diff --git a/hal/CMakeLists.txt b/hal/CMakeLists.txt
index 2be3df3624..c783a8b20b 100644
--- a/hal/CMakeLists.txt
+++ b/hal/CMakeLists.txt
@@ -2,13 +2,12 @@ cmake_minimum_required(VERSION 2.8)
 project(HAL)
 
 file(GLOB_RECURSE SRC_FILES lib/Athena/*.cpp)
-include_directories(lib/Athena include)
+include_directories(lib/Athena lib/Athena/FRC_FPGA_ChipObject include)
 add_library(HALAthena STATIC ${SRC_FILES})
 target_link_libraries(HALAthena ${NI_LIBS})
 INSTALL(TARGETS HALAthena ARCHIVE DESTINATION lib COMPONENT lib)
 INSTALL(FILES ${NI_LIBS} DESTINATION lib COMPONENT ni_lib)
 INSTALL(DIRECTORY include DESTINATION ${CMAKE_INSTALL_PREFIX} COMPONENT headers)
 # lib/ c m gcc_s ld-linux
-# usr/lib stdc++
+# usr/lib 
 # FRC_NetworkCommunication FRC_FPGA_ChipObject RoboRIO_FRC_ChipObject
-
diff --git a/hal/include/HAL/HAL.hpp b/hal/include/HAL/HAL.hpp
index cdbd5a1048..98456eeb4e 100644
--- a/hal/include/HAL/HAL.hpp
+++ b/hal/include/HAL/HAL.hpp
@@ -30,7 +30,6 @@
 #define HAL_IO_CONFIG_DATA_SIZE 32
 #define HAL_SYS_STATUS_DATA_SIZE 44
 #define HAL_USER_STATUS_DATA_SIZE (984 - HAL_IO_CONFIG_DATA_SIZE - HAL_SYS_STATUS_DATA_SIZE)
-#define HAL_USER_DS_LCD_DATA_SIZE 128
 
 #define HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Input 17
 #define HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Output 18
@@ -142,119 +141,32 @@ namespace HALUsageReporting
 	};
 }
 
-struct HALCommonControlData
-{
-	uint16_t packetIndex;
-	union
-	{
-		uint8_t control;
-#ifndef __vxworks
-		struct
-		{
-			uint8_t checkVersions :1;
-			uint8_t test :1;
-			uint8_t resync :1;
-			uint8_t fmsAttached :1;
-			uint8_t autonomous :1;
-			uint8_t enabled :1;
-			uint8_t notEStop :1;
-			uint8_t reset :1;
-		};
-#else
-		struct
-		{
-			uint8_t reset : 1;
-			uint8_t notEStop : 1;
-			uint8_t enabled : 1;
-			uint8_t autonomous : 1;
-			uint8_t fmsAttached:1;
-			uint8_t resync : 1;
-			uint8_t test :1;
-			uint8_t checkVersions :1;
-		};
-#endif
-	};
-	uint8_t dsDigitalIn;
-	uint16_t teamID;
-
-	char dsID_Alliance;
-	char dsID_Position;
-
-	union
-	{
-		int8_t stick0Axes[6];
-		struct
-		{ // TODO: ???
-			int8_t stick0Axis1;
-			int8_t stick0Axis2;
-			int8_t stick0Axis3;
-			int8_t stick0Axis4;
-			int8_t stick0Axis5;
-			int8_t stick0Axis6;
-		};
-	};
-	uint16_t stick0Buttons;		// Left-most 4 bits are unused
-
-	union
-	{
-		int8_t stick1Axes[6];
-		struct
-		{ // TODO: ???
-			int8_t stick1Axis1;
-			int8_t stick1Axis2;
-			int8_t stick1Axis3;
-			int8_t stick1Axis4;
-			int8_t stick1Axis5;
-			int8_t stick1Axis6;
-		};
-	};
-	uint16_t stick1Buttons;		// Left-most 4 bits are unused
-
-	union
-	{
-		int8_t stick2Axes[6];
-		struct
-		{ // TODO: ???
-			int8_t stick2Axis1;
-			int8_t stick2Axis2;
-			int8_t stick2Axis3;
-			int8_t stick2Axis4;
-			int8_t stick2Axis5;
-			int8_t stick2Axis6;
-		};
-	};
-	uint16_t stick2Buttons;		// Left-most 4 bits are unused
-
-	union
-	{
-		int8_t stick3Axes[6];
-		struct
-		{ // TODO: ???
-			int8_t stick3Axis1;
-			int8_t stick3Axis2;
-			int8_t stick3Axis3;
-			int8_t stick3Axis4;
-			int8_t stick3Axis5;
-			int8_t stick3Axis6;
-		};
-	};
-	uint16_t stick3Buttons;		// Left-most 4 bits are unused
-
-	//Analog inputs are 10 bit right-justified
-	uint16_t analog1;
-	uint16_t analog2;
-	uint16_t analog3;
-	uint16_t analog4;
-
-	uint64_t cRIOChecksum;
-	uint32_t FPGAChecksum0;
-	uint32_t FPGAChecksum1;
-	uint32_t FPGAChecksum2;
-	uint32_t FPGAChecksum3;
-
-	char versionData[8];
+struct HALControlWord {
+	uint32_t enabled : 1;
+	uint32_t autonomous : 1;
+	uint32_t test :1;
+	uint32_t eStop : 1;
+	uint32_t fmsAttached:1;
+	uint32_t dsAttached:1;
+	uint32_t control_reserved : 26;
 };
 
+enum HALAllianceStationID {
+	kHALAllianceStationID_red1,
+	kHALAllianceStationID_red2,
+	kHALAllianceStationID_red3,
+	kHALAllianceStationID_blue1,
+	kHALAllianceStationID_blue2,
+	kHALAllianceStationID_blue3,
+};
+
+struct HALJoystickAxes {
+	uint16_t count;
+	int16_t axes[6];
+};
+
+typedef uint32_t HALJoystickButtons;
+
 inline float intToFloat(int value)
 {
 	return (float)value;
@@ -283,10 +195,12 @@ extern "C"
 	bool getFPGAButton(int32_t *status);
 
 	int HALSetErrorData(const char *errors, int errorsLength, int wait_ms);
-	int HALSetUserDsLcdData(const char *userDsLcdData, int userDsLcdDataLength, int wait_ms);
-	int HALOverrideIOConfig(const char *ioConfig, int wait_ms);
-	int HALGetDynamicControlData(uint8_t type, char *dynamicData, int32_t maxLength, int wait_ms);
-	int HALGetCommonControlData(HALCommonControlData *data, int wait_ms);
+
+	int HALGetControlWord(HALControlWord *data);
+	int HALGetAllianceStation(enum HALAllianceStationID *allianceStation);
+	int HALGetJoystickAxes(uint8_t joystickNum, HALJoystickAxes *axes, uint8_t maxAxes);
+	int HALGetJoystickButtons(uint8_t joystickNum, HALJoystickButtons *buttons, uint8_t *count);
+
 	void HALSetNewDataSem(pthread_mutex_t *);
 	int HALSetStatusData(float battery, uint8_t dsDigitalOut, uint8_t updateNumber,
 			const char *userDataHigh, int userDataHighLength, const char *userDataLow,
diff --git a/hal/lib/Athena/ChipObject.h b/hal/lib/Athena/ChipObject.h
index a1a08fa122..67f998131f 100644
--- a/hal/lib/Athena/ChipObject.h
+++ b/hal/lib/Athena/ChipObject.h
@@ -4,33 +4,35 @@
 /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
 /*----------------------------------------------------------------------------*/
 #pragma once
+#pragma GCC diagnostic ignored "-Wignored-qualifiers"
 
 #include <stdint.h>
-#include "ChipObject/RoboRIO_FRC_ChipObject_Aliases.h"
-#include "ChipObject/tDMAManager.h"
-#include "ChipObject/tInterruptManager.h"
-#include "ChipObject/tSystem.h"
-#include "ChipObject/tSystemInterface.h"
 
-#include "ChipObject/nInterfaceGlobals.h"
-#include "ChipObject/tAccel.h"
-#include "ChipObject/tAccumulator.h"
-#include "ChipObject/tAI.h"
-#include "ChipObject/tAlarm.h"
-#include "ChipObject/tAnalogTrigger.h"
-#include "ChipObject/tAO.h"
-#include "ChipObject/tBIST.h"
-#include "ChipObject/tCounter.h"
-#include "ChipObject/tDIO.h"
-#include "ChipObject/tDMA.h"
-#include "ChipObject/tEncoder.h"
-#include "ChipObject/tGlobal.h"
-#include "ChipObject/tInterrupt.h"
-#include "ChipObject/tPower.h"
-#include "ChipObject/tPWM.h"
-#include "ChipObject/tRelay.h"
-#include "ChipObject/tSPI.h"
-#include "ChipObject/tSysWatchdog.h"
+#include "FRC_FPGA_ChipObject/RoboRIO_FRC_ChipObject_Aliases.h"
+#include "FRC_FPGA_ChipObject/tDMAManager.h"
+#include "FRC_FPGA_ChipObject/tInterruptManager.h"
+#include "FRC_FPGA_ChipObject/tSystem.h"
+#include "FRC_FPGA_ChipObject/tSystemInterface.h"
+
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/nInterfaceGlobals.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccel.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccumulator.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAI.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAlarm.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAnalogTrigger.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAO.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tBIST.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tCounter.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDIO.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDMA.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tEncoder.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tGlobal.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tInterrupt.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPower.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPWM.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tRelay.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSPI.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSysWatchdog.h"
 
 // FIXME: these should not be here!
 using namespace nFPGA;
diff --git a/hal/lib/Athena/ChipObject/nInterfaceGlobals.h b/hal/lib/Athena/ChipObject/nInterfaceGlobals.h
deleted file mode 100644
index a10713dae5..0000000000
--- a/hal/lib/Athena/ChipObject/nInterfaceGlobals.h
+++ /dev/null
@@ -1,15 +0,0 @@
-// Copyright (c) National Instruments 2008.  All Rights Reserved.
-// Do Not Edit... this file is generated!
-
-#ifndef __nFRC_2015_1_0_5_nInterfaceGlobals_h__
-#define __nFRC_2015_1_0_5_nInterfaceGlobals_h__
-
-namespace nFPGA
-{
-namespace nFRC_2015_1_0_5
-{
-   extern unsigned int g_currentTargetClass;
-}
-}
-
-#endif // __nFRC_2015_1_0_5_nInterfaceGlobals_h__
diff --git a/hal/lib/Athena/ChipObject/tPower.h b/hal/lib/Athena/ChipObject/tPower.h
deleted file mode 100644
index ad859c9a6b..0000000000
--- a/hal/lib/Athena/ChipObject/tPower.h
+++ /dev/null
@@ -1,107 +0,0 @@
-// Copyright (c) National Instruments 2008.  All Rights Reserved.
-// Do Not Edit... this file is generated!
-
-#ifndef __nFRC_2015_1_0_5_Power_h__
-#define __nFRC_2015_1_0_5_Power_h__
-
-#include "tSystemInterface.h"
-
-namespace nFPGA
-{
-namespace nFRC_2015_1_0_5
-{
-
-class tPower
-{
-public:
-   tPower(){}
-   virtual ~tPower(){}
-
-   virtual tSystemInterface* getSystemInterface() = 0;
-   static tPower* create(tRioStatusCode *status);
-
-   typedef enum
-   {
-      kNumSystems = 1,
-   } tIfaceConstants;
-
-   typedef
-   union{
-      struct{
-#ifdef __vxworks
-         unsigned User3V3 : 8;
-         unsigned User5V : 8;
-         unsigned User6V : 8;
-#else
-         unsigned User6V : 8;
-         unsigned User5V : 8;
-         unsigned User3V3 : 8;
-#endif
-      };
-      struct{
-         unsigned value : 24;
-      };
-   } tStatus;
-   typedef
-   union{
-      struct{
-#ifdef __vxworks
-         unsigned User3V3 : 1;
-         unsigned User5V : 1;
-         unsigned User6V : 1;
-#else
-         unsigned User6V : 1;
-         unsigned User5V : 1;
-         unsigned User3V3 : 1;
-#endif
-      };
-      struct{
-         unsigned value : 3;
-      };
-   } tDisable;
-
-
-
-   typedef enum
-   {
-   } tStatus_IfaceConstants;
-
-   virtual tStatus readStatus(tRioStatusCode *status) = 0;
-   virtual unsigned char readStatus_User3V3(tRioStatusCode *status) = 0;
-   virtual unsigned char readStatus_User5V(tRioStatusCode *status) = 0;
-   virtual unsigned char readStatus_User6V(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tDisable_IfaceConstants;
-
-   virtual void writeDisable(tDisable value, tRioStatusCode *status) = 0;
-   virtual void writeDisable_User3V3(bool value, tRioStatusCode *status) = 0;
-   virtual void writeDisable_User5V(bool value, tRioStatusCode *status) = 0;
-   virtual void writeDisable_User6V(bool value, tRioStatusCode *status) = 0;
-   virtual tDisable readDisable(tRioStatusCode *status) = 0;
-   virtual bool readDisable_User3V3(tRioStatusCode *status) = 0;
-   virtual bool readDisable_User5V(tRioStatusCode *status) = 0;
-   virtual bool readDisable_User6V(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tIndicateOutOfRange_IfaceConstants;
-
-   virtual void writeIndicateOutOfRange(bool value, tRioStatusCode *status) = 0;
-   virtual bool readIndicateOutOfRange(tRioStatusCode *status) = 0;
-
-
-
-
-private:
-   tPower(const tPower&);
-   void operator=(const tPower&);
-};
-
-}
-}
-
-#endif // __nFRC_2015_1_0_5_Power_h__
diff --git a/hal/lib/Athena/ChipObject/FRC_FPGA_ChipObject_Aliases.h b/hal/lib/Athena/FRC_FPGA_ChipObject/FRC_FPGA_ChipObject_Aliases.h
similarity index 100%
rename from hal/lib/Athena/ChipObject/FRC_FPGA_ChipObject_Aliases.h
rename to hal/lib/Athena/FRC_FPGA_ChipObject/FRC_FPGA_ChipObject_Aliases.h
diff --git a/hal/lib/Athena/ChipObject/RoboRIO_FRC_ChipObject_Aliases.h b/hal/lib/Athena/FRC_FPGA_ChipObject/RoboRIO_FRC_ChipObject_Aliases.h
similarity index 81%
rename from hal/lib/Athena/ChipObject/RoboRIO_FRC_ChipObject_Aliases.h
rename to hal/lib/Athena/FRC_FPGA_ChipObject/RoboRIO_FRC_ChipObject_Aliases.h
index be207c77f1..8ce42062f6 100644
--- a/hal/lib/Athena/ChipObject/RoboRIO_FRC_ChipObject_Aliases.h
+++ b/hal/lib/Athena/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_2015_1_0_5
+#define nRoboRIO_FPGANamespace nFRC_2015_1_0_7
 
 #endif // __RoboRIO_FRC_ChipObject_Aliases_h__
diff --git a/hal/lib/Athena/ChipObject/fpgainterfacecapi/NiFpga.h b/hal/lib/Athena/FRC_FPGA_ChipObject/fpgainterfacecapi/NiFpga.h
similarity index 100%
rename from hal/lib/Athena/ChipObject/fpgainterfacecapi/NiFpga.h
rename to hal/lib/Athena/FRC_FPGA_ChipObject/fpgainterfacecapi/NiFpga.h
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nInvariantFPGANamespace/tAI.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nInvariantFPGANamespace/tAI.h
new file mode 100644
index 0000000000..14121b5e60
--- /dev/null
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nInvariantFPGANamespace/tAI.h
@@ -0,0 +1,73 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_C0EF_1_1_0_AI_h__
+#define __nFRC_C0EF_1_1_0_AI_h__
+
+#include "tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_C0EF_1_1_0
+{
+
+class tAI
+{
+public:
+   tAI(){}
+   virtual ~tAI(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tAI* create(unsigned char sys_index, tRioStatusCode *status);
+   virtual unsigned char getSystemIndex() = 0;
+
+
+   typedef enum
+   {
+      kNumSystems = 2,
+   } tIfaceConstants;
+
+
+
+   typedef enum
+   {
+   } tCalOK_IfaceConstants;
+
+   virtual bool readCalOK(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tDoneTime_IfaceConstants;
+
+   virtual unsigned int readDoneTime(tRioStatusCode *status) = 0;
+
+
+
+
+   typedef enum
+   {
+      kNumOffsetRegisters = 8,
+   } tOffset_IfaceConstants;
+
+   virtual signed int readOffset(unsigned char reg_index, tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumLSBWeightRegisters = 8,
+   } tLSBWeight_IfaceConstants;
+
+   virtual unsigned int readLSBWeight(unsigned char reg_index, tRioStatusCode *status) = 0;
+
+
+
+private:
+   tAI(const tAI&);
+   void operator=(const tAI&);
+};
+
+}
+}
+
+#endif // __nFRC_C0EF_1_1_0_AI_h__
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nInvariantFPGANamespace/tGlobal.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nInvariantFPGANamespace/tGlobal.h
new file mode 100644
index 0000000000..0b741172f5
--- /dev/null
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nInvariantFPGANamespace/tGlobal.h
@@ -0,0 +1,69 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_C0EF_1_1_0_Global_h__
+#define __nFRC_C0EF_1_1_0_Global_h__
+
+#include "tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_C0EF_1_1_0
+{
+
+class tGlobal
+{
+public:
+   tGlobal(){}
+   virtual ~tGlobal(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tGlobal* create(tRioStatusCode *status);
+
+   typedef enum
+   {
+      kNumSystems = 1,
+   } tIfaceConstants;
+
+
+
+
+   typedef enum
+   {
+   } tVersion_IfaceConstants;
+
+   virtual unsigned short readVersion(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tLocalTime_IfaceConstants;
+
+   virtual unsigned int readLocalTime(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tRevision_IfaceConstants;
+
+   virtual unsigned int readRevision(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tReserved_IfaceConstants;
+
+   virtual unsigned char readReserved(tRioStatusCode *status) = 0;
+
+
+
+
+private:
+   tGlobal(const tGlobal&);
+   void operator=(const tGlobal&);
+};
+
+}
+}
+
+#endif // __nFRC_C0EF_1_1_0_Global_h__
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nInvariantFPGANamespace/tLoadOut.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nInvariantFPGANamespace/tLoadOut.h
new file mode 100644
index 0000000000..a7c4ebbb02
--- /dev/null
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nInvariantFPGANamespace/tLoadOut.h
@@ -0,0 +1,79 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_C0EF_1_1_0_LoadOut_h__
+#define __nFRC_C0EF_1_1_0_LoadOut_h__
+
+#include "tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_C0EF_1_1_0
+{
+
+class tLoadOut
+{
+public:
+   tLoadOut(){}
+   virtual ~tLoadOut(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tLoadOut* create(tRioStatusCode *status);
+
+   typedef enum
+   {
+      kNumSystems = 1,
+   } tIfaceConstants;
+
+
+
+
+   typedef enum
+   {
+   } tReady_IfaceConstants;
+
+   virtual bool readReady(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tDoneTime_IfaceConstants;
+
+   virtual unsigned int readDoneTime(tRioStatusCode *status) = 0;
+
+
+
+
+   typedef enum
+   {
+      kNumVendorIDRegisters = 8,
+   } tVendorID_IfaceConstants;
+
+   virtual unsigned short readVendorID(unsigned char reg_index, tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumSerialNumberRegisters = 8,
+   } tSerialNumber_IfaceConstants;
+
+   virtual unsigned int readSerialNumber(unsigned char reg_index, tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumModuleIDRegisters = 8,
+   } tModuleID_IfaceConstants;
+
+   virtual unsigned short readModuleID(unsigned char reg_index, tRioStatusCode *status) = 0;
+
+
+private:
+   tLoadOut(const tLoadOut&);
+   void operator=(const tLoadOut&);
+};
+
+}
+}
+
+#endif // __nFRC_C0EF_1_1_0_LoadOut_h__
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/nInterfaceGlobals.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/nInterfaceGlobals.h
new file mode 100644
index 0000000000..16e301e7e4
--- /dev/null
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/nInterfaceGlobals.h
@@ -0,0 +1,15 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2015_1_0_7_nInterfaceGlobals_h__
+#define __nFRC_2015_1_0_7_nInterfaceGlobals_h__
+
+namespace nFPGA
+{
+namespace nFRC_2015_1_0_7
+{
+   extern unsigned int g_currentTargetClass;
+}
+}
+
+#endif // __nFRC_2015_1_0_7_nInterfaceGlobals_h__
diff --git a/hal/lib/Athena/ChipObject/tAI.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAI.h
similarity index 92%
rename from hal/lib/Athena/ChipObject/tAI.h
rename to hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAI.h
index 5f953561f2..24fe35b8cb 100644
--- a/hal/lib/Athena/ChipObject/tAI.h
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAI.h
@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_5_AI_h__
-#define __nFRC_2015_1_0_5_AI_h__
+#ifndef __nFRC_2015_1_0_7_AI_h__
+#define __nFRC_2015_1_0_7_AI_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_5
+namespace nFRC_2015_1_0_7
 {
 
 class tAI
@@ -140,4 +140,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_5_AI_h__
+#endif // __nFRC_2015_1_0_7_AI_h__
diff --git a/hal/lib/Athena/ChipObject/tAO.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAO.h
similarity index 80%
rename from hal/lib/Athena/ChipObject/tAO.h
rename to hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAO.h
index 98fe2832eb..9282e1f92e 100644
--- a/hal/lib/Athena/ChipObject/tAO.h
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAO.h
@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_5_AO_h__
-#define __nFRC_2015_1_0_5_AO_h__
+#ifndef __nFRC_2015_1_0_7_AO_h__
+#define __nFRC_2015_1_0_7_AO_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_5
+namespace nFRC_2015_1_0_7
 {
 
 class tAO
@@ -47,4 +47,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_5_AO_h__
+#endif // __nFRC_2015_1_0_7_AO_h__
diff --git a/hal/lib/Athena/ChipObject/tAccel.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccel.h
similarity index 88%
rename from hal/lib/Athena/ChipObject/tAccel.h
rename to hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccel.h
index fe43ed4df6..6b554961d0 100644
--- a/hal/lib/Athena/ChipObject/tAccel.h
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccel.h
@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_5_Accel_h__
-#define __nFRC_2015_1_0_5_Accel_h__
+#ifndef __nFRC_2015_1_0_7_Accel_h__
+#define __nFRC_2015_1_0_7_Accel_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_5
+namespace nFRC_2015_1_0_7
 {
 
 class tAccel
@@ -99,4 +99,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_5_Accel_h__
+#endif // __nFRC_2015_1_0_7_Accel_h__
diff --git a/hal/lib/Athena/ChipObject/tAccumulator.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccumulator.h
similarity index 86%
rename from hal/lib/Athena/ChipObject/tAccumulator.h
rename to hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccumulator.h
index 04c755190b..690ee78e5c 100644
--- a/hal/lib/Athena/ChipObject/tAccumulator.h
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccumulator.h
@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_5_Accumulator_h__
-#define __nFRC_2015_1_0_5_Accumulator_h__
+#ifndef __nFRC_2015_1_0_7_Accumulator_h__
+#define __nFRC_2015_1_0_7_Accumulator_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_5
+namespace nFRC_2015_1_0_7
 {
 
 class tAccumulator
@@ -84,4 +84,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_5_Accumulator_h__
+#endif // __nFRC_2015_1_0_7_Accumulator_h__
diff --git a/hal/lib/Athena/ChipObject/tAlarm.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAlarm.h
similarity index 81%
rename from hal/lib/Athena/ChipObject/tAlarm.h
rename to hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAlarm.h
index 3620eb75ba..1e53558567 100644
--- a/hal/lib/Athena/ChipObject/tAlarm.h
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAlarm.h
@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_5_Alarm_h__
-#define __nFRC_2015_1_0_5_Alarm_h__
+#ifndef __nFRC_2015_1_0_7_Alarm_h__
+#define __nFRC_2015_1_0_7_Alarm_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_5
+namespace nFRC_2015_1_0_7
 {
 
 class tAlarm
@@ -54,4 +54,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_5_Alarm_h__
+#endif // __nFRC_2015_1_0_7_Alarm_h__
diff --git a/hal/lib/Athena/ChipObject/tAnalogTrigger.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAnalogTrigger.h
similarity index 92%
rename from hal/lib/Athena/ChipObject/tAnalogTrigger.h
rename to hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAnalogTrigger.h
index fdd776cab8..e2ed9a87f2 100644
--- a/hal/lib/Athena/ChipObject/tAnalogTrigger.h
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAnalogTrigger.h
@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_5_AnalogTrigger_h__
-#define __nFRC_2015_1_0_5_AnalogTrigger_h__
+#ifndef __nFRC_2015_1_0_7_AnalogTrigger_h__
+#define __nFRC_2015_1_0_7_AnalogTrigger_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_5
+namespace nFRC_2015_1_0_7
 {
 
 class tAnalogTrigger
@@ -126,4 +126,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_5_AnalogTrigger_h__
+#endif // __nFRC_2015_1_0_7_AnalogTrigger_h__
diff --git a/hal/lib/Athena/ChipObject/tBIST.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tBIST.h
similarity index 88%
rename from hal/lib/Athena/ChipObject/tBIST.h
rename to hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tBIST.h
index 6eff7bcfe2..d3a380e487 100644
--- a/hal/lib/Athena/ChipObject/tBIST.h
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tBIST.h
@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_5_BIST_h__
-#define __nFRC_2015_1_0_5_BIST_h__
+#ifndef __nFRC_2015_1_0_7_BIST_h__
+#define __nFRC_2015_1_0_7_BIST_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_5
+namespace nFRC_2015_1_0_7
 {
 
 class tBIST
@@ -87,4 +87,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_5_BIST_h__
+#endif // __nFRC_2015_1_0_7_BIST_h__
diff --git a/hal/lib/Athena/ChipObject/tCounter.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tCounter.h
similarity index 95%
rename from hal/lib/Athena/ChipObject/tCounter.h
rename to hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tCounter.h
index 72d1f97389..ae210ccfca 100644
--- a/hal/lib/Athena/ChipObject/tCounter.h
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tCounter.h
@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_5_Counter_h__
-#define __nFRC_2015_1_0_5_Counter_h__
+#ifndef __nFRC_2015_1_0_7_Counter_h__
+#define __nFRC_2015_1_0_7_Counter_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_5
+namespace nFRC_2015_1_0_7
 {
 
 class tCounter
@@ -216,4 +216,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_5_Counter_h__
+#endif // __nFRC_2015_1_0_7_Counter_h__
diff --git a/hal/lib/Athena/ChipObject/tDIO.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDIO.h
similarity index 87%
rename from hal/lib/Athena/ChipObject/tDIO.h
rename to hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDIO.h
index 7d85376de2..4bb0c1a38e 100644
--- a/hal/lib/Athena/ChipObject/tDIO.h
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDIO.h
@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_5_DIO_h__
-#define __nFRC_2015_1_0_5_DIO_h__
+#ifndef __nFRC_2015_1_0_7_DIO_h__
+#define __nFRC_2015_1_0_7_DIO_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_5
+namespace nFRC_2015_1_0_7
 {
 
 class tDIO
@@ -137,15 +137,6 @@ public:
    virtual unsigned char readFilterSelectHdr(unsigned char bitfield_index, tRioStatusCode *status) = 0;
 
 
-   typedef enum
-   {
-      kNumFilterPeriodMXPElements = 3,
-   } tFilterPeriodMXP_IfaceConstants;
-
-   virtual void writeFilterPeriodMXP(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
-   virtual unsigned char readFilterPeriodMXP(unsigned char bitfield_index, tRioStatusCode *status) = 0;
-
-
    typedef enum
    {
    } tOutputEnable_IfaceConstants;
@@ -218,15 +209,6 @@ public:
    virtual unsigned char readPulseLength(tRioStatusCode *status) = 0;
 
 
-   typedef enum
-   {
-      kNumFilterPeriodHdrElements = 3,
-   } tFilterPeriodHdr_IfaceConstants;
-
-   virtual void writeFilterPeriodHdr(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
-   virtual unsigned char readFilterPeriodHdr(unsigned char bitfield_index, tRioStatusCode *status) = 0;
-
-
    typedef enum
    {
    } tPWMPeriodPower_IfaceConstants;
@@ -237,6 +219,24 @@ public:
 
 
 
+   typedef enum
+   {
+      kNumFilterPeriodMXPRegisters = 3,
+   } tFilterPeriodMXP_IfaceConstants;
+
+   virtual void writeFilterPeriodMXP(unsigned char reg_index, unsigned int value, tRioStatusCode *status) = 0;
+   virtual unsigned int readFilterPeriodMXP(unsigned char reg_index, tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumFilterPeriodHdrRegisters = 3,
+   } tFilterPeriodHdr_IfaceConstants;
+
+   virtual void writeFilterPeriodHdr(unsigned char reg_index, unsigned int value, tRioStatusCode *status) = 0;
+   virtual unsigned int readFilterPeriodHdr(unsigned char reg_index, tRioStatusCode *status) = 0;
+
+
 private:
    tDIO(const tDIO&);
    void operator=(const tDIO&);
@@ -245,4 +245,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_5_DIO_h__
+#endif // __nFRC_2015_1_0_7_DIO_h__
diff --git a/hal/lib/Athena/ChipObject/tDMA.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDMA.h
similarity index 96%
rename from hal/lib/Athena/ChipObject/tDMA.h
rename to hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDMA.h
index 623c979f7e..a4969f3ac0 100644
--- a/hal/lib/Athena/ChipObject/tDMA.h
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDMA.h
@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_5_DMA_h__
-#define __nFRC_2015_1_0_5_DMA_h__
+#ifndef __nFRC_2015_1_0_7_DMA_h__
+#define __nFRC_2015_1_0_7_DMA_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_5
+namespace nFRC_2015_1_0_7
 {
 
 class tDMA
@@ -185,4 +185,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_5_DMA_h__
+#endif // __nFRC_2015_1_0_7_DMA_h__
diff --git a/hal/lib/Athena/ChipObject/tEncoder.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tEncoder.h
similarity index 94%
rename from hal/lib/Athena/ChipObject/tEncoder.h
rename to hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tEncoder.h
index 8a0d806c09..43d7de22d6 100644
--- a/hal/lib/Athena/ChipObject/tEncoder.h
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tEncoder.h
@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_5_Encoder_h__
-#define __nFRC_2015_1_0_5_Encoder_h__
+#ifndef __nFRC_2015_1_0_7_Encoder_h__
+#define __nFRC_2015_1_0_7_Encoder_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_5
+namespace nFRC_2015_1_0_7
 {
 
 class tEncoder
@@ -196,4 +196,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_5_Encoder_h__
+#endif // __nFRC_2015_1_0_7_Encoder_h__
diff --git a/hal/lib/Athena/ChipObject/tGlobal.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tGlobal.h
similarity index 89%
rename from hal/lib/Athena/ChipObject/tGlobal.h
rename to hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tGlobal.h
index 990d4a30ad..a59ba1c844 100644
--- a/hal/lib/Athena/ChipObject/tGlobal.h
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tGlobal.h
@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_5_Global_h__
-#define __nFRC_2015_1_0_5_Global_h__
+#ifndef __nFRC_2015_1_0_7_Global_h__
+#define __nFRC_2015_1_0_7_Global_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_5
+namespace nFRC_2015_1_0_7
 {
 
 class tGlobal
@@ -101,4 +101,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_5_Global_h__
+#endif // __nFRC_2015_1_0_7_Global_h__
diff --git a/hal/lib/Athena/ChipObject/tInterrupt.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tInterrupt.h
similarity index 90%
rename from hal/lib/Athena/ChipObject/tInterrupt.h
rename to hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tInterrupt.h
index be319dd89d..d7712af256 100644
--- a/hal/lib/Athena/ChipObject/tInterrupt.h
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tInterrupt.h
@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_5_Interrupt_h__
-#define __nFRC_2015_1_0_5_Interrupt_h__
+#ifndef __nFRC_2015_1_0_7_Interrupt_h__
+#define __nFRC_2015_1_0_7_Interrupt_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_5
+namespace nFRC_2015_1_0_7
 {
 
 class tInterrupt
@@ -90,4 +90,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_5_Interrupt_h__
+#endif // __nFRC_2015_1_0_7_Interrupt_h__
diff --git a/hal/lib/Athena/ChipObject/tPWM.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPWM.h
similarity index 91%
rename from hal/lib/Athena/ChipObject/tPWM.h
rename to hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPWM.h
index 1362293a96..e19c0079ba 100644
--- a/hal/lib/Athena/ChipObject/tPWM.h
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPWM.h
@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_5_PWM_h__
-#define __nFRC_2015_1_0_5_PWM_h__
+#ifndef __nFRC_2015_1_0_7_PWM_h__
+#define __nFRC_2015_1_0_7_PWM_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_5
+namespace nFRC_2015_1_0_7
 {
 
 class tPWM
@@ -108,4 +108,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_5_PWM_h__
+#endif // __nFRC_2015_1_0_7_PWM_h__
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPower.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPower.h
new file mode 100644
index 0000000000..da89316571
--- /dev/null
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPower.h
@@ -0,0 +1,217 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2015_1_0_7_Power_h__
+#define __nFRC_2015_1_0_7_Power_h__
+
+#include "tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2015_1_0_7
+{
+
+class tPower
+{
+public:
+   tPower(){}
+   virtual ~tPower(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tPower* create(tRioStatusCode *status);
+
+   typedef enum
+   {
+      kNumSystems = 1,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned User3V3 : 8;
+         unsigned User5V : 8;
+         unsigned User6V : 8;
+#else
+         unsigned User6V : 8;
+         unsigned User5V : 8;
+         unsigned User3V3 : 8;
+#endif
+      };
+      struct{
+         unsigned value : 24;
+      };
+   } tStatus;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned OverCurrentFaultCount3V3 : 10;
+         unsigned OverCurrentFaultCount5V : 10;
+         unsigned OverCurrentFaultCount6V : 10;
+#else
+         unsigned OverCurrentFaultCount6V : 10;
+         unsigned OverCurrentFaultCount5V : 10;
+         unsigned OverCurrentFaultCount3V3 : 10;
+#endif
+      };
+      struct{
+         unsigned value : 30;
+      };
+   } tOverCurrentFaultCounts;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned User3V3 : 1;
+         unsigned User5V : 1;
+         unsigned User6V : 1;
+#else
+         unsigned User6V : 1;
+         unsigned User5V : 1;
+         unsigned User3V3 : 1;
+#endif
+      };
+      struct{
+         unsigned value : 3;
+      };
+   } tDisable;
+
+
+
+   typedef enum
+   {
+   } tUserVoltage3V3_IfaceConstants;
+
+   virtual unsigned short readUserVoltage3V3(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tStatus_IfaceConstants;
+
+   virtual tStatus readStatus(tRioStatusCode *status) = 0;
+   virtual unsigned char readStatus_User3V3(tRioStatusCode *status) = 0;
+   virtual unsigned char readStatus_User5V(tRioStatusCode *status) = 0;
+   virtual unsigned char readStatus_User6V(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tUserVoltage6V_IfaceConstants;
+
+   virtual unsigned short readUserVoltage6V(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tOnChipTemperature_IfaceConstants;
+
+   virtual unsigned short readOnChipTemperature(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tUserVoltage5V_IfaceConstants;
+
+   virtual unsigned short readUserVoltage5V(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tResetFaultCounts_IfaceConstants;
+
+   virtual void strobeResetFaultCounts(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tOverCurrentFaultCounts_IfaceConstants;
+
+   virtual tOverCurrentFaultCounts readOverCurrentFaultCounts(tRioStatusCode *status) = 0;
+   virtual unsigned short readOverCurrentFaultCounts_OverCurrentFaultCount3V3(tRioStatusCode *status) = 0;
+   virtual unsigned short readOverCurrentFaultCounts_OverCurrentFaultCount5V(tRioStatusCode *status) = 0;
+   virtual unsigned short readOverCurrentFaultCounts_OverCurrentFaultCount6V(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tIntegratedIO_IfaceConstants;
+
+   virtual unsigned short readIntegratedIO(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tMXP_DIOVoltage_IfaceConstants;
+
+   virtual unsigned short readMXP_DIOVoltage(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tUserCurrent3V3_IfaceConstants;
+
+   virtual unsigned short readUserCurrent3V3(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tVinVoltage_IfaceConstants;
+
+   virtual unsigned short readVinVoltage(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tUserCurrent6V_IfaceConstants;
+
+   virtual unsigned short readUserCurrent6V(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tUserCurrent5V_IfaceConstants;
+
+   virtual unsigned short readUserCurrent5V(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tAOVoltage_IfaceConstants;
+
+   virtual unsigned short readAOVoltage(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tVinCurrent_IfaceConstants;
+
+   virtual unsigned short readVinCurrent(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tDisable_IfaceConstants;
+
+   virtual void writeDisable(tDisable value, tRioStatusCode *status) = 0;
+   virtual void writeDisable_User3V3(bool value, tRioStatusCode *status) = 0;
+   virtual void writeDisable_User5V(bool value, tRioStatusCode *status) = 0;
+   virtual void writeDisable_User6V(bool value, tRioStatusCode *status) = 0;
+   virtual tDisable readDisable(tRioStatusCode *status) = 0;
+   virtual bool readDisable_User3V3(tRioStatusCode *status) = 0;
+   virtual bool readDisable_User5V(tRioStatusCode *status) = 0;
+   virtual bool readDisable_User6V(tRioStatusCode *status) = 0;
+
+
+
+
+private:
+   tPower(const tPower&);
+   void operator=(const tPower&);
+};
+
+}
+}
+
+#endif // __nFRC_2015_1_0_7_Power_h__
diff --git a/hal/lib/Athena/ChipObject/tRelay.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tRelay.h
similarity index 85%
rename from hal/lib/Athena/ChipObject/tRelay.h
rename to hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tRelay.h
index a2f72b7f54..57da78e771 100644
--- a/hal/lib/Athena/ChipObject/tRelay.h
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tRelay.h
@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_5_Relay_h__
-#define __nFRC_2015_1_0_5_Relay_h__
+#ifndef __nFRC_2015_1_0_7_Relay_h__
+#define __nFRC_2015_1_0_7_Relay_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_5
+namespace nFRC_2015_1_0_7
 {
 
 class tRelay
@@ -65,4 +65,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_5_Relay_h__
+#endif // __nFRC_2015_1_0_7_Relay_h__
diff --git a/hal/lib/Athena/ChipObject/tSPI.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSPI.h
similarity index 87%
rename from hal/lib/Athena/ChipObject/tSPI.h
rename to hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSPI.h
index ce45acfa9b..431001fde8 100644
--- a/hal/lib/Athena/ChipObject/tSPI.h
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSPI.h
@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_5_SPI_h__
-#define __nFRC_2015_1_0_5_SPI_h__
+#ifndef __nFRC_2015_1_0_7_SPI_h__
+#define __nFRC_2015_1_0_7_SPI_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_5
+namespace nFRC_2015_1_0_7
 {
 
 class tSPI
@@ -65,4 +65,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_5_SPI_h__
+#endif // __nFRC_2015_1_0_7_SPI_h__
diff --git a/hal/lib/Athena/ChipObject/tSysWatchdog.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSysWatchdog.h
similarity index 88%
rename from hal/lib/Athena/ChipObject/tSysWatchdog.h
rename to hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSysWatchdog.h
index abb18158f9..b5b3aca44f 100644
--- a/hal/lib/Athena/ChipObject/tSysWatchdog.h
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSysWatchdog.h
@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_5_SysWatchdog_h__
-#define __nFRC_2015_1_0_5_SysWatchdog_h__
+#ifndef __nFRC_2015_1_0_7_SysWatchdog_h__
+#define __nFRC_2015_1_0_7_SysWatchdog_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_5
+namespace nFRC_2015_1_0_7
 {
 
 class tSysWatchdog
@@ -98,4 +98,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_5_SysWatchdog_h__
+#endif // __nFRC_2015_1_0_7_SysWatchdog_h__
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tAI.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tAI.h
new file mode 100644
index 0000000000..78c423a019
--- /dev/null
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tAI.h
@@ -0,0 +1,149 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2012_1_6_4_AI_h__
+#define __nFRC_2012_1_6_4_AI_h__
+
+#include "tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2012_1_6_4
+{
+
+class tAI
+{
+public:
+   tAI(){}
+   virtual ~tAI(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tAI* create(unsigned char sys_index, tRioStatusCode *status);
+   virtual unsigned char getSystemIndex() = 0;
+
+
+   typedef enum
+   {
+      kNumSystems = 2,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Channel : 3;
+         unsigned Module : 1;
+         unsigned Averaged : 1;
+#else
+         unsigned Averaged : 1;
+         unsigned Module : 1;
+         unsigned Channel : 3;
+#endif
+      };
+      struct{
+         unsigned value : 5;
+      };
+   } tReadSelect;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned ScanSize : 3;
+         unsigned ConvertRate : 26;
+#else
+         unsigned ConvertRate : 26;
+         unsigned ScanSize : 3;
+#endif
+      };
+      struct{
+         unsigned value : 29;
+      };
+   } tConfig;
+
+
+   typedef enum
+   {
+   } tConfig_IfaceConstants;
+
+   virtual void writeConfig(tConfig value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_ScanSize(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_ConvertRate(unsigned int value, tRioStatusCode *status) = 0;
+   virtual tConfig readConfig(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_ScanSize(tRioStatusCode *status) = 0;
+   virtual unsigned int readConfig_ConvertRate(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tLoopTiming_IfaceConstants;
+
+   virtual unsigned int readLoopTiming(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumOversampleBitsElements = 8,
+   } tOversampleBits_IfaceConstants;
+
+   virtual void writeOversampleBits(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readOversampleBits(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumAverageBitsElements = 8,
+   } tAverageBits_IfaceConstants;
+
+   virtual void writeAverageBits(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readAverageBits(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumScanListElements = 8,
+   } tScanList_IfaceConstants;
+
+   virtual void writeScanList(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readScanList(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+
+
+
+   typedef enum
+   {
+   } tOutput_IfaceConstants;
+
+   virtual signed int readOutput(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tLatchOutput_IfaceConstants;
+
+   virtual void strobeLatchOutput(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tReadSelect_IfaceConstants;
+
+   virtual void writeReadSelect(tReadSelect value, tRioStatusCode *status) = 0;
+   virtual void writeReadSelect_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeReadSelect_Module(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeReadSelect_Averaged(bool value, tRioStatusCode *status) = 0;
+   virtual tReadSelect readReadSelect(tRioStatusCode *status) = 0;
+   virtual unsigned char readReadSelect_Channel(tRioStatusCode *status) = 0;
+   virtual unsigned char readReadSelect_Module(tRioStatusCode *status) = 0;
+   virtual bool readReadSelect_Averaged(tRioStatusCode *status) = 0;
+
+
+
+
+private:
+   tAI(const tAI&);
+   void operator=(const tAI&);
+};
+
+}
+}
+
+#endif // __nFRC_2012_1_6_4_AI_h__
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tAccumulator.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tAccumulator.h
new file mode 100644
index 0000000000..1a0972a7e0
--- /dev/null
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tAccumulator.h
@@ -0,0 +1,87 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2012_1_6_4_Accumulator_h__
+#define __nFRC_2012_1_6_4_Accumulator_h__
+
+#include "tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2012_1_6_4
+{
+
+class tAccumulator
+{
+public:
+   tAccumulator(){}
+   virtual ~tAccumulator(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tAccumulator* create(unsigned char sys_index, tRioStatusCode *status);
+   virtual unsigned char getSystemIndex() = 0;
+
+
+   typedef enum
+   {
+      kNumSystems = 2,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+         signed long long Value;
+         unsigned Count : 32;
+      };
+      struct{
+         unsigned value : 32;
+         unsigned value2 : 32;
+         unsigned value3 : 32;
+      };
+   } tOutput;
+
+
+   typedef enum
+   {
+   } tOutput_IfaceConstants;
+
+   virtual tOutput readOutput(tRioStatusCode *status) = 0;
+   virtual signed long long readOutput_Value(tRioStatusCode *status) = 0;
+   virtual unsigned int readOutput_Count(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tCenter_IfaceConstants;
+
+   virtual void writeCenter(signed int value, tRioStatusCode *status) = 0;
+   virtual signed int readCenter(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tDeadband_IfaceConstants;
+
+   virtual void writeDeadband(signed int value, tRioStatusCode *status) = 0;
+   virtual signed int readDeadband(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tReset_IfaceConstants;
+
+   virtual void strobeReset(tRioStatusCode *status) = 0;
+
+
+
+
+
+private:
+   tAccumulator(const tAccumulator&);
+   void operator=(const tAccumulator&);
+};
+
+}
+}
+
+#endif // __nFRC_2012_1_6_4_Accumulator_h__
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tAlarm.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tAlarm.h
new file mode 100644
index 0000000000..f3eb33f1d2
--- /dev/null
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tAlarm.h
@@ -0,0 +1,57 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2012_1_6_4_Alarm_h__
+#define __nFRC_2012_1_6_4_Alarm_h__
+
+#include "tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2012_1_6_4
+{
+
+class tAlarm
+{
+public:
+   tAlarm(){}
+   virtual ~tAlarm(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tAlarm* create(tRioStatusCode *status);
+
+   typedef enum
+   {
+      kNumSystems = 1,
+   } tIfaceConstants;
+
+
+
+
+   typedef enum
+   {
+   } tEnable_IfaceConstants;
+
+   virtual void writeEnable(bool value, tRioStatusCode *status) = 0;
+   virtual bool readEnable(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tTriggerTime_IfaceConstants;
+
+   virtual void writeTriggerTime(unsigned int value, tRioStatusCode *status) = 0;
+   virtual unsigned int readTriggerTime(tRioStatusCode *status) = 0;
+
+
+
+
+private:
+   tAlarm(const tAlarm&);
+   void operator=(const tAlarm&);
+};
+
+}
+}
+
+#endif // __nFRC_2012_1_6_4_Alarm_h__
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tAnalogTrigger.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tAnalogTrigger.h
new file mode 100644
index 0000000000..43150f7930
--- /dev/null
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tAnalogTrigger.h
@@ -0,0 +1,133 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2012_1_6_4_AnalogTrigger_h__
+#define __nFRC_2012_1_6_4_AnalogTrigger_h__
+
+#include "tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2012_1_6_4
+{
+
+class tAnalogTrigger
+{
+public:
+   tAnalogTrigger(){}
+   virtual ~tAnalogTrigger(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tAnalogTrigger* create(unsigned char sys_index, tRioStatusCode *status);
+   virtual unsigned char getSystemIndex() = 0;
+
+
+   typedef enum
+   {
+      kNumSystems = 8,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned InHysteresis : 1;
+         unsigned OverLimit : 1;
+         unsigned Rising : 1;
+         unsigned Falling : 1;
+#else
+         unsigned Falling : 1;
+         unsigned Rising : 1;
+         unsigned OverLimit : 1;
+         unsigned InHysteresis : 1;
+#endif
+      };
+      struct{
+         unsigned value : 4;
+      };
+   } tOutput;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Channel : 3;
+         unsigned Module : 1;
+         unsigned Averaged : 1;
+         unsigned Filter : 1;
+         unsigned FloatingRollover : 1;
+         signed RolloverLimit : 8;
+#else
+         signed RolloverLimit : 8;
+         unsigned FloatingRollover : 1;
+         unsigned Filter : 1;
+         unsigned Averaged : 1;
+         unsigned Module : 1;
+         unsigned Channel : 3;
+#endif
+      };
+      struct{
+         unsigned value : 15;
+      };
+   } tSourceSelect;
+
+
+   typedef enum
+   {
+   } tSourceSelect_IfaceConstants;
+
+   virtual void writeSourceSelect(tSourceSelect value, tRioStatusCode *status) = 0;
+   virtual void writeSourceSelect_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeSourceSelect_Module(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeSourceSelect_Averaged(bool value, tRioStatusCode *status) = 0;
+   virtual void writeSourceSelect_Filter(bool value, tRioStatusCode *status) = 0;
+   virtual void writeSourceSelect_FloatingRollover(bool value, tRioStatusCode *status) = 0;
+   virtual void writeSourceSelect_RolloverLimit(signed short value, tRioStatusCode *status) = 0;
+   virtual tSourceSelect readSourceSelect(tRioStatusCode *status) = 0;
+   virtual unsigned char readSourceSelect_Channel(tRioStatusCode *status) = 0;
+   virtual unsigned char readSourceSelect_Module(tRioStatusCode *status) = 0;
+   virtual bool readSourceSelect_Averaged(tRioStatusCode *status) = 0;
+   virtual bool readSourceSelect_Filter(tRioStatusCode *status) = 0;
+   virtual bool readSourceSelect_FloatingRollover(tRioStatusCode *status) = 0;
+   virtual signed short readSourceSelect_RolloverLimit(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tUpperLimit_IfaceConstants;
+
+   virtual void writeUpperLimit(signed int value, tRioStatusCode *status) = 0;
+   virtual signed int readUpperLimit(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tLowerLimit_IfaceConstants;
+
+   virtual void writeLowerLimit(signed int value, tRioStatusCode *status) = 0;
+   virtual signed int readLowerLimit(tRioStatusCode *status) = 0;
+
+
+
+   typedef enum
+   {
+      kNumOutputElements = 8,
+   } tOutput_IfaceConstants;
+
+   virtual tOutput readOutput(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+   virtual bool readOutput_InHysteresis(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+   virtual bool readOutput_OverLimit(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+   virtual bool readOutput_Rising(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+   virtual bool readOutput_Falling(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+
+
+
+
+private:
+   tAnalogTrigger(const tAnalogTrigger&);
+   void operator=(const tAnalogTrigger&);
+};
+
+}
+}
+
+#endif // __nFRC_2012_1_6_4_AnalogTrigger_h__
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tCounter.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tCounter.h
new file mode 100644
index 0000000000..b23a7f06f2
--- /dev/null
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tCounter.h
@@ -0,0 +1,219 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2012_1_6_4_Counter_h__
+#define __nFRC_2012_1_6_4_Counter_h__
+
+#include "tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2012_1_6_4
+{
+
+class tCounter
+{
+public:
+   tCounter(){}
+   virtual ~tCounter(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tCounter* create(unsigned char sys_index, tRioStatusCode *status);
+   virtual unsigned char getSystemIndex() = 0;
+
+
+   typedef enum
+   {
+      kNumSystems = 8,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Direction : 1;
+         signed Value : 31;
+#else
+         signed Value : 31;
+         unsigned Direction : 1;
+#endif
+      };
+      struct{
+         unsigned value : 32;
+      };
+   } tOutput;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned UpSource_Channel : 4;
+         unsigned UpSource_Module : 1;
+         unsigned UpSource_AnalogTrigger : 1;
+         unsigned DownSource_Channel : 4;
+         unsigned DownSource_Module : 1;
+         unsigned DownSource_AnalogTrigger : 1;
+         unsigned IndexSource_Channel : 4;
+         unsigned IndexSource_Module : 1;
+         unsigned IndexSource_AnalogTrigger : 1;
+         unsigned IndexActiveHigh : 1;
+         unsigned UpRisingEdge : 1;
+         unsigned UpFallingEdge : 1;
+         unsigned DownRisingEdge : 1;
+         unsigned DownFallingEdge : 1;
+         unsigned Mode : 2;
+         unsigned PulseLengthThreshold : 6;
+         unsigned Enable : 1;
+#else
+         unsigned Enable : 1;
+         unsigned PulseLengthThreshold : 6;
+         unsigned Mode : 2;
+         unsigned DownFallingEdge : 1;
+         unsigned DownRisingEdge : 1;
+         unsigned UpFallingEdge : 1;
+         unsigned UpRisingEdge : 1;
+         unsigned IndexActiveHigh : 1;
+         unsigned IndexSource_AnalogTrigger : 1;
+         unsigned IndexSource_Module : 1;
+         unsigned IndexSource_Channel : 4;
+         unsigned DownSource_AnalogTrigger : 1;
+         unsigned DownSource_Module : 1;
+         unsigned DownSource_Channel : 4;
+         unsigned UpSource_AnalogTrigger : 1;
+         unsigned UpSource_Module : 1;
+         unsigned UpSource_Channel : 4;
+#endif
+      };
+      struct{
+         unsigned value : 32;
+      };
+   } tConfig;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Period : 23;
+         signed Count : 8;
+         unsigned Stalled : 1;
+#else
+         unsigned Stalled : 1;
+         signed Count : 8;
+         unsigned Period : 23;
+#endif
+      };
+      struct{
+         unsigned value : 32;
+      };
+   } tTimerOutput;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned StallPeriod : 24;
+         unsigned AverageSize : 7;
+         unsigned UpdateWhenEmpty : 1;
+#else
+         unsigned UpdateWhenEmpty : 1;
+         unsigned AverageSize : 7;
+         unsigned StallPeriod : 24;
+#endif
+      };
+      struct{
+         unsigned value : 32;
+      };
+   } tTimerConfig;
+
+
+   typedef enum
+   {
+   } tOutput_IfaceConstants;
+
+   virtual tOutput readOutput(tRioStatusCode *status) = 0;
+   virtual bool readOutput_Direction(tRioStatusCode *status) = 0;
+   virtual signed int readOutput_Value(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tConfig_IfaceConstants;
+
+   virtual void writeConfig(tConfig value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_UpSource_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_UpSource_Module(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_UpSource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_DownSource_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_DownSource_Module(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_DownSource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_IndexSource_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_IndexSource_Module(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_IndexSource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_IndexActiveHigh(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_UpRisingEdge(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_UpFallingEdge(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_DownRisingEdge(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_DownFallingEdge(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Mode(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_PulseLengthThreshold(unsigned short value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable(bool value, tRioStatusCode *status) = 0;
+   virtual tConfig readConfig(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_UpSource_Channel(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_UpSource_Module(tRioStatusCode *status) = 0;
+   virtual bool readConfig_UpSource_AnalogTrigger(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_DownSource_Channel(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_DownSource_Module(tRioStatusCode *status) = 0;
+   virtual bool readConfig_DownSource_AnalogTrigger(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_IndexSource_Channel(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_IndexSource_Module(tRioStatusCode *status) = 0;
+   virtual bool readConfig_IndexSource_AnalogTrigger(tRioStatusCode *status) = 0;
+   virtual bool readConfig_IndexActiveHigh(tRioStatusCode *status) = 0;
+   virtual bool readConfig_UpRisingEdge(tRioStatusCode *status) = 0;
+   virtual bool readConfig_UpFallingEdge(tRioStatusCode *status) = 0;
+   virtual bool readConfig_DownRisingEdge(tRioStatusCode *status) = 0;
+   virtual bool readConfig_DownFallingEdge(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_Mode(tRioStatusCode *status) = 0;
+   virtual unsigned short readConfig_PulseLengthThreshold(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tTimerOutput_IfaceConstants;
+
+   virtual tTimerOutput readTimerOutput(tRioStatusCode *status) = 0;
+   virtual unsigned int readTimerOutput_Period(tRioStatusCode *status) = 0;
+   virtual signed char readTimerOutput_Count(tRioStatusCode *status) = 0;
+   virtual bool readTimerOutput_Stalled(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tReset_IfaceConstants;
+
+   virtual void strobeReset(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tTimerConfig_IfaceConstants;
+
+   virtual void writeTimerConfig(tTimerConfig value, tRioStatusCode *status) = 0;
+   virtual void writeTimerConfig_StallPeriod(unsigned int value, tRioStatusCode *status) = 0;
+   virtual void writeTimerConfig_AverageSize(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeTimerConfig_UpdateWhenEmpty(bool value, tRioStatusCode *status) = 0;
+   virtual tTimerConfig readTimerConfig(tRioStatusCode *status) = 0;
+   virtual unsigned int readTimerConfig_StallPeriod(tRioStatusCode *status) = 0;
+   virtual unsigned char readTimerConfig_AverageSize(tRioStatusCode *status) = 0;
+   virtual bool readTimerConfig_UpdateWhenEmpty(tRioStatusCode *status) = 0;
+
+
+
+
+
+private:
+   tCounter(const tCounter&);
+   void operator=(const tCounter&);
+};
+
+}
+}
+
+#endif // __nFRC_2012_1_6_4_Counter_h__
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tDIO.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tDIO.h
new file mode 100644
index 0000000000..babb691e3b
--- /dev/null
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tDIO.h
@@ -0,0 +1,330 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2012_1_6_4_DIO_h__
+#define __nFRC_2012_1_6_4_DIO_h__
+
+#include "tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2012_1_6_4
+{
+
+class tDIO
+{
+public:
+   tDIO(){}
+   virtual ~tDIO(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tDIO* create(unsigned char sys_index, tRioStatusCode *status);
+   virtual unsigned char getSystemIndex() = 0;
+
+
+   typedef enum
+   {
+      kNumSystems = 2,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Period : 16;
+         unsigned MinHigh : 16;
+#else
+         unsigned MinHigh : 16;
+         unsigned Period : 16;
+#endif
+      };
+      struct{
+         unsigned value : 32;
+      };
+   } tPWMConfig;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned RelayFwd : 8;
+         unsigned RelayRev : 8;
+         unsigned I2CHeader : 4;
+#else
+         unsigned I2CHeader : 4;
+         unsigned RelayRev : 8;
+         unsigned RelayFwd : 8;
+#endif
+      };
+      struct{
+         unsigned value : 20;
+      };
+   } tSlowValue;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Transaction : 1;
+         unsigned Done : 1;
+         unsigned Aborted : 1;
+         unsigned DataReceivedHigh : 24;
+#else
+         unsigned DataReceivedHigh : 24;
+         unsigned Aborted : 1;
+         unsigned Done : 1;
+         unsigned Transaction : 1;
+#endif
+      };
+      struct{
+         unsigned value : 27;
+      };
+   } tI2CStatus;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Address : 8;
+         unsigned BytesToRead : 3;
+         unsigned BytesToWrite : 3;
+         unsigned DataToSendHigh : 16;
+         unsigned BitwiseHandshake : 1;
+#else
+         unsigned BitwiseHandshake : 1;
+         unsigned DataToSendHigh : 16;
+         unsigned BytesToWrite : 3;
+         unsigned BytesToRead : 3;
+         unsigned Address : 8;
+#endif
+      };
+      struct{
+         unsigned value : 31;
+      };
+   } tI2CConfig;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned PeriodPower : 4;
+         unsigned OutputSelect_0 : 4;
+         unsigned OutputSelect_1 : 4;
+         unsigned OutputSelect_2 : 4;
+         unsigned OutputSelect_3 : 4;
+#else
+         unsigned OutputSelect_3 : 4;
+         unsigned OutputSelect_2 : 4;
+         unsigned OutputSelect_1 : 4;
+         unsigned OutputSelect_0 : 4;
+         unsigned PeriodPower : 4;
+#endif
+      };
+      struct{
+         unsigned value : 20;
+      };
+   } tDO_PWMConfig;
+
+
+   typedef enum
+   {
+      kNumFilterSelectElements = 16,
+   } tFilterSelect_IfaceConstants;
+
+   virtual void writeFilterSelect(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readFilterSelect(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tI2CDataToSend_IfaceConstants;
+
+   virtual void writeI2CDataToSend(unsigned int value, tRioStatusCode *status) = 0;
+   virtual unsigned int readI2CDataToSend(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tDO_IfaceConstants;
+
+   virtual void writeDO(unsigned short value, tRioStatusCode *status) = 0;
+   virtual unsigned short readDO(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumFilterPeriodElements = 3,
+   } tFilterPeriod_IfaceConstants;
+
+   virtual void writeFilterPeriod(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readFilterPeriod(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tOutputEnable_IfaceConstants;
+
+   virtual void writeOutputEnable(unsigned short value, tRioStatusCode *status) = 0;
+   virtual unsigned short readOutputEnable(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tPulse_IfaceConstants;
+
+   virtual void writePulse(unsigned short value, tRioStatusCode *status) = 0;
+   virtual unsigned short readPulse(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tSlowValue_IfaceConstants;
+
+   virtual void writeSlowValue(tSlowValue value, tRioStatusCode *status) = 0;
+   virtual void writeSlowValue_RelayFwd(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeSlowValue_RelayRev(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeSlowValue_I2CHeader(unsigned char value, tRioStatusCode *status) = 0;
+   virtual tSlowValue readSlowValue(tRioStatusCode *status) = 0;
+   virtual unsigned char readSlowValue_RelayFwd(tRioStatusCode *status) = 0;
+   virtual unsigned char readSlowValue_RelayRev(tRioStatusCode *status) = 0;
+   virtual unsigned char readSlowValue_I2CHeader(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tI2CStatus_IfaceConstants;
+
+   virtual tI2CStatus readI2CStatus(tRioStatusCode *status) = 0;
+   virtual unsigned char readI2CStatus_Transaction(tRioStatusCode *status) = 0;
+   virtual bool readI2CStatus_Done(tRioStatusCode *status) = 0;
+   virtual bool readI2CStatus_Aborted(tRioStatusCode *status) = 0;
+   virtual unsigned int readI2CStatus_DataReceivedHigh(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tI2CDataReceived_IfaceConstants;
+
+   virtual unsigned int readI2CDataReceived(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tDI_IfaceConstants;
+
+   virtual unsigned short readDI(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tPulseLength_IfaceConstants;
+
+   virtual void writePulseLength(unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readPulseLength(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumPWMPeriodScaleElements = 10,
+   } tPWMPeriodScale_IfaceConstants;
+
+   virtual void writePWMPeriodScale(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readPWMPeriodScale(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumDO_PWMDutyCycleElements = 4,
+   } tDO_PWMDutyCycle_IfaceConstants;
+
+   virtual void writeDO_PWMDutyCycle(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readDO_PWMDutyCycle(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tBFL_IfaceConstants;
+
+   virtual void writeBFL(bool value, tRioStatusCode *status) = 0;
+   virtual bool readBFL(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tI2CConfig_IfaceConstants;
+
+   virtual void writeI2CConfig(tI2CConfig value, tRioStatusCode *status) = 0;
+   virtual void writeI2CConfig_Address(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeI2CConfig_BytesToRead(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeI2CConfig_BytesToWrite(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeI2CConfig_DataToSendHigh(unsigned short value, tRioStatusCode *status) = 0;
+   virtual void writeI2CConfig_BitwiseHandshake(bool value, tRioStatusCode *status) = 0;
+   virtual tI2CConfig readI2CConfig(tRioStatusCode *status) = 0;
+   virtual unsigned char readI2CConfig_Address(tRioStatusCode *status) = 0;
+   virtual unsigned char readI2CConfig_BytesToRead(tRioStatusCode *status) = 0;
+   virtual unsigned char readI2CConfig_BytesToWrite(tRioStatusCode *status) = 0;
+   virtual unsigned short readI2CConfig_DataToSendHigh(tRioStatusCode *status) = 0;
+   virtual bool readI2CConfig_BitwiseHandshake(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tDO_PWMConfig_IfaceConstants;
+
+   virtual void writeDO_PWMConfig(tDO_PWMConfig value, tRioStatusCode *status) = 0;
+   virtual void writeDO_PWMConfig_PeriodPower(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeDO_PWMConfig_OutputSelect_0(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeDO_PWMConfig_OutputSelect_1(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeDO_PWMConfig_OutputSelect_2(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeDO_PWMConfig_OutputSelect_3(unsigned char value, tRioStatusCode *status) = 0;
+   virtual tDO_PWMConfig readDO_PWMConfig(tRioStatusCode *status) = 0;
+   virtual unsigned char readDO_PWMConfig_PeriodPower(tRioStatusCode *status) = 0;
+   virtual unsigned char readDO_PWMConfig_OutputSelect_0(tRioStatusCode *status) = 0;
+   virtual unsigned char readDO_PWMConfig_OutputSelect_1(tRioStatusCode *status) = 0;
+   virtual unsigned char readDO_PWMConfig_OutputSelect_2(tRioStatusCode *status) = 0;
+   virtual unsigned char readDO_PWMConfig_OutputSelect_3(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tI2CStart_IfaceConstants;
+
+   virtual void strobeI2CStart(tRioStatusCode *status) = 0;
+
+
+
+   typedef enum
+   {
+   } tLoopTiming_IfaceConstants;
+
+   virtual unsigned short readLoopTiming(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tPWMConfig_IfaceConstants;
+
+   virtual void writePWMConfig(tPWMConfig value, tRioStatusCode *status) = 0;
+   virtual void writePWMConfig_Period(unsigned short value, tRioStatusCode *status) = 0;
+   virtual void writePWMConfig_MinHigh(unsigned short value, tRioStatusCode *status) = 0;
+   virtual tPWMConfig readPWMConfig(tRioStatusCode *status) = 0;
+   virtual unsigned short readPWMConfig_Period(tRioStatusCode *status) = 0;
+   virtual unsigned short readPWMConfig_MinHigh(tRioStatusCode *status) = 0;
+
+
+
+   typedef enum
+   {
+      kNumPWMValueRegisters = 10,
+   } tPWMValue_IfaceConstants;
+
+   virtual void writePWMValue(unsigned char reg_index, unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readPWMValue(unsigned char reg_index, tRioStatusCode *status) = 0;
+
+
+
+private:
+   tDIO(const tDIO&);
+   void operator=(const tDIO&);
+};
+
+}
+}
+
+#endif // __nFRC_2012_1_6_4_DIO_h__
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tDMA.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tDMA.h
new file mode 100644
index 0000000000..006ec60a9a
--- /dev/null
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tDMA.h
@@ -0,0 +1,188 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2012_1_6_4_DMA_h__
+#define __nFRC_2012_1_6_4_DMA_h__
+
+#include "tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2012_1_6_4
+{
+
+class tDMA
+{
+public:
+   tDMA(){}
+   virtual ~tDMA(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tDMA* create(tRioStatusCode *status);
+
+   typedef enum
+   {
+      kNumSystems = 1,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Pause : 1;
+         unsigned Enable_AI0_Low : 1;
+         unsigned Enable_AI0_High : 1;
+         unsigned Enable_AIAveraged0_Low : 1;
+         unsigned Enable_AIAveraged0_High : 1;
+         unsigned Enable_AI1_Low : 1;
+         unsigned Enable_AI1_High : 1;
+         unsigned Enable_AIAveraged1_Low : 1;
+         unsigned Enable_AIAveraged1_High : 1;
+         unsigned Enable_Accumulator0 : 1;
+         unsigned Enable_Accumulator1 : 1;
+         unsigned Enable_DI : 1;
+         unsigned Enable_AnalogTriggers : 1;
+         unsigned Enable_Counters_Low : 1;
+         unsigned Enable_Counters_High : 1;
+         unsigned Enable_CounterTimers_Low : 1;
+         unsigned Enable_CounterTimers_High : 1;
+         unsigned Enable_Encoders : 1;
+         unsigned Enable_EncoderTimers : 1;
+         unsigned ExternalClock : 1;
+#else
+         unsigned ExternalClock : 1;
+         unsigned Enable_EncoderTimers : 1;
+         unsigned Enable_Encoders : 1;
+         unsigned Enable_CounterTimers_High : 1;
+         unsigned Enable_CounterTimers_Low : 1;
+         unsigned Enable_Counters_High : 1;
+         unsigned Enable_Counters_Low : 1;
+         unsigned Enable_AnalogTriggers : 1;
+         unsigned Enable_DI : 1;
+         unsigned Enable_Accumulator1 : 1;
+         unsigned Enable_Accumulator0 : 1;
+         unsigned Enable_AIAveraged1_High : 1;
+         unsigned Enable_AIAveraged1_Low : 1;
+         unsigned Enable_AI1_High : 1;
+         unsigned Enable_AI1_Low : 1;
+         unsigned Enable_AIAveraged0_High : 1;
+         unsigned Enable_AIAveraged0_Low : 1;
+         unsigned Enable_AI0_High : 1;
+         unsigned Enable_AI0_Low : 1;
+         unsigned Pause : 1;
+#endif
+      };
+      struct{
+         unsigned value : 20;
+      };
+   } tConfig;
+   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;
+      };
+   } tExternalTriggers;
+
+
+
+   typedef enum
+   {
+   } tRate_IfaceConstants;
+
+   virtual void writeRate(unsigned int value, tRioStatusCode *status) = 0;
+   virtual unsigned int readRate(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tConfig_IfaceConstants;
+
+   virtual void writeConfig(tConfig value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Pause(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_AI0_Low(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_AI0_High(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_AIAveraged0_Low(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_AIAveraged0_High(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_AI1_Low(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_AI1_High(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_AIAveraged1_Low(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_AIAveraged1_High(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_Accumulator0(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_Accumulator1(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_DI(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_AnalogTriggers(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_Counters_Low(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_Counters_High(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_CounterTimers_Low(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_CounterTimers_High(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_Encoders(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_EncoderTimers(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_ExternalClock(bool value, tRioStatusCode *status) = 0;
+   virtual tConfig readConfig(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Pause(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_AI0_Low(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_AI0_High(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_AIAveraged0_Low(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_AIAveraged0_High(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_AI1_Low(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_AI1_High(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_AIAveraged1_Low(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_AIAveraged1_High(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_Accumulator0(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_Accumulator1(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_DI(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_AnalogTriggers(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_Counters_Low(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_Counters_High(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_CounterTimers_Low(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_CounterTimers_High(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_Encoders(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_EncoderTimers(tRioStatusCode *status) = 0;
+   virtual bool readConfig_ExternalClock(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumExternalTriggersElements = 4,
+   } tExternalTriggers_IfaceConstants;
+
+   virtual void writeExternalTriggers(unsigned char bitfield_index, tExternalTriggers value, tRioStatusCode *status) = 0;
+   virtual void writeExternalTriggers_ExternalClockSource_Channel(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeExternalTriggers_ExternalClockSource_Module(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeExternalTriggers_ExternalClockSource_AnalogTrigger(unsigned char bitfield_index, bool value, tRioStatusCode *status) = 0;
+   virtual void writeExternalTriggers_RisingEdge(unsigned char bitfield_index, bool value, tRioStatusCode *status) = 0;
+   virtual void writeExternalTriggers_FallingEdge(unsigned char bitfield_index, bool value, tRioStatusCode *status) = 0;
+   virtual tExternalTriggers readExternalTriggers(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+   virtual unsigned char readExternalTriggers_ExternalClockSource_Channel(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+   virtual unsigned char readExternalTriggers_ExternalClockSource_Module(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+   virtual bool readExternalTriggers_ExternalClockSource_AnalogTrigger(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+   virtual bool readExternalTriggers_RisingEdge(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+   virtual bool readExternalTriggers_FallingEdge(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+
+
+
+
+private:
+   tDMA(const tDMA&);
+   void operator=(const tDMA&);
+};
+
+}
+}
+
+#endif // __nFRC_2012_1_6_4_DMA_h__
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tEncoder.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tEncoder.h
new file mode 100644
index 0000000000..7255920278
--- /dev/null
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tEncoder.h
@@ -0,0 +1,199 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2012_1_6_4_Encoder_h__
+#define __nFRC_2012_1_6_4_Encoder_h__
+
+#include "tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2012_1_6_4
+{
+
+class tEncoder
+{
+public:
+   tEncoder(){}
+   virtual ~tEncoder(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tEncoder* create(unsigned char sys_index, tRioStatusCode *status);
+   virtual unsigned char getSystemIndex() = 0;
+
+
+   typedef enum
+   {
+      kNumSystems = 4,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Direction : 1;
+         signed Value : 31;
+#else
+         signed Value : 31;
+         unsigned Direction : 1;
+#endif
+      };
+      struct{
+         unsigned value : 32;
+      };
+   } tOutput;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned ASource_Channel : 4;
+         unsigned ASource_Module : 1;
+         unsigned ASource_AnalogTrigger : 1;
+         unsigned BSource_Channel : 4;
+         unsigned BSource_Module : 1;
+         unsigned BSource_AnalogTrigger : 1;
+         unsigned IndexSource_Channel : 4;
+         unsigned IndexSource_Module : 1;
+         unsigned IndexSource_AnalogTrigger : 1;
+         unsigned IndexActiveHigh : 1;
+         unsigned Reverse : 1;
+         unsigned Enable : 1;
+#else
+         unsigned Enable : 1;
+         unsigned Reverse : 1;
+         unsigned IndexActiveHigh : 1;
+         unsigned IndexSource_AnalogTrigger : 1;
+         unsigned IndexSource_Module : 1;
+         unsigned IndexSource_Channel : 4;
+         unsigned BSource_AnalogTrigger : 1;
+         unsigned BSource_Module : 1;
+         unsigned BSource_Channel : 4;
+         unsigned ASource_AnalogTrigger : 1;
+         unsigned ASource_Module : 1;
+         unsigned ASource_Channel : 4;
+#endif
+      };
+      struct{
+         unsigned value : 21;
+      };
+   } tConfig;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Period : 23;
+         signed Count : 8;
+         unsigned Stalled : 1;
+#else
+         unsigned Stalled : 1;
+         signed Count : 8;
+         unsigned Period : 23;
+#endif
+      };
+      struct{
+         unsigned value : 32;
+      };
+   } tTimerOutput;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned StallPeriod : 24;
+         unsigned AverageSize : 7;
+         unsigned UpdateWhenEmpty : 1;
+#else
+         unsigned UpdateWhenEmpty : 1;
+         unsigned AverageSize : 7;
+         unsigned StallPeriod : 24;
+#endif
+      };
+      struct{
+         unsigned value : 32;
+      };
+   } tTimerConfig;
+
+
+   typedef enum
+   {
+   } tOutput_IfaceConstants;
+
+   virtual tOutput readOutput(tRioStatusCode *status) = 0;
+   virtual bool readOutput_Direction(tRioStatusCode *status) = 0;
+   virtual signed int readOutput_Value(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tConfig_IfaceConstants;
+
+   virtual void writeConfig(tConfig value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_ASource_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_ASource_Module(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_ASource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_BSource_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_BSource_Module(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_BSource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_IndexSource_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_IndexSource_Module(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_IndexSource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_IndexActiveHigh(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Reverse(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable(bool value, tRioStatusCode *status) = 0;
+   virtual tConfig readConfig(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_ASource_Channel(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_ASource_Module(tRioStatusCode *status) = 0;
+   virtual bool readConfig_ASource_AnalogTrigger(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_BSource_Channel(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_BSource_Module(tRioStatusCode *status) = 0;
+   virtual bool readConfig_BSource_AnalogTrigger(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_IndexSource_Channel(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_IndexSource_Module(tRioStatusCode *status) = 0;
+   virtual bool readConfig_IndexSource_AnalogTrigger(tRioStatusCode *status) = 0;
+   virtual bool readConfig_IndexActiveHigh(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Reverse(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tTimerOutput_IfaceConstants;
+
+   virtual tTimerOutput readTimerOutput(tRioStatusCode *status) = 0;
+   virtual unsigned int readTimerOutput_Period(tRioStatusCode *status) = 0;
+   virtual signed char readTimerOutput_Count(tRioStatusCode *status) = 0;
+   virtual bool readTimerOutput_Stalled(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tReset_IfaceConstants;
+
+   virtual void strobeReset(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tTimerConfig_IfaceConstants;
+
+   virtual void writeTimerConfig(tTimerConfig value, tRioStatusCode *status) = 0;
+   virtual void writeTimerConfig_StallPeriod(unsigned int value, tRioStatusCode *status) = 0;
+   virtual void writeTimerConfig_AverageSize(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeTimerConfig_UpdateWhenEmpty(bool value, tRioStatusCode *status) = 0;
+   virtual tTimerConfig readTimerConfig(tRioStatusCode *status) = 0;
+   virtual unsigned int readTimerConfig_StallPeriod(tRioStatusCode *status) = 0;
+   virtual unsigned char readTimerConfig_AverageSize(tRioStatusCode *status) = 0;
+   virtual bool readTimerConfig_UpdateWhenEmpty(tRioStatusCode *status) = 0;
+
+
+
+
+
+private:
+   tEncoder(const tEncoder&);
+   void operator=(const tEncoder&);
+};
+
+}
+}
+
+#endif // __nFRC_2012_1_6_4_Encoder_h__
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tGlobal.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tGlobal.h
new file mode 100644
index 0000000000..0782f35109
--- /dev/null
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tGlobal.h
@@ -0,0 +1,70 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2012_1_6_4_Global_h__
+#define __nFRC_2012_1_6_4_Global_h__
+
+#include "tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2012_1_6_4
+{
+
+class tGlobal
+{
+public:
+   tGlobal(){}
+   virtual ~tGlobal(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tGlobal* create(tRioStatusCode *status);
+
+   typedef enum
+   {
+      kNumSystems = 1,
+   } tIfaceConstants;
+
+
+
+
+   typedef enum
+   {
+   } tVersion_IfaceConstants;
+
+   virtual unsigned short readVersion(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tLocalTime_IfaceConstants;
+
+   virtual unsigned int readLocalTime(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tFPGA_LED_IfaceConstants;
+
+   virtual void writeFPGA_LED(bool value, tRioStatusCode *status) = 0;
+   virtual bool readFPGA_LED(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tRevision_IfaceConstants;
+
+   virtual unsigned int readRevision(tRioStatusCode *status) = 0;
+
+
+
+
+private:
+   tGlobal(const tGlobal&);
+   void operator=(const tGlobal&);
+};
+
+}
+}
+
+#endif // __nFRC_2012_1_6_4_Global_h__
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tInterrupt.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tInterrupt.h
new file mode 100644
index 0000000000..40186e539d
--- /dev/null
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tInterrupt.h
@@ -0,0 +1,93 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2012_1_6_4_Interrupt_h__
+#define __nFRC_2012_1_6_4_Interrupt_h__
+
+#include "tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2012_1_6_4
+{
+
+class tInterrupt
+{
+public:
+   tInterrupt(){}
+   virtual ~tInterrupt(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tInterrupt* create(unsigned char sys_index, tRioStatusCode *status);
+   virtual unsigned char getSystemIndex() = 0;
+
+
+   typedef enum
+   {
+      kNumSystems = 8,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Source_Channel : 4;
+         unsigned Source_Module : 1;
+         unsigned Source_AnalogTrigger : 1;
+         unsigned RisingEdge : 1;
+         unsigned FallingEdge : 1;
+         unsigned WaitForAck : 1;
+#else
+         unsigned WaitForAck : 1;
+         unsigned FallingEdge : 1;
+         unsigned RisingEdge : 1;
+         unsigned Source_AnalogTrigger : 1;
+         unsigned Source_Module : 1;
+         unsigned Source_Channel : 4;
+#endif
+      };
+      struct{
+         unsigned value : 9;
+      };
+   } tConfig;
+
+
+   typedef enum
+   {
+   } tTimeStamp_IfaceConstants;
+
+   virtual unsigned int readTimeStamp(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tConfig_IfaceConstants;
+
+   virtual void writeConfig(tConfig value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Source_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Source_Module(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Source_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_RisingEdge(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_FallingEdge(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_WaitForAck(bool value, tRioStatusCode *status) = 0;
+   virtual tConfig readConfig(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_Source_Channel(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_Source_Module(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Source_AnalogTrigger(tRioStatusCode *status) = 0;
+   virtual bool readConfig_RisingEdge(tRioStatusCode *status) = 0;
+   virtual bool readConfig_FallingEdge(tRioStatusCode *status) = 0;
+   virtual bool readConfig_WaitForAck(tRioStatusCode *status) = 0;
+
+
+
+
+
+private:
+   tInterrupt(const tInterrupt&);
+   void operator=(const tInterrupt&);
+};
+
+}
+}
+
+#endif // __nFRC_2012_1_6_4_Interrupt_h__
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tSPI.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tSPI.h
new file mode 100644
index 0000000000..45c208c6ed
--- /dev/null
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tSPI.h
@@ -0,0 +1,228 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2012_1_6_4_SPI_h__
+#define __nFRC_2012_1_6_4_SPI_h__
+
+#include "tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2012_1_6_4
+{
+
+class tSPI
+{
+public:
+   tSPI(){}
+   virtual ~tSPI(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tSPI* create(tRioStatusCode *status);
+
+   typedef enum
+   {
+      kNumSystems = 1,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned ReceivedDataOverflow : 1;
+         unsigned Idle : 1;
+#else
+         unsigned Idle : 1;
+         unsigned ReceivedDataOverflow : 1;
+#endif
+      };
+      struct{
+         unsigned value : 2;
+      };
+   } tStatus;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned BusBitWidth : 8;
+         unsigned ClockHalfPeriodDelay : 8;
+         unsigned MSBfirst : 1;
+         unsigned DataOnFalling : 1;
+         unsigned LatchFirst : 1;
+         unsigned LatchLast : 1;
+         unsigned FramePolarity : 1;
+         unsigned WriteOnly : 1;
+         unsigned ClockPolarity : 1;
+#else
+         unsigned ClockPolarity : 1;
+         unsigned WriteOnly : 1;
+         unsigned FramePolarity : 1;
+         unsigned LatchLast : 1;
+         unsigned LatchFirst : 1;
+         unsigned DataOnFalling : 1;
+         unsigned MSBfirst : 1;
+         unsigned ClockHalfPeriodDelay : 8;
+         unsigned BusBitWidth : 8;
+#endif
+      };
+      struct{
+         unsigned value : 23;
+      };
+   } tConfig;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned SCLK_Channel : 4;
+         unsigned SCLK_Module : 1;
+         unsigned MOSI_Channel : 4;
+         unsigned MOSI_Module : 1;
+         unsigned MISO_Channel : 4;
+         unsigned MISO_Module : 1;
+         unsigned SS_Channel : 4;
+         unsigned SS_Module : 1;
+#else
+         unsigned SS_Module : 1;
+         unsigned SS_Channel : 4;
+         unsigned MISO_Module : 1;
+         unsigned MISO_Channel : 4;
+         unsigned MOSI_Module : 1;
+         unsigned MOSI_Channel : 4;
+         unsigned SCLK_Module : 1;
+         unsigned SCLK_Channel : 4;
+#endif
+      };
+      struct{
+         unsigned value : 20;
+      };
+   } tChannels;
+
+
+
+   typedef enum
+   {
+   } tStatus_IfaceConstants;
+
+   virtual tStatus readStatus(tRioStatusCode *status) = 0;
+   virtual bool readStatus_ReceivedDataOverflow(tRioStatusCode *status) = 0;
+   virtual bool readStatus_Idle(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tReceivedData_IfaceConstants;
+
+   virtual unsigned int readReceivedData(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tDataToLoad_IfaceConstants;
+
+   virtual void writeDataToLoad(unsigned int value, tRioStatusCode *status) = 0;
+   virtual unsigned int readDataToLoad(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tConfig_IfaceConstants;
+
+   virtual void writeConfig(tConfig value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_BusBitWidth(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_ClockHalfPeriodDelay(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_MSBfirst(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_DataOnFalling(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_LatchFirst(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_LatchLast(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_FramePolarity(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_WriteOnly(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_ClockPolarity(bool value, tRioStatusCode *status) = 0;
+   virtual tConfig readConfig(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_BusBitWidth(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_ClockHalfPeriodDelay(tRioStatusCode *status) = 0;
+   virtual bool readConfig_MSBfirst(tRioStatusCode *status) = 0;
+   virtual bool readConfig_DataOnFalling(tRioStatusCode *status) = 0;
+   virtual bool readConfig_LatchFirst(tRioStatusCode *status) = 0;
+   virtual bool readConfig_LatchLast(tRioStatusCode *status) = 0;
+   virtual bool readConfig_FramePolarity(tRioStatusCode *status) = 0;
+   virtual bool readConfig_WriteOnly(tRioStatusCode *status) = 0;
+   virtual bool readConfig_ClockPolarity(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tClearReceivedData_IfaceConstants;
+
+   virtual void strobeClearReceivedData(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tReceivedElements_IfaceConstants;
+
+   virtual unsigned short readReceivedElements(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tLoad_IfaceConstants;
+
+   virtual void strobeLoad(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tReset_IfaceConstants;
+
+   virtual void strobeReset(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tChannels_IfaceConstants;
+
+   virtual void writeChannels(tChannels value, tRioStatusCode *status) = 0;
+   virtual void writeChannels_SCLK_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeChannels_SCLK_Module(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeChannels_MOSI_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeChannels_MOSI_Module(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeChannels_MISO_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeChannels_MISO_Module(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeChannels_SS_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeChannels_SS_Module(unsigned char value, tRioStatusCode *status) = 0;
+   virtual tChannels readChannels(tRioStatusCode *status) = 0;
+   virtual unsigned char readChannels_SCLK_Channel(tRioStatusCode *status) = 0;
+   virtual unsigned char readChannels_SCLK_Module(tRioStatusCode *status) = 0;
+   virtual unsigned char readChannels_MOSI_Channel(tRioStatusCode *status) = 0;
+   virtual unsigned char readChannels_MOSI_Module(tRioStatusCode *status) = 0;
+   virtual unsigned char readChannels_MISO_Channel(tRioStatusCode *status) = 0;
+   virtual unsigned char readChannels_MISO_Module(tRioStatusCode *status) = 0;
+   virtual unsigned char readChannels_SS_Channel(tRioStatusCode *status) = 0;
+   virtual unsigned char readChannels_SS_Module(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tAvailableToLoad_IfaceConstants;
+
+   virtual unsigned short readAvailableToLoad(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tReadReceivedData_IfaceConstants;
+
+   virtual void strobeReadReceivedData(tRioStatusCode *status) = 0;
+
+
+
+
+private:
+   tSPI(const tSPI&);
+   void operator=(const tSPI&);
+};
+
+}
+}
+
+#endif // __nFRC_2012_1_6_4_SPI_h__
diff --git a/hal/lib/Athena/ChipObject/tSolenoid.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tSolenoid.h
similarity index 100%
rename from hal/lib/Athena/ChipObject/tSolenoid.h
rename to hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tSolenoid.h
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tSysWatchdog.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tSysWatchdog.h
new file mode 100644
index 0000000000..2ef01ffbc4
--- /dev/null
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tSysWatchdog.h
@@ -0,0 +1,71 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2012_1_6_4_SysWatchdog_h__
+#define __nFRC_2012_1_6_4_SysWatchdog_h__
+
+#include "tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2012_1_6_4
+{
+
+class tSysWatchdog
+{
+public:
+   tSysWatchdog(){}
+   virtual ~tSysWatchdog(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tSysWatchdog* create(tRioStatusCode *status);
+
+   typedef enum
+   {
+      kNumSystems = 1,
+   } tIfaceConstants;
+
+
+
+
+   typedef enum
+   {
+   } tCommand_IfaceConstants;
+
+   virtual void writeCommand(unsigned short value, tRioStatusCode *status) = 0;
+   virtual unsigned short readCommand(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tChallenge_IfaceConstants;
+
+   virtual unsigned char readChallenge(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tActive_IfaceConstants;
+
+   virtual void writeActive(bool value, tRioStatusCode *status) = 0;
+   virtual bool readActive(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tTimer_IfaceConstants;
+
+   virtual unsigned int readTimer(tRioStatusCode *status) = 0;
+
+
+
+
+private:
+   tSysWatchdog(const tSysWatchdog&);
+   void operator=(const tSysWatchdog&);
+};
+
+}
+}
+
+#endif // __nFRC_2012_1_6_4_SysWatchdog_h__
diff --git a/hal/lib/Athena/ChipObject/tWatchdog.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tWatchdog.h
similarity index 100%
rename from hal/lib/Athena/ChipObject/tWatchdog.h
rename to hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tWatchdog.h
diff --git a/hal/lib/Athena/ChipObject/printFpgaVersion.h b/hal/lib/Athena/FRC_FPGA_ChipObject/printFpgaVersion.h
similarity index 100%
rename from hal/lib/Athena/ChipObject/printFpgaVersion.h
rename to hal/lib/Athena/FRC_FPGA_ChipObject/printFpgaVersion.h
diff --git a/hal/lib/Athena/ChipObject/tDMAManager.h b/hal/lib/Athena/FRC_FPGA_ChipObject/tDMAManager.h
similarity index 100%
rename from hal/lib/Athena/ChipObject/tDMAManager.h
rename to hal/lib/Athena/FRC_FPGA_ChipObject/tDMAManager.h
diff --git a/hal/lib/Athena/ChipObject/tInterruptManager.h b/hal/lib/Athena/FRC_FPGA_ChipObject/tInterruptManager.h
similarity index 100%
rename from hal/lib/Athena/ChipObject/tInterruptManager.h
rename to hal/lib/Athena/FRC_FPGA_ChipObject/tInterruptManager.h
diff --git a/hal/lib/Athena/ChipObject/tSystem.h b/hal/lib/Athena/FRC_FPGA_ChipObject/tSystem.h
similarity index 100%
rename from hal/lib/Athena/ChipObject/tSystem.h
rename to hal/lib/Athena/FRC_FPGA_ChipObject/tSystem.h
diff --git a/hal/lib/Athena/ChipObject/tSystemInterface.h b/hal/lib/Athena/FRC_FPGA_ChipObject/tSystemInterface.h
similarity index 70%
rename from hal/lib/Athena/ChipObject/tSystemInterface.h
rename to hal/lib/Athena/FRC_FPGA_ChipObject/tSystemInterface.h
index 4a80b0a7f6..ce7eb9b7ba 100644
--- a/hal/lib/Athena/ChipObject/tSystemInterface.h
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/tSystemInterface.h
@@ -12,9 +12,9 @@ public:
    tSystemInterface(){}
    virtual ~tSystemInterface(){}
 
-   virtual uint16_t getExpectedFPGAVersion()=0;
-   virtual uint32_t getExpectedFPGARevision()=0;
-   virtual uint32_t * getExpectedFPGASignature()=0;
+   virtual const uint16_t getExpectedFPGAVersion()=0;
+   virtual const uint32_t getExpectedFPGARevision()=0;
+   virtual const uint32_t * const getExpectedFPGASignature()=0;
    virtual void getHardwareFpgaSignature(uint32_t *guid_ptr, tRioStatusCode *status)=0;
    virtual uint32_t getLVHandle(tRioStatusCode *status)=0;
    virtual uint32_t getHandle()=0;
@@ -23,4 +23,3 @@ public:
 }
 
 #endif // __tSystemInterface_h__
-
diff --git a/hal/lib/Athena/HAL.cpp b/hal/lib/Athena/HAL.cpp
index 63bc412bba..c4798897c7 100644
--- a/hal/lib/Athena/HAL.cpp
+++ b/hal/lib/Athena/HAL.cpp
@@ -6,7 +6,6 @@
 #include "NetworkCommunication/FRCComm.h"
 #include "NetworkCommunication/UsageReporting.h"
 #include "NetworkCommunication/LoadOut.h"
-#include "ChipObject/nInterfaceGlobals.h"
 #include <fstream>
 #include <iostream>
 #include <unistd.h>
@@ -116,26 +115,24 @@ int HALSetErrorData(const char *errors, int errorsLength, int wait_ms)
 	return setErrorData(errors, errorsLength, wait_ms);
 }
 
-int HALSetUserDsLcdData(const char *userDsLcdData, int userDsLcdDataLength,
-		int wait_ms)
+int HALGetControlWord(HALControlWord *data)
 {
-	return setUserDsLcdData(userDsLcdData, userDsLcdDataLength, wait_ms);
+	return FRC_NetworkCommunication_getControlWord((ControlWord_t*) data);
 }
 
-int HALOverrideIOConfig(const char *ioConfig, int wait_ms)
+int HALGetAllianceStation(enum HALAllianceStationID *allianceStation)
 {
-	return overrideIOConfig(ioConfig, wait_ms);
+	return FRC_NetworkCommunication_getAllianceStation((AllianceStationID_t*) allianceStation);
 }
 
-int HALGetDynamicControlData(uint8_t type, char *dynamicData, int32_t maxLength,
-		int wait_ms)
+int HALGetJoystickAxes(uint8_t joystickNum, HALJoystickAxes *axes, uint8_t maxAxes)
 {
-	return getDynamicControlData(type, dynamicData, maxLength, wait_ms);
+	return FRC_NetworkCommunication_getJoystickAxes(joystickNum, (JoystickAxes_t*) axes, maxAxes);
 }
 
-int HALGetCommonControlData(HALCommonControlData *data, int wait_ms)
+int HALGetJoystickButtons(uint8_t joystickNum, HALJoystickButtons *buttons, uint8_t *count)
 {
-	return getRecentCommonControlData((FRCCommonControlData*) data, wait_ms);
+	return FRC_NetworkCommunication_getJoystickButtons(joystickNum, buttons, count);
 }
 
 void HALSetNewDataSem(pthread_mutex_t * param)
@@ -240,8 +237,12 @@ void HALNetworkCommunicationObserveUserProgramTest(void)
 uint32_t HALReport(uint8_t resource, uint8_t instanceNumber, uint8_t context,
 		const char *feature)
 {
-	//return FRC_NetworkCommunication_nUsageReporting_report( resource, instanceNumber, context, feature);
-	return 0;
+	if(feature == NULL)
+	{
+		feature = "";
+	}
+
+	return FRC_NetworkCommunication_nUsageReporting_report(resource, instanceNumber, context, feature);
 }
 
 // TODO: HACKS
@@ -267,12 +268,3 @@ void imaqGetLastError()
 void niTimestamp64()
 {
 }
-
-#include "NetworkCommunication/LoadOut.h"
-namespace nLoadOut
-{
-bool getModulePresence(tModuleType moduleType, uint8_t moduleNumber)
-{
-	return true;
-}
-}
diff --git a/hal/lib/Athena/NetworkCommunication/CANInterfacePlugin.h b/hal/lib/Athena/NetworkCommunication/CANInterfacePlugin.h
index bf0abef86a..f4c4064dc6 100644
--- a/hal/lib/Athena/NetworkCommunication/CANInterfacePlugin.h
+++ b/hal/lib/Athena/NetworkCommunication/CANInterfacePlugin.h
@@ -50,6 +50,23 @@ public:
 	 * @return This should return 0 if a message was populated, non-0 if no message was not populated.
 	 */
 	virtual int32_t receiveMessage(uint32_t &messageID, uint8_t *data, uint8_t &dataSize) = 0;
+
+	/**
+	 * This entry-point of the CANInterfacePlugin returns status of the CAN bus.
+	 * 
+	 * This function may be called from multiple contexts and must therefore be reentrant.
+	 * 
+	 * This function will return detailed hardware status if available for diagnostics of the CAN interface.
+	 * 
+	 * @param busOffCount The number of times that sendMessage failed with a busOff error indicating that messages
+	 *  are not successfully transmitted on the bus.
+	 * @param txFullCount The number of times that sendMessage failed with a txFifoFull error indicating that messages
+	 *  are not successfully received by any CAN device.
+	 * @param receiveErrorCount The count of receive errors as reported by the CAN driver.
+	 * @param transmitErrorCount The count of transmit errors as reported by the CAN driver.
+	 * @return This should return 0 if all status was retrieved successfully or an error code if not.
+	 */
+	virtual int32_t getStatus(uint32_t &busOffCount, uint32_t &txFullCount, uint32_t &receiveErrorCount, uint32_t &transmitErrorCount) {return 0;}
 };
 
 /**
diff --git a/hal/lib/Athena/NetworkCommunication/CANSessionMux.h b/hal/lib/Athena/NetworkCommunication/CANSessionMux.h
index d31c76c1a2..81f63c579f 100644
--- a/hal/lib/Athena/NetworkCommunication/CANSessionMux.h
+++ b/hal/lib/Athena/NetworkCommunication/CANSessionMux.h
@@ -41,6 +41,7 @@ namespace nCANSessionMux
 	void openStreamSession(uint32_t *sessionHandle, uint32_t messageID, uint32_t messageIDMask, uint32_t maxMessages, int32_t *status);
 	void closeStreamSession(uint32_t sessionHandle);
 	void readStreamSession(uint32_t sessionHandle, struct tCANStreamMessage *messages, uint32_t messagesToRead, uint32_t *messagesRead, int32_t *status);
+	void getCANStatus(float *percentBusUtilization, uint32_t *busOffCount, uint32_t *txFullCount, uint32_t *receiveErrorCount, uint32_t *transmitErrorCount, int32_t *status);
 }
 
 #ifdef __cplusplus
@@ -53,6 +54,7 @@ extern "C"
 	void FRC_NetworkCommunication_CANSessionMux_openStreamSession(uint32_t *sessionHandle, uint32_t messageID, uint32_t messageIDMask, uint32_t maxMessages, int32_t *status);
 	void FRC_NetworkCommunication_CANSessionMux_closeStreamSession(uint32_t sessionHandle);
 	void FRC_NetworkCommunication_CANSessionMux_readStreamSession(uint32_t sessionHandle, struct tCANStreamMessage *messages, uint32_t messagesToRead, uint32_t *messagesRead, int32_t *status);
+	void FRC_NetworkCommunication_CANSessionMux_getCANStatus(float *percentBusUtilization, uint32_t *busOffCount, uint32_t *txFullCount, uint32_t *receiveErrorCount, uint32_t *transmitErrorCount, int32_t *status);
 
 #ifdef __cplusplus
 }
diff --git a/hal/lib/Athena/NetworkCommunication/FRCComm.h b/hal/lib/Athena/NetworkCommunication/FRCComm.h
index 4d40d237d4..51d8488491 100644
--- a/hal/lib/Athena/NetworkCommunication/FRCComm.h
+++ b/hal/lib/Athena/NetworkCommunication/FRCComm.h
@@ -32,133 +32,52 @@
 #endif
 #endif
 
-// Commandeer some bytes at the end for advanced I/O feedback.
-#define IO_CONFIG_DATA_SIZE 32
-#define SYS_STATUS_DATA_SIZE 44
-#define USER_STATUS_DATA_SIZE (984 - IO_CONFIG_DATA_SIZE - SYS_STATUS_DATA_SIZE)
-#define USER_DS_LCD_DATA_SIZE 128
-
-struct FRCCommonControlData{
-	uint16_t packetIndex;
-	union {
-		uint8_t control;
-#ifndef __vxworks
-		struct {
-			uint8_t checkVersions :1;
-			uint8_t test :1;
-			uint8_t resync : 1;
-			uint8_t fmsAttached:1;
-			uint8_t autonomous : 1;
-			uint8_t enabled : 1;
-			uint8_t notEStop : 1;
-			uint8_t reset : 1;
-		};
-#else
-		struct {
-			uint8_t reset : 1;
-			uint8_t notEStop : 1;
-			uint8_t enabled : 1;
-			uint8_t autonomous : 1;
-			uint8_t fmsAttached:1;
-			uint8_t resync : 1;
-			uint8_t test :1;
-			uint8_t checkVersions :1;
-		};
-#endif
-	};
-	uint8_t dsDigitalIn;
-	uint16_t teamID;
-
-	char dsID_Alliance;
-	char dsID_Position;
-
-	union {
-		int8_t stick0Axes[6];
-		struct {
-			int8_t stick0Axis1;
-			int8_t stick0Axis2;
-			int8_t stick0Axis3;
-			int8_t stick0Axis4;
-			int8_t stick0Axis5;
-			int8_t stick0Axis6;
-		};
-	};
-	uint16_t stick0Buttons;		// Left-most 4 bits are unused
-
-	union {
-		int8_t stick1Axes[6];
-		struct {
-			int8_t stick1Axis1;
-			int8_t stick1Axis2;
-			int8_t stick1Axis3;
-			int8_t stick1Axis4;
-			int8_t stick1Axis5;
-			int8_t stick1Axis6;
-		};
-	};
-	uint16_t stick1Buttons;		// Left-most 4 bits are unused
-
-	union {
-		int8_t stick2Axes[6];
-		struct {
-			int8_t stick2Axis1;
-			int8_t stick2Axis2;
-			int8_t stick2Axis3;
-			int8_t stick2Axis4;
-			int8_t stick2Axis5;
-			int8_t stick2Axis6;
-		};
-	};
-	uint16_t stick2Buttons;		// Left-most 4 bits are unused
-
-	union {
-		int8_t stick3Axes[6];
-		struct {
-			int8_t stick3Axis1;
-			int8_t stick3Axis2;
-			int8_t stick3Axis3;
-			int8_t stick3Axis4;
-			int8_t stick3Axis5;
-			int8_t stick3Axis6;
-		};
-	};
-	uint16_t stick3Buttons;		// Left-most 4 bits are unused
-
-	//Analog inputs are 10 bit right-justified
-	uint16_t analog1;
-	uint16_t analog2;
-	uint16_t analog3;
-	uint16_t analog4;
-
-	uint64_t cRIOChecksum;
-	uint32_t FPGAChecksum0;
-	uint32_t FPGAChecksum1;
-	uint32_t FPGAChecksum2;
-	uint32_t FPGAChecksum3;
-
-	char versionData[8];
+enum AllianceStationID_t {
+	kAllianceStationID_red1,
+	kAllianceStationID_red2,
+	kAllianceStationID_red3,
+	kAllianceStationID_blue1,
+	kAllianceStationID_blue2,
+	kAllianceStationID_blue3,
 };
 
-#define kFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Input 17
-#define kFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Output 18
-#define kFRC_NetworkCommunication_DynamicType_Kinect_Header 19
-#define kFRC_NetworkCommunication_DynamicType_Kinect_Extra1 20
-#define kFRC_NetworkCommunication_DynamicType_Kinect_Vertices1 21
-#define kFRC_NetworkCommunication_DynamicType_Kinect_Extra2 22
-#define kFRC_NetworkCommunication_DynamicType_Kinect_Vertices2 23
-#define kFRC_NetworkCommunication_DynamicType_Kinect_Joystick 24
-#define kFRC_NetworkCommunication_DynamicType_Kinect_Custom 25
+struct ControlWord_t {
+#ifndef __vxworks
+	uint32_t enabled : 1;
+	uint32_t autonomous : 1;
+	uint32_t test :1;
+	uint32_t eStop : 1;
+	uint32_t fmsAttached:1;
+	uint32_t dsAttached:1;
+	uint32_t control_reserved : 26;
+#else
+	uint32_t control_reserved : 26;
+	uint32_t dsAttached:1;
+	uint32_t fmsAttached:1;
+	uint32_t eStop : 1;
+	uint32_t test :1;
+	uint32_t autonomous : 1;
+	uint32_t enabled : 1;
+#endif
+};
+
+struct JoystickAxes_t {
+	uint16_t count;
+	int16_t axes[1];
+};
+
+struct JoystickPOV_t {
+	uint16_t count;
+	uint16_t povs[1];
+};
 
 #ifdef __cplusplus
 extern "C" {
 #endif
+	int EXPORT_FUNC FRC_NetworkCommunication_Reserve(void *instance);
 #ifndef SIMULATION
 	void EXPORT_FUNC getFPGAHardwareVersion(uint16_t *fpgaVersion, uint32_t *fpgaRevision);
 #endif
-	int EXPORT_FUNC getCommonControlData(struct FRCCommonControlData *data, int wait_ms);
-	int EXPORT_FUNC getRecentCommonControlData(struct FRCCommonControlData *commonData, int wait_ms);
-	int EXPORT_FUNC getRecentStatusData(uint8_t *batteryInt, uint8_t *batteryDec, uint8_t *dsDigitalOut, int wait_ms);
-	int EXPORT_FUNC getDynamicControlData(uint8_t type, char *dynamicData, int32_t maxLength, int wait_ms);
 	int EXPORT_FUNC setStatusData(float battery, uint8_t dsDigitalOut, uint8_t updateNumber,
 			const char *userDataHigh, int userDataHighLength,
 			const char *userDataLow, int userDataLowLength, int wait_ms);
@@ -166,30 +85,28 @@ extern "C" {
 			const char *userDataHigh, int userDataHighLength,
 			const char *userDataLow, int userDataLowLength, int wait_ms);
 	int EXPORT_FUNC setErrorData(const char *errors, int errorsLength, int wait_ms);
-	int EXPORT_FUNC setUserDsLcdData(const char *userDsLcdData, int userDsLcdDataLength, int wait_ms);
-	int EXPORT_FUNC overrideIOConfig(const char *ioConfig, int wait_ms);
 	
 #ifdef SIMULATION
 	void EXPORT_FUNC setNewDataSem(HANDLE);
 #else
 # if defined (__vxworks)
 	void EXPORT_FUNC setNewDataSem(SEM_ID);
-	void EXPORT_FUNC setResyncSem(SEM_ID);
 # else
 	void EXPORT_FUNC setNewDataSem(pthread_mutex_t *);
-	void EXPORT_FUNC setResyncSem(pthread_mutex_t *);
 # endif
-	void EXPORT_FUNC signalResyncActionDone(void);
 #endif
 
 	// this uint32_t is really a LVRefNum
-	void EXPORT_FUNC setNewDataOccurRef(uint32_t refnum);
-#ifndef SIMULATION
-	void EXPORT_FUNC setResyncOccurRef(uint32_t refnum);
-#endif
+	int EXPORT_FUNC setNewDataOccurRef(uint32_t refnum);
+
+	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_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);
+	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickPOVs(uint8_t joystickNum, struct JoystickPOV_t *povs, uint8_t maxPOVs);
 
 	void EXPORT_FUNC FRC_NetworkCommunication_getVersionString(char *version);
-	void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramStarting(void);
+	int EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramStarting(void);
 	void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramDisabled(void);
 	void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramAutonomous(void);
 	void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramTeleop(void);
diff --git a/hal/lib/Athena/NetworkCommunication/LoadOut.h b/hal/lib/Athena/NetworkCommunication/LoadOut.h
index 2433b0cc71..fce88a28e2 100644
--- a/hal/lib/Athena/NetworkCommunication/LoadOut.h
+++ b/hal/lib/Athena/NetworkCommunication/LoadOut.h
@@ -16,6 +16,7 @@
 #define kMaxModuleNumber 2
 namespace nLoadOut
 {
+#if defined(__vxworks) || defined(SIMULATION)
     typedef enum {
         kModuleType_Unknown = 0x00,
         kModuleType_Analog = 0x01,
@@ -23,15 +24,18 @@ namespace nLoadOut
         kModuleType_Solenoid = 0x03,
     } tModuleType;
     bool EXPORT_FUNC getModulePresence(tModuleType moduleType, uint8_t moduleNumber);
+#endif
     typedef enum {
         kTargetClass_Unknown = 0x00,
         kTargetClass_FRC1 = 0x10,
         kTargetClass_FRC2 = 0x20,
         kTargetClass_FRC3 = 0x30,
         kTargetClass_RoboRIO = 0x40,
+#if defined(__vxworks) || defined(SIMULATION)
         kTargetClass_FRC2_Analog = kTargetClass_FRC2 | kModuleType_Analog,
         kTargetClass_FRC2_Digital = kTargetClass_FRC2 | kModuleType_Digital,
         kTargetClass_FRC2_Solenoid = kTargetClass_FRC2 | kModuleType_Solenoid,
+#endif
         kTargetClass_FamilyMask = 0xF0,
         kTargetClass_ModuleMask = 0x0F,
     } tTargetClass;
@@ -42,7 +46,9 @@ namespace nLoadOut
 extern "C" {
 #endif
 
+#if defined(__vxworks) || defined(SIMULATION)
     uint32_t EXPORT_FUNC FRC_NetworkCommunication_nLoadOut_getModulePresence(uint32_t moduleType, uint8_t moduleNumber);
+#endif
     uint32_t EXPORT_FUNC FRC_NetworkCommunication_nLoadOut_getTargetClass();
 
 #ifdef __cplusplus
diff --git a/ni-libraries/libFRC_FPGA_ChipObject.so b/ni-libraries/libFRC_FPGA_ChipObject.so
deleted file mode 100755
index 51f6d195ae..0000000000
Binary files a/ni-libraries/libFRC_FPGA_ChipObject.so and /dev/null differ
diff --git a/ni-libraries/libFRC_FPGA_ChipObject.so.1 b/ni-libraries/libFRC_FPGA_ChipObject.so.1
deleted file mode 100755
index 51f6d195ae..0000000000
Binary files a/ni-libraries/libFRC_FPGA_ChipObject.so.1 and /dev/null differ
diff --git a/ni-libraries/libFRC_NetworkCommunication.so b/ni-libraries/libFRC_NetworkCommunication.so
old mode 100755
new mode 100644
index 90c9f86fe0..a24218eec1
Binary files a/ni-libraries/libFRC_NetworkCommunication.so and b/ni-libraries/libFRC_NetworkCommunication.so differ
diff --git a/ni-libraries/libFRC_NetworkCommunication.so.1 b/ni-libraries/libFRC_NetworkCommunication.so.1
old mode 100755
new mode 100644
index 90c9f86fe0..e1ec38ab36
Binary files a/ni-libraries/libFRC_NetworkCommunication.so.1 and b/ni-libraries/libFRC_NetworkCommunication.so.1 differ
diff --git a/ni-libraries/libFRC_NetworkCommunication.so.1.5 b/ni-libraries/libFRC_NetworkCommunication.so.1.5
new file mode 100644
index 0000000000..845c7599a5
--- /dev/null
+++ b/ni-libraries/libFRC_NetworkCommunication.so.1.5
@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libFRC_NetworkCommunication.so.1.5.0 )
diff --git a/ni-libraries/libFRC_NetworkCommunication.so.1.5.0 b/ni-libraries/libFRC_NetworkCommunication.so.1.5.0
new file mode 100755
index 0000000000..15c2a83a7f
Binary files /dev/null and b/ni-libraries/libFRC_NetworkCommunication.so.1.5.0 differ
diff --git a/ni-libraries/libFRC_NetworkCommunicationLV.so b/ni-libraries/libFRC_NetworkCommunicationLV.so
new file mode 100644
index 0000000000..c7c2653383
--- /dev/null
+++ b/ni-libraries/libFRC_NetworkCommunicationLV.so
@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libFRC_NetworkCommunicationLV.so.1 )
diff --git a/ni-libraries/libFRC_NetworkCommunicationLV.so.1 b/ni-libraries/libFRC_NetworkCommunicationLV.so.1
new file mode 100644
index 0000000000..1254b6d71d
--- /dev/null
+++ b/ni-libraries/libFRC_NetworkCommunicationLV.so.1
@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libFRC_NetworkCommunicationLV.so.1.5 )
diff --git a/ni-libraries/libFRC_NetworkCommunicationLV.so.1.5 b/ni-libraries/libFRC_NetworkCommunicationLV.so.1.5
new file mode 100644
index 0000000000..30022dbed4
--- /dev/null
+++ b/ni-libraries/libFRC_NetworkCommunicationLV.so.1.5
@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libFRC_NetworkCommunicationLV.so.1.5.0 )
diff --git a/ni-libraries/libFRC_NetworkCommunicationLV.so.1.5.0 b/ni-libraries/libFRC_NetworkCommunicationLV.so.1.5.0
new file mode 100755
index 0000000000..60c079c67b
Binary files /dev/null and b/ni-libraries/libFRC_NetworkCommunicationLV.so.1.5.0 differ
diff --git a/ni-libraries/libRoboRIO_FRC_ChipObject.so b/ni-libraries/libRoboRIO_FRC_ChipObject.so
old mode 100755
new mode 100644
index 5281f6379b..b44dc03baf
Binary files a/ni-libraries/libRoboRIO_FRC_ChipObject.so and b/ni-libraries/libRoboRIO_FRC_ChipObject.so differ
diff --git a/ni-libraries/libRoboRIO_FRC_ChipObject.so.1 b/ni-libraries/libRoboRIO_FRC_ChipObject.so.1
old mode 100755
new mode 100644
index 5281f6379b..fff4f97abe
Binary files a/ni-libraries/libRoboRIO_FRC_ChipObject.so.1 and b/ni-libraries/libRoboRIO_FRC_ChipObject.so.1 differ
diff --git a/ni-libraries/libRoboRIO_FRC_ChipObject.so.1.2 b/ni-libraries/libRoboRIO_FRC_ChipObject.so.1.2
new file mode 100644
index 0000000000..467fa0ef7c
--- /dev/null
+++ b/ni-libraries/libRoboRIO_FRC_ChipObject.so.1.2
@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libRoboRIO_FRC_ChipObject.so.1.2.0 )
diff --git a/ni-libraries/libRoboRIO_FRC_ChipObject.so.1.2.0 b/ni-libraries/libRoboRIO_FRC_ChipObject.so.1.2.0
new file mode 100755
index 0000000000..6b511629e9
Binary files /dev/null and b/ni-libraries/libRoboRIO_FRC_ChipObject.so.1.2.0 differ
diff --git a/ni-libraries/libfrccanfirmwareupdate.so b/ni-libraries/libfrccanfirmwareupdate.so
new file mode 100755
index 0000000000..e66e0f8df2
Binary files /dev/null and b/ni-libraries/libfrccanfirmwareupdate.so differ
diff --git a/ni-libraries/libfrccansae.so b/ni-libraries/libfrccansae.so
new file mode 100644
index 0000000000..c6efb2b1f0
--- /dev/null
+++ b/ni-libraries/libfrccansae.so
@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libfrccansae.so.1 )
diff --git a/ni-libraries/libfrccansae.so.1 b/ni-libraries/libfrccansae.so.1
new file mode 100644
index 0000000000..4b42d2ed5b
--- /dev/null
+++ b/ni-libraries/libfrccansae.so.1
@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libfrccansae.so.1.0 )
diff --git a/ni-libraries/libfrccansae.so.1.0 b/ni-libraries/libfrccansae.so.1.0
new file mode 100644
index 0000000000..a4dbf588e6
--- /dev/null
+++ b/ni-libraries/libfrccansae.so.1.0
@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libfrccansae.so.1.0.0 )
diff --git a/ni-libraries/libfrccansae.so.1.0.0 b/ni-libraries/libfrccansae.so.1.0.0
new file mode 100755
index 0000000000..8dfc4d112c
Binary files /dev/null and b/ni-libraries/libfrccansae.so.1.0.0 differ
diff --git a/ni-libraries/libi2c.so b/ni-libraries/libi2c.so
old mode 100755
new mode 100644
index f59b7ea1fc..673ca375fe
Binary files a/ni-libraries/libi2c.so and b/ni-libraries/libi2c.so differ
diff --git a/ni-libraries/libi2c.so.1 b/ni-libraries/libi2c.so.1
old mode 100755
new mode 100644
index f59b7ea1fc..e10758b25e
Binary files a/ni-libraries/libi2c.so.1 and b/ni-libraries/libi2c.so.1 differ
diff --git a/ni-libraries/libi2c.so.1.0 b/ni-libraries/libi2c.so.1.0
new file mode 100644
index 0000000000..68c589079a
--- /dev/null
+++ b/ni-libraries/libi2c.so.1.0
@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libi2c.so.1.0.0 )
diff --git a/ni-libraries/libi2c.so.1.0.0 b/ni-libraries/libi2c.so.1.0.0
new file mode 100755
index 0000000000..fd88049f0c
Binary files /dev/null and b/ni-libraries/libi2c.so.1.0.0 differ
diff --git a/ni-libraries/libspi.so b/ni-libraries/libspi.so
old mode 100755
new mode 100644
index 207ea3b761..e77606f676
Binary files a/ni-libraries/libspi.so and b/ni-libraries/libspi.so differ
diff --git a/ni-libraries/libspi.so.1 b/ni-libraries/libspi.so.1
old mode 100755
new mode 100644
index 207ea3b761..5aa0632f71
Binary files a/ni-libraries/libspi.so.1 and b/ni-libraries/libspi.so.1 differ
diff --git a/ni-libraries/libspi.so.1.0 b/ni-libraries/libspi.so.1.0
new file mode 100644
index 0000000000..9f016dfcde
--- /dev/null
+++ b/ni-libraries/libspi.so.1.0
@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libspi.so.1.0.0 )
diff --git a/ni-libraries/libspi.so.1.0.0 b/ni-libraries/libspi.so.1.0.0
new file mode 100755
index 0000000000..19870c63d6
Binary files /dev/null and b/ni-libraries/libspi.so.1.0.0 differ
diff --git a/ni-libraries/libvisa.so b/ni-libraries/libvisa.so
index 9edd2eaa0b..4ca711ce90 100755
Binary files a/ni-libraries/libvisa.so and b/ni-libraries/libvisa.so differ
diff --git a/wpilibc/wpilibC++/include/Buttons/AnalogIOButton.h b/wpilibc/wpilibC++/include/Buttons/AnalogIOButton.h
deleted file mode 100644
index 9b867e6537..0000000000
--- a/wpilibc/wpilibC++/include/Buttons/AnalogIOButton.h
+++ /dev/null
@@ -1,26 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2011. All Rights Reserved.							  */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
-/*----------------------------------------------------------------------------*/
-
-#ifndef __ANALOG_IO_BUTTON_H__
-#define __ANALOG_IO_BUTTON_H__
-
-#include "Buttons/Button.h"
-
-class AnalogIOButton : public Trigger
-{
-public:
-	static const double kThreshold;
-
-	AnalogIOButton(int port);
-	virtual ~AnalogIOButton() {}
-	virtual bool Get();
-
-private:
-	int m_port;
-};
-
-#endif
-
diff --git a/wpilibc/wpilibC++/include/Buttons/DigitalIOButton.h b/wpilibc/wpilibC++/include/Buttons/DigitalIOButton.h
deleted file mode 100644
index 6482c75ecb..0000000000
--- a/wpilibc/wpilibC++/include/Buttons/DigitalIOButton.h
+++ /dev/null
@@ -1,26 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2011. All Rights Reserved.							  */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
-/*----------------------------------------------------------------------------*/
-
-#ifndef __DIGITAL_IO_BUTTON_H__
-#define __DIGITAL_IO_BUTTON_H__
-
-#include "Buttons/Button.h"
-
-class DigitalIOButton: public Button
-{
-public:
-	static const bool kActiveState;
-
-	DigitalIOButton(int port);
-	virtual ~DigitalIOButton() {}
-
-	virtual bool Get();
-
-private:
-	int m_port;
-};
-
-#endif
diff --git a/wpilibc/wpilibC++/include/DriverStation.h b/wpilibc/wpilibC++/include/DriverStation.h
index 115e7b01c9..afdbdf7f25 100644
--- a/wpilibc/wpilibC++/include/DriverStation.h
+++ b/wpilibc/wpilibC++/include/DriverStation.h
@@ -1,16 +1,15 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008. All Rights Reserved.							  */
+/* Copyright (c) FIRST 2008. All Rights Reserved.                             */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
 /*----------------------------------------------------------------------------*/
 #pragma once
 
 #include "Dashboard.h"
-#include "DriverStationEnhancedIO.h"
 #include "SensorBase.h"
 #include "Task.h"
 
-struct HALCommonControlData;
+struct HALControlWord;
 class AnalogInput;
 
 /**
@@ -29,18 +28,12 @@ public:
 	virtual ~DriverStation();
 	static DriverStation *GetInstance();
 
-	static const uint32_t kBatteryChannel = 7;
 	static const uint32_t kJoystickPorts = 4;
 	static const uint32_t kJoystickAxes = 6;
 
 	float GetStickAxis(uint32_t stick, uint32_t axis);
 	short GetStickButtons(uint32_t stick);
 
-	float GetAnalogIn(uint32_t channel);
-	bool GetDigitalIn(uint32_t channel);
-	void SetDigitalOut(uint32_t channel, bool value);
-	bool GetDigitalOut(uint32_t channel);
-
 	bool IsEnabled();
 	bool IsDisabled();
 	bool IsAutonomous();
@@ -49,13 +42,11 @@ public:
 	bool IsNewControlData();
 	bool IsFMSAttached();
 
-	uint32_t GetPacketNumber();
 	Alliance GetAlliance();
 	uint32_t GetLocation();
 	void WaitForData();
 	double GetMatchTime();
 	float GetBatteryVoltage();
-	uint16_t GetTeamNumber();
 
 	// Get the default dashboard packers. These instances stay around even after
 	// a call to SetHigh|LowPriorityDashboardPackerToUse() changes which packer
@@ -92,11 +83,6 @@ public:
 		m_dashboardInUseLow = db;
 	}
 
-	DriverStationEnhancedIO& GetEnhancedIO()
-	{
-		return m_enhancedIO;
-	}
-
 	void IncrementUpdateNumber()
 	{
 		m_updateNumber++;
@@ -145,14 +131,15 @@ private:
 	static void InitTask(DriverStation *ds);
 	static DriverStation *m_instance;
 	static uint8_t m_updateNumber;
-	///< TODO: Get rid of this and use the semaphore signaling
-	static constexpr float kUpdatePeriod = 0.02;
 
 	void Run();
 
-	struct HALCommonControlData *m_controlData;
+	HALControlWord m_controlWord;
+	HALAllianceStationID m_allianceStationID;
+	HALJoystickAxes m_joystickAxes[kJoystickPorts];
+	HALJoystickButtons m_joystickButtons[kJoystickPorts];
+
 	uint8_t m_digitalOut;
-	AnalogInput *m_batteryChannel;
 	MUTEX_ID m_statusDataSemaphore;
 	Task m_task;
 	Dashboard m_dashboardHigh;  // the default dashboard packers
@@ -161,7 +148,6 @@ private:
 	DashboardBase* m_dashboardInUseLow;
 	SEMAPHORE_ID m_newControlData;
 	MUTEX_ID m_packetDataAvailableSem;
-	DriverStationEnhancedIO m_enhancedIO;
 	MULTIWAIT_ID m_waitForDataSem;
 	double m_approxMatchTimeOffset;
 	bool m_userInDisabled;
diff --git a/wpilibc/wpilibC++/include/DriverStationEnhancedIO.h b/wpilibc/wpilibC++/include/DriverStationEnhancedIO.h
deleted file mode 100644
index 3913de0a3b..0000000000
--- a/wpilibc/wpilibC++/include/DriverStationEnhancedIO.h
+++ /dev/null
@@ -1,147 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008. All Rights Reserved.							  */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
-/*----------------------------------------------------------------------------*/
-#pragma once
-
-#include "ErrorBase.h"
-#include <stack>
-#include <vector>
-#include "HAL/HAL.hpp"
-
-#include "HAL/Semaphore.hpp"
-
-#define kAnalogInputResolution ((double)((1<<14)-1))
-#define kAnalogInputReference 3.3
-#define kAnalogOutputResolution ((double)((1<<8)-1))
-#define kAnalogOutputReference 4.0
-#define kAccelOffset 8300
-#define kAccelScale 3300.0
-#define kSupportedAPIVersion 1
-
-/**
- * Interact with the more complete I/O available from the 
- * newest driver station.  Get a reference to an object
- * of this type by calling GetEnhancedIO() on the DriverStation object.
- */
-class DriverStationEnhancedIO : public ErrorBase
-{
-	// Can only be constructed by the DriverStation class.
-	friend class DriverStation;
-
-#pragma pack(push,1)
-	// BEGIN: Definitions from the Cypress firmware
-	typedef struct
-	{
-		uint16_t digital;
-		uint16_t digital_oe;
-		uint16_t digital_pe;
-		uint16_t pwm_compare[4];
-		uint16_t pwm_period[2];
-		uint8_t dac[2];
-		uint8_t leds;
-		union
-		{
-			struct
-			{
-				// Bits are inverted from cypress fw because of big-endian!
-				uint8_t pwm_enable : 4;
-				uint8_t comparator_enable : 2;
-				uint8_t quad_index_enable : 2;
-			};
-			uint8_t enables;
-		};
-		uint8_t fixed_digital_out;
-	} output_t;  //data to IO (23 bytes)
-
-	typedef struct
-	{
-		uint8_t api_version;
-		uint8_t fw_version;
-		int16_t analog[8];
-		uint16_t digital;
-		int16_t accel[3];
-		int16_t quad[2];
-		uint8_t buttons;
-		uint8_t capsense_slider;
-		uint8_t capsense_proximity;
-	} input_t;	//data from IO (33 bytes)
-	// END: Definitions from the Cypress firmware
-
-	// Dynamic block definitions
-	typedef struct
-	{
-		uint8_t size; // Must be 25 (size remaining in the block not counting the size variable)
-		uint8_t id; // Must be 18
-		output_t data;
-		uint8_t flags;
-	} status_block_t;
-
-	typedef struct
-	{
-		uint8_t size; // Must be 34
-		uint8_t id; // Must be 17
-		input_t data;
-	} control_block_t;
-#pragma pack(pop)
-
-	enum tBlockID
-	{
-		kInputBlockID = HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Input,
-		kOutputBlockID = HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Output,
-	};
-	enum tStatusFlags {kStatusValid = 0x01, kStatusConfigChanged = 0x02, kForceEnhancedMode = 0x04};
-
-public:
-	enum tDigitalConfig {kUnknown, kInputFloating, kInputPullUp, kInputPullDown, kOutput, kPWM, kAnalogComparator};
-	enum tAccelChannel {kAccelX = 0, kAccelY = 1, kAccelZ = 2};
-	enum tPWMPeriodChannels {kPWMChannels1and2, kPWMChannels3and4};
-
-	double GetAcceleration(tAccelChannel channel);
-	double GetAnalogIn(uint32_t channel);
-	double GetAnalogInRatio(uint32_t channel);
-	double GetAnalogOut(uint32_t channel);
-	void SetAnalogOut(uint32_t channel, double value);
-	bool GetButton(uint32_t channel);
-	uint8_t GetButtons();
-	void SetLED(uint32_t channel, bool value);
-	void SetLEDs(uint8_t value);
-	bool GetDigital(uint32_t channel);
-	uint16_t GetDigitals();
-	void SetDigitalOutput(uint32_t channel, bool value);
-	tDigitalConfig GetDigitalConfig(uint32_t channel);
-	void SetDigitalConfig(uint32_t channel, tDigitalConfig config);
-	double GetPWMPeriod(tPWMPeriodChannels channels);
-	void SetPWMPeriod(tPWMPeriodChannels channels, double period);
-	bool GetFixedDigitalOutput(uint32_t channel);
-	void SetFixedDigitalOutput(uint32_t channel, bool value);
-	int16_t GetEncoder(uint32_t encoderNumber);
-	void ResetEncoder(uint32_t encoderNumber);
-	bool GetEncoderIndexEnable(uint32_t encoderNumber);
-	void SetEncoderIndexEnable(uint32_t encoderNumber, bool enable);
-	double GetTouchSlider();
-	double GetPWMOutput(uint32_t channel);
-	void SetPWMOutput(uint32_t channel, double value);
-	uint8_t GetFirmwareVersion();
-
-private:
-	DriverStationEnhancedIO();
-	virtual ~DriverStationEnhancedIO();
-	void UpdateData();
-	void MergeConfigIntoOutput(const status_block_t &dsOutputBlock, status_block_t &localCache);
-	bool IsConfigEqual(const status_block_t &dsOutputBlock, const status_block_t &localCache);
-
-	// Usage Guidelines...
-	DISALLOW_COPY_AND_ASSIGN(DriverStationEnhancedIO);
-
-	control_block_t m_inputData;
-	status_block_t m_outputData;
-	MUTEX_ID m_inputDataSemaphore;
-	MUTEX_ID m_outputDataSemaphore;
-	bool m_inputValid;
-	bool m_outputValid;
-	bool m_configChanged;
-	bool m_requestEnhancedEnable;
-	int16_t m_encoderOffsets[2];
-};
diff --git a/wpilibc/wpilibC++/include/DriverStationLCD.h b/wpilibc/wpilibC++/include/DriverStationLCD.h
deleted file mode 100644
index a99215b204..0000000000
--- a/wpilibc/wpilibC++/include/DriverStationLCD.h
+++ /dev/null
@@ -1,58 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008. All Rights Reserved.							  */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
-/*----------------------------------------------------------------------------*/
-#pragma once
-
-#include "SensorBase.h"
-#include "HAL/Semaphore.hpp"
-#include <stdarg.h>
-
-/**
- * Provide access to "LCD" on the Driver Station.
- * This is the Messages box on the DS Operation tab.
- * 
- * Buffer the printed data locally and then send it
- * when UpdateLCD is called.
- */
-class DriverStationLCD : public SensorBase
-{
-public:
-	static const uint32_t kSyncTimeout_ms = 20;
-	static const uint16_t kFullDisplayTextCommand = 0x9FFF;
-	static const int32_t kLineLength = 21;
-	static const int32_t kNumLines = 6;
-	enum Line
-	{
-		kMain_Line6 = 0,
-		kUser_Line1 = 0,
-		kUser_Line2 = 1,
-		kUser_Line3 = 2,
-		kUser_Line4 = 3,
-		kUser_Line5 = 4,
-		kUser_Line6 = 5
-	};
-
-	virtual ~DriverStationLCD();
-	static DriverStationLCD *GetInstance();
-
-	void UpdateLCD();
-	void Printf(Line line, int32_t startingColumn, const char *writeFmt, ...);
-	void VPrintf(Line line, int32_t startingColumn, const char *writeFmt, va_list args);
-	void PrintfLine(Line line, const char *writeFmt, ...);
-	void VPrintfLine(Line line, const char *writeFmt, va_list args);
-
-	void Clear();
-
-protected:
-	DriverStationLCD();
-
-private:
-	static void InitTask(DriverStationLCD *ds);
-	static DriverStationLCD *m_instance;
-
-	DISALLOW_COPY_AND_ASSIGN(DriverStationLCD);
-	char *m_textBuffer;
-	MUTEX_ID m_textBufferSemaphore;
-};
diff --git a/wpilibc/wpilibC++/include/NetworkCommunication/CANInterfacePlugin.h b/wpilibc/wpilibC++/include/NetworkCommunication/CANInterfacePlugin.h
index bf0abef86a..f4c4064dc6 100644
--- a/wpilibc/wpilibC++/include/NetworkCommunication/CANInterfacePlugin.h
+++ b/wpilibc/wpilibC++/include/NetworkCommunication/CANInterfacePlugin.h
@@ -50,6 +50,23 @@ public:
 	 * @return This should return 0 if a message was populated, non-0 if no message was not populated.
 	 */
 	virtual int32_t receiveMessage(uint32_t &messageID, uint8_t *data, uint8_t &dataSize) = 0;
+
+	/**
+	 * This entry-point of the CANInterfacePlugin returns status of the CAN bus.
+	 * 
+	 * This function may be called from multiple contexts and must therefore be reentrant.
+	 * 
+	 * This function will return detailed hardware status if available for diagnostics of the CAN interface.
+	 * 
+	 * @param busOffCount The number of times that sendMessage failed with a busOff error indicating that messages
+	 *  are not successfully transmitted on the bus.
+	 * @param txFullCount The number of times that sendMessage failed with a txFifoFull error indicating that messages
+	 *  are not successfully received by any CAN device.
+	 * @param receiveErrorCount The count of receive errors as reported by the CAN driver.
+	 * @param transmitErrorCount The count of transmit errors as reported by the CAN driver.
+	 * @return This should return 0 if all status was retrieved successfully or an error code if not.
+	 */
+	virtual int32_t getStatus(uint32_t &busOffCount, uint32_t &txFullCount, uint32_t &receiveErrorCount, uint32_t &transmitErrorCount) {return 0;}
 };
 
 /**
diff --git a/wpilibc/wpilibC++/include/NetworkCommunication/CANSessionMux.h b/wpilibc/wpilibC++/include/NetworkCommunication/CANSessionMux.h
index d31c76c1a2..81f63c579f 100644
--- a/wpilibc/wpilibC++/include/NetworkCommunication/CANSessionMux.h
+++ b/wpilibc/wpilibC++/include/NetworkCommunication/CANSessionMux.h
@@ -41,6 +41,7 @@ namespace nCANSessionMux
 	void openStreamSession(uint32_t *sessionHandle, uint32_t messageID, uint32_t messageIDMask, uint32_t maxMessages, int32_t *status);
 	void closeStreamSession(uint32_t sessionHandle);
 	void readStreamSession(uint32_t sessionHandle, struct tCANStreamMessage *messages, uint32_t messagesToRead, uint32_t *messagesRead, int32_t *status);
+	void getCANStatus(float *percentBusUtilization, uint32_t *busOffCount, uint32_t *txFullCount, uint32_t *receiveErrorCount, uint32_t *transmitErrorCount, int32_t *status);
 }
 
 #ifdef __cplusplus
@@ -53,6 +54,7 @@ extern "C"
 	void FRC_NetworkCommunication_CANSessionMux_openStreamSession(uint32_t *sessionHandle, uint32_t messageID, uint32_t messageIDMask, uint32_t maxMessages, int32_t *status);
 	void FRC_NetworkCommunication_CANSessionMux_closeStreamSession(uint32_t sessionHandle);
 	void FRC_NetworkCommunication_CANSessionMux_readStreamSession(uint32_t sessionHandle, struct tCANStreamMessage *messages, uint32_t messagesToRead, uint32_t *messagesRead, int32_t *status);
+	void FRC_NetworkCommunication_CANSessionMux_getCANStatus(float *percentBusUtilization, uint32_t *busOffCount, uint32_t *txFullCount, uint32_t *receiveErrorCount, uint32_t *transmitErrorCount, int32_t *status);
 
 #ifdef __cplusplus
 }
diff --git a/wpilibc/wpilibC++/include/NetworkCommunication/FRCComm.h b/wpilibc/wpilibC++/include/NetworkCommunication/FRCComm.h
index 4d40d237d4..51d8488491 100644
--- a/wpilibc/wpilibC++/include/NetworkCommunication/FRCComm.h
+++ b/wpilibc/wpilibC++/include/NetworkCommunication/FRCComm.h
@@ -32,133 +32,52 @@
 #endif
 #endif
 
-// Commandeer some bytes at the end for advanced I/O feedback.
-#define IO_CONFIG_DATA_SIZE 32
-#define SYS_STATUS_DATA_SIZE 44
-#define USER_STATUS_DATA_SIZE (984 - IO_CONFIG_DATA_SIZE - SYS_STATUS_DATA_SIZE)
-#define USER_DS_LCD_DATA_SIZE 128
-
-struct FRCCommonControlData{
-	uint16_t packetIndex;
-	union {
-		uint8_t control;
-#ifndef __vxworks
-		struct {
-			uint8_t checkVersions :1;
-			uint8_t test :1;
-			uint8_t resync : 1;
-			uint8_t fmsAttached:1;
-			uint8_t autonomous : 1;
-			uint8_t enabled : 1;
-			uint8_t notEStop : 1;
-			uint8_t reset : 1;
-		};
-#else
-		struct {
-			uint8_t reset : 1;
-			uint8_t notEStop : 1;
-			uint8_t enabled : 1;
-			uint8_t autonomous : 1;
-			uint8_t fmsAttached:1;
-			uint8_t resync : 1;
-			uint8_t test :1;
-			uint8_t checkVersions :1;
-		};
-#endif
-	};
-	uint8_t dsDigitalIn;
-	uint16_t teamID;
-
-	char dsID_Alliance;
-	char dsID_Position;
-
-	union {
-		int8_t stick0Axes[6];
-		struct {
-			int8_t stick0Axis1;
-			int8_t stick0Axis2;
-			int8_t stick0Axis3;
-			int8_t stick0Axis4;
-			int8_t stick0Axis5;
-			int8_t stick0Axis6;
-		};
-	};
-	uint16_t stick0Buttons;		// Left-most 4 bits are unused
-
-	union {
-		int8_t stick1Axes[6];
-		struct {
-			int8_t stick1Axis1;
-			int8_t stick1Axis2;
-			int8_t stick1Axis3;
-			int8_t stick1Axis4;
-			int8_t stick1Axis5;
-			int8_t stick1Axis6;
-		};
-	};
-	uint16_t stick1Buttons;		// Left-most 4 bits are unused
-
-	union {
-		int8_t stick2Axes[6];
-		struct {
-			int8_t stick2Axis1;
-			int8_t stick2Axis2;
-			int8_t stick2Axis3;
-			int8_t stick2Axis4;
-			int8_t stick2Axis5;
-			int8_t stick2Axis6;
-		};
-	};
-	uint16_t stick2Buttons;		// Left-most 4 bits are unused
-
-	union {
-		int8_t stick3Axes[6];
-		struct {
-			int8_t stick3Axis1;
-			int8_t stick3Axis2;
-			int8_t stick3Axis3;
-			int8_t stick3Axis4;
-			int8_t stick3Axis5;
-			int8_t stick3Axis6;
-		};
-	};
-	uint16_t stick3Buttons;		// Left-most 4 bits are unused
-
-	//Analog inputs are 10 bit right-justified
-	uint16_t analog1;
-	uint16_t analog2;
-	uint16_t analog3;
-	uint16_t analog4;
-
-	uint64_t cRIOChecksum;
-	uint32_t FPGAChecksum0;
-	uint32_t FPGAChecksum1;
-	uint32_t FPGAChecksum2;
-	uint32_t FPGAChecksum3;
-
-	char versionData[8];
+enum AllianceStationID_t {
+	kAllianceStationID_red1,
+	kAllianceStationID_red2,
+	kAllianceStationID_red3,
+	kAllianceStationID_blue1,
+	kAllianceStationID_blue2,
+	kAllianceStationID_blue3,
 };
 
-#define kFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Input 17
-#define kFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Output 18
-#define kFRC_NetworkCommunication_DynamicType_Kinect_Header 19
-#define kFRC_NetworkCommunication_DynamicType_Kinect_Extra1 20
-#define kFRC_NetworkCommunication_DynamicType_Kinect_Vertices1 21
-#define kFRC_NetworkCommunication_DynamicType_Kinect_Extra2 22
-#define kFRC_NetworkCommunication_DynamicType_Kinect_Vertices2 23
-#define kFRC_NetworkCommunication_DynamicType_Kinect_Joystick 24
-#define kFRC_NetworkCommunication_DynamicType_Kinect_Custom 25
+struct ControlWord_t {
+#ifndef __vxworks
+	uint32_t enabled : 1;
+	uint32_t autonomous : 1;
+	uint32_t test :1;
+	uint32_t eStop : 1;
+	uint32_t fmsAttached:1;
+	uint32_t dsAttached:1;
+	uint32_t control_reserved : 26;
+#else
+	uint32_t control_reserved : 26;
+	uint32_t dsAttached:1;
+	uint32_t fmsAttached:1;
+	uint32_t eStop : 1;
+	uint32_t test :1;
+	uint32_t autonomous : 1;
+	uint32_t enabled : 1;
+#endif
+};
+
+struct JoystickAxes_t {
+	uint16_t count;
+	int16_t axes[1];
+};
+
+struct JoystickPOV_t {
+	uint16_t count;
+	uint16_t povs[1];
+};
 
 #ifdef __cplusplus
 extern "C" {
 #endif
+	int EXPORT_FUNC FRC_NetworkCommunication_Reserve(void *instance);
 #ifndef SIMULATION
 	void EXPORT_FUNC getFPGAHardwareVersion(uint16_t *fpgaVersion, uint32_t *fpgaRevision);
 #endif
-	int EXPORT_FUNC getCommonControlData(struct FRCCommonControlData *data, int wait_ms);
-	int EXPORT_FUNC getRecentCommonControlData(struct FRCCommonControlData *commonData, int wait_ms);
-	int EXPORT_FUNC getRecentStatusData(uint8_t *batteryInt, uint8_t *batteryDec, uint8_t *dsDigitalOut, int wait_ms);
-	int EXPORT_FUNC getDynamicControlData(uint8_t type, char *dynamicData, int32_t maxLength, int wait_ms);
 	int EXPORT_FUNC setStatusData(float battery, uint8_t dsDigitalOut, uint8_t updateNumber,
 			const char *userDataHigh, int userDataHighLength,
 			const char *userDataLow, int userDataLowLength, int wait_ms);
@@ -166,30 +85,28 @@ extern "C" {
 			const char *userDataHigh, int userDataHighLength,
 			const char *userDataLow, int userDataLowLength, int wait_ms);
 	int EXPORT_FUNC setErrorData(const char *errors, int errorsLength, int wait_ms);
-	int EXPORT_FUNC setUserDsLcdData(const char *userDsLcdData, int userDsLcdDataLength, int wait_ms);
-	int EXPORT_FUNC overrideIOConfig(const char *ioConfig, int wait_ms);
 	
 #ifdef SIMULATION
 	void EXPORT_FUNC setNewDataSem(HANDLE);
 #else
 # if defined (__vxworks)
 	void EXPORT_FUNC setNewDataSem(SEM_ID);
-	void EXPORT_FUNC setResyncSem(SEM_ID);
 # else
 	void EXPORT_FUNC setNewDataSem(pthread_mutex_t *);
-	void EXPORT_FUNC setResyncSem(pthread_mutex_t *);
 # endif
-	void EXPORT_FUNC signalResyncActionDone(void);
 #endif
 
 	// this uint32_t is really a LVRefNum
-	void EXPORT_FUNC setNewDataOccurRef(uint32_t refnum);
-#ifndef SIMULATION
-	void EXPORT_FUNC setResyncOccurRef(uint32_t refnum);
-#endif
+	int EXPORT_FUNC setNewDataOccurRef(uint32_t refnum);
+
+	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_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);
+	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickPOVs(uint8_t joystickNum, struct JoystickPOV_t *povs, uint8_t maxPOVs);
 
 	void EXPORT_FUNC FRC_NetworkCommunication_getVersionString(char *version);
-	void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramStarting(void);
+	int EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramStarting(void);
 	void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramDisabled(void);
 	void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramAutonomous(void);
 	void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramTeleop(void);
diff --git a/wpilibc/wpilibC++/include/NetworkCommunication/LoadOut.h b/wpilibc/wpilibC++/include/NetworkCommunication/LoadOut.h
index 2433b0cc71..fce88a28e2 100644
--- a/wpilibc/wpilibC++/include/NetworkCommunication/LoadOut.h
+++ b/wpilibc/wpilibC++/include/NetworkCommunication/LoadOut.h
@@ -16,6 +16,7 @@
 #define kMaxModuleNumber 2
 namespace nLoadOut
 {
+#if defined(__vxworks) || defined(SIMULATION)
     typedef enum {
         kModuleType_Unknown = 0x00,
         kModuleType_Analog = 0x01,
@@ -23,15 +24,18 @@ namespace nLoadOut
         kModuleType_Solenoid = 0x03,
     } tModuleType;
     bool EXPORT_FUNC getModulePresence(tModuleType moduleType, uint8_t moduleNumber);
+#endif
     typedef enum {
         kTargetClass_Unknown = 0x00,
         kTargetClass_FRC1 = 0x10,
         kTargetClass_FRC2 = 0x20,
         kTargetClass_FRC3 = 0x30,
         kTargetClass_RoboRIO = 0x40,
+#if defined(__vxworks) || defined(SIMULATION)
         kTargetClass_FRC2_Analog = kTargetClass_FRC2 | kModuleType_Analog,
         kTargetClass_FRC2_Digital = kTargetClass_FRC2 | kModuleType_Digital,
         kTargetClass_FRC2_Solenoid = kTargetClass_FRC2 | kModuleType_Solenoid,
+#endif
         kTargetClass_FamilyMask = 0xF0,
         kTargetClass_ModuleMask = 0x0F,
     } tTargetClass;
@@ -42,7 +46,9 @@ namespace nLoadOut
 extern "C" {
 #endif
 
+#if defined(__vxworks) || defined(SIMULATION)
     uint32_t EXPORT_FUNC FRC_NetworkCommunication_nLoadOut_getModulePresence(uint32_t moduleType, uint8_t moduleNumber);
+#endif
     uint32_t EXPORT_FUNC FRC_NetworkCommunication_nLoadOut_getTargetClass();
 
 #ifdef __cplusplus
diff --git a/wpilibc/wpilibC++/include/WPILib.h b/wpilibc/wpilibC++/include/WPILib.h
index 02a9899916..40fe549dcb 100644
--- a/wpilibc/wpilibC++/include/WPILib.h
+++ b/wpilibc/wpilibC++/include/WPILib.h
@@ -19,8 +19,6 @@
 #include "AnalogTrigger.h"
 #include "AnalogTriggerOutput.h"
 #include "BuiltInAccelerometer.h"
-#include "Buttons/AnalogIOButton.h"
-#include "Buttons/DigitalIOButton.h"
 #include "Buttons/InternalButton.h"
 #include "Buttons/JoystickButton.h"
 #include "Buttons/NetworkButton.h"
@@ -44,8 +42,6 @@
 #include "DigitalSource.h"
 #include "DoubleSolenoid.h"
 #include "DriverStation.h"
-#include "DriverStationEnhancedIO.h"
-#include "DriverStationLCD.h"
 #include "Encoder.h"
 #include "ErrorBase.h"
 #include "GearTooth.h"
diff --git a/wpilibc/wpilibC++/lib/Buttons/AnalogIOButton.cpp b/wpilibc/wpilibC++/lib/Buttons/AnalogIOButton.cpp
deleted file mode 100644
index b2122ff291..0000000000
--- a/wpilibc/wpilibC++/lib/Buttons/AnalogIOButton.cpp
+++ /dev/null
@@ -1,20 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2011. All Rights Reserved.							  */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
-/*----------------------------------------------------------------------------*/
-
-#include "Buttons/AnalogIOButton.h"
-#include "DriverStation.h"
-
-const double AnalogIOButton::kThreshold = 0.5;
-
-AnalogIOButton::AnalogIOButton(int port) :
-	m_port(port)
-{
-}
-
-bool AnalogIOButton::Get()
-{
-	return DriverStation::GetInstance()->GetEnhancedIO().GetAnalogIn(m_port) < kThreshold;
-}
diff --git a/wpilibc/wpilibC++/lib/Buttons/DigitalIOButton.cpp b/wpilibc/wpilibC++/lib/Buttons/DigitalIOButton.cpp
deleted file mode 100644
index 8bb39be1fe..0000000000
--- a/wpilibc/wpilibC++/lib/Buttons/DigitalIOButton.cpp
+++ /dev/null
@@ -1,20 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2011. All Rights Reserved.							  */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
-/*----------------------------------------------------------------------------*/
-
-#include "Buttons/DigitalIOButton.h"
-#include "DriverStation.h"
-
-const bool DigitalIOButton::kActiveState = false;
-
-DigitalIOButton::DigitalIOButton(int port) :
-	m_port(port)
-{
-}
-
-bool DigitalIOButton::Get()
-{
-	return DriverStation::GetInstance()->GetEnhancedIO().GetDigital(m_port) == kActiveState;
-}
diff --git a/wpilibc/wpilibC++/lib/DriverStation.cpp b/wpilibc/wpilibC++/lib/DriverStation.cpp
index 546f7ecfdf..389b8bc531 100644
--- a/wpilibc/wpilibC++/lib/DriverStation.cpp
+++ b/wpilibc/wpilibC++/lib/DriverStation.cpp
@@ -8,8 +8,6 @@
 #include "AnalogInput.h"
 #include "HAL/cpp/Synchronized.hpp"
 #include "Timer.h"
-//#include "NetworkCommunication/FRCComm.h"
-//#include "NetworkCommunication/UsageReporting.h"
 #include "MotorSafetyHelper.h"
 #include "Utility.h"
 #include "WPIErrors.h"
@@ -20,13 +18,11 @@
 TLogLevel dsLogLevel = logDEBUG;
 
 #define DS_LOG(level) \
-    if (level > dsLogLevel) ; \
-    else Log().Get(level)
+	if (level > dsLogLevel) ; \
+	else Log().Get(level)
 
-const uint32_t DriverStation::kBatteryChannel;
 const uint32_t DriverStation::kJoystickPorts;
 const uint32_t DriverStation::kJoystickAxes;
-constexpr float DriverStation::kUpdatePeriod;
 DriverStation* DriverStation::m_instance = NULL;
 uint8_t DriverStation::m_updateNumber = 0;
 
@@ -36,9 +32,7 @@ uint8_t DriverStation::m_updateNumber = 0;
  * This is only called once the first time GetInstance() is called
  */
 DriverStation::DriverStation()
-	: m_controlData (NULL)
-	, m_digitalOut (0)
-	, m_batteryChannel (NULL)
+	: m_digitalOut (0)
 	, m_statusDataSemaphore (initializeMutexNormal())
 	, m_task ("DriverStation", (FUNCPTR)DriverStation::InitTask)
 	, m_dashboardHigh(m_statusDataSemaphore)
@@ -47,7 +41,6 @@ DriverStation::DriverStation()
 	, m_dashboardInUseLow(&m_dashboardLow)
 	, m_newControlData(0)
 	, m_packetDataAvailableSem (0)
-	, m_enhancedIO()
 	, m_waitForDataSem(0)
 	, m_approxMatchTimeOffset(-1.0)
 	, m_userInDisabled(false)
@@ -65,35 +58,6 @@ DriverStation::DriverStation()
 
 	m_waitForDataSem = initializeMultiWait();
 
-	m_controlData = new HALCommonControlData;
-
-	// initialize packet number and control words to zero;
-	m_controlData->packetIndex = 0;
-	m_controlData->control = 0;
-
-	// set all joystick axis values to neutral; buttons to OFF
-	m_controlData->stick0Axis1 = m_controlData->stick0Axis2 = m_controlData->stick0Axis3 = 0;
-	m_controlData->stick1Axis1 = m_controlData->stick1Axis2 = m_controlData->stick1Axis3 = 0;
-	m_controlData->stick2Axis1 = m_controlData->stick2Axis2 = m_controlData->stick2Axis3 = 0;
-	m_controlData->stick3Axis1 = m_controlData->stick3Axis2 = m_controlData->stick3Axis3 = 0;
-	m_controlData->stick0Axis4 = m_controlData->stick0Axis5 = m_controlData->stick0Axis6 = 0;
-	m_controlData->stick1Axis4 = m_controlData->stick1Axis5 = m_controlData->stick1Axis6 = 0;
-	m_controlData->stick2Axis4 = m_controlData->stick2Axis5 = m_controlData->stick2Axis6 = 0;
-	m_controlData->stick3Axis4 = m_controlData->stick3Axis5 = m_controlData->stick3Axis6 = 0;
-	m_controlData->stick0Buttons = 0;
-	m_controlData->stick1Buttons = 0;
-	m_controlData->stick2Buttons = 0;
-	m_controlData->stick3Buttons = 0;
-
-	// initialize the analog and digital data.
-	m_controlData->analog1 = 0;
-	m_controlData->analog2 = 0;
-	m_controlData->analog3 = 0;
-	m_controlData->analog4 = 0;
-	m_controlData->dsDigitalIn = 0;
-
-	m_batteryChannel = new AnalogInput(kBatteryChannel);
-
 	AddToSingletonList();
 
 	if (!m_task.Start((int32_t)this))
@@ -106,8 +70,6 @@ DriverStation::~DriverStation()
 {
 	m_task.Stop();
 	deleteMutex(m_statusDataSemaphore);
-	delete m_batteryChannel;
-	delete m_controlData;
 	m_instance = NULL;
 	deleteMultiWait(m_waitForDataSem);
 	// Unregister our semaphore.
@@ -127,7 +89,6 @@ void DriverStation::Run()
 	{
 		takeMutex(m_packetDataAvailableSem);
 		SetData();
-		m_enhancedIO.UpdateData();
 		GetData();
 		giveMultiWait(m_waitForDataSem);
 		if (++period >= 4)
@@ -139,10 +100,10 @@ void DriverStation::Run()
 			HALNetworkCommunicationObserveUserProgramDisabled();
 		if (m_userInAutonomous)
 			HALNetworkCommunicationObserveUserProgramAutonomous();
-        if (m_userInTeleop)
-            HALNetworkCommunicationObserveUserProgramTeleop();
-        if (m_userInTest)
-            HALNetworkCommunicationObserveUserProgramTest();
+		if (m_userInTeleop)
+			HALNetworkCommunicationObserveUserProgramTeleop();
+		if (m_userInTest)
+			HALNetworkCommunicationObserveUserProgramTest();
 	}
 }
 
@@ -158,6 +119,8 @@ DriverStation* DriverStation::GetInstance()
 	return m_instance;
 }
 
+#include <iostream>
+
 /**
  * Copy data from the DS task for the user.
  * If no new data exists, it will just be returned, otherwise
@@ -167,7 +130,19 @@ void DriverStation::GetData()
 {
 	static bool lastEnabled = false;
 
-	HALGetCommonControlData(m_controlData, HAL_WAIT_FOREVER);
+	// Get the status data
+	HALGetControlWord(&m_controlWord);
+
+	// Get the location/alliance data
+	HALGetAllianceStation(&m_allianceStationID);
+
+	// Get the status of all of the joysticks
+	for(uint8_t stick = 0; stick < kJoystickPorts; stick++) {
+		uint8_t count;
+
+		HALGetJoystickAxes(stick, &m_joystickAxes[stick], kJoystickAxes);
+		HALGetJoystickButtons(stick, &m_joystickButtons[stick], &count);
+	}
 
 	if (!lastEnabled && IsEnabled())
 	{
@@ -199,30 +174,23 @@ void DriverStation::SetData()
 
 	m_dashboardInUseHigh->GetStatusBuffer(&userStatusDataHigh, &userStatusDataHighSize);
 	m_dashboardInUseLow->GetStatusBuffer(&userStatusDataLow, &userStatusDataLowSize);
-	HALSetStatusData(GetBatteryVoltage(), m_digitalOut, m_updateNumber,
-		userStatusDataHigh, userStatusDataHighSize, userStatusDataLow, userStatusDataLowSize, HAL_WAIT_FOREVER);
+
+	//TODO ???
+	//HALSetStatusData(GetBatteryVoltage(), m_digitalOut, m_updateNumber,
+	//	userStatusDataHigh, userStatusDataHighSize, userStatusDataLow, userStatusDataLowSize, HAL_WAIT_FOREVER);
 
 	m_dashboardInUseHigh->Flush();
 	m_dashboardInUseLow->Flush();
 }
 
 /**
- * Read the battery voltage from the specified AnalogInput.
- *
- * This accessor assumes that the battery voltage is being measured
- * through the voltage divider on an analog breakout.
+ * Read the battery voltage.
  *
  * @return The battery voltage.
  */
 float DriverStation::GetBatteryVoltage()
 {
-	if (m_batteryChannel == NULL)
-		wpi_setWPIError(NullParameter);
-
-	// The Analog bumper has a voltage divider on the battery source.
-	// Vbatt *--/\/\/\--* Vsample *--/\/\/\--* Gnd
-	//         680 Ohms            1000 Ohms
-	return m_batteryChannel->GetAverageVoltage() * (1680.0 / 1000.0);
+	return 0.0f; // TODO
 }
 
 /**
@@ -235,43 +203,28 @@ float DriverStation::GetBatteryVoltage()
  */
 float DriverStation::GetStickAxis(uint32_t stick, uint32_t axis)
 {
+	if (stick < 1 || stick > kJoystickPorts)
+	{
+		wpi_setWPIError(BadJoystickIndex);
+		return 0;
+	}
+
 	if (axis < 1 || axis > kJoystickAxes)
 	{
 		wpi_setWPIError(BadJoystickAxis);
-		return 0.0;
+		return 0.0f;
 	}
 
-	int8_t value;
-	switch (stick)
+	int8_t value = m_joystickAxes[stick - 1].axes[axis - 1];
+
+	if(value < 0)
 	{
-		case 1:
-			value = m_controlData->stick0Axes[axis-1];
-			break;
-		case 2:
-			value = m_controlData->stick1Axes[axis-1];
-			break;
-		case 3:
-			value = m_controlData->stick2Axes[axis-1];
-			break;
-		case 4:
-			value = m_controlData->stick3Axes[axis-1];
-			break;
-		default:
-			wpi_setWPIError(BadJoystickIndex);
-			return 0.0;
+		return value / 128.0f;
 	}
-
-	float result;
-	if (value < 0)
-		result = ((float) value) / 128.0;
 	else
-		result = ((float) value) / 127.0;
-	wpi_assert(result <= 1.0 && result >= -1.0);
-	if (result > 1.0)
-		result = 1.0;
-	else if (result < -1.0)
-		result = -1.0;
-	return result;
+	{
+		return value / 127.0f;
+	}
 }
 
 /**
@@ -283,143 +236,38 @@ float DriverStation::GetStickAxis(uint32_t stick, uint32_t axis)
  */
 short DriverStation::GetStickButtons(uint32_t stick)
 {
-	if (stick < 1 || stick > 4)
-		wpi_setWPIErrorWithContext(ParameterOutOfRange, "stick must be between 1 and 4");
-
-	switch (stick)
+	if (stick < 1 || stick > kJoystickPorts)
 	{
-	case 1:
-		return m_controlData->stick0Buttons;
-	case 2:
-		return m_controlData->stick1Buttons;
-	case 3:
-		return m_controlData->stick2Buttons;
-	case 4:
-		return m_controlData->stick3Buttons;
-	}
-	return 0;
-}
-
-// 5V divided by 10 bits
-#define kDSAnalogInScaling ((float)(5.0 / 1023.0))
-
-/**
- * Get an analog voltage from the Driver Station.
- * The analog values are returned as voltage values for the Driver Station analog inputs.
- * These inputs are typically used for advanced operator interfaces consisting of potentiometers
- * or resistor networks representing values on a rotary switch.
- *
- * @param channel The analog input channel on the driver station to read from. Valid range is 1 - 4.
- * @return The analog voltage on the input.
- */
-float DriverStation::GetAnalogIn(uint32_t channel)
-{
-	if (channel < 1 || channel > 4)
-		wpi_setWPIErrorWithContext(ParameterOutOfRange, "channel must be between 1 and 4");
-
-	static uint8_t reported_mask = 0;
-	if (!(reported_mask & (1 >> channel)))
-	{
-		HALReport(HALUsageReporting::kResourceType_DriverStationCIO, channel, HALUsageReporting::kDriverStationCIO_Analog);
-		reported_mask |= (1 >> channel);
+		wpi_setWPIError(BadJoystickIndex);
+		return 0;
 	}
 
-	switch (channel)
-	{
-	case 1:
-		return kDSAnalogInScaling * m_controlData->analog1;
-	case 2:
-		return kDSAnalogInScaling * m_controlData->analog2;
-	case 3:
-		return kDSAnalogInScaling * m_controlData->analog3;
-	case 4:
-		return kDSAnalogInScaling * m_controlData->analog4;
-	}
-	return 0.0;
-}
-
-/**
- * Get values from the digital inputs on the Driver Station.
- * Return digital values from the Drivers Station. These values are typically used for buttons
- * and switches on advanced operator interfaces.
- * @param channel The digital input to get. Valid range is 1 - 8.
- */
-bool DriverStation::GetDigitalIn(uint32_t channel)
-{
-	if (channel < 1 || channel > 8)
-		wpi_setWPIErrorWithContext(ParameterOutOfRange, "channel must be between 1 and 8");
-
-	static uint8_t reported_mask = 0;
-	if (!(reported_mask & (1 >> channel)))
-	{
-		HALReport(HALUsageReporting::kResourceType_DriverStationCIO, channel, HALUsageReporting::kDriverStationCIO_DigitalIn);
-		reported_mask |= (1 >> channel);
-	}
-
-	return ((m_controlData->dsDigitalIn >> (channel-1)) & 0x1) ? true : false;
-}
-
-/**
- * Set a value for the digital outputs on the Driver Station.
- *
- * Control digital outputs on the Drivers Station. These values are typically used for
- * giving feedback on a custom operator station such as LEDs.
- *
- * @param channel The digital output to set. Valid range is 1 - 8.
- * @param value The state to set the digital output.
- */
-void DriverStation::SetDigitalOut(uint32_t channel, bool value)
-{
-	if (channel < 1 || channel > 8)
-		wpi_setWPIErrorWithContext(ParameterOutOfRange, "channel must be between 1 and 8");
-
-	static uint8_t reported_mask = 0;
-	if (!(reported_mask & (1 >> channel)))
-	{
-		HALReport(HALUsageReporting::kResourceType_DriverStationCIO, channel,HALUsageReporting::kDriverStationCIO_DigitalOut);
-		reported_mask |= (1 >> channel);
-	}
-
-	m_digitalOut &= ~(0x1 << (channel-1));
-	m_digitalOut |= ((uint8_t)value << (channel-1));
-}
-
-/**
- * Get a value that was set for the digital outputs on the Driver Station.
- * @param channel The digital ouput to monitor. Valid range is 1 through 8.
- * @return A digital value being output on the Drivers Station.
- */
-bool DriverStation::GetDigitalOut(uint32_t channel)
-{
-	if (channel < 1 || channel > 8)
-		wpi_setWPIErrorWithContext(ParameterOutOfRange, "channel must be between 1 and 8");
-
-	return ((m_digitalOut >> (channel-1)) & 0x1) ? true : false;
+	return m_joystickButtons[stick - 1];
 }
 
 bool DriverStation::IsEnabled()
 {
-	return m_controlData->enabled;
+	return m_controlWord.enabled;
 }
 
 bool DriverStation::IsDisabled()
 {
-	return !m_controlData->enabled;
+	return !m_controlWord.enabled;
 }
 
 bool DriverStation::IsAutonomous()
 {
-	return m_controlData->autonomous;
+	return m_controlWord.autonomous;
 }
 
 bool DriverStation::IsOperatorControl()
 {
-	return !(m_controlData->autonomous || m_controlData->test);
+	return !(m_controlWord.autonomous || m_controlWord.test);
 }
 
 bool DriverStation::IsTest()
 {
-	return m_controlData->test;
+	return m_controlWord.test;
 }
 
 /**
@@ -440,18 +288,7 @@ bool DriverStation::IsNewControlData()
  */
 bool DriverStation::IsFMSAttached()
 {
-	return m_controlData->fmsAttached;
-}
-
-/**
- * Return the DS packet number.
- * The packet number is the index of this set of data returned by the driver station.
- * Each time new data is received, the packet number (included with the sent data) is returned.
- * @return The driver station packet number
- */
-uint32_t DriverStation::GetPacketNumber()
-{
-	return m_controlData->packetIndex;
+	return m_controlWord.fmsAttached;
 }
 
 /**
@@ -461,10 +298,19 @@ uint32_t DriverStation::GetPacketNumber()
  */
 DriverStation::Alliance DriverStation::GetAlliance()
 {
-	if (m_controlData->dsID_Alliance == 'R') return kRed;
-	if (m_controlData->dsID_Alliance == 'B') return kBlue;
-	wpi_assert(false);
-	return kInvalid;
+	switch(m_allianceStationID)
+	{
+	case kHALAllianceStationID_red1:
+	case kHALAllianceStationID_red2:
+	case kHALAllianceStationID_red3:
+		return kRed;
+	case kHALAllianceStationID_blue1:
+	case kHALAllianceStationID_blue2:
+	case kHALAllianceStationID_blue3:
+		return kBlue;
+	default:
+		return kInvalid;
+	}
 }
 
 /**
@@ -474,8 +320,20 @@ DriverStation::Alliance DriverStation::GetAlliance()
  */
 uint32_t DriverStation::GetLocation()
 {
-	wpi_assert ((m_controlData->dsID_Position >= '1') && (m_controlData->dsID_Position <= '3'));
-	return m_controlData->dsID_Position - '0';
+	switch(m_allianceStationID)
+	{
+	case kHALAllianceStationID_red1:
+	case kHALAllianceStationID_blue1:
+		return 1;
+	case kHALAllianceStationID_red2:
+	case kHALAllianceStationID_blue2:
+		return 2;
+	case kHALAllianceStationID_red3:
+	case kHALAllianceStationID_blue3:
+		return 3;
+	default:
+		return 0;
+	}
 }
 
 /**
@@ -504,12 +362,3 @@ double DriverStation::GetMatchTime()
 		return 0.0;
 	return Timer::GetFPGATimestamp() - m_approxMatchTimeOffset;
 }
-
-/**
- * Return the team number that the Driver Station is configured for
- * @return The team number
- */
-uint16_t DriverStation::GetTeamNumber()
-{
-	return m_controlData->teamID;
-}
diff --git a/wpilibc/wpilibC++/lib/DriverStationEnhancedIO.cpp b/wpilibc/wpilibC++/lib/DriverStationEnhancedIO.cpp
deleted file mode 100644
index 3c3c779cf1..0000000000
--- a/wpilibc/wpilibC++/lib/DriverStationEnhancedIO.cpp
+++ /dev/null
@@ -1,996 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008. All Rights Reserved.							  */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
-/*----------------------------------------------------------------------------*/
-
-#include "DriverStationEnhancedIO.h"
-//#include "NetworkCommunication/UsageReporting.h"
-#include "HAL/cpp/Synchronized.hpp"
-#include "WPIErrors.h"
-#include <string.h>
-
-/**
- * DriverStationEnhancedIO contructor.
- * 
- * This is only called once when the DriverStation constructor is called.
- */
-DriverStationEnhancedIO::DriverStationEnhancedIO()
-	: m_inputValid (false)
-	, m_outputValid (false)
-	, m_configChanged (false)
-	, m_requestEnhancedEnable (false)
-{
-	bzero((char*)&m_inputData, sizeof(m_inputData));
-	bzero((char*)&m_outputData, sizeof(m_outputData));
-	m_outputData.size = sizeof(m_outputData) - 1;
-	m_outputData.id = kOutputBlockID;
-	// Expected to be active low, so initialize inactive.
-	m_outputData.data.fixed_digital_out = 0x3;
-	m_inputDataSemaphore = initializeMutexNormal();
-	m_outputDataSemaphore = initializeMutexNormal();
-	m_encoderOffsets[0] = 0;
-	m_encoderOffsets[1] = 0;
-}
-
-/**
- * DriverStationEnhancedIO destructor.
- * 
- * Called only when the DriverStation class is destroyed.
- */
-DriverStationEnhancedIO::~DriverStationEnhancedIO()
-{
-	deleteMutex(m_outputDataSemaphore);
-	deleteMutex(m_inputDataSemaphore);
-}
-
-/**
- * Called by the DriverStation class when data is available.
- * This function will set any modified configuration / output,
- * then read the input and configuration from the IO.
- */
-void DriverStationEnhancedIO::UpdateData()
-{
-	int32_t retVal;
-	{
-		status_block_t tempOutputData;
-		Synchronized sync(m_outputDataSemaphore);
-		if (m_outputValid || m_configChanged || m_requestEnhancedEnable)
-		{
-			m_outputData.flags = kStatusValid;
-			if (m_requestEnhancedEnable)
-			{
-				// Someone called one of the get config APIs, but we are not in enhanced mode.
-				m_outputData.flags |= kForceEnhancedMode;
-			}
-			if (m_configChanged)
-			{
-				if (!m_outputValid)
-				{
-					// Someone called one of the set config APIs, but we are not in enhanced mode.
-					m_outputData.flags |= kForceEnhancedMode;
-				}
-				m_outputData.flags |= kStatusConfigChanged;
-			}
-			HALOverrideIOConfig((char*)&m_outputData, 5);
-		}
-		retVal = HALGetDynamicControlData(kOutputBlockID, (char*)&tempOutputData, sizeof(status_block_t), 5);
-		if (retVal == 0)
-		{
-			if (m_outputValid)
-			{
-				if (m_configChanged)
-				{
-					// If our config change made the round trip then clear the flag.
-					if (IsConfigEqual(tempOutputData, m_outputData))
-					{
-						m_configChanged = false;
-					}
-				}
-				else
-				{
-					// TODO: This won't work until artf1128 is fixed
-					//if (tempOutputData.flags & kStatusConfigChanged)
-					{
-						// Configuration was updated on the DS, so update our local cache.
-						MergeConfigIntoOutput(tempOutputData, m_outputData);
-					}
-				}
-			}
-			else
-			{
-				// Initialize the local cache.
-				MergeConfigIntoOutput(tempOutputData, m_outputData);
-			}
-			m_requestEnhancedEnable = false;
-			m_outputValid = true;
-		}
-		else
-		{
-			m_outputValid = false;
-			m_inputValid = false;
-		}
-	}
-	{
-		Synchronized sync(m_inputDataSemaphore);
-		control_block_t tempInputData;
-		retVal = HALGetDynamicControlData(kInputBlockID, (char*)&tempInputData, sizeof(control_block_t), 5);
-		if (retVal == 0 && tempInputData.data.api_version == kSupportedAPIVersion)
-		{
-			m_inputData = tempInputData;
-			m_inputValid = true;
-		}
-		else
-		{
-			m_outputValid = false;
-			m_inputValid = false;
-		}
-	}
-}
-
-/**
- * Merge the config portion of the DS output block into the local cache.
- */
-void DriverStationEnhancedIO::MergeConfigIntoOutput(const status_block_t &dsOutputBlock, status_block_t &localCache)
-{
-	localCache.data.digital = (localCache.data.digital & dsOutputBlock.data.digital_oe) |
-		(dsOutputBlock.data.digital & ~dsOutputBlock.data.digital_oe);
-	localCache.data.digital_oe = dsOutputBlock.data.digital_oe;
-	localCache.data.digital_pe = dsOutputBlock.data.digital_pe;
-	localCache.data.pwm_period[0] = dsOutputBlock.data.pwm_period[0];
-	localCache.data.pwm_period[1] = dsOutputBlock.data.pwm_period[1];
-	localCache.data.enables = dsOutputBlock.data.enables;
-}
-
-/**
- * Compare the config portion of the output blocks.
- */
-bool DriverStationEnhancedIO::IsConfigEqual(const status_block_t &dsOutputBlock, const status_block_t &localCache)
-{
-	if (localCache.data.digital_oe != dsOutputBlock.data.digital_oe) return false;
-	if ((localCache.data.digital & ~dsOutputBlock.data.digital) !=
-		(dsOutputBlock.data.digital & ~dsOutputBlock.data.digital)) return false;
-	if (localCache.data.digital_pe != dsOutputBlock.data.digital_pe) return false;
-	if (localCache.data.pwm_period[0] != dsOutputBlock.data.pwm_period[0]) return false;
-	if (localCache.data.pwm_period[1] != dsOutputBlock.data.pwm_period[1]) return false;
-	if (localCache.data.enables != dsOutputBlock.data.enables) return false;
-	return true;
-}
-
-/**
- * Query an accelerometer channel on the DS IO.
- * 
- * @param channel The channel number to read.
- * @return The current acceleration on the channel in Gs.
- */
-double DriverStationEnhancedIO::GetAcceleration(tAccelChannel channel)
-{
-	if (channel < 1 || channel > 2)
-	{
-		wpi_setWPIErrorWithContext(ParameterOutOfRange, "channel must be between 1 and 2");
-		return 0.0;
-	}
-	if (!m_inputValid)
-	{
-		wpi_setWPIError(EnhancedIOMissing);
-		return 0.0;
-	}
-
-	static uint8_t reported_mask = 0;
-	if (!(reported_mask & (1 >> channel)))
-	{
-		HALReport(HALUsageReporting::kResourceType_DriverStationEIO, channel, HALUsageReporting::kDriverStationEIO_Acceleration);
-		reported_mask |= (1 >> channel);
-	}
-
-	Synchronized sync(m_inputDataSemaphore);
-	return (m_inputData.data.accel[channel] - kAccelOffset) / kAccelScale;
-}
-
-/**
- * Query an analog input channel on the DS IO.
- * 
- * @param channel The channel number to read. [1,8]
- * @return The analog input voltage for the channel.
- */
-double DriverStationEnhancedIO::GetAnalogIn(uint32_t channel)
-{
-	// 3.3V is the analog reference voltage
-	return GetAnalogInRatio(channel) * kAnalogInputReference;
-}
-
-/**
- * Query an analog input channel on the DS IO in ratiometric form.
- * 
- * @param channel The channel number to read. [1,8]
- * @return The analog input percentage for the channel.
- */
-double DriverStationEnhancedIO::GetAnalogInRatio(uint32_t channel)
-{
-	if (channel < 1 || channel > 8)
-	{
-		wpi_setWPIErrorWithContext(ParameterOutOfRange, "channel must be between 1 and 8");
-		return 0.0;
-	}
-	if (!m_inputValid)
-	{
-		wpi_setWPIError(EnhancedIOMissing);
-		return 0.0;
-	}
-
-	static uint16_t reported_mask = 0;
-	if (!(reported_mask & (1 >> channel)))
-	{
-		HALReport(HALUsageReporting::kResourceType_DriverStationEIO, channel, HALUsageReporting::kDriverStationEIO_AnalogIn);
-		reported_mask |= (1 >> channel);
-	}
-
-	Synchronized sync(m_inputDataSemaphore);
-	return m_inputData.data.analog[channel-1] / kAnalogInputResolution;
-}
-
-/**
- * Query the voltage currently being output.
- * 
- * AO1 is pin 11 on the top connector (P2).
- * AO2 is pin 12 on the top connector (P2).
- * 
- * @param channel The analog output channel on the DS IO. [1,2]
- * @return The voltage being output on the channel.
- */
-double DriverStationEnhancedIO::GetAnalogOut(uint32_t channel)
-{
-	if (channel < 1 || channel > 2)
-	{
-		wpi_setWPIErrorWithContext(ParameterOutOfRange, "channel must be between 1 and 2");
-		return 0.0;
-	}
-	if (!m_outputValid)
-	{
-		wpi_setWPIError(EnhancedIOMissing);
-		return 0.0;
-	}
-
-	Synchronized sync(m_outputDataSemaphore);
-	return m_outputData.data.dac[channel-1] * kAnalogOutputReference / kAnalogOutputResolution;
-}
-
-/**
- * Set the analog output voltage.
- * 
- * AO1 is pin 11 on the top connector (P2).
- * AO2 is pin 12 on the top connector (P2).
- * AO1 is the reference voltage for the 2 analog comparators on DIO15 and DIO16.
- * 
- * The output range is 0V to 4V, however due to the supply voltage don't expect more than about 3V.
- * Current supply capability is only 100uA.
- * 
- * @param channel The analog output channel on the DS IO. [1,2]
- * @param value The voltage to output on the channel.
- */
-void DriverStationEnhancedIO::SetAnalogOut(uint32_t channel, double value)
-{
-	if (channel < 1 || channel > 2)
-	{
-		wpi_setWPIErrorWithContext(ParameterOutOfRange, "channel must be between 1 and 2");
-		return;
-	}
-	if (!m_outputValid)
-	{
-		wpi_setWPIError(EnhancedIOMissing);
-		return;
-	}
-	if (value < 0.0) value = 0.0;
-	if (value > kAnalogOutputReference) value = kAnalogOutputReference;
-
-	static uint8_t reported_mask = 0;
-	if (!(reported_mask & (1 >> channel)))
-	{
-		HALReport(HALUsageReporting::kResourceType_DriverStationEIO, channel, HALUsageReporting::kDriverStationEIO_AnalogOut);
-		reported_mask |= (1 >> channel);
-	}
-
-	Synchronized sync(m_outputDataSemaphore);
-	m_outputData.data.dac[channel-1] = (uint8_t)(value / kAnalogOutputReference * kAnalogOutputResolution);
-}
-
-/**
- * Get the state of a button on the IO board.
- * 
- * Button1 is the physical button "S1".
- * Button2 is pin 4 on the top connector (P2).
- * Button3 is pin 6 on the top connector (P2).
- * Button4 is pin 8 on the top connector (P2).
- * Button5 is pin 10 on the top connector (P2).
- * Button6 is pin 7 on the top connector (P2).
- * 
- * Button2 through Button6 are Capacitive Sense buttons.
- * 
- * @param channel The button channel to read. [1,6]
- * @return The state of the selected button.
- */
-bool DriverStationEnhancedIO::GetButton(uint32_t channel)
-{
-	if (channel < 1 || channel > 6)
-	{
-		wpi_setWPIErrorWithContext(ParameterOutOfRange, "channel must be between 1 and 6");
-		return false;
-	}
-
-	static uint8_t reported_mask = 0;
-	if (!(reported_mask & (1 >> channel)))
-	{
-		HALReport(HALUsageReporting::kResourceType_DriverStationEIO, channel, HALUsageReporting::kDriverStationEIO_Button);
-		reported_mask |= (1 >> channel);
-	}
-
-	return ((GetButtons() >> (channel-1)) & 1) != 0;
-}
-
-/**
- * Get the state of all the button channels.
- * 
- * @return The state of the 6 button channels in the 6 lsb of the returned byte.
- */
-uint8_t DriverStationEnhancedIO::GetButtons()
-{
-	if (!m_inputValid)
-	{
-		wpi_setWPIError(EnhancedIOMissing);
-		return 0;
-	}
-	HALReport(HALUsageReporting::kResourceType_DriverStationEIO, 0, HALUsageReporting::kDriverStationEIO_Button);
-	Synchronized sync(m_inputDataSemaphore);
-	return m_inputData.data.buttons;
-}
-
-/**
- * Set the state of an LED on the IO board.
- * 
- * @param channel The LED channel to set. [1,8]
- * @param value True to turn the LED on.
- */
-void DriverStationEnhancedIO::SetLED(uint32_t channel, bool value)
-{
-	if (channel < 1 || channel > 8)
-	{
-		wpi_setWPIErrorWithContext(ParameterOutOfRange, "channel must be between 1 and 8");
-		return;
-	}
-	if (!m_outputValid)
-	{
-		wpi_setWPIError(EnhancedIOMissing);
-		return;
-	}
-
-	static uint16_t reported_mask = 0;
-	if (!(reported_mask & (1 >> channel)))
-	{
-		HALReport(HALUsageReporting::kResourceType_DriverStationEIO, channel, HALUsageReporting::kDriverStationEIO_LED);
-		reported_mask |= (1 >> channel);
-	}
-
-	uint8_t leds;
-	Synchronized sync(m_outputDataSemaphore);
-	leds = m_outputData.data.leds;
-
-	leds &= ~(1 << (channel-1));
-	if (value) leds |= 1 << (channel-1);
-
-	m_outputData.data.leds = leds;
-}
-
-/**
- * Set the state of all 8 LEDs on the IO board.
- * 
- * @param value The state of each LED.  LED1 is lsb and LED8 is msb.
- */
-void DriverStationEnhancedIO::SetLEDs(uint8_t value)
-{
-	if (!m_outputValid)
-	{
-		wpi_setWPIError(EnhancedIOMissing);
-		return;
-	}
-
-	HALReport(HALUsageReporting::kResourceType_DriverStationEIO, 0, HALUsageReporting::kDriverStationEIO_LED);
-	Synchronized sync(m_outputDataSemaphore);
-	m_outputData.data.leds = value;
-}
-
-/**
- * Get the current state of a DIO channel regardless of mode.
- * 
- * @param channel The DIO channel to read. [1,16]
- * @return The state of the selected digital line.
- */
-bool DriverStationEnhancedIO::GetDigital(uint32_t channel)
-{
-	if (channel < 1 || channel > 16)
-	{
-		wpi_setWPIErrorWithContext(ParameterOutOfRange, "channel must be between 1 and 16");
-		return false;
-	}
-
-	static uint32_t reported_mask = 0;
-	if (!(reported_mask & (1 >> channel)))
-	{
-		HALReport(HALUsageReporting::kResourceType_DriverStationEIO, channel, HALUsageReporting::kDriverStationEIO_DigitalIn);
-		reported_mask |= (1 >> channel);
-	}
-
-	return ((GetDigitals() >> (channel-1)) & 1) != 0;
-}
-
-/**
- * Get the state of all 16 DIO lines regardless of mode.
- * 
- * @return The state of all DIO lines. DIO1 is lsb and DIO16 is msb.
- */
-uint16_t DriverStationEnhancedIO::GetDigitals()
-{
-	if (!m_inputValid)
-	{
-		wpi_setWPIError(EnhancedIOMissing);
-		return 0;
-	}
-	HALReport(HALUsageReporting::kResourceType_DriverStationEIO, 0, HALUsageReporting::kDriverStationEIO_DigitalIn);
-	Synchronized sync(m_inputDataSemaphore);
-	return m_inputData.data.digital;
-}
-
-/**
- * Set the state of a DIO line that is configured for digital output.
- * 
- * @param channel The DIO channel to set. [1,16]
- * @param value The state to set the selected channel to.
- */
-void DriverStationEnhancedIO::SetDigitalOutput(uint32_t channel, bool value)
-{
-	if (channel < 1 || channel > 16)
-	{
-		wpi_setWPIErrorWithContext(ParameterOutOfRange, "channel must be between 1 and 16");
-		return;
-	}
-	if (!m_outputValid)
-	{
-		wpi_setWPIError(EnhancedIOMissing);
-		return;
-	}
-
-	static uint32_t reported_mask = 0;
-	if (!(reported_mask & (1 >> channel)))
-	{
-		HALReport(HALUsageReporting::kResourceType_DriverStationEIO, channel, HALUsageReporting::kDriverStationEIO_DigitalOut);
-		reported_mask |= (1 >> channel);
-	}
-
-	uint16_t digital;
-	Synchronized sync(m_outputDataSemaphore);
-
-	if (m_outputData.data.digital_oe & (1 << (channel-1)))
-	{
-		digital = m_outputData.data.digital;
-	
-		digital &= ~(1 << (channel-1));
-		if (value) digital |= 1 << (channel-1);
-	
-		m_outputData.data.digital = digital;
-	}
-	else
-	{
-		wpi_setWPIError(LineNotOutput);
-	}
-}
-
-/**
- * Get the current configuration for a DIO line.
- * 
- * This has the side effect of forcing the Driver Station to switch to Enhanced mode if it's not when called.
- * If Enhanced mode is not enabled when this is called, it will return kUnknown.
- * 
- * @param channel The DIO channel config to get. [1,16]
- * @return The configured mode for the DIO line.
- */
-DriverStationEnhancedIO::tDigitalConfig DriverStationEnhancedIO::GetDigitalConfig(uint32_t channel)
-{
-	if (channel < 1 || channel > 16)
-	{
-		wpi_setWPIErrorWithContext(ParameterOutOfRange, "channel must be between 1 and 16");
-		return kUnknown;
-	}
-	if (!m_outputValid)
-	{
-		m_requestEnhancedEnable = true;
-		wpi_setWPIError(EnhancedIOMissing);
-		return kUnknown;
-	}
-	Synchronized sync(m_outputDataSemaphore);
-	if ((channel >= 1) && (channel <= 4))
-	{
-		if (m_outputData.data.pwm_enable & (1 << (channel - 1)))
-		{
-			return kPWM;
-		}
-	}
-	if ((channel >= 15) && (channel <= 16))
-	{
-		if (m_outputData.data.comparator_enable & (1 << (channel - 15)))
-		{
-			return kAnalogComparator;
-		}
-	}
-	if (m_outputData.data.digital_oe & (1 << (channel - 1)))
-	{
-		return kOutput;
-	}
-	if (!(m_outputData.data.digital_pe & (1 << (channel - 1))))
-	{
-		return kInputFloating;
-	}
-	if (m_outputData.data.digital & (1 << (channel - 1)))
-	{
-		return kInputPullUp;
-	}
-	else
-	{
-		return kInputPullDown;
-	}
-}
-
-/**
- * Override the DS's configuration of a DIO line.
- * 
- * If configured to kInputFloating, the selected DIO line will be tri-stated with no internal pull resistor.
- * 
- * If configured to kInputPullUp, the selected DIO line will be tri-stated with a 5k-Ohm internal pull-up resistor enabled.
- * 
- * If configured to kInputPullDown, the selected DIO line will be tri-stated with a 5k-Ohm internal pull-down resistor enabled.
- * 
- * If configured to kOutput, the selected DIO line will actively drive to 0V or Vddio (specified by J1 and J4).
- * DIO1 through DIO12, DIO15, and DIO16 can source 4mA and can sink 8mA.
- * DIO12 and DIO13 can source 4mA and can sink 25mA.
- * 
- * In addition to the common configurations, DIO1 through DIO4 can be configured to kPWM to enable PWM output.
- * 
- * In addition to the common configurations, DIO15 and DIO16 can be configured to kAnalogComparator to enable
- * analog comparators on those 2 DIO lines.  When enabled, the lines are tri-stated and will accept analog voltages
- * between 0V and 3.3V.  If the input voltage is greater than the voltage output by AO1, the DIO will read as true,
- * if less then false.
- * 
- * @param channel The DIO line to configure. [1,16]
- * @param config The mode to put the DIO line in.
- */
-void DriverStationEnhancedIO::SetDigitalConfig(uint32_t channel, tDigitalConfig config)
-{
-	if (channel < 1 || channel > 16)
-	{
-		wpi_setWPIErrorWithContext(ParameterOutOfRange, "channel must be between 1 and 16");
-		return;
-	}
-	if (config == kPWM && (channel < 1 || channel > 4))
-	{
-		wpi_setWPIErrorWithContext(ParameterOutOfRange, "channel in PWM mode must be between 1 and 4");
-		return;
-	}
-	if (config == kAnalogComparator && (channel < 15 || channel > 16))
-	{
-		wpi_setWPIErrorWithContext(ParameterOutOfRange, "channel in Analog Comparator mode must be between 15 and 16");
-		return;
-	}
-
-	Synchronized sync(m_outputDataSemaphore);
-	m_configChanged = true;
-
-	if ((channel >= 1) && (channel <= 4))
-	{
-		if (config == kPWM)
-		{
-			m_outputData.data.pwm_enable |= 1 << (channel - 1);
-			m_outputData.data.digital &= ~(1 << (channel - 1));
-			m_outputData.data.digital_oe |= 1 << (channel - 1);
-			m_outputData.data.digital_pe &= ~(1 << (channel - 1));
-			return;
-		}
-		else
-		{
-			m_outputData.data.pwm_enable &= ~(1 << (channel - 1));
-		}
-	}
-	else if ((channel >= 15) && (channel <= 16))
-	{
-		if (config == kAnalogComparator)
-		{
-			m_outputData.data.comparator_enable |= 1 << (channel - 15);
-			m_outputData.data.digital &= ~(1 << (channel - 1));
-			m_outputData.data.digital_oe &= ~(1 << (channel - 1));
-			m_outputData.data.digital_pe &= ~(1 << (channel - 1));
-			return;
-		}
-		else
-		{
-			m_outputData.data.comparator_enable &= ~(1 << (channel - 15));
-		}
-	}
-	if (config == kInputFloating)
-	{
-		m_outputData.data.digital &= ~(1 << (channel - 1));
-		m_outputData.data.digital_oe &= ~(1 << (channel - 1));
-		m_outputData.data.digital_pe &= ~(1 << (channel - 1));
-	}
-	else if (config == kInputPullUp)
-	{
-		m_outputData.data.digital |= 1 << (channel - 1);
-		m_outputData.data.digital_oe &= ~(1 << (channel - 1));
-		m_outputData.data.digital_pe |= 1 << (channel - 1);
-	}
-	else if (config == kInputPullDown)
-	{
-		m_outputData.data.digital &= ~(1 << (channel - 1));
-		m_outputData.data.digital_oe &= ~(1 << (channel - 1));
-		m_outputData.data.digital_pe |= 1 << (channel - 1);
-	}
-	else if (config == kOutput)
-	{
-		m_outputData.data.digital_oe |= 1 << (channel - 1);
-		m_outputData.data.digital_pe &= ~(1 << (channel - 1));
-	}
-	else
-	{
-		// Something went wrong.
-	}
-}
-
-/**
- * Get the period of a PWM generator.
- * 
- * This has the side effect of forcing the Driver Station to switch to Enhanced mode if it's not when called.
- * If Enhanced mode is not enabled when this is called, it will return 0.
- * 
- * @param channels Select the generator by specifying the two channels to which it is connected.
- * @return The period of the PWM generator in seconds.
- */
-double DriverStationEnhancedIO::GetPWMPeriod(tPWMPeriodChannels channels)
-{
-	if (channels < kPWMChannels1and2 || channels > kPWMChannels3and4)
-	{
-		wpi_setWPIErrorWithContext(ParameterOutOfRange, "channels must be kPWMChannels1and2 or kPWMChannels3and4");
-		return 0.0;
-	}
-	if (!m_outputValid)
-	{
-		m_requestEnhancedEnable = true;
-		wpi_setWPIError(EnhancedIOMissing);
-		return 0.0;
-	}
-
-	Synchronized sync(m_outputDataSemaphore);
-	return m_outputData.data.pwm_period[channels] / 24000000.0;
-}
-
-/**
- * Set the period of a PWM generator.
- * 
- * There are 2 PWM generators on the IO board.  One can generate PWM signals on DIO1 and DIO2,
- * the other on DIO3 and DIO4.  Each generator has one counter and two compare registers.  As such,
- * each pair of PWM outputs share the output period but have independent duty cycles.
- * 
- * @param channels Select the generator by specifying the two channels to which it is connected.
- * @param period The period of the PWM generator in seconds. [0.0,0.002731]
- */
-void DriverStationEnhancedIO::SetPWMPeriod(tPWMPeriodChannels channels, double period)
-{
-	if (channels < kPWMChannels1and2 || channels > kPWMChannels3and4)
-	{
-		wpi_setWPIErrorWithContext(ParameterOutOfRange, "channels must be kPWMChannels1and2 or kPWMChannels3and4");
-		return;
-	}
-
-	// Convert to ticks based on the IO board's 24MHz clock
-	double ticks = period * 24000000.0;
-	// Limit the range of the ticks... warn if too big.
-	if (ticks > 65534.0) 
-	{
-		wpi_setWPIError(EnhancedIOPWMPeriodOutOfRange);
-		ticks = 65534.0;
-	}
-	else if (ticks < 0.0) ticks = 0.0;
-	// Preserve the duty cycles.
-	double dutyCycles[2];
-	dutyCycles[0] = GetPWMOutput((channels << 1) + 1);
-	dutyCycles[1] = GetPWMOutput((channels << 1) + 2);
-	{
-		Synchronized sync(m_outputDataSemaphore);
-		// Update the period
-		m_outputData.data.pwm_period[channels] = (uint16_t)ticks;
-		m_configChanged = true;
-	}
-	// Restore the duty cycles
-	SetPWMOutput((channels << 1) + 1, dutyCycles[0]);
-	SetPWMOutput((channels << 1) + 2, dutyCycles[1]);
-}
-
-/**
- * Get the state being output on a fixed digital output.
- * 
- * @param channel The FixedDO line to get. [1,2]
- * @return The state of the FixedDO line.
- */
-bool DriverStationEnhancedIO::GetFixedDigitalOutput(uint32_t channel)
-{
-	if (channel < 1 || channel > 2)
-	{
-		wpi_setWPIErrorWithContext(ParameterOutOfRange, "channel must be between 1 and 2");
-		return 0;
-	}
-	if (!m_outputValid)
-	{
-		wpi_setWPIError(EnhancedIOMissing);
-		return 0;
-	}
-
-	Synchronized sync(m_outputDataSemaphore);
-	return ((m_outputData.data.fixed_digital_out >> (channel-1)) & 1) != 0;
-}
-
-/**
- * Set the state to output on a Fixed High Current Digital Output line.
- * 
- * FixedDO1 is pin 5 on the top connector (P2).
- * FixedDO2 is pin 3 on the top connector (P2).
- * 
- * The FixedDO lines always output 0V and 3.3V regardless of J1 and J4.
- * They can source 4mA and can sink 25mA.  Because of this, they are expected to be used
- * in an active low configuration, such as connecting to the cathode of a bright LED.
- * Because they are expected to be active low, they default to true.
- * 
- * @param channel The FixedDO channel to set.
- * @param value The state to set the FixedDO.
- */
-void DriverStationEnhancedIO::SetFixedDigitalOutput(uint32_t channel, bool value)
-{
-	if (channel < 1 || channel > 2)
-	{
-		wpi_setWPIErrorWithContext(ParameterOutOfRange, "channel must be between 1 and 2");
-		return;
-	}
-	if (!m_outputValid)
-	{
-		wpi_setWPIError(EnhancedIOMissing);
-		return;
-	}
-
-	static uint8_t reported_mask = 0;
-	if (!(reported_mask & (1 >> channel)))
-	{
-		HALReport(HALUsageReporting::kResourceType_DriverStationEIO, channel, HALUsageReporting::kDriverStationEIO_FixedDigitalOut);
-		reported_mask |= (1 >> channel);
-	}
-
-	uint8_t digital;
-	Synchronized sync(m_outputDataSemaphore);
-	digital = m_outputData.data.fixed_digital_out;
-
-	digital &= ~(1 << (channel-1));
-	if (value) digital |= 1 << (channel-1);
-
-	m_outputData.data.fixed_digital_out = digital;
-}
-
-/**
- * Get the position of a quadrature encoder.
- * 
- * There are two signed 16-bit 4X quadrature decoders on the IO board.  These decoders are always monitoring
- * the state of the lines assigned to them, but these lines do not have to be used for encoders.
- * 
- * Encoder1 uses DIO4 for "A", DIO6 for "B", and DIO8 for "Index".
- * Encoder2 uses DIO5 for "A", DIO7 for "B", and DIO9 for "Index".
- * 
- * The index functionality can be enabled or disabled using SetEncoderIndexEnable().
- * 
- * @param encoderNumber The quadrature encoder to access. [1,2]
- * @return The current position of the quadrature encoder.
- */
-int16_t DriverStationEnhancedIO::GetEncoder(uint32_t encoderNumber)
-{
-	if (encoderNumber < 1 || encoderNumber > 2)
-	{
-		wpi_setWPIErrorWithContext(ParameterOutOfRange, "encoderNumber must be between 1 and 2");
-		return 0;
-	}
-	if (!m_inputValid)
-	{
-		wpi_setWPIError(EnhancedIOMissing);
-		return 0;
-	}
-
-	static uint8_t reported_mask = 0;
-	if (!(reported_mask & (1 >> encoderNumber)))
-	{
-		HALReport(HALUsageReporting::kResourceType_DriverStationEIO, encoderNumber, HALUsageReporting::kDriverStationEIO_Encoder);
-		reported_mask |= (1 >> encoderNumber);
-	}
-
-	Synchronized sync(m_inputDataSemaphore);
-	return m_inputData.data.quad[encoderNumber - 1] - m_encoderOffsets[encoderNumber - 1];
-}
-
-/**
- * Reset the position of an encoder to 0.
- * 
- * This simply stores an offset locally.  It does not reset the hardware counter on the IO board.
- * If you use this method with Index enabled, you may get unexpected results.
- * 
- * @param encoderNumber The quadrature encoder to reset. [1,2]
- */
-void DriverStationEnhancedIO::ResetEncoder(uint32_t encoderNumber)
-{
-	if (encoderNumber < 1 || encoderNumber > 2)
-	{
-		wpi_setWPIErrorWithContext(ParameterOutOfRange, "encoderNumber must be between 1 and 2");
-		return;
-	}
-	if (!m_inputValid)
-	{
-		wpi_setWPIError(EnhancedIOMissing);
-		return;
-	}
-
-	Synchronized sync(m_inputDataSemaphore);
-	m_encoderOffsets[encoderNumber - 1] = m_inputData.data.quad[encoderNumber - 1];
-}
-
-/**
- * Get the current configuration of a quadrature encoder index channel.
- * 
- * This has the side effect of forcing the Driver Station to switch to Enhanced mode if it's not when called.
- * If Enhanced mode is not enabled when this is called, it will return false.
- * 
- * @param encoderNumber The quadrature encoder. [1,2]
- * @return Is the index channel of the encoder enabled.
- */
-bool DriverStationEnhancedIO::GetEncoderIndexEnable(uint32_t encoderNumber)
-{
-	if (encoderNumber < 1 || encoderNumber > 2)
-	{
-		wpi_setWPIErrorWithContext(ParameterOutOfRange, "encoderNumber must be between 1 and 2");
-		return false;
-	}
-	if (!m_outputValid)
-	{
-		m_requestEnhancedEnable = true;
-		wpi_setWPIError(EnhancedIOMissing);
-		return false;
-	}
-
-	Synchronized sync(m_outputDataSemaphore);
-	return ((m_outputData.data.quad_index_enable >> (encoderNumber - 1)) & 1) != 0;
-}
-
-/**
- * Enable or disable the index channel of a quadrature encoder.
- * 
- * The quadrature decoders on the IO board support an active-low index input.
- * 
- * Encoder1 uses DIO8 for "Index".
- * Encoder2 uses DIO9 for "Index".
- * 
- * When enabled, the decoder's counter will be reset to 0 when A, B, and Index are all low.
- * 
- * @param encoderNumber The quadrature encoder. [1,2]
- * @param enable If true, reset the encoder in an index condition.
- */
-void DriverStationEnhancedIO::SetEncoderIndexEnable(uint32_t encoderNumber, bool enable)
-{
-	if (encoderNumber < 1 || encoderNumber > 2)
-	{
-		wpi_setWPIErrorWithContext(ParameterOutOfRange, "encoderNumber must be between 1 and 2");
-		return;
-	}
-
-	Synchronized sync(m_outputDataSemaphore);
-	m_outputData.data.quad_index_enable &= ~(1 << (encoderNumber - 1));
-	if (enable) m_outputData.data.quad_index_enable |= 1 << (encoderNumber - 1);
-	m_configChanged = true;
-}
-
-/**
- * Get the value of the Capacitive Sense touch slider.
- * 
- * @return Value between 0.0 (toward center of board) and 1.0 (toward edge of board).  -1.0 means no touch detected.
- */
-double DriverStationEnhancedIO::GetTouchSlider()
-{
-	if (!m_inputValid)
-	{
-		wpi_setWPIError(EnhancedIOMissing);
-		return 0.0;
-	}
-
-	HALReport(HALUsageReporting::kResourceType_DriverStationEIO, 1, HALUsageReporting::kDriverStationEIO_TouchSlider);
-
-	Synchronized sync(m_inputDataSemaphore);
-	uint8_t value = m_inputData.data.capsense_slider;
-	return value == 255 ? -1.0 : value / 254.0;
-}
-
-/**
- * Get the percent duty-cycle that the PWM generator channel is configured to output.
- * 
- * @param channel The DIO line's PWM generator to get the duty-cycle from. [1,4]
- * @return The percent duty-cycle being output (if the DIO line is configured for PWM). [0.0,1.0]
- */
-double DriverStationEnhancedIO::GetPWMOutput(uint32_t channel)
-{
-	if (channel < 1 || channel > 4)
-	{
-		wpi_setWPIErrorWithContext(ParameterOutOfRange, "channel must be between 1 and 4");
-		return 0.0;
-	}
-	if (!m_outputValid)
-	{
-		wpi_setWPIError(EnhancedIOMissing);
-		return 0.0;
-	}
-
-	Synchronized sync(m_outputDataSemaphore);
-	return (double)m_outputData.data.pwm_compare[channel - 1] / (double)m_outputData.data.pwm_period[(channel - 1) >> 1];
-}
-
-/**
- * Set the percent duty-cycle to output on a PWM enabled DIO line.
- * 
- * DIO1 through DIO4 have the ability to output a PWM signal.  The period of the
- * signal can be configured in pairs using SetPWMPeriod().
- * 
- * @param channel The DIO line's PWM generator to set. [1,4]
- * @param value The percent duty-cycle to output from the PWM generator. [0.0,1.0]
- */
-void DriverStationEnhancedIO::SetPWMOutput(uint32_t channel, double value)
-{
-	if (channel < 1 || channel > 4)
-	{
-		wpi_setWPIErrorWithContext(ParameterOutOfRange, "channel must be between 1 and 4");
-		return;
-	}
-	if (!m_outputValid)
-	{
-		wpi_setWPIError(EnhancedIOMissing);
-		return;
-	}
-
-	static uint8_t reported_mask = 0;
-	if (!(reported_mask & (1 >> channel)))
-	{
-		HALReport(HALUsageReporting::kResourceType_DriverStationEIO, channel, HALUsageReporting::kDriverStationEIO_PWM);
-		reported_mask |= (1 >> channel);
-	}
-
-	if (value > 1.0) value = 1.0;
-	else if (value < 0.0) value = 0.0;
-	Synchronized sync(m_outputDataSemaphore);
-	m_outputData.data.pwm_compare[channel - 1] = (uint16_t)(value * (double)m_outputData.data.pwm_period[(channel - 1) >> 1]);
-}
-
-/**
- * Get the firmware version running on the IO board.
- * 
- * This also has the side effect of forcing the driver station to switch to Enhanced mode if it is not.
- * If you plan to switch between Driver Stations with unknown IO configurations, you can call this
- * until it returns a non-0 version to ensure that this API is accessible before proceeding.
- * 
- * @return The version of the firmware running on the IO board.  0 if the board is not attached or not in Enhanced mode.
- */
-uint8_t DriverStationEnhancedIO::GetFirmwareVersion()
-{
-	if (!m_inputValid)
-	{
-		m_requestEnhancedEnable = true;
-		wpi_setWPIError(EnhancedIOMissing);
-		return 0;
-	}
-
-	Synchronized sync(m_inputDataSemaphore);
-	return m_inputData.data.fw_version;
-}
-
diff --git a/wpilibc/wpilibC++/lib/DriverStationLCD.cpp b/wpilibc/wpilibC++/lib/DriverStationLCD.cpp
deleted file mode 100644
index ab16d8acec..0000000000
--- a/wpilibc/wpilibC++/lib/DriverStationLCD.cpp
+++ /dev/null
@@ -1,168 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008. All Rights Reserved.							  */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
-/*----------------------------------------------------------------------------*/
-
-#include "DriverStationLCD.h"
-
-//#include <algorithm>
-#include <string.h>
-//#include "NetworkCommunication/FRCComm.h"
-//#include "NetworkCommunication/UsageReporting.h"
-#include "HAL/cpp/Synchronized.hpp"
-#include "WPIErrors.h"
-#undef min
-
-const uint32_t DriverStationLCD::kSyncTimeout_ms;
-const uint16_t DriverStationLCD::kFullDisplayTextCommand;
-const int32_t DriverStationLCD::kLineLength;
-const int32_t DriverStationLCD::kNumLines;
-DriverStationLCD* DriverStationLCD::m_instance = NULL;
-
-/**
- * DriverStationLCD contructor.
- * 
- * This is only called once the first time GetInstance() is called
- */
-DriverStationLCD::DriverStationLCD()
-	: m_textBuffer (NULL)
-	, m_textBufferSemaphore (NULL)
-{
-	m_textBuffer = new char[HAL_USER_DS_LCD_DATA_SIZE];
-	memset(m_textBuffer, ' ', HAL_USER_DS_LCD_DATA_SIZE);
-
-	*((uint16_t *)m_textBuffer) = kFullDisplayTextCommand;
-
-	m_textBufferSemaphore = initializeMutexNormal();
-
-	HALReport(HALUsageReporting::kResourceType_DriverStationLCD, 0);
-
-	AddToSingletonList();
-}
-
-DriverStationLCD::~DriverStationLCD()
-{
-	deleteMutex(m_textBufferSemaphore);
-	delete [] m_textBuffer;
-	m_instance = NULL;
-}
-
-/**
- * Return a pointer to the singleton DriverStationLCD.
- */
-DriverStationLCD* DriverStationLCD::GetInstance()
-{
-	if (m_instance == NULL)
-	{
-		m_instance = new DriverStationLCD();
-	}
-	return m_instance;
-}
-
-/**
- * Send the text data to the Driver Station.
- */
-void DriverStationLCD::UpdateLCD()
-{
-	Synchronized sync(m_textBufferSemaphore);
-	HALSetUserDsLcdData(m_textBuffer, HAL_USER_DS_LCD_DATA_SIZE, kSyncTimeout_ms);
-}
-
-/**
- * Print formatted text to the Driver Station LCD text bufer.
- * 
- * Use UpdateLCD() periodically to actually send the text to the Driver Station.
- * 
- * @param line The line on the LCD to print to.
- * @param startingColumn The column to start printing to.  This is a 1-based number.
- * @param writeFmt The printf format string describing how to print.
- */
-void DriverStationLCD::Printf(Line line, int32_t startingColumn, const char *writeFmt, ...)
-{
-	va_list args;
-	va_start (args, writeFmt);
-	VPrintf(line, startingColumn, writeFmt, args);
-	va_end (args);
-}
-
-void DriverStationLCD::VPrintf(Line line, int32_t startingColumn, const char *writeFmt, va_list args)
-{
-	uint32_t start = startingColumn - 1;
-	int32_t maxLength = kLineLength - start;
-	char lineBuffer[kLineLength + 1];
-
-	if (startingColumn < 1 || startingColumn > kLineLength)
-	{
-		wpi_setWPIErrorWithContext(ParameterOutOfRange, "startingColumn");
-		return;
-	}
-
-	if (line < kMain_Line6 || line > kUser_Line6)
-	{
-		wpi_setWPIErrorWithContext(ParameterOutOfRange, "line");
-		return;
-	}
-
-	{
-		Synchronized sync(m_textBufferSemaphore);
-		// snprintf appends NULL to its output.  Therefore we can't write directly to the buffer.
-		int32_t length = vsnprintf(lineBuffer, kLineLength + 1, writeFmt, args);
-		if (length < 0) length = kLineLength;
-
-		memcpy(m_textBuffer + start + line * kLineLength + sizeof(uint16_t), lineBuffer, std::min(maxLength,length));
-	}
-}
-
-/**
- * Print formatted text to the Driver Station LCD text bufer. This function 
- * pads the line with empty spaces. 
- * 
- * Use UpdateLCD() periodically to actually send the text to the Driver Station.
- * 
- * @param line The line on the LCD to print to.
- * @param writeFmt The printf format string describing how to print.
- */
-void DriverStationLCD::PrintfLine(Line line, const char *writeFmt, ...)
-{
-	va_list args;
-	va_start (args, writeFmt);
-	VPrintfLine(line, writeFmt, args);
-	va_end (args);
-}
-
-void DriverStationLCD::VPrintfLine(Line line, const char *writeFmt, va_list args)
-{
-	char lineBuffer[kLineLength + 1];
-
-	if (line < kMain_Line6 || line > kUser_Line6)
-	{
-		wpi_setWPIErrorWithContext(ParameterOutOfRange, "line");
-		return;
-	}
-
-	{
-		Synchronized sync(m_textBufferSemaphore);
-		// snprintf appends NULL to its output.  Therefore we can't write directly to the buffer.
-		int32_t length = std::min(vsnprintf(lineBuffer, kLineLength + 1, writeFmt, args), (int)kLineLength);
-		if (length < 0) length = kLineLength;
-
-		// Fill the rest of the buffer
-		if (length < kLineLength)
-		{
-			memset(lineBuffer + length, ' ', kLineLength - length);
-		}
-		
-		memcpy(m_textBuffer + line * kLineLength + sizeof(uint16_t), lineBuffer, kLineLength);
-	}
-}
-
-/**
- *  Clear all lines on the LCD.
- */
-void DriverStationLCD::Clear()
-{
-	Synchronized sync(m_textBufferSemaphore);
-	memset(m_textBuffer + sizeof(uint16_t), ' ', kLineLength*kNumLines);
-}
-
diff --git a/wpilibc/wpilibC++/lib/SensorBase.cpp b/wpilibc/wpilibC++/lib/SensorBase.cpp
index a7942b8013..a725418cd8 100644
--- a/wpilibc/wpilibC++/lib/SensorBase.cpp
+++ b/wpilibc/wpilibC++/lib/SensorBase.cpp
@@ -101,7 +101,7 @@ void SensorBase::DeleteSingletons()
  */
 bool SensorBase::CheckSolenoidModule(uint8_t moduleNumber)
 {
-	if (nLoadOut::getModulePresence(nLoadOut::kModuleType_Solenoid, moduleNumber - 1))
+	if (moduleNumber < 64)
 		return true;
 	return false;
 }
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStation.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
index eaa3e32862..0d44ffd958 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
@@ -10,8 +10,8 @@ import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 
 import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary;
-import edu.wpi.first.wpilibj.communication.FRCCommonControlData;
-import edu.wpi.first.wpilibj.communication.FRCCommonControlMasks;
+import edu.wpi.first.wpilibj.communication.HALControlWord;
+import edu.wpi.first.wpilibj.communication.HALAllianceStationID;
 import edu.wpi.first.wpilibj.hal.HALUtil;
 import edu.wpi.first.wpilibj.Timer;
 
@@ -24,14 +24,6 @@ public class DriverStation implements RobotState.Interface {
      * The size of the user status data
      */
     public static final int USER_STATUS_DATA_SIZE = FRCNetworkCommunicationsLibrary.USER_STATUS_DATA_SIZE;
-    /**
-     * Slot for the analog module to read the battery
-     */
-    public static final int kBatterySlot = 1;
-    /**
-     * Analog channel to read the battery
-     */
-    public static final int kBatteryChannel = 7;
     /**
      * Number of Joystick Ports
      */
@@ -48,28 +40,7 @@ public class DriverStation implements RobotState.Interface {
     /**
      * The robot alliance that the robot is a part of
      */
-    public static class Alliance {
-
-        /** The integer value representing this enumeration. */
-        public final int value;
-        /** The Alliance name. */
-        public final String name;
-        public static final int kRed_val = 0;
-        public static final int kBlue_val = 1;
-        public static final int kInvalid_val = 2;
-        /** alliance: Red */
-        public static final Alliance kRed = new Alliance(kRed_val, "Red");
-        /** alliance: Blue */
-        public static final Alliance kBlue = new Alliance(kBlue_val, "Blue");
-        /** alliance: Invalid */
-        public static final Alliance kInvalid = new Alliance(kInvalid_val, "invalid");
-
-        private Alliance(int value, String name) {
-            this.value = value;
-            this.name = name;
-        }
-    } /* Alliance */
-
+    public enum Alliance { Red, Blue, Invalid }
 
     private static class DriverStationTask implements Runnable {
 
@@ -85,8 +56,12 @@ public class DriverStation implements RobotState.Interface {
     } /* DriverStationTask */
 
     private static DriverStation instance = new DriverStation();
-    private FRCCommonControlData m_controlData;
-    private AnalogInput m_batteryChannel;
+
+    private HALControlWord m_controlWord;
+    private HALAllianceStationID m_allianceStationID;
+    private short[][] m_joystickAxes = new short[kJoystickAxes][kJoystickPorts];
+    private int[] m_joystickButtons = new int[kJoystickPorts];
+
     private Thread m_thread;
     private final Object m_semaphore;
     private final Object m_dataSem;
@@ -121,18 +96,12 @@ public class DriverStation implements RobotState.Interface {
      * instance static member variable.
      */
     protected DriverStation() {
-        m_controlData = new FRCCommonControlData();
         m_semaphore = new Object();
         m_dataSem = new Object();
 
         m_dashboardInUseHigh = m_dashboardDefaultHigh = new Dashboard(m_semaphore);
         m_dashboardInUseLow = m_dashboardDefaultLow = new Dashboard(m_semaphore);
 
-        // m_controlData is initialized in constructor FRCCommonControlData.
-
-	// XXX: Uncomment when analogChannel is fixed
-        //m_batteryChannel = new AnalogChannel(kBatterySlot, kBatteryChannel);
-
         m_packetDataAvailableSem = HALUtil.initializeMutexNormal();
 
         // set the byte order
@@ -216,7 +185,17 @@ public class DriverStation implements RobotState.Interface {
      * the data will be copied from the DS polling loop.
      */
     protected synchronized void getData() {
-    	FRCNetworkCommunicationsLibrary.getCommonControlData(m_controlData);
+        // Get the status data
+        m_controlWord = FRCNetworkCommunicationsLibrary.HALGetControlWord();
+
+        // Get the location/alliance data
+        m_allianceStationID = FRCNetworkCommunicationsLibrary.HALGetAllianceStation();
+
+        // Get the status of all of the joysticks
+        for(byte stick = 0; stick < kJoystickPorts; stick++) {
+            m_joystickButtons[stick] = FRCNetworkCommunicationsLibrary.HALGetJoystickButtons(stick);
+            m_joystickAxes[stick] = FRCNetworkCommunicationsLibrary.HALGetJoystickAxes(stick);
+        }
 
         if (!lastEnabled && isEnabled()) {
             // If starting teleop, assume that autonomous just took up 15 seconds
@@ -239,7 +218,8 @@ public class DriverStation implements RobotState.Interface {
      */
     protected void setData() {
         synchronized (m_semaphore) {
-            FRCNetworkCommunicationsLibrary.setStatusData((float) getBatteryVoltage(),
+            // TODO ???
+            /*FRCNetworkCommunicationsLibrary.setStatusData((float) getBatteryVoltage(),
             						 (byte) m_digitalOut,
                                      (byte) m_updateNumber,
                                      new String(m_dashboardInUseHigh.getBytes()),
@@ -247,25 +227,17 @@ public class DriverStation implements RobotState.Interface {
                                      new String(m_dashboardInUseLow.getBytes()),
                                      m_dashboardInUseLow.getBytesLength());
             m_dashboardInUseHigh.flush();
-            m_dashboardInUseLow.flush();
+            m_dashboardInUseLow.flush();*/
         }
     }
 
     /**
-     * Read the battery voltage from the specified AnalogChannel.
-     *
-     * This accessor assumes that the battery voltage is being measured
-     * through the voltage divider on an analog breakout.
+     * Read the battery voltage.
      *
      * @return The battery voltage.
      */
     public double getBatteryVoltage() {
-        // The Analog bumper has a voltage divider on the battery source.
-        // Vbatt *--/\/\/\--* Vsample *--/\/\/\--* Gnd
-        //         680 Ohms            1000 Ohms
-	// XXX: Uncomment this when analog channel is fixed
-        //return m_batteryChannel.getAverageVoltage() * (1680.0 / 1000.0);
-	return 12.0;
+        return 0.0; // TODO
     }
 
     /**
@@ -277,42 +249,21 @@ public class DriverStation implements RobotState.Interface {
      * @return The value of the axis on the joystick.
      */
     public double getStickAxis(int stick, int axis) {
+        if(stick < 1 || stick > kJoystickPorts) {
+            throw new RuntimeException("Joystick index is out of range, should be 1-4");
+        }
+
         if (axis < 1 || axis > kJoystickAxes) {
-            return 0.0;
+            throw new RuntimeException("Joystick axis is out of range");
         }
 
-        int value;
-        switch (stick) {
-        case 1:
-            value = m_controlData.stick0Axes[axis - 1];
-            break;
-        case 2:
-            value = m_controlData.stick1Axes[axis - 1];
-            break;
-        case 3:
-            value = m_controlData.stick2Axes[axis - 1];
-            break;
-        case 4:
-            value = m_controlData.stick3Axes[axis - 1];
-            break;
-        default:
-            return 0.0;
-        }
+        byte value = (byte)m_joystickAxes[stick - 1][axis - 1];
 
-        double result;
-        if (value < 0) {
-            result = ((double) value) / 128.0;
+        if(value < 0) {
+            return value / 128.0;
         } else {
-            result = ((double) value) / 127.0;
+            return value / 127.0;
         }
-
-        // wpi_assert(result <= 1.0 && result >= -1.0);
-        if (result > 1.0) {
-            result = 1.0;
-        } else if (result < -1.0) {
-            result = -1.0;
-        }
-        return result;
     }
 
     /**
@@ -323,76 +274,11 @@ public class DriverStation implements RobotState.Interface {
      * @return The state of the buttons on the joystick.
      */
     public int getStickButtons(final int stick) {
-        switch (stick) {
-        case 1:
-            return m_controlData.stick0Buttons;
-        case 2:
-            return m_controlData.stick1Buttons;
-        case 3:
-            return m_controlData.stick2Buttons;
-        case 4:
-            return m_controlData.stick3Buttons;
-        default:
-            return 0;
+        if(stick < 1 || stick > kJoystickPorts) {
+            throw new RuntimeException("Joystick index is out of range, should be 1-4");
         }
-    }
 
-    /**
-     * Get an analog voltage from the Driver Station.
-     * The analog values are returned as voltage values for the Driver Station analog inputs.
-     * These inputs are typically used for advanced operator interfaces consisting of potentiometers
-     * or resistor networks representing values on a rotary switch.
-     *
-     * @param channel The analog input channel on the driver station to read from. Valid range is 1 - 4.
-     * @return The analog voltage on the input.
-     */
-    public double getAnalogIn(final int channel) {
-        switch (channel) {
-        case 1:
-            return kDSAnalogInScaling * m_controlData.analog1;
-        case 2:
-            return kDSAnalogInScaling * m_controlData.analog2;
-        case 3:
-            return kDSAnalogInScaling * m_controlData.analog3;
-        case 4:
-            return kDSAnalogInScaling * m_controlData.analog4;
-        default:
-            return 0.0;
-        }
-    }
-
-    /**
-     * Get values from the digital inputs on the Driver Station.
-     * Return digital values from the Drivers Station. These values are typically used for buttons
-     * and switches on advanced operator interfaces.
-     * @param channel The digital input to get. Valid range is 1 - 8.
-     * @return The value of the digital input
-     */
-    public boolean getDigitalIn(final int channel) {
-        return ((m_controlData.dsDigitalIn >> (channel - 1)) & 0x1) == 0x1;
-    }
-
-    /**
-     * Set a value for the digital outputs on the Driver Station.
-     *
-     * Control digital outputs on the Drivers Station. These values are typically used for
-     * giving feedback on a custom operator station such as LEDs.
-     *
-     * @param channel The digital output to set. Valid range is 1 - 8.
-     * @param value The state to set the digital output.
-     */
-    public void setDigitalOut(final int channel, final boolean value) {
-        m_digitalOut &= ~(0x1 << (channel - 1));
-        m_digitalOut |= ((value ? 1 : 0) << (channel - 1));
-    }
-
-    /**
-     * Get a value that was set for the digital outputs on the Driver Station.
-     * @param channel The digital ouput to monitor. Valid range is 1 through 8.
-     * @return A digital value being output on the Drivers Station.
-     */
-    public boolean getDigitalOut(final int channel) {
-        return ((m_digitalOut >> (channel - 1)) & 0x1) == 0x1;
+        return (int)m_joystickButtons[stick - 1];
     }
 
     /**
@@ -402,7 +288,7 @@ public class DriverStation implements RobotState.Interface {
      * @return True if the robot is enabled, false otherwise.
      */
     public boolean isEnabled() {
-        return (m_controlData.control & FRCCommonControlMasks.ENABLED) != 0;
+        return m_controlWord.getEnabled();
     }
 
     /**
@@ -422,7 +308,7 @@ public class DriverStation implements RobotState.Interface {
      * @return True if autonomous mode should be enabled, false otherwise.
      */
     public boolean isAutonomous() {
-        return (m_controlData.control & FRCCommonControlMasks.AUTONOMOUS) != 0;
+        return m_controlWord.getAutonomous();
     }
 
     /**
@@ -431,7 +317,7 @@ public class DriverStation implements RobotState.Interface {
      * @return True if test mode should be enabled, false otherwise.
      */
     public boolean isTest() {
-        return (m_controlData.control & FRCCommonControlMasks.TEST) != 0;
+        return m_controlWord.getTest();
     }
 
     /**
@@ -454,29 +340,24 @@ public class DriverStation implements RobotState.Interface {
         return result;
     }
 
-    /**
-     * Return the DS packet number.
-     * The packet number is the index of this set of data returned by the driver station.
-     * Each time new data is received, the packet number (included with the sent data) is returned.
-     *
-     * @return The DS packet number.
-     */
-    public int getPacketNumber() {
-        return m_controlData.packetIndex;
-    }
-
     /**
      * Get the current alliance from the FMS
      * @return the current alliance
      */
     public Alliance getAlliance() {
-        switch (m_controlData.dsID_Alliance) {
-        case 'R':
-            return Alliance.kRed;
-        case 'B':
-            return Alliance.kBlue;
-        default:
-            return Alliance.kInvalid;
+        switch (m_allianceStationID) {
+            case Red1:
+            case Red2:
+            case Red3:
+                return Alliance.Red;
+
+            case Blue1:
+            case Blue2:
+            case Blue3:
+                return Alliance.Blue;
+
+            default:
+                return Alliance.Invalid;
         }
     }
 
@@ -486,15 +367,22 @@ public class DriverStation implements RobotState.Interface {
      * @return the location of the team's driver station controls: 1, 2, or 3
      */
     public int getLocation() {
-        return m_controlData.dsID_Position - '0';
-    }
+        switch (m_allianceStationID) {
+            case Red1:
+            case Blue1:
+                return 1;
 
-    /**
-     * Return the team number that the Driver Station is configured for
-     * @return The team number
-     */
-    public int getTeamNumber() {
-        return m_controlData.teamID;
+            case Red2:
+            case Blue2:
+                return 2;
+
+            case Blue3:
+            case Red3:
+                return 3;
+
+            default:
+                return 0;
+        }
     }
 
     /**
@@ -590,7 +478,7 @@ public class DriverStation implements RobotState.Interface {
      * @return True if the robot is competing on a field being controlled by a Field Management System
      */
     public boolean isFMSAttached() {
-        return (m_controlData.control & FRCCommonControlMasks.FMS_ATTATCHED) > 0;
+        return m_controlWord.getFMSAttached();
     }
 
     /**
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStationLCD.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStationLCD.java
deleted file mode 100644
index 531c85554e..0000000000
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStationLCD.java
+++ /dev/null
@@ -1,197 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008-2012. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.wpilibj;
-
-import java.nio.ByteBuffer;
-import java.nio.IntBuffer;
-
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary;
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
-
-/**
- * Provide access to "LCD" on the Driver Station.
- * This is the Messages box on the DS Operation tab.
- *
- * Buffer the printed data locally and then send it
- * when UpdateLCD is called.
- */
-public class DriverStationLCD extends SensorBase {
-
-    private static DriverStationLCD m_instance;
-    /**
-     * Driver station timeout in milliseconds
-     */
-    public static final int kSyncTimeout_ms = 20;
-    /**
-     * Command to display text
-     */
-    public static final int kFullDisplayTextCommand = 0x9FFF;
-    /**
-     * Maximum line length for Driver Station display
-     */
-    public static final int kLineLength = 21;
-    /**
-     * Total number of lines available
-     */
-    public static final int kNumLines = 6;
-
-    /**
-     * The line number on the Driver Station LCD
-     */
-    public static class Line {
-
-        /**
-         * The integer value representing this enumeration
-         */
-        public final int value;
-        static final int kMain6_val = 0;
-        static final int kUser1_val = 0;
-        static final int kUser2_val = 1;
-        static final int kUser3_val = 2;
-        static final int kUser4_val = 3;
-        static final int kUser5_val = 4;
-        static final int kUser6_val = 5;
-        /**
-         * @deprecated Use kUser1
-         * Line at the Top of the screen
-         */
-        public static final Line kMain6 = new Line(kMain6_val);
-        /**
-         * Line at the Top of the screen
-        */
-        public static final Line kUser1 = new Line(kUser1_val);
-        /**
-         * Line on the user screen
-         */
-        public static final Line kUser2 = new Line(kUser2_val);
-        /**
-         * Line on the user screen
-         */
-        public static final Line kUser3 = new Line(kUser3_val);
-        /**
-         * Line on the user screen
-         */
-        public static final Line kUser4 = new Line(kUser4_val);
-        /**
-         * Line on the user screen
-         */
-        public static final Line kUser5 = new Line(kUser5_val);
-        /**
-         * Bottom line on the user screen
-         */
-        public static final Line kUser6 = new Line(kUser6_val);
-
-        private Line(int value) {
-            this.value = value;
-        }
-    }
-
-    byte[] m_textBuffer;
-
-    /**
-     * Get an instance of the DriverStationLCD
-     * @return an instance of the DriverStationLCD
-     */
-    public static synchronized DriverStationLCD getInstance() {
-        if (m_instance == null)
-            m_instance = new DriverStationLCD();
-        return m_instance;
-    }
-
-    /**
-     * DriverStationLCD constructor.
-     *
-     * This is only called once the first time GetInstance() is called
-     */
-    private DriverStationLCD() {
-        m_textBuffer = new byte[FRCNetworkCommunicationsLibrary.USER_DS_LCD_DATA_SIZE];
-
-        for (int i = 0; i < FRCNetworkCommunicationsLibrary.USER_DS_LCD_DATA_SIZE; i++) {
-            m_textBuffer[i] = ' ';
-        }
-
-        m_textBuffer[0] = (byte) (kFullDisplayTextCommand >> 8);
-        m_textBuffer[1] = (byte) kFullDisplayTextCommand;
-
-        UsageReporting.report(tResourceType.kResourceType_DriverStationLCD, 0);
-    }
-
-    /**
-     * Send the text data to the Driver Station.
-     */
-    public synchronized void updateLCD() {
-    	FRCNetworkCommunicationsLibrary.setUserDsLcdData(new String(m_textBuffer), FRCNetworkCommunicationsLibrary.USER_DS_LCD_DATA_SIZE, kSyncTimeout_ms);
-    }
-
-    /**
-     * Print formatted text to the Driver Station LCD text buffer.
-     *
-     * Use UpdateLCD() periodically to actually send the test to the Driver Station.
-     *
-     * @param line The line on the LCD to print to.
-     * @param startingColumn The column to start printing to.  This is a 1-based number.
-     * @param text the text to print
-     */
-    public void println(Line line, int startingColumn, String text) {
-        int start = startingColumn - 1;
-        int maxLength = kLineLength - start;
-
-        if (startingColumn < 1 || startingColumn > kLineLength) {
-            throw new IndexOutOfBoundsException("Column must be between 1 and " + kLineLength + ", inclusive");
-        }
-
-        int length = text.length();
-        int finalLength = (length < maxLength ? length : maxLength);
-        synchronized (this) {
-            for (int i = 0; i < finalLength; i++) {
-                m_textBuffer[i + start + line.value * kLineLength + 2] = (byte)text.charAt(i);
-            }
-        }
-    }
-
-    /**
-     * Print formatted text to the Driver Station LCD text buffer.
-     *
-     * Use UpdateLCD() periodically to actually send the test to the Driver Station.
-     *
-     * @param line The line on the LCD to print to.
-     * @param startingColumn The column to start printing to.  This is a 1-based number.
-     * @param text the text to print
-     */
-    public void println(Line line, int startingColumn, StringBuffer text) {
-        int start = startingColumn - 1;
-        int maxLength = kLineLength - start;
-
-        if (startingColumn < 1 || startingColumn > kLineLength) {
-            throw new IndexOutOfBoundsException("Column must be between 1 and " + kLineLength + ", inclusive");
-        }
-
-        int length = text.length();
-        int finalLength = (length < maxLength ? length : maxLength);
-        synchronized (this) {
-            for (int i = 0; i < finalLength; i++) {
-                m_textBuffer[i + start + line.value * kLineLength + 2] = (byte) text.charAt(i);
-            }
-        }
-    }
-
-    /**
-     * Clear User Messages box on DS Operations Tab
-     *
-     * This method will clear all text currently displayed in the message box
-     */
-    public void clear() {
-        synchronized (this) {
-            for (int i=0; i < kLineLength*kNumLines; i++) {
-                m_textBuffer[i+2] = ' ';
-            }
-        }
-        updateLCD();
-    }
-}
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/communication/FRCCommonControlData.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/communication/FRCCommonControlData.java
deleted file mode 100644
index ea9c132651..0000000000
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/communication/FRCCommonControlData.java
+++ /dev/null
@@ -1,440 +0,0 @@
-package edu.wpi.first.wpilibj.communication;
-//import com.ochafik.lang.jnaerator.runtime.Structure;
-//import com.ochafik.lang.jnaerator.runtime.Union;
-//import com.sun.jna.Pointer;
-import java.util.Arrays;
-import java.util.List;
-/**
- * <i>native declaration : src\main\include\NetworkCommunication\FRCComm.h:11</i><br>
- * This file was autogenerated by <a href="http://jnaerator.googlecode.com/">JNAerator</a>,<br>
- * a tool written by <a href="http://ochafik.com/">Olivier Chafik</a> that <a href="http://code.google.com/p/jnaerator/wiki/CreditsAndLicense">uses a few opensource projects.</a>.<br>
- * For help, please visit <a href="http://nativelibs4java.googlecode.com/">NativeLibs4Java</a> , <a href="http://rococoa.dev.java.net/">Rococoa</a>, or <a href="http://jna.dev.java.net/">JNA</a>.
- */
-public class FRCCommonControlData /*extends Structure<FRCCommonControlData, FRCCommonControlData.ByValue, FRCCommonControlData.ByReference >*/ {
-	public short packetIndex;
-	/** C type : field1_union */
-	public byte control;
-	public byte dsDigitalIn;
-	public short teamID;
-	public byte dsID_Alliance;
-	public byte dsID_Position;
-	public byte[] stick0Axes = new byte[6];
-	/** Left-most 4 bits are unused */
-	public short stick0Buttons;
-	public byte[] stick1Axes = new byte[6];
-	/** Left-most 4 bits are unused */
-	public short stick1Buttons;
-	public byte[] stick2Axes = new byte[6];
-	/** Left-most 4 bits are unused */
-	public short stick2Buttons;
-	public byte[] stick3Axes = new byte[6];
-	/** Left-most 4 bits are unused */
-	public short stick3Buttons;
-	/** Analog inputs are 10 bit right-justified */
-	public short analog1;
-	public short analog2;
-	public short analog3;
-	public short analog4;
-	public long cRIOChecksum;
-	public int FPGAChecksum0;
-	public int FPGAChecksum1;
-	public int FPGAChecksum2;
-	public int FPGAChecksum3;
-	/** C type : char[8] */
-	public byte[] versionData = new byte[8];
-	
-	/** <i>native declaration : src\main\include\NetworkCommunication\FRCComm.h:13</i> */
-	public static class field1_union /*extends Union<field1_union, field1_union.ByValue, field1_union.ByReference >*/ {
-		public byte control;
-		/** C type : field1_struct */
-		public field1_struct field1;
-		/** <i>native declaration : src\main\include\NetworkCommunication\FRCComm.h:16</i> */
-		public static abstract class field1_struct /*extends Structure<field1_struct, field1_struct.ByValue, field1_struct.ByReference >*/ {
-			/** Conversion Error : checkVersions:1 (This runtime does not support bit fields : JNAerator (based on JNA) (please use BridJ instead)) */
-			/** Conversion Error : test:1 (This runtime does not support bit fields : JNAerator (based on JNA) (please use BridJ instead)) */
-			/** Conversion Error : resync:1 (This runtime does not support bit fields : JNAerator (based on JNA) (please use BridJ instead)) */
-			/** Conversion Error : fmsAttached:1 (This runtime does not support bit fields : JNAerator (based on JNA) (please use BridJ instead)) */
-			/** Conversion Error : autonomous:1 (This runtime does not support bit fields : JNAerator (based on JNA) (please use BridJ instead)) */
-			/** Conversion Error : enabled:1 (This runtime does not support bit fields : JNAerator (based on JNA) (please use BridJ instead)) */
-			/** Conversion Error : notEStop:1 (This runtime does not support bit fields : JNAerator (based on JNA) (please use BridJ instead)) */
-			/** Conversion Error : reset:1 (This runtime does not support bit fields : JNAerator (based on JNA) (please use BridJ instead)) */
-			public field1_struct() {
-				super();
-			}
-			protected List<? > getFieldOrder() {
-				return Arrays.asList();
-			}
-			//public field1_struct(Pointer peer) {
-			//	super(peer);
-			//}
-			//public static abstract class ByReference extends field1_struct implements Structure.ByReference {
-				
-			//};
-			//public static abstract class ByValue extends field1_struct implements Structure.ByValue {
-				
-			//};
-		};
-		public field1_union() {
-			super();
-		}
-		/** @param field1 C type : field1_struct */
-		public field1_union(field1_struct field1) {
-			super();
-			this.field1 = field1;
-			//setType(field1_struct.class);
-		}
-		public field1_union(byte control) {
-			super();
-			this.control = control;
-			//setType(Byte.TYPE);
-		}
-		//public field1_union(Pointer peer) {
-		//	super(peer);
-		//}
-		//protected ByReference newByReference() { return new ByReference(); }
-		//protected ByValue newByValue() { return new ByValue(); }
-		protected field1_union newInstance() { return new field1_union(); }
-		//public static field1_union[] newArray(int arrayLength) {
-		//	return Union.newArray(field1_union.class, arrayLength);
-		//}
-		//public static class ByReference extends field1_union implements Structure.ByReference {
-			
-		//};
-		//public static class ByValue extends field1_union implements Structure.ByValue {
-			
-		//};
-	};
-	/** <i>native declaration : src\main\include\NetworkCommunication\FRCComm.h:45</i> */
-	public static class field2_union /*extends Union<field2_union, field2_union.ByValue, field2_union.ByReference >*/ {
-		/** C type : int8_t[6] */
-		public byte[] stick0Axes = new byte[6];
-		/** C type : field1_struct */
-		public field1_struct field1;
-		/** <i>native declaration : src\main\include\NetworkCommunication\FRCComm.h:47</i> */
-		public static class field1_struct /*extends Structure<field1_struct, field1_struct.ByValue, field1_struct.ByReference >*/ {
-			public byte stick0Axis1;
-			public byte stick0Axis2;
-			public byte stick0Axis3;
-			public byte stick0Axis4;
-			public byte stick0Axis5;
-			public byte stick0Axis6;
-			public field1_struct() {
-				super();
-			}
-			protected List<? > getFieldOrder() {
-				return Arrays.asList("stick0Axis1", "stick0Axis2", "stick0Axis3", "stick0Axis4", "stick0Axis5", "stick0Axis6");
-			}
-			public field1_struct(byte stick0Axis1, byte stick0Axis2, byte stick0Axis3, byte stick0Axis4, byte stick0Axis5, byte stick0Axis6) {
-				super();
-				this.stick0Axis1 = stick0Axis1;
-				this.stick0Axis2 = stick0Axis2;
-				this.stick0Axis3 = stick0Axis3;
-				this.stick0Axis4 = stick0Axis4;
-				this.stick0Axis5 = stick0Axis5;
-				this.stick0Axis6 = stick0Axis6;
-			}
-			//public field1_struct(Pointer peer) {
-			//	super(peer);
-			//}
-			//protected ByReference newByReference() { return new ByReference(); }
-			//protected ByValue newByValue() { return new ByValue(); }
-			protected field1_struct newInstance() { return new field1_struct(); }
-			//public static field1_struct[] newArray(int arrayLength) {
-			//	return Structure.newArray(field1_struct.class, arrayLength);
-			//}
-			//public static class ByReference extends field1_struct implements Structure.ByReference {
-				
-			//};
-			//public static class ByValue extends field1_struct implements Structure.ByValue {
-				
-			//};
-		};
-		public field2_union() {
-			super();
-		}
-		/** @param field1 C type : field1_struct */
-		public field2_union(field1_struct field1) {
-			super();
-			this.field1 = field1;
-			//setType(field1_struct.class);
-		}
-		/** @param stick0Axes C type : int8_t[6] */
-		public field2_union(byte stick0Axes[]) {
-			super();
-			if ((stick0Axes.length != this.stick0Axes.length)) 
-				throw new IllegalArgumentException("Wrong array size !");
-			this.stick0Axes = stick0Axes;
-			//setType(byte[].class);
-		}
-		//public field2_union(Pointer peer) {
-		//	super(peer);
-		//}
-		//protected ByReference newByReference() { return new ByReference(); }
-		//protected ByValue newByValue() { return new ByValue(); }
-		protected field2_union newInstance() { return new field2_union(); }
-		//public static field2_union[] newArray(int arrayLength) {
-		//	return Union.newArray(field2_union.class, arrayLength);
-		//}
-		//public static class ByReference extends field2_union implements Structure.ByReference {
-			
-		//};
-		//public static class ByValue extends field2_union implements Structure.ByValue {
-			
-		//};
-	};
-	/** <i>native declaration : src\main\include\NetworkCommunication\FRCComm.h:58</i> */
-	public static class field3_union /*extends Union<field3_union, field3_union.ByValue, field3_union.ByReference >*/ {
-		/** C type : int8_t[6] */
-		public byte[] stick1Axes = new byte[6];
-		/** C type : field1_struct */
-		public field1_struct field1;
-		/** <i>native declaration : src\main\include\NetworkCommunication\FRCComm.h:60</i> */
-		public static class field1_struct /* extends Structure<field1_struct, field1_struct.ByValue, field1_struct.ByReference >*/ {
-			public byte stick1Axis1;
-			public byte stick1Axis2;
-			public byte stick1Axis3;
-			public byte stick1Axis4;
-			public byte stick1Axis5;
-			public byte stick1Axis6;
-			public field1_struct() {
-				super();
-			}
-			protected List<? > getFieldOrder() {
-				return Arrays.asList("stick1Axis1", "stick1Axis2", "stick1Axis3", "stick1Axis4", "stick1Axis5", "stick1Axis6");
-			}
-			public field1_struct(byte stick1Axis1, byte stick1Axis2, byte stick1Axis3, byte stick1Axis4, byte stick1Axis5, byte stick1Axis6) {
-				super();
-				this.stick1Axis1 = stick1Axis1;
-				this.stick1Axis2 = stick1Axis2;
-				this.stick1Axis3 = stick1Axis3;
-				this.stick1Axis4 = stick1Axis4;
-				this.stick1Axis5 = stick1Axis5;
-				this.stick1Axis6 = stick1Axis6;
-			}
-			//public field1_struct(Pointer peer) {
-			//	super(peer);
-			//}
-			//protected ByReference newByReference() { return new ByReference(); }
-			//protected ByValue newByValue() { return new ByValue(); }
-			protected field1_struct newInstance() { return new field1_struct(); }
-			//public static field1_struct[] newArray(int arrayLength) {
-			//	return Structure.newArray(field1_struct.class, arrayLength);
-			//}
-			//public static class ByReference extends field1_struct implements Structure.ByReference {
-			//	
-			//};
-			//public static class ByValue extends field1_struct implements Structure.ByValue {
-			//	
-			//};
-		};
-		public field3_union() {
-			super();
-		}
-		/** @param field1 C type : field1_struct */
-		public field3_union(field1_struct field1) {
-			super();
-			this.field1 = field1;
-			//setType(field1_struct.class);
-		}
-		/** @param stick1Axes C type : int8_t[6] */
-		public field3_union(byte stick1Axes[]) {
-			super();
-			if ((stick1Axes.length != this.stick1Axes.length)) 
-				throw new IllegalArgumentException("Wrong array size !");
-			this.stick1Axes = stick1Axes;
-			//setType(byte[].class);
-		}
-		//public field3_union(Pointer peer) {
-		//	super(peer);
-		//}
-		//protected ByReference newByReference() { return new ByReference(); }
-		//protected ByValue newByValue() { return new ByValue(); }
-		protected field3_union newInstance() { return new field3_union(); }
-		//public static field3_union[] newArray(int arrayLength) {
-		//	return Union.newArray(field3_union.class, arrayLength);
-		//}
-		//public static class ByReference extends field3_union implements Structure.ByReference {
-		//	
-		//};
-		//public static class ByValue extends field3_union implements Structure.ByValue {
-			
-		//};
-	};
-	/** <i>native declaration : src\main\include\NetworkCommunication\FRCComm.h:71</i> */
-	public static class field4_union /*extends Union<field4_union, field4_union.ByValue, field4_union.ByReference >*/ {
-		/** C type : int8_t[6] */
-		public byte[] stick2Axes = new byte[6];
-		/** C type : field1_struct */
-		public field1_struct field1;
-		/** <i>native declaration : src\main\include\NetworkCommunication\FRCComm.h:73</i> */
-		public static class field1_struct /* extends Structure<field1_struct, field1_struct.ByValue, field1_struct.ByReference >*/ {
-			public byte stick2Axis1;
-			public byte stick2Axis2;
-			public byte stick2Axis3;
-			public byte stick2Axis4;
-			public byte stick2Axis5;
-			public byte stick2Axis6;
-			public field1_struct() {
-				super();
-			}
-			protected List<? > getFieldOrder() {
-				return Arrays.asList("stick2Axis1", "stick2Axis2", "stick2Axis3", "stick2Axis4", "stick2Axis5", "stick2Axis6");
-			}
-			public field1_struct(byte stick2Axis1, byte stick2Axis2, byte stick2Axis3, byte stick2Axis4, byte stick2Axis5, byte stick2Axis6) {
-				super();
-				this.stick2Axis1 = stick2Axis1;
-				this.stick2Axis2 = stick2Axis2;
-				this.stick2Axis3 = stick2Axis3;
-				this.stick2Axis4 = stick2Axis4;
-				this.stick2Axis5 = stick2Axis5;
-				this.stick2Axis6 = stick2Axis6;
-			}
-			//public field1_struct(Pointer peer) {
-			//	super(peer);
-			//}
-			//protected ByReference newByReference() { return new ByReference(); }
-			//protected ByValue newByValue() { return new ByValue(); }
-			protected field1_struct newInstance() { return new field1_struct(); }
-			//public static field1_struct[] newArray(int arrayLength) {
-			//	return Structure.newArray(field1_struct.class, arrayLength);
-			//}
-			//public static class ByReference extends field1_struct implements Structure.ByReference {
-				
-			//};
-			//public static class ByValue extends field1_struct implements Structure.ByValue {
-				
-			//};
-		};
-		public field4_union() {
-			super();
-		}
-		/** @param field1 C type : field1_struct */
-		public field4_union(field1_struct field1) {
-			super();
-			this.field1 = field1;
-			//setType(field1_struct.class);
-		}
-		/** @param stick2Axes C type : int8_t[6] */
-		public field4_union(byte stick2Axes[]) {
-			super();
-			if ((stick2Axes.length != this.stick2Axes.length)) 
-				throw new IllegalArgumentException("Wrong array size !");
-			this.stick2Axes = stick2Axes;
-			//setType(byte[].class);
-		}
-		//public field4_union(Pointer peer) {
-		//	super(peer);
-		//}
-		//protected ByReference newByReference() { return new ByReference(); }
-		//protected ByValue newByValue() { return new ByValue(); }
-		protected field4_union newInstance() { return new field4_union(); }
-		//public static field4_union[] newArray(int arrayLength) {
-		//	return Union.newArray(field4_union.class, arrayLength);
-		//}
-		//public static class ByReference extends field4_union implements Structure.ByReference {
-			
-		//};
-		//public static class ByValue extends field4_union implements Structure.ByValue {
-			
-		//};
-	};
-	/** <i>native declaration : src\main\include\NetworkCommunication\FRCComm.h:84</i> */
-	public static class field5_union /* extends Union<field5_union, field5_union.ByValue, field5_union.ByReference >*/ {
-		/** C type : int8_t[6] */
-		public byte[] stick3Axes = new byte[6];
-		/** C type : field1_struct */
-		public field1_struct field1;
-		/** <i>native declaration : src\main\include\NetworkCommunication\FRCComm.h:86</i> */
-		public static class field1_struct /*extends Structure<field1_struct, field1_struct.ByValue, field1_struct.ByReference >*/ {
-			public byte stick3Axis1;
-			public byte stick3Axis2;
-			public byte stick3Axis3;
-			public byte stick3Axis4;
-			public byte stick3Axis5;
-			public byte stick3Axis6;
-			public field1_struct() {
-				super();
-			}
-			protected List<? > getFieldOrder() {
-				return Arrays.asList("stick3Axis1", "stick3Axis2", "stick3Axis3", "stick3Axis4", "stick3Axis5", "stick3Axis6");
-			}
-			public field1_struct(byte stick3Axis1, byte stick3Axis2, byte stick3Axis3, byte stick3Axis4, byte stick3Axis5, byte stick3Axis6) {
-				super();
-				this.stick3Axis1 = stick3Axis1;
-				this.stick3Axis2 = stick3Axis2;
-				this.stick3Axis3 = stick3Axis3;
-				this.stick3Axis4 = stick3Axis4;
-				this.stick3Axis5 = stick3Axis5;
-				this.stick3Axis6 = stick3Axis6;
-			}
-			//public field1_struct(Pointer peer) {
-			//	super(peer);
-			//}
-			//protected ByReference newByReference() { return new ByReference(); }
-			//protected ByValue newByValue() { return new ByValue(); }
-			protected field1_struct newInstance() { return new field1_struct(); }
-			//public static field1_struct[] newArray(int arrayLength) {
-			//	return Structure.newArray(field1_struct.class, arrayLength);
-			//}
-			//public static class ByReference extends field1_struct implements Structure.ByReference {
-				
-			//};
-			//public static class ByValue extends field1_struct implements Structure.ByValue {
-				
-			//};
-		};
-		public field5_union() {
-			super();
-		}
-		/** @param field1 C type : field1_struct */
-		public field5_union(field1_struct field1) {
-			super();
-			this.field1 = field1;
-			//setType(field1_struct.class);
-		}
-		/** @param stick3Axes C type : int8_t[6] */
-		public field5_union(byte stick3Axes[]) {
-			super();
-			if ((stick3Axes.length != this.stick3Axes.length)) 
-				throw new IllegalArgumentException("Wrong array size !");
-			this.stick3Axes = stick3Axes;
-			//setType(byte[].class);
-		}
-		//public field5_union(Pointer peer) {
-		//	super(peer);
-		//}
-		//protected ByReference newByReference() { return new ByReference(); }
-		//protected ByValue newByValue() { return new ByValue(); }
-		protected field5_union newInstance() { return new field5_union(); }
-		//public static field5_union[] newArray(int arrayLength) {
-		//	return Union.newArray(field5_union.class, arrayLength);
-		//}
-		//public static class ByReference extends field5_union implements Structure.ByReference {
-			
-		//};
-		//public static class ByValue extends field5_union implements Structure.ByValue {
-			
-		//};
-	};
-	public FRCCommonControlData() {
-		super();
-	}
-	protected List<? > getFieldOrder() {
-		return Arrays.asList("packetIndex", "field1", "dsDigitalIn", "teamID", "dsID_Alliance", "dsID_Position", "field2", "stick0Buttons", "field3", "stick1Buttons", "field4", "stick2Buttons", "field5", "stick3Buttons", "analog1", "analog2", "analog3", "analog4", "cRIOChecksum", "FPGAChecksum0", "FPGAChecksum1", "FPGAChecksum2", "FPGAChecksum3", "versionData");
-	}
-	//public FRCCommonControlData(Pointer peer) {
-	//	super(peer);
-	//}
-	//protected ByReference newByReference() { return new ByReference(); }
-	//protected ByValue newByValue() { return new ByValue(); }
-	protected FRCCommonControlData newInstance() { return new FRCCommonControlData(); }
-	//public static FRCCommonControlData[] newArray(int arrayLength) {
-	//	return Structure.newArray(FRCCommonControlData.class, arrayLength);
-	//}
-	//public static class ByReference extends FRCCommonControlData implements Structure.ByReference {
-	//	
-	//};
-	//public static class ByValue extends FRCCommonControlData implements Structure.ByValue {
-		
-	//};
-}
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/communication/FRCCommonControlMasks.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/communication/FRCCommonControlMasks.java
deleted file mode 100644
index d0b73bf4d2..0000000000
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/communication/FRCCommonControlMasks.java
+++ /dev/null
@@ -1,12 +0,0 @@
-package edu.wpi.first.wpilibj.communication;
-
-public class FRCCommonControlMasks {
-	public static byte CHECK_VERSIONS = 1 << 0;
-	public static byte TEST = 1 << 1;
-	public static byte RESYNC = 1 << 2;
-	public static byte FMS_ATTATCHED = 1 << 3;
-	public static byte AUTONOMOUS = 1 << 4;
-	public static byte ENABLED = 1 << 5;
-	public static byte NOT_ESTOP = 1 << 6;
-	public static byte RESET = (byte) (1 << 7);
-}
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/communication/FRCNetworkCommunicationsLibrary.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/communication/FRCNetworkCommunicationsLibrary.java
index 4cf383c4a3..fce6d1d689 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/communication/FRCNetworkCommunicationsLibrary.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/communication/FRCNetworkCommunicationsLibrary.java
@@ -263,7 +263,7 @@ public class FRCNetworkCommunicationsLibrary extends JNIWrapper {
 	 * <i>native declaration : src\main\include\NetworkCommunication\AICalibration.h:7</i><br>
 	 * @deprecated use the safer methods {@link #FRC_NetworkCommunication_nAICalibration_getLSBWeight(int, int, java.nio.IntBuffer)} and {@link #FRC_NetworkCommunication_nAICalibration_getLSBWeight(int, int, com.sun.jna.ptr.IntByReference)} instead
 	 */
-	//@Deprecated 
+	//@Deprecated
 	//public static native int FRC_NetworkCommunication_nAICalibration_getLSBWeight(int aiSystemIndex, int channel, Integer status);
 	/**
 	 * Original signature : <code>uint32_t FRC_NetworkCommunication_nAICalibration_getLSBWeight(const uint32_t, const uint32_t, int32_t*)</code><br>
@@ -275,18 +275,13 @@ public class FRCNetworkCommunicationsLibrary extends JNIWrapper {
 	 * <i>native declaration : src\main\include\NetworkCommunication\AICalibration.h:8</i><br>
 	 * @deprecated use the safer methods {@link #FRC_NetworkCommunication_nAICalibration_getOffset(int, int, java.nio.IntBuffer)} and {@link #FRC_NetworkCommunication_nAICalibration_getOffset(int, int, com.sun.jna.ptr.IntByReference)} instead
 	 */
-	//@Deprecated 
+	//@Deprecated
 	//public static native int FRC_NetworkCommunication_nAICalibration_getOffset(int aiSystemIndex, int channel, Integer status);
 	/**
 	 * Original signature : <code>int32_t FRC_NetworkCommunication_nAICalibration_getOffset(const uint32_t, const uint32_t, int32_t*)</code><br>
 	 * <i>native declaration : src\main\include\NetworkCommunication\AICalibration.h:8</i>
 	 */
 	public static native int FRCNetworkCommunicationAICalibrationGetOffset(int aiSystemIndex, int channel, Integer status);
-	/**
-	 * Original signature : <code>bool getModulePresence(tModuleType, uint8_t)</code><br>
-	 * <i>native declaration : src\main\include\NetworkCommunication\LoadOut.h:14</i>
-	 */
-	public static native byte getModulePresence(int moduleType, byte moduleNumber);
 	/**
 	 * Original signature : <code>tTargetClass getTargetClass()</code><br>
 	 * <i>native declaration : src\main\include\NetworkCommunication\LoadOut.h:25</i>
@@ -309,7 +304,7 @@ public class FRCNetworkCommunicationsLibrary extends JNIWrapper {
 	 * <i>native declaration : src\main\include\NetworkCommunication\symModuleLink.h:6</i><br>
 	 * @deprecated use the safer methods {@link #moduleNameFindBySymbolName(java.lang.String, java.nio.ByteBuffer)} and {@link #moduleNameFindBySymbolName(com.sun.jna.Pointer, com.sun.jna.Pointer)} instead
 	 */
-	//@Deprecated 
+	//@Deprecated
 	//public static native FRC_NetworkCommunicationsLibrary.STATUS moduleNameFindBySymbolName(Pointer symbol, Pointer module);
 	/**
 	 * Original signature : <code>STATUS moduleNameFindBySymbolName(const char*, char*)</code><br>
@@ -320,7 +315,7 @@ public class FRCNetworkCommunicationsLibrary extends JNIWrapper {
 	//public static native FRC_NetworkCommunicationsLibrary.STATUS moduleNameFindBySymbolName(String symbol, ByteBuffer module);
 	/**
 	 * Report the usage of a resource of interest.
<br>
-	 * 
<br>
+	 *
<br>
 	 * @param resource one of the values in the tResourceType above (max value 51).
<br>
 	 * @param instanceNumber an index that identifies the resource instance.
<br>
 	 * @param context an optional additional context number for some cases (such as module number).  Set to 0 to omit.
<br>
@@ -329,11 +324,11 @@ public class FRCNetworkCommunicationsLibrary extends JNIWrapper {
 	 * <i>native declaration : src\main\include\NetworkCommunication\UsageReporting.h:113</i><br>
 	 * @deprecated use the safer methods {@link #report(int, byte, byte, java.lang.String)} and {@link #report(int, byte, byte, com.sun.jna.Pointer)} instead
 	 */
-	//@Deprecated 
+	//@Deprecated
 	//public static native int report(int resource, byte instanceNumber, byte context, Pointer feature);
 	/**
 	 * Report the usage of a resource of interest.
<br>
-	 * 
<br>
+	 *
<br>
 	 * @param resource one of the values in the tResourceType above (max value 51).
<br>
 	 * @param instanceNumber an index that identifies the resource instance.
<br>
 	 * @param context an optional additional context number for some cases (such as module number).  Set to 0 to omit.
<br>
@@ -347,7 +342,7 @@ public class FRCNetworkCommunicationsLibrary extends JNIWrapper {
 	 * <i>native declaration : src\main\include\NetworkCommunication\UsageReporting.h:120</i><br>
 	 * @deprecated use the safer methods {@link #FRC_NetworkCommunication_nUsageReporting_report(byte, byte, byte, java.lang.String)} and {@link #FRC_NetworkCommunication_nUsageReporting_report(byte, byte, byte, com.sun.jna.Pointer)} instead
 	 */
-	//@Deprecated 
+	//@Deprecated
 	//public static native int FRC_NetworkCommunication_nUsageReporting_report(byte resource, byte instanceNumber, byte context, Pointer feature);
 	/**
 	 * Original signature : <code>uint32_t FRC_NetworkCommunication_nUsageReporting_report(uint8_t, uint8_t, uint8_t, const char*)</code><br>
@@ -359,101 +354,55 @@ public class FRCNetworkCommunicationsLibrary extends JNIWrapper {
 	 * <i>native declaration : src\main\include\NetworkCommunication\FRCComm.h:124</i><br>
 	 * @deprecated use the safer methods {@link #getFPGAHardwareVersion(java.nio.ShortBuffer, java.nio.IntBuffer)} and {@link #getFPGAHardwareVersion(com.sun.jna.ptr.ShortByReference, com.sun.jna.ptr.IntByReference)} instead
 	 */
-	//@Deprecated 
+	//@Deprecated
 	//public static native void getFPGAHardwareVersion(ShortByReference fpgaVersion, IntByReference fpgaRevision);
 	/**
 	 * Original signature : <code>void getFPGAHardwareVersion(uint16_t*, uint32_t*)</code><br>
 	 * <i>native declaration : src\main\include\NetworkCommunication\FRCComm.h:124</i>
 	 */
 	public static native void getFPGAHardwareVersion(ShortBuffer fpgaVersion, IntBuffer fpgaRevision);
-	/**
-	 * Original signature : <code>int getCommonControlData(FRCCommonControlData*, int)</code><br>
-	 * <i>native declaration : src\main\include\NetworkCommunication\FRCComm.h:126</i>
-	 */
-	public static native int getCommonControlData(FRCCommonControlData data);
-	/**
-	 * Original signature : <code>int getRecentCommonControlData(FRCCommonControlData*, int)</code><br>
-	 * <i>native declaration : src\main\include\NetworkCommunication\FRCComm.h:127</i>
-	 */
-	public static native int getRecentCommonControlData(FRCCommonControlData commonData, int wait_ms);
 	/**
 	 * Original signature : <code>int getRecentStatusData(uint8_t*, uint8_t*, uint8_t*, int)</code><br>
 	 * <i>native declaration : src\main\include\NetworkCommunication\FRCComm.h:128</i><br>
 	 * @deprecated use the safer methods {@link #getRecentStatusData(java.nio.ByteBuffer, java.nio.ByteBuffer, java.nio.ByteBuffer, int)} and {@link #getRecentStatusData(com.sun.jna.Pointer, com.sun.jna.Pointer, com.sun.jna.Pointer, int)} instead
 	 */
-	//@Deprecated 
+	//@Deprecated
 	//public static native int getRecentStatusData(Pointer batteryInt, Pointer batteryDec, Pointer dsDigitalOut, int wait_ms);
 	/**
 	 * Original signature : <code>int getRecentStatusData(uint8_t*, uint8_t*, uint8_t*, int)</code><br>
 	 * <i>native declaration : src\main\include\NetworkCommunication\FRCComm.h:128</i>
 	 */
 	public static native int getRecentStatusData(ByteBuffer batteryInt, ByteBuffer batteryDec, ByteBuffer dsDigitalOut, int wait_ms);
-	/**
-	 * Original signature : <code>int getDynamicControlData(uint8_t, char*, int32_t, int)</code><br>
-	 * <i>native declaration : src\main\include\NetworkCommunication\FRCComm.h:129</i><br>
-	 * @deprecated use the safer methods {@link #getDynamicControlData(byte, java.nio.ByteBuffer, int, int)} and {@link #getDynamicControlData(byte, com.sun.jna.Pointer, int, int)} instead
-	 */
-	//@Deprecated 
-	//public static native int getDynamicControlData(byte type, Pointer dynamicData, int maxLength, int wait_ms);
-	/**
-	 * Original signature : <code>int getDynamicControlData(uint8_t, char*, int32_t, int)</code><br>
-	 * <i>native declaration : src\main\include\NetworkCommunication\FRCComm.h:129</i>
-	 */
-	public static native int getDynamicControlData(byte type, ByteBuffer dynamicData, int maxLength, int wait_ms);
 	/**
 	 * Original signature : <code>int setStatusData(float, uint8_t, uint8_t, const char*, int, const char*, int, int)</code><br>
 	 * <i>native declaration : src\main\include\NetworkCommunication\FRCComm.h:130</i><br>
 	 * @deprecated use the safer methods {@link #setStatusData(float, byte, byte, java.lang.String, int, java.lang.String, int, int)} and {@link #setStatusData(float, byte, byte, com.sun.jna.Pointer, int, com.sun.jna.Pointer, int, int)} instead
 	 */
-	//@Deprecated 
+	//@Deprecated
 	//public static native int setStatusData(float battery, byte dsDigitalOut, byte updateNumber, Pointer userDataHigh, int userDataHighLength, Pointer userDataLow, int userDataLowLength, int wait_ms);
 	/**
 	 * Original signature : <code>int setStatusData(float, uint8_t, uint8_t, const char*, int, const char*, int, int)</code><br>
 	 * <i>native declaration : src\main\include\NetworkCommunication\FRCComm.h:130</i>
 	 */
 	public static native int setStatusData(float battery, byte dsDigitalOut, byte updateNumber, String userDataHigh, int userDataHighLength, String userDataLow, int userDataLowLength);
-	/**
-	 * Original signature : <code>int setStatusDataFloatAsInt(int, uint8_t, uint8_t, const char*, int, const char*, int, int)</code><br>
-	 * <i>native declaration : src\main\include\NetworkCommunication\FRCComm.h:133</i><br>
-	 * @deprecated use the safer methods {@link #setStatusDataFloatAsInt(int, byte, byte, java.lang.String, int, java.lang.String, int, int)} and {@link #setStatusDataFloatAsInt(int, byte, byte, com.sun.jna.Pointer, int, com.sun.jna.Pointer, int, int)} instead
-	 */
-	//@Deprecated 
-	//public static native int setStatusDataFloatAsInt(int battery, byte dsDigitalOut, byte updateNumber, Pointer userDataHigh, int userDataHighLength, Pointer userDataLow, int userDataLowLength, int wait_ms);
-	/**
-	 * Original signature : <code>int setStatusDataFloatAsInt(int, uint8_t, uint8_t, const char*, int, const char*, int, int)</code><br>
-	 * <i>native declaration : src\main\include\NetworkCommunication\FRCComm.h:133</i>
-	 */
-	public static native int setStatusDataFloatAsInt(int battery, byte dsDigitalOut, byte updateNumber, String userDataHigh, int userDataHighLength, String userDataLow, int userDataLowLength, int wait_ms);
 	/**
 	 * Original signature : <code>int setErrorData(const char*, int, int)</code><br>
 	 * <i>native declaration : src\main\include\NetworkCommunication\FRCComm.h:136</i><br>
 	 * @deprecated use the safer methods {@link #setErrorData(java.lang.String, int, int)} and {@link #setErrorData(com.sun.jna.Pointer, int, int)} instead
 	 */
-	//@Deprecated 
+	//@Deprecated
 	//public static native int setErrorData(Pointer errors, int errorsLength, int wait_ms);
 	/**
 	 * Original signature : <code>int setErrorData(const char*, int, int)</code><br>
 	 * <i>native declaration : src\main\include\NetworkCommunication\FRCComm.h:136</i>
 	 */
 	public static native int setErrorData(String errors, int errorsLength, int wait_ms);
-	/**
-	 * Original signature : <code>int setUserDsLcdData(const char*, int, int)</code><br>
-	 * <i>native declaration : src\main\include\NetworkCommunication\FRCComm.h:137</i><br>
-	 * @deprecated use the safer methods {@link #setUserDsLcdData(java.lang.String, int, int)} and {@link #setUserDsLcdData(com.sun.jna.Pointer, int, int)} instead
-	 */
-	//@Deprecated 
-	//public static native int setUserDsLcdData(Pointer userDsLcdData, int userDsLcdDataLength, int wait_ms);
-	/**
-	 * Original signature : <code>int setUserDsLcdData(const char*, int, int)</code><br>
-	 * <i>native declaration : src\main\include\NetworkCommunication\FRCComm.h:137</i>
-	 */
-	public static native int setUserDsLcdData(String userDsLcdData, int userDsLcdDataLength, int wait_ms);
 	/**
 	 * Original signature : <code>int overrideIOConfig(const char*, int)</code><br>
 	 * <i>native declaration : src\main\include\NetworkCommunication\FRCComm.h:138</i><br>
 	 * @deprecated use the safer methods {@link #overrideIOConfig(java.lang.String, int)} and {@link #overrideIOConfig(com.sun.jna.Pointer, int)} instead
 	 */
-	//@Deprecated 
+	//@Deprecated
 	//public static native int overrideIOConfig(String ioConfig, int wait_ms);
 	/**
 	 * Original signature : <code>int overrideIOConfig(const char*, int)</code><br>
@@ -491,7 +440,7 @@ public class FRCNetworkCommunicationsLibrary extends JNIWrapper {
 	 * <i>native declaration : src\main\include\NetworkCommunication\FRCComm.h:159</i><br>
 	 * @deprecated use the safer methods {@link #FRC_NetworkCommunication_getVersionString(java.nio.ByteBuffer)} and {@link #FRC_NetworkCommunication_getVersionString(com.sun.jna.Pointer)} instead
 	 */
-	//@Deprecated 
+	//@Deprecated
 	//public static native void FRC_NetworkCommunication_getVersionString(Pointer version);
 	/**
 	 * Original signature : <code>void FRC_NetworkCommunication_getVersionString(char*)</code><br>
@@ -504,7 +453,43 @@ public class FRCNetworkCommunicationsLibrary extends JNIWrapper {
 	public static native void FRCNetworkCommunicationObserveUserProgramTeleop();
 	public static native void FRCNetworkCommunicationObserveUserProgramTest();
 	public static native void FRCNetworkCommunicationReserve();
-	
+
+	private static native int NativeHALGetControlWord();
+	public static HALControlWord HALGetControlWord() {
+		int word = NativeHALGetControlWord();
+		return new HALControlWord(
+			(word & 1) != 0,
+			((word >> 2) & 1) != 0,
+			((word >> 3) & 1) != 0,
+			((word >> 4) & 1) != 0,
+			((word >> 5) & 1) != 0,
+			((word >> 6) & 1) != 0
+		);
+	}
+
+	private static native int NativeHALGetAllianceStation();
+	public static HALAllianceStationID HALGetAllianceStation() {
+		switch(NativeHALGetAllianceStation()) {
+		case 0:
+			return HALAllianceStationID.Red1;
+		case 1:
+			return HALAllianceStationID.Red2;
+		case 2:
+			return HALAllianceStationID.Red3;
+		case 3:
+			return HALAllianceStationID.Blue1;
+		case 4:
+			return HALAllianceStationID.Blue2;
+		case 5:
+			return HALAllianceStationID.Blue3;
+		default:
+			return null;
+		}
+	}
+
+	public static native short[] HALGetJoystickAxes(byte joystickNum);
+	public static native int HALGetJoystickButtons(byte joystickNum);
+
 	/*
 	public static class pthread_mutex_t extends PointerType {
 		public pthread_mutex_t(Pointer address) {
@@ -522,7 +507,7 @@ public class FRCNetworkCommunicationsLibrary extends JNIWrapper {
 			super();
 		}
 	};*/
-	
+
 	//
 	// JNI Testing
 	//
@@ -535,11 +520,11 @@ public class FRCNetworkCommunicationsLibrary extends JNIWrapper {
 	public static native long JNIValueReturnLongTest(long longValue);
 	public static native float JNIValueReturnFloatTest(float floatValue);
 	public static native double JNIValueReturnDoubleTest(double doubleValue);
-	
+
 	public static native String JNIObjectReturnStringTest( String stringObject);
-	
+
 	public static native ByteBuffer JNIObjectReturnByteBufferTest( ByteBuffer byteBuffer );
-	
+
 	public static native ByteBuffer JNIObjectAndParamReturnIntBufferTest( IntBuffer intBuffer);
-	
+
 }
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/communication/HALAllianceStationID.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/communication/HALAllianceStationID.java
new file mode 100644
index 0000000000..7c9748886e
--- /dev/null
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/communication/HALAllianceStationID.java
@@ -0,0 +1,10 @@
+package edu.wpi.first.wpilibj.communication;
+
+public enum HALAllianceStationID {
+	Red1,
+	Red2,
+	Red3,
+	Blue1,
+	Blue2,
+	Blue3
+}
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/communication/HALControlWord.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/communication/HALControlWord.java
new file mode 100644
index 0000000000..715ec93409
--- /dev/null
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/communication/HALControlWord.java
@@ -0,0 +1,49 @@
+package edu.wpi.first.wpilibj.communication;
+
+/**
+ * A wrapper for the HALControlWord bitfield
+ */
+public class HALControlWord {
+	private boolean m_enabled;
+	private boolean m_autonomous;
+	private boolean m_test;
+	private boolean m_eStop;
+	private boolean m_fmsAttached;
+	private boolean m_dsAttached;
+
+	protected HALControlWord(boolean enabled, boolean autonomous, boolean test,
+			boolean eStop, boolean fmsAttached, boolean dsAttached) {
+		m_enabled = enabled;
+		m_autonomous = autonomous;
+		m_test = test;
+		m_eStop = eStop;
+		m_fmsAttached = fmsAttached;
+		m_dsAttached = dsAttached;
+	}
+
+	public boolean getEnabled() {
+		return m_enabled;
+	}
+
+	public boolean getAutonomous() {
+		return m_autonomous;
+	}
+
+	public boolean getTest() {
+		return m_test;
+	}
+
+	public boolean getEStop() {
+		return m_eStop;
+	}
+
+	public boolean getFMSAttached() {
+		return m_fmsAttached;
+	}
+
+	public boolean getDSAttached() {
+		return m_dsAttached;
+	}
+
+
+}
diff --git a/wpilibj/wpilibJavaJNI/lib/FRCNetworkCommunicationsLibrary.cpp b/wpilibj/wpilibJavaJNI/lib/FRCNetworkCommunicationsLibrary.cpp
index 5778cf51bb..7dc96c0db6 100644
--- a/wpilibj/wpilibJavaJNI/lib/FRCNetworkCommunicationsLibrary.cpp
+++ b/wpilibj/wpilibJavaJNI/lib/FRCNetworkCommunicationsLibrary.cpp
@@ -38,17 +38,6 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommun
 	assert(false);
 	return 0;
 }
-/*
- * Class:     edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
- * Method:    getModulePresence
- * Signature: (IB)B
- */
-JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_getModulePresence
-  (JNIEnv *, jclass, jint, jbyte)
-{
-	assert(false);
-	return 0;
-}
 /*
  * Class:     edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
  * Method:    getTargetClass
@@ -145,192 +134,6 @@ jfieldID FPGAChecksum1FieldID;
 jfieldID FPGAChecksum2FieldID;
 jfieldID FPGAChecksum3FieldID;
 jfieldID versionDataFieldID;
-
-/*
- * Class:     edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
- * Method:    getCommonControlData
- * Signature: (Ledu/wpi/first/wpilibj/communication/FRCCommonControlData;I)I
- */
-JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_getCommonControlData
-  (JNIEnv * env, jclass, jobject controlData)
-{
-	HALCommonControlData controlDataNative;
-
-	controlDataNative.packetIndex = 0xFF;
-	controlDataNative.control = 0xFF;
-
-	int returnValue = HALGetCommonControlData(&controlDataNative, HAL_WAIT_FOREVER);
-
-	//NETCOMM_LOG(logDEBUG) << "PacketIndex: " << (void*)controlDataNative.packetIndex << " Control: " << (void*)controlDataNative.control << " ReturnValue: " << (void*)returnValue;
-
-	if(!initializeComplete)
-	{
-		// control data class
-		dataClass = (jclass)env->NewGlobalRef(env->GetObjectClass(controlData));
-		//dataClass = env->GetObjectClass(controlData);
-		// public short packetIndex;
-		packetIndexFieldID = env->GetFieldID(dataClass, "packetIndex", "S" );
-		//	public byte control;
-		controlFieldID = env->GetFieldID(dataClass, "control", "B" );
-		//	public byte dsDigitalIn;
-		dsDigitalInFieldID = env->GetFieldID(dataClass, "dsDigitalIn", "B" );
-		//	public short teamID;
-		teamIDFieldID = env->GetFieldID(dataClass, "teamID", "S" );
-		//	public byte dsID_Alliance;
-		dsID_AllianceFieldID = env->GetFieldID(dataClass, "dsID_Alliance", "B" );
-		//	public byte dsID_Position;
-		dsID_PositionFieldID = env->GetFieldID(dataClass, "dsID_Position", "B" );
-		//	public byte[] stick0Axes;
-		stick0AxesFieldID = env->GetFieldID(dataClass, "stick0Axes", "[B" );
-		//	public short stick0Buttons;
-		stick0ButtonsFieldID = env->GetFieldID(dataClass, "stick0Buttons", "S" );
-		//	public byte[] stick1Axes;
-		stick1AxesFieldID = env->GetFieldID(dataClass, "stick1Axes", "[B" );
-		//	public short stick1Buttons;
-		stick1ButtonsFieldID = env->GetFieldID(dataClass, "stick1Buttons", "S" );
-		//	public byte[] stick2Axes;
-		stick2AxesFieldID = env->GetFieldID(dataClass, "stick2Axes", "[B" );
-		//	public short stick2Buttons;
-		stick2ButtonsFieldID = env->GetFieldID(dataClass, "stick2Buttons", "S" );
-		//	public byte[] stick3Axes;
-		stick3AxesFieldID = env->GetFieldID(dataClass, "stick3Axes", "[B" );
-		//	public short stick3Buttons;
-		stick3ButtonsFieldID = env->GetFieldID(dataClass, "stick3Buttons", "S" );
-		//	public short analog1;
-		analog1FieldID = env->GetFieldID(dataClass, "analog1", "S" );
-		//	public short analog2;
-		analog2FieldID = env->GetFieldID(dataClass, "analog2", "S" );
-		//	public short analog3;
-		analog3FieldID = env->GetFieldID(dataClass, "analog3", "S" );
-		//	public short analog4;
-		analog4FieldID = env->GetFieldID(dataClass, "analog4", "S" );
-		//	public long cRIOChecksum;
-		cRIOChecksumFieldID = env->GetFieldID(dataClass, "cRIOChecksum", "J" );
-		//	public int FPGAChecksum0;
-		FPGAChecksum0FieldID = env->GetFieldID(dataClass, "FPGAChecksum0", "I" );
-		//	public int FPGAChecksum1;
-		FPGAChecksum1FieldID = env->GetFieldID(dataClass, "FPGAChecksum1", "I" );
-		//	public int FPGAChecksum2;
-		FPGAChecksum2FieldID = env->GetFieldID(dataClass, "FPGAChecksum2", "I" );
-		//	public int FPGAChecksum3;
-		FPGAChecksum3FieldID = env->GetFieldID(dataClass, "FPGAChecksum3", "I" );
-		//	public byte[] versionData;
-		versionDataFieldID = env->GetFieldID(dataClass, "versionData", "[B" );
-
-		initializeComplete = true;
-	}
-
-	//NETCOMM_LOG(logDEBUG) << "PacketIndex  : " << (short)controlDataNative.packetIndex;
-	env->SetShortField(controlData,packetIndexFieldID, controlDataNative.packetIndex);
-	//NETCOMM_LOG(logDEBUG) << "Control  : " << (short)controlDataNative.control;
-	env->SetByteField(controlData,controlFieldID, controlDataNative.control);
-	env->SetByteField(controlData,dsDigitalInFieldID, controlDataNative.dsDigitalIn);
-	env->SetShortField(controlData,teamIDFieldID, controlDataNative.teamID);
-	env->SetByteField(controlData,dsID_AllianceFieldID, controlDataNative.dsID_Alliance);
-	env->SetByteField(controlData,dsID_PositionFieldID, controlDataNative.dsID_Position);
-
-	// process the axes for joystick 0
-	jobject stick0Axes = env->GetObjectField(controlData, stick0AxesFieldID);
-	jbyteArray * stick0AxesPtr = reinterpret_cast<jbyteArray*>(&stick0Axes);
-	jbyte * stick0AxesBytePtr = env->GetByteArrayElements(*stick0AxesPtr,NULL);
-
-	for( short axisCount = 0; axisCount < 6; axisCount++)
-	{
-		stick0AxesBytePtr[axisCount]=controlDataNative.stick0Axes[axisCount];
-	}
-
-	env->ReleaseByteArrayElements(*stick0AxesPtr,stick0AxesBytePtr,0);
-
-	//	/** C type : field2_union */
-	//	public field2_union field2;
-	//	/** Left-most 4 bits are unused */
-	env->SetShortField(controlData,stick0ButtonsFieldID, controlDataNative.stick0Buttons);
-
-	// process the axes for joystick 1
-	jobject stick1Axes = env->GetObjectField(controlData, stick1AxesFieldID);
-	jbyteArray * stick1AxesPtr = reinterpret_cast<jbyteArray*>(&stick1Axes);
-	jbyte * stick1AxesBytePtr = env->GetByteArrayElements(*stick1AxesPtr,NULL);
-
-	for( short axisCount = 0; axisCount < 6; axisCount++)
-	{
-		stick1AxesBytePtr[axisCount]=controlDataNative.stick1Axes[axisCount];
-	}
-
-	env->ReleaseByteArrayElements(*stick1AxesPtr,stick1AxesBytePtr,0);
-
-	//	/** C type : field3_union */
-	//	public field3_union field3;
-	//	/** Left-most 4 bits are unused */
-	env->SetShortField(controlData,stick1ButtonsFieldID, controlDataNative.stick1Buttons);
-
-	// process the axes for joystick 2
-	jobject stick2Axes = env->GetObjectField(controlData, stick2AxesFieldID);
-	jbyteArray * stick2AxesPtr = reinterpret_cast<jbyteArray*>(&stick2Axes);
-	jbyte * stick2AxesBytePtr = env->GetByteArrayElements(*stick2AxesPtr,NULL);
-
-	for( short axisCount = 0; axisCount < 6; axisCount++)
-	{
-		stick2AxesBytePtr[axisCount]=controlDataNative.stick2Axes[axisCount];
-	}
-
-	env->ReleaseByteArrayElements(*stick2AxesPtr,stick2AxesBytePtr,0);
-
-	//	/** C type : field4_union */
-	//	public field4_union field4;
-	//	/** Left-most 4 bits are unused */
-	env->SetShortField(controlData,stick2ButtonsFieldID, controlDataNative.stick2Buttons);
-
-	// process the axes for joystick 3
-	jobject stick3Axes = env->GetObjectField(controlData, stick3AxesFieldID);
-	jbyteArray * stick3AxesPtr = reinterpret_cast<jbyteArray*>(&stick3Axes);
-	jbyte * stick3AxesBytePtr = env->GetByteArrayElements(*stick3AxesPtr,NULL);
-
-	for( short axisCount = 0; axisCount < 6; axisCount++)
-	{
-		stick3AxesBytePtr[axisCount]=controlDataNative.stick3Axes[axisCount];
-	}
-
-	env->ReleaseByteArrayElements(*stick3AxesPtr,stick3AxesBytePtr,0);
-
-	//	/** C type : field5_union */
-	//	public field5_union field5;
-	//	/** Left-most 4 bits are unused */
-	env->SetShortField(controlData,stick3ButtonsFieldID, controlDataNative.stick3Buttons);
-	//	/** Analog inputs are 10 bit right-justified */
-	env->SetShortField(controlData,analog1FieldID, controlDataNative.analog1);
-	env->SetShortField(controlData,analog2FieldID, controlDataNative.analog2);
-	env->SetShortField(controlData,analog3FieldID, controlDataNative.analog3);
-	env->SetShortField(controlData,analog4FieldID, controlDataNative.analog4);
-	env->SetLongField(controlData,cRIOChecksumFieldID, controlDataNative.cRIOChecksum);
-	env->SetIntField(controlData,FPGAChecksum0FieldID, controlDataNative.FPGAChecksum0);
-	env->SetIntField(controlData,FPGAChecksum1FieldID, controlDataNative.FPGAChecksum1);
-	env->SetIntField(controlData,FPGAChecksum2FieldID, controlDataNative.FPGAChecksum2);
-	env->SetIntField(controlData,FPGAChecksum3FieldID, controlDataNative.FPGAChecksum3);
-	//	/** C type : char[8] */
-	//	public byte[] versionData;
-	jobject versionData = env->GetObjectField(controlData, versionDataFieldID);
-	jbyteArray * versionDataPtr = reinterpret_cast<jbyteArray*>(&versionData);
-	jbyte * versionDataBytePtr = env->GetByteArrayElements(*versionDataPtr,NULL);
-
-	for( short byteCount = 0; byteCount < 8; byteCount++)
-	{
-		versionDataBytePtr[byteCount]=controlDataNative.versionData[byteCount];
-	}
-
-	env->ReleaseByteArrayElements(*versionDataPtr,versionDataBytePtr,0);
-
-	return returnValue;
-}
-/*
- * Class:     edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
- * Method:    getRecentCommonControlData
- * Signature: (Ledu/wpi/first/wpilibj/communication/FRCCommonControlData;I)I
- */
-JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_getRecentCommonControlData
-  (JNIEnv *, jclass, jobject, jint)
-{
-	assert(false);
-}
 /*
  * Class:     edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
  * Method:    getRecentStatusData
@@ -341,17 +144,6 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommun
 {
 	assert(false);
 }
-/*
- * Class:     edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
- * Method:    getDynamicControlData
- * Signature: (BLjava/nio/ByteBuffer;II)I
- */
-JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_getDynamicControlData
-  (JNIEnv *, jclass, jbyte, jobject, jint, jint)
-{
-	assert(false);
-}
-
 /*
  * Class:     edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
  * Method:    setStatusData
@@ -368,16 +160,6 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommun
 	env->ReleaseStringUTFChars(paramUserDataLow,userDataLowStr);
 	return returnValue;
 }
-/*
- * Class:     edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
- * Method:    setStatusDataFloatAsInt
- * Signature: (IBBLjava/lang/String;ILjava/lang/String;II)I
- */
-JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setStatusDataFloatAsInt
-  (JNIEnv *, jclass, jint, jbyte, jbyte, jstring, jint, jstring, jint, jint)
-{
-	assert(false);
-}
 /*
  * Class:     edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
  * Method:    setErrorData
@@ -388,16 +170,6 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommun
 {
 	assert(false);
 }
-/*
- * Class:     edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
- * Method:    setUserDsLcdData
- * Signature: (Ljava/lang/String;II)I
- */
-JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setUserDsLcdData
-  (JNIEnv *, jclass, jstring, jint, jint)
-{
-	assert(false);
-}
 /*
  * Class:     edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
  * Method:    overrideIOConfig
@@ -512,6 +284,65 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommun
 	assert(1 == HALInitialize(0));
 }
 
+/*
+ * Class:     edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
+ * Method:    NativeHALGetControlWord
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_NativeHALGetControlWord
+  (JNIEnv *, jclass)
+{
+    jint controlWord;
+    HALGetControlWord((HALControlWord*)&controlWord);
+    return controlWord;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
+ * Method:    NativeHALGetAllianceStation
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_NativeHALGetAllianceStation
+  (JNIEnv *, jclass)
+{
+    jint allianceStation;
+    HALGetAllianceStation((HALAllianceStationID*)&allianceStation);
+    return allianceStation;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
+ * Method:    HALGetJoystickAxes
+ * Signature: (B)[S
+ */
+JNIEXPORT jshortArray JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickAxes
+  (JNIEnv * env, jclass, jbyte joystickNum)
+{
+    HALJoystickAxes axes;
+    HALGetJoystickAxes(joystickNum, &axes, 6);
+
+    jshortArray axesArray = env->NewShortArray(axes.count);
+    env->SetShortArrayRegion(axesArray, 0, axes.count, axes.axes);
+
+    return axesArray;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
+ * Method:    HALGetJoystickButtons
+ * Signature: (B)S
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickButtons
+  (JNIEnv *, jclass, jbyte joystickNum)
+{
+    HALJoystickButtons buttons;
+    uint8_t count;
+
+    HALGetJoystickButtons(joystickNum, &buttons, &count);
+
+    return buttons;
+}
+
 /*
  * Class:     edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
  * Method:    setNewDataSem