diff --git a/build.gradle b/build.gradle
index 90939e1e..5723b354 100644
--- a/build.gradle
+++ b/build.gradle
@@ -16,8 +16,10 @@ final String STUYLIB_VERSION = 'v2024.1.4'
 
 def ROBOT_MAIN_CLASS = "com.stuypulse.robot.Main"
 
-sourceCompatibility = JavaVersion.VERSION_17
-targetCompatibility = JavaVersion.VERSION_17
+java {
+    sourceCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
+}
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.
diff --git a/src/main/java/com/stuypulse/robot/RobotContainer.java b/src/main/java/com/stuypulse/robot/RobotContainer.java
index 6e2b86a7..2427ab05 100644
--- a/src/main/java/com/stuypulse/robot/RobotContainer.java
+++ b/src/main/java/com/stuypulse/robot/RobotContainer.java
@@ -5,6 +5,7 @@
 
 package com.stuypulse.robot;
 
+import com.pathplanner.lib.auto.AutoBuilder;
 import com.stuypulse.robot.commands.*;
 import com.stuypulse.robot.commands.amper.*;
 import com.stuypulse.robot.commands.auton.*;
@@ -39,7 +40,7 @@ public class RobotContainer {
     public final Gamepad driver = new AutoGamepad(Ports.Gamepad.DRIVER);
     public final Gamepad operator = new AutoGamepad(Ports.Gamepad.OPERATOR);
     
-    // Subsystem
+    // Subsystems
     public final AprilTagVision vision = AprilTagVision.getInstance();
     public final NoteVision noteVision = NoteVision.getInstance();
     public final Odometry odometry = Odometry.getInstance();
@@ -52,12 +53,14 @@ public class RobotContainer {
     public final SwerveDrive swerve = SwerveDrive.getInstance();
   
     // Autons
-    private static SendableChooser<Command> autonChooser = new SendableChooser<>();
-
-    // Robot container
+    private static SendableChooser<Command> autonChooser;
 
+    // RobotContainer
     public RobotContainer() {
+        swerve.configureAutoBuilder();
+
         configureDefaultCommands();
+        configureNamedCommands();
         configureButtonBindings();
         configureAutons();
     }
@@ -70,6 +73,12 @@ private void configureDefaultCommands() {
         swerve.setDefaultCommand(new SwerveDriveDrive(driver));
     }
 
+    /**********************/
+    /*** NAMED COMMANDS ***/
+    /**********************/
+
+    private void configureNamedCommands() {}
+
     /***************/
     /*** BUTTONS ***/
     /***************/
@@ -85,7 +94,7 @@ private void configureButtonBindings() {
     /**************/
 
     public void configureAutons() {
-        autonChooser.setDefaultOption("Do Nothing", new DoNothingAuton());
+        autonChooser = AutoBuilder.buildAutoChooser();
 
         SmartDashboard.putData("Autonomous", autonChooser);
     }
diff --git a/src/main/java/com/stuypulse/robot/constants/Cameras.java b/src/main/java/com/stuypulse/robot/constants/Cameras.java
index ee596e99..12cdadf1 100644
--- a/src/main/java/com/stuypulse/robot/constants/Cameras.java
+++ b/src/main/java/com/stuypulse/robot/constants/Cameras.java
@@ -27,7 +27,8 @@ public interface Limelight {
     
     public CameraConfig[] APRILTAG_CAMERAS = new CameraConfig[] {
         new CameraConfig("samera0", new Pose3d(new Translation3d(), new Rotation3d())),
-        new CameraConfig("samera1", new Pose3d(new Translation3d(), new Rotation3d()))
+        new CameraConfig("samera1", new Pose3d(new Translation3d(), new Rotation3d())),
+        new CameraConfig("samera2", new Pose3d(new Translation3d(), new Rotation3d())),
     };
     
     public static class CameraConfig {
diff --git a/src/main/java/com/stuypulse/robot/constants/Field.java b/src/main/java/com/stuypulse/robot/constants/Field.java
index f7846709..4e9e1fc6 100644
--- a/src/main/java/com/stuypulse/robot/constants/Field.java
+++ b/src/main/java/com/stuypulse/robot/constants/Field.java
@@ -17,6 +17,9 @@
  */
 public interface Field {
 
+    double WIDTH = Units.inchesToMeters(323.25);
+    double LENGTH = Units.inchesToMeters(651.25);
+
     double NOTE_LENGTH = Units.inchesToMeters(14.0);
 
     /*** APRILTAGS ***/
diff --git a/src/main/java/com/stuypulse/robot/subsystems/.gitkeep b/src/main/java/com/stuypulse/robot/subsystems/.gitkeep
deleted file mode 100644
index e69de29b..00000000
diff --git a/src/main/java/com/stuypulse/robot/util/.gitkeep b/src/main/java/com/stuypulse/robot/util/.gitkeep
deleted file mode 100644
index e69de29b..00000000
diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json
index 0bf11fbf..cae13633 100644
--- a/vendordeps/PathplannerLib.json
+++ b/vendordeps/PathplannerLib.json
@@ -1,7 +1,7 @@
 {
     "fileName": "PathplannerLib.json",
     "name": "PathplannerLib",
-    "version": "2024.1.4",
+    "version": "2024.1.6",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
     "frcYear": "2024",
     "mavenUrls": [
@@ -12,7 +12,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2024.1.4"
+            "version": "2024.1.6"
         }
     ],
     "jniDependencies": [],
@@ -20,7 +20,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2024.1.4",
+            "version": "2024.1.6",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json
index 282cfa89..8e1b780b 100644
--- a/vendordeps/photonlib.json
+++ b/vendordeps/photonlib.json
@@ -1,7 +1,7 @@
 {
     "fileName": "photonlib.json",
     "name": "photonlib",
-    "version": "v2024.2.0",
+    "version": "v2024.2.2",
     "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
     "frcYear": "2024",
     "mavenUrls": [
@@ -14,7 +14,7 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "photonlib-cpp",
-            "version": "v2024.2.0",
+            "version": "v2024.2.2",
             "libName": "photonlib",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -29,7 +29,7 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "photontargeting-cpp",
-            "version": "v2024.2.0",
+            "version": "v2024.2.2",
             "libName": "photontargeting",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -46,12 +46,12 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "photonlib-java",
-            "version": "v2024.2.0"
+            "version": "v2024.2.2"
         },
         {
             "groupId": "org.photonvision",
             "artifactId": "photontargeting-java",
-            "version": "v2024.2.0"
+            "version": "v2024.2.2"
         }
     ]
 }
\ No newline at end of file