diff --git a/.github/workflows/gradle.yml b/.github/workflows/gradle.yml
index 61e562cb..93f64dd1 100644
--- a/.github/workflows/gradle.yml
+++ b/.github/workflows/gradle.yml
@@ -8,12 +8,13 @@ jobs:
     runs-on: ubuntu-latest
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: 'recursive'
-    - name: Set up JDK 11
-      uses: actions/setup-java@v1
+    - name: Set up JDK 17
+      uses: actions/setup-java@v3
       with:
-        java-version: 11
+        distribution: 'temurin'
+        java-version: 17
     - name: Build with Gradle
       run: ./gradlew build
diff --git a/.github/workflows/javadoc.yml b/.github/workflows/javadoc.yml
index c7ce2b7b..3ff8c196 100644
--- a/.github/workflows/javadoc.yml
+++ b/.github/workflows/javadoc.yml
@@ -1,4 +1,4 @@
-name: Deploy Javadoc
+name: Javadoc
 
 on: [push]
 
@@ -6,17 +6,18 @@ jobs:
   build-javadoc:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: 'recursive'
-    - name: Set up JDK 11
-      uses: actions/setup-java@v1
+    - name: Set up JDK 17
+      uses: actions/setup-java@v3
       with:
-        java-version: 11
+        distribution: 'temurin'
+        java-version: 17
     - name: Generate Javadoc
       run: ./gradlew javadoc
     - name: Build Artifact
-      uses: actions/upload-pages-artifact@v1.0.5
+      uses: actions/upload-pages-artifact@v1
       with:
         path: ./build/docs/javadoc
   deploy-javadoc:
@@ -32,4 +33,4 @@ jobs:
     steps:
       - name: Deploy to GitHub Pages
         id: deployment
-        uses: actions/deploy-pages@v1.2.3
+        uses: actions/deploy-pages@v1
diff --git a/build.gradle b/build.gradle
index 62270c9a..ea0b71d2 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.4.2"
+    id "edu.wpi.first.GradleRIO" version "2023.4.3"
     id "maven-publish"
 }
 
diff --git a/jitpack.yml b/jitpack.yml
index 88cfba7a..bb8a4f69 100644
--- a/jitpack.yml
+++ b/jitpack.yml
@@ -1 +1 @@
-jdk: openjdk11
+jdk: openjdk17
diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json
index 69fddcd1..8e61586b 100644
--- a/vendordeps/PathplannerLib.json
+++ b/vendordeps/PathplannerLib.json
@@ -1,7 +1,7 @@
 {
     "fileName": "PathplannerLib.json",
     "name": "PathplannerLib",
-    "version": "2023.4.3",
+    "version": "2023.4.4",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
     "mavenUrls": [
         "https://3015rangerrobotics.github.io/pathplannerlib/repo"
@@ -11,7 +11,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2023.4.3"
+            "version": "2023.4.4"
         }
     ],
     "jniDependencies": [],
@@ -19,7 +19,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2023.4.3",
+            "version": "2023.4.4",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
diff --git a/vendordeps/Phoenix.json b/vendordeps/Phoenix.json
index 848dedc3..282d5367 100644
--- a/vendordeps/Phoenix.json
+++ b/vendordeps/Phoenix.json
@@ -1,7 +1,7 @@
 {
     "fileName": "Phoenix.json",
     "name": "CTRE-Phoenix (v5)",
-    "version": "5.30.4+23.0.10",
+    "version": "5.30.4+23.0.12",
     "frcYear": 2023,
     "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
     "mavenUrls": [
@@ -50,7 +50,7 @@
         {
             "groupId": "com.ctre.phoenixpro",
             "artifactId": "tools",
-            "version": "23.0.10",
+            "version": "23.0.12",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -63,7 +63,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "tools-sim",
-            "version": "23.0.10",
+            "version": "23.0.12",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -76,7 +76,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.0.10",
+            "version": "23.0.12",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -89,7 +89,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simTalonFX",
-            "version": "23.0.10",
+            "version": "23.0.12",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -102,7 +102,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.0.10",
+            "version": "23.0.12",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -115,7 +115,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.0.10",
+            "version": "23.0.12",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -128,7 +128,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simCANCoder",
-            "version": "23.0.10",
+            "version": "23.0.12",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -141,7 +141,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.0.10",
+            "version": "23.0.12",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -154,7 +154,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.0.10",
+            "version": "23.0.12",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -167,7 +167,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.0.10",
+            "version": "23.0.12",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -227,7 +227,7 @@
         {
             "groupId": "com.ctre.phoenixpro",
             "artifactId": "tools",
-            "version": "23.0.10",
+            "version": "23.0.12",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -287,7 +287,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "tools-sim",
-            "version": "23.0.10",
+            "version": "23.0.12",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -302,7 +302,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.0.10",
+            "version": "23.0.12",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -317,7 +317,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simTalonFX",
-            "version": "23.0.10",
+            "version": "23.0.12",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -332,7 +332,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.0.10",
+            "version": "23.0.12",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -347,7 +347,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.0.10",
+            "version": "23.0.12",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -362,7 +362,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simCANCoder",
-            "version": "23.0.10",
+            "version": "23.0.12",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -377,7 +377,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.0.10",
+            "version": "23.0.12",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -392,7 +392,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.0.10",
+            "version": "23.0.12",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -407,7 +407,7 @@
         {
             "groupId": "com.ctre.phoenixpro.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.0.10",
+            "version": "23.0.12",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,