diff --git a/build.gradle b/build.gradle
index 59e71f332..3b32c0b25 100644
--- a/build.gradle
+++ b/build.gradle
@@ -2,7 +2,7 @@ plugins {
     id "com.diffplug.spotless" version "6.22.0"
     id "edu.wpi.first.NativeUtils" version "2024.6.1" apply false
     id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-4"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1"
     id 'edu.wpi.first.WpilibTools' version '1.3.0'
     id 'com.google.protobuf' version '0.9.4' apply false
 }
@@ -22,7 +22,7 @@ allprojects {
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2024.1.1-beta-4-35-g141241d"
+    wpilibVersion = "2024.1.1"
     wpimathVersion = wpilibVersion
     openCVversion = "4.8.0-2"
     joglVersion = "2.4.0-rc-20200307"
diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java b/photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java
index 74d5d472f..e570fbf73 100644
--- a/photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java
@@ -196,7 +196,7 @@ class LegacyConfigProvider extends ConfigProvider {
             }
         }
         if (atfl == null) {
-            logger.info("Loading default apriltags for 2023 field...");
+            logger.info("Loading default apriltags for 2024 field...");
             try {
                 atfl = AprilTagFields.kDefaultField.loadAprilTagLayoutField();
             } catch (UncheckedIOException e) {
diff --git a/photonlib-cpp-examples/aimandrange/.wpilib/wpilib_preferences.json b/photonlib-cpp-examples/aimandrange/.wpilib/wpilib_preferences.json
index a6e62683d..36bf1b5d2 100644
--- a/photonlib-cpp-examples/aimandrange/.wpilib/wpilib_preferences.json
+++ b/photonlib-cpp-examples/aimandrange/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": true,
     "currentLanguage": "cpp",
-    "projectYear": "2023",
+    "projectYear": "2024",
     "teamNumber": 5
 }
diff --git a/photonlib-cpp-examples/aimattarget/.wpilib/wpilib_preferences.json b/photonlib-cpp-examples/aimattarget/.wpilib/wpilib_preferences.json
index a6e62683d..36bf1b5d2 100644
--- a/photonlib-cpp-examples/aimattarget/.wpilib/wpilib_preferences.json
+++ b/photonlib-cpp-examples/aimattarget/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": true,
     "currentLanguage": "cpp",
-    "projectYear": "2023",
+    "projectYear": "2024",
     "teamNumber": 5
 }
diff --git a/photonlib-cpp-examples/apriltagExample/.wpilib/wpilib_preferences.json b/photonlib-cpp-examples/apriltagExample/.wpilib/wpilib_preferences.json
index a6e62683d..36bf1b5d2 100644
--- a/photonlib-cpp-examples/apriltagExample/.wpilib/wpilib_preferences.json
+++ b/photonlib-cpp-examples/apriltagExample/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": true,
     "currentLanguage": "cpp",
-    "projectYear": "2023",
+    "projectYear": "2024",
     "teamNumber": 5
 }
diff --git a/photonlib-cpp-examples/build.gradle b/photonlib-cpp-examples/build.gradle
index 51263e12b..bb2ab60ac 100644
--- a/photonlib-cpp-examples/build.gradle
+++ b/photonlib-cpp-examples/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "com.diffplug.spotless" version "6.1.2"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-4" apply false
+    id "edu.wpi.first.GradleRIO" version "2024.1.1" apply false
 }
 
 allprojects {
diff --git a/photonlib-cpp-examples/getinrange/.wpilib/wpilib_preferences.json b/photonlib-cpp-examples/getinrange/.wpilib/wpilib_preferences.json
index a6e62683d..36bf1b5d2 100644
--- a/photonlib-cpp-examples/getinrange/.wpilib/wpilib_preferences.json
+++ b/photonlib-cpp-examples/getinrange/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": true,
     "currentLanguage": "cpp",
-    "projectYear": "2023",
+    "projectYear": "2024",
     "teamNumber": 5
 }
diff --git a/photonlib-cpp-examples/swervedriveposeestsim/.wpilib/wpilib_preferences.json b/photonlib-cpp-examples/swervedriveposeestsim/.wpilib/wpilib_preferences.json
index a6e62683d..36bf1b5d2 100644
--- a/photonlib-cpp-examples/swervedriveposeestsim/.wpilib/wpilib_preferences.json
+++ b/photonlib-cpp-examples/swervedriveposeestsim/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": true,
     "currentLanguage": "cpp",
-    "projectYear": "2023",
+    "projectYear": "2024",
     "teamNumber": 5
 }
diff --git a/photonlib-cpp-examples/swervedriveposeestsim/build.gradle b/photonlib-cpp-examples/swervedriveposeestsim/build.gradle
index 8e35dcc6f..fae571d20 100644
--- a/photonlib-cpp-examples/swervedriveposeestsim/build.gradle
+++ b/photonlib-cpp-examples/swervedriveposeestsim/build.gradle
@@ -12,8 +12,8 @@ repositories {
 }
 
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = "2024.1.1-beta-4-35-g141241d"
-wpi.versions.wpimathVersion = "2024.1.1-beta-4-35-g141241d"
+wpi.versions.wpilibVersion = "2024.1.1"
+wpi.versions.wpimathVersion = "2024.1.1"
 
 apply from: "${rootDir}/../shared/examples_common.gradle"
 
diff --git a/photonlib-java-examples/aimandrange/.wpilib/wpilib_preferences.json b/photonlib-java-examples/aimandrange/.wpilib/wpilib_preferences.json
index c63569f16..c72767ad4 100644
--- a/photonlib-java-examples/aimandrange/.wpilib/wpilib_preferences.json
+++ b/photonlib-java-examples/aimandrange/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2023",
+    "projectYear": "2024",
     "teamNumber": 6995
 }
diff --git a/photonlib-java-examples/aimattarget/.wpilib/wpilib_preferences.json b/photonlib-java-examples/aimattarget/.wpilib/wpilib_preferences.json
index c63569f16..c72767ad4 100644
--- a/photonlib-java-examples/aimattarget/.wpilib/wpilib_preferences.json
+++ b/photonlib-java-examples/aimattarget/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2023",
+    "projectYear": "2024",
     "teamNumber": 6995
 }
diff --git a/photonlib-java-examples/build.gradle b/photonlib-java-examples/build.gradle
index fb2207b6c..a58423fe3 100644
--- a/photonlib-java-examples/build.gradle
+++ b/photonlib-java-examples/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "com.diffplug.spotless" version "6.1.2"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-4" apply false
+    id "edu.wpi.first.GradleRIO" version "2024.1.1" apply false
 }
 
 apply from: "examples.gradle"
diff --git a/photonlib-java-examples/getinrange/.wpilib/wpilib_preferences.json b/photonlib-java-examples/getinrange/.wpilib/wpilib_preferences.json
index c63569f16..c72767ad4 100644
--- a/photonlib-java-examples/getinrange/.wpilib/wpilib_preferences.json
+++ b/photonlib-java-examples/getinrange/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2023",
+    "projectYear": "2024",
     "teamNumber": 6995
 }
diff --git a/photonlib-java-examples/simaimandrange/.wpilib/wpilib_preferences.json b/photonlib-java-examples/simaimandrange/.wpilib/wpilib_preferences.json
index c63569f16..c72767ad4 100644
--- a/photonlib-java-examples/simaimandrange/.wpilib/wpilib_preferences.json
+++ b/photonlib-java-examples/simaimandrange/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2023",
+    "projectYear": "2024",
     "teamNumber": 6995
 }
diff --git a/photonlib-java-examples/swervedriveposeestsim/.wpilib/wpilib_preferences.json b/photonlib-java-examples/swervedriveposeestsim/.wpilib/wpilib_preferences.json
index 832704069..618039266 100644
--- a/photonlib-java-examples/swervedriveposeestsim/.wpilib/wpilib_preferences.json
+++ b/photonlib-java-examples/swervedriveposeestsim/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2023",
+    "projectYear": "2024",
     "teamNumber": 4512
 }
diff --git a/photonlib-java-examples/swervedriveposeestsim/build.gradle b/photonlib-java-examples/swervedriveposeestsim/build.gradle
index a352156f6..df2c81402 100644
--- a/photonlib-java-examples/swervedriveposeestsim/build.gradle
+++ b/photonlib-java-examples/swervedriveposeestsim/build.gradle
@@ -11,8 +11,8 @@ apply from: "${rootDir}/../shared/examples_common.gradle"
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = "2024.1.1-beta-4-35-g141241d"
-wpi.versions.wpimathVersion = "2024.1.1-beta-4-35-g141241d"
+wpi.versions.wpilibVersion = "2024.1.1"
+wpi.versions.wpimathVersion = "2024.1.1"
 
 
 // Define my targets (RoboRIO) and artifacts (deployable files)