
         Simulation.init(robot, robot.getBasicTimeStep());
 
-        // Use a SimDeviceSim to coordinate with robot code tests
+        updateUsersSimulationSpeed(robot);
+        // Use a SimDeviceSim to coordinate with robot code
+        final CompletableFuture<Boolean> isDoneFuture = new CompletableFuture<Boolean>();
         final SimDeviceSim webotsSupervisorSim = new SimDeviceSim("WebotsSupervisor");
-        // Regular report the simulated robot's position
-        if (robot.getSupervisor()) {
-            Simulation.registerPeriodicMethod(new Runnable() {
-                public void run() {
-                    Node self = robot.getSelf();
-                    double[] pos = self.getPosition();
-                    webotsSupervisorSim.set("self.position.x", pos[0]);
-                    webotsSupervisorSim.set("self.position.y", pos[1]);
-                    webotsSupervisorSim.set("self.position.z", pos[2]);
+        final SimDeviceSim timeSynchronizerSim = new SimDeviceSim("TimeSynchronizer");
+
+        // Regularly report the simulated robot's position
+        Simulation.registerPeriodicMethod(() -> {
+            Node self = robot.getSelf();
+            double[] pos = self.getPosition();
+            webotsSupervisorSim.set("self.position.x", pos[0]);
+            webotsSupervisorSim.set("self.position.y", pos[1]);
+            webotsSupervisorSim.set("self.position.z", pos[2]);
+        });
+
+        Timer simPauseTimer = new Timer();
+
+        // Whenever the robot time changes, step the simulation until just past that time
+        robotTimeSecCallbackStore = timeSynchronizerSim.registerValueChangedCallback("robotTimeSec", new StringCallback() {
+            @Override
+            public synchronized void callback(String name, String value) {
+                // Ignore null default initial value
+                if (value == null)
+                    return;
+
+                double robotTimeSec = Double.parseDouble(value);
+
+                // If we are asked to start the simulation, reload the world.
+                // this will restart this controller process so that we are running the most recent controller.
+                if (robotTimeSec == START_SIMULATION) {
+                    // Unpause before reloading so that the new controller can take it's first step.
+                    robot.simulationSetMode(usersSimulationSpeed);
+                    robot.worldReload();
+                    return;
                 }
-            });
-        } else {
-            System.err.println("The robot does not have supervisor=true. Reporting is limited.");
-        }
 
+                // Keep stepping the simulation forward until the sim time is more than the robot time
+                // or the simulation ends.
+                for(;;) {
+                    double simTimeSec = robot.getTime();
+                    if (simTimeSec > robotTimeSec) {
+                        break;
+                    }
+                    // Unpause if necessary
+                    robot.simulationSetMode(usersSimulationSpeed);
+                    boolean isDone = (robot.step(basicTimeStep) == -1);
 
-        // If the robot code starts after us, we expect it to tell us it's ready, and we respond
-        // that we're ready.
-        callbackStore = webotsSupervisorSim.registerValueChangedCallback("robotStartMs", new StringCallback() {
-				@Override
-				public void callback(String name, String value) {
-                    System.out.println("Telling the robot we're ready");
-                    webotsSupervisorSim.set("simStartMs", System.currentTimeMillis());                            
-				}
+                    // If that was our first step, schedule a task to pause the simulator if it
+                    // doesn't taken any steps for 1-2 seconds so it doesn't suck up CPU.
+                    if (lastStepMillis == 0) {
+                        simPauseTimer.schedule(new TimerTask() {
+                            @Override
+                            public void run() {
+                                if (System.currentTimeMillis() - lastStepMillis > 1000) {
+                                    queuedMessages.add(() -> {
+                                        updateUsersSimulationSpeed(robot);
+                                        robot.simulationSetMode(Supervisor.SIMULATION_MODE_PAUSE);
+                                    });
+                                }
+                            }
+                        }, 1000, 1000);
+                    }
 
+                    lastStepMillis = System.currentTimeMillis();
+                    timeSynchronizerSim.set("simTimeSec", robot.getTime());
+                    if (isDone) {
+                        isDoneFuture.complete(true);
+                        break;
+                    }
+                    Simulation.runPeriodicMethods();
+                }
+            }
         }, true);
 
+
         // If the robot code starts before we us, then it might have already tried to tell
-        // us it was ready and we would have missed it. So, we tell it we're ready when we 
+        // us it was ready and we would have missed it. So, we tell it we're ready when we
         // connect to it.
         ConnectionProcessor.addOpenListener(() -> {
-            System.out.println("Telling the robot we're ready");
-            webotsSupervisorSim.set("simStartMs", System.currentTimeMillis());
+            timeSynchronizerSim.set("simTimeSec", START_SIMULATION);
         });
 
-        // Wait until one timestep has completed to ensure that the Webots simulator is 
+        // Wait until startup has completed to ensure that the Webots simulator is
         // not still starting up.
-        if (robot.step(basicTimeStep) == -1) {
-            throw new RuntimeException("Couldn't even do one timestep!");
+        if (robot.step(0) == -1) {
+            throw new RuntimeException("Couldn't even start up!");
         }
+        SimRegisterer.connectDevices();
+
+        // Pause the simulation until either the robot code tells us to proceed or the
+        // user does.
+        robot.simulationSetMode(Supervisor.SIMULATION_MODE_PAUSE);
+
+        // Connect to the robot code
         try {
-            System.out.println("Trying to connect to robot...");
-            WSConnection.connectHALSim(true);
+            wsConnection = WSConnection.connectHALSim(true);
         } catch(URISyntaxException e) {
-            System.err.println("Error occured connecting to server:");
+            System.err.println("Error occurred connecting to server:");
             e.printStackTrace(System.err);
             System.err.flush();
             System.exit(1);
             return;
         }
 
-        while(robot.step(basicTimeStep) != -1) {
-            queuedMessages.forEach(Runnable::run);
-            queuedMessages.clear();
-            Simulation.runPeriodicMethods();
+        Runtime.getRuntime().addShutdownHook(new Thread(() -> {
+            try {
+                wsConnection.object.closeBlocking();
+            } catch(InterruptedException e) {}
+        }));
+
+        // Process incoming messages until simulation finishes
+        try {
+            while (isDoneFuture.getNow(false).booleanValue() == false) {
+                if (timeSynchronizerSim.get("robotTimeSec") != null || !queuedMessages.isEmpty()) {
+                    // Either there is a message waiting or it is ok to wait for it because the
+                    // robot code will tell us when to step the simulation.
+                    queuedMessages.takeFirst().run();
+                } else if (timeSynchronizerSim.get("robotTimeSec") == null
+                        && robot.simulationGetMode() != Supervisor.SIMULATION_MODE_PAUSE) {
+                    // The robot code isn't going to tell us when to step the simulation and the
+                    // user has unpaused it.
+                    Simulation.runPeriodicMethods();
+                    if (robot.step(basicTimeStep) == -1) {
+                        break;
+                    }
+                } else {
+                    // The simulation is paused and robot code isn't in control so wait a beat
+                    // before checking again (so we don't suck up all the CPU)
+                    Thread.sleep(20);
+                    // Process any pending user interface events.
+                    if (robot.step(0) == -1) {
+                        break;
+                    }
+                }
+            }
+        } catch (Exception ex) {
+            throw new RuntimeException("Exception while waiting for simulation to be done", ex);
         }
+
+        System.out.println("Shutting down DeepBlueSim...");
+        System.out.flush();
+
+        System.exit(0);
     }
 
 }
diff --git a/plugin/controller/src/main/java/org/team199/deepbluesim/BaseSimConfig.java b/plugin/controller/src/main/java/org/team199/deepbluesim/BaseSimConfig.java
deleted file mode 100644
index 4cfc2cd4..00000000
--- a/plugin/controller/src/main/java/org/team199/deepbluesim/BaseSimConfig.java
+++ /dev/null
@@ -1,61 +0,0 @@
-package org.team199.deepbluesim;
-
-import java.util.HashMap;
-
-/**
- * Stores basic properties about how to configure the robot simulation
- */
-public class BaseSimConfig {
-    private static int sensorTimestep = 20;
-    private static double defaultMotorGearing = 1;
-    private static HashMap<String, Double> motorGearings = new HashMap<>();
-
-    /**
-     * Sets the sampling period to be used when enabling Webots sensors
-     * @param timestep the sampling period
-     * @see #getSensorTimestep()
-     */
-    protected static void setSensorTimestep(int timestep) {
-        sensorTimestep = timestep;
-    }
-
-    /**
-     * Retrieves the sampling period to be used when enabling Webots sensors
-     * @see #setSensorTimestep(int)
-     */
-    public static int getSensorTimestep() {
-        return sensorTimestep;
-    }
-
-    /**
-     * Sets the default motor gearing to be used when a specific one is not set
-     * @param gearing the new default motor gearing
-     * @see #setMotorGearing(String, double)
-     * @see #getMotorGearing(String)
-     */
-    protected static void setDefaultMotorGearing(double gearing) {
-        defaultMotorGearing = gearing;
-    }
-
-    /**
-     * Sets the motor gearing for a specific motor
-     * @param motor the name of the motor
-     * @param diameter the gearing of the specified motor
-     * @see #setDefaultMotorGearing(double)
-     * @see #getMotorGearing(String)
-     */
-    protected static void setMotorGearing(String motor, double diameter) {
-        motorGearings.put(motor, diameter);
-    }
-
-    /**
-     * Retrieves the motor gearing for a specific motor
-     * @param motor the name of the motor
-     * @return the motor gearing for the specified motor
-     * @see #setMotorGearing(String, double)
-     * @see #setDefaultMotorGearing(double)
-     */
-    public static double getMotorGearing(String motor) {
-        return motorGearings.containsKey(motor) ? motorGearings.get(motor) : defaultMotorGearing;
-    }
-}
\ No newline at end of file
diff --git a/plugin/controller/src/main/java/org/team199/deepbluesim/Constants.java b/plugin/controller/src/main/java/org/team199/deepbluesim/Constants.java
index 73f359fd..73e710a8 100644
--- a/plugin/controller/src/main/java/org/team199/deepbluesim/Constants.java
+++ b/plugin/controller/src/main/java/org/team199/deepbluesim/Constants.java
@@ -8,20 +8,5 @@
 package org.team199.deepbluesim;
 
 public final class Constants {
-    public static final double motorGearing = 6.8;
-    // Max speed of a NEO in rad/s. Used for specifying motor velocity in Webots
-    public static final double neoMotorConstant = (5676 / motorGearing) * (Math.PI * 2) / 60.;
-    public static final double wheelDiameter = 5 * 0.0254;
-    public static final double maxSpeed = neoMotorConstant * wheelDiameter / 2;
-    public static final double wheelBase = 0.46101;
-    public static final double trackWidth = 0.45085;
-
-    public static final int joystickPort = 0;
-
-    public static class CANPorts {
-        public static final int dtFrontLeft = 0;
-        public static final int dtFrontRight = 1;
-        public static final int dtBackLeft = 2;
-        public static final int dtBackRight = 3;
-    }
+    public static int sensorTimestep = 20;
 }
diff --git a/plugin/controller/src/main/java/org/team199/deepbluesim/ParseUtils.java b/plugin/controller/src/main/java/org/team199/deepbluesim/ParseUtils.java
new file mode 100644
index 00000000..0e583295
--- /dev/null
+++ b/plugin/controller/src/main/java/org/team199/deepbluesim/ParseUtils.java
@@ -0,0 +1,21 @@
+package org.team199.deepbluesim;
+
+public final class ParseUtils {
+
+    public static final double parseDoubleOrDefault(String str, double defaultValue) {
+        try {
+            return Double.parseDouble(str);
+        } catch(NumberFormatException e) {
+            return defaultValue;
+        }
+    }
+
+    public static final int parseIntOrDefault(String str, int defaultValue) {
+        try {
+            return Integer.parseInt(str);
+        } catch(NumberFormatException e) {
+            return defaultValue;
+        }
+    }
+
+}
diff --git a/plugin/controller/src/main/java/org/team199/deepbluesim/SimConfig.java b/plugin/controller/src/main/java/org/team199/deepbluesim/SimConfig.java
deleted file mode 100644
index 6503767a..00000000
--- a/plugin/controller/src/main/java/org/team199/deepbluesim/SimConfig.java
+++ /dev/null
@@ -1,9 +0,0 @@
-package org.team199.deepbluesim;
-
-public class SimConfig extends BaseSimConfig {
-
-    public static void initConfig() {
-        setDefaultMotorGearing(Constants.motorGearing);
-    }
-
-}
\ No newline at end of file
diff --git a/plugin/controller/src/main/java/org/team199/deepbluesim/SimRegisterer.java b/plugin/controller/src/main/java/org/team199/deepbluesim/SimRegisterer.java
index d134e51c..a898fb51 100644
--- a/plugin/controller/src/main/java/org/team199/deepbluesim/SimRegisterer.java
+++ b/plugin/controller/src/main/java/org/team199/deepbluesim/SimRegisterer.java
@@ -1,86 +1,174 @@
 package org.team199.deepbluesim;
 
-import org.team199.deepbluesim.mediators.*;
+import java.util.Arrays;
+import java.util.Optional;
+import java.util.concurrent.CopyOnWriteArraySet;
 
+import org.team199.deepbluesim.mediators.GyroMediator;
+import org.team199.deepbluesim.mediators.PWMMotorMediator;
+import org.team199.deepbluesim.mediators.SimDeviceMotorMediator;
+import org.team199.deepbluesim.mediators.SimDeviceEncoderMediator;
+import org.team199.deepbluesim.mediators.WPILibEncoderMediator;
 import org.team199.wpiws.ScopedObject;
-import org.team199.wpiws.UniqueArrayList;
 import org.team199.wpiws.devices.EncoderSim;
 import org.team199.wpiws.devices.PWMSim;
 import org.team199.wpiws.devices.SimDeviceSim;
-import org.team199.wpiws.interfaces.SimDeviceCallback;
 
-// Performs automatic registration of callbacks detecting both the initalization of new devices as well as data callbacks for devices such as Motors, Gyros, etc.
-// This allows us to automatically link these devices to Webots, reducing the amount of code we would have to change from a standard robot project
+import com.cyberbotics.webots.controller.Device;
+import com.cyberbotics.webots.controller.Gyro;
+import com.cyberbotics.webots.controller.Motor;
+import com.cyberbotics.webots.controller.Node;
+import com.cyberbotics.webots.controller.PositionSensor;
+import com.cyberbotics.webots.controller.Supervisor;
+
+import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.math.util.Units;
+
 public class SimRegisterer {
-    
-    private static final SimDeviceCallback MISC_DEVICE_CALLBACK = SimRegisterer::callback;
-    private static final UniqueArrayList<ScopedObject<?>> CALLBACKS = new UniqueArrayList<>();
-
-    static {
-        // Register Initalized Callbacks for Misc Devices
-        CALLBACKS.add(SimDeviceSim.registerDeviceCreatedCallback("", MISC_DEVICE_CALLBACK, true));
-        // Register Initalized Callbacks for PWM Devices
-        CALLBACKS.add(PWMSim.registerStaticInitializedCallback((name, isInitialized) -> {
-            if(isInitialized) {
-                callback("PWM", name, 0);
+
+    private static final CopyOnWriteArraySet<String> unboundEncoders = new CopyOnWriteArraySet<>();
+    private static final CopyOnWriteArraySet<ScopedObject<?>> CALLBACKS = new CopyOnWriteArraySet<>();
+
+    public static void connectDevices() {
+        Supervisor robot = Simulation.getSupervisor();
+
+        boolean hasGyro = false;
+
+        for (int i = 0; i < robot.getNumberOfDevices(); i++) {
+            Device device = robot.getDeviceByIndex(i);
+            String name = device.getName();
+            if (name.startsWith("DBSim_")) {
+                try {
+                    String type = name.split("_")[1];
+                    switch (type) {
+                        case "Encoder":
+                            connectEncoder((PositionSensor) device, robot);
+                            break;
+                        case "Motor":
+                            connectMotor((Motor) device, robot);
+                            break;
+                    }
+                } catch (Exception e) {
+                    System.err.println("Error occurred connecting to device " + device.getName() + ":");
+                    e.printStackTrace(System.err);
+                    System.err.flush();
+                }
+            }
+
+            if (device instanceof Gyro) {
+                if (hasGyro) {
+                    System.err.println("Warning: multiple gyros detected! Only one will be used.");
+                } else {
+                    new GyroMediator((Gyro) device);
+                    hasGyro = true;
+                }
             }
-        }, true));
-        // Register Initalized Callbacks for Encoder Devices
-        CALLBACKS.add(EncoderSim.registerStaticInitializedCallback((name, isInitialized) -> {
-            if(isInitialized) {
-                callback("Encoder", name, 0);
+
+            if(!unboundEncoders.isEmpty()) {
+                Simulation.registerPeriodicMethod(SimRegisterer::tryBindEncoders);
             }
-        }, true));
+        }
     }
 
-    // Initalize SimRegisterer. This method exists to ensure that the static block is called
-    public static void init() {}
-
-    // Callback methods which place new devices in a processing queue which is processed every robot period
-    // The WPILib callbacks are notified as part of the device creation. This process ensures that the devices complete their setup process
-    // This is especially important for SimDevice's because their initalized callbacks can be notified before their values have been created
-    // Queuing also ensures that callbacks (which are usually executed asycronously) are processed syncronously with the rest of the robot code
-
-    // Callback for when a Miscellaneous Device is registered
-    private static void callback(String deviceName) {
-        if(deviceName.startsWith("Talon") || deviceName.startsWith("Victor") || deviceName.startsWith("SparkMax")) {
-            // If a new Talon or Victor has been initalized, attempt to link it to a Webots Motor
-            // Create a WebotsMotorForwarder for this motor
-            final WebotsMotorForwarder fwdr = new WebotsMotorForwarder(Simulation.getRobot(), deviceName);
-            // Register a callback for when the Motor Output changes
-            CALLBACKS.add(new SimDeviceSim(deviceName).registerValueChangedCallback("Motor Output",
-                // Call the callback function
-                fwdr,
-                // Initalize with current speed
-                true));
+    public static void tryBindEncoders() {
+        if(unboundEncoders.isEmpty()) return;
+
+        Supervisor robot = Simulation.getSupervisor();
+
+        String[] unboundEncodersCopy = unboundEncoders.toArray(new String[0]);
+        unboundEncoders.clear();
+
+        for (String encoderName : unboundEncodersCopy) {
+            try {
+                connectEncoder((PositionSensor) robot.getDevice(encoderName), robot);
+            } catch (Exception e) {
+                System.err.println("Error occurred connecting to device " + encoderName + ":");
+                e.printStackTrace(System.err);
+                System.err.flush();
+            }
         }
-        if(deviceName.startsWith("navX")) {
-            // If a navX is registered, try to link its SimDevice to the Webots robot
-            MockGyro.linkGyro();
+    }
+
+    public static void connectEncoder(PositionSensor device, Supervisor robot) {
+        Node node = robot.getFromDevice(device);
+
+        String[] nameParts = device.getName().split("_");
+        boolean isOnMotorShaft = Boolean.parseBoolean(nameParts[2]);
+        boolean isAbsolute = Boolean.parseBoolean(nameParts[3]);
+        double absoluteOffsetDeg = Double.parseDouble(nameParts[4]);
+        boolean isInverted = Boolean.parseBoolean(nameParts[5]);
+        int countsPerRevolution = Integer.parseInt(nameParts[6]);
+
+        double gearing;
+        try {
+            String motorName = device.getMotor().getName();
+            if(motorName.startsWith("DBSim_Motor")) {
+                gearing = Double.parseDouble(motorName.split("_")[4]);
+            } else {
+                throw new IllegalArgumentException();
+            }
+        } catch(Exception e) {
+            System.err.println("Warning: No valid motor found for encoder \"" + device.getName() + "\"! Assuming 1:1 gearing...");
+            gearing = 1;
         }
-        if(deviceName.startsWith("CANEncoder_")) {
-            //deviceName should be CANEncoder_<motorName>
-            new MockedSparkEncoder(new SimDeviceSim(deviceName), deviceName.substring(11));
+
+        if (node.getField("channelA") != null) { // WPILib Encoder
+            int channelA = node.getField("channelA").getSFInt32();
+            int channelB = node.getField("channelB").getSFInt32();
+
+            // WPILib encoders no longer have deterministic names (based on channel numbers), so we have to search for the encoder
+            // This was the best way I could think of to do it
+            Optional<EncoderSim> simDevice = Arrays.stream(EncoderSim.enumerateDevices()).map(EncoderSim::new)
+                .filter(encoder -> encoder.getChannelA() == channelA && encoder.getChannelB() == channelB)
+                .findAny();
+
+            if(simDevice.isPresent()) {
+                new WPILibEncoderMediator(device, simDevice.get(), isOnMotorShaft, isInverted, countsPerRevolution, gearing);
+            } else {
+                unboundEncoders.add(device.getName());
+            }
+        } else if(node.getField("id") != null) { // CANCoder
+            new SimDeviceEncoderMediator(device, new SimDeviceSim("CANCoder[" + node.getField("id").getSFInt32() + "]"), isOnMotorShaft, isAbsolute, absoluteOffsetDeg, isInverted, countsPerRevolution, gearing);
+        } else if(node.getTypeName().startsWith("SparkMax")) { // One of the SparkMax encoder types
+            Motor motor = device.getMotor();
+
+            String motorName;
+            if(motor == null || !(motorName = motor.getName()).startsWith("DBSim_Motor_Spark Max")) {
+                System.err.println("Warning: Spark Max Encoder \"" + device.getName() + "\" is not attached to a Spark Max motor!");
+                return;
+            }
+
+            String[] motorNameParts = motorName.split("_");
+            int motorId = Integer.parseInt(motorNameParts[3]);
+
+            String simDeviceName = "SparkMax[" + motorId + "]_" + node.getTypeName().substring("SparkMax".length());
+
+            new SimDeviceEncoderMediator(device, new SimDeviceSim(simDeviceName), isOnMotorShaft, isAbsolute, absoluteOffsetDeg, isInverted, countsPerRevolution, gearing);
+        } else {
+            System.err.println("Warning: Ignoring invalid encoder: " + device.getName() + "!");
         }
     }
 
-    // Callback for when a known device type is registered on a Non-Can port
-    private static void callback(String type, String port, int storePos) {
-        if(type.equals("PWM")) {
-            // If a new PWM device has been initalized, attempt to link it to a Webots Motor
-            // Register a speed callback on this device
-            CALLBACKS.add(new PWMSim(port).registerSpeedCallback(
-                // Call a motor forwarder for a callback
-                new WebotsMotorForwarder(Simulation.getRobot(), "PWM[" + port + "]"),
-                // Initalize with current speed
-                true));
-        }
-        else if(type.equals("Encoder")) {
-            // If a new PWM device has been initalized, attempt to link it to a Webots Motor
-            // Register a speed callback on this device
-            EncoderSim sim = new EncoderSim(port);
-            new MockedEncoder(CALLBACKS, sim, port);
+    public static void connectMotor(Motor device, Supervisor robot) {
+        String[] nameParts = device.getName().split("_");
+        String controllerType = nameParts[2];
+        int port = Integer.parseInt(nameParts[3]);
+        double gearing = Double.parseDouble(nameParts[4]);
+        boolean inverted = Boolean.parseBoolean(nameParts[5]);
+        double nominalVoltageVolts = Double.parseDouble(nameParts[6]);
+        double stallTorqueNewtonMeters = Double.parseDouble(nameParts[7]);
+        double stallCurrentAmps = Double.parseDouble(nameParts[8]);
+        double freeCurrentAmps = Double.parseDouble(nameParts[9]);
+        double freeSpeedRPM = Double.parseDouble(nameParts[10]);
+
+        DCMotor motorConstants = new DCMotor(nominalVoltageVolts, stallTorqueNewtonMeters, stallCurrentAmps, freeCurrentAmps, Units.rotationsPerMinuteToRadiansPerSecond(freeSpeedRPM), 1);
+
+        if(controllerType.equals("PWM")) {
+            new PWMMotorMediator(device, new PWMSim(Integer.toString(port)), motorConstants, gearing, inverted, CALLBACKS);
+        } else {
+            String simDeviceName = controllerType.replaceAll("\\s", "") + "[" + port + "]";
+            new SimDeviceMotorMediator(device, new SimDeviceSim(simDeviceName), motorConstants, gearing, inverted, CALLBACKS);
         }
     }
 
-}
\ No newline at end of file
+}
diff --git a/plugin/controller/src/main/java/org/team199/deepbluesim/Simulation.java b/plugin/controller/src/main/java/org/team199/deepbluesim/Simulation.java
index 01111427..fce0dec1 100644
--- a/plugin/controller/src/main/java/org/team199/deepbluesim/Simulation.java
+++ b/plugin/controller/src/main/java/org/team199/deepbluesim/Simulation.java
@@ -2,7 +2,9 @@
 
 import java.util.concurrent.CopyOnWriteArrayList;
 
+import com.cyberbotics.webots.controller.Node;
 import com.cyberbotics.webots.controller.Robot;
+import com.cyberbotics.webots.controller.Supervisor;
 
 /**
  * Manages control over the robot simulation and Webots connection
@@ -13,7 +15,7 @@ public final class Simulation {
     /**
      * An object representing the Webots robot
      */
-    private static Robot robot;
+    private static Supervisor robot;
     /**
      * The value of the basicTimeStep field of the WorldInfo node of the Webots robot
      * @see Robot#getBasicTimeStep()
@@ -23,16 +25,10 @@ public final class Simulation {
      * {@link #timeStep} converted into milliseconds. This is equivalent to <code>timeStep * 1000</code>
      */
     private static double timeStepMillis;
-    // Use a CopyOnWriteArrayList to prevent syncronization errors
-    private static final CopyOnWriteArrayList<Runnable> periodicMethods;
+    // Use a CopyOnWriteArrayList to prevent synchronization errors
+    private static final CopyOnWriteArrayList<Runnable> periodicMethods = new CopyOnWriteArrayList<>();
 
-    static {
-        periodicMethods = new CopyOnWriteArrayList<>();
-        // Register callbacks
-        SimRegisterer.init();
-    }
-
-    public static synchronized void init(Robot robot, double basicTimeStepMillis) {
+    public static synchronized void init(Supervisor robot, double basicTimeStepMillis) {
         if(init) {
             return;
         }
@@ -54,6 +50,10 @@ public static Robot getRobot() {
         return robot;
     }
 
+    public static Supervisor getSupervisor() {
+        return robot;
+    }
+
     public static double getBasicTimeStep() {
         return timeStep;
     }
@@ -66,6 +66,15 @@ public static void runPeriodicMethods() {
         periodicMethods.forEach(Runnable::run);
     }
 
+    public static Node getPROTOBase(Node node, String baseName) {
+        if(node == null) {
+            return null;
+        }
+        // while(node.isProto() && node.getBaseTypeName())
+        return null;
+    }
+
     private Simulation() {}
 
-}
\ No newline at end of file
+}
+
diff --git a/plugin/controller/src/main/java/org/team199/deepbluesim/mediators/EncoderMediatorBase.java b/plugin/controller/src/main/java/org/team199/deepbluesim/mediators/EncoderMediatorBase.java
new file mode 100644
index 00000000..e5aafed1
--- /dev/null
+++ b/plugin/controller/src/main/java/org/team199/deepbluesim/mediators/EncoderMediatorBase.java
@@ -0,0 +1,68 @@
+package org.team199.deepbluesim.mediators;
+
+import org.team199.deepbluesim.Constants;
+import org.team199.deepbluesim.Simulation;
+
+import com.cyberbotics.webots.controller.PositionSensor;
+
+import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.math.util.Units;
+
+public abstract class EncoderMediatorBase implements Runnable {
+
+    public final PositionSensor encoder;
+    public final boolean isOnMotorShaft;
+    public final boolean isAbsolute;
+    public final double absoluteOffsetDeg;
+    public final boolean isInverted;
+    public final int countsPerRevolution;
+    public final double gearing;
+
+    private double lastPositionRad = 0;
+
+    public EncoderMediatorBase(PositionSensor encoder) {
+        this(encoder, false, false, 0, false, 0, 1); // TODO: get these values from the robot
+    }
+
+    public EncoderMediatorBase(PositionSensor encoder, boolean isOnMotorShaft, boolean isAbsolute, double absoluteOffsetDeg, boolean isInverted, int countsPerRevolution, double gearing) {
+        this.encoder = encoder;
+        this.isOnMotorShaft = isOnMotorShaft;
+        this.isAbsolute = isAbsolute;
+        this.absoluteOffsetDeg = absoluteOffsetDeg;
+        this.isInverted = isInverted;
+        this.countsPerRevolution = countsPerRevolution;
+        this.gearing = gearing;
+
+        encoder.enable(Constants.sensorTimestep);
+        Simulation.registerPeriodicMethod(this);
+    }
+
+    @Override
+    public void run() {
+        double positionRad = encoder.getValue();
+
+        if(isOnMotorShaft) {
+            positionRad *= gearing;
+        }
+
+        if(isAbsolute) {
+            positionRad += Units.degreesToRadians(absoluteOffsetDeg);
+            MathUtil.inputModulus(positionRad, 0, Math.PI * 2);
+        }
+
+        if(isInverted) {
+            positionRad *= -1;
+        }
+
+        double velocityRadPerSec = (positionRad - lastPositionRad) / Simulation.getBasicTimeStep();
+        lastPositionRad = positionRad;
+
+        setPosition((int) Math.round(Units.radiansToRotations(positionRad) * countsPerRevolution));
+        setVelocity((int) Math.round(Units.radiansToRotations(velocityRadPerSec) * countsPerRevolution));
+    }
+
+    public abstract void setPosition(int positionCounts);
+
+    public abstract void setVelocity(int velocityCountsPerSecond);
+
+}
diff --git a/plugin/controller/src/main/java/org/team199/deepbluesim/mediators/GyroMediator.java b/plugin/controller/src/main/java/org/team199/deepbluesim/mediators/GyroMediator.java
new file mode 100644
index 00000000..287294b5
--- /dev/null
+++ b/plugin/controller/src/main/java/org/team199/deepbluesim/mediators/GyroMediator.java
@@ -0,0 +1,47 @@
+package org.team199.deepbluesim.mediators;
+
+import com.cyberbotics.webots.controller.Gyro;
+
+import org.team199.deepbluesim.Constants;
+import org.team199.deepbluesim.Simulation;
+import org.team199.wpiws.devices.SimDeviceSim;
+
+/**
+ * Handles the linking of the simulated AHRS gyro to Webots
+ * @see com.kauailabs.navx.frc.AHRS
+ */
+public class GyroMediator implements Runnable {
+
+    public final Gyro gyro;
+    public final SimDeviceSim device;
+    private double angle = 0;
+
+    /**
+     * Links the simulated AHRS gyro to Webots
+     * @param gyro the Webots gyro to link to
+     */
+    public GyroMediator(Gyro gyro) {
+        this.gyro = gyro;
+        gyro.enable(Constants.sensorTimestep);
+        device = new SimDeviceSim("navX-Sensor[0]");
+        Simulation.registerPeriodicMethod(this);
+    }
+
+    @Override
+    public void run() {
+        /* getValues() returns angular speeds about each axis (x, y, z).
+           reading represents the change in angular position about the z axis.
+           getValues()[2] is negated to convert from Webots's coordinate system (counter-clockwise = positive) to WPILib's coordinate system (counter-clockwise = negative).
+        */
+        double reading = -gyro.getValues()[2] * Simulation.getBasicTimeStep();
+        // In testing, reading was sometimes NAN in the first second of the simulation.
+        // Also convert from radians to degrees
+        angle += Double.isNaN(reading) ? 0 : (180 * reading / Math.PI);
+        // Make sure angle is between 0 and 359 inclusive
+        // angle = Math.copySign(Math.abs(angle) % 360, angle);
+        // Update the WPIlib gyro
+        device.set("Yaw", angle + "");
+    }
+
+}
+
diff --git a/plugin/controller/src/main/java/org/team199/deepbluesim/mediators/MockGyro.java b/plugin/controller/src/main/java/org/team199/deepbluesim/mediators/MockGyro.java
deleted file mode 100644
index 009dc896..00000000
--- a/plugin/controller/src/main/java/org/team199/deepbluesim/mediators/MockGyro.java
+++ /dev/null
@@ -1,53 +0,0 @@
-package org.team199.deepbluesim.mediators;
-
-import com.cyberbotics.webots.controller.Gyro;
-
-import org.team199.deepbluesim.BaseSimConfig;
-import org.team199.deepbluesim.Simulation;
-import org.team199.wpiws.devices.SimDeviceSim;
-
-/**
- * Handles the linking of the simulated AHRS gyro to Webots
- * @see com.kauailabs.navx.frc.AHRS
- */
-public final class MockGyro implements Runnable {
-
-    private static boolean gyroCreated = false;
-    private static SimDeviceSim gyroSim;
-    private static Gyro webotsGyro;
-    private static double angle = 0;
-
-    /**
-     * Links the simulated AHRS gyro to Webots if it has not been already
-     */
-    public static void linkGyro() {
-        if(gyroCreated) {
-            return;
-        }
-        gyroCreated = true;
-        // Create Sims
-        gyroSim = new SimDeviceSim("navX-Sensor[0]");
-        webotsGyro = Simulation.getRobot().getGyro("gyro");
-        webotsGyro.enable(BaseSimConfig.getSensorTimestep());
-        Simulation.registerPeriodicMethod(new MockGyro());
-    }
-
-    @Override
-    public void run() {
-        /* getValues() returns angular speeds about each axis (x, y, z).
-           reading represents the change in angular position about the y axis.
-           getValues()[1] is negated to convert from Webot's coordinate system (counter-clockwise = positive) to WPIlib's coordinate system (counter-clockwise = negative).
-        */
-        double reading = -webotsGyro.getValues()[1] * Simulation.getBasicTimeStep();
-        // In testing, reading was sometimes NAN in the first second of the simulation.
-        // Also convert from radians to degrees
-        angle += Double.isNaN(reading) ? 0 : (180 * reading / Math.PI);
-        // Make sure angle is between 0 and 359 inclusive
-        angle = Math.copySign(Math.abs(angle) % 360, angle);
-        // Update the WPIlib gyro
-        gyroSim.set("Yaw", angle + "");
-    }
-
-    private MockGyro() {}
-
-}
\ No newline at end of file
diff --git a/plugin/controller/src/main/java/org/team199/deepbluesim/mediators/MockedEncoder.java b/plugin/controller/src/main/java/org/team199/deepbluesim/mediators/MockedEncoder.java
deleted file mode 100644
index 6da2839d..00000000
--- a/plugin/controller/src/main/java/org/team199/deepbluesim/mediators/MockedEncoder.java
+++ /dev/null
@@ -1,100 +0,0 @@
-package org.team199.deepbluesim.mediators;
-
-import com.cyberbotics.webots.controller.PositionSensor;
-
-import org.team199.deepbluesim.BaseSimConfig;
-import org.team199.deepbluesim.Simulation;
-import org.team199.wpiws.ScopedObject;
-import org.team199.wpiws.UniqueArrayList;
-import org.team199.wpiws.devices.EncoderSim;
-
-public class MockedEncoder implements Runnable {
-    private String name;
-    private String wpiLibId;
-    private EncoderSim encoder;
-    private PositionSensor webotsEncoder;
-    private int countsPerRevolution = 256;
-    private int channelA = -1, channelB = -1;
-
-    public MockedEncoder(UniqueArrayList<ScopedObject<?>> callbacks, EncoderSim sim, String wpiLibId) {
-        encoder = sim;
-        this.wpiLibId = wpiLibId;
-        callbacks.add(sim.registerChannelACallback( (id, channel) -> {
-            setChannelA(channel);
-        }, true));
-        callbacks.add(sim.registerChannelBCallback( (id, channel) -> {
-            setChannelB(channel);
-        }, true));
-    }
-
-    private void setChannelA(int channel) {
-        channelA = channel;
-        tryToConnectWebotsPositionSensor();
-    }
-
-    private void setChannelB(int channel) {
-        channelB = channel;
-        tryToConnectWebotsPositionSensor();
-    }
-
-    private void tryToConnectWebotsPositionSensor() {
-        if (channelA < 0 || channelB < 0)
-            return;
-        String newName = "Encoder[" + channelA + "," + channelB + "]";
-        if (webotsEncoder != null && !newName.equals(name)) {
-            System.out.println("WARNING: Ignoring attempt to change PositionSensor of id " 
-                + wpiLibId + " from " + name + " to " + newName);
-            return;
-        }
-
-        // TODO: Find the position sensor whose name *starts* with the given
-        // name and use the remained of the name to determine the countsPerRevolutions
-        // to use.
-        // For now, we just assume 256 countsPerRevolution
-        webotsEncoder = Simulation.getRobot().getPositionSensor(newName);
-        if(webotsEncoder != null) {
-            name = newName;
-            webotsEncoder.enable(BaseSimConfig.getSensorTimestep());
-            Simulation.registerPeriodicMethod(this);
-        }
-    }
-
-    private int prevCount = 0;
-    private double timeCountChangedSecs = 0.0;
-    private double timeCountCheckedSecs = 0.0;
-
-    @Override
-    public void run() {
-        // Get the position of the Webots encoders and set the position of the WPIlib encoders 
-        // getValue() returns radians
-        double revolutions = (webotsEncoder.getValue()) / (2*Math.PI);
-        int count = (int) Math.floor(revolutions * countsPerRevolution);
-        encoder.setCount(count);
-
-        // Compute the period of time since the previous tick. This is a bit more complicated than it would
-        // seem at first glance because we need to handle both the case where multiple ticks have 
-        // occured since we last checked, the case where no ticks have occurred across multiple
-        // checks, and the case where only one tick has occured since we last checked.
-        // For simplicity, we assume that if any number of ticks have occured, then the most recent one
-        // happened now.
-        double curTimeSecs = Simulation.getRobot().getTime();
-        // If no ticks have happened since we last checked, then we know when the the previous tick happened.
-        double prevTickTimeSecs = timeCountChangedSecs;
-        // ... but if any ticks have happened since we last checked, then compute the time of the previous
-        // tick assuming that the ticks were evenly spaced in time.
-        if (count != prevCount) {
-            prevTickTimeSecs = curTimeSecs - (curTimeSecs - timeCountCheckedSecs) / (count - prevCount);
-        }
-        double periodSecs = curTimeSecs - prevTickTimeSecs;
-        encoder.setPeriod(periodSecs/1000.0); // WPILib expects ms.
-
-        // Keep track of when we last checked the count and what it was.
-        timeCountCheckedSecs = curTimeSecs;
-        prevCount = count;
-
-        // Keep track of when the count actually changed
-        if (count != prevCount) {
-            timeCountChangedSecs = curTimeSecs;
-        }
-    }
-}
\ No newline at end of file
diff --git a/plugin/controller/src/main/java/org/team199/deepbluesim/mediators/MockedSparkEncoder.java b/plugin/controller/src/main/java/org/team199/deepbluesim/mediators/MockedSparkEncoder.java
deleted file mode 100644
index ad75b8a6..00000000
--- a/plugin/controller/src/main/java/org/team199/deepbluesim/mediators/MockedSparkEncoder.java
+++ /dev/null
@@ -1,42 +0,0 @@
-package org.team199.deepbluesim.mediators;
-
-import com.cyberbotics.webots.controller.PositionSensor;
-
-import org.team199.deepbluesim.BaseSimConfig;
-import org.team199.deepbluesim.Simulation;
-import org.team199.wpiws.devices.SimDeviceSim;
-
-public class MockedSparkEncoder implements Runnable {
-    private String name;
-    private SimDeviceSim encoder;
-    private PositionSensor webotsEncoder;
-    // Default value for a CANEncoder
-    private final int countsPerRevolution = 4096;
-    private double position;
-
-    public MockedSparkEncoder(SimDeviceSim sim, String name) {
-        this.name = name;
-        // Match motor on CAN 0 with channels [0, 1], CAN 1 to channels [2, 3], etc.
-        // Probably not the best way to do it but it works
-        encoder = sim;
-        webotsEncoder = Simulation.getRobot().getMotor(name).getPositionSensor();
-        if(webotsEncoder != null) {
-            webotsEncoder.enable(BaseSimConfig.getSensorTimestep());
-            Simulation.registerPeriodicMethod(this);
-        }
-    }
-
-    public double getPosition() {
-        return position;
-    }
-
-    @Override
-    public void run() {
-        // Get the position of the Webots encoders and set the position of the WPIlib encoders 
-        // getValue() returns radians
-        // revoultions = radians * gearing / pi
-        double revolutions = (webotsEncoder.getValue() * BaseSimConfig.getMotorGearing(name)) / (2*Math.PI);
-        int count = (int) Math.floor(revolutions * countsPerRevolution);
-        encoder.set("count", "" + count);
-    }
-}
\ No newline at end of file
diff --git a/plugin/controller/src/main/java/org/team199/deepbluesim/mediators/PWMMotorMediator.java b/plugin/controller/src/main/java/org/team199/deepbluesim/mediators/PWMMotorMediator.java
new file mode 100644
index 00000000..58828e24
--- /dev/null
+++ b/plugin/controller/src/main/java/org/team199/deepbluesim/mediators/PWMMotorMediator.java
@@ -0,0 +1,39 @@
+package org.team199.deepbluesim.mediators;
+
+import java.util.Collection;
+
+import org.team199.wpiws.ScopedObject;
+import org.team199.wpiws.devices.PWMSim;
+
+import com.cyberbotics.webots.controller.Motor;
+
+import edu.wpi.first.math.system.plant.DCMotor;
+
+public class PWMMotorMediator {
+
+    public final Motor motor;
+    public final double gearing;
+    public final boolean inverted;
+    public final DCMotor motorConstants;
+    public final PWMSim motorDevice;
+
+    public PWMMotorMediator(Motor motor, PWMSim simDevice, DCMotor motorConstants, double gearing, boolean inverted, Collection<ScopedObject<?>> callbackStore) {
+        this.motor = motor;
+        this.motorDevice = simDevice;
+        this.motorConstants = motorConstants;
+        this.gearing = gearing;
+        this.inverted = inverted;
+
+        // Use velocity control
+        motor.setPosition(Double.POSITIVE_INFINITY);
+
+        // Disable braking
+        if(motor.getBrake() != null) motor.getBrake().setDampingConstant(0);
+
+        callbackStore.add(motorDevice.registerSpeedCallback((deviceName, speed) -> {
+            double velocity = speed * motorConstants.freeSpeedRadPerSec;
+            motor.setVelocity((inverted ? -1 : 1) * velocity / gearing);
+        }, true));
+    }
+
+}
diff --git a/plugin/controller/src/main/java/org/team199/deepbluesim/mediators/SimDeviceEncoderMediator.java b/plugin/controller/src/main/java/org/team199/deepbluesim/mediators/SimDeviceEncoderMediator.java
new file mode 100644
index 00000000..ac51f97e
--- /dev/null
+++ b/plugin/controller/src/main/java/org/team199/deepbluesim/mediators/SimDeviceEncoderMediator.java
@@ -0,0 +1,26 @@
+package org.team199.deepbluesim.mediators;
+
+import org.team199.wpiws.devices.SimDeviceSim;
+
+import com.cyberbotics.webots.controller.PositionSensor;
+
+public class SimDeviceEncoderMediator extends EncoderMediatorBase {
+
+    public final SimDeviceSim device;
+
+    public SimDeviceEncoderMediator(PositionSensor encoder, SimDeviceSim device, boolean isOnMotorShaft, boolean isAbsolute, double absoluteOffsetDeg, boolean isInverted, int countsPerRevolution, double gearing) {
+        super(encoder, isOnMotorShaft, isAbsolute, absoluteOffsetDeg, isInverted, countsPerRevolution, gearing);
+        this.device = device;
+    }
+
+    @Override
+    public void setPosition(int positionCounts) {
+        device.set("Position", positionCounts);
+    }
+
+    @Override
+    public void setVelocity(int velocityCountsPerSecond) {
+        device.set("Velocity", velocityCountsPerSecond);
+    }
+
+}
diff --git a/plugin/controller/src/main/java/org/team199/deepbluesim/mediators/SimDeviceMotorMediator.java b/plugin/controller/src/main/java/org/team199/deepbluesim/mediators/SimDeviceMotorMediator.java
new file mode 100644
index 00000000..c44a3303
--- /dev/null
+++ b/plugin/controller/src/main/java/org/team199/deepbluesim/mediators/SimDeviceMotorMediator.java
@@ -0,0 +1,102 @@
+package org.team199.deepbluesim.mediators;
+
+import java.util.Collection;
+
+import org.team199.deepbluesim.ParseUtils;
+import org.team199.deepbluesim.Simulation;
+import org.team199.wpiws.ScopedObject;
+import org.team199.wpiws.devices.SimDeviceSim;
+
+import com.cyberbotics.webots.controller.Brake;
+import com.cyberbotics.webots.controller.Motor;
+import com.cyberbotics.webots.controller.PositionSensor;
+
+import edu.wpi.first.math.system.plant.DCMotor;
+
+/**
+ * Links WPILib motor controllers to Webots
+ */
+public class SimDeviceMotorMediator implements Runnable {
+
+    public static final int NEO_BUILTIN_ENCODER_CPR = 42;
+
+    public final Motor motor;
+    public final double gearing;
+    public final boolean inverted;
+    public final DCMotor motorConstants;
+    public final SimDeviceSim motorDevice;
+    public final Brake brake;
+
+    private double requestedOutput = 0;
+    private boolean brakeMode = true;
+    private double neutralDeadband = 0.04;
+
+    /**
+     * Creates a new MotorMediator
+     * @param motor the Webots motor to link to
+     * @param simDevice the SimDeviceSim to use
+     * @param motorConstants the motor constants to use
+     * @param gearing the gear ratio to use
+     * @param callbackStore a collection to store callbacks in
+     */
+    public SimDeviceMotorMediator(Motor motor, SimDeviceSim simDevice, DCMotor motorConstants, double gearing, boolean inverted, Collection<ScopedObject<?>> callbackStore) {
+        this.motor = motor;
+        motorDevice = simDevice;
+        this.motorConstants = motorConstants;
+        this.gearing = gearing;
+        this.inverted = inverted;
+
+        if(motor.getName().startsWith("DBSim_Motor_Spark Max")) {
+            PositionSensor encoder = motor.getPositionSensor();
+            if(encoder == null) {
+                System.err.println(String.format("WARNING: Spark Max encoder not found for motor: \"%s\", no position data will be reported!", motor.getName()));
+            } else {
+                new SimDeviceEncoderMediator(encoder, new SimDeviceSim(motorDevice.id + "_RelativeEncoder"), true, false, 0, inverted, NEO_BUILTIN_ENCODER_CPR, gearing);
+            }
+        }
+
+        this.brake = motor.getBrake();
+        if(brake == null) {
+            System.err.println(String.format("WARNING: Brake not found for motor: \"%s\", braking will be disabled!", motor.getName()));
+        }
+
+        // Use velocity control
+        motor.setPosition(Double.POSITIVE_INFINITY);
+
+        brake.setDampingConstant(motorConstants.stallTorqueNewtonMeters * gearing);
+
+        callbackStore.add(motorDevice.registerValueChangedCallback("Brake Mode", (name, enabled) -> {
+            brakeMode = Boolean.parseBoolean(enabled);
+        }, true));
+        callbackStore.add(motorDevice.registerValueChangedCallback("Neutral Deadband", (name, deadband) -> {
+            neutralDeadband = Math.abs(ParseUtils.parseDoubleOrDefault(deadband, neutralDeadband));
+        }, true));
+        callbackStore.add(motorDevice.registerValueChangedCallback("Speed", (name, speed) -> {
+            requestedOutput = ParseUtils.parseDoubleOrDefault(speed, requestedOutput);
+        }, true));
+
+        Simulation.registerPeriodicMethod(this);
+    }
+
+    @Override
+    public void run() {
+        // Apply the speed changes periodically so that changes to variables (ie brake mode) don't require a speed update to be applied
+        // Copy requested output so that decreasing the neutral deadband can take effect without a speed update
+        double currentOutput = requestedOutput;
+        if(Math.abs(currentOutput) < neutralDeadband) {
+            currentOutput = 0;
+            brake.setDampingConstant(brakeMode ? motorConstants.stallTorqueNewtonMeters * gearing : 0);
+        } else {
+            brake.setDampingConstant(0);
+        }
+
+        double velocity = currentOutput * motorConstants.freeSpeedRadPerSec;
+        motor.setVelocity((inverted ? -1 : 1) * velocity / gearing);
+
+        double currentDraw = motorConstants.getCurrent(velocity, currentOutput * motorConstants.nominalVoltageVolts);
+        motor.setAvailableTorque(motorConstants.getTorque(currentDraw) * gearing);
+
+        motorDevice.set("Current Draw", currentDraw);
+    }
+
+}
\ No newline at end of file
diff --git a/plugin/controller/src/main/java/org/team199/deepbluesim/mediators/WPILibEncoderMediator.java b/plugin/controller/src/main/java/org/team199/deepbluesim/mediators/WPILibEncoderMediator.java
new file mode 100644
index 00000000..cd7c8cb4
--- /dev/null
+++ b/plugin/controller/src/main/java/org/team199/deepbluesim/mediators/WPILibEncoderMediator.java
@@ -0,0 +1,26 @@
+package org.team199.deepbluesim.mediators;
+
+import org.team199.wpiws.devices.EncoderSim;
+
+import com.cyberbotics.webots.controller.PositionSensor;
+
+public class WPILibEncoderMediator extends EncoderMediatorBase {
+
+    public final EncoderSim device;
+
+    public WPILibEncoderMediator(PositionSensor encoder, EncoderSim device, boolean isOnMotorShaft, boolean isInverted, int countsPerRevolution, double gearing) {
+        super(encoder, isOnMotorShaft, false, 0, isInverted, countsPerRevolution, gearing);
+        this.device = device;
+    }
+
+    @Override
+    public void setPosition(int positionCounts) {
+        device.setCount(positionCounts);
+    }
+
+    @Override
+    public void setVelocity(int velocityCountsPerSecond) {
+        device.setPeriod(1.0D / velocityCountsPerSecond);
+    }
+
+}
diff --git a/plugin/controller/src/main/java/org/team199/deepbluesim/mediators/WebotsMotorForwarder.java b/plugin/controller/src/main/java/org/team199/deepbluesim/mediators/WebotsMotorForwarder.java
deleted file mode 100644
index c190be0a..00000000
--- a/plugin/controller/src/main/java/org/team199/deepbluesim/mediators/WebotsMotorForwarder.java
+++ /dev/null
@@ -1,49 +0,0 @@
-package org.team199.deepbluesim.mediators;
-
-import com.cyberbotics.webots.controller.Motor;
-import com.cyberbotics.webots.controller.Robot;
-
-import org.team199.deepbluesim.Simulation;
-import org.team199.wpiws.interfaces.DoubleCallback;
-import org.team199.wpiws.interfaces.StringCallback;
-
-/**
- * Forwards motor calls from WPILib motor controllers to Webots
- */
-public class WebotsMotorForwarder implements DoubleCallback, Runnable, StringCallback {
-
-    private double currentOutput;
-    private Motor motor;
-
-    /**
-     * Creates a new WebotsMotorForwarder
-     * @param robot the Webots robot
-     * @param motorName the name of the Webots motor to which to connect
-     */
-    public WebotsMotorForwarder(Robot robot, String motorName) {
-        motor = robot.getMotor(motorName);
-        currentOutput = 0;
-        // Make sure that the motor can rotate any number of times
-        motor.setPosition(Double.POSITIVE_INFINITY);
-        motor.setVelocity(0);
-        Simulation.registerPeriodicMethod(this);
-    }
-
-    @Override
-    public void callback(String name, String value) {
-        try {
-            callback(name, Double.parseDouble(value));
-        } catch(NullPointerException | NumberFormatException e) {}
-    }
-
-    @Override
-    public void callback(String name, double value) {
-        currentOutput = value;
-    }
-
-    @Override
-    public void run() {
-        motor.setVelocity(motor.getMaxVelocity() * currentOutput);
-    }
-
-}
\ No newline at end of file
diff --git a/plugin/controller/src/webotsFolder/dist/protos/AndyMark9015Motor.proto b/plugin/controller/src/webotsFolder/dist/protos/AndyMark9015Motor.proto
new file mode 100644
index 00000000..6cf3566a
--- /dev/null
+++ b/plugin/controller/src/webotsFolder/dist/protos/AndyMark9015Motor.proto
@@ -0,0 +1,29 @@
+#VRML_SIM R2023b utf8
+
+# license: WPILib BSD
+# license url: https://github.com/wpilibsuite/allwpilib/blob/main/LICENSE.md
+
+EXTERNPROTO "../protos/WPIMotorBase.proto"
+
+# A WPIMotorBase with the parameters of an AndyMark 9015 motor.
+PROTO AndyMark9015Motor [
+    field SFString{"Talon SRX", "Victor SPX", "PWM"} controllerType "Talon SRX"
+    field SFInt32 port 0
+    field SFFloat gearing 1
+    field SFBool inverted FALSE
+    field SFString sound "default"
+]
+{
+    WPIMotorBase {
+        controllerType IS controllerType
+        port IS port
+        gearing IS gearing
+        inverted IS inverted
+        nominalVoltageVolts 12
+        stallTorqueNewtonMeters 0.36
+        stallCurrentAmps 71
+        freeCurrentAmps 3.7
+        freeSpeedRPM 14270
+        sound IS sound
+    }
+}
diff --git a/plugin/controller/src/webotsFolder/dist/protos/AndyMarkRs775_125Motor.proto b/plugin/controller/src/webotsFolder/dist/protos/AndyMarkRs775_125Motor.proto
new file mode 100644
index 00000000..514d11f1
--- /dev/null
+++ b/plugin/controller/src/webotsFolder/dist/protos/AndyMarkRs775_125Motor.proto
@@ -0,0 +1,29 @@
+#VRML_SIM R2023b utf8
+
+# license: WPILib BSD
+# license url: https://github.com/wpilibsuite/allwpilib/blob/main/LICENSE.md
+
+EXTERNPROTO "../protos/WPIMotorBase.proto"
+
+# A WPIMotorBase with the parameters of an AndyMark Rs 775_125 motor.
+PROTO AndyMarkRs775_125Motor [
+    field SFString{"Talon SRX", "Victor SPX", "PWM"} controllerType "Talon SRX"
+    field SFInt32 port 0
+    field SFFloat gearing 1
+    field SFBool inverted FALSE
+    field SFString sound "default"
+]
+{
+    WPIMotorBase {
+        controllerType IS controllerType
+        port IS port
+        gearing IS gearing
+        inverted IS inverted
+        nominalVoltageVolts 12
+        stallTorqueNewtonMeters 0.28
+        stallCurrentAmps 18
+        freeCurrentAmps 1.6
+        freeSpeedRPM 5800
+        sound IS sound
+    }
+}
diff --git a/plugin/controller/src/webotsFolder/dist/protos/BagMotor.proto b/plugin/controller/src/webotsFolder/dist/protos/BagMotor.proto
new file mode 100644
index 00000000..b54fd6df
--- /dev/null
+++ b/plugin/controller/src/webotsFolder/dist/protos/BagMotor.proto
@@ -0,0 +1,29 @@
+#VRML_SIM R2023b utf8
+
+# license: WPILib BSD
+# license url: https://github.com/wpilibsuite/allwpilib/blob/main/LICENSE.md
+
+EXTERNPROTO "../protos/WPIMotorBase.proto"
+
+# A WPIMotorBase with the parameters of a Bag Motor
+PROTO BagMotor [
+    field SFString{"Talon SRX", "Victor SPX", "PWM"} controllerType "Talon SRX"
+    field SFInt32 port 0
+    field SFFloat gearing 1
+    field SFBool inverted FALSE
+    field SFString sound "default"
+]
+{
+    WPIMotorBase {
+        controllerType IS controllerType
+        port IS port
+        gearing IS gearing
+        inverted IS inverted
+        nominalVoltageVolts 12
+        stallTorqueNewtonMeters 0.43
+        stallCurrentAmps 53
+        freeCurrentAmps 1.8
+        freeSpeedRPM 13180
+        sound IS sound
+    }
+}
diff --git a/plugin/controller/src/webotsFolder/dist/protos/BanebotsRs550Motor.proto b/plugin/controller/src/webotsFolder/dist/protos/BanebotsRs550Motor.proto
new file mode 100644
index 00000000..f296caec
--- /dev/null
+++ b/plugin/controller/src/webotsFolder/dist/protos/BanebotsRs550Motor.proto
@@ -0,0 +1,29 @@
+#VRML_SIM R2023b utf8
+
+# license: WPILib BSD
+# license url: https://github.com/wpilibsuite/allwpilib/blob/main/LICENSE.md
+
+EXTERNPROTO "../protos/WPIMotorBase.proto"
+
+# A WPIMotorBase with the parameters of a Banebots Rs 550 motor.
+PROTO BanebotsRs550Motor [
+    field SFString{"Talon SRX", "Victor SPX", "PWM"} controllerType "Talon SRX"
+    field SFInt32 port 0
+    field SFFloat gearing 1
+    field SFBool inverted FALSE
+    field SFString sound "default"
+]
+{
+    WPIMotorBase {
+        controllerType IS controllerType
+        port IS port
+        gearing IS gearing
+        inverted IS inverted
+        nominalVoltageVolts 12
+        stallTorqueNewtonMeters 0.38
+        stallCurrentAmps 84
+        freeCurrentAmps 0.4
+        freeSpeedRPM 19000
+        sound IS sound
+    }
+}
diff --git a/plugin/controller/src/webotsFolder/dist/protos/BanebotsRs775Motor.proto b/plugin/controller/src/webotsFolder/dist/protos/BanebotsRs775Motor.proto
new file mode 100644
index 00000000..5bf455c2
--- /dev/null
+++ b/plugin/controller/src/webotsFolder/dist/protos/BanebotsRs775Motor.proto
@@ -0,0 +1,29 @@
+#VRML_SIM R2023b utf8
+
+# license: WPILib BSD
+# license url: https://github.com/wpilibsuite/allwpilib/blob/main/LICENSE.md
+
+EXTERNPROTO "../protos/WPIMotorBase.proto"
+
+# A WPIMotorBase with the parameters of a Banebots Rs 775 motor.
+PROTO BanebotsRs775Motor [
+    field SFString{"Talon SRX", "Victor SPX", "PWM"} controllerType "Talon SRX"
+    field SFInt32 port 0
+    field SFFloat gearing 1
+    field SFBool inverted FALSE
+    field SFString sound "default"
+]
+{
+    WPIMotorBase {
+        controllerType IS controllerType
+        port IS port
+        gearing IS gearing
+        inverted IS inverted
+        nominalVoltageVolts 12
+        stallTorqueNewtonMeters 0.72
+        stallCurrentAmps 97
+        freeCurrentAmps 2.7
+        freeSpeedRPM 13050
+        sound IS sound
+    }
+}
diff --git a/plugin/controller/src/webotsFolder/dist/protos/CANCoder.proto b/plugin/controller/src/webotsFolder/dist/protos/CANCoder.proto
new file mode 100644
index 00000000..5fb0995c
--- /dev/null
+++ b/plugin/controller/src/webotsFolder/dist/protos/CANCoder.proto
@@ -0,0 +1,22 @@
+#VRML_SIM R2023b utf8
+
+EXTERNPROTO "../protos/WPIEncoderBase.proto"
+
+# A WPIEncoderBase implementation for a CANCoder.
+PROTO CANCoder [
+    unconnectedField SFInt32 id 0
+    field SFString{"Motor Shaft", "Output Shaft"} location "Motor Shaft"
+    field SFFloat absoluteOffsetDeg 0
+    field SFBool inverted FALSE
+    field SFFloat noiseStdDevRad 0
+]
+{
+    WPIEncoderBase {
+        location IS location
+        absolute TRUE
+        absoluteOffsetDeg IS absoluteOffsetDeg
+        inverted IS inverted
+        CPR 4096
+        noiseStdDevRad IS noiseStdDevRad
+    }
+}
diff --git a/plugin/controller/src/webotsFolder/dist/protos/CIMMotor.proto b/plugin/controller/src/webotsFolder/dist/protos/CIMMotor.proto
new file mode 100644
index 00000000..b760a311
--- /dev/null
+++ b/plugin/controller/src/webotsFolder/dist/protos/CIMMotor.proto
@@ -0,0 +1,29 @@
+#VRML_SIM R2023b utf8
+
+# license: WPILib BSD
+# license url: https://github.com/wpilibsuite/allwpilib/blob/main/LICENSE.md
+
+EXTERNPROTO "../protos/WPIMotorBase.proto"
+
+# A WPIMotorBase with the parameters of a CIM motor.
+PROTO CIMMotor [
+    field SFString{"Talon SRX", "Victor SPX", "PWM"} controllerType "Talon SRX"
+    field SFInt32 port 0
+    field SFFloat gearing 1
+    field SFBool inverted FALSE
+    field SFString sound "default"
+]
+{
+    WPIMotorBase {
+        controllerType IS controllerType
+        port IS port
+        gearing IS gearing
+        inverted IS inverted
+        nominalVoltageVolts 12
+        stallTorqueNewtonMeters 2.42
+        stallCurrentAmps 133
+        freeCurrentAmps 2.7
+        freeSpeedRPM 5310
+        sound IS sound
+    }
+}
diff --git a/plugin/controller/src/webotsFolder/dist/protos/Falcon500Motor.proto b/plugin/controller/src/webotsFolder/dist/protos/Falcon500Motor.proto
new file mode 100644
index 00000000..8a584183
--- /dev/null
+++ b/plugin/controller/src/webotsFolder/dist/protos/Falcon500Motor.proto
@@ -0,0 +1,29 @@
+#VRML_SIM R2023b utf8
+
+# license: WPILib BSD
+# license url: https://github.com/wpilibsuite/allwpilib/blob/main/LICENSE.md
+
+EXTERNPROTO "../protos/WPIMotorBase.proto"
+
+# A WPIMotorBase with the parameters of a Falcon 500 motor.
+PROTO Falcon500Motor [
+    field SFString{"Talon SRX", "Victor SPX", "PWM"} controllerType "Talon SRX"
+    field SFInt32 port 0
+    field SFFloat gearing 1
+    field SFBool inverted FALSE
+    field SFString sound "default"
+]
+{
+    WPIMotorBase {
+        controllerType IS controllerType
+        port IS port
+        gearing IS gearing
+        inverted IS inverted
+        nominalVoltageVolts 12
+        stallTorqueNewtonMeters 4.69
+        stallCurrentAmps 257
+        freeCurrentAmps 1.5
+        freeSpeedRPM 6380
+        sound IS sound
+    }
+}
diff --git a/plugin/controller/src/webotsFolder/dist/protos/MiniCIMMotor.proto b/plugin/controller/src/webotsFolder/dist/protos/MiniCIMMotor.proto
new file mode 100644
index 00000000..517b6b13
--- /dev/null
+++ b/plugin/controller/src/webotsFolder/dist/protos/MiniCIMMotor.proto
@@ -0,0 +1,29 @@
+#VRML_SIM R2023b utf8
+
+# license: WPILib BSD
+# license url: https://github.com/wpilibsuite/allwpilib/blob/main/LICENSE.md
+
+EXTERNPROTO "../protos/WPIMotorBase.proto"
+
+# A WPIMotorBase with the parameters of a Mini CIM motor.
+PROTO MiniCIMMotor [
+    field SFString{"Talon SRX", "Victor SPX", "PWM"} controllerType "Talon SRX"
+    field SFInt32 port 0
+    field SFFloat gearing 1
+    field SFBool inverted FALSE
+    field SFString sound "default"
+]
+{
+    WPIMotorBase {
+        controllerType IS controllerType
+        port IS port
+        gearing IS gearing
+        inverted IS inverted
+        nominalVoltageVolts 12
+        stallTorqueNewtonMeters 1.41
+        stallCurrentAmps 89
+        freeCurrentAmps 3
+        freeSpeedRPM 5840
+        sound IS sound
+    }
+}
diff --git a/plugin/controller/src/webotsFolder/dist/protos/NEO550Motor.proto b/plugin/controller/src/webotsFolder/dist/protos/NEO550Motor.proto
new file mode 100644
index 00000000..01fd48e6
--- /dev/null
+++ b/plugin/controller/src/webotsFolder/dist/protos/NEO550Motor.proto
@@ -0,0 +1,28 @@
+#VRML_SIM R2023b utf8
+
+# license: WPILib BSD
+# license url: https://github.com/wpilibsuite/allwpilib/blob/main/LICENSE.md
+
+EXTERNPROTO "../protos/WPIMotorBase.proto"
+
+# A WPIMotorBase with the parameters of a NEO 550 motor.
+PROTO NEO550Motor [
+    field SFInt32 id 0
+    field SFFloat gearing 1
+    field SFBool inverted FALSE
+    field SFString sound "default"
+]
+{
+    WPIMotorBase {
+        controllerType "Spark Max"
+        port IS id
+        gearing IS gearing
+        inverted IS inverted
+        nominalVoltageVolts 12
+        stallTorqueNewtonMeters 0.97
+        stallCurrentAmps 100
+        freeCurrentAmps 1.4
+        freeSpeedRPM 11000
+        sound IS sound
+    }
+}
diff --git a/plugin/controller/src/webotsFolder/dist/protos/NEOMotor.proto b/plugin/controller/src/webotsFolder/dist/protos/NEOMotor.proto
new file mode 100644
index 00000000..1eff589a
--- /dev/null
+++ b/plugin/controller/src/webotsFolder/dist/protos/NEOMotor.proto
@@ -0,0 +1,28 @@
+#VRML_SIM R2023b utf8
+
+# license: WPILib BSD
+# license url: https://github.com/wpilibsuite/allwpilib/blob/main/LICENSE.md
+
+EXTERNPROTO "../protos/WPIMotorBase.proto"
+
+# A WPIMotorBase with the parameters of a NEO motor.
+PROTO NEOMotor [
+    field SFInt32 id 0
+    field SFFloat gearing 1
+    field SFBool inverted FALSE
+    field SFString sound "default"
+]
+{
+    WPIMotorBase {
+        controllerType "Spark Max"
+        port IS id
+        gearing IS gearing
+        inverted IS inverted
+        nominalVoltageVolts 12
+        stallTorqueNewtonMeters 2.6
+        stallCurrentAmps 105
+        freeCurrentAmps 1.8
+        freeSpeedRPM 5676
+        sound IS sound
+    }
+}
diff --git a/plugin/controller/src/webotsFolder/dist/protos/RomiBuiltinMotor.proto b/plugin/controller/src/webotsFolder/dist/protos/RomiBuiltinMotor.proto
new file mode 100644
index 00000000..370a738c
--- /dev/null
+++ b/plugin/controller/src/webotsFolder/dist/protos/RomiBuiltinMotor.proto
@@ -0,0 +1,28 @@
+#VRML_SIM R2023b utf8
+
+# license: WPILib BSD
+# license url: https://github.com/wpilibsuite/allwpilib/blob/main/LICENSE.md
+
+EXTERNPROTO "../protos/WPIMotorBase.proto"
+
+# A WPIMotorBase with the parameters of a Romi Bultin Motor
+PROTO RomiBuiltinMotor [
+    field SFInt32 port 0
+    field SFFloat gearing 1
+    field SFBool inverted FALSE
+    field SFString sound "default"
+]
+{
+    WPIMotorBase {
+        controllerType "PWM"
+        port IS port
+        gearing IS gearing
+        inverted IS inverted
+        nominalVoltageVolts 4.5
+        stallTorqueNewtonMeters 0.1765
+        stallCurrentAmps 1.25
+        freeCurrentAmps 0.13
+        freeSpeedRPM 150
+        sound IS sound
+    }
+}
diff --git a/plugin/controller/src/webotsFolder/dist/protos/SparkMaxAbsoluteEncoder.proto b/plugin/controller/src/webotsFolder/dist/protos/SparkMaxAbsoluteEncoder.proto
new file mode 100644
index 00000000..5b5f428f
--- /dev/null
+++ b/plugin/controller/src/webotsFolder/dist/protos/SparkMaxAbsoluteEncoder.proto
@@ -0,0 +1,22 @@
+#VRML_SIM R2023b utf8
+
+EXTERNPROTO "../protos/WPIEncoderBase.proto"
+
+# A WPIEncoderBase implementation for an absolute encoder for a Spark Max.
+PROTO SparkMaxAbsoluteEncoder [
+    field SFString{"Motor Shaft", "Output Shaft"} location "Motor Shaft"
+    field SFFloat absoluteOffsetDeg 0
+    field SFBool inverted FALSE
+    field SFInt32 CPR 8192
+    field SFFloat noiseStdDevRad 0
+]
+{
+    WPIEncoderBase {
+        location IS location
+        absolute TRUE
+        absoluteOffsetDeg IS absoluteOffsetDeg
+        inverted IS inverted
+        CPR IS CPR
+        noiseStdDevRad IS noiseStdDevRad
+    }
+}
diff --git a/plugin/controller/src/webotsFolder/dist/protos/SparkMaxAlternateEncoder.proto b/plugin/controller/src/webotsFolder/dist/protos/SparkMaxAlternateEncoder.proto
new file mode 100644
index 00000000..131c5d33
--- /dev/null
+++ b/plugin/controller/src/webotsFolder/dist/protos/SparkMaxAlternateEncoder.proto
@@ -0,0 +1,21 @@
+#VRML_SIM R2023b utf8
+
+EXTERNPROTO "../protos/WPIEncoderBase.proto"
+
+# A WPIEncoderBase implementation for an alternate encoder for a Spark Max.
+PROTO SparkMaxAlternateEncoder [
+    field SFString{"Motor Shaft", "Output Shaft"} location "Motor Shaft"
+    field SFBool inverted FALSE
+    field SFInt32 CPR 8192
+    field SFFloat noiseStdDevRad 0
+]
+{
+    WPIEncoderBase {
+        location IS location
+        absolute FALSE
+        absoluteOffsetDeg 0
+        inverted IS inverted
+        CPR IS CPR
+        noiseStdDevRad IS noiseStdDevRad
+    }
+}
diff --git a/plugin/controller/src/webotsFolder/dist/protos/SparkMaxAnalogSensor.proto b/plugin/controller/src/webotsFolder/dist/protos/SparkMaxAnalogSensor.proto
new file mode 100644
index 00000000..a6167270
--- /dev/null
+++ b/plugin/controller/src/webotsFolder/dist/protos/SparkMaxAnalogSensor.proto
@@ -0,0 +1,22 @@
+#VRML_SIM R2023b utf8
+
+EXTERNPROTO "../protos/WPIEncoderBase.proto"
+
+# A WPIEncoderBase implementation for an analog sensor for a Spark Max.
+PROTO SparkMaxAnalogSensor [
+    field SFString{"Motor Shaft", "Output Shaft"} location "Motor Shaft"
+    field SFFloat absoluteOffsetDeg 0
+    field SFBool inverted FALSE
+    field SFInt32 CPR 4096
+    field SFFloat noiseStdDevRad 0
+]
+{
+    WPIEncoderBase {
+        location IS location
+        absolute TRUE
+        absoluteOffsetDeg IS absoluteOffsetDeg
+        inverted IS inverted
+        CPR IS CPR
+        noiseStdDevRad IS noiseStdDevRad
+    }
+}
diff --git a/plugin/controller/src/webotsFolder/dist/protos/Vex775ProMotor.proto b/plugin/controller/src/webotsFolder/dist/protos/Vex775ProMotor.proto
new file mode 100644
index 00000000..29817ff5
--- /dev/null
+++ b/plugin/controller/src/webotsFolder/dist/protos/Vex775ProMotor.proto
@@ -0,0 +1,29 @@
+#VRML_SIM R2023b utf8
+
+# license: WPILib BSD
+# license url: https://github.com/wpilibsuite/allwpilib/blob/main/LICENSE.md
+
+EXTERNPROTO "../protos/WPIMotorBase.proto"
+
+# A WPIMotorBase with the parameters of a Vex 775 Pro motor.
+PROTO Vex775ProMotor [
+    field SFString{"Talon SRX", "Victor SPX", "PWM"} controllerType "Talon SRX"
+    field SFInt32 port 0
+    field SFFloat gearing 1
+    field SFBool inverted FALSE
+    field SFString sound "default"
+]
+{
+    WPIMotorBase {
+        controllerType IS controllerType
+        port IS port
+        gearing IS gearing
+        inverted IS inverted
+        nominalVoltageVolts 12
+        stallTorqueNewtonMeters 0.71
+        stallCurrentAmps 134
+        freeCurrentAmps 0.7
+        freeSpeedRPM 18730
+        sound IS sound
+    }
+}
diff --git a/plugin/controller/src/webotsFolder/dist/protos/WPIEncoderBase.proto b/plugin/controller/src/webotsFolder/dist/protos/WPIEncoderBase.proto
new file mode 100644
index 00000000..3f414008
--- /dev/null
+++ b/plugin/controller/src/webotsFolder/dist/protos/WPIEncoderBase.proto
@@ -0,0 +1,18 @@
+#VRML_SIM R2023b utf8
+# template language: javascript
+
+# A base proto for robot encoders
+PROTO WPIEncoderBase [
+    unconnectedField SFString{"Motor Shaft", "Output Shaft"} location "Motor Shaft"
+    unconnectedField SFBool absolute FALSE
+    unconnectedField SFFloat absoluteOffsetDeg 0
+    unconnectedField SFBool inverted FALSE
+    unconnectedField SFInt32 CPR 4096
+    field SFFloat noiseStdDevRad 0
+]
+{
+    PositionSensor {
+        name %<= '"' + ["DBSim_Encoder", fields.location.value === "Motor Shaft", fields.absolute.value, fields.absoluteOffsetDeg.value, fields.inverted.value, fields.CPR.value].join('_') + '"' %>
+        noise IS noiseStdDevRad
+    }
+}
diff --git a/plugin/controller/src/webotsFolder/dist/protos/WPIMotorBase.proto b/plugin/controller/src/webotsFolder/dist/protos/WPIMotorBase.proto
new file mode 100644
index 00000000..61484f90
--- /dev/null
+++ b/plugin/controller/src/webotsFolder/dist/protos/WPIMotorBase.proto
@@ -0,0 +1,29 @@
+#VRML_SIM R2023b utf8
+# template language: javascript
+
+# A RotationalMotor with the properties necessary to construct a WPILib DCMotor
+PROTO WPIMotorBase [
+    unconnectedField SFString{"Spark Max", "Talon SRX", "Victor SPX", "PWM"} controllerType "Spark Max"
+    unconnectedField SFInt32 port 0
+    field SFFloat gearing 1
+    unconnectedField SFBool inverted FALSE
+    unconnectedField SFFloat nominalVoltageVolts 12
+    field SFFloat stallTorqueNewtonMeters 5
+    unconnectedField SFFloat stallCurrentAmps 100
+    unconnectedField SFFloat freeCurrentAmps 1
+    field SFFloat freeSpeedRPM 5000
+    field SFString sound "default"
+]
+{
+    RotationalMotor {
+        name %<= '"' + ["DBSim_Motor", fields.controllerType.value, fields.port.value, fields.gearing.value, fields.inverted.value, fields.nominalVoltageVolts.value, fields.stallTorqueNewtonMeters.value, fields.stallCurrentAmps.value, fields.freeCurrentAmps.value, fields.freeSpeedRPM.value].join('_') + '"' >%
+        maxTorque %<= fields.stallTorqueNewtonMeters.value * fields.gearing.value >%
+        maxVelocity %<= (2 * Math.PI / 60) * fields.freeSpeedRPM.value / fields.gearing.value >%
+        # The documentation about the multiplier field is unclear as to how it applies differently to differnt fields/functions.
+        # I think it's best just to implement it ourselves for now.
+        # multiplier %<= 1 / fields.gearing.value >%
+        %< if (fields.sound.value !== "default") { >%
+            soundUrl IS sound
+        %< } >%
+    }
+}
diff --git a/plugin/controller/src/webotsFolder/dist/protos/WPIQuadratureEncoder.proto b/plugin/controller/src/webotsFolder/dist/protos/WPIQuadratureEncoder.proto
new file mode 100644
index 00000000..8d1bb637
--- /dev/null
+++ b/plugin/controller/src/webotsFolder/dist/protos/WPIQuadratureEncoder.proto
@@ -0,0 +1,22 @@
+#VRML_SIM R2023b utf8
+
+EXTERNPROTO "../protos/WPIEncoderBase.proto"
+
+# A WPIEncoderBase implementation for a Quadrature Encoder.
+PROTO WPIQuadratureEncoder [
+    unconnectedField SFInt32 channelA 0
+    unconnectedField SFInt32 channelB 1
+    field SFString{"Motor Shaft", "Output Shaft"} location "Motor Shaft"
+    field SFBool inverted FALSE
+    field SFInt32 CPR 4096
+    field SFFloat noiseStdDevRad 0
+]
+{
+    WPIEncoderBase {
+        location IS location
+        absolute FALSE
+        inverted IS inverted
+        CPR IS CPR
+        noiseStdDevRad IS noiseStdDevRad
+    }
+}
diff --git a/plugin/controller/src/webotsFolder/dist/worlds/DBSExample.wbt b/plugin/controller/src/webotsFolder/dist/worlds/DBSExample.wbt
index 5036272c..e1086869 100644
--- a/plugin/controller/src/webotsFolder/dist/worlds/DBSExample.wbt
+++ b/plugin/controller/src/webotsFolder/dist/worlds/DBSExample.wbt
@@ -1,15 +1,22 @@
-#VRML_SIM R2021a utf8
+#VRML_SIM R2023b utf8
+
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/floors/protos/RectangleArena.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackground.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
+EXTERNPROTO "../protos/MiniCIMMotor.proto"
+
 WorldInfo {
   coordinateSystem "NUE"
 }
 Viewpoint {
-  orientation 0.12546424055832162 0.9850338938784661 0.11818186092523109 4.589543198443866
-  position -11.848186436085022 3.5024799881936275 -1.1587423512414836
+  orientation -0.8834893720712308 0.4661205108595913 0.04667117732793667 1.8807004037332389
+  position -2.6740863046422008 1.5141266883477473 2.0717807684941976
 }
 DEF Field Group {
   children [
     RectangleArena {
       translation 0 0.01 0
+      rotation 1 0 0 -1.5707953071795862
       name "rectangle arena(1)"
       floorSize 20 20
       floorTileSize 20 20
@@ -21,8 +28,8 @@ TexturedBackground {
 TexturedBackgroundLight {
 }
 Robot {
-  translation -2.1693054077308728e-12 0.06929473891189548 1.4597477115552345e-08
-  rotation 0.9999999976797347 6.81173179794535e-05 7.495205389129735e-07 1.55812926143542e-08
+  translation -1.5672499690951603e-12 0.06929667254627217 1.1402531555035887e-07
+  rotation 0.9999999999994709 1.0234514950603424e-06 1.054961357222813e-07 1.0472091725023527e-06
   children [
     Solid {
       children [
@@ -30,22 +37,22 @@ Robot {
         }
         HingeJoint {
           jointParameters HingeJointParameters {
-            position 1.667027211877997e-11
+            position -4.1511655620378363e-11
             axis 0 0 1
             anchor -0.167 0 -0.232
           }
           device [
+            MiniCIMMotor {
+              controllerType "PWM"
+              gearing 6.9973
+            }
             PositionSensor {
               name "Back Left Encoder"
             }
-            RotationalMotor {
-              name "PWM[0]"
-              maxVelocity 87.4102
-            }
           ]
           endPoint Solid {
-            translation -0.167 0 -0.232
-            rotation 1 4.833061556931681e-10 4.833043804137914e-10 1.5708
+            translation -0.1670000000000002 -2.473071410269423e-06 -0.23199999999746604
+            rotation 0.9999999896747462 2.2245706338344181e-10 0.00014370284342362158 5.307156870259904e-06
             children [
               Shape {
                 appearance PBRAppearance {
@@ -65,18 +72,23 @@ Robot {
         }
         HingeJoint {
           jointParameters HingeJointParameters {
-            position 1.6672976088524906e-11
+            position 9.225294324560214e-11
             axis 0 0 1
             anchor 0.167 0 -0.232
           }
           device [
+            MiniCIMMotor {
+              controllerType "PWM"
+              port 1
+              gearing 6.9973
+            }
             PositionSensor {
               name "Front Left Encoder"
             }
           ]
           endPoint Solid {
-            translation 0.167 0 -0.232
-            rotation 1 4.833957821850251e-10 4.833940065764325e-10 1.5708
+            translation 0.1670000000000008 -2.47307141028677e-06 -0.231999999997466
+            rotation 0.9999999286680492 7.431074700799304e-10 0.0003777087457428224 5.307156870259904e-06
             children [
               Shape {
                 appearance PBRAppearance {
@@ -93,7 +105,7 @@ Robot {
         }
         HingeJoint {
           jointParameters HingeJointParameters {
-            position -1.6676778847781958e-11
+            position 4.150378260475315e-11
             axis 0 0 -1
             anchor -0.167 0 0.232
           }
@@ -101,14 +113,15 @@ Robot {
             PositionSensor {
               name "Back Right Encoder"
             }
-            RotationalMotor {
-              name "PWM[1]"
-              maxVelocity 87.4102
+            MiniCIMMotor {
+              controllerType "PWM"
+              port 2
+              gearing 6.9973
             }
           ]
           endPoint Solid {
-            translation -0.167 0 0.232
-            rotation 1 -2.168388415894704e-10 -2.1683804509739343e-10 1.5708
+            translation -0.1670000000000002 -2.4730714204834747e-06 0.232000000002534
+            rotation 0.9999999931301866 -2.2462931806780253e-10 -0.00011721615407189237 5.307156870259904e-06
             children [
               Shape {
                 appearance PBRAppearance {
@@ -125,18 +138,23 @@ Robot {
         }
         HingeJoint {
           jointParameters HingeJointParameters {
-            position -1.6676110401423026e-11
+            position 8.919282517793818e-11
             axis 0 0 -1
             anchor 0.167 0 0.232
           }
           device [
+            MiniCIMMotor {
+              controllerType "PWM"
+              port 3
+              gearing 6.9973
+            }
             PositionSensor {
               name "Front Right Encoder"
             }
           ]
           endPoint Solid {
-            translation 0.167 0 0.232
-            rotation 1 -2.1683064771089854e-10 -2.168298512489195e-10 1.5708
+            translation 0.16699999999999957 -2.4730714204904136e-06 0.23200000000253404
+            rotation 0.9999999876420861 -3.2001829594138985e-10 -0.00015721268214391712 5.307156870259904e-06
             children [
               Shape {
                 appearance PBRAppearance {
@@ -164,6 +182,7 @@ Robot {
     }
     Pen {
       translation 0 0.001 0
+      rotation -1 0 0 1.5707963267948966
       inkColor 1 0 0
       inkDensity 1
       leadSize 0.1
@@ -176,4 +195,6 @@ Robot {
   }
   controller "DeepBlueSim"
   supervisor TRUE
+  linearVelocity 1.809152902427044e-11 4.3220382958373945e-06 2.6856562400292097e-10
+  angularVelocity 9.921710062231101e-12 4.970941483132485e-16 6.939801325381416e-12
 }
diff --git a/plugin/gradle/wrapper/gradle-wrapper.jar b/plugin/gradle/wrapper/gradle-wrapper.jar
index e708b1c0..7454180f 100644
Binary files a/plugin/gradle/wrapper/gradle-wrapper.jar and b/plugin/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/plugin/gradle/wrapper/gradle-wrapper.properties b/plugin/gradle/wrapper/gradle-wrapper.properties
index be52383e..84a0b92f 100644
--- a/plugin/gradle/wrapper/gradle-wrapper.properties
+++ b/plugin/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-6.7-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.2.1-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
diff --git a/plugin/gradlew b/plugin/gradlew
index 4f906e0c..c53aefaa 100755
--- a/plugin/gradlew
+++ b/plugin/gradlew
@@ -1,7 +1,7 @@
-#!/usr/bin/env sh
+#!/bin/sh
 
 #
-# Copyright 2015 the original author or authors.
+# Copyright © 2015-2021 the original authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -17,67 +17,101 @@
 #
 
 ##############################################################################
-##
-##  Gradle start up script for UN*X
-##
+#
+#   Gradle start up script for POSIX generated by Gradle.
+#
+#   Important for running:
+#
+#   (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is
+#       noncompliant, but you have some other compliant shell such as ksh or
+#       bash, then to run this script, type that shell name before the whole
+#       command line, like:
+#
+#           ksh Gradle
+#
+#       Busybox and similar reduced shells will NOT work, because this script
+#       requires all of these POSIX shell features:
+#         * functions;
+#         * expansions «$var», «${var}», «${var:-default}», «${var+SET}»,
+#           «${var#prefix}», «${var%suffix}», and «$( cmd )»;
+#         * compound commands having a testable exit status, especially «case»;
+#         * various built-in commands including «command», «set», and «ulimit».
+#
+#   Important for patching:
+#
+#   (2) This script targets any POSIX shell, so it avoids extensions provided
+#       by Bash, Ksh, etc; in particular arrays are avoided.
+#
+#       The "traditional" practice of packing multiple parameters into a
+#       space-separated string is a well documented source of bugs and security
+#       problems, so this is (mostly) avoided, by progressively accumulating
+#       options in "$@", and eventually passing that to Java.
+#
+#       Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS,
+#       and GRADLE_OPTS) rely on word-splitting, this is performed explicitly;
+#       see the in-line comments for details.
+#
+#       There are tweaks for specific operating systems such as AIX, CygWin,
+#       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
+#       within the Gradle project.
+#
+#       You can find Gradle at https://github.com/gradle/gradle/.
+#
 ##############################################################################
 
 # Attempt to set APP_HOME
+
 # Resolve links: $0 may be a link
-PRG="$0"
-# Need this for relative symlinks.
-while [ -h "$PRG" ] ; do
-    ls=`ls -ld "$PRG"`
-    link=`expr "$ls" : '.*-> \(.*\)$'`
-    if expr "$link" : '/.*' > /dev/null; then
-        PRG="$link"
-    else
-        PRG=`dirname "$PRG"`"/$link"
-    fi
+app_path=$0
+
+# Need this for daisy-chained symlinks.
+while
+    APP_HOME=${app_path%"${app_path##*/}"}  # leaves a trailing /; empty if no leading path
+    [ -h "$app_path" ]
+do
+    ls=$( ls -ld "$app_path" )
+    link=${ls#*' -> '}
+    case $link in             #(
+      /*)   app_path=$link ;; #(
+      *)    app_path=$APP_HOME$link ;;
+    esac
 done
-SAVED="`pwd`"
-cd "`dirname \"$PRG\"`/" >/dev/null
-APP_HOME="`pwd -P`"
-cd "$SAVED" >/dev/null
+
+APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
 
 APP_NAME="Gradle"
-APP_BASE_NAME=`basename "$0"`
+APP_BASE_NAME=${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"'
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
-MAX_FD="maximum"
+MAX_FD=maximum
 
 warn () {
     echo "$*"
-}
+} >&2
 
 die () {
     echo
     echo "$*"
     echo
     exit 1
-}
+} >&2
 
 # OS specific support (must be 'true' or 'false').
 cygwin=false
 msys=false
 darwin=false
 nonstop=false
-case "`uname`" in
-  CYGWIN* )
-    cygwin=true
-    ;;
-  Darwin* )
-    darwin=true
-    ;;
-  MINGW* )
-    msys=true
-    ;;
-  NONSTOP* )
-    nonstop=true
-    ;;
+case "$( uname )" in                #(
+  CYGWIN* )         cygwin=true  ;; #(
+  Darwin* )         darwin=true  ;; #(
+  MSYS* | MINGW* )  msys=true    ;; #(
+  NONSTOP* )        nonstop=true ;;
 esac
 
 CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
@@ -87,9 +121,9 @@ CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
 if [ -n "$JAVA_HOME" ] ; then
     if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
         # IBM's JDK on AIX uses strange locations for the executables
-        JAVACMD="$JAVA_HOME/jre/sh/java"
+        JAVACMD=$JAVA_HOME/jre/sh/java
     else
-        JAVACMD="$JAVA_HOME/bin/java"
+        JAVACMD=$JAVA_HOME/bin/java
     fi
     if [ ! -x "$JAVACMD" ] ; then
         die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
@@ -98,7 +132,7 @@ Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
     fi
 else
-    JAVACMD="java"
+    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.
 
 Please set the JAVA_HOME variable in your environment to match the
@@ -106,80 +140,95 @@ location of your Java installation."
 fi
 
 # Increase the maximum file descriptors if we can.
-if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
-    MAX_FD_LIMIT=`ulimit -H -n`
-    if [ $? -eq 0 ] ; then
-        if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
-            MAX_FD="$MAX_FD_LIMIT"
-        fi
-        ulimit -n $MAX_FD
-        if [ $? -ne 0 ] ; then
-            warn "Could not set maximum file descriptor limit: $MAX_FD"
-        fi
-    else
-        warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
-    fi
+if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
+    case $MAX_FD in #(
+      max*)
+        MAX_FD=$( ulimit -H -n ) ||
+            warn "Could not query maximum file descriptor limit"
+    esac
+    case $MAX_FD in  #(
+      '' | soft) :;; #(
+      *)
+        ulimit -n "$MAX_FD" ||
+            warn "Could not set maximum file descriptor limit to $MAX_FD"
+    esac
 fi
 
-# For Darwin, add options to specify how the application appears in the dock
-if $darwin; then
-    GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
-fi
+# Collect all arguments for the java command, stacking in reverse order:
+#   * args from the command line
+#   * the main class name
+#   * -classpath
+#   * -D...appname settings
+#   * --module-path (only if needed)
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables.
 
 # For Cygwin or MSYS, switch paths to Windows format before running java
-if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
-    APP_HOME=`cygpath --path --mixed "$APP_HOME"`
-    CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
-
-    JAVACMD=`cygpath --unix "$JAVACMD"`
-
-    # We build the pattern for arguments to be converted via cygpath
-    ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
-    SEP=""
-    for dir in $ROOTDIRSRAW ; do
-        ROOTDIRS="$ROOTDIRS$SEP$dir"
-        SEP="|"
-    done
-    OURCYGPATTERN="(^($ROOTDIRS))"
-    # Add a user-defined pattern to the cygpath arguments
-    if [ "$GRADLE_CYGPATTERN" != "" ] ; then
-        OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
-    fi
+if "$cygwin" || "$msys" ; then
+    APP_HOME=$( cygpath --path --mixed "$APP_HOME" )
+    CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" )
+
+    JAVACMD=$( cygpath --unix "$JAVACMD" )
+
     # Now convert the arguments - kludge to limit ourselves to /bin/sh
-    i=0
-    for arg in "$@" ; do
-        CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
-        CHECK2=`echo "$arg"|egrep -c "^-"`                                 ### Determine if an option
-
-        if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then                    ### Added a condition
-            eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
-        else
-            eval `echo args$i`="\"$arg\""
+    for arg do
+        if
+            case $arg in                                #(
+              -*)   false ;;                            # don't mess with options #(
+              /?*)  t=${arg#/} t=/${t%%/*}              # looks like a POSIX filepath
+                    [ -e "$t" ] ;;                      #(
+              *)    false ;;
+            esac
+        then
+            arg=$( cygpath --path --ignore --mixed "$arg" )
         fi
-        i=`expr $i + 1`
+        # Roll the args list around exactly as many times as the number of
+        # args, so each arg winds up back in the position where it started, but
+        # possibly modified.
+        #
+        # NB: a `for` loop captures its iteration list before it begins, so
+        # changing the positional parameters here affects neither the number of
+        # iterations, nor the values presented in `arg`.
+        shift                   # remove old arg
+        set -- "$@" "$arg"      # push replacement arg
     done
-    case $i in
-        0) set -- ;;
-        1) set -- "$args0" ;;
-        2) set -- "$args0" "$args1" ;;
-        3) set -- "$args0" "$args1" "$args2" ;;
-        4) set -- "$args0" "$args1" "$args2" "$args3" ;;
-        5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
-        6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
-        7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
-        8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
-        9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
-    esac
 fi
 
-# Escape application args
-save () {
-    for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
-    echo " "
-}
-APP_ARGS=`save "$@"`
+# Collect all arguments for the java command;
+#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
+#     shell script including quotes and variable substitutions, so put them in
+#     double quotes to make sure that they get re-expanded; and
+#   * put everything else in single quotes, so that it's not re-expanded.
+
+set -- \
+        "-Dorg.gradle.appname=$APP_BASE_NAME" \
+        -classpath "$CLASSPATH" \
+        org.gradle.wrapper.GradleWrapperMain \
+        "$@"
+
+# Use "xargs" to parse quoted args.
+#
+# With -n1 it outputs one arg per line, with the quotes and backslashes removed.
+#
+# In Bash we could simply go:
+#
+#   readarray ARGS < <( xargs -n1 <<<"$var" ) &&
+#   set -- "${ARGS[@]}" "$@"
+#
+# but POSIX shell has neither arrays nor command substitution, so instead we
+# post-process each arg (as a line of input to sed) to backslash-escape any
+# character that might be a shell metacharacter, then use eval to reverse
+# that process (while maintaining the separation between arguments), and wrap
+# the whole thing up as a single "set" statement.
+#
+# This will of course break if any of these variables contains a newline or
+# an unmatched quote.
+#
 
-# Collect all arguments for the java command, following the shell quoting and substitution rules
-eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
+eval "set -- $(
+        printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" |
+        xargs -n1 |
+        sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' |
+        tr '\n' ' '
+    )" '"$@"'
 
 exec "$JAVACMD" "$@"
diff --git a/plugin/src/main/groovy/org/team199/deepbluesim/gradle/DeepBlueSimPlugin.groovy b/plugin/src/main/groovy/org/team199/deepbluesim/gradle/DeepBlueSimPlugin.groovy
index 7a941c25..bc2525b1 100644
--- a/plugin/src/main/groovy/org/team199/deepbluesim/gradle/DeepBlueSimPlugin.groovy
+++ b/plugin/src/main/groovy/org/team199/deepbluesim/gradle/DeepBlueSimPlugin.groovy
@@ -5,10 +5,14 @@ package org.team199.deepbluesim.gradle
 
 import org.gradle.api.Project
 import org.gradle.api.Plugin
+import org.gradle.internal.os.OperatingSystem
 
 import org.apache.commons.io.FileUtils
 import org.apache.commons.io.IOUtils
 
+import java.nio.file.Files
+import java.nio.file.Paths
+
 /**
  * A simple 'hello world' plugin.
  */
@@ -20,16 +24,29 @@ class DeepBlueSimPlugin implements Plugin<Project> {
                 if (resourceStream == null) throw new RuntimeException("resourceStream is null")
                 def dbsDir = new File(project.buildDir, "tmp/deepbluesim")
                 dbsDir.mkdirs()
-                FileUtils.copyInputStreamToFile(resourceStream, new File(dbsDir,"Webots.zip"))
+
+                // Java IO cannot open files with the hidden attribute set on Windows (JDK-8047342)
+                // This capability is needed to overwrite the files loaded from the zip (if they exist)
+                // Webots automatically sets the hidden attribute on the .wbproj file
+                // so the task will fail unless we remove it
+                if(OperatingSystem.current().isWindows()) {
+                    def wbprojPath = Paths.get(project.projectDir.getAbsolutePath(), "Webots", "worlds", ".DBSExample.wbproj")
+                    if(Files.exists(wbprojPath)) {
+                        Files.setAttribute(wbprojPath, "dos:hidden", false)
+                    }
+                }
+
+                def extractedZipFile = new File(dbsDir, "Webots.zip")
+                FileUtils.copyInputStreamToFile(resourceStream, extractedZipFile)
                 project.copy {
-                    from project.zipTree(new File(dbsDir,"Webots.zip"))
+                    from project.zipTree(extractedZipFile)
                     into project.projectDir
                 }
             }
         }
-        project.tasks.matching({ task -> 
+        project.tasks.matching({ task ->
             (task.name.toLowerCase().contains("simulate"))
-        }).all { GroovyObject t -> 
+        }).all { GroovyObject t ->
             t.dependsOn(installDeepBlueSim)
         }
     }