diff --git a/build.gradle b/build.gradle
index f11338b..37f98fa 100644
--- a/build.gradle
+++ b/build.gradle
@@ -3,7 +3,7 @@ plugins {
   id 'java'
   id 'google-test'
   id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2020.2'
-  id 'edu.wpi.first.NativeUtils' version '2022.8.1'
+  id 'edu.wpi.first.NativeUtils' version '2023.6.0'
   id 'edu.wpi.first.GradleJni' version '1.0.0'
   id 'edu.wpi.first.GradleVsCode' version '1.3.0'
 }
@@ -22,18 +22,18 @@ apply from: 'config.gradle'
 
 // Apply Java configuration
 dependencies {
-    implementation 'edu.wpi.first.cscore:cscore-java:2022.+'
-    implementation 'edu.wpi.first.cameraserver:cameraserver-java:2022.+'
-    implementation 'edu.wpi.first.ntcore:ntcore-java:2022.+'
-    implementation 'edu.wpi.first.wpilibj:wpilibj-java:2022.+'
-    implementation 'edu.wpi.first.wpiutil:wpiutil-java:2022.+'
-    implementation 'edu.wpi.first.wpimath:wpimath-java:2022.+'
-    implementation 'edu.wpi.first.hal:hal-java:2022.+'
+    implementation 'edu.wpi.first.cscore:cscore-java:2023.+'
+    implementation 'edu.wpi.first.cameraserver:cameraserver-java:2023.+'
+    implementation 'edu.wpi.first.ntcore:ntcore-java:2023.+'
+    implementation 'edu.wpi.first.wpilibj:wpilibj-java:2023.+'
+    implementation 'edu.wpi.first.wpiutil:wpiutil-java:2023.+'
+    implementation 'edu.wpi.first.wpimath:wpimath-java:2023.+'
+    implementation 'edu.wpi.first.hal:hal-java:2023.+'
     implementation "org.ejml:ejml-simple:0.41"
     implementation "com.fasterxml.jackson.core:jackson-annotations:2.12.4"
     implementation "com.fasterxml.jackson.core:jackson-core:2.12.4"
     implementation "com.fasterxml.jackson.core:jackson-databind:2.12.4"
-    implementation 'edu.wpi.first.thirdparty.frc2022.opencv:opencv-java:4.5.2-1'
+    implementation 'edu.wpi.first.thirdparty.frc2023.opencv:opencv-java:4.6.0-2'
 }
 
 // Set up exports properly
@@ -76,8 +76,8 @@ model {
       javaCompileTasks << compileJava
       jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.roborio)
       // Leave these for future proofing
-      jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.raspbian)
-      jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.aarch64bionic)
+      jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.linuxarm32)
+      jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.linuxarm64)
       sources {
         cpp {
           source {
@@ -125,5 +125,5 @@ model {
 apply from: 'publish.gradle'
 
 wrapper {
-  gradleVersion '7.3.3'
+  gradleVersion '7.5.1'
 }
diff --git a/config.gradle b/config.gradle
index dd7dad1..2245b33 100644
--- a/config.gradle
+++ b/config.gradle
@@ -1,17 +1,17 @@
 import org.gradle.internal.os.OperatingSystem
 
 nativeUtils.addWpiNativeUtils()
-nativeUtils.withRoboRIO()
+nativeUtils.withCrossRoboRIO()
 
 nativeUtils {
   wpi {
     configureDependencies {
-      wpiVersion = "2022.+"
-      niLibVersion = "2022.2.3"
-      opencvVersion = "4.5.2-1"
-      googleTestVersion = "1.9.0-5-437e100-1"
-      imguiVersion = "1.86-1"
-      wpimathVersion = "2022.+"
+      wpiVersion = "2023.+"
+      niLibVersion = "2023.1.0"
+      opencvVersion = "4.6.0-2"
+      googleTestVersion = "1.11.0-3"
+      imguiVersion = "1.88-8"
+      wpimathVersion = "2023.+"
     }
   }
 }
diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar
index 7454180..249e583 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 2e6e589..ae04661 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-7.3.3-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
diff --git a/gradlew b/gradlew
index c53aefa..a69d9cb 100644
--- a/gradlew
+++ b/gradlew
@@ -1,7 +1,7 @@
 #!/bin/sh
 
 #
-# Copyright © 2015-2021 the original 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.
@@ -32,10 +32,10 @@
 #       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 «$( cmd )»;
-#         * compound commands having a testable exit status, especially «case»;
-#         * various built-in commands including «command», «set», and «ulimit».
+#         * expansions «$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:
 #
@@ -205,6 +205,12 @@ set -- \
         org.gradle.wrapper.GradleWrapperMain \
         "$@"
 
+# Stop when "xargs" is not available.
+if ! command -v xargs >/dev/null 2>&1
+then
+    die "xargs is not available"
+fi
+
 # Use "xargs" to parse quoted args.
 #
 # With -n1 it outputs one arg per line, with the quotes and backslashes removed.
diff --git a/gradlew.bat b/gradlew.bat
index ac1b06f..53a6b23 100644
--- a/gradlew.bat
+++ b/gradlew.bat
@@ -14,7 +14,7 @@
 @rem limitations under the License.
 @rem
 
-@if "%DEBUG%" == "" @echo off
+@if "%DEBUG%"=="" @echo off
 @rem ##########################################################################
 @rem
 @rem  Gradle startup script for Windows
@@ -25,7 +25,7 @@
 if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
-if "%DIRNAME%" == "" set DIRNAME=.
+if "%DIRNAME%"=="" set DIRNAME=.
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
@@ -40,7 +40,7 @@ if defined JAVA_HOME goto findJavaFromJavaHome
 
 set JAVA_EXE=java.exe
 %JAVA_EXE% -version >NUL 2>&1
-if "%ERRORLEVEL%" == "0" goto execute
+if %ERRORLEVEL% equ 0 goto execute
 
 echo.
 echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
@@ -75,13 +75,15 @@ set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
 
 :end
 @rem End local scope for the variables with windows NT shell
-if "%ERRORLEVEL%"=="0" goto mainEnd
+if %ERRORLEVEL% equ 0 goto mainEnd
 
 :fail
 rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
 rem the _cmd.exe /c_ return code!
-if  not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
-exit /b 1
+set EXIT_CODE=%ERRORLEVEL%
+if %EXIT_CODE% equ 0 set EXIT_CODE=1
+if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE%
+exit /b %EXIT_CODE%
 
 :mainEnd
 if "%OS%"=="Windows_NT" endlocal
diff --git a/publish.gradle b/publish.gradle
index 672ecf9..2419fe0 100644
--- a/publish.gradle
+++ b/publish.gradle
@@ -4,7 +4,7 @@ ext.licenseFile = files("$rootDir/LICENSE.txt")
 
 def pubVersion = '0.0.1'
 
-def outputsFolder = file("$buildDir/allOutputs")
+def outputsFolder = file("$buildDir/outputs")
 
 def versionFile = file("$outputsFolder/version.txt")
 
@@ -28,7 +28,9 @@ task libraryBuild() {}
 build.dependsOn outputVersions
 
 task copyAllOutputs(type: Copy) {
-    destinationDir outputsFolder
+    destinationDir file("$buildDir/allOutputs")
+    from versionFile
+    dependsOn outputVersions
 }
 
 build.dependsOn copyAllOutputs