diff --git a/OtherVersions.md b/OtherVersions.md
index 58c42d212f..5c400b1e10 100644
--- a/OtherVersions.md
+++ b/OtherVersions.md
@@ -90,4 +90,4 @@ The following 3 tasks can be used for deployment:
 
 Deploying any of these to the roboRIO will disable the current startup project until it is redeployed.
 
-From here, ssh into the roboRIO using the `admin` account (`lvuser` will fail to run in many cases). In the admin home directory, a file for each deploy type will exist (`myRobotCpp`, `myRobotCppStatic` and `myRobotJavaRun`). These can be run to start up the corresponding project.
+From here, ssh into the roboRIO using the `lvuser` account and run `frcRunRobot.sh` (It's in path).
diff --git a/buildSrc/src/main/groovy/WPIJREArtifact.groovy b/buildSrc/src/main/groovy/WPIJREArtifact.groovy
index abe4851473..1a0139b627 100644
--- a/buildSrc/src/main/groovy/WPIJREArtifact.groovy
+++ b/buildSrc/src/main/groovy/WPIJREArtifact.groovy
@@ -1,13 +1,14 @@
-import groovy.transform.CompileStatic
-import javax.inject.Inject
-import edu.wpi.first.deployutils.deploy.artifact.MavenArtifact
-import edu.wpi.first.deployutils.deploy.context.DeployContext
-import org.gradle.api.Project
-import edu.wpi.first.deployutils.ActionWrapper
-import edu.wpi.first.deployutils.deploy.target.RemoteTarget
-import edu.wpi.first.deployutils.PredicateWrapper
+import groovy.transform.CompileStatic;
+import javax.inject.Inject;
 
-import java.util.function.Function
+import org.gradle.api.Project;
+
+import edu.wpi.first.deployutils.deploy.CommandDeployResult;
+import edu.wpi.first.deployutils.deploy.artifact.MavenArtifact;
+import edu.wpi.first.deployutils.deploy.context.DeployContext;
+import edu.wpi.first.deployutils.deploy.target.RemoteTarget;
+import edu.wpi.first.deployutils.PredicateWrapper;
+import edu.wpi.first.deployutils.ActionWrapper;
 
 @CompileStatic
 public class WPIJREArtifact extends MavenArtifact {
@@ -17,6 +18,18 @@ public class WPIJREArtifact extends MavenArtifact {
         return configName;
     }
 
+    public boolean isCheckJreVersion() {
+        return checkJreVersion;
+    }
+
+    public void setCheckJreVersion(boolean checkJreVersion) {
+        this.checkJreVersion = checkJreVersion;
+    }
+
+    private boolean checkJreVersion = true;
+
+    private final String artifactLocation = "edu.wpi.first.jdk:roborio-2023:17.0.5u7-1"
+
     @Inject
     public WPIJREArtifact(String name, RemoteTarget target) {
         super(name, target);
@@ -24,10 +37,10 @@ public class WPIJREArtifact extends MavenArtifact {
         this.configName = configName;
         Project project = target.getProject();
         getConfiguration().set(project.getConfigurations().create(configName));
-        getDependency().set(project.getDependencies().add(configName, "edu.wpi.first.jdk:roborio-2022:11.0.12u5-1"));
+        getDependency().set(project.getDependencies().add(configName, artifactLocation));
 
         setOnlyIf(new PredicateWrapper({ DeployContext ctx ->
-            return jreMissing(ctx) || project.hasProperty("force-redeploy-jre");
+            return jreMissing(ctx) || jreOutOfDate(ctx) || project.hasProperty("force-redeploy-jre");
         }));
 
         getDirectory().set("/tmp");
@@ -35,7 +48,7 @@ public class WPIJREArtifact extends MavenArtifact {
 
         getPostdeploy().add(new ActionWrapper({ DeployContext ctx ->
             ctx.getLogger().log("Installing JRE...");
-            ctx.execute("opkg remove frc2022-openjdk*; opkg install /tmp/frcjre.ipk; rm /tmp/frcjre.ipk");
+            ctx.execute("opkg remove frc*-openjdk*; opkg install /tmp/frcjre.ipk; rm /tmp/frcjre.ipk");
             ctx.getLogger().log("JRE Deployed!");
         }));
     }
@@ -44,5 +57,21 @@ public class WPIJREArtifact extends MavenArtifact {
         return ctx.execute("if [[ -f \"/usr/local/frc/JRE/bin/java\" ]]; then echo OK; else echo MISSING; fi").getResult().contains("MISSING");
     }
 
-
+    private boolean jreOutOfDate(DeployContext ctx) {
+        if (!checkJreVersion) {
+            return false;
+        }
+        String version = getDependency().get().getVersion();
+        CommandDeployResult cmdResult = ctx.execute("opkg list-installed | grep openjdk");
+        if (cmdResult.getExitCode() != 0) {
+            ctx.getLogger().log("JRE not found");
+            return false;
+        }
+        String result = cmdResult.getResult().trim();
+        ctx.getLogger().log("Searching for JRE " + version);
+        ctx.getLogger().log("Found JRE " + result);
+        boolean matches = result.contains(version);
+        ctx.getLogger().log(matches ? "JRE Is Correct Version" : "JRE is mismatched. Reinstalling");
+        return !matches;
+    }
 }
diff --git a/myRobot/build.gradle b/myRobot/build.gradle
index 6cd26e8531..d337daff0e 100644
--- a/myRobot/build.gradle
+++ b/myRobot/build.gradle
@@ -58,7 +58,7 @@ def simProjects = ['halsim_gui']
 deploy {
     targets {
         roborio(RemoteTarget) {
-            directory = '/home/admin'
+            directory = '/home/lvuser'
             maxChannels = 4
             locations {
                 ssh(SshDeployLocation) {
@@ -78,7 +78,8 @@ deploy {
             artifacts {
                 all {
                     predeploy << { ctx ->
-                        ctx.execute('/usr/local/frc/bin/frcKillRobot.sh -t')
+                        ctx.execute('. /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t 2> /dev/null')
+                        ctx.execute("sed -i -e 's/\"exec /\"/' /usr/local/frc/bin/frcRunRobot.sh")
                     }
                     postdeploy << { ctx ->
                         ctx.execute("sync")
@@ -92,6 +93,9 @@ deploy {
                     excludes.add('**/*.so.debug')
                     excludes.add('**/*.so.*.debug')
                     postdeploy << { ctx ->
+                        ctx.execute("echo '/home/lvuser/myRobotCpp' > /home/lvuser/robotCommand")
+                        ctx.execute("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand")
+                        ctx.execute("setcap cap_sys_nice+eip \"/home/lvuser/myRobotCpp\"")
                         ctx.execute('chmod +x myRobotCpp')
                     }
                 }
@@ -99,18 +103,28 @@ deploy {
                 myRobotCppStatic(NativeExecutableArtifact) {
                     libraryDirectory = '/usr/local/frc/third-party/lib'
                     postdeploy << { ctx ->
+                        ctx.execute("echo '/home/lvuser/myRobotCppStatic' > /home/lvuser/robotCommand")
+                        ctx.execute("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand")
+                        ctx.execute("setcap cap_sys_nice+eip \"/home/lvuser/myRobotCppStatic\"")
                         ctx.execute('chmod +x myRobotCppStatic')
                     }
                 }
 
+                myRobotCppJava(NativeExecutableArtifact) {
+                    libraryDirectory = '/usr/local/frc/third-party/lib'
+                    def excludes = getLibraryFilter().getExcludes()
+                    excludes.add('**/*.so.debug')
+                    excludes.add('**/*.so.*.debug')
+                }
+
                 jre(WPIJREArtifact) {
                 }
 
                 myRobotJava(JavaArtifact) {
                     jarTask = shadowJar
                     postdeploy << { ctx ->
-                        ctx.execute("echo '/usr/local/frc/JRE/bin/java -XX:+UseConcMarkSweepGC -Djava.library.path=/usr/local/frc/third-party/lib -Djava.lang.invoke.stringConcat=BC_SB -jar /home/admin/myRobot-all.jar' > /home/admin/myRobotJavaRun")
-                        ctx.execute("chmod +x /home/admin/myRobotJavaRun; chown lvuser /home/admin/myRobotJavaRun")
+                        ctx.execute("echo '/usr/local/frc/JRE/bin/java -XX:+UseG1GC -XX:MaxGCPauseMillis=1 -XX:GCTimeRatio=1 -Djava.library.path=/usr/local/frc/third-party/lib -Djava.lang.invoke.stringConcat=BC_SB -jar /home/lvuser/myRobot-all.jar' > /home/lvuser/robotCommand")
+                        ctx.execute("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand")
                     }
                 }
             }
@@ -122,7 +136,7 @@ tasks.register('deployJava') {
     try {
         dependsOn tasks.named('deployjreroborio')
         dependsOn tasks.named('deploymyRobotJavaroborio')
-        dependsOn tasks.named('deploymyRobotCpproborio') // Deploying shared C++ is how to get the Java shared libraries.
+        dependsOn tasks.named('deploymyRobotCppJavaroborio') // Deploying shared C++ is how to get the Java shared libraries.
     } catch (ignored) {
     }
 }
@@ -161,6 +175,7 @@ model {
                 if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
                     if (binary.buildType.name == 'debug') {
                         deploy.targets.roborio.artifacts.myRobotCpp.binary = binary
+                        deploy.targets.roborio.artifacts.myRobotCppJava.binary = binary
                     }
                 }
                 lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'shared'