diff --git a/build.gradle b/build.gradle
index e5e5db2380..ac2c7e061b 100644
--- a/build.gradle
+++ b/build.gradle
@@ -62,5 +62,5 @@ apply from: 'cppSettings.gradle'
 apply from: 'ni-libraries/ni-libraries.gradle'
 
 task wrapper(type: Wrapper) {
-    gradleVersion = '3.0'
+    gradleVersion = '3.2.1'
 }
diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar
index deedc7fa5e..51288f9c2f 100644
Binary files a/gradle/wrapper/gradle-wrapper.jar and b/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
index c16481e0b7..de7cd3de45 100644
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,6 +1,6 @@
-#Mon Aug 22 20:26:07 PDT 2016
+#Thu Nov 24 12:34:01 EST 2016
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-3.0-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-3.2.1-bin.zip
diff --git a/gradlew b/gradlew
index 9aa616c273..4453ccea33 100755
--- a/gradlew
+++ b/gradlew
@@ -1,4 +1,4 @@
-#!/usr/bin/env bash
+#!/usr/bin/env sh
 
 ##############################################################################
 ##
@@ -154,16 +154,19 @@ if $cygwin ; then
     esac
 fi
 
-# Split up the JVM_OPTS And GRADLE_OPTS values into an array, following the shell quoting and substitution rules
-function splitJvmOpts() {
-    JVM_OPTS=("$@")
+# Escape application args
+save ( ) {
+    for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
+    echo " "
 }
-eval splitJvmOpts $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS
-JVM_OPTS[${#JVM_OPTS[*]}]="-Dorg.gradle.appname=$APP_BASE_NAME"
+APP_ARGS=$(save "$@")
+
+# Collect all arguments for the java command, following the shell quoting and substitution rules
+eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
 
 # by default we should be in the correct project dir, but when run from Finder on Mac, the cwd is wrong
-if [[ "$(uname)" == "Darwin" ]] && [[ "$HOME" == "$PWD" ]]; then
+if [ "$(uname)" = "Darwin" ] && [ "$HOME" = "$PWD" ]; then
   cd "$(dirname "$0")"
 fi
 
-exec "$JAVACMD" "${JVM_OPTS[@]}" -classpath "$CLASSPATH" org.gradle.wrapper.GradleWrapperMain "$@"
+exec "$JAVACMD" "$@"
diff --git a/hal/build.gradle b/hal/build.gradle
index 19e46ff589..dbe93510ec 100644
--- a/hal/build.gradle
+++ b/hal/build.gradle
@@ -33,26 +33,10 @@ model {
                 }
             }
         }
-
-//        HALSim(NativeLibrarySpec) {
-//            binaries.all {
-//                if (toolChain in Gcc){
-//                    cppCompiler.args "-std=c++1y"
-//                }
-//            }
-//
-//            sources {
-//                cpp {
-//                    source {
-//                        srcDirs = ["lib/sim", "lib/shared"]
-//                        includes = ["**/*.cpp"]
-//                    }
-//                    exportedHeaders {
-//                        srcDirs = ["include", "lib/sim", "lib/shared"]
-//                    }
-//                }
-//            }
-//        }
+    }
+    tasks { tasks ->
+        tasks.halZip.dependsOn tasks.HALAthenaSharedLibrary
+        tasks.athenaRuntimeZip.dependsOn tasks.HALAthenaSharedLibrary
     }
 }
 
@@ -96,13 +80,6 @@ task halZip(type: Zip) {
         exclude 'genlinks.bat'
         exclude 'libwpi.so'
     }
-
-    // Add the hal static and shared libraries as a dependency
-    project(':hal').tasks.whenTaskAdded { task ->
-        if (task.name.toLowerCase() == 'halathenastaticlibrary' || task.name.toLowerCase() == 'halathenasharedlibrary') {
-            halZip.dependsOn task
-        }
-    }
 }
 
 task athenaRuntimeZip(type: Zip) {
@@ -155,13 +132,6 @@ task athenaRuntimeZip(type: Zip) {
     from (file(wpiUtilSharedLibDebug)) {
         into 'lib'
     }
-
-    // Add the hal static and shared libraries as a dependency
-    project(':hal').tasks.whenTaskAdded { task ->
-        if (task.name.toLowerCase() == 'halathenastaticlibrary' || task.name.toLowerCase() == 'halathenasharedlibrary') {
-            athenaRuntimeZip.dependsOn task
-        }
-    }
 }
 
 
diff --git a/wpilibc/athena.gradle b/wpilibc/athena.gradle
index c0269ec637..78df122a3d 100644
--- a/wpilibc/athena.gradle
+++ b/wpilibc/athena.gradle
@@ -12,6 +12,7 @@ model {
             targetPlatform 'arm'
             binaries.all {
                 tasks.withType(CppCompile) {
+                    dependsOn generateCppVersion
                     cppCompiler.args "-DNAMESPACED_WPILIB"
                     addNiLibraryLinks(linker, targetPlatform)
                     addNetworkTablesLibraryLinks(it, linker, targetPlatform)
@@ -33,6 +34,9 @@ model {
             }
         }
     }
+    tasks { tasks ->
+        tasks.wpilibcZip.dependsOn tasks.wpilibcSharedLibrary
+    }
 }
 
 task wpilibcZip(type: Zip) {
@@ -71,29 +75,6 @@ task wpilibcZip(type: Zip) {
     }
 }
 
-// Add the dependency on the wpilib_nonsharedStaticLibrary task to the wpilibc task. Because of the gradle lifecycle,
-// this cannot be done purely with dependsOn in the task, as the static library task doesn't exist yet. Same goes for
-// the networkTablesStaticLibrary task and the two HAL tasks below
-tasks.whenTaskAdded { task ->
-    if (task.name.toLowerCase() == 'wpilibcsharedlibrary') {
-        wpilibcZip.dependsOn task
-    }
-}
-
-// Add the hal static and shared libraries as a dependency
-project(':hal').tasks.whenTaskAdded { task ->
-    if (task.name.toLowerCase() == 'halathenastaticlibrary' || task.name.toLowerCase() == 'halathenasharedlibrary') {
-        wpilibcZip.dependsOn task
-    }
-}
-
-// Add the generate version file task as a dependency
-tasks.whenTaskAdded { task ->
-    if (task.name.toLowerCase().startsWith('compilewpilib')) {
-        task.dependsOn generateCppVersion
-    }
-}
-
 if (checkDoxygen()) {
 
     def ntSourcesDependency = project.dependencies.create('edu.wpi.first.wpilib.networktables.cpp:NetworkTables:+:sources@zip')
diff --git a/wpilibj/athena.gradle b/wpilibj/athena.gradle
index 488c41de8a..4510e042d2 100644
--- a/wpilibj/athena.gradle
+++ b/wpilibj/athena.gradle
@@ -58,6 +58,9 @@ model {
             }
         }
     }
+    tasks {
+        it.wpilibjNativeLibraries.dependsOn it.wpilibJavaJNISharedLibrary
+    }
 }
 
 // Maven publishing configuration
@@ -95,13 +98,6 @@ jar {
     from sourceSets.shared.output
 }
 
-tasks.whenTaskAdded { task ->
-    if (task.name == 'wpilibJavaJNISharedLibrary') {
-        jar.dependsOn task
-        wpilibjNativeLibraries.dependsOn task
-    }
-}
-
 task wpilibjSources(type: Jar, dependsOn: classes) {
     description = 'Creates the sources jar for the maven publishing routine'
     group = 'WPILib'