diff --git a/build.sbt b/build.sbt
index d1a122b..c82b76a 100755
--- a/build.sbt
+++ b/build.sbt
@@ -9,13 +9,20 @@ version := "0.5.0"
 
 robotClass := "com.lynbrookrobotics.sixteen.LaunchRobot"
 
-scalaVersion := "2.11.7"
+scalaVersion := "2.12.1"
 
 lazy val vision = project
 lazy val rpivision = project
 
 resolvers += "WPILib-Maven" at "http://team846.github.io/wpilib-maven"
 resolvers += "Funky-Repo" at "http://team846.github.io/repo"
+resolvers += "opencv-maven" at "https://github.com/WPIRoboticsProjects/opencv-maven/raw/mvn-repo"
+
+libraryDependencies += "edu.wpi.first" % "wpilib" % "2017.1.1.rc-2"
+
+libraryDependencies += "com.ctre" % "ctrlib" % "4.4.1.9"
+
+libraryDependencies += "org.opencv" % "opencv-java" % "3.1.0"
 
 libraryDependencies += "com.lynbrookrobotics" % "potassium" % "0.1-SNAPSHOT"
 
diff --git a/src/main/java/com/lynbrookrobotics/sixteen/CoreEvents.java b/src/main/java/com/lynbrookrobotics/sixteen/CoreEvents.java
index 7c731d2..9ed4129 100755
--- a/src/main/java/com/lynbrookrobotics/sixteen/CoreEvents.java
+++ b/src/main/java/com/lynbrookrobotics/sixteen/CoreEvents.java
@@ -31,7 +31,7 @@
 import com.lynbrookrobotics.sixteen.tasks.shooter.arm.MoveShooterArmToAngle;
 import com.lynbrookrobotics.sixteen.tasks.shooter.spinners.flywheel.DirectFlywheelSpeed;
 import com.lynbrookrobotics.sixteen.tasks.shooter.spinners.secondary.SpinSecondary;
-import com.ni.vision.NIVision;
+//import com.ni.vision.NIVision;
 
 import java.util.Optional;
 import java.util.Timer;
@@ -40,7 +40,7 @@
 import edu.wpi.first.wpilibj.CameraServer;
 import edu.wpi.first.wpilibj.PowerDistributionPanel;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj.vision.USBCamera;
+// import edu.wpi.first.wpilibj.vision.USBCamera;
 
 /**
  * CoreEvents class creates events and maps these to handlers.
@@ -129,24 +129,24 @@ public void initEventMappings() {
     // Camera Streaming
     if (RobotConstants.HAS_CAMERA) {
       try {
-        NIVision.Image image = NIVision.imaqCreateImage(NIVision.ImageType.IMAGE_RGB, 0);
-
-        USBCamera camera = new USBCamera("cam1");
-        camera.setBrightness(50);
-        camera.setExposureAuto();
-        camera.updateSettings();
-        camera.startCapture();
-
-        Timer updateTimer = new Timer("update-loop");
-
-        CameraServer.getInstance().setQuality(50);
-        updateTimer.schedule(new TimerTask() {
-          @Override
-          public void run() {
-            camera.getImage(image);
-            CameraServer.getInstance().setImage(image);
-          }
-        }, 0, (long) (50));
+	  //NIVision.Image image = NIVision.imaqCreateImage(NIVision.ImageType.IMAGE_RGB, 0);
+
+        // USBCamera camera = new USBCamera("cam1");
+        // camera.setBrightness(50);
+        // camera.setwExposureAuto();
+        // camera.updateSettings();
+        // camera.startCapture();
+
+        // Timer updateTimer = new Timer("update-loop");
+
+        // CameraServer.getInstance().setQuality(50);
+        // updateTimer.schedule(new TimerTask() {
+        //   @Override
+        //   public void run() {
+        //     camera.getImage(image);
+        //     CameraServer.getInstance().setImage(image);
+        //   }
+        // }, 0, (long) (50));
       } catch (Exception cameraException) {
         System.out.println("Unable to boot camera stream");
       }
diff --git a/src/main/java/com/lynbrookrobotics/sixteen/config/DrivetrainHardware.java b/src/main/java/com/lynbrookrobotics/sixteen/config/DrivetrainHardware.java
index b91cf79..46ac98c 100755
--- a/src/main/java/com/lynbrookrobotics/sixteen/config/DrivetrainHardware.java
+++ b/src/main/java/com/lynbrookrobotics/sixteen/config/DrivetrainHardware.java
@@ -7,7 +7,7 @@
 import com.lynbrookrobotics.sixteen.sensors.gyro.GyroL3GD20H;
 import com.lynbrookrobotics.sixteen.sensors.imu.ADIS16448;
 
-import edu.wpi.first.wpilibj.CANTalon;
+import com.ctre.CANTalon;
 
 /**
  * Contains all the hardware components for the drivetrain.
diff --git a/src/main/java/com/lynbrookrobotics/sixteen/config/IntakeArmHardware.java b/src/main/java/com/lynbrookrobotics/sixteen/config/IntakeArmHardware.java
index 274719f..2cc7288 100644
--- a/src/main/java/com/lynbrookrobotics/sixteen/config/IntakeArmHardware.java
+++ b/src/main/java/com/lynbrookrobotics/sixteen/config/IntakeArmHardware.java
@@ -2,7 +2,7 @@
 
 import com.lynbrookrobotics.sixteen.sensors.potentiometer.Potentiometer;
 
-import edu.wpi.first.wpilibj.CANTalon;
+import com.ctre.CANTalon;
 
 /**
  * Hardware for the Intake arm.
diff --git a/src/main/java/com/lynbrookrobotics/sixteen/sensors/ConstantBufferSPI.java b/src/main/java/com/lynbrookrobotics/sixteen/sensors/ConstantBufferSPI.java
index 09089e3..807ed07 100644
--- a/src/main/java/com/lynbrookrobotics/sixteen/sensors/ConstantBufferSPI.java
+++ b/src/main/java/com/lynbrookrobotics/sixteen/sensors/ConstantBufferSPI.java
@@ -19,7 +19,7 @@ public class ConstantBufferSPI extends SPI {
   public ConstantBufferSPI(Port port, int size) {
     super(port);
 
-    this.port = (byte) port.getValue();
+    // this.port = (byte) port.getValue();
     this.sendBuffer = ByteBuffer.allocateDirect(size);
     this.receiveBuffer = ByteBuffer.allocateDirect(size);
   }
diff --git a/src/main/java/com/lynbrookrobotics/sixteen/sensors/encoder/Encoder.java b/src/main/java/com/lynbrookrobotics/sixteen/sensors/encoder/Encoder.java
index ea3ba48..aa213b4 100644
--- a/src/main/java/com/lynbrookrobotics/sixteen/sensors/encoder/Encoder.java
+++ b/src/main/java/com/lynbrookrobotics/sixteen/sensors/encoder/Encoder.java
@@ -1,6 +1,6 @@
 package com.lynbrookrobotics.sixteen.sensors.encoder;
 
-import edu.wpi.first.wpilibj.CANTalon;
+import com.ctre.CANTalon;
 
 public abstract class Encoder {
   /**
diff --git a/src/main/java/com/lynbrookrobotics/sixteen/sensors/planetaryencoder/PlanetaryEncoder.java b/src/main/java/com/lynbrookrobotics/sixteen/sensors/planetaryencoder/PlanetaryEncoder.java
index 28ba840..2dc71e2 100644
--- a/src/main/java/com/lynbrookrobotics/sixteen/sensors/planetaryencoder/PlanetaryEncoder.java
+++ b/src/main/java/com/lynbrookrobotics/sixteen/sensors/planetaryencoder/PlanetaryEncoder.java
@@ -2,7 +2,7 @@
 
 import com.lynbrookrobotics.sixteen.sensors.encoder.Encoder;
 
-import edu.wpi.first.wpilibj.CANTalon;
+import com.ctre.CANTalon;
 
 /**
  * Class for magnetic planetary encoder.
diff --git a/src/test/java/com/lynbrookrobotics/sixteen/Main.java b/src/test/java/com/lynbrookrobotics/sixteen/Main.java
index 6323a0f..0c0d362 100755
--- a/src/test/java/com/lynbrookrobotics/sixteen/Main.java
+++ b/src/test/java/com/lynbrookrobotics/sixteen/Main.java
@@ -10,7 +10,7 @@
 import java.util.Timer;
 import java.util.TimerTask;
 
-import edu.wpi.first.wpilibj.CANTalon;
+import com.ctre.CANTalon;
 import edu.wpi.first.wpilibj.DriverStation;
 
 import static org.mockito.Mockito.mock;