diff --git a/azure-pipelines.yml b/azure-pipelines.yml
index 97ef121a50..cb0626903d 100644
--- a/azure-pipelines.yml
+++ b/azure-pipelines.yml
@@ -31,7 +31,7 @@ stages:
           publishJUnitResults: false
           testResultsFiles: '**/TEST-*.xml'
           tasks: 'build'
-          options: '-PonlyAthena'
+          options: '-Ponlylinuxathena'
           # checkStyleRunAnalysis: true
           # pmdRunAnalysis: true
 
@@ -55,7 +55,7 @@ stages:
           publishJUnitResults: true
           testResultsFiles: '**/TEST-*.xml'
           tasks: 'build'
-          options: '-PonlyRaspbian'
+          options: '-Ponlylinuxraspbian'
           # checkStyleRunAnalysis: true
           # pmdRunAnalysis: true
 
@@ -79,7 +79,7 @@ stages:
           publishJUnitResults: true
           testResultsFiles: '**/TEST-*.xml'
           tasks: 'build'
-          options: '-PskipAthena'
+          options: '-Pskiplinuxathena -Pskiplinuxraspbian'
           # checkStyleRunAnalysis: true
           # pmdRunAnalysis: true
 
@@ -130,7 +130,7 @@ stages:
 
   - job: Windows_64_Bit
     pool:
-      vmImage: 'vs2017-win2016'
+      vmImage: 'windows-2019'
     steps:
       - powershell: |
           mkdir build
@@ -151,6 +151,7 @@ stages:
           publishJUnitResults: true
           testResultsFiles: '**/TEST-*.xml'
           tasks: 'build'
+          options: '-PskipPMD'
           # checkStyleRunAnalysis: true
           # pmdRunAnalysis: true
 
@@ -161,7 +162,7 @@ stages:
 
   - job: Windows_32_Bit
     pool:
-      vmImage: 'vs2017-win2016'
+      vmImage: 'windows-2019'
     steps:
       - powershell: |
           mkdir build
@@ -182,6 +183,7 @@ stages:
           publishJUnitResults: true
           testResultsFiles: '**/TEST-*.xml'
           tasks: 'build'
+          options: '-PskipPMD'
           # checkStyleRunAnalysis: true
           # pmdRunAnalysis: true
       - task: PublishPipelineArtifact@0
@@ -212,6 +214,7 @@ stages:
           publishJUnitResults: true
           testResultsFiles: '**/TEST-*.xml'
           tasks: 'build'
+          #options: ''
           # checkStyleRunAnalysis: true
           # pmdRunAnalysis: true
 
diff --git a/build.gradle b/build.gradle
index aac1e12af2..acb8310039 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,12 +1,14 @@
+import edu.wpi.first.toolchain.*
+
 plugins {
     id 'base'
     id 'edu.wpi.first.wpilib.versioning.WPILibVersioningPlugin' version '2.3'
-    id 'edu.wpi.first.NativeUtils' version '2.1.2'
-    id 'edu.wpi.first.GradleJni' version '0.3.1'
-    id 'edu.wpi.first.GradleVsCode' version '0.7.1'
+    id 'edu.wpi.first.NativeUtils' apply false
+    id 'edu.wpi.first.GradleJni' version '0.4.1'
+    id 'edu.wpi.first.GradleVsCode' version '0.8.0'
     id 'idea'
     id 'visual-studio'
-    id 'com.gradle.build-scan' version '2.0.2'
+    id 'com.gradle.build-scan' version '2.3'
     id 'net.ltgt.errorprone' version '0.6' apply false
     id 'com.github.johnrengelman.shadow' version '4.0.3' apply false
 }
@@ -99,6 +101,10 @@ subprojects {
     }
 }
 
-wrapper {
-    gradleVersion = '5.0'
+ext.getCurrentArch = {
+    return NativePlatforms.desktop
+}
+
+wrapper {
+    gradleVersion = '5.4.1'
 }
diff --git a/buildSrc/build.gradle b/buildSrc/build.gradle
new file mode 100644
index 0000000000..7bab0117e9
--- /dev/null
+++ b/buildSrc/build.gradle
@@ -0,0 +1,9 @@
+repositories {
+    maven {
+        url "https://plugins.gradle.org/m2/"
+        mavenLocal()
+    }
+}
+dependencies {
+    compile "edu.wpi.first:native-utils:2019.5.12"
+}
diff --git a/buildSrc/src/main/groovy/MultiBuilds.groovy b/buildSrc/src/main/groovy/MultiBuilds.groovy
index aa1a225e16..8df7fc6d4c 100644
--- a/buildSrc/src/main/groovy/MultiBuilds.groovy
+++ b/buildSrc/src/main/groovy/MultiBuilds.groovy
@@ -47,16 +47,6 @@ class MultiBuilds implements Plugin<Project> {
 
   @CompileStatic
   static class Rules extends RuleSource {
-    @Mutate
-    void setupBuildTypes(BuildTypeContainer buildTypes, ProjectLayout projectLayout) {
-        def project = (Project) projectLayout.projectIdentifier
-        if (project.hasProperty('releaseBuild')) {
-            buildTypes.create('debug')
-        } else {
-            buildTypes.create('release')
-        }
-    }
-
     @CompileDynamic
     private static void setBuildableFalseDynamically(NativeBinarySpec binary) {
         binary.buildable = false
diff --git a/buildSrc/src/main/groovy/SingleNativeBuild.groovy b/buildSrc/src/main/groovy/SingleNativeBuild.groovy
index 20d415da07..2b7e087b24 100644
--- a/buildSrc/src/main/groovy/SingleNativeBuild.groovy
+++ b/buildSrc/src/main/groovy/SingleNativeBuild.groovy
@@ -40,6 +40,7 @@ import org.gradle.platform.base.ComponentType;
 import org.gradle.platform.base.TypeBuilder;
 import org.gradle.nativeplatform.tasks.ObjectFilesToBinary;
 import groovy.transform.CompileStatic;
+import edu.wpi.first.nativeutils.tasks.ExportsGenerationTask
 
 @CompileStatic
 class SingleNativeBuild implements Plugin<Project> {
@@ -94,8 +95,7 @@ class SingleNativeBuild implements Plugin<Project> {
                             return
                         }
                         def tmpBaseBin = (NativeBinarySpec) oTmpBaseBin
-                        if (tmpBaseBin.targetPlatform.operatingSystem.name == binary.targetPlatform.operatingSystem.name &&
-                                tmpBaseBin.targetPlatform.architecture.name == binary.targetPlatform.architecture.name &&
+                        if (tmpBaseBin.targetPlatform.name == binary.targetPlatform.name &&
                                 tmpBaseBin.buildType == binary.buildType) {
                             baseBin = tmpBaseBin
                         }
@@ -105,6 +105,10 @@ class SingleNativeBuild implements Plugin<Project> {
                         if (binary instanceof SharedLibraryBinarySpec) {
                             def sBinary = (SharedLibraryBinarySpec) binary
                             ObjectFilesToBinary link = (ObjectFilesToBinary) sBinary.tasks.link
+                            ExportsGenerationTask exportsTask = binary.tasks.withType(ExportsGenerationTask)[0]
+                            if (exportsTask != null) {
+                                exportsTask.dependsOn compileTask
+                            }
                             link.dependsOn compileTask
                             link.inputs.dir compileTask.objectFileDir
                             def tree = project.fileTree(compileTask.objectFileDir)
diff --git a/cameraserver/build.gradle b/cameraserver/build.gradle
index 2b19454a27..d59d74983d 100644
--- a/cameraserver/build.gradle
+++ b/cameraserver/build.gradle
@@ -30,23 +30,20 @@ ext {
 
 apply from: "${rootDir}/shared/opencv.gradle"
 
-model {
-    // Exports config is a utility to enable exporting all symbols in a C++ library on windows to a DLL.
-    // This removes the need for DllExport on a library. However, the gradle C++ builder has a bug
-    // where some extra symbols are added that cannot be resolved at link time. This configuration
-    // lets you specify specific symbols to exlude from exporting.
-    exportsConfigs {
-        cameraserver(ExportsConfig) {
-            x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
-                                 '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
-                                 '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
-                                 '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
-            x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
-                                 '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
-                                 '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
-                                 '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
-        }
+nativeUtils.exportsConfigs {
+    cameraserver {
+        x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+                            '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+                            '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
+                            '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
+        x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+                            '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+                            '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
+                            '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
     }
+}
+
+model {
     components {}
     binaries {
         all {
@@ -66,7 +63,7 @@ model {
             if (it in NativeExecutableSpec && it.name == "${nativeName}Dev") {
                 it.binaries.each {
                     if (!found) {
-                        def arch = it.targetPlatform.architecture.name
+                        def arch = it.targetPlatform.name
                         if (arch == systemArch) {
                             def filePath = it.tasks.install.installDirectory.get().toString() + File.separatorChar + 'lib'
 
diff --git a/cscore/build.gradle b/cscore/build.gradle
index 40cb97dafa..53a762beec 100644
--- a/cscore/build.gradle
+++ b/cscore/build.gradle
@@ -20,7 +20,7 @@ ext {
     useJava = true
     useCpp = true
     splitSetup = {
-        if (it.targetPlatform.operatingSystem.name == 'osx') {
+        if (it.targetPlatform.operatingSystem.isMacOsX()) {
             it.sources {
                 macObjCpp(ObjectiveCppSourceSet) {
                     source {
@@ -43,7 +43,7 @@ ext {
                     }
                 }
             }
-        } else if (it.targetPlatform.operatingSystem.name == 'linux') {
+        } else if (it.targetPlatform.operatingSystem.isLinux()) {
             it.sources {
                 cscoreLinuxCpp(CppSourceSet) {
                     source {
@@ -56,7 +56,7 @@ ext {
                     }
                 }
             }
-        } else if (it.targetPlatform.operatingSystem.name == 'windows') {
+        } else if (it.targetPlatform.operatingSystem.isWindows()) {
             it.sources {
                 cscoreWindowsCpp(CppSourceSet) {
                     source {
@@ -88,43 +88,28 @@ examplesTree.list(new FilenameFilter() {
 
 apply from: "${rootDir}/shared/opencv.gradle"
 
-model {
-    // Exports config is a utility to enable exporting all symbols in a C++ library on windows to a DLL.
-    // This removes the need for DllExport on a library. However, the gradle C++ builder has a bug
-    // where some extra symbols are added that cannot be resolved at link time. This configuration
-    // lets you specify specific symbols to exlude from exporting.
-    exportsConfigs {
-        cscore(ExportsConfig) {
-            x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
-                                 '_CT??_R0?AVbad_cast',
-                                 '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
-                                 '_TI5?AVfailure']
-            x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
-                                 '_CT??_R0?AVbad_cast',
-                                 '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
-                                 '_TI5?AVfailure']
+nativeUtils.exportsConfigs {
+    cscore {
+        x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+                            '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+                            '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
+                            '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
+        x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+                            '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+                            '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
+                            '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
+    }
+    cscoreJNI {
+        x86SymbolFilter = { symbols ->
+            symbols.removeIf({ !it.startsWith('CS_') })
         }
-        cscoreJNI(ExportsConfig) {
-            x86SymbolFilter = { symbols ->
-                def retList = []
-                symbols.each { symbol ->
-                    if (symbol.startsWith('CS_')) {
-                        retList << symbol
-                    }
-                }
-                return retList
-            }
-            x64SymbolFilter = { symbols ->
-                def retList = []
-                symbols.each { symbol ->
-                    if (symbol.startsWith('CS_')) {
-                        retList << symbol
-                    }
-                }
-                return retList
-            }
+        x64SymbolFilter = { symbols ->
+            symbols.removeIf({ !it.startsWith('CS_') })
         }
     }
+}
+
+model {
     components {
         examplesMap.each { key, value ->
             "${key}"(NativeExecutableSpec) {
diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar
index 457aad0d98..5c2d1cf016 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 75b8c7c8c6..f4d7b2bf61 100644
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-5.0-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-5.4.1-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
diff --git a/gradlew b/gradlew
index af6708ff22..b0d6d0ab5d 100755
--- a/gradlew
+++ b/gradlew
@@ -1,5 +1,21 @@
 #!/usr/bin/env sh
 
+#
+# Copyright 2015 the original author or authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+
 ##############################################################################
 ##
 ##  Gradle start up script for UN*X
@@ -28,7 +44,7 @@ APP_NAME="Gradle"
 APP_BASE_NAME=`basename "$0"`
 
 # Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-DEFAULT_JVM_OPTS='"-Xmx64m"'
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD="maximum"
diff --git a/gradlew.bat b/gradlew.bat
index 0f8d5937c4..15e1ee37a7 100644
--- a/gradlew.bat
+++ b/gradlew.bat
@@ -1,3 +1,19 @@
+@rem
+@rem Copyright 2015 the original author or authors.
+@rem
+@rem Licensed under the Apache License, Version 2.0 (the "License");
+@rem you may not use this file except in compliance with the License.
+@rem You may obtain a copy of the License at
+@rem
+@rem      http://www.apache.org/licenses/LICENSE-2.0
+@rem
+@rem Unless required by applicable law or agreed to in writing, software
+@rem distributed under the License is distributed on an "AS IS" BASIS,
+@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+@rem See the License for the specific language governing permissions and
+@rem limitations under the License.
+@rem
+
 @if "%DEBUG%" == "" @echo off
 @rem ##########################################################################
 @rem
@@ -14,7 +30,7 @@ set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
 @rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-set DEFAULT_JVM_OPTS="-Xmx64m"
+set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
 
 @rem Find java.exe
 if defined JAVA_HOME goto findJavaFromJavaHome
diff --git a/hal/build.gradle b/hal/build.gradle
index 2f49ee5c99..08eadb202d 100644
--- a/hal/build.gradle
+++ b/hal/build.gradle
@@ -67,7 +67,7 @@ ext {
         it.tasks.withType(AbstractNativeSourceCompileTask) {
             it.dependsOn generateUsageReporting
         }
-        if (it.targetPlatform.architecture.name == 'athena') {
+        if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
             it.sources {
                 athenaJniCpp(CppSourceSet) {
                     source {
@@ -99,7 +99,7 @@ ext {
         it.tasks.withType(AbstractNativeSourceCompileTask) {
             it.dependsOn generateUsageReporting
         }
-        if (it.targetPlatform.architecture.name == 'athena') {
+        if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
             it.sources {
                 athenaCpp(CppSourceSet) {
                     source {
@@ -163,41 +163,23 @@ cppHeadersZip {
     }
 }
 
-model {
-    // Exports config is a utility to enable exporting all symbols in a C++ library on windows to a DLL.
-    // This removes the need for DllExport on a library. However, the gradle C++ builder has a bug
-    // where some extra symbols are added that cannot be resolved at link time. This configuration
-    // lets you specify specific symbols to exlude from exporting.
-    exportsConfigs {
-        hal(ExportsConfig) {
-            x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
-                                 '_CT??_R0?AVbad_cast',
-                                 '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
-                                 '_TI5?AVfailure']
-            x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
-                                 '_CT??_R0?AVbad_cast',
-                                 '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
-                                 '_TI5?AVfailure']
+nativeUtils.exportsConfigs {
+    hal {
+        x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+                            '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+                            '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
+                            '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
+        x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+                            '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+                            '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
+                            '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
+    }
+    halJNI {
+        x86SymbolFilter = { symbols ->
+            symbols.removeIf({ !it.startsWith('HAL_') && !it.startsWith('HALSIM_') })
         }
-        halJNI(ExportsConfig) {
-            x86SymbolFilter = { symbols ->
-                def retList = []
-                symbols.each { symbol ->
-                    if (symbol.startsWith('HAL_') || symbol.startsWith('HALSIM_')) {
-                        retList << symbol
-                    }
-                }
-                return retList
-            }
-            x64SymbolFilter = { symbols ->
-                def retList = []
-                symbols.each { symbol ->
-                    if (symbol.startsWith('HAL_') || symbol.startsWith('HALSIM_')) {
-                        retList << symbol
-                    }
-                }
-                return retList
-            }
+        x64SymbolFilter = { symbols ->
+            symbols.removeIf({ !it.startsWith('HAL_') && !it.startsWith('HALSIM_') })
         }
     }
 }
diff --git a/hal/simjni.gradle b/hal/simjni.gradle
index 599f0949b7..c1aef73dc4 100644
--- a/hal/simjni.gradle
+++ b/hal/simjni.gradle
@@ -12,7 +12,7 @@ task generateAthenaSimFiles() {
             it.all { component ->
                 if (component in getJniSpecClass()) {
                     component.binaries.all { binary ->
-                        if (binary.targetPlatform.architecture.name == 'athena') {
+                        if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
                             binary.tasks.withType(CppCompile) {
                                 it.dependsOn createdTask
                             }
diff --git a/myRobot/build.gradle b/myRobot/build.gradle
index 0c047e84d7..8f296cec22 100644
--- a/myRobot/build.gradle
+++ b/myRobot/build.gradle
@@ -110,7 +110,7 @@ model {
                 if (it in NativeExecutableSpec && it.name == "myRobotCpp") {
                     it.binaries.each {
                         if (!found) {
-                            def arch = it.targetPlatform.architecture.name
+                            def arch = it.targetPlatform.name
                             if (arch == systemArch) {
                                 dependsOn it.tasks.install
                                 commandLine it.tasks.install.runScriptFile.get().asFile.toString()
@@ -129,14 +129,14 @@ model {
         }
         installAthena(Task) {
             $.binaries.each {
-                if (it in NativeExecutableBinarySpec && it.targetPlatform.architecture.name == 'athena' && it.component.name == 'myRobotCpp') {
+                if (it in NativeExecutableBinarySpec && it.targetPlatform.name == nativeUtils.wpi.platforms.roborio && it.component.name == 'myRobotCpp') {
                     dependsOn it.tasks.install
                 }
             }
         }
         installAthenaStatic(Task) {
             $.binaries.each {
-                if (it in NativeExecutableBinarySpec && it.targetPlatform.architecture.name == 'athena' && it.component.name == 'myRobotCppStatic') {
+                if (it in NativeExecutableBinarySpec && it.targetPlatform.name == nativeUtils.wpi.platforms.roborio && it.component.name == 'myRobotCppStatic') {
                     dependsOn it.tasks.install
                 }
             }
diff --git a/ntcore/build.gradle b/ntcore/build.gradle
index 659b0f9214..5739b71113 100644
--- a/ntcore/build.gradle
+++ b/ntcore/build.gradle
@@ -5,45 +5,29 @@ ext {
 
 apply from: "${rootDir}/shared/jni/setupBuild.gradle"
 
-model {
-    // Exports config is a utility to enable exporting all symbols in a C++ library on windows to a DLL.
-    // This removes the need for DllExport on a library. However, the gradle C++ builder has a bug
-    // where some extra symbols are added that cannot be resolved at link time. This configuration
-    // lets you specify specific symbols to exlude from exporting.
-    exportsConfigs {
-        ntcore(ExportsConfig) {
-            x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
-                                 '_CT??_R0?AVbad_cast',
-                                 '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
-                                 '_TI5?AVfailure']
-            x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
-                                 '_CT??_R0?AVbad_cast',
-                                 '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
-                                 '_TI5?AVfailure']
+nativeUtils.exportsConfigs {
+    ntcore {
+        x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+                            '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+                            '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
+                            '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
+        x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+                            '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+                            '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
+                            '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
+    }
+    ntcoreJNI {
+        x86SymbolFilter = { symbols ->
+            symbols.removeIf({ !it.startsWith('NT_') })
         }
-        ntcoreJNI(ExportsConfig) {
-            x86SymbolFilter = { symbols ->
-                def retList = []
-                symbols.each { symbol ->
-                    if (symbol.startsWith('NT_')) {
-                        retList << symbol
-                    }
-                }
-                return retList
-            }
-            x64SymbolFilter = { symbols ->
-                def retList = []
-                symbols.each { symbol ->
-                    if (symbol.startsWith('NT_')) {
-                        retList << symbol
-                    }
-                }
-                return retList
-            }
+        x64SymbolFilter = { symbols ->
+            symbols.removeIf({ !it.startsWith('NT_') })
         }
     }
 }
 
-pmdMain {
-    pmdMain.enabled = false
+if (!project.hasProperty('skipPMD')) {
+    pmdMain {
+        pmdMain.enabled = false
+    }
 }
diff --git a/shared/config.gradle b/shared/config.gradle
index d5ac9b17da..2a66371269 100644
--- a/shared/config.gradle
+++ b/shared/config.gradle
@@ -1,251 +1,40 @@
-import edu.wpi.first.nativeutils.*
 import org.gradle.internal.os.OperatingSystem
 
-def windowsCompilerArgs = ['/EHsc', '/D_CRT_SECURE_NO_WARNINGS', '/Zi', '/FS', '/Zc:inline', '/W3', '/wd4244', '/wd4267', '/wd4146', '/wd4996', '/std:c++17', '/Zc:throwingNew', '/permissive-', '/WX']
-def windowsCCompilerArgs = ['/Zi', '/FS', '/Zc:inline', '/W3', '/WX']
-def windowsReleaseCompilerArgs = ['/O2', '/MD']
-def windowsDebugCompilerArgs = ['/Od', '/MDd']
-def windowsLinkerArgs = ['/DEBUG:FULL']
-def windowsReleaseLinkerArgs = ['/OPT:REF', '/OPT:ICF']
-
-def linuxCrossCompilerArgs = ['-std=c++17', '-Wformat=2', '-Wall', '-Wextra', '-Werror', '-pedantic', '-Wno-psabi', '-g',
-                         '-Wno-unused-parameter', '-Wno-error=deprecated-declarations', '-fPIC', '-rdynamic',
-                         '-pthread']
-def linuxCrossCCompilerArgs = ['-Wformat=2', '-Wall', '-Wextra', '-Werror', '-pedantic', '-Wno-psabi', '-g',
-                          '-Wno-unused-parameter', '-fPIC', '-rdynamic', '-pthread']
-def linuxCrossLinkerArgs = ['-rdynamic', '-pthread', '-ldl']
-def linuxCrossReleaseCompilerArgs = ['-O2']
-def linuxCrossDebugCompilerArgs = ['-Og']
-
-def linuxCompilerArgs = ['-std=c++17', '-Wformat=2', '-Wall', '-Wextra', '-Werror', '-pedantic', '-Wno-psabi', '-g',
-                         '-Wno-unused-parameter', '-Wno-error=deprecated-declarations', '-fPIC', '-rdynamic',
-                         '-pthread']
-def linuxCCompilerArgs = ['-Wformat=2', '-Wall', '-Wextra', '-Werror', '-pedantic', '-Wno-psabi', '-g',
-                          '-Wno-unused-parameter', '-fPIC', '-rdynamic', '-pthread']
-def linuxLinkerArgs = ['-rdynamic', '-pthread', '-ldl']
-def linuxReleaseCompilerArgs = ['-O2']
-def linuxDebugCompilerArgs = ['-O0']
-def linux32BitArg = '-m32'
-
-def macCompilerArgs = ['-std=c++17', '-Wall', '-Wextra', '-Werror', '-pedantic-errors', '-fPIC', '-g',
-                       '-Wno-unused-parameter', '-Wno-error=deprecated-declarations', '-Wno-missing-field-initializers',
-                       '-Wno-unused-private-field', '-Wno-unused-const-variable', '-pthread']
-def macCCompilerArgs = ['-Wall', '-Wextra', '-Werror', '-pedantic-errors', '-fPIC', '-g',
-                        '-Wno-unused-parameter', '-Wno-missing-field-initializers', '-Wno-unused-private-field']
-def macObjCLinkerArgs = ['-std=c++17', '-stdlib=libc++','-fobjc-arc', '-g', '-fPIC', '-Wall', '-Wextra', '-Werror']
-def macReleaseCompilerArgs = ['-O2']
-def macDebugCompilerArgs = ['-O0']
-def macLinkerArgs = ['-framework', 'CoreFoundation', '-framework', 'AVFoundation', '-framework', 'Foundation', '-framework', 'CoreMedia', '-framework', 'CoreVideo']
-def mac32BitArg = '-m32'
-
-def buildAll = project.hasProperty('buildAll')
-
-def windows64PlatformDetect = {
-    def arch = System.getProperty("os.arch")
-    def isWin = OperatingSystem.current().isWindows()
-    if (buildAll) {
-        return isWin
-    } else {
-        return isWin && arch == 'amd64'
+nativeUtils.addWpiNativeUtils()
+nativeUtils.withRaspbian()
+nativeUtils {
+  wpi {
+    configureDependencies {
+      wpiVersion = "-1"
+      niLibVersion = "2019.12.1"
+      opencvVersion = "3.4.4-5"
+      googleTestVersion = "1.8.1-1-f71fb4f"
     }
+  }
 }
 
-def windows32PlatformDetect = {
-    def arch = System.getProperty("os.arch")
-    def isWin = OperatingSystem.current().isWindows()
-    if (buildAll) {
-        return isWin
-    } else {
-        return isWin && arch == 'x86'
-    }
+nativeUtils.wpi.addWarnings()
+nativeUtils.wpi.addWarningsAsErrors()
+
+nativeUtils.setSinglePrintPerPlatform()
+
+toolchainsPlugin.crossCompilers.named(nativeUtils.wpi.platforms.roborio) {
+    optional.set(true)
 }
 
-def linux32IntelPlatformDetect = {
-    def arch = System.getProperty("os.arch")
-    def isLinux = OperatingSystem.current().isLinux()
-    def isIntel = (arch == 'amd64' || arch == 'i386')
-    if (buildAll) {
-        return isLinux && isIntel
-    } else {
-        return isLinux && arch == 'i386'
-    }
-}
-
-def linux64IntelPlatformDetect = {
-    def arch = System.getProperty("os.arch")
-    def isLinux = OperatingSystem.current().isLinux()
-    def isIntel = (arch == 'amd64' || arch == 'i386')
-    if (buildAll) {
-        return isLinux && isIntel
-    } else {
-        return isLinux && arch == 'amd64'
-    }
-}
-
-def linuxArmPlatformDetect = {
-    def arch = System.getProperty("os.arch")
-    def isIntel = (arch == 'amd64' || arch == 'i386')
-    return OperatingSystem.current().isLinux() && !isIntel
-}
-
-def mac64PlatformDetect = {
-    def arch = System.getProperty("os.arch")
-    def isMac = OperatingSystem.current().isMacOsX()
-    if (buildAll) {
-        return isMac
-    } else {
-        return isMac && arch == 'x86_64'
-    }
-}
-
-def mac32PlatformDetect = {
-    def arch = System.getProperty("os.arch")
-    def isMac = OperatingSystem.current().isMacOsX()
-    if (buildAll) {
-        return isMac
-    } else {
-        return isMac && arch == 'x86'
-    }
-}
-
-if (!project.hasProperty('skipAthena') && !project.hasProperty('onlyRaspbian')) {
-    model {
-        buildConfigs {
-            roboRio(CrossBuildConfig) {
-                architecture = 'athena'
-                operatingSystem = 'linux'
-                toolChainPrefix = 'arm-frc2019-linux-gnueabi-'
-                compilerArgs = linuxCrossCompilerArgs
-                CCompilerArgs = linuxCrossCCompilerArgs
-                linkerArgs = linuxCrossLinkerArgs
-                debugCompilerArgs = linuxCrossDebugCompilerArgs
-                releaseCompilerArgs = linuxCrossReleaseCompilerArgs
-                stripBuildTypes = ['debug', 'release']
-                compilerFamily = 'Gcc'
-            }
+model {
+    components {
+        all {
+            nativeUtils.useAllPlatforms(it)
         }
     }
-}
-
-if (!project.hasProperty('skipRaspbian') && !project.hasProperty('onlyAthena')) {
-    model {
-        buildConfigs {
-            raspbian(CrossBuildConfig) {
-                architecture = 'raspbian'
-                operatingSystem = 'linux'
-                toolChainPrefix = 'arm-raspbian9-linux-gnueabihf-'
-                compilerArgs = linuxCrossCompilerArgs
-                CCompilerArgs = linuxCrossCCompilerArgs
-                linkerArgs = linuxCrossLinkerArgs
-                debugCompilerArgs = linuxCrossDebugCompilerArgs
-                releaseCompilerArgs = linuxCrossReleaseCompilerArgs
-                stripBuildTypes = ['debug', 'release']
-                compilerFamily = 'Gcc'
-            }
+    binaries {
+        withType(NativeBinarySpec).all {
+            nativeUtils.usePlatformArguments(it)
         }
     }
 }
 
-if (!project.hasProperty('onlyAthena') && !hasProperty('onlyRaspbian')) {
-    model {
-        buildConfigs {
-            winX86(BuildConfig) {
-                architecture = 'x86'
-                operatingSystem = 'windows'
-                compilerArgs = windowsCompilerArgs
-                CCompilerArgs = windowsCCompilerArgs
-                linkerArgs = windowsLinkerArgs
-                releaseCompilerArgs = windowsReleaseCompilerArgs
-                releaseLinkerArgs = windowsReleaseLinkerArgs
-                debugCompilerArgs = windowsDebugCompilerArgs
-                compilerFamily = 'VisualCpp'
-                detectPlatform = windows32PlatformDetect
-            }
-            winX64(BuildConfig) {
-                architecture = 'x86-64'
-                operatingSystem = 'windows'
-                compilerArgs = windowsCompilerArgs
-                CCompilerArgs = windowsCCompilerArgs
-                linkerArgs = windowsLinkerArgs
-                releaseCompilerArgs = windowsReleaseCompilerArgs
-                releaseLinkerArgs = windowsReleaseLinkerArgs
-                debugCompilerArgs = windowsDebugCompilerArgs
-                compilerFamily = 'VisualCpp'
-                detectPlatform = windows64PlatformDetect
-            }
-            linuxX64(BuildConfig) {
-                architecture = 'x86-64'
-                operatingSystem = 'linux'
-                compilerArgs = linuxCompilerArgs
-                CCompilerArgs = linuxCCompilerArgs
-                linkerArgs = linuxLinkerArgs
-                debugCompilerArgs = linuxDebugCompilerArgs
-                releaseCompilerArgs = linuxReleaseCompilerArgs
-                stripBuildTypes = ['debug', 'release']
-                compilerFamily = 'Gcc'
-                detectPlatform = linux64IntelPlatformDetect
-            }
-            macX64(BuildConfig) {
-                architecture = 'x86-64'
-                operatingSystem = 'osx'
-                compilerArgs = macCompilerArgs
-                CCompilerArgs = macCCompilerArgs
-                debugCompilerArgs = macDebugCompilerArgs
-                releaseCompilerArgs = macReleaseCompilerArgs
-                objCppCompilerArgs = macObjCLinkerArgs
-                linkerArgs = macLinkerArgs
-                compilerFamily = 'Clang'
-                detectPlatform = mac64PlatformDetect
-            }
-        }
-    }
-}
-
-if (project.hasProperty('linuxCross')) {
-    model {
-        buildConfigs {
-            linuxArm(CrossBuildConfig) {
-                architecture = 'nativearm'
-                operatingSystem = 'linux'
-                toolChainPrefix = 'PLEASE_PROVIDE_A_COMPILER_NAME'
-                compilerArgs = linuxCompilerArgs
-                CCompilerArgs = linuxCCompilerArgs
-                linkerArgs = linuxLinkerArgs
-                debugCompilerArgs = linuxDebugCompilerArgs
-                releaseCompilerArgs = linuxReleaseCompilerArgs
-                stripBuildTypes = ['debug', 'release']
-                skipByDefault = true
-                compilerFamily = 'Gcc'
-            }
-        }
-    }
-} else {
-    model {
-        buildConfigs {
-            linuxArm(BuildConfig) {
-                architecture = 'nativearm'
-                operatingSystem = 'linux'
-                compilerArgs = linuxCompilerArgs
-                CCompilerArgs = linuxCCompilerArgs
-                linkerArgs = linuxLinkerArgs
-                debugCompilerArgs = linuxDebugCompilerArgs
-                releaseCompilerArgs = linuxReleaseCompilerArgs
-                stripBuildTypes = ['debug', 'release']
-                compilerFamily = 'Gcc'
-                detectPlatform = linuxArmPlatformDetect
-            }
-        }
-    }
-}
-
-ext.getPublishClassifier = { binary ->
-    return NativeUtils.getPublishClassifier(binary)
-}
-
-ext.getPlatformPath = { binary ->
-    return NativeUtils.getPlatformPath(binary)
-}
-
 ext.appendDebugPathToBinaries = { binaries->
     binaries.withType(StaticLibraryBinarySpec) {
         if (it.buildType.name.contains('debug')) {
@@ -287,7 +76,7 @@ ext.createComponentZipTasks = { components, names, base, type, project, func ->
         if (it in NativeLibrarySpec && stringNames.contains(it.name)) {
             it.binaries.each {
                 if (!it.buildable) return
-                def target = getPublishClassifier(it)
+                def target = nativeUtils.getPublishClassifier(it)
                 if (configMap.containsKey(target)) {
                     configMap.get(target).add(it)
                 } else {
@@ -358,38 +147,26 @@ ext.includeStandardZipFormat = { task, value ->
             if (binary instanceof SharedLibraryBinarySpec) {
                 task.dependsOn binary.tasks.link
                 task.from(new File(binary.sharedLibraryFile.absolutePath + ".debug")) {
-                    into getPlatformPath(binary) + '/shared'
+                    into nativeUtils.getPlatformPath(binary) + '/shared'
                 }
                 def sharedPath = binary.sharedLibraryFile.absolutePath
                 sharedPath = sharedPath.substring(0, sharedPath.length() - 4)
 
                 task.from(new File(sharedPath + '.pdb')) {
-                    into getPlatformPath(binary) + '/shared'
+                    into nativeUtils.getPlatformPath(binary) + '/shared'
                 }
                 task.from(binary.sharedLibraryFile) {
-                    into getPlatformPath(binary) + '/shared'
+                    into nativeUtils.getPlatformPath(binary) + '/shared'
                 }
                 task.from(binary.sharedLibraryLinkFile) {
-                    into getPlatformPath(binary) + '/shared'
+                    into nativeUtils.getPlatformPath(binary) + '/shared'
                 }
             } else  if (binary instanceof StaticLibraryBinarySpec) {
                 task.dependsOn binary.tasks.createStaticLib
                 task.from(binary.staticLibraryFile) {
-                    into getPlatformPath(binary) + '/static'
+                    into nativeUtils.getPlatformPath(binary) + '/static'
                 }
             }
         }
     }
 }
-
-ext.getCurrentArch = {
-    def arch = System.getProperty('os.arch');
-
-    if (arch.equals("x86") || arch.equals("i386")) {
-        return 'x86'
-    } else if (arch.equals("amd64") || arch.equals("x86_64")) {
-        return 'x86-64'
-    } else {
-        return arch
-    }
-}
diff --git a/shared/googletest.gradle b/shared/googletest.gradle
index 893c17c73b..4ca8eca770 100644
--- a/shared/googletest.gradle
+++ b/shared/googletest.gradle
@@ -1,13 +1,8 @@
 model {
-    dependencyConfigs {
-        googletest(DependencyConfig) {
-            groupId = 'edu.wpi.first.thirdparty.frc2019'
-            artifactId = 'googletest'
-            headerClassifier = 'headers'
-            ext = 'zip'
-            version = '1.8.1-1-f71fb4f'
-            sharedConfigs = [:]
-            staticConfigs = project.staticGtestConfigs
+    binaries {
+        withType(GoogleTestTestSuiteBinarySpec).all {
+            if (it.targetPlatform.name != nativeUtils.wpi.platforms.raspbian)
+            nativeUtils.useRequiredLibrary(it, 'googletest_static')
         }
     }
 }
diff --git a/shared/java/javacommon.gradle b/shared/java/javacommon.gradle
index 969b4876a8..cd011455d3 100644
--- a/shared/java/javacommon.gradle
+++ b/shared/java/javacommon.gradle
@@ -87,7 +87,7 @@ test {
     }
 }
 
-if (project.hasProperty('onlyAthena') || project.hasProperty('onlyRaspbian')) {
+if (project.hasProperty('onlylinuxathena') || project.hasProperty('onlylinuxraspbian')) {
     test.enabled = false
 }
 
diff --git a/shared/java/javastyle.gradle b/shared/java/javastyle.gradle
index e0919883a5..6e4e2611ad 100644
--- a/shared/java/javastyle.gradle
+++ b/shared/java/javastyle.gradle
@@ -1,6 +1,5 @@
 
 apply plugin: 'checkstyle'
-apply plugin: 'pmd'
 
 checkstyle {
     toolVersion = "8.12"
@@ -8,10 +7,14 @@ checkstyle {
     config = resources.text.fromFile(new File(configDir, "checkstyle.xml"))
 }
 
-pmd {
-    toolVersion = '6.7.0'
-    consoleOutput = true
-    reportsDir = file("$project.buildDir/reports/pmd")
-    ruleSetFiles = files(new File(rootDir, "styleguide/pmd-ruleset.xml"))
-    ruleSets = []
+if (!project.hasProperty('skipPMD')) {
+    apply plugin: 'pmd'
+
+    pmd {
+        toolVersion = '6.7.0'
+        consoleOutput = true
+        reportsDir = file("$project.buildDir/reports/pmd")
+        ruleSetFiles = files(new File(rootDir, "styleguide/pmd-ruleset.xml"))
+        ruleSets = []
+    }
 }
diff --git a/shared/javacpp/setupBuild.gradle b/shared/javacpp/setupBuild.gradle
index d2cdd1d866..078af7df36 100644
--- a/shared/javacpp/setupBuild.gradle
+++ b/shared/javacpp/setupBuild.gradle
@@ -103,7 +103,7 @@ model {
     }
     binaries {
         withType(GoogleTestTestSuiteBinarySpec) {
-            if (!project.hasProperty('onlyAthena') && !project.hasProperty('onlyRaspbian')) {
+            if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian')) {
                 lib library: nativeName, linkage: 'shared'
             } else {
                 it.buildable = false
@@ -121,7 +121,7 @@ model {
                 if (it in NativeExecutableSpec && it.name == "${nativeName}Dev") {
                     it.binaries.each {
                         if (!found) {
-                            def arch = it.targetPlatform.architecture.name
+                            def arch = it.targetPlatform.name
                             if (arch == systemArch) {
                                 dependsOn it.tasks.install
                                 commandLine it.tasks.install.runScriptFile.get().asFile.toString()
diff --git a/shared/jni/publish.gradle b/shared/jni/publish.gradle
index a6a1abe11b..7908304525 100644
--- a/shared/jni/publish.gradle
+++ b/shared/jni/publish.gradle
@@ -82,13 +82,13 @@ model {
                         task.outputs.file(hashFile)
                         task.inputs.file(binary.sharedLibraryFile)
                         task.from(hashFile) {
-                            into getPlatformPath(binary)
+                            into nativeUtils.getPlatformPath(binary)
                         }
                         task.doFirst {
                             hashFile.text = MessageDigest.getInstance("MD5").digest(binary.sharedLibraryFile.bytes).encodeHex().toString()
                         }
                         task.from(binary.sharedLibraryFile) {
-                            into getPlatformPath(binary)
+                            into nativeUtils.getPlatformPath(binary)
                         }
                     }
                 }
diff --git a/shared/jni/setupBuild.gradle b/shared/jni/setupBuild.gradle
index a22a67d185..d73476d3f0 100644
--- a/shared/jni/setupBuild.gradle
+++ b/shared/jni/setupBuild.gradle
@@ -106,8 +106,8 @@ model {
             }
             enableCheckTask true
             javaCompileTasks << compileJava
-            jniCrossCompileOptions << JniCrossCompileOptions('athena')
-            jniCrossCompileOptions << JniCrossCompileOptions('raspbian')
+            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.roborio)
+            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.raspbian)
             sources {
                 cpp {
                     source {
@@ -144,8 +144,8 @@ model {
             }
             enableCheckTask true
             javaCompileTasks << compileJava
-            jniCrossCompileOptions << JniCrossCompileOptions('athena')
-            jniCrossCompileOptions << JniCrossCompileOptions('raspbian')
+            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.roborio)
+            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.raspbian)
             sources {
                 cpp {
                     source {
@@ -224,7 +224,7 @@ model {
     }
     binaries {
         withType(GoogleTestTestSuiteBinarySpec) {
-            if (!project.hasProperty('onlyAthena') && !project.hasProperty('onlyRaspbian')) {
+            if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian')) {
                 lib library: nativeName, linkage: 'shared'
                 lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
             } else {
@@ -243,7 +243,7 @@ model {
                 if (it in NativeExecutableSpec && it.name == "${nativeName}Dev") {
                     it.binaries.each {
                         if (!found) {
-                            def arch = it.targetPlatform.architecture.name
+                            def arch = it.targetPlatform.name
                             if (arch == systemArch) {
                                 dependsOn it.tasks.install
                                 commandLine it.tasks.install.runScriptFile.get().asFile.toString()
diff --git a/shared/nilibraries.gradle b/shared/nilibraries.gradle
index 937abbf7a0..49e99b0d51 100644
--- a/shared/nilibraries.gradle
+++ b/shared/nilibraries.gradle
@@ -1,37 +1,10 @@
-def netCommLibConfigs = [:];
-def chipObjectConfigs = [:];
-
-project.chipObjectComponents.each { String s->
-  chipObjectConfigs[s] = ['linux:athena']
-}
-
-project.netCommComponents.each { String s->
-  netCommLibConfigs[s] = ['linux:athena']
-}
-
-def niLibrariesVersion = '2019.12.1'
-
 model {
-  dependencyConfigs {
-    chipobject(DependencyConfig) {
-      groupId = 'edu.wpi.first.ni-libraries'
-      artifactId = 'chipobject'
-      headerClassifier = 'headers'
-      ext = 'zip'
-      version = niLibrariesVersion
-      sharedConfigs = chipObjectConfigs
-      staticConfigs = [:]
-      compileOnlyShared = true
-    }
-    netcomm(DependencyConfig) {
-      groupId = 'edu.wpi.first.ni-libraries'
-      artifactId = 'netcomm'
-      headerClassifier = 'headers'
-      ext = 'zip'
-      version = niLibrariesVersion
-      sharedConfigs = netCommLibConfigs
-      staticConfigs = [:]
-      compileOnlyShared = true
+  binaries {
+    all {
+      if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+        nativeUtils.useRequiredLibrary(it, 'netcomm_shared', 'chipobject_shared')
+      }
+
     }
   }
 }
diff --git a/shared/opencv.gradle b/shared/opencv.gradle
index 09fa8be465..21540fe8a4 100644
--- a/shared/opencv.gradle
+++ b/shared/opencv.gradle
@@ -2,16 +2,19 @@ def opencvVersion = '3.4.4-5'
 
 if (project.hasProperty('useCpp') && project.useCpp) {
     model {
-        dependencyConfigs {
-            opencv(DependencyConfig) {
-                groupId = 'edu.wpi.first.thirdparty.frc2019.opencv'
-                artifactId = 'opencv-cpp'
-                headerClassifier = 'headers'
-                ext = 'zip'
-                version = opencvVersion
-                sharedConfigs = project.sharedCvConfigs
-                staticConfigs = project.staticCvConfigs
-                linkExcludes = ['**/*java*']
+        binaries {
+            withType(NativeBinarySpec).all {
+                def binary = it
+                project.sharedCvConfigs.each {
+                    if (binary.component.name == it.key) {
+                        nativeUtils.useRequiredLibrary(binary, 'opencv_shared')
+                    }
+                }
+                project.staticCvConfigs.each {
+                    if (binary.component.name == it.key) {
+                        nativeUtils.useRequiredLibrary(binary, 'opencv_static')
+                    }
+                }
             }
         }
     }
diff --git a/shared/plugins/publish.gradle b/shared/plugins/publish.gradle
index a9ba5384fd..5379b44a53 100644
--- a/shared/plugins/publish.gradle
+++ b/shared/plugins/publish.gradle
@@ -56,7 +56,7 @@ model {
                     if (binary instanceof SharedLibraryBinarySpec) {
                         task.dependsOn binary.buildTask
                         task.from(binary.sharedLibraryFile) {
-                            into getPlatformPath(binary) + '/shared'
+                            into nativeUtils.getPlatformPath(binary) + '/shared'
                         }
                     }
                 }
diff --git a/shared/plugins/setupBuild.gradle b/shared/plugins/setupBuild.gradle
index ba4c6f0b65..8591f079d2 100644
--- a/shared/plugins/setupBuild.gradle
+++ b/shared/plugins/setupBuild.gradle
@@ -10,7 +10,7 @@ ext {
 
 apply from: "${rootDir}/shared/nilibraries.gradle"
 
-if (!project.hasProperty('onlyAthena')) {
+if (!project.hasProperty('onlylinuxathena')) {
     ext.skipAthena = true
     apply from: "${rootDir}/shared/config.gradle"
 
@@ -57,7 +57,7 @@ if (!project.hasProperty('onlyAthena')) {
                     }
                 }
                 binaries.all {
-                    if (!project.hasProperty('onlyAthena') && !project.hasProperty('onlyRaspbian')) {
+                    if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian')) {
                         project(':hal').addHalDependency(it, 'shared')
                         lib library: pluginName
                         if (project.hasProperty('includeNtCore')) {
@@ -78,7 +78,7 @@ if (!project.hasProperty('onlyAthena')) {
 model {
     tasks {
         def c = $.components
-        if (!project.hasProperty('onlyAthena') && !project.hasProperty('onlyRaspbian')) {
+        if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian')) {
             project.tasks.create('runCpp', Exec) {
                 group = 'WPILib'
                 description = "Run the ${pluginName}Dev executable"
@@ -88,7 +88,7 @@ model {
                     if (it in NativeExecutableSpec && it.name == "${pluginName}Dev") {
                         it.binaries.each {
                             if (!found) {
-                                def arch = it.targetPlatform.architecture.name
+                                def arch = it.targetPlatform.name
                                 if (arch == systemArch) {
                                     dependsOn it.tasks.install
                                     commandLine it.tasks.install.runScriptFile.get().asFile.toString()
diff --git a/simulation/gz_msgs/build.gradle b/simulation/gz_msgs/build.gradle
index 8264ceb2b8..aa0982595c 100644
--- a/simulation/gz_msgs/build.gradle
+++ b/simulation/gz_msgs/build.gradle
@@ -1,95 +1,95 @@
-plugins {
-    id 'cpp'
-    id 'java'
-    id 'com.google.protobuf' version '0.8.6'
-    id 'edu.wpi.first.NativeUtils'
-}
-
-description = "A C++ and Java library to pass FRC Simulation Messages in and out of Gazebo."
-
-/* The simulation does not run on real hardware; so we always skip Athena */
-ext.skipAthena = true
-ext.skipRaspbian = true
-apply from: "${rootDir}/shared/config.gradle"
-
-/* Use a sort of poor man's autoconf to find the protobuf development
-   files; on Debian, those are supplied by libprotobuf-dev.
-
-   This should get skipped on Windows.
-
-   TODO:  Add Windows support for the simulation code */
-
-def protobuf_version = ""
-try {
-    protobuf_version = "pkg-config --modversion protobuf".execute().text.trim()
-    println "Protobuf version is [${protobuf_version}]"
-} catch(Exception ex) {
-}
-
-if (!protobuf_version?.trim()) {
-    println "Protobuf is not available. (pkg-config --modversion protobuf failed)"
-    protobuf_version = "+"
-    if (project.hasProperty("makeSim")) {
-        /* Force the build even though we did not find protobuf. */
-        println "makeSim set. Forcing build - failure likely."
-    }
-    else {
-        ext.skip_gz_msgs = true
-        println "Skipping gz_msgs."
-    }
-}
-
-tasks.whenTaskAdded { task ->
-    task.onlyIf { !project.hasProperty('skip_gz_msgs') }
-}
-
-dependencies {
-      compile "com.google.protobuf:protobuf-java:${protobuf_version}"
-      compile "com.google.protobuf:protoc:${protobuf_version}"
-}
-
-/* There is a nice gradle plugin for protobuf, and the protoc tool
-   is included; using it simplifies our build process.
-   The trick is that we have to use the same version as the system
-   copy of libprotobuf-dev */
-protobuf {
-    protoc {
-        artifact = "com.google.protobuf:protoc:${protobuf_version}"
-    }
-
-    generatedFilesBaseDir = "$buildDir/generated"
-    generateProtoTasks {
-        all().each { task ->
-            task.builtins {
-                cpp {
-                    outputSubDir = 'simulation/gz_msgs'
-                }
-            }
-        }
-    }
-}
-
-model {
-    components {
-        gz_msgs(NativeLibrarySpec) {
-            sources {
-                cpp {
-                    source {
-                        srcDir "$buildDir/generated/main/simulation/gz_msgs"
-                        builtBy tasks.generateProto
-                    }
-                    exportedHeaders {
-                        srcDir "src/include"
-                        srcDir "$buildDir/generated/main"
-                    }
-                }
-            }
-            /* We must compile with -fPIC to link the static library into an so */
-            binaries {
-                all {
-                    cppCompiler.args "-fPIC"
-                }
-            }
-        }
-    }
-}
+plugins {
+    id 'cpp'
+    id 'java'
+    id 'com.google.protobuf' version '0.8.8'
+    id 'edu.wpi.first.NativeUtils'
+}
+
+description = "A C++ and Java library to pass FRC Simulation Messages in and out of Gazebo."
+
+/* The simulation does not run on real hardware; so we always skip Athena */
+ext.skipAthena = true
+ext.skipRaspbian = true
+apply from: "${rootDir}/shared/config.gradle"
+
+/* Use a sort of poor man's autoconf to find the protobuf development
+   files; on Debian, those are supplied by libprotobuf-dev.
+
+   This should get skipped on Windows.
+
+   TODO:  Add Windows support for the simulation code */
+
+def protobuf_version = ""
+try {
+    protobuf_version = "pkg-config --modversion protobuf".execute().text.trim()
+    println "Protobuf version is [${protobuf_version}]"
+} catch(Exception ex) {
+}
+
+if (!protobuf_version?.trim()) {
+    println "Protobuf is not available. (pkg-config --modversion protobuf failed)"
+    protobuf_version = "+"
+    if (project.hasProperty("makeSim")) {
+        /* Force the build even though we did not find protobuf. */
+        println "makeSim set. Forcing build - failure likely."
+    }
+    else {
+        ext.skip_gz_msgs = true
+        println "Skipping gz_msgs."
+    }
+}
+
+tasks.whenTaskAdded { task ->
+    task.onlyIf { !project.hasProperty('skip_gz_msgs') }
+}
+
+dependencies {
+      compile "com.google.protobuf:protobuf-java:${protobuf_version}"
+      compile "com.google.protobuf:protoc:${protobuf_version}"
+}
+
+/* There is a nice gradle plugin for protobuf, and the protoc tool
+   is included; using it simplifies our build process.
+   The trick is that we have to use the same version as the system
+   copy of libprotobuf-dev */
+protobuf {
+    protoc {
+        artifact = "com.google.protobuf:protoc:${protobuf_version}"
+    }
+
+    generatedFilesBaseDir = "$buildDir/generated"
+    generateProtoTasks {
+        all().each { task ->
+            task.builtins {
+                cpp {
+                    outputSubDir = 'simulation/gz_msgs'
+                }
+            }
+        }
+    }
+}
+
+model {
+    components {
+        gz_msgs(NativeLibrarySpec) {
+            sources {
+                cpp {
+                    source {
+                        srcDir "$buildDir/generated/main/simulation/gz_msgs"
+                        builtBy tasks.generateProto
+                    }
+                    exportedHeaders {
+                        srcDir "src/include"
+                        srcDir "$buildDir/generated/main"
+                    }
+                }
+            }
+            /* We must compile with -fPIC to link the static library into an so */
+            binaries {
+                all {
+                    cppCompiler.args "-fPIC"
+                }
+            }
+        }
+    }
+}
diff --git a/simulation/halsim_adx_gyro_accelerometer/build.gradle b/simulation/halsim_adx_gyro_accelerometer/build.gradle
index c9f754dde6..f73804d9a0 100644
--- a/simulation/halsim_adx_gyro_accelerometer/build.gradle
+++ b/simulation/halsim_adx_gyro_accelerometer/build.gradle
@@ -11,7 +11,7 @@ ext {
 
 apply from: "${rootDir}/shared/config.gradle"
 
-if (!project.hasProperty('onlyAthena')) {
+if (!project.hasProperty('onlylinuxathena')) {
 
     ext {
         sharedCvConfigs = [halsim_adx_gyro_accelerometerTest: []]
@@ -37,19 +37,20 @@ if (!project.hasProperty('onlyAthena')) {
 
     apply from: "${rootDir}/shared/nilibraries.gradle"
 
-    model {
-        exportsConfigs {
-            halsim_adx_gyro_accelerometer(ExportsConfig) {
-                x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
-                                     '_CT??_R0?AVbad_cast',
-                                     '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
-                                     '_TI5?AVfailure']
-                x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
-                                     '_CT??_R0?AVbad_cast',
-                                     '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
-                                     '_TI5?AVfailure']
-            }
+    nativeUtils.exportsConfigs {
+        halsim_adx_gyro_accelerometer {
+            x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+                                '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+                                '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
+                                '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
+            x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+                                '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+                                '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
+                                '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
         }
+    }
+
+    model {
         components {
             "${nativeName}Base"(NativeLibrarySpec) {
                 sources {
@@ -68,7 +69,7 @@ if (!project.hasProperty('onlyAthena')) {
                         it.buildable = false
                         return
                     }
-                    if (it.targetPlatform.architecture.name == 'athena') {
+                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
                         it.buildable = false
                         return
                     }
@@ -89,7 +90,7 @@ if (!project.hasProperty('onlyAthena')) {
                     }
                 }
                 binaries.all {
-                    if (it.targetPlatform.architecture.name == 'athena') {
+                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
                         it.buildable = false
                         return
                     }
@@ -114,7 +115,7 @@ if (!project.hasProperty('onlyAthena')) {
                     }
                 }
                 binaries.all {
-                    if (it.targetPlatform.architecture.name == 'athena') {
+                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
                         it.buildable = false
                         return
                     }
@@ -126,7 +127,7 @@ if (!project.hasProperty('onlyAthena')) {
         }
         binaries {
             withType(GoogleTestTestSuiteBinarySpec) {
-                if (!project.hasProperty('onlyAthena') && !project.hasProperty('onlyRaspbian')) {
+                if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian')) {
                     lib project: ':ntcore', library: 'ntcore', linkage: 'shared'
                     lib project: ':cscore', library: 'cscore', linkage: 'shared'
                     project(':hal').addHalDependency(it, 'shared')
@@ -147,7 +148,7 @@ if (!project.hasProperty('onlyAthena')) {
 model {
 
     testSuites {
-        if (!project.hasProperty('onlyAthena') && !project.hasProperty('onlyRaspbian')) {
+        if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian')) {
             "${nativeName}Test"(GoogleTestTestSuiteSpec) {
                 for(NativeComponentSpec c : $.components) {
                     if (c.name == nativeName) {
diff --git a/simulation/halsim_ds_socket/build.gradle b/simulation/halsim_ds_socket/build.gradle
index 0200980c99..98c5fe7ccb 100644
--- a/simulation/halsim_ds_socket/build.gradle
+++ b/simulation/halsim_ds_socket/build.gradle
@@ -21,7 +21,7 @@ apply from: "${rootDir}/shared/plugins/setupBuild.gradle"
 model {
     testSuites {
         def comps = $.components
-        if (!project.hasProperty('onlyAthena') && !project.hasProperty('onlyRaspbian')) {
+        if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian')) {
             "${pluginName}Test"(GoogleTestTestSuiteSpec) {
                 for(NativeComponentSpec c : comps) {
                     if (c.name == pluginName) {
diff --git a/simulation/lowfi_simulation/build.gradle b/simulation/lowfi_simulation/build.gradle
index 2b97416e54..e42ea3bfa6 100644
--- a/simulation/lowfi_simulation/build.gradle
+++ b/simulation/lowfi_simulation/build.gradle
@@ -12,7 +12,7 @@ ext {
 
 apply from: "${rootDir}/shared/config.gradle"
 
-if (!project.hasProperty('onlyAthena')) {
+if (!project.hasProperty('onlylinuxathena')) {
 
     ext {
         sharedCvConfigs = [lowfi_simTest: []]
@@ -40,19 +40,20 @@ if (!project.hasProperty('onlyAthena')) {
 
     apply from: "${rootDir}/shared/nilibraries.gradle"
 
-    model {
-        exportsConfigs {
-            lowfi_sim(ExportsConfig) {
-                x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
-                                     '_CT??_R0?AVbad_cast',
-                                     '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
-                                     '_TI5?AVfailure']
-                x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
-                                     '_CT??_R0?AVbad_cast',
-                                     '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
-                                     '_TI5?AVfailure']
-            }
+    nativeUtils.exportsConfigs {
+        lowfi_sim {
+            x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+                                '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+                                '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
+                                '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
+            x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+                                '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+                                '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
+                                '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
         }
+    }
+
+    model {
         components {
             "${nativeName}Base"(NativeLibrarySpec) {
                 sources {
@@ -71,7 +72,7 @@ if (!project.hasProperty('onlyAthena')) {
                         it.buildable = false
                         return
                     }
-                    if (it.targetPlatform.architecture.name == 'athena') {
+                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
                         it.buildable = false
                         return
                     }
@@ -93,7 +94,7 @@ if (!project.hasProperty('onlyAthena')) {
                     }
                 }
                 binaries.all {
-                    if (it.targetPlatform.architecture.name == 'athena') {
+                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
                         it.buildable = false
                         return
                     }
@@ -119,7 +120,7 @@ if (!project.hasProperty('onlyAthena')) {
                     }
                 }
                 binaries.all {
-                    if (it.targetPlatform.architecture.name == 'athena') {
+                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
                         it.buildable = false
                         return
                     }
@@ -150,7 +151,7 @@ if (!project.hasProperty('onlyAthena')) {
 model {
 
     testSuites {
-        if (!project.hasProperty('onlyAthena') && !project.hasProperty('onlyRaspbian')) {
+        if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian')) {
             "${nativeName}Test"(GoogleTestTestSuiteSpec) {
                 for(NativeComponentSpec c : $.components) {
                     if (c.name == nativeName) {
diff --git a/wpilibc/build.gradle b/wpilibc/build.gradle
index 3b5b3e12a0..61154d3c23 100644
--- a/wpilibc/build.gradle
+++ b/wpilibc/build.gradle
@@ -81,19 +81,20 @@ ext {
 
 apply from: "${rootDir}/shared/nilibraries.gradle"
 
-model {
-    exportsConfigs {
-        wpilibc(ExportsConfig) {
-            x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
-                                 '_CT??_R0?AVbad_cast',
-                                 '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
-                                 '_TI5?AVfailure']
-            x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
-                                 '_CT??_R0?AVbad_cast',
-                                 '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
-                                 '_TI5?AVfailure']
-        }
+nativeUtils.exportsConfigs {
+    wpilibc {
+        x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+                            '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+                            '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
+                            '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
+        x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+                            '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+                            '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
+                            '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
     }
+}
+
+model {
     components {
         "${nativeName}Base"(NativeLibrarySpec) {
             sources {
@@ -202,7 +203,7 @@ model {
             }
         }
         withType(GoogleTestTestSuiteBinarySpec) {
-            if (!project.hasProperty('onlyAthena') && !project.hasProperty('onlyRaspbian')) {
+            if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian')) {
                 lib project: ':ntcore', library: 'ntcore', linkage: 'shared'
                 lib project: ':cscore', library: 'cscore', linkage: 'shared'
                 project(':hal').addHalDependency(it, 'shared')
diff --git a/wpilibcExamples/build.gradle b/wpilibcExamples/build.gradle
index af1b25af9c..ec790c0df1 100644
--- a/wpilibcExamples/build.gradle
+++ b/wpilibcExamples/build.gradle
@@ -94,7 +94,7 @@ model {
                     project(':hal').addHalDependency(binary, 'shared')
                     lib project: ':cameraserver', library: 'cameraserver', linkage: 'shared'
                     lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
-                    if (binary.targetPlatform.architecture.name != 'athena') {
+                    if (binary.targetPlatform.name != nativeUtils.wpi.platforms.roborio) {
                         lib project: ':simulation:halsim_lowfi', library: 'halsim_lowfi', linkage: 'shared'
                         lib project: ':simulation:halsim_adx_gyro_accelerometer', library: 'halsim_adx_gyro_accelerometer', linkage: 'shared'
                         lib project: ':simulation:halsim_print', library: 'halsim_print', linkage: 'shared'
@@ -144,7 +144,7 @@ model {
                             cppCompiler.args "/wd4996"
                         }
                     }
-                    if (binary.targetPlatform.architecture.name != 'athena') {
+                    if (binary.targetPlatform.name != nativeUtils.wpi.platforms.roborio) {
                         lib project: ':simulation:halsim_lowfi', library: 'halsim_lowfi', linkage: 'shared'
                         lib project: ':simulation:halsim_adx_gyro_accelerometer', library: 'halsim_adx_gyro_accelerometer', linkage: 'shared'
                         lib project: ':simulation:halsim_print', library: 'halsim_print', linkage: 'shared'
diff --git a/wpilibcIntegrationTests/build.gradle b/wpilibcIntegrationTests/build.gradle
index 0dea400675..8a3797b7f5 100644
--- a/wpilibcIntegrationTests/build.gradle
+++ b/wpilibcIntegrationTests/build.gradle
@@ -32,8 +32,9 @@ model {
         wpilibcIntegrationTests(NativeExecutableSpec) {
             targetBuildTypes 'debug'
             baseName = 'FRCUserProgram'
+            nativeUtils.useRequiredLibrary(it, 'googletest_static')
             binaries.all { binary ->
-                if (binary.targetPlatform.architecture.name == 'athena') {
+                if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
                     binary.sources {
                         athenaCpp(CppSourceSet) {
                             source {
@@ -82,7 +83,7 @@ model {
         copyWpilibCTestLibrariesToOutput(Copy) {
             def task = it
             $.binaries.each {
-                if (it in NativeExecutableBinarySpec && it.targetPlatform.architecture.name == 'athena') {
+                if (it in NativeExecutableBinarySpec && it.targetPlatform.name == nativeUtils.wpi.platforms.roborio && it.buildable) {
                     def installTask = it.tasks.install
                     task.dependsOn installTask
                     task.from(installTask.executableFile) {
@@ -99,7 +100,7 @@ model {
         }
         // This is in a separate if statement because of what I would assume is a bug in grade.
         // Will file an issue on their side.
-        if (!project.hasProperty('skipAthena')) {
+        if (!project.hasProperty('skiponlyathena')) {
             build.dependsOn copyWpilibCTestLibrariesToOutput
         }
     }
diff --git a/wpilibj/build.gradle b/wpilibj/build.gradle
index 82e94bb4f2..8e19140432 100644
--- a/wpilibj/build.gradle
+++ b/wpilibj/build.gradle
@@ -133,7 +133,7 @@ model {
                 if (it in NativeExecutableSpec && it.name == "wpilibjDev") {
                     it.binaries.each {
                         if (!found) {
-                            def arch = it.targetPlatform.architecture.name
+                            def arch = it.targetPlatform.name
                             if (arch == systemArch) {
                                 dependsOn it.tasks.install
                                 commandLine it.tasks.install.runScriptFile.get().asFile.toString()
diff --git a/wpilibjExamples/build.gradle b/wpilibjExamples/build.gradle
index 55087ba754..d57e143928 100644
--- a/wpilibjExamples/build.gradle
+++ b/wpilibjExamples/build.gradle
@@ -1,5 +1,4 @@
 apply plugin: 'java'
-apply plugin: 'pmd'
 
 ext {
     useJava = true
@@ -21,11 +20,15 @@ dependencies {
     compile project(':cameraserver')
 }
 
-pmd {
-    consoleOutput = true
-    reportsDir = file("$project.buildDir/reports/pmd")
-    ruleSetFiles = files(new File(rootDir, "styleguide/pmd-ruleset.xml"))
-    ruleSets = []
+if (!project.hasProperty('skipPMD')) {
+    apply plugin: 'pmd'
+
+    pmd {
+        consoleOutput = true
+        reportsDir = file("$project.buildDir/reports/pmd")
+        ruleSetFiles = files(new File(rootDir, "styleguide/pmd-ruleset.xml"))
+        ruleSets = []
+    }
 }
 
 gradle.projectsEvaluated {
diff --git a/wpiutil/build.gradle b/wpiutil/build.gradle
index 6b77b39608..c3634f6176 100644
--- a/wpiutil/build.gradle
+++ b/wpiutil/build.gradle
@@ -29,7 +29,7 @@ ext {
                 }
             }
         }
-        if (it.targetPlatform.operatingSystem.name != 'windows') {
+        if (!it.targetPlatform.operatingSystem.isWindows()) {
             it.cppCompiler.define '_GNU_SOURCE'
             it.sources {
                 libuvUnixCpp(CppSourceSet) {
@@ -62,7 +62,7 @@ ext {
                 }
             }
         }
-        if (it.targetPlatform.operatingSystem.name == 'windows') {
+        if (it.targetPlatform.operatingSystem.isWindows()) {
             if (it in SharedLibraryBinarySpec) {
                 it.cppCompiler.define 'BUILDING_UV_SHARED'
             }
@@ -77,7 +77,7 @@ ext {
                     }
                 }
             }
-        } else if (it.targetPlatform.operatingSystem.name == 'osx') {
+        } else if (it.targetPlatform.operatingSystem.isMacOsX()) {
             it.sources {
                 libuvMacCpp(CppSourceSet) {
                     source {
@@ -132,6 +132,19 @@ file("$projectDir/examples").list(new FilenameFilter() {
 
 apply from: "${rootDir}/shared/javacpp/setupBuild.gradle"
 
+nativeUtils.exportsConfigs {
+    wpiutil {
+        x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+                            '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+                            '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
+                            '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
+        x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+                            '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+                            '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
+                            '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
+    }
+}
+
 cppHeadersZip {
     from('src/main/native/libuv/include') {
         into '/'
@@ -148,23 +161,9 @@ model {
             }
         }
     }
+}
 
-    // Exports config is a utility to enable exporting all symbols in a C++ library on windows to a DLL.
-    // This removes the need for DllExport on a library. However, the gradle C++ builder has a bug
-    // where some extra symbols are added that cannot be resolved at link time. This configuration
-    // lets you specify specific symbols to exlude from exporting.
-    exportsConfigs {
-        wpiutil(ExportsConfig) {
-            x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
-                                 '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
-                                 '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
-                                 '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
-            x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
-                                 '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
-                                 '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
-                                 '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
-        }
-    }
+model {
     components {
         examplesMap.each { key, value ->
             "${key}"(NativeExecutableSpec) {