diff --git a/build.gradle b/build.gradle
index 6f9ecd71..816dc03b 100644
--- a/build.gradle
+++ b/build.gradle
@@ -74,7 +74,7 @@ dependencies {
     testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.2'
     testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2'
     testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2'
-    implementation "com.github.deepbluerobotics:lib199:e927b9b386f5ca85f74bccefabd21126fe7c16f9"
+    implementation "com.github.deepbluerobotics:lib199:946c6fa0392f013c2670d88ea510d7e33121b589"
 }
 
 test {
diff --git a/src/main/java/org/carlmontrobotics/robotcode2023/subsystems/Arm.java b/src/main/java/org/carlmontrobotics/robotcode2023/subsystems/Arm.java
index 32a4bab3..199f95c3 100644
--- a/src/main/java/org/carlmontrobotics/robotcode2023/subsystems/Arm.java
+++ b/src/main/java/org/carlmontrobotics/robotcode2023/subsystems/Arm.java
@@ -2,7 +2,7 @@
 
 import static org.carlmontrobotics.robotcode2023.Constants.Arm.*;
 
-import org.carlmontrobotics.MotorConfig;
+import org.carlmontrobotics.lib199.MotorConfig;
 import org.carlmontrobotics.lib199.MotorControllerFactory;
 import org.carlmontrobotics.robotcode2023.Constants.GoalPos;
 import org.carlmontrobotics.robotcode2023.commands.ArmTeleop;
diff --git a/src/main/java/org/carlmontrobotics/robotcode2023/subsystems/Drivetrain.java b/src/main/java/org/carlmontrobotics/robotcode2023/subsystems/Drivetrain.java
index 8735caf8..beb2599f 100644
--- a/src/main/java/org/carlmontrobotics/robotcode2023/subsystems/Drivetrain.java
+++ b/src/main/java/org/carlmontrobotics/robotcode2023/subsystems/Drivetrain.java
@@ -5,10 +5,10 @@
 import java.util.Arrays;
 import java.util.function.Supplier;
 
-import org.carlmontrobotics.MotorConfig;
 import com.kauailabs.navx.frc.AHRS;
 
 import org.carlmontrobotics.lib199.MotorControllerFactory;
+import org.carlmontrobotics.lib199.MotorConfig;
 import org.carlmontrobotics.lib199.path.SwerveDriveInterface;
 import org.carlmontrobotics.lib199.swerve.SwerveModule;
 import org.carlmontrobotics.robotcode2023.commands.RotateToFieldRelativeAngle;
diff --git a/src/main/java/org/carlmontrobotics/robotcode2023/subsystems/Roller.java b/src/main/java/org/carlmontrobotics/robotcode2023/subsystems/Roller.java
index 66512c08..d2194db2 100644
--- a/src/main/java/org/carlmontrobotics/robotcode2023/subsystems/Roller.java
+++ b/src/main/java/org/carlmontrobotics/robotcode2023/subsystems/Roller.java
@@ -6,7 +6,7 @@
 
 import java.awt.Color;
 
-import org.carlmontrobotics.MotorConfig;
+import org.carlmontrobotics.lib199.MotorConfig;
 import org.carlmontrobotics.lib199.MotorControllerFactory;
 import static org.carlmontrobotics.robotcode2023.Constants.Roller.*;