diff --git a/hal/src/main/native/include/HAL/UsageReporting.h b/hal/src/main/native/include/HAL/UsageReporting.h
index a1c5bee372..8d447aee06 100644
--- a/hal/src/main/native/include/HAL/UsageReporting.h
+++ b/hal/src/main/native/include/HAL/UsageReporting.h
@@ -82,6 +82,7 @@ namespace nUsageReporting
         kResourceType_PDP,
         kResourceType_PCM, // 60
         kResourceType_PigeonIMU,
+        kResourceType_NidecBrushless,
     } tResourceType;
 
     typedef enum
diff --git a/ni-libraries/include/FRC_FPGA_ChipObject/RoboRIO_FRC_ChipObject_Aliases.h b/ni-libraries/include/FRC_FPGA_ChipObject/RoboRIO_FRC_ChipObject_Aliases.h
index 0324ec94ef..afe6e49af8 100644
--- a/ni-libraries/include/FRC_FPGA_ChipObject/RoboRIO_FRC_ChipObject_Aliases.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/RoboRIO_FRC_ChipObject_Aliases.h
@@ -4,6 +4,6 @@
 #ifndef __RoboRIO_FRC_ChipObject_Aliases_h__
 #define __RoboRIO_FRC_ChipObject_Aliases_h__
 
-#define nRoboRIO_FPGANamespace nFRC_2018_18_0_1
+#define nRoboRIO_FPGANamespace nFRC_2018_18_0_4
 
 #endif // __RoboRIO_FRC_ChipObject_Aliases_h__
diff --git a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/nInterfaceGlobals.h b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/nInterfaceGlobals.h
index dddad68385..06d8e3fbe2 100644
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/nInterfaceGlobals.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/nInterfaceGlobals.h
@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_1_nInterfaceGlobals_h__
-#define __nFRC_2018_18_0_1_nInterfaceGlobals_h__
+#ifndef __nFRC_2018_18_0_4_nInterfaceGlobals_h__
+#define __nFRC_2018_18_0_4_nInterfaceGlobals_h__
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_1
+namespace nFRC_2018_18_0_4
 {
    extern unsigned int g_currentTargetClass;
 }
 }
 
-#endif // __nFRC_2018_18_0_1_nInterfaceGlobals_h__
+#endif // __nFRC_2018_18_0_4_nInterfaceGlobals_h__
diff --git a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAI.h b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAI.h
index 7ee070a10d..8248e89fda 100644
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAI.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAI.h
@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_1_AI_h__
-#define __nFRC_2018_18_0_1_AI_h__
+#ifndef __nFRC_2018_18_0_4_AI_h__
+#define __nFRC_2018_18_0_4_AI_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_1
+namespace nFRC_2018_18_0_4
 {
 
 class tAI
@@ -141,4 +141,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_1_AI_h__
+#endif // __nFRC_2018_18_0_4_AI_h__
diff --git a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAO.h b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAO.h
index 74b0d21dd5..5ed4f5acef 100644
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAO.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAO.h
@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_1_AO_h__
-#define __nFRC_2018_18_0_1_AO_h__
+#ifndef __nFRC_2018_18_0_4_AO_h__
+#define __nFRC_2018_18_0_4_AO_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_1
+namespace nFRC_2018_18_0_4
 {
 
 class tAO
@@ -48,4 +48,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_1_AO_h__
+#endif // __nFRC_2018_18_0_4_AO_h__
diff --git a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccel.h b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccel.h
index 73a43352fe..76de2b7e4b 100644
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccel.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccel.h
@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_1_Accel_h__
-#define __nFRC_2018_18_0_1_Accel_h__
+#ifndef __nFRC_2018_18_0_4_Accel_h__
+#define __nFRC_2018_18_0_4_Accel_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_1
+namespace nFRC_2018_18_0_4
 {
 
 class tAccel
@@ -36,14 +36,6 @@ public:
    virtual unsigned char readSTAT(tRioStatusCode *status) = 0;
 
 
-   typedef enum
-   {
-   } tCNTR_IfaceConstants;
-
-   virtual void writeCNTR(unsigned char value, tRioStatusCode *status) = 0;
-   virtual unsigned char readCNTR(tRioStatusCode *status) = 0;
-
-
    typedef enum
    {
    } tDATO_IfaceConstants;
@@ -52,6 +44,14 @@ public:
    virtual unsigned char readDATO(tRioStatusCode *status) = 0;
 
 
+   typedef enum
+   {
+   } tCNTR_IfaceConstants;
+
+   virtual void writeCNTR(unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readCNTR(tRioStatusCode *status) = 0;
+
+
    typedef enum
    {
    } tCNFG_IfaceConstants;
@@ -100,4 +100,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_1_Accel_h__
+#endif // __nFRC_2018_18_0_4_Accel_h__
diff --git a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccumulator.h b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccumulator.h
index bc72f9c0f3..aed3b827b1 100644
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccumulator.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccumulator.h
@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_1_Accumulator_h__
-#define __nFRC_2018_18_0_1_Accumulator_h__
+#ifndef __nFRC_2018_18_0_4_Accumulator_h__
+#define __nFRC_2018_18_0_4_Accumulator_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_1
+namespace nFRC_2018_18_0_4
 {
 
 class tAccumulator
@@ -85,4 +85,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_1_Accumulator_h__
+#endif // __nFRC_2018_18_0_4_Accumulator_h__
diff --git a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAlarm.h b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAlarm.h
index f61e572aeb..927090e40c 100644
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAlarm.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAlarm.h
@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_1_Alarm_h__
-#define __nFRC_2018_18_0_1_Alarm_h__
+#ifndef __nFRC_2018_18_0_4_Alarm_h__
+#define __nFRC_2018_18_0_4_Alarm_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_1
+namespace nFRC_2018_18_0_4
 {
 
 class tAlarm
@@ -55,4 +55,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_1_Alarm_h__
+#endif // __nFRC_2018_18_0_4_Alarm_h__
diff --git a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAnalogTrigger.h b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAnalogTrigger.h
index 39ed95382f..c1da2e5f05 100644
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAnalogTrigger.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAnalogTrigger.h
@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_1_AnalogTrigger_h__
-#define __nFRC_2018_18_0_1_AnalogTrigger_h__
+#ifndef __nFRC_2018_18_0_4_AnalogTrigger_h__
+#define __nFRC_2018_18_0_4_AnalogTrigger_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_1
+namespace nFRC_2018_18_0_4
 {
 
 class tAnalogTrigger
@@ -127,4 +127,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_1_AnalogTrigger_h__
+#endif // __nFRC_2018_18_0_4_AnalogTrigger_h__
diff --git a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tBIST.h b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tBIST.h
index cda239b541..72118daadb 100644
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tBIST.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tBIST.h
@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_1_BIST_h__
-#define __nFRC_2018_18_0_1_BIST_h__
+#ifndef __nFRC_2018_18_0_4_BIST_h__
+#define __nFRC_2018_18_0_4_BIST_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_1
+namespace nFRC_2018_18_0_4
 {
 
 class tBIST
@@ -88,4 +88,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_1_BIST_h__
+#endif // __nFRC_2018_18_0_4_BIST_h__
diff --git a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tCounter.h b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tCounter.h
index dd291ad670..80b10a4f75 100644
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tCounter.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tCounter.h
@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_1_Counter_h__
-#define __nFRC_2018_18_0_1_Counter_h__
+#ifndef __nFRC_2018_18_0_4_Counter_h__
+#define __nFRC_2018_18_0_4_Counter_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_1
+namespace nFRC_2018_18_0_4
 {
 
 class tCounter
@@ -217,4 +217,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_1_Counter_h__
+#endif // __nFRC_2018_18_0_4_Counter_h__
diff --git a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDIO.h b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDIO.h
index 57cddf4623..908b8288a0 100644
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDIO.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDIO.h
@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_1_DIO_h__
-#define __nFRC_2018_18_0_1_DIO_h__
+#ifndef __nFRC_2018_18_0_4_DIO_h__
+#define __nFRC_2018_18_0_4_DIO_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_1
+namespace nFRC_2018_18_0_4
 {
 
 class tDIO
@@ -261,4 +261,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_1_DIO_h__
+#endif // __nFRC_2018_18_0_4_DIO_h__
diff --git a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDMA.h b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDMA.h
index 65a2a19cdb..0937eec5b8 100644
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDMA.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDMA.h
@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_1_DMA_h__
-#define __nFRC_2018_18_0_1_DMA_h__
+#ifndef __nFRC_2018_18_0_4_DMA_h__
+#define __nFRC_2018_18_0_4_DMA_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_1
+namespace nFRC_2018_18_0_4
 {
 
 class tDMA
@@ -195,4 +195,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_1_DMA_h__
+#endif // __nFRC_2018_18_0_4_DMA_h__
diff --git a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tEncoder.h b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tEncoder.h
index d5e47c28c8..342919f375 100644
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tEncoder.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tEncoder.h
@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_1_Encoder_h__
-#define __nFRC_2018_18_0_1_Encoder_h__
+#ifndef __nFRC_2018_18_0_4_Encoder_h__
+#define __nFRC_2018_18_0_4_Encoder_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_1
+namespace nFRC_2018_18_0_4
 {
 
 class tEncoder
@@ -197,4 +197,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_1_Encoder_h__
+#endif // __nFRC_2018_18_0_4_Encoder_h__
diff --git a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tGlobal.h b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tGlobal.h
index 2fbcbacc2e..b0001c8991 100644
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tGlobal.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tGlobal.h
@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_1_Global_h__
-#define __nFRC_2018_18_0_1_Global_h__
+#ifndef __nFRC_2018_18_0_4_Global_h__
+#define __nFRC_2018_18_0_4_Global_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_1
+namespace nFRC_2018_18_0_4
 {
 
 class tGlobal
@@ -60,6 +60,13 @@ public:
    virtual bool readLEDs_RSL(tRioStatusCode *status) = 0;
 
 
+   typedef enum
+   {
+   } tLocalTimeUpper_IfaceConstants;
+
+   virtual unsigned int readLocalTimeUpper(tRioStatusCode *status) = 0;
+
+
    typedef enum
    {
    } tVersion_IfaceConstants;
@@ -98,4 +105,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_1_Global_h__
+#endif // __nFRC_2018_18_0_4_Global_h__
diff --git a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tHMB.h b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tHMB.h
new file mode 100644
index 0000000000..4ed125ee6d
--- /dev/null
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tHMB.h
@@ -0,0 +1,149 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2018_18_0_4_HMB_h__
+#define __nFRC_2018_18_0_4_HMB_h__
+
+#include "../tSystem.h"
+#include "../tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2018_18_0_4
+{
+
+class tHMB
+{
+public:
+   tHMB(){}
+   virtual ~tHMB(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tHMB* create(tRioStatusCode *status);
+
+   typedef enum
+   {
+      kNumSystems = 1,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Enables_AI0_Low : 1;
+         unsigned Enables_AI0_High : 1;
+         unsigned Enables_AIAveraged0_Low : 1;
+         unsigned Enables_AIAveraged0_High : 1;
+         unsigned Enables_AI1_Low : 1;
+         unsigned Enables_AI1_High : 1;
+         unsigned Enables_AIAveraged1_Low : 1;
+         unsigned Enables_AIAveraged1_High : 1;
+         unsigned Enables_Accumulator0 : 1;
+         unsigned Enables_Accumulator1 : 1;
+         unsigned Enables_DI : 1;
+         unsigned Enables_AnalogTriggers : 1;
+         unsigned Enables_Counters_Low : 1;
+         unsigned Enables_Counters_High : 1;
+         unsigned Enables_CounterTimers_Low : 1;
+         unsigned Enables_CounterTimers_High : 1;
+         unsigned Enables_Encoders_Low : 1;
+         unsigned Enables_Encoders_High : 1;
+         unsigned Enables_EncoderTimers_Low : 1;
+         unsigned Enables_EncoderTimers_High : 1;
+#else
+         unsigned Enables_EncoderTimers_High : 1;
+         unsigned Enables_EncoderTimers_Low : 1;
+         unsigned Enables_Encoders_High : 1;
+         unsigned Enables_Encoders_Low : 1;
+         unsigned Enables_CounterTimers_High : 1;
+         unsigned Enables_CounterTimers_Low : 1;
+         unsigned Enables_Counters_High : 1;
+         unsigned Enables_Counters_Low : 1;
+         unsigned Enables_AnalogTriggers : 1;
+         unsigned Enables_DI : 1;
+         unsigned Enables_Accumulator1 : 1;
+         unsigned Enables_Accumulator0 : 1;
+         unsigned Enables_AIAveraged1_High : 1;
+         unsigned Enables_AIAveraged1_Low : 1;
+         unsigned Enables_AI1_High : 1;
+         unsigned Enables_AI1_Low : 1;
+         unsigned Enables_AIAveraged0_High : 1;
+         unsigned Enables_AIAveraged0_Low : 1;
+         unsigned Enables_AI0_High : 1;
+         unsigned Enables_AI0_Low : 1;
+#endif
+      };
+      struct{
+         unsigned value : 20;
+      };
+   } tConfig;
+
+
+
+   typedef enum
+   {
+   } tForceOnce_IfaceConstants;
+
+   virtual void writeForceOnce(bool value, tRioStatusCode *status) = 0;
+   virtual bool readForceOnce(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tConfig_IfaceConstants;
+
+   virtual void writeConfig(tConfig value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enables_AI0_Low(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enables_AI0_High(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enables_AIAveraged0_Low(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enables_AIAveraged0_High(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enables_AI1_Low(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enables_AI1_High(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enables_AIAveraged1_Low(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enables_AIAveraged1_High(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enables_Accumulator0(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enables_Accumulator1(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enables_DI(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enables_AnalogTriggers(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enables_Counters_Low(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enables_Counters_High(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enables_CounterTimers_Low(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enables_CounterTimers_High(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enables_Encoders_Low(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enables_Encoders_High(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enables_EncoderTimers_Low(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enables_EncoderTimers_High(bool value, tRioStatusCode *status) = 0;
+   virtual tConfig readConfig(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enables_AI0_Low(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enables_AI0_High(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enables_AIAveraged0_Low(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enables_AIAveraged0_High(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enables_AI1_Low(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enables_AI1_High(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enables_AIAveraged1_Low(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enables_AIAveraged1_High(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enables_Accumulator0(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enables_Accumulator1(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enables_DI(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enables_AnalogTriggers(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enables_Counters_Low(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enables_Counters_High(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enables_CounterTimers_Low(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enables_CounterTimers_High(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enables_Encoders_Low(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enables_Encoders_High(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enables_EncoderTimers_Low(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enables_EncoderTimers_High(tRioStatusCode *status) = 0;
+
+
+
+
+private:
+   tHMB(const tHMB&);
+   void operator=(const tHMB&);
+};
+
+}
+}
+
+#endif // __nFRC_2018_18_0_4_HMB_h__
diff --git a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tInterrupt.h b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tInterrupt.h
index 78ac0c3143..61fa48f1f7 100644
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tInterrupt.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tInterrupt.h
@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_1_Interrupt_h__
-#define __nFRC_2018_18_0_1_Interrupt_h__
+#ifndef __nFRC_2018_18_0_4_Interrupt_h__
+#define __nFRC_2018_18_0_4_Interrupt_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_1
+namespace nFRC_2018_18_0_4
 {
 
 class tInterrupt
@@ -98,4 +98,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_1_Interrupt_h__
+#endif // __nFRC_2018_18_0_4_Interrupt_h__
diff --git a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPWM.h b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPWM.h
index 46fd247410..8ee7077196 100644
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPWM.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPWM.h
@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_1_PWM_h__
-#define __nFRC_2018_18_0_1_PWM_h__
+#ifndef __nFRC_2018_18_0_4_PWM_h__
+#define __nFRC_2018_18_0_4_PWM_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_1
+namespace nFRC_2018_18_0_4
 {
 
 class tPWM
@@ -44,6 +44,13 @@ public:
 
 
 
+   typedef enum
+   {
+   } tCycleStartTime_IfaceConstants;
+
+   virtual unsigned int readCycleStartTime(tRioStatusCode *status) = 0;
+
+
    typedef enum
    {
    } tConfig_IfaceConstants;
@@ -56,6 +63,13 @@ public:
    virtual unsigned short readConfig_MinHigh(tRioStatusCode *status) = 0;
 
 
+   typedef enum
+   {
+   } tCycleStartTimeUpper_IfaceConstants;
+
+   virtual unsigned int readCycleStartTimeUpper(tRioStatusCode *status) = 0;
+
+
    typedef enum
    {
    } tLoopTiming_IfaceConstants;
@@ -118,4 +132,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_1_PWM_h__
+#endif // __nFRC_2018_18_0_4_PWM_h__
diff --git a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPower.h b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPower.h
index 952103ca05..d246760ba4 100644
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPower.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPower.h
@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_1_Power_h__
-#define __nFRC_2018_18_0_1_Power_h__
+#ifndef __nFRC_2018_18_0_4_Power_h__
+#define __nFRC_2018_18_0_4_Power_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_1
+namespace nFRC_2018_18_0_4
 {
 
 class tPower
@@ -218,4 +218,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_1_Power_h__
+#endif // __nFRC_2018_18_0_4_Power_h__
diff --git a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tRelay.h b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tRelay.h
index f6f595059c..9af739f7c6 100644
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tRelay.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tRelay.h
@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_1_Relay_h__
-#define __nFRC_2018_18_0_1_Relay_h__
+#ifndef __nFRC_2018_18_0_4_Relay_h__
+#define __nFRC_2018_18_0_4_Relay_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_1
+namespace nFRC_2018_18_0_4
 {
 
 class tRelay
@@ -66,4 +66,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_1_Relay_h__
+#endif // __nFRC_2018_18_0_4_Relay_h__
diff --git a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSPI.h b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSPI.h
index e75aecce0a..db627a379e 100644
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSPI.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSPI.h
@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_1_SPI_h__
-#define __nFRC_2018_18_0_1_SPI_h__
+#ifndef __nFRC_2018_18_0_4_SPI_h__
+#define __nFRC_2018_18_0_4_SPI_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_1
+namespace nFRC_2018_18_0_4
 {
 
 class tSPI
@@ -26,6 +26,27 @@ public:
       kNumSystems = 1,
    } tIfaceConstants;
 
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned ExternalClockSource_Channel : 4;
+         unsigned ExternalClockSource_Module : 1;
+         unsigned ExternalClockSource_AnalogTrigger : 1;
+         unsigned RisingEdge : 1;
+         unsigned FallingEdge : 1;
+#else
+         unsigned FallingEdge : 1;
+         unsigned RisingEdge : 1;
+         unsigned ExternalClockSource_AnalogTrigger : 1;
+         unsigned ExternalClockSource_Module : 1;
+         unsigned ExternalClockSource_Channel : 4;
+#endif
+      };
+      struct{
+         unsigned value : 8;
+      };
+   } tAutoTriggerConfig;
    typedef
    union{
       struct{
@@ -44,6 +65,97 @@ public:
 
 
 
+   typedef enum
+   {
+   } tDebugIntStatReadCount_IfaceConstants;
+
+   virtual unsigned int readDebugIntStatReadCount(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tDebugState_IfaceConstants;
+
+   virtual unsigned short readDebugState(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tAutoTriggerConfig_IfaceConstants;
+
+   virtual void writeAutoTriggerConfig(tAutoTriggerConfig value, tRioStatusCode *status) = 0;
+   virtual void writeAutoTriggerConfig_ExternalClockSource_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeAutoTriggerConfig_ExternalClockSource_Module(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeAutoTriggerConfig_ExternalClockSource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
+   virtual void writeAutoTriggerConfig_RisingEdge(bool value, tRioStatusCode *status) = 0;
+   virtual void writeAutoTriggerConfig_FallingEdge(bool value, tRioStatusCode *status) = 0;
+   virtual tAutoTriggerConfig readAutoTriggerConfig(tRioStatusCode *status) = 0;
+   virtual unsigned char readAutoTriggerConfig_ExternalClockSource_Channel(tRioStatusCode *status) = 0;
+   virtual unsigned char readAutoTriggerConfig_ExternalClockSource_Module(tRioStatusCode *status) = 0;
+   virtual bool readAutoTriggerConfig_ExternalClockSource_AnalogTrigger(tRioStatusCode *status) = 0;
+   virtual bool readAutoTriggerConfig_RisingEdge(tRioStatusCode *status) = 0;
+   virtual bool readAutoTriggerConfig_FallingEdge(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tAutoChipSelect_IfaceConstants;
+
+   virtual void writeAutoChipSelect(unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readAutoChipSelect(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tAutoForceGo_IfaceConstants;
+
+   virtual void strobeAutoForceGo(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tDebugRevision_IfaceConstants;
+
+   virtual unsigned int readDebugRevision(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tAutoByteCount_IfaceConstants;
+
+   virtual void writeAutoByteCount(unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readAutoByteCount(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tDebugIntStat_IfaceConstants;
+
+   virtual unsigned int readDebugIntStat(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tDebugEnabled_IfaceConstants;
+
+   virtual unsigned int readDebugEnabled(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tAutoSPI1Select_IfaceConstants;
+
+   virtual void writeAutoSPI1Select(bool value, tRioStatusCode *status) = 0;
+   virtual bool readAutoSPI1Select(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tDebugSubstate_IfaceConstants;
+
+   virtual unsigned char readDebugSubstate(tRioStatusCode *status) = 0;
+
+
    typedef enum
    {
    } tEnableDIO_IfaceConstants;
@@ -66,6 +178,16 @@ public:
 
 
 
+   typedef enum
+   {
+      kNumAutoTxRegisters = 4,
+      kNumAutoTxElements = 4,
+   } tAutoTx_IfaceConstants;
+
+   virtual void writeAutoTx(unsigned char reg_index, unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readAutoTx(unsigned char reg_index, unsigned char bitfield_index, tRioStatusCode *status) = 0;
+
+
 private:
    tSPI(const tSPI&);
    void operator=(const tSPI&);
@@ -74,4 +196,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_1_SPI_h__
+#endif // __nFRC_2018_18_0_4_SPI_h__
diff --git a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSysWatchdog.h b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSysWatchdog.h
index db34e85678..15e3623145 100644
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSysWatchdog.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSysWatchdog.h
@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_1_SysWatchdog_h__
-#define __nFRC_2018_18_0_1_SysWatchdog_h__
+#ifndef __nFRC_2018_18_0_4_SysWatchdog_h__
+#define __nFRC_2018_18_0_4_SysWatchdog_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_1
+namespace nFRC_2018_18_0_4
 {
 
 class tSysWatchdog
@@ -106,4 +106,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_1_SysWatchdog_h__
+#endif // __nFRC_2018_18_0_4_SysWatchdog_h__
diff --git a/ni-libraries/include/FRC_NetworkCommunication/FRCComm.h b/ni-libraries/include/FRC_NetworkCommunication/FRCComm.h
index f60c8ba7d5..13b875bd03 100644
--- a/ni-libraries/include/FRC_NetworkCommunication/FRCComm.h
+++ b/ni-libraries/include/FRC_NetworkCommunication/FRCComm.h
@@ -142,6 +142,8 @@ extern "C" {
 
 	int EXPORT_FUNC FRC_NetworkCommunication_getControlWord(struct ControlWord_t *controlWord);
 	int EXPORT_FUNC FRC_NetworkCommunication_getAllianceStation(enum AllianceStationID_t *allianceStation);
+	int EXPORT_FUNC FRC_NetworkCommunication_getMatchInfo(char *eventName, MatchType_t *matchType, uint16_t *matchNumber, uint8_t *replayNumber,
+		uint8_t *gameSpecificMessage, uint16_t *gameSpecificMessageSize);
 	int EXPORT_FUNC FRC_NetworkCommunication_getMatchTime(float *matchTime);
 	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickAxes(uint8_t joystickNum, struct JoystickAxes_t *axes, uint8_t maxAxes);
 	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickButtons(uint8_t joystickNum, uint32_t *buttons, uint8_t *count);
diff --git a/ni-libraries/lib/libFRC_NetworkCommunication.so.18.0.0 b/ni-libraries/lib/libFRC_NetworkCommunication.so.18.0.0
index 6d72140dc0..1873d7dae7 100644
Binary files a/ni-libraries/lib/libFRC_NetworkCommunication.so.18.0.0 and b/ni-libraries/lib/libFRC_NetworkCommunication.so.18.0.0 differ
diff --git a/ni-libraries/lib/libRoboRIO_FRC_ChipObject.so.18.0.0 b/ni-libraries/lib/libRoboRIO_FRC_ChipObject.so.18.0.0
index ce2ab435c4..18aabd1407 100644
Binary files a/ni-libraries/lib/libRoboRIO_FRC_ChipObject.so.18.0.0 and b/ni-libraries/lib/libRoboRIO_FRC_ChipObject.so.18.0.0 differ