diff --git a/build.gradle b/build.gradle
index c3f4841..6cef0a9 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,11 +1,10 @@
-
 plugins {
   id 'cpp'
   id 'java'
-  id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2020.1'
-  id 'edu.wpi.first.NativeUtils' version '2020.1.0'
-  id 'edu.wpi.first.GradleJni' version '0.9.1'
-  id 'edu.wpi.first.GradleVsCode' version '0.9.4'
+  id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2020.2'
+  id 'edu.wpi.first.NativeUtils' version '2020.7.4'
+  id 'edu.wpi.first.GradleJni' version '0.10.1'
+  id 'edu.wpi.first.GradleVsCode' version '0.12.0'
 }
 
 repositories {
@@ -22,13 +21,13 @@ apply from: 'config.gradle'
 
 // Apply Java configuration
 dependencies {
-    compile 'edu.wpi.first.cscore:cscore-java:2019.+'
-    compile 'edu.wpi.first.cameraserver:cameraserver-java:2019.+'
-    compile 'edu.wpi.first.ntcore:ntcore-java:2019.+'
-    compile 'edu.wpi.first.wpilibj:wpilibj-java:2019.+'
-    compile 'edu.wpi.first.wpiutil:wpiutil-java:2019.+'
-    compile 'edu.wpi.first.hal:hal-java:2019.+'
-    compile 'edu.wpi.first.thirdparty.frc2020.opencv:opencv-java:3.4.7-1'
+    implementation 'edu.wpi.first.cscore:cscore-java:2020.+'
+    implementation 'edu.wpi.first.cameraserver:cameraserver-java:2020.+'
+    implementation 'edu.wpi.first.ntcore:ntcore-java:2020.+'
+    implementation 'edu.wpi.first.wpilibj:wpilibj-java:2020.+'
+    implementation 'edu.wpi.first.wpiutil:wpiutil-java:2020.+'
+    implementation 'edu.wpi.first.hal:hal-java:2020.+'
+    implementation 'edu.wpi.first.thirdparty.frc2020.opencv:opencv-java:3.4.7-3'
 }
 
 // Set up exports properly
@@ -93,5 +92,5 @@ model {
 apply from: 'publish.gradle'
 
 wrapper {
-  gradleVersion '5.4.1'
+  gradleVersion '6.0.1'
 }
diff --git a/config.gradle b/config.gradle
index 672cb8f..117de3f 100644
--- a/config.gradle
+++ b/config.gradle
@@ -6,10 +6,11 @@ nativeUtils.withRoboRIO()
 nativeUtils {
   wpi {
     configureDependencies {
-      wpiVersion = "2019.+"
-      niLibVersion = "2019.12.2"
-      opencvVersion = "3.4.7-1"
-      googleTestVersion = "1.9.0-3-437e100"
+      wpiVersion = "2020.+"
+      niLibVersion = "2020.10.1"
+      opencvVersion = "3.4.7-3"
+      googleTestVersion = "1.9.0-4-437e100-1"
+      imguiVersion = "1.76-2"
     }
   }
 }
diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar
index 5c2d1cf..cc4fdc2 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 f4d7b2b..9492014 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-5.4.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-6.0.1-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
diff --git a/gradlew b/gradlew
index b0d6d0a..2fe81a7 100644
--- a/gradlew
+++ b/gradlew
@@ -7,7 +7,7 @@
 # you may not use this file except in compliance with the License.
 # You may obtain a copy of the License at
 #
-#      http://www.apache.org/licenses/LICENSE-2.0
+#      https://www.apache.org/licenses/LICENSE-2.0
 #
 # Unless required by applicable law or agreed to in writing, software
 # distributed under the License is distributed on an "AS IS" BASIS,
@@ -125,8 +125,8 @@ if $darwin; then
     GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
 fi
 
-# For Cygwin, switch paths to Windows format before running java
-if $cygwin ; then
+# For Cygwin or MSYS, switch paths to Windows format before running java
+if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
     APP_HOME=`cygpath --path --mixed "$APP_HOME"`
     CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
     JAVACMD=`cygpath --unix "$JAVACMD"`
@@ -154,19 +154,19 @@ if $cygwin ; then
         else
             eval `echo args$i`="\"$arg\""
         fi
-        i=$((i+1))
+        i=`expr $i + 1`
     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" ;;
+        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
 
@@ -175,14 +175,9 @@ save () {
     for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
     echo " "
 }
-APP_ARGS=$(save "$@")
+APP_ARGS=`save "$@"`
 
 # 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"
 
-# by default we should be in the correct project dir, but when run from Finder on Mac, the cwd is wrong
-if [ "$(uname)" = "Darwin" ] && [ "$HOME" = "$PWD" ]; then
-  cd "$(dirname "$0")"
-fi
-
 exec "$JAVACMD" "$@"
diff --git a/gradlew.bat b/gradlew.bat
index 15e1ee3..24467a1 100644
--- a/gradlew.bat
+++ b/gradlew.bat
@@ -5,7 +5,7 @@
 @rem you may not use this file except in compliance with the License.
 @rem You may obtain a copy of the License at
 @rem
-@rem      http://www.apache.org/licenses/LICENSE-2.0
+@rem      https://www.apache.org/licenses/LICENSE-2.0
 @rem
 @rem Unless required by applicable law or agreed to in writing, software
 @rem distributed under the License is distributed on an "AS IS" BASIS,
diff --git a/publish.gradle b/publish.gradle
index 2792553..3d4262b 100644
--- a/publish.gradle
+++ b/publish.gradle
@@ -47,8 +47,8 @@ def zipBaseName = "_GROUP_com_vendor_frc_ID_${baseArtifactId}-cpp_CLS"
 def javaBaseName = "_GROUP_com_vendor_frc_ID_${baseArtifactId}-java_CLS"
 
 task cppHeadersZip(type: Zip) {
-    destinationDir = outputsFolder
-    baseName = zipBaseName
+    destinationDirectory = outputsFolder
+    archiveBaseName = zipBaseName
     classifier = "headers"
 
     from(licenseFile) {
@@ -61,8 +61,8 @@ task cppHeadersZip(type: Zip) {
 }
 
 task cppSourceZip(type: Zip) {
-    destinationDir = outputsFolder
-    baseName = zipBaseName
+    destinationDirectory = outputsFolder
+    archiveBaseName = zipBaseName
     classifier = "source"
 
     from(licenseFile) {
@@ -75,8 +75,8 @@ task cppSourceZip(type: Zip) {
 }
 
 task cppDriverHeadersZip(type: Zip) {
-    destinationDir = outputsFolder
-    baseName = driverZipBaseName
+    destinationDirectory = outputsFolder
+    archiveBaseName = driverZipBaseName
     classifier = "headers"
 
     from(licenseFile) {
@@ -106,21 +106,21 @@ task javadocJar(type: Jar, dependsOn: javadoc) {
 }
 
 task outputJar(type: Jar, dependsOn: classes) {
-    baseName javaBaseName
-    destinationDir outputsFolder
+    archiveBaseName = javaBaseName
+    destinationDirectory = outputsFolder
     from sourceSets.main.output
 }
 
 task outputSourcesJar(type: Jar, dependsOn: classes) {
-    baseName javaBaseName
-    destinationDir outputsFolder
+    archiveBaseName = javaBaseName
+    destinationDirectory = outputsFolder
     classifier = 'sources'
     from sourceSets.main.allSource
 }
 
 task outputJavadocJar(type: Jar, dependsOn: javadoc) {
-    baseName javaBaseName
-    destinationDir outputsFolder
+    archiveBaseName = javaBaseName
+    destinationDirectory = outputsFolder
     classifier = 'javadoc'
     from javadoc.destinationDir
 }