diff --git a/build.gradle b/build.gradle
index 8a4ad5d43..7dbbd1e3e 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,21 +1,31 @@
 plugins {
     id "com.diffplug.gradle.spotless" version "3.28.0"
+    id "com.github.johnrengelman.shadow" version "5.2.0"
+    id "com.github.node-gradle.node" version "2.2.4" apply false
+    id "edu.wpi.first.GradleJni" version "0.10.1"
+    id "edu.wpi.first.GradleVsCode" version "0.12.0"
+    id "edu.wpi.first.NativeUtils" version "2021.1.1" apply false
+    id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
+    id "org.hidetake.ssh" version "2.10.1"
 }
 
 allprojects {
     repositories {
         jcenter()
-        mavenCentral()
-        maven {
-            url = "https://maven.photonvision.org/repository/internal/"
-        }
-        maven {
-            url = 'https://frcmaven.wpi.edu:443/artifactory/development'
-        }
-        maven {
-            url = 'https://frcmaven.wpi.edu:443/artifactory/release'
-        }
+        maven { url = "https://maven.photonvision.org/repository/internal/" }
     }
+    wpilibRepositories.addAllReleaseRepositories(it)
+    wpilibRepositories.addAllDevelopmentRepositories(it)
+}
+
+// Configure the version number.
+apply from: "versioningHelper.gradle"
+
+ext {
+    wpilibVersion = "2021.2.1"
+    opencvVersion = "3.4.7-5"
+    joglVersion = "2.4.0-rc-20200307"
+    pubVersion = versionString
 }
 
 spotless {
@@ -27,9 +37,8 @@ spotless {
         removeUnusedImports()
     }
     java {
-        target '**/*.java'
+        target "**/*.java"
         licenseHeaderFile "$rootDir/LicenseHeader.txt"
-
-        targetExclude('photon-core/src/main/java/org/photonvision/PhotonVersion.java')
+        targetExclude("photon-core/src/main/java/org/photonvision/PhotonVersion.java")
     }
 }
diff --git a/photon-core/build.gradle b/photon-core/build.gradle
index 6ccefe1b2..cf257268b 100644
--- a/photon-core/build.gradle
+++ b/photon-core/build.gradle
@@ -1,8 +1,7 @@
 import java.time.LocalDateTime
 import java.time.format.DateTimeFormatter
 
-apply from: '../common.gradle'
-apply from: '../versioningHelper.gradle'
+apply from: "${rootDir}/shared/common.gradle"
 
 dependencies {
     implementation project(':photon-targeting')
@@ -12,10 +11,11 @@ dependencies {
     implementation 'org.msgpack:msgpack-core:0.8.20'
     implementation 'org.msgpack:jackson-dataformat-msgpack:0.8.20'
 
-    // Wpiutil
+    // wpiutil
     compile "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:linuxaarch64bionic"
     compile "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:linuxraspbian"
     compile "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:linuxx86-64"
+    compile "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:osxx86-64"
     compile "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:windowsx86-64"
 
     // JOGL stuff (currently we only distribute for aarch64, which is Pi 4)
diff --git a/photon-lib/build.gradle b/photon-lib/build.gradle
index a8a1f0fab..d8422e58f 100644
--- a/photon-lib/build.gradle
+++ b/photon-lib/build.gradle
@@ -1,33 +1,9 @@
-plugins {
-  id 'cpp'
-  id 'java'
-  id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2020.2'
-  id 'google-test-test-suite'
-  id 'edu.wpi.first.NativeUtils' version  '2020.10.1'
-  id 'edu.wpi.first.GradleJni' version '0.10.1'
-  id 'edu.wpi.first.GradleVsCode' version '0.12.0'
-}
+apply plugin: "cpp"
+apply plugin: "java"
+apply plugin: "google-test-test-suite"
+apply plugin: "edu.wpi.first.NativeUtils"
 
-repositories {
-  mavenCentral()
-  maven { url "https://frcmaven.wpi.edu/artifactory/development" }
-}
-
-if (project.hasProperty('releaseMode')) {
-  wpilibRepositories.addAllReleaseRepositories(project)
-} else {
-  wpilibRepositories.addAllDevelopmentRepositories(project)
-}
-
-apply from: '../versioningHelper.gradle'
-
-ext {
-    pubVersion = versionString
-    wpilibVersion = '2020.3.2-99-g9f4de91'
-}
-
-// Apply C++ configuration
-apply from: 'config.gradle'
+apply from: "${rootDir}/shared/config.gradle"
 
 test {
     useJUnitPlatform()
@@ -35,25 +11,17 @@ test {
 
 // Apply Java configuration
 dependencies {
+    compile project(":photon-core")
+    compile project(":photon-targeting")
 
-    // TODO C++
-    compile project(':photon-core')
-    compile project(':photon-targeting')
-
-    implementation 'edu.wpi.first.cscore:cscore-java:2020.+'
-    implementation 'edu.wpi.first.cameraserver:cameraserver-java:2020.+'
-    implementation 'edu.wpi.first.wpilibj:wpilibj-java:2020.+'
-    implementation 'edu.wpi.first.wpiutil:wpiutil-java:2020.+'
-    implementation 'edu.wpi.first.wpimath:wpimath-java:2020.+'
-    implementation 'edu.wpi.first.hal:hal-java:2020.+'
-    implementation 'edu.wpi.first.thirdparty.frc2020.opencv:opencv-java:3.4.7-2'
-
+    implementation "edu.wpi.first.cscore:cscore-java:$wpilibVersion"
+    implementation "edu.wpi.first.cameraserver:cameraserver-java:$wpilibVersion"
+    implementation "edu.wpi.first.wpilibj:wpilibj-java:$wpilibVersion"
+    implementation "edu.wpi.first.wpiutil:wpiutil-java:$wpilibVersion"
+    implementation "edu.wpi.first.wpimath:wpimath-java:$wpilibVersion"
+    implementation "edu.wpi.first.hal:hal-java:$wpilibVersion"
+    implementation "edu.wpi.first.thirdparty.frc2020.opencv:opencv-java:3.4.7-2"
     implementation "edu.wpi.first.ntcore:ntcore-java:$wpilibVersion"
-    compile "edu.wpi.first.ntcore:ntcore-jni:$wpilibVersion:linuxaarch64bionic"
-    compile "edu.wpi.first.ntcore:ntcore-jni:$wpilibVersion:linuxraspbian"
-    compile "edu.wpi.first.ntcore:ntcore-jni:$wpilibVersion:linuxx86-64"
-    compile "edu.wpi.first.ntcore:ntcore-jni:$wpilibVersion:osxx86-64"
-    compile "edu.wpi.first.ntcore:ntcore-jni:$wpilibVersion:windowsx86-64"
 
     testImplementation("org.junit.jupiter:junit-jupiter-api:5.6.2")
     testImplementation("org.junit.jupiter:junit-jupiter-params:5.6.2")
@@ -62,68 +30,68 @@ dependencies {
 
 // Set up exports properly
 nativeUtils {
-  exportsConfigs {
-    // Main library is just default empty. This will export everything
-    Photon {
+    exportsConfigs {
+        // Main library is just default empty. This will export everything
+        Photon {
+        }
     }
-  }
 }
 
 model {
-  components {
-    Photon(NativeLibrarySpec) {
-      sources {
-        cpp {
-          source {
-            srcDirs 'src/main/native/cpp'
-            include '**/*.cpp'
-          }
-          exportedHeaders {
-            srcDirs 'src/main/native/include'
-          }
+    components {
+        Photon(NativeLibrarySpec) {
+            sources {
+                cpp {
+                    source {
+                        srcDirs "src/main/native/cpp"
+                        include "**/*.cpp"
+                    }
+                    exportedHeaders {
+                        srcDirs "src/main/native/include"
+                    }
+                }
+            }
+            nativeUtils.useRequiredLibrary(it, "wpilib_shared")
         }
-      }
-      nativeUtils.useRequiredLibrary(it, 'wpilib_shared')
     }
-  }
-  testSuites {
-    cppTest(GoogleTestTestSuiteSpec) {
-      testing $.components.Photon
+    testSuites {
+        cppTest(GoogleTestTestSuiteSpec) {
+            testing $.components.Photon
 
-      sources.cpp {
-        source {
-          srcDir 'src/test/native/cpp'
-          include '**/*.cpp'
+            sources.cpp {
+                source {
+                    srcDir "src/test/native/cpp"
+                    include "**/*.cpp"
+                }
+            }
+
+            nativeUtils.useRequiredLibrary(it, "wpilib_executable_shared")
+            nativeUtils.useRequiredLibrary(it, "googletest_static")
         }
-      }
-
-      nativeUtils.useRequiredLibrary(it, 'wpilib_executable_shared')
-      nativeUtils.useRequiredLibrary(it, 'googletest_static')
     }
-  }
 }
 
 def photonlibFileInput = file("src/generate/photonlib.json.in")
 ext.photonlibFileOutput = file("$buildDir/generated/vendordeps/photonlib.json")
 
 task generateVendorJson() {
-  description = 'Generates the vendor JSON file'
-  group = 'PhotonVision'
+    description = "Generates the vendor JSON file"
+    group = "PhotonVision"
 
-  outputs.file photonlibFileOutput
-  inputs.file photonlibFileInput
+    outputs.file photonlibFileOutput
+    inputs.file photonlibFileInput
 
-  doLast {
-    println "Writing version ${pubVersion} to $photonlibFileOutput"
+    doLast {
+        println "Writing version ${pubVersion} to $photonlibFileOutput"
 
-    if (photonlibFileOutput.exists()) {
-      photonlibFileOutput.delete()
+        if (photonlibFileOutput.exists()) {
+            photonlibFileOutput.delete()
+        }
+        def read = photonlibFileInput.text.replace('${photon_version}', pubVersion)
+        photonlibFileOutput.write(read)
     }
-    def read = photonlibFileInput.text.replace('${photon_version}', pubVersion)
-    photonlibFileOutput.write(read)
-  }
 }
 
 build.dependsOn generateVendorJson
 
-apply from: 'publish.gradle'
+apply from: "publish.gradle"
diff --git a/photon-lib/settings.gradle b/photon-lib/settings.gradle
deleted file mode 100644
index 212a8d608..000000000
--- a/photon-lib/settings.gradle
+++ /dev/null
@@ -1,8 +0,0 @@
-pluginManagement {
-    repositories {
-        mavenLocal()
-        gradlePluginPortal()
-    }
-}
-
-rootProject.name = 'photon-lib'
diff --git a/photon-server/build.gradle b/photon-server/build.gradle
index 5ef591e91..d6731cfbc 100644
--- a/photon-server/build.gradle
+++ b/photon-server/build.gradle
@@ -1,8 +1,6 @@
-plugins {
-    id 'application'
-    id 'com.github.johnrengelman.shadow' version '5.2.0'
-    id 'org.hidetake.ssh' version '2.10.1'
-}
+apply plugin: "application"
+apply plugin: "com.github.johnrengelman.shadow"
+apply plugin: "org.hidetake.ssh"
 
 evaluationDependsOn(':photon-core')
 
@@ -11,10 +9,9 @@ mainClassName = 'org.photonvision.Main'
 group 'org.photonvision'
 version versionString
 
-apply from: '../common.gradle'
+apply from: "${rootDir}/shared/common.gradle"
 
 dependencies {
-    // photon core
     implementation project(':photon-core')
 
     implementation "io.javalin:javalin:3.7.0"
@@ -23,12 +20,10 @@ dependencies {
     implementation "org.msgpack:jackson-dataformat-msgpack:0.8.20"
 
     compile "org.slf4j:slf4j-simple:1.8.0-beta4"
-
 }
 
 shadowJar {
     configurations = [project.configurations.runtimeClasspath]
-
     archiveFileName.set("photonvision-${project.version}.jar")
 }
 
diff --git a/photon-targeting/build.gradle b/photon-targeting/build.gradle
index f43133d4f..7996019ec 100644
--- a/photon-targeting/build.gradle
+++ b/photon-targeting/build.gradle
@@ -1,28 +1,10 @@
-apply plugin: 'java'
-
-repositories {
-    maven {
-        url = 'https://frcmaven.wpi.edu:443/artifactory/development'
-    }
-    maven {
-        url = 'https://frcmaven.wpi.edu:443/artifactory/release'
-    }
-}
-
-apply from: '../versioningHelper.gradle'
-
-ext {
-    pubVersion = versionString
-}
-
-def openCVVersion = '3.4.7-2'
+apply plugin: "java"
 
 dependencies {
-    implementation 'edu.wpi.first.wpimath:wpimath-java:2021.1.2'
-    implementation "edu.wpi.first.thirdparty.frc2020.opencv:opencv-java:$openCVVersion"
+    implementation "edu.wpi.first.wpimath:wpimath-java:$wpilibVersion"
     implementation "com.fasterxml.jackson.core:jackson-core:2.10.0"
     implementation "com.fasterxml.jackson.core:jackson-annotations:2.10.0"
-    implementation 'org.apache.commons:commons-math3:3.6.1'
+    implementation "org.apache.commons:commons-math3:3.6.1"
 }
 
 java {
@@ -30,4 +12,4 @@ java {
     withSourcesJar()
 }
 
-apply from: 'publish.gradle'
+apply from: "publish.gradle"
diff --git a/photon-targeting/publish.gradle b/photon-targeting/publish.gradle
index c54cf2988..efecc1518 100644
--- a/photon-targeting/publish.gradle
+++ b/photon-targeting/publish.gradle
@@ -3,8 +3,6 @@ apply plugin: 'maven-publish'
 def artifactGroupId = 'org.photonvision'
 def baseArtifactId = 'PhotonTargeting'
 
-def outputsFolder = file("$buildDir/outputs")
-
 publishing {
     repositories {
         maven {
diff --git a/photonlib-cpp-examples/build.gradle b/photonlib-cpp-examples/build.gradle
index b19336013..d071fa61f 100644
--- a/photonlib-cpp-examples/build.gradle
+++ b/photonlib-cpp-examples/build.gradle
@@ -1,21 +1,10 @@
-plugins {
-    id 'cpp'
-    id 'java'
-    id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2020.2'
-    id 'google-test-test-suite'
-    id 'edu.wpi.first.NativeUtils' version '2020.10.1'
-    id 'edu.wpi.first.GradleJni' version '0.10.1'
-}
+apply plugin: "cpp"
+apply plugin: "java"
+apply plugin: "google-test-test-suite"
+apply plugin: "edu.wpi.first.GradleVsCode"
+apply plugin: "edu.wpi.first.NativeUtils"
 
-repositories {
-    maven {
-        url = 'https://frcmaven.wpi.edu:443/artifactory/release'
-        maven { url "https://frcmaven.wpi.edu/artifactory/development" }
-        mavenCentral()
-    }
-}
-
-apply from: '../photon-lib/config.gradle'
+apply from: "${rootDir}/shared/config.gradle"
 
 ext.examplesMap = [:]
 
@@ -64,7 +53,7 @@ model {
                         }
                     }
                 }
-                nativeUtils.useRequiredLibrary(it, 'wpilib_shared')
+                nativeUtils.useRequiredLibrary(it, 'wpilib_executable_shared')
             }
         }
     }
diff --git a/photonlib-java-examples/build.gradle b/photonlib-java-examples/build.gradle
index 8d8f60228..fd94883db 100644
--- a/photonlib-java-examples/build.gradle
+++ b/photonlib-java-examples/build.gradle
@@ -1,23 +1,12 @@
 import edu.wpi.first.toolchain.NativePlatforms
 
-plugins {
-    id 'edu.wpi.first.NativeUtils' version '2021.1.1'
-}
+apply plugin: "java"
+apply plugin: "cpp"
+apply plugin: "edu.wpi.first.NativeUtils"
 
-apply plugin: 'java'
-apply plugin: 'cpp'
-apply plugin: 'edu.wpi.first.NativeUtils'
+apply from: "${rootDir}/shared/config.gradle"
 
-// This adds all of the WPILib dependencies.
-nativeUtils.addWpiNativeUtils()
 nativeUtils {
-    wpi {
-        configureDependencies {
-            wpiVersion = "2021.1.2"
-            opencvVersion = "3.4.7-5"
-            wpimathVersion = "2021.1.2"
-        }
-    }
     dependencyConfigs {
         gui {
             groupId = "edu.wpi.first.halsim"
@@ -25,7 +14,7 @@ nativeUtils {
             headerClassifier = "headers"
             sourceClassifier = "sources"
             ext = "zip"
-            version = "2021.1.2"
+            version = wpilibVersion
             sharedPlatforms << "osxx86-64" << "linuxx86-64" << "windowsx86-64"
         }
     }
@@ -38,56 +27,50 @@ nativeUtils {
     }
 }
 
-repositories {
-    maven {
-        url = 'https://frcmaven.wpi.edu:443/artifactory/release'
-    }
-}
-
 ext {
     exampleFile = new File("$projectDir/src/main/java/org/photonlib/examples/examples.json")
 }
 
 dependencies {
-    implementation project(':photon-lib')
-    implementation project(':photon-targeting')
+    implementation project(":photon-lib")
+    implementation project(":photon-targeting")
 
-    implementation 'edu.wpi.first.cscore:cscore-java:2021.+'
-    implementation 'edu.wpi.first.cameraserver:cameraserver-java:2021.+'
-    implementation 'edu.wpi.first.ntcore:ntcore-java:2021.+'
-    implementation 'edu.wpi.first.wpilibj:wpilibj-java:2021.+'
-    implementation 'edu.wpi.first.wpiutil:wpiutil-java:2021.+'
-    implementation 'edu.wpi.first.wpimath:wpimath-java:2021.+'
-    implementation 'edu.wpi.first.hal:hal-java:2021.+'
+    implementation "edu.wpi.first.cscore:cscore-java:$wpilibVersion"
+    implementation "edu.wpi.first.cameraserver:cameraserver-java:$wpilibVersion"
+    implementation "edu.wpi.first.ntcore:ntcore-java:$wpilibVersion"
+    implementation "edu.wpi.first.wpilibj:wpilibj-java:$wpilibVersion"
+    implementation "edu.wpi.first.wpiutil:wpiutil-java:$wpilibVersion"
+    implementation "edu.wpi.first.wpimath:wpimath-java:$wpilibVersion"
+    implementation "edu.wpi.first.hal:hal-java:$wpilibVersion"
     implementation "org.ejml:ejml-simple:0.38"
     implementation "com.fasterxml.jackson.core:jackson-annotations:2.10.0"
     implementation "com.fasterxml.jackson.core:jackson-core:2.10.0"
     implementation "com.fasterxml.jackson.core:jackson-databind:2.10.0"
-    implementation 'edu.wpi.first.thirdparty.frc2020.opencv:opencv-java:3.4.7-3'
+    implementation "edu.wpi.first.thirdparty.frc2020.opencv:opencv-java:3.4.7-3"
 }
 
 model {
     components {
-        all {
-            nativeUtils.useAllPlatforms(it)
-        }
         dev(NativeExecutableSpec) {
-            targetBuildTypes 'debug'
+            targetBuildTypes "debug"
             sources {
                 cpp {
                     source {
-                        srcDirs 'src/dev/native/cpp'
-                        include '**/*.cpp'
+                        srcDirs "src/dev/native/cpp"
+                        include "**/*.cpp"
                     }
                     exportedHeaders {
-                        srcDirs 'src/dev/native/include'
+                        srcDirs "src/dev/native/include"
                     }
                 }
             }
             binaries.all { binary ->
-                nativeUtils.useRequiredLibrary(binary, 'wpilib_executable_shared')
-                nativeUtils.useRequiredLibrary(binary, 'opencv_shared')
-                nativeUtils.useRequiredLibrary(binary, 'halsim_gui')
+                nativeUtils.useRequiredLibrary(binary, "wpilib_executable_shared")
+                nativeUtils.useRequiredLibrary(binary, "opencv_shared")
+
+                if (binary.targetPlatform.name == NativePlatforms.desktop) {
+                    nativeUtils.useRequiredLibrary(binary, "halsim_gui")
+                }
             }
         }
     }
@@ -102,13 +85,13 @@ model {
                     def arch = it.targetPlatform.name
                     if (arch == NativePlatforms.desktop) {
                         found = true
-                        def filePath = it.tasks.install.installDirectory.get().toString() + File.separatorChar + 'lib'
+                        def filePath = it.tasks.install.installDirectory.get().toString() + File.separatorChar + "lib"
 
                         def doFirstTask = { task ->
-                            def extensions = ''
+                            def extensions = ""
                             it.tasks.install.installDirectory.get().getAsFile().eachFileRecurse {
                                 def name = it.name
-                                if (!(name.endsWith('.dll') || name.endsWith('.so') || name.endsWith('.dylib'))) {
+                                if (!(name.endsWith(".dll") || name.endsWith(".so") || name.endsWith(".dylib"))) {
                                     return
                                 }
                                 def file = it
@@ -116,8 +99,8 @@ model {
                                     extensions += file.absolutePath + File.pathSeparator
                                 }
                             }
-                            if (extensions != '') {
-                                task.environment 'HALSIM_EXTENSIONS', extensions
+                            if (extensions != "") {
+                                task.environment "HALSIM_EXTENSIONS", extensions
                             }
                         }
 
@@ -126,13 +109,13 @@ model {
                                 main = "org.photonlib.examples." + entry.foldername + ".Main"
                                 classpath = sourceSets.main.runtimeClasspath
                                 run.dependsOn it.tasks.install
-                                run.systemProperty 'java.library.path', filePath
-                                run.environment 'LD_LIBRARY_PATH', filePath
+                                run.systemProperty "java.library.path", filePath
+                                run.environment "LD_LIBRARY_PATH", filePath
                                 run.workingDir filePath
                                 doFirst { doFirstTask(run) }
 
                                 if (org.gradle.internal.os.OperatingSystem.current().isMacOsX()) {
-                                    run.jvmArgs = ['-XstartOnFirstThread']
+                                    run.jvmArgs = ["-XstartOnFirstThread"]
                                 }
                             }
                         }
diff --git a/common.gradle b/shared/common.gradle
similarity index 58%
rename from common.gradle
rename to shared/common.gradle
index d96ddce41..42b40965b 100644
--- a/common.gradle
+++ b/shared/common.gradle
@@ -1,17 +1,9 @@
 // Plugins
-apply plugin: 'jacoco'
-apply plugin: 'java'
+apply plugin: "jacoco"
+apply plugin: "java"
 
 sourceCompatibility = 11
 
-// Common version config
-ext {
-    wpilibVersion = '2021.1.2'
-    joglVersion = '2.4.0-rc-20200307'
-    openCVVersion = '3.4.7-2'
-}
-
-// Common deps
 dependencies {
     // Jackson
     implementation "com.fasterxml.jackson.core:jackson-annotations:2.10.0"
@@ -19,12 +11,12 @@ dependencies {
     implementation "com.fasterxml.jackson.core:jackson-databind:2.10.0"
 
     // Apache commons
-    implementation group: 'org.apache.commons', name: 'commons-lang3', version: '3.9'
-    implementation 'org.apache.commons:commons-math3:3.6.1'
-    implementation group: 'commons-io', name: 'commons-io', version: '2.6'
-    implementation group: 'commons-cli', name: 'commons-cli', version: '1.4'
-    implementation 'org.apache.commons:commons-collections4:4.4'
-    implementation 'org.apache.commons:commons-exec:1.3'
+    implementation group: "org.apache.commons", name: "commons-lang3", version: "3.9"
+    implementation "org.apache.commons:commons-math3:3.6.1"
+    implementation group: "commons-io", name: "commons-io", version: "2.6"
+    implementation group: "commons-cli", name: "commons-cli", version: "1.4"
+    implementation "org.apache.commons:commons-collections4:4.4"
+    implementation "org.apache.commons:commons-exec:1.3"
 
     // WPILib deps
     implementation "edu.wpi.first.wpiutil:wpiutil-java:$wpilibVersion"
@@ -44,28 +36,28 @@ dependencies {
     compile "edu.wpi.first.ntcore:ntcore-jni:$wpilibVersion:osxx86-64"
     compile "edu.wpi.first.ntcore:ntcore-jni:$wpilibVersion:windowsx86-64"
 
-    implementation "edu.wpi.first.thirdparty.frc2020.opencv:opencv-java:$openCVVersion"
-    compile "edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:$openCVVersion:linuxaarch64bionic"
-    compile "edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:$openCVVersion:linuxraspbian"
-    compile "edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:$openCVVersion:linuxx86-64"
-    compile "edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:$openCVVersion:osxx86-64"
-    compile "edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:$openCVVersion:windowsx86-64"
+    implementation "edu.wpi.first.thirdparty.frc2021.opencv:opencv-java:$opencvVersion"
+    compile "edu.wpi.first.thirdparty.frc2021.opencv:opencv-jni:$opencvVersion:linuxaarch64bionic"
+    compile "edu.wpi.first.thirdparty.frc2021.opencv:opencv-jni:$opencvVersion:linuxraspbian"
+    compile "edu.wpi.first.thirdparty.frc2021.opencv:opencv-jni:$opencvVersion:linuxx86-64"
+    compile "edu.wpi.first.thirdparty.frc2021.opencv:opencv-jni:$opencvVersion:osxx86-64"
+    compile "edu.wpi.first.thirdparty.frc2021.opencv:opencv-jni:$opencvVersion:windowsx86-64"
 
-    implementation 'edu.wpi.first.wpimath:wpimath-java:2021.1.2-9-g26584ff'
+    implementation "edu.wpi.first.wpimath:wpimath-java:2021.1.2-9-g26584ff"
 
     // test stuff
-    testImplementation('org.junit.jupiter:junit-jupiter:5.6.0')
+    testImplementation("org.junit.jupiter:junit-jupiter:5.6.0")
 }
 
 test {
     useJUnitPlatform()
     testLogging {
-        events 'passed', 'skipped', 'failed', 'standardOut', 'standardError'
+        events "passed", "skipped", "failed", "standardOut", "standardError"
     }
 }
 
 task testHeadless(type: Test) {
-    group = 'verification'
+    group = "verification"
     systemProperty("java.awt.headless", "true")
     useJUnitPlatform()
 }
@@ -86,7 +78,7 @@ jacocoTestReport {
     afterEvaluate {
         classDirectories.setFrom(files(classDirectories.files.collect {
             fileTree(dir: it,
-                    exclude: 'edu/wpi/**'
+                    exclude: "edu/wpi/**"
             )
         }))
     }
diff --git a/photon-lib/config.gradle b/shared/config.gradle
similarity index 86%
rename from photon-lib/config.gradle
rename to shared/config.gradle
index ec82167db..fbaa647c7 100644
--- a/photon-lib/config.gradle
+++ b/shared/config.gradle
@@ -1,37 +1,25 @@
-import org.gradle.internal.os.OperatingSystem
-
+// Configure Native-Utils WPI Plugin
 nativeUtils.addWpiNativeUtils()
 nativeUtils.withRoboRIO()
 nativeUtils.withRaspbian()
 nativeUtils.withBionic()
 
-nativeUtils {
-  wpi {
-    configureDependencies {
-        wpiVersion = "2020.+"
-        niLibVersion = "2020.10.1"
-        wpimathVersion = "2020.+"
-        opencvVersion = "3.4.7-2"
-        niLibVersion = "2020.10.1"
-        googleTestVersion = "1.9.0-3-437e100"
-        opencvVersion = "3.4.7-2"
-        googleTestVersion = "1.9.0-3-437e100"
-    }
-  }
+// Configure WPI dependencies.
+nativeUtils.wpi.configureDependencies {
+    wpiVersion = wpilibVersion
+    wpimathVersion = wpilibVersion
+    niLibVersion = "2020.10.1"
+    opencvVersion = "3.4.7-5"
+    googleTestVersion = "1.9.0-5-437e100-1"
+    imguiVersion = "1.79-1"
 }
 
+// Configure warnings and errors
 nativeUtils.wpi.addWarnings()
 nativeUtils.wpi.addWarningsAsErrors()
 
-nativeUtils.setSinglePrintPerPlatform()
-
+// Enable builds for all platforms.
 model {
-    // components {
-    //     all {
-    //         targetPlatform nativeUtils.wpi.platforms.roborio
-    //     }
-    // }
-    // Uncomment this, and remove above lines to enable builds for all platforms
     components {
         all {
             nativeUtils.useAllPlatforms(it)
@@ -44,7 +32,8 @@ model {
     }
 }
 
-ext.appendDebugPathToBinaries = { binaries->
+// Add debug path to binaries.
+ext.appendDebugPathToBinaries = { binaries ->
     binaries.withType(StaticLibraryBinarySpec) {
         if (it.buildType.name.contains('debug')) {
             def staticFileDir = it.staticLibraryFile.parentFile
@@ -78,8 +67,9 @@ ext.appendDebugPathToBinaries = { binaries->
     }
 }
 
+// Create ZIP tasks for each component.
 ext.createComponentZipTasks = { components, names, base, type, project, func ->
-    def stringNames = names.collect {it.toString()}
+    def stringNames = names.collect { it.toString() }
     def configMap = [:]
     components.each {
         if (it in NativeLibrarySpec && stringNames.contains(it.name)) {
@@ -150,6 +140,7 @@ ext.createAllCombined = { list, name, base, type, project ->
 
 }
 
+// Create the standard ZIP format for the dependencies.
 ext.includeStandardZipFormat = { task, value ->
     value.each { binary ->
         if (binary.buildable) {
@@ -170,7 +161,7 @@ ext.includeStandardZipFormat = { task, value ->
                 task.from(binary.sharedLibraryLinkFile) {
                     into nativeUtils.getPlatformPath(binary) + '/shared'
                 }
-            } else  if (binary instanceof StaticLibraryBinarySpec) {
+            } else if (binary instanceof StaticLibraryBinarySpec) {
                 task.dependsOn binary.tasks.createStaticLib
                 task.from(binary.staticLibraryFile) {
                     into nativeUtils.getPlatformPath(binary) + '/static'