diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json
index f88313a..400f8e7 100644
--- a/vendordeps/PathplannerLib.json
+++ b/vendordeps/PathplannerLib.json
@@ -1,7 +1,7 @@
 {
     "fileName": "PathplannerLib.json",
     "name": "PathplannerLib",
-    "version": "2022.1.0",
+    "version": "2022.2.0",
     "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": "2022.1.0"
+            "version": "2022.2.0"
         }
     ],
     "jniDependencies": [],
@@ -19,7 +19,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2022.1.0",
+            "version": "2022.2.0",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
diff --git a/vendordeps/Phoenix.json b/vendordeps/Phoenix.json
index 789d831..02f7200 100644
--- a/vendordeps/Phoenix.json
+++ b/vendordeps/Phoenix.json
@@ -1,7 +1,7 @@
 {
     "fileName": "Phoenix.json",
     "name": "CTRE-Phoenix",
-    "version": "5.20.2",
+    "version": "5.21.1",
     "frcYear": 2022,
     "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
     "mavenUrls": [
@@ -12,19 +12,19 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "api-java",
-            "version": "5.20.2"
+            "version": "5.21.1"
         },
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "wpiapi-java",
-            "version": "5.20.2"
+            "version": "5.21.1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "cci",
-            "version": "5.20.2",
+            "version": "5.21.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -34,7 +34,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "cci-sim",
-            "version": "5.20.2",
+            "version": "5.21.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -46,7 +46,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "simTalonSRX",
-            "version": "5.20.2",
+            "version": "5.21.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -58,7 +58,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "simTalonFX",
-            "version": "5.20.2",
+            "version": "5.21.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -70,7 +70,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "simVictorSPX",
-            "version": "5.20.2",
+            "version": "5.21.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -82,7 +82,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "simPigeonIMU",
-            "version": "5.20.2",
+            "version": "5.21.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -94,7 +94,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "simCANCoder",
-            "version": "5.20.2",
+            "version": "5.21.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -108,7 +108,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "wpiapi-cpp",
-            "version": "5.20.2",
+            "version": "5.21.1",
             "libName": "CTRE_Phoenix_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -120,7 +120,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "api-cpp",
-            "version": "5.20.2",
+            "version": "5.21.1",
             "libName": "CTRE_Phoenix",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -132,7 +132,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "cci",
-            "version": "5.20.2",
+            "version": "5.21.1",
             "libName": "CTRE_PhoenixCCI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -144,7 +144,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "5.20.2",
+            "version": "5.21.1",
             "libName": "CTRE_Phoenix_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -158,7 +158,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "api-cpp-sim",
-            "version": "5.20.2",
+            "version": "5.21.1",
             "libName": "CTRE_PhoenixSim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -172,7 +172,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "cci-sim",
-            "version": "5.20.2",
+            "version": "5.21.1",
             "libName": "CTRE_PhoenixCCISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -186,7 +186,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "simTalonSRX",
-            "version": "5.20.2",
+            "version": "5.21.1",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -200,7 +200,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "simTalonFX",
-            "version": "5.20.2",
+            "version": "5.21.1",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -214,7 +214,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "simVictorSPX",
-            "version": "5.20.2",
+            "version": "5.21.1",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -228,7 +228,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "simPigeonIMU",
-            "version": "5.20.2",
+            "version": "5.21.1",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -242,7 +242,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "simCANCoder",
-            "version": "5.20.2",
+            "version": "5.21.1",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/vendordeps/WPILibNewCommands.json b/vendordeps/WPILibNewCommands.json
index 9a22dbd..e0a8b43 100644
--- a/vendordeps/WPILibNewCommands.json
+++ b/vendordeps/WPILibNewCommands.json
@@ -1,37 +1,37 @@
-{
-  "fileName": "WPILibNewCommands.json",
-  "name": "WPILib-New-Commands",
-  "version": "2020.0.0",
-  "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "mavenUrls": [],
-  "jsonUrl": "",
-  "javaDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-java",
-          "version": "wpilib"
-      }
-  ],
-  "jniDependencies": [],
-  "cppDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-cpp",
-          "version": "wpilib",
-          "libName": "wpilibNewCommands",
-          "headerClassifier": "headers",
-          "sourcesClassifier": "sources",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "linuxathena",
-              "linuxraspbian",
-              "linuxaarch64bionic",
-              "windowsx86-64",
-              "windowsx86",
-              "linuxx86-64",
-              "osxx86-64"
-          ]
-      }
-  ]
-}
+{
+    "fileName": "WPILibNewCommands.json",
+    "name": "WPILib-New-Commands",
+    "version": "1.0.0",
+    "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
+    "mavenUrls": [],
+    "jsonUrl": "",
+    "javaDependencies": [
+        {
+            "groupId": "edu.wpi.first.wpilibNewCommands",
+            "artifactId": "wpilibNewCommands-java",
+            "version": "wpilib"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "edu.wpi.first.wpilibNewCommands",
+            "artifactId": "wpilibNewCommands-cpp",
+            "version": "wpilib",
+            "libName": "wpilibNewCommands",
+            "headerClassifier": "headers",
+            "sourcesClassifier": "sources",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena",
+                "linuxraspbian",
+                "linuxaarch64bionic",
+                "windowsx86-64",
+                "windowsx86",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        }
+    ]
+}
\ No newline at end of file
diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json
new file mode 100644
index 0000000..9a31b1e
--- /dev/null
+++ b/vendordeps/photonlib.json
@@ -0,0 +1,41 @@
+{
+    "fileName": "photonlib.json",
+    "name": "photonlib",
+    "version": "v2022.1.5",
+    "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004 ",
+    "mavenUrls": [
+        "https://maven.photonvision.org/repository/internal",
+        "https://maven.photonvision.org/repository/snapshots"
+    ],
+    "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/PhotonLib-json/1.0/PhotonLib-json-1.0.json",
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "PhotonLib-cpp",
+            "version": "v2022.1.5",
+            "libName": "Photon",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxathena",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        }
+    ],
+    "javaDependencies": [
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "PhotonLib-java",
+            "version": "v2022.1.5"
+        },
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "PhotonTargeting-java",
+            "version": "v2022.1.5"
+        }
+    ]
+}
\ No newline at end of file