diff --git a/src/main/java/frc/robot/BuildConstants.java b/src/main/java/frc/robot/BuildConstants.java
index 3fa535a..bb10b4a 100644
--- a/src/main/java/frc/robot/BuildConstants.java
+++ b/src/main/java/frc/robot/BuildConstants.java
@@ -5,12 +5,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "BlockOfCheese2024";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 7;
-  public static final String GIT_SHA = "c3dd943f6b907ba21842b935230ddb749fa5f547";
-  public static final String GIT_DATE = "2024-11-28 17:39:46 EST";
+  public static final int GIT_REVISION = 8;
+  public static final String GIT_SHA = "6d02609b88835f11a27cd6f8bf1539d2c5e61db6";
+  public static final String GIT_DATE = "2024-11-28 23:37:16 EST";
   public static final String GIT_BRANCH = "main";
-  public static final String BUILD_DATE = "2024-11-28 23:35:14 EST";
-  public static final long BUILD_UNIX_TIME = 1732854914679L;
+  public static final String BUILD_DATE = "2024-11-29 08:35:59 EST";
+  public static final long BUILD_UNIX_TIME = 1732887359201L;
   public static final int DIRTY = 1;
 
   private BuildConstants() {}
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index da61d65..3723493 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -55,13 +55,6 @@ public RobotContainer() {
                 new ModuleIOSparkMax(1),
                 new ModuleIOSparkMax(2),
                 new ModuleIOSparkMax(3));
-        // drive = new Drive(
-        // new GyroIOPigeon2(true),
-        // new ModuleIOTalonFX(0),
-        // new ModuleIOTalonFX(1),
-        // new ModuleIOTalonFX(2),
-        // new ModuleIOTalonFX(3));
-        // flywheel = new Flywheel(new FlywheelIOTalonFX());
         break;
 
       case SIM:
@@ -87,24 +80,6 @@ public RobotContainer() {
         break;
     }
 
-    // autoChooser = new LoggedDashboardChooser<>("Auto Choices",
-    // AutoBuilder.buildAutoChooser());
-
-    // Set up SysId routines
-    // autoChooser.addOption(
-    // "Drive SysId (Quasistatic Forward)",
-    // drive.sysIdQuasistatic(SysIdRoutine.Direction.kForward));
-    // autoChooser.addOption(
-    // "Drive SysId (Quasistatic Reverse)",
-    // drive.sysIdQuasistatic(SysIdRoutine.Direction.kReverse));
-    // autoChooser.addOption(
-    // "Drive SysId (Dynamic Forward)",
-    // drive.sysIdDynamic(SysIdRoutine.Direction.kForward));
-    // autoChooser.addOption(
-    // "Drive SysId (Dynamic Reverse)",
-    // drive.sysIdDynamic(SysIdRoutine.Direction.kReverse));
-
-    // Configure the button bindings
     configureButtonBindings();
   }
 
diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java
index 92d6095..0c4e9f4 100644
--- a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java
+++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java
@@ -27,7 +27,6 @@
 import frc.robot.Constants.RobotMap;
 import java.util.OptionalDouble;
 import java.util.Queue;
-import org.littletonrobotics.junction.Logger;
 
 /**
  * Module IO implementation for SparkMax drive motor controller, SparkMax turn motor controller (NEO
@@ -148,7 +147,6 @@ public ModuleIOSparkMax(int index) {
 
     driveSparkMax.burnFlash();
     turnSparkMax.burnFlash();
-
   }
 
   @Override
diff --git a/vendordeps/ChoreoLib.json b/vendordeps/ChoreoLib.json
new file mode 100644
index 0000000..5480d50
--- /dev/null
+++ b/vendordeps/ChoreoLib.json
@@ -0,0 +1,44 @@
+{
+  "fileName": "ChoreoLib.json",
+  "name": "ChoreoLib",
+  "version": "2024.2.3",
+  "uuid": "287cff6e-1b60-4412-8059-f6834fb30e30",
+  "frcYear": "2024",
+  "mavenUrls": [
+    "https://lib.choreo.autos/dep",
+    "https://repo1.maven.org/maven2"
+  ],
+  "jsonUrl": "https://lib.choreo.autos/dep/ChoreoLib.json",
+  "javaDependencies": [
+    {
+      "groupId": "com.choreo.lib",
+      "artifactId": "ChoreoLib-java",
+      "version": "2024.2.3"
+    },
+    {
+      "groupId": "com.google.code.gson",
+      "artifactId": "gson",
+      "version": "2.10.1"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "groupId": "com.choreo.lib",
+      "artifactId": "ChoreoLib-cpp",
+      "version": "2024.2.3",
+      "libName": "ChoreoLib",
+      "headerClassifier": "headers",
+      "sharedLibrary": false,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "osxuniversal",
+        "linuxathena",
+        "linuxarm32",
+        "linuxarm64"
+      ]
+    }
+  ]
+}
diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json
new file mode 100644
index 0000000..bef469e
--- /dev/null
+++ b/vendordeps/photonlib.json
@@ -0,0 +1,57 @@
+{
+  "fileName": "photonlib.json",
+  "name": "photonlib",
+  "version": "v2024.3.1",
+  "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
+  "frcYear": "2024",
+  "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": "v2024.3.1",
+      "libName": "photonlib",
+      "headerClassifier": "headers",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxathena",
+        "linuxx86-64",
+        "osxuniversal"
+      ]
+    },
+    {
+      "groupId": "org.photonvision",
+      "artifactId": "photontargeting-cpp",
+      "version": "v2024.3.1",
+      "libName": "photontargeting",
+      "headerClassifier": "headers",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxathena",
+        "linuxx86-64",
+        "osxuniversal"
+      ]
+    }
+  ],
+  "javaDependencies": [
+    {
+      "groupId": "org.photonvision",
+      "artifactId": "photonlib-java",
+      "version": "v2024.3.1"
+    },
+    {
+      "groupId": "org.photonvision",
+      "artifactId": "photontargeting-java",
+      "version": "v2024.3.1"
+    }
+  ]
+}