diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/WPILibCore.java b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/WPILibCore.java
index 1b168c94d9..129dec5e8e 100644
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/WPILibCore.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/WPILibCore.java
@@ -125,7 +125,7 @@ public class WPILibCore extends AbstractUIPlugin {
 			return target;
 		else {
 			int teamNumber = getTeamNumber(project);
-			return "roborio-" + teamNumber + ".local";
+			return "roborio-" + teamNumber + "-FRC.local";
 		}
 	}
 
diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/.cproject b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/.cproject
index 726e9639c5..7d7a3a1f5b 100644
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/.cproject
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/.cproject
@@ -47,7 +47,7 @@
 								<option id="gnu.cpp.link.option.paths.1566479969" name="Library search path (-L)" superClass="gnu.cpp.link.option.paths" valueType="libPaths">
 									<listOptionValue builtIn="false" value="&quot;${WPILIB}/cpp/current/lib&quot;"/>
 								</option>
-								<option id="gnu.cpp.link.option.flags.675338432" name="Linker flags" superClass="gnu.cpp.link.option.flags" value="-Wl,-rpath,/opt/GenICam_v2_3/bin/Linux_armv7-a" valueType="string"/>
+								<option id="gnu.cpp.link.option.flags.675338432" name="Linker flags" superClass="gnu.cpp.link.option.flags" value="-Wl,-rpath,/opt/GenICam_v2_3/bin/Linux_armv7-a,-rpath,/usr/local/frc/rpath-lib" valueType="string"/>
 								<inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.132949138" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
 									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
 									<additionalInput kind="additionalinput" paths="$(LIBS)"/>
diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/launching/RSEUtils.java b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/launching/RSEUtils.java
index ae9dff3d24..df68dfaeaf 100644
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/launching/RSEUtils.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/launching/RSEUtils.java
@@ -18,7 +18,7 @@ public class RSEUtils {
 		// The ip address based on the team number
         //String hostName = "10."+(teamNumber/100)+"."+(teamNumber%100)+".2";
         //String connectionName = hostName; //"Team "+teamNumber;
-		String hostName = "roboRIO-" + teamNumber + ".local";
+		String hostName = "roboRIO-" + teamNumber + "-FRC.local";
 		String connectionName = hostName;
    
         // get the singleton RSE registry
diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/resources/cpp-zip/ant/build.xml b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/resources/cpp-zip/ant/build.xml
index a0a53df74b..8add8bfd07 100644
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/resources/cpp-zip/ant/build.xml
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/resources/cpp-zip/ant/build.xml
@@ -20,7 +20,7 @@
 
   <target name="get-target-ip">
     <property name="ant.enable.asserts" value="true"/>
-    <property name="target" value="roboRIO-${team-number}.local" />
+    <property name="target" value="roboRIO-${team-number}-FRC.local" />
 	<echo>Trying Target: ${target}</echo>
 	 <if>
 		<isreachable host="${target}" timeout="5"/>
diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/src/main/resources/java-zip/ant/build.xml b/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/src/main/resources/java-zip/ant/build.xml
index 666273a39e..d4ca2533f3 100644
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/src/main/resources/java-zip/ant/build.xml
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/src/main/resources/java-zip/ant/build.xml
@@ -20,7 +20,7 @@
 
   <target name="get-target-ip">
     <property name="ant.enable.asserts" value="true"/>
-    <property name="target" value="roboRIO-${team-number}.local" />
+    <property name="target" value="roboRIO-${team-number}-FRC.local" />
 	<echo>Trying Target: ${target}</echo>
 	 <if>
 		<isreachable host="${target}" timeout="5"/>
diff --git a/hal/include/HAL/CAN.hpp b/hal/include/HAL/CAN.hpp
index 80b589ceee..c10450b58b 100644
--- a/hal/include/HAL/CAN.hpp
+++ b/hal/include/HAL/CAN.hpp
@@ -1,7 +1,7 @@
 #pragma once
 
 #include <stdint.h>
-#include "NetworkCommunication/CANSessionMux.h"
+#include "FRC_NetworkCommunication/CANSessionMux.h"
 
 void canTxSend(uint32_t arbID, uint8_t length, int32_t period = CAN_SEND_PERIOD_NO_REPEAT);
 
diff --git a/hal/include/HAL/CanTalonSRX.h b/hal/include/HAL/CanTalonSRX.h
index 4060650b86..d23954a8c6 100644
--- a/hal/include/HAL/CanTalonSRX.h
+++ b/hal/include/HAL/CanTalonSRX.h
@@ -73,7 +73,7 @@
 #define CanTalonSRX_H_
 #include "ctre/ctre.h"				//BIT Defines + Typedefs
 #include "ctre/CtreCanNode.h"
-#include <NetworkCommunication/CANSessionMux.h>	//CAN Comm
+#include <FRC_NetworkCommunication/CANSessionMux.h>	//CAN Comm
 #include <map>
 #include <atomic>
 class CanTalonSRX : public CtreCanNode
diff --git a/hal/lib/Athena/Analog.cpp b/hal/lib/Athena/Analog.cpp
index 17ad209513..02d52b9873 100644
--- a/hal/lib/Athena/Analog.cpp
+++ b/hal/lib/Athena/Analog.cpp
@@ -6,8 +6,8 @@
 #include "HAL/HAL.hpp"
 #include "ChipObject.h"
 #include "HAL/cpp/Resource.hpp"
-#include "NetworkCommunication/AICalibration.h"
-#include "NetworkCommunication/LoadOut.h"
+#include "FRC_NetworkCommunication/AICalibration.h"
+#include "FRC_NetworkCommunication/LoadOut.h"
 
 static const long kTimebase = 40000000; ///< 40 MHz clock
 static const long kDefaultOversampleBits = 0;
diff --git a/hal/lib/Athena/Digital.cpp b/hal/lib/Athena/Digital.cpp
index 74cbf68d80..d095d7523a 100644
--- a/hal/lib/Athena/Digital.cpp
+++ b/hal/lib/Athena/Digital.cpp
@@ -6,7 +6,7 @@
 #include "ChipObject.h"
 #include "HAL/cpp/Resource.hpp"
 #include "HAL/cpp/priority_mutex.h"
-#include "NetworkCommunication/LoadOut.h"
+#include "FRC_NetworkCommunication/LoadOut.h"
 #include <stdio.h>
 #include <math.h>
 #include <mutex>
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/RoboRIO_FRC_ChipObject_Aliases.h b/hal/lib/Athena/FRC_FPGA_ChipObject/RoboRIO_FRC_ChipObject_Aliases.h
index 7bae082843..08aa1debca 100644
--- a/hal/lib/Athena/FRC_FPGA_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_A
+#define nRoboRIO_FPGANamespace nFRC_2016_16_0_0
 
 #endif // __RoboRIO_FRC_ChipObject_Aliases_h__
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/fpgainterfacecapi/NiFpga.h b/hal/lib/Athena/FRC_FPGA_ChipObject/fpgainterfacecapi/NiFpga.h
index 27b06651de..4e9147b313 100644
--- a/hal/lib/Athena/FRC_FPGA_ChipObject/fpgainterfacecapi/NiFpga.h
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/fpgainterfacecapi/NiFpga.h
@@ -1,7 +1,7 @@
 /*
- * FPGA Interface C API 14.0 header file.
+ * FPGA Interface C API 15.0 header file.
  *
- * Copyright (c) 2014,
+ * Copyright (c) 2015,
  * National Instruments Corporation.
  * All rights reserved.
  */
@@ -431,6 +431,13 @@ static const NiFpga_Status NiFpga_Status_GatedClockHandshakingViolation = -61216
  */
 static const NiFpga_Status NiFpga_Status_ElementsNotPermissibleToBeAcquired = -61219;
 
+/**
+ * The operation could not be performed because the FPGA is in configuration or
+ * discovery mode. Wait for configuration or discovery to complete and retry
+ * your operation.
+ */
+static const NiFpga_Status NiFpga_Status_FpgaBusyConfiguration = -61252;
+
 /**
  * An unexpected internal error occurred.
  */
@@ -514,10 +521,12 @@ static const NiFpga_Status NiFpga_Status_BitfileReadError = -63101;
 static const NiFpga_Status NiFpga_Status_SignatureMismatch = -63106;
 
 /**
- * The bitfile you are trying to use is not compatible with the version of
- * NI-RIO installed on the target and/or the host. Determine which versions of
- * NI-RIO and LabVIEW were used to make the bitfile, update the software on the
- * target and host to that version or later, and try again.
+ * The bitfile you are trying to use is incompatible with the version
+ * of NI-RIO installed on the target and/or host. Update the version
+ * of NI-RIO on the target and/or host to the same version (or later)
+ * used to compile the bitfile. Alternatively, recompile the bitfile
+ * with the same version of NI-RIO that is currently installed on the
+ * target and/or host.
  */
 static const NiFpga_Status NiFpga_Status_IncompatibleBitfile = -63107;
 
@@ -558,7 +567,7 @@ static const NiFpga_Status NiFpga_Status_OutOfHandles = -63198;
  */
 static NiFpga_Inline NiFpga_Bool NiFpga_IsError(const NiFpga_Status status)
 {
-   return status < NiFpga_Status_Success;
+   return status < NiFpga_Status_Success ? NiFpga_True : NiFpga_False;
 }
 
 /**
@@ -569,7 +578,7 @@ static NiFpga_Inline NiFpga_Bool NiFpga_IsError(const NiFpga_Status status)
  */
 static NiFpga_Inline NiFpga_Bool NiFpga_IsNotError(const NiFpga_Status status)
 {
-   return status >= NiFpga_Status_Success;
+   return status >= NiFpga_Status_Success ? NiFpga_True : NiFpga_False;
 }
 
 /**
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/nInterfaceGlobals.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/nInterfaceGlobals.h
index 9ff5a0ec41..85039b31ea 100644
--- a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/nInterfaceGlobals.h
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/nInterfaceGlobals.h
@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_A_nInterfaceGlobals_h__
-#define __nFRC_2015_1_0_A_nInterfaceGlobals_h__
+#ifndef __nFRC_2016_16_0_0_nInterfaceGlobals_h__
+#define __nFRC_2016_16_0_0_nInterfaceGlobals_h__
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_A
+namespace nFRC_2016_16_0_0
 {
    extern unsigned int g_currentTargetClass;
 }
 }
 
-#endif // __nFRC_2015_1_0_A_nInterfaceGlobals_h__
+#endif // __nFRC_2016_16_0_0_nInterfaceGlobals_h__
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAI.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAI.h
index 2a8f614314..dc68dc5be8 100644
--- a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/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_A_AI_h__
-#define __nFRC_2015_1_0_A_AI_h__
+#ifndef __nFRC_2016_16_0_0_AI_h__
+#define __nFRC_2016_16_0_0_AI_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_A
+namespace nFRC_2016_16_0_0
 {
 
 class tAI
@@ -140,4 +140,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_A_AI_h__
+#endif // __nFRC_2016_16_0_0_AI_h__
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAO.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAO.h
index 7160f040d4..812dce53db 100644
--- a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/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_A_AO_h__
-#define __nFRC_2015_1_0_A_AO_h__
+#ifndef __nFRC_2016_16_0_0_AO_h__
+#define __nFRC_2016_16_0_0_AO_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_A
+namespace nFRC_2016_16_0_0
 {
 
 class tAO
@@ -47,4 +47,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_A_AO_h__
+#endif // __nFRC_2016_16_0_0_AO_h__
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccel.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccel.h
index 02318decb0..94195ab06b 100644
--- a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/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_A_Accel_h__
-#define __nFRC_2015_1_0_A_Accel_h__
+#ifndef __nFRC_2016_16_0_0_Accel_h__
+#define __nFRC_2016_16_0_0_Accel_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_A
+namespace nFRC_2016_16_0_0
 {
 
 class tAccel
@@ -99,4 +99,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_A_Accel_h__
+#endif // __nFRC_2016_16_0_0_Accel_h__
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccumulator.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccumulator.h
index 991c5fb20e..427eff73b0 100644
--- a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/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_A_Accumulator_h__
-#define __nFRC_2015_1_0_A_Accumulator_h__
+#ifndef __nFRC_2016_16_0_0_Accumulator_h__
+#define __nFRC_2016_16_0_0_Accumulator_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_A
+namespace nFRC_2016_16_0_0
 {
 
 class tAccumulator
@@ -84,4 +84,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_A_Accumulator_h__
+#endif // __nFRC_2016_16_0_0_Accumulator_h__
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAlarm.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAlarm.h
index 8739405a90..6d0724749b 100644
--- a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/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_A_Alarm_h__
-#define __nFRC_2015_1_0_A_Alarm_h__
+#ifndef __nFRC_2016_16_0_0_Alarm_h__
+#define __nFRC_2016_16_0_0_Alarm_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_A
+namespace nFRC_2016_16_0_0
 {
 
 class tAlarm
@@ -54,4 +54,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_A_Alarm_h__
+#endif // __nFRC_2016_16_0_0_Alarm_h__
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAnalogTrigger.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAnalogTrigger.h
index 6b89bc24ac..b4463c9d97 100644
--- a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/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_A_AnalogTrigger_h__
-#define __nFRC_2015_1_0_A_AnalogTrigger_h__
+#ifndef __nFRC_2016_16_0_0_AnalogTrigger_h__
+#define __nFRC_2016_16_0_0_AnalogTrigger_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_A
+namespace nFRC_2016_16_0_0
 {
 
 class tAnalogTrigger
@@ -126,4 +126,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_A_AnalogTrigger_h__
+#endif // __nFRC_2016_16_0_0_AnalogTrigger_h__
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tBIST.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tBIST.h
index 41b862670d..8cd80db3e0 100644
--- a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/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_A_BIST_h__
-#define __nFRC_2015_1_0_A_BIST_h__
+#ifndef __nFRC_2016_16_0_0_BIST_h__
+#define __nFRC_2016_16_0_0_BIST_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_A
+namespace nFRC_2016_16_0_0
 {
 
 class tBIST
@@ -87,4 +87,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_A_BIST_h__
+#endif // __nFRC_2016_16_0_0_BIST_h__
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tCounter.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tCounter.h
index 6eff544625..cd39cb9b19 100644
--- a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/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_A_Counter_h__
-#define __nFRC_2015_1_0_A_Counter_h__
+#ifndef __nFRC_2016_16_0_0_Counter_h__
+#define __nFRC_2016_16_0_0_Counter_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_A
+namespace nFRC_2016_16_0_0
 {
 
 class tCounter
@@ -216,4 +216,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_A_Counter_h__
+#endif // __nFRC_2016_16_0_0_Counter_h__
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDIO.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDIO.h
index 0d9659b95d..60288ec31b 100644
--- a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/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_A_DIO_h__
-#define __nFRC_2015_1_0_A_DIO_h__
+#ifndef __nFRC_2016_16_0_0_DIO_h__
+#define __nFRC_2016_16_0_0_DIO_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_A
+namespace nFRC_2016_16_0_0
 {
 
 class tDIO
@@ -245,4 +245,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_A_DIO_h__
+#endif // __nFRC_2016_16_0_0_DIO_h__
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDMA.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDMA.h
index 4b57edf71f..ed66347a47 100644
--- a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/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_A_DMA_h__
-#define __nFRC_2015_1_0_A_DMA_h__
+#ifndef __nFRC_2016_16_0_0_DMA_h__
+#define __nFRC_2016_16_0_0_DMA_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_A
+namespace nFRC_2016_16_0_0
 {
 
 class tDMA
@@ -185,4 +185,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_A_DMA_h__
+#endif // __nFRC_2016_16_0_0_DMA_h__
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tEncoder.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tEncoder.h
index 466b9c1b94..713f945e63 100644
--- a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/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_A_Encoder_h__
-#define __nFRC_2015_1_0_A_Encoder_h__
+#ifndef __nFRC_2016_16_0_0_Encoder_h__
+#define __nFRC_2016_16_0_0_Encoder_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_A
+namespace nFRC_2016_16_0_0
 {
 
 class tEncoder
@@ -196,4 +196,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_A_Encoder_h__
+#endif // __nFRC_2016_16_0_0_Encoder_h__
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tGlobal.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tGlobal.h
index e2014de9aa..ae9d910a11 100644
--- a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/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_A_Global_h__
-#define __nFRC_2015_1_0_A_Global_h__
+#ifndef __nFRC_2016_16_0_0_Global_h__
+#define __nFRC_2016_16_0_0_Global_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_A
+namespace nFRC_2016_16_0_0
 {
 
 class tGlobal
@@ -101,4 +101,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_A_Global_h__
+#endif // __nFRC_2016_16_0_0_Global_h__
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tInterrupt.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tInterrupt.h
index 16233e1ed6..f8520cd81b 100644
--- a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/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_A_Interrupt_h__
-#define __nFRC_2015_1_0_A_Interrupt_h__
+#ifndef __nFRC_2016_16_0_0_Interrupt_h__
+#define __nFRC_2016_16_0_0_Interrupt_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_A
+namespace nFRC_2016_16_0_0
 {
 
 class tInterrupt
@@ -97,4 +97,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_A_Interrupt_h__
+#endif // __nFRC_2016_16_0_0_Interrupt_h__
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPWM.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPWM.h
index 5dcf5e2ab1..a9609e2289 100644
--- a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/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_A_PWM_h__
-#define __nFRC_2015_1_0_A_PWM_h__
+#ifndef __nFRC_2016_16_0_0_PWM_h__
+#define __nFRC_2016_16_0_0_PWM_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_A
+namespace nFRC_2016_16_0_0
 {
 
 class tPWM
@@ -117,4 +117,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_A_PWM_h__
+#endif // __nFRC_2016_16_0_0_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
index 6084c66b99..ce40c68c93 100644
--- a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPower.h
+++ b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPower.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_A_Power_h__
-#define __nFRC_2015_1_0_A_Power_h__
+#ifndef __nFRC_2016_16_0_0_Power_h__
+#define __nFRC_2016_16_0_0_Power_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_A
+namespace nFRC_2016_16_0_0
 {
 
 class tPower
@@ -214,4 +214,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_A_Power_h__
+#endif // __nFRC_2016_16_0_0_Power_h__
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tRelay.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tRelay.h
index e3f02867d6..fb5c568267 100644
--- a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/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_A_Relay_h__
-#define __nFRC_2015_1_0_A_Relay_h__
+#ifndef __nFRC_2016_16_0_0_Relay_h__
+#define __nFRC_2016_16_0_0_Relay_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_A
+namespace nFRC_2016_16_0_0
 {
 
 class tRelay
@@ -65,4 +65,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_A_Relay_h__
+#endif // __nFRC_2016_16_0_0_Relay_h__
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSPI.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSPI.h
index 93a2b3ea46..738b2eccaa 100644
--- a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/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_A_SPI_h__
-#define __nFRC_2015_1_0_A_SPI_h__
+#ifndef __nFRC_2016_16_0_0_SPI_h__
+#define __nFRC_2016_16_0_0_SPI_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_A
+namespace nFRC_2016_16_0_0
 {
 
 class tSPI
@@ -65,4 +65,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_A_SPI_h__
+#endif // __nFRC_2016_16_0_0_SPI_h__
diff --git a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSysWatchdog.h b/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSysWatchdog.h
index 67dcd13ffe..41430656ac 100644
--- a/hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/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_A_SysWatchdog_h__
-#define __nFRC_2015_1_0_A_SysWatchdog_h__
+#ifndef __nFRC_2016_16_0_0_SysWatchdog_h__
+#define __nFRC_2016_16_0_0_SysWatchdog_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_A
+namespace nFRC_2016_16_0_0
 {
 
 class tSysWatchdog
@@ -105,4 +105,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_A_SysWatchdog_h__
+#endif // __nFRC_2016_16_0_0_SysWatchdog_h__
diff --git a/hal/lib/Athena/NetworkCommunication/AICalibration.h b/hal/lib/Athena/FRC_NetworkCommunication/AICalibration.h
similarity index 100%
rename from hal/lib/Athena/NetworkCommunication/AICalibration.h
rename to hal/lib/Athena/FRC_NetworkCommunication/AICalibration.h
diff --git a/hal/lib/Athena/NetworkCommunication/CANInterfacePlugin.h b/hal/lib/Athena/FRC_NetworkCommunication/CANInterfacePlugin.h
similarity index 100%
rename from hal/lib/Athena/NetworkCommunication/CANInterfacePlugin.h
rename to hal/lib/Athena/FRC_NetworkCommunication/CANInterfacePlugin.h
diff --git a/hal/lib/Athena/NetworkCommunication/CANSessionMux.h b/hal/lib/Athena/FRC_NetworkCommunication/CANSessionMux.h
similarity index 94%
rename from hal/lib/Athena/NetworkCommunication/CANSessionMux.h
rename to hal/lib/Athena/FRC_NetworkCommunication/CANSessionMux.h
index aa56a63b3c..d6fa822466 100644
--- a/hal/lib/Athena/NetworkCommunication/CANSessionMux.h
+++ b/hal/lib/Athena/FRC_NetworkCommunication/CANSessionMux.h
@@ -8,7 +8,11 @@
 #ifndef __CANSessionMux_h__
 #define __CANSessionMux_h__
 
+#if defined(__vxworks)
+#include <vxWorks.h>
+#else
 #include <stdint.h>
+#endif
 
 #define CAN_SEND_PERIOD_NO_REPEAT 0
 #define CAN_SEND_PERIOD_STOP_REPEATING -1
@@ -31,6 +35,7 @@ struct tCANStreamMessage{
 	uint8_t dataSize;
 };
 
+#ifdef __cplusplus
 namespace nCANSessionMux
 {
 	void sendMessage_wrapper(uint32_t messageID, const uint8_t *data, uint8_t dataSize, int32_t periodMs, int32_t *status);
@@ -40,6 +45,7 @@ namespace nCANSessionMux
 	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);
 }
+#endif
 
 #ifdef __cplusplus
 extern "C"
diff --git a/hal/lib/Athena/FRC_NetworkCommunication/FRCComm.h b/hal/lib/Athena/FRC_NetworkCommunication/FRCComm.h
new file mode 100644
index 0000000000..b0bd83f08b
--- /dev/null
+++ b/hal/lib/Athena/FRC_NetworkCommunication/FRCComm.h
@@ -0,0 +1,163 @@
+/*************************************************************
+ * 					NOTICE
+ * 
+ * 	These are the only externally exposed functions to the
+ *   NetworkCommunication library
+ * 
+ * This is an implementation of FRC Spec for Comm Protocol
+ * Revision 4.5, June 30, 2008
+ *
+ * Copyright (c) National Instruments 2008.  All Rights Reserved.
+ * 
+ *************************************************************/
+
+#ifndef __FRC_COMM_H__
+#define __FRC_COMM_H__
+
+#ifdef WIN32
+# include <vxWorks_compat.h>
+#ifdef USE_THRIFT
+#  define EXPORT_FUNC
+# else
+#  define EXPORT_FUNC __declspec(dllexport) __cdecl
+# endif
+#elif defined(__vxworks)
+# include <vxWorks.h>
+# define EXPORT_FUNC
+#elif defined(__linux)
+# include <stdint.h>
+# include <pthread.h>
+# define EXPORT_FUNC
+#endif
+
+#define ERR_FRCSystem_NetCommNotResponding -44049
+#define ERR_FRCSystem_NoDSConnection -44018
+
+#ifdef WIN32
+# define __DEPRECATED__ __declspec(deprecated)
+#else
+# define __DEPRECATED__ __attribute__((__deprecated__))
+#endif
+
+enum AllianceStationID_t {
+	kAllianceStationID_red1,
+	kAllianceStationID_red2,
+	kAllianceStationID_red3,
+	kAllianceStationID_blue1,
+	kAllianceStationID_blue2,
+	kAllianceStationID_blue3,
+};
+
+enum MatchType_t {
+	kMatchType_none,
+	kMatchType_practice,
+	kMatchType_qualification,
+	kMatchType_elimination,
+};
+
+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;
+	int16_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
+	/**
+	 * Safely copy data into the status packet to be sent back to the driver station.
+	 * @deprecated battery is the only parameter to this function that is still used, and only on cRIO / simulation.
+	 */
+	__DEPRECATED__ 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);
+	/**
+	 * Send error data to the DS
+	 * @deprecated This old method is hard to parse on the DS side. It will be removed soon. Use FRC_NetworkCommunication_sendError instead.
+	 * @param errorData is a cstr of the error message
+	 * @param errorDataLength is the length of the errorData
+	 * @param wait_ms is ignored (included for binary compatibility)
+	 * @return 0 on success, 1 on no DS connection
+	 */
+	__DEPRECATED__ int EXPORT_FUNC setErrorData(const char *errors, int errorsLength, int wait_ms);
+
+	/**
+	 * Send a console output line to the Driver Station
+	 * @param line a null-terminated string
+	 * @return 0 on success, other on failure
+	 */
+	int EXPORT_FUNC FRC_NetworkCommunication_sendConsoleLine(const char *line);
+
+	/**
+	 * Send an error to the Driver Station
+	 * @param isError true if error, false if warning
+	 * @param errorCode value of error condition
+	 * @param isLVCode true if error code is defined in errors.txt, false if not (i.e. made up for C++)
+	 * @param details error description that contains details such as which resource number caused the failure
+	 * @param location Source file, function, and line number that the error was generated - optional
+	 * @param callStack The details about what functions were called through before the error was reported - optional
+	 * @return 0 on success, other on failure
+	 */
+	int EXPORT_FUNC FRC_NetworkCommunication_sendError(int isError, int32_t errorCode, int isLVCode,
+		const char *details, const char *location, const char *callStack);
+
+#ifdef WIN32
+	void EXPORT_FUNC setNewDataSem(HANDLE);
+#elif defined (__vxworks)
+	void EXPORT_FUNC setNewDataSem(SEM_ID);
+#else
+	void EXPORT_FUNC setNewDataSem(pthread_cond_t *);
+#endif
+
+	// this uint32_t is really a LVRefNum
+	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_getMatchTime(float *matchTime);
+	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickAxes(uint8_t joystickNum, struct JoystickAxes_t *axes, uint8_t maxAxes);
+	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickButtons(uint8_t joystickNum, uint32_t *buttons, uint8_t *count);
+	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickPOVs(uint8_t joystickNum, struct JoystickPOV_t *povs, uint8_t maxPOVs);
+	int EXPORT_FUNC FRC_NetworkCommunication_setJoystickOutputs(uint8_t joystickNum, uint32_t hidOutputs, uint16_t leftRumble, uint16_t rightRumble);
+	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickDesc(uint8_t joystickNum, uint8_t *isXBox, uint8_t *type, char *name,
+		uint8_t *axisCount, uint8_t *axisTypes, uint8_t *buttonCount, uint8_t *povCount);
+
+	void EXPORT_FUNC FRC_NetworkCommunication_getVersionString(char *version);
+	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);
+	void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramTest(void);
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/hal/lib/Athena/NetworkCommunication/LoadOut.h b/hal/lib/Athena/FRC_NetworkCommunication/LoadOut.h
similarity index 83%
rename from hal/lib/Athena/NetworkCommunication/LoadOut.h
rename to hal/lib/Athena/FRC_NetworkCommunication/LoadOut.h
index 5f43f21b14..cd02537d91 100644
--- a/hal/lib/Athena/NetworkCommunication/LoadOut.h
+++ b/hal/lib/Athena/FRC_NetworkCommunication/LoadOut.h
@@ -2,9 +2,12 @@
 #ifndef __LoadOut_h__
 #define __LoadOut_h__
 
-#ifdef SIMULATION
+#ifdef WIN32
 #include <vxWorks_compat.h>
 #define EXPORT_FUNC __declspec(dllexport) __cdecl
+#elif defined (__vxworks)
+#include <vxWorks.h>
+#define EXPORT_FUNC
 #else
 #include <stdint.h>
 #define EXPORT_FUNC
@@ -13,7 +16,7 @@
 #define kMaxModuleNumber 2
 namespace nLoadOut
 {
-#if defined(SIMULATION)
+#if defined(__vxworks) || defined(SIMULATION)
     typedef enum {
         kModuleType_Unknown = 0x00,
         kModuleType_Analog = 0x01,
@@ -28,7 +31,7 @@ namespace nLoadOut
         kTargetClass_FRC2 = 0x20,
         kTargetClass_FRC3 = 0x30,
         kTargetClass_RoboRIO = 0x40,
-#if defined(SIMULATION)
+#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,
@@ -43,7 +46,7 @@ namespace nLoadOut
 extern "C" {
 #endif
 
-#if defined(SIMULATION)
+#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();
diff --git a/hal/lib/Athena/NetworkCommunication/UsageReporting.h b/hal/lib/Athena/FRC_NetworkCommunication/UsageReporting.h
similarity index 95%
rename from hal/lib/Athena/NetworkCommunication/UsageReporting.h
rename to hal/lib/Athena/FRC_NetworkCommunication/UsageReporting.h
index 267e006665..ad52da500a 100644
--- a/hal/lib/Athena/NetworkCommunication/UsageReporting.h
+++ b/hal/lib/Athena/FRC_NetworkCommunication/UsageReporting.h
@@ -2,9 +2,12 @@
 #ifndef __UsageReporting_h__
 #define __UsageReporting_h__
 
-#ifdef SIMULATION
+#ifdef WIN32
 #include <vxWorks_compat.h>
 #define EXPORT_FUNC __declspec(dllexport) __cdecl
+#elif defined (__vxworks)
+#include <vxWorks.h>
+#define EXPORT_FUNC
 #else
 #include <stdint.h>
 #include <stdlib.h>
diff --git a/hal/lib/Athena/HALAthena.cpp b/hal/lib/Athena/HALAthena.cpp
index f316b5def7..e6463fbf83 100644
--- a/hal/lib/Athena/HALAthena.cpp
+++ b/hal/lib/Athena/HALAthena.cpp
@@ -5,10 +5,10 @@
 #include "ctre/ctre.h"
 #include "visa/visa.h"
 #include "ChipObject.h"
-#include "NetworkCommunication/FRCComm.h"
-#include "NetworkCommunication/UsageReporting.h"
-#include "NetworkCommunication/LoadOut.h"
-#include "NetworkCommunication/CANSessionMux.h"
+#include "FRC_NetworkCommunication/FRCComm.h"
+#include "FRC_NetworkCommunication/UsageReporting.h"
+#include "FRC_NetworkCommunication/LoadOut.h"
+#include "FRC_NetworkCommunication/CANSessionMux.h"
 #include <fstream>
 #include <iostream>
 #include <unistd.h>
diff --git a/hal/lib/Athena/Solenoid.cpp b/hal/lib/Athena/Solenoid.cpp
index c94fcc2b4e..a78ee23999 100644
--- a/hal/lib/Athena/Solenoid.cpp
+++ b/hal/lib/Athena/Solenoid.cpp
@@ -4,7 +4,7 @@
 #include "HAL/Port.h"
 #include "HAL/Errors.hpp"
 #include "ChipObject.h"
-#include "NetworkCommunication/LoadOut.h"
+#include "FRC_NetworkCommunication/LoadOut.h"
 #include "ctre/PCM.h"
 
 static const int NUM_MODULE_NUMBERS = 63;
diff --git a/hal/lib/Athena/ctre/CanTalonSRX.cpp b/hal/lib/Athena/ctre/CanTalonSRX.cpp
index b416986858..c1d21fca1e 100644
--- a/hal/lib/Athena/ctre/CanTalonSRX.cpp
+++ b/hal/lib/Athena/ctre/CanTalonSRX.cpp
@@ -70,7 +70,7 @@
  * @link https://docs.google.com/spreadsheets/d/1OU_ZV7fZLGYUQ-Uhc8sVAmUmWTlT8XBFYK8lfjg_tac/edit#gid=1766046967
  */
 #include "HAL/CanTalonSRX.h"
-#include "NetworkCommunication/CANSessionMux.h"	//CAN Comm
+#include "FRC_NetworkCommunication/CANSessionMux.h"	//CAN Comm
 #include <string.h> // memset
 #include <unistd.h> // usleep
 
diff --git a/hal/lib/Athena/ctre/CtreCanNode.cpp b/hal/lib/Athena/ctre/CtreCanNode.cpp
index b25b599d57..18cd24b8a3 100644
--- a/hal/lib/Athena/ctre/CtreCanNode.cpp
+++ b/hal/lib/Athena/ctre/CtreCanNode.cpp
@@ -1,7 +1,7 @@
 #pragma GCC diagnostic ignored "-Wmissing-field-initializers"
 
 #include "ctre/CtreCanNode.h"
-#include "NetworkCommunication/CANSessionMux.h"
+#include "FRC_NetworkCommunication/CANSessionMux.h"
 #include <string.h> // memset
 #include <unistd.h> // usleep
 
diff --git a/hal/lib/Athena/ctre/PCM.cpp b/hal/lib/Athena/ctre/PCM.cpp
index 39ed798232..6f938d0216 100644
--- a/hal/lib/Athena/ctre/PCM.cpp
+++ b/hal/lib/Athena/ctre/PCM.cpp
@@ -1,7 +1,7 @@
 #pragma GCC diagnostic ignored "-Wmissing-field-initializers"
 
 #include "ctre/PCM.h"
-#include "NetworkCommunication/CANSessionMux.h"
+#include "FRC_NetworkCommunication/CANSessionMux.h"
 #include <string.h> // memset
 #include <unistd.h> // usleep
 /* This can be a constant, as long as nobody needs to updatie solenoids within
diff --git a/hal/lib/Athena/ctre/PDP.cpp b/hal/lib/Athena/ctre/PDP.cpp
index c1f2c0471e..cae2264452 100644
--- a/hal/lib/Athena/ctre/PDP.cpp
+++ b/hal/lib/Athena/ctre/PDP.cpp
@@ -1,5 +1,5 @@
 #include "ctre/PDP.h"
-#include "NetworkCommunication/CANSessionMux.h"	//CAN Comm
+#include "FRC_NetworkCommunication/CANSessionMux.h"	//CAN Comm
 #include <string.h> // memset
 #include <unistd.h> // usleep
 
diff --git a/hal/lib/Athena/frccansae/CANDeviceInterface.h b/hal/lib/Athena/frccansae/CANDeviceInterface.h
new file mode 100644
index 0000000000..32fb95d331
--- /dev/null
+++ b/hal/lib/Athena/frccansae/CANDeviceInterface.h
@@ -0,0 +1,146 @@
+#ifndef __CAN_DEVICE_INTERFACE_H__
+#define __CAN_DEVICE_INTERFACE_H__
+
+#define MAX_STRING_LEN 64
+
+namespace CANDeviceInterface1
+{
+
+struct PIDSlot
+{
+   // Proportional gain
+   float pGain;
+   // Integral gain
+   float iGain;
+   // Differential gain
+   float dGain;
+   // Feed-forward gain
+   float fGain;
+   // Integral zone
+   float iZone;
+   // Closed-loop ramp rate
+   float clRampRate;
+};
+
+struct DeviceDescriptor
+{
+   // The full device ID, including the device number, manufacturer, and device type.
+   // The mask of a message the device supports is 0x1FFF003F.
+   unsigned int deviceID;
+   // This is the ID that uniquely identifies the device node in the UI.
+   // The purpose of this is to be able to track the device across renames or deviceID changes.
+   unsigned int uniqueID;
+   // An dynamically assigned ID that will make setting deviceIDs robust,
+   //  Never again will you need to isolate a CAN node just to fix it's ID.
+   unsigned int dynamicID;
+   // User visible name.  This can be customized by the user, but should have a
+   // reasonable default.
+   char name[MAX_STRING_LEN];
+   // This is a user visible model name that should match the can_devices.ini section.
+   char model[MAX_STRING_LEN];
+   // This is a version number that represents the version of firmware currently
+   // installed on the device.
+   char currentVersion[MAX_STRING_LEN];
+   // Hardware revision.
+   char hardwareRev[MAX_STRING_LEN];
+   // Bootloader version.  Will not change for the life of the product, but additional
+   // field upgrade features could be added in newer hardware.
+   char bootloaderRev[MAX_STRING_LEN];
+   // Manufacture Date.  Could be a calender date or just the FRC season year.
+   // Also helps troubleshooting "old ones" vs "new ones".
+   char manufactureDate[MAX_STRING_LEN];
+   // General status of the hardware.  For example if the device is in bootloader
+   // due to a bad flash UI could emphasize that.
+   char softwareStatus[MAX_STRING_LEN];
+   // Is the LED currently on?
+   bool led;
+   // Reserved fields for use by CTRE.  Not touched by frccansae
+   unsigned int dynFlags;
+   unsigned int flags; 		/* bitfield */
+   unsigned int ptrToString;
+   // Motor controller properties (ignored if SupportsMotorControllerProperties is false or unset for this model)
+   unsigned int brakeMode; // 0=Coast, 1=Brake
+   unsigned int limitSwitchFwdMode; // 0=disabled, 1=Normally Closed, 2=Normally Open
+   unsigned int limitSwitchRevMode; // 0=disabled, 1=Normally Closed, 2=Normally Open
+   // Limit-switch soft limits
+   bool bFwdSoftLimitEnable;
+   bool bRevSoftLimitEnable;
+   float softLimitFwd;
+   float softLimitRev;
+   // PID constants for slot 0
+   struct PIDSlot slot0;
+   // PID constants for slot 1
+   struct PIDSlot slot1;
+};
+
+#define kLimitSwitchMode_Disabled		(0)
+#define kLimitSwitchMode_NormallyClosed	(1)
+#define kLimitSwitchMode_NormallyOpen	(2)
+
+// Interface functions that must be implemented by the CAN Firmware Update Library
+
+// Returns the number of devices that will be returned in a call to
+// getListOfDevices().  The calling library will use this info to allocate enough
+// memory to accept all device info.
+int getNumberOfDevices();
+
+// Return info about discovered devices.  The array of structs should be
+// populated before returning.  The numDescriptors input describes how many
+// elements were allocated to prevent memory corruption.  The number of devices
+// populated should be returned from this function as well.
+int getListOfDevices(struct DeviceDescriptor *devices, int numDescriptors);
+
+// When the user requests to update the firmware of a device a thread will be
+// spawned and this function is called from that thread.  This function should
+// complete the firmware update process before returning.  The image
+// contents and size are directly from the file selected by the user.  The
+// error message string can be filled with a NULL-terminated message to show the
+// user if there was a problem updating firmware.  The error message is only
+// displayed if a non-zero value is returned from this function.
+int updateFirmware(const struct DeviceDescriptor *device, const unsigned char *imageContents, unsigned int imageSize, char *errorMessage, int errorMessageMaxSize);
+
+// This function is called periodically from the UI thread while the firmware
+// update is in progress.  The percentComplete parameter should the filled in
+// with the current progress of the firmware update process to update a progress
+// bar in the UI.
+void checkUpdateProgress(const struct DeviceDescriptor *device, int *percentComplete);
+
+// This is called when the user selects a new ID to assign on the bus and
+// chooses to save.  The newDeviceID is really just the device number. The
+// manufacturer and device type will remain unchanged.  If a problem is detected
+// when assigning a new ID, this function should return a non-zero value.
+int assignBroadcastDeviceID(unsigned int newDeviceID);
+// The device descriptor should be updated with the new device ID.  The name may
+// also change in the descriptor and will be updated in the UI immediately.
+// Be sure to modify the descriptor first since the refresh from the UI is
+// asynchronous.
+int assignDeviceID(struct DeviceDescriptor *device, unsigned int newDeviceID);
+
+// This entry-point will get called when the user chooses to change the value
+// of the device's LED.  This will allow the user to identify devices which
+// support dynamic addresses or are otherwise unknown.  If this function returns
+// a non-zero value, the UI will report an error.
+int saveLightLed(const struct DeviceDescriptor *device, bool newLEDStatus);
+
+// This entry-point will get called when the user chooses to change the alias
+// of the device with the device specified.  If this function returns a non-
+// zero value, the UI will report an error.  The device descriptor must be
+// updated with the new name that was selected. If a different name is saved
+// to the descriptor than the user specified, this will require a manual
+// refresh by the user.  This is reported as CAR #505139
+int saveDeviceName(struct DeviceDescriptor *device, const char *newName);
+
+// This entry-point will get called when the user changes any of the motor
+// controller specific properties. If this function returns a non-zero value,
+// the UI will report an error.  The device descriptor may be updated with
+// coerced values.
+int saveMotorParameters(struct DeviceDescriptor *device);
+
+// Run some sort of self-test functionality on the device.  This can be anything
+// and the results will be displayed to the user.  A non-zero return value
+// indicates an error.
+int selfTest(const struct DeviceDescriptor *device, char *detailedResults, int detailedResultsMaxSize);
+
+} /* CANDeviceInterface */
+
+#endif /* __CAN_DEVICE_INTERFACE_H__ */
diff --git a/hal/lib/Athena/i2clib/i2clib/environs.h b/hal/lib/Athena/i2clib/i2clib/environs.h
deleted file mode 100644
index d250585223..0000000000
--- a/hal/lib/Athena/i2clib/i2clib/environs.h
+++ /dev/null
@@ -1,66 +0,0 @@
-/*!
-   \file environs.h
-   \brief Defines export symbols and namespace aliases
-*/
-/*
-   Copyright (c) 2014,
-   National Instruments Corporation.
-   All rights reserved.
-
-   File:        $Id: //lvaddon/FIRST/FRC/trunk/2015/tools/frcrti/export/1.0/1.0.0a6/includes/wpilib/i2clib/i2clib/environs.h#1 $
-   Author:      nipg.pl
-   Originated:  Mon Feb 10 10:39:42 2014
-*/
-
-#ifndef ___i2clib_environs_h___
-#define ___i2clib_environs_h___
-
-#include <nibuild/platform.h>
-
-/*
- * kI2CLIBExportSymbols directs the build to export symbols modified by
- * the kI2CLIBExport keyword. kI2CLIBNoExportSymbols directs the build to not
- * import or export symbols modified by the kI2CLIBExport keyword. If
- * neither of these are defined, the symbols modified by kI2CLIBExport are
- * imported. These should be defined only when building the component,
- * so clients do not need to trouble themselves with it.
- */
-#if defined(kI2CLIBExportSymbols)
-   #define kI2CLIBExport kNIExport
-   #define kI2CLIBExportPre kNIExportPre
-   #define kI2CLIBExportPost kNIExportPost
-   #define kI2CLIBExportInline kNIExportInline
-   #define kI2CLIBExportData kNIExportData
-#elif defined(kI2CLIBNoExportSymbols)
-   #define kI2CLIBExport
-   #define kI2CLIBExportPre
-   #define kI2CLIBExportPost
-   #define kI2CLIBExportInline
-   #define kI2CLIBExportData
-#else
-   #define kI2CLIBExport kNIImport
-   #define kI2CLIBExportPre kNIImportPre
-   #define kI2CLIBExportPost kNIImportPost
-   #define kI2CLIBExportInline kNIImportInline
-   #define kI2CLIBExportData kNIImportData
-#endif
-
-// namespace declarations for aliasing ...
-
-#ifdef __cplusplus
-
-
-/*!
-   \namespace nI2CLIB_1_0
-   \brief i2c user-mode library Release 1.0
-*/
-namespace nI2CLIB_1_0
-{
-   // current versioned namespace aliases used by this package
-
-}
-
-#endif // __cplusplus
-
-#endif // ___i2clib_environs_h___
-
diff --git a/hal/lib/Shared/NetworkCommunication/FRCComm.h b/hal/lib/Shared/FRC_NetworkCommunication/FRCComm.h
similarity index 100%
rename from hal/lib/Shared/NetworkCommunication/FRCComm.h
rename to hal/lib/Shared/FRC_NetworkCommunication/FRCComm.h
diff --git a/hal/lib/Shared/HAL.cpp b/hal/lib/Shared/HAL.cpp
index c600a99e25..a06892a4a1 100644
--- a/hal/lib/Shared/HAL.cpp
+++ b/hal/lib/Shared/HAL.cpp
@@ -1,6 +1,6 @@
 //This file must compile on ALL PLATFORMS. Be very careful what you put in here.
 #include "HAL/HAL.hpp"
-#include "NetworkCommunication/FRCComm.h"
+#include "FRC_NetworkCommunication/FRCComm.h"
 
 int HALGetControlWord(HALControlWord *data)
 {
diff --git a/ni-libraries/libFRC_NetworkCommunication.so b/ni-libraries/libFRC_NetworkCommunication.so
index a24218eec1..7b68b764bd 100644
--- a/ni-libraries/libFRC_NetworkCommunication.so
+++ b/ni-libraries/libFRC_NetworkCommunication.so
@@ -1,2 +1,2 @@
 OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libFRC_NetworkCommunication.so.1 )
+GROUP ( libFRC_NetworkCommunication.so.16 )
diff --git a/ni-libraries/libFRC_NetworkCommunication.so.1 b/ni-libraries/libFRC_NetworkCommunication.so.1
deleted file mode 100644
index e1ec38ab36..0000000000
--- a/ni-libraries/libFRC_NetworkCommunication.so.1
+++ /dev/null
@@ -1,2 +0,0 @@
-OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libFRC_NetworkCommunication.so.1.5 )
diff --git a/ni-libraries/libFRC_NetworkCommunication.so.1.5 b/ni-libraries/libFRC_NetworkCommunication.so.1.5
deleted file mode 100644
index 845c7599a5..0000000000
--- a/ni-libraries/libFRC_NetworkCommunication.so.1.5
+++ /dev/null
@@ -1,2 +0,0 @@
-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
deleted file mode 100755
index 503911b753..0000000000
Binary files a/ni-libraries/libFRC_NetworkCommunication.so.1.5.0 and /dev/null differ
diff --git a/ni-libraries/libFRC_NetworkCommunication.so.16 b/ni-libraries/libFRC_NetworkCommunication.so.16
new file mode 100644
index 0000000000..52ac7c221e
--- /dev/null
+++ b/ni-libraries/libFRC_NetworkCommunication.so.16
@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libFRC_NetworkCommunication.so.16.0 )
diff --git a/ni-libraries/libFRC_NetworkCommunication.so.16.0 b/ni-libraries/libFRC_NetworkCommunication.so.16.0
new file mode 100644
index 0000000000..932383bc69
--- /dev/null
+++ b/ni-libraries/libFRC_NetworkCommunication.so.16.0
@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libFRC_NetworkCommunication.so.16.0.0 )
diff --git a/ni-libraries/libFRC_NetworkCommunication.so.16.0.0 b/ni-libraries/libFRC_NetworkCommunication.so.16.0.0
new file mode 100755
index 0000000000..05cd2973fc
Binary files /dev/null and b/ni-libraries/libFRC_NetworkCommunication.so.16.0.0 differ
diff --git a/ni-libraries/libFRC_NetworkCommunicationLV.so b/ni-libraries/libFRC_NetworkCommunicationLV.so
index c7c2653383..2a94a14437 100644
--- a/ni-libraries/libFRC_NetworkCommunicationLV.so
+++ b/ni-libraries/libFRC_NetworkCommunicationLV.so
@@ -1,2 +1,2 @@
 OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libFRC_NetworkCommunicationLV.so.1 )
+GROUP ( libFRC_NetworkCommunicationLV.so.16 )
diff --git a/ni-libraries/libFRC_NetworkCommunicationLV.so.1 b/ni-libraries/libFRC_NetworkCommunicationLV.so.1
deleted file mode 100644
index 1254b6d71d..0000000000
--- a/ni-libraries/libFRC_NetworkCommunicationLV.so.1
+++ /dev/null
@@ -1,2 +0,0 @@
-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
deleted file mode 100644
index 30022dbed4..0000000000
--- a/ni-libraries/libFRC_NetworkCommunicationLV.so.1.5
+++ /dev/null
@@ -1,2 +0,0 @@
-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
deleted file mode 100755
index f54d997f65..0000000000
Binary files a/ni-libraries/libFRC_NetworkCommunicationLV.so.1.5.0 and /dev/null differ
diff --git a/ni-libraries/libFRC_NetworkCommunicationLV.so.16 b/ni-libraries/libFRC_NetworkCommunicationLV.so.16
new file mode 100644
index 0000000000..4c35d455a7
--- /dev/null
+++ b/ni-libraries/libFRC_NetworkCommunicationLV.so.16
@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libFRC_NetworkCommunicationLV.so.16.0 )
diff --git a/ni-libraries/libFRC_NetworkCommunicationLV.so.16.0 b/ni-libraries/libFRC_NetworkCommunicationLV.so.16.0
new file mode 100644
index 0000000000..74fe2d15b3
--- /dev/null
+++ b/ni-libraries/libFRC_NetworkCommunicationLV.so.16.0
@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libFRC_NetworkCommunicationLV.so.16.0.0 )
diff --git a/ni-libraries/libFRC_NetworkCommunicationLV.so.16.0.0 b/ni-libraries/libFRC_NetworkCommunicationLV.so.16.0.0
new file mode 100755
index 0000000000..caf6766727
Binary files /dev/null and b/ni-libraries/libFRC_NetworkCommunicationLV.so.16.0.0 differ
diff --git a/ni-libraries/libNiFpga.so b/ni-libraries/libNiFpga.so
index c506470ba0..ef3895d221 100644
--- a/ni-libraries/libNiFpga.so
+++ b/ni-libraries/libNiFpga.so
@@ -1,2 +1,2 @@
 OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libNiFpga.so.14 )
+GROUP ( libNiFpga.so.15 )
diff --git a/ni-libraries/libNiFpga.so.14.0.0 b/ni-libraries/libNiFpga.so.14.0.0
deleted file mode 100755
index 1f3a23740e..0000000000
Binary files a/ni-libraries/libNiFpga.so.14.0.0 and /dev/null differ
diff --git a/ni-libraries/libNiFpga.so.14 b/ni-libraries/libNiFpga.so.15
similarity index 52%
rename from ni-libraries/libNiFpga.so.14
rename to ni-libraries/libNiFpga.so.15
index 3b66e3e821..3db9399e50 100644
--- a/ni-libraries/libNiFpga.so.14
+++ b/ni-libraries/libNiFpga.so.15
@@ -1,2 +1,2 @@
 OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libNiFpga.so.14.0 )
+GROUP ( libNiFpga.so.15.0 )
diff --git a/ni-libraries/libNiFpga.so.14.0 b/ni-libraries/libNiFpga.so.15.0
similarity index 50%
rename from ni-libraries/libNiFpga.so.14.0
rename to ni-libraries/libNiFpga.so.15.0
index aa4e2874ca..fe101f5b2e 100644
--- a/ni-libraries/libNiFpga.so.14.0
+++ b/ni-libraries/libNiFpga.so.15.0
@@ -1,2 +1,2 @@
 OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libNiFpga.so.14.0.0 )
+GROUP ( libNiFpga.so.15.0.0 )
diff --git a/ni-libraries/libNiFpga.so.15.0.0 b/ni-libraries/libNiFpga.so.15.0.0
new file mode 100755
index 0000000000..75c201d635
Binary files /dev/null and b/ni-libraries/libNiFpga.so.15.0.0 differ
diff --git a/ni-libraries/libNiFpgaLv.so b/ni-libraries/libNiFpgaLv.so
index 88b5a24d94..2d5b7e8341 100644
--- a/ni-libraries/libNiFpgaLv.so
+++ b/ni-libraries/libNiFpgaLv.so
@@ -1,2 +1,2 @@
 OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libNiFpgaLv.so.14 )
+GROUP ( libNiFpgaLv.so.15 )
diff --git a/ni-libraries/libNiFpgaLv.so.14.0 b/ni-libraries/libNiFpgaLv.so.14.0
deleted file mode 100644
index db0b28c030..0000000000
--- a/ni-libraries/libNiFpgaLv.so.14.0
+++ /dev/null
@@ -1,2 +0,0 @@
-OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libNiFpgaLv.so.14.0.0 )
diff --git a/ni-libraries/libNiFpgaLv.so.14.0.0 b/ni-libraries/libNiFpgaLv.so.14.0.0
deleted file mode 100755
index 3efee8fcba..0000000000
Binary files a/ni-libraries/libNiFpgaLv.so.14.0.0 and /dev/null differ
diff --git a/ni-libraries/libNiRioSrv.so.14 b/ni-libraries/libNiFpgaLv.so.15
similarity index 50%
rename from ni-libraries/libNiRioSrv.so.14
rename to ni-libraries/libNiFpgaLv.so.15
index ef98d561bb..070a61625e 100644
--- a/ni-libraries/libNiRioSrv.so.14
+++ b/ni-libraries/libNiFpgaLv.so.15
@@ -1,2 +1,2 @@
 OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libNiRioSrv.so.14.0 )
+GROUP ( libNiFpgaLv.so.15.0 )
diff --git a/ni-libraries/libNiFpgaLv.so.15.0 b/ni-libraries/libNiFpgaLv.so.15.0
new file mode 100644
index 0000000000..3a71dc5b43
--- /dev/null
+++ b/ni-libraries/libNiFpgaLv.so.15.0
@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libNiFpgaLv.so.15.0.0 )
diff --git a/ni-libraries/libNiFpgaLv.so.15.0.0 b/ni-libraries/libNiFpgaLv.so.15.0.0
new file mode 100755
index 0000000000..6187874d8b
Binary files /dev/null and b/ni-libraries/libNiFpgaLv.so.15.0.0 differ
diff --git a/ni-libraries/libNiRioSrv.so b/ni-libraries/libNiRioSrv.so
index 98b55b12c4..b6b45e4af0 100644
--- a/ni-libraries/libNiRioSrv.so
+++ b/ni-libraries/libNiRioSrv.so
@@ -1,2 +1,2 @@
 OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libNiRioSrv.so.14 )
+GROUP ( libNiRioSrv.so.15 )
diff --git a/ni-libraries/libNiRioSrv.so.14.0 b/ni-libraries/libNiRioSrv.so.14.0
deleted file mode 100644
index 7ee207df01..0000000000
--- a/ni-libraries/libNiRioSrv.so.14.0
+++ /dev/null
@@ -1,2 +0,0 @@
-OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libNiRioSrv.so.14.0.0 )
diff --git a/ni-libraries/libNiRioSrv.so.14.0.0 b/ni-libraries/libNiRioSrv.so.14.0.0
deleted file mode 100755
index 4917af81d2..0000000000
Binary files a/ni-libraries/libNiRioSrv.so.14.0.0 and /dev/null differ
diff --git a/ni-libraries/libNiFpgaLv.so.14 b/ni-libraries/libNiRioSrv.so.15
similarity index 50%
rename from ni-libraries/libNiFpgaLv.so.14
rename to ni-libraries/libNiRioSrv.so.15
index 3adae09d7b..e030465d8d 100644
--- a/ni-libraries/libNiFpgaLv.so.14
+++ b/ni-libraries/libNiRioSrv.so.15
@@ -1,2 +1,2 @@
 OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libNiFpgaLv.so.14.0 )
+GROUP ( libNiRioSrv.so.15.0 )
diff --git a/ni-libraries/libNiRioSrv.so.15.0 b/ni-libraries/libNiRioSrv.so.15.0
new file mode 100644
index 0000000000..c9e5988206
--- /dev/null
+++ b/ni-libraries/libNiRioSrv.so.15.0
@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libNiRioSrv.so.15.0.0 )
diff --git a/ni-libraries/libNiRioSrv.so.15.0.0 b/ni-libraries/libNiRioSrv.so.15.0.0
new file mode 100755
index 0000000000..d0d52cafc6
Binary files /dev/null and b/ni-libraries/libNiRioSrv.so.15.0.0 differ
diff --git a/ni-libraries/libRoboRIO_FRC_ChipObject.so b/ni-libraries/libRoboRIO_FRC_ChipObject.so
index b44dc03baf..38c70b9e27 100644
--- a/ni-libraries/libRoboRIO_FRC_ChipObject.so
+++ b/ni-libraries/libRoboRIO_FRC_ChipObject.so
@@ -1,2 +1,2 @@
 OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libRoboRIO_FRC_ChipObject.so.1 )
+GROUP ( libRoboRIO_FRC_ChipObject.so.16 )
diff --git a/ni-libraries/libRoboRIO_FRC_ChipObject.so.1 b/ni-libraries/libRoboRIO_FRC_ChipObject.so.1
deleted file mode 100644
index fff4f97abe..0000000000
--- a/ni-libraries/libRoboRIO_FRC_ChipObject.so.1
+++ /dev/null
@@ -1,2 +0,0 @@
-OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libRoboRIO_FRC_ChipObject.so.1.2 )
diff --git a/ni-libraries/libRoboRIO_FRC_ChipObject.so.1.2 b/ni-libraries/libRoboRIO_FRC_ChipObject.so.1.2
deleted file mode 100644
index 467fa0ef7c..0000000000
--- a/ni-libraries/libRoboRIO_FRC_ChipObject.so.1.2
+++ /dev/null
@@ -1,2 +0,0 @@
-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
deleted file mode 100755
index 316bdcee1d..0000000000
Binary files a/ni-libraries/libRoboRIO_FRC_ChipObject.so.1.2.0 and /dev/null differ
diff --git a/ni-libraries/libRoboRIO_FRC_ChipObject.so.16 b/ni-libraries/libRoboRIO_FRC_ChipObject.so.16
new file mode 100644
index 0000000000..f10be9fba7
--- /dev/null
+++ b/ni-libraries/libRoboRIO_FRC_ChipObject.so.16
@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libRoboRIO_FRC_ChipObject.so.16.0 )
diff --git a/ni-libraries/libRoboRIO_FRC_ChipObject.so.16.0 b/ni-libraries/libRoboRIO_FRC_ChipObject.so.16.0
new file mode 100644
index 0000000000..0e8a25918b
--- /dev/null
+++ b/ni-libraries/libRoboRIO_FRC_ChipObject.so.16.0
@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libRoboRIO_FRC_ChipObject.so.16.0.0 )
diff --git a/ni-libraries/libRoboRIO_FRC_ChipObject.so.16.0.0 b/ni-libraries/libRoboRIO_FRC_ChipObject.so.16.0.0
new file mode 100755
index 0000000000..1dd0229714
Binary files /dev/null and b/ni-libraries/libRoboRIO_FRC_ChipObject.so.16.0.0 differ
diff --git a/ni-libraries/libi2c.so.1.0.0 b/ni-libraries/libi2c.so.1.0.0
index 34740ca853..fd8c6da3d7 100755
Binary files a/ni-libraries/libi2c.so.1.0.0 and b/ni-libraries/libi2c.so.1.0.0 differ
diff --git a/ni-libraries/libni_emb.so b/ni-libraries/libni_emb.so
index 93678d5fe2..b979985b95 100644
--- a/ni-libraries/libni_emb.so
+++ b/ni-libraries/libni_emb.so
@@ -1,2 +1,2 @@
 OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libni_emb.so.7 )
+GROUP ( libni_emb.so.8 )
diff --git a/ni-libraries/libni_emb.so.7.0.0 b/ni-libraries/libni_emb.so.7.0.0
deleted file mode 100755
index 363b852708..0000000000
Binary files a/ni-libraries/libni_emb.so.7.0.0 and /dev/null differ
diff --git a/ni-libraries/libni_emb.so.7 b/ni-libraries/libni_emb.so.8
similarity index 53%
rename from ni-libraries/libni_emb.so.7
rename to ni-libraries/libni_emb.so.8
index aa703b78c5..2723c59320 100644
--- a/ni-libraries/libni_emb.so.7
+++ b/ni-libraries/libni_emb.so.8
@@ -1,2 +1,2 @@
 OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libni_emb.so.7.0 )
+GROUP ( libni_emb.so.8.0 )
diff --git a/ni-libraries/libni_emb.so.7.0 b/ni-libraries/libni_emb.so.8.0
similarity index 51%
rename from ni-libraries/libni_emb.so.7.0
rename to ni-libraries/libni_emb.so.8.0
index da52c36b2e..ae1c0461a5 100644
--- a/ni-libraries/libni_emb.so.7.0
+++ b/ni-libraries/libni_emb.so.8.0
@@ -1,2 +1,2 @@
 OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libni_emb.so.7.0.0 )
+GROUP ( libni_emb.so.8.0.0 )
diff --git a/ni-libraries/libni_emb.so.8.0.0 b/ni-libraries/libni_emb.so.8.0.0
new file mode 100755
index 0000000000..a094ca6bd6
Binary files /dev/null and b/ni-libraries/libni_emb.so.8.0.0 differ
diff --git a/ni-libraries/libni_rtlog.so.2 b/ni-libraries/libni_rtlog.so.2
index f7fc1935fb..bae6b90702 100644
--- a/ni-libraries/libni_rtlog.so.2
+++ b/ni-libraries/libni_rtlog.so.2
@@ -1,2 +1,2 @@
 OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libni_rtlog.so.2.3 )
+GROUP ( libni_rtlog.so.2.4 )
diff --git a/ni-libraries/libni_rtlog.so.2.3 b/ni-libraries/libni_rtlog.so.2.3
deleted file mode 100644
index f673867ee0..0000000000
--- a/ni-libraries/libni_rtlog.so.2.3
+++ /dev/null
@@ -1,2 +0,0 @@
-OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libni_rtlog.so.2.3.0 )
diff --git a/ni-libraries/libni_rtlog.so.2.3.0 b/ni-libraries/libni_rtlog.so.2.3.0
deleted file mode 100755
index 2d6d6aed1b..0000000000
Binary files a/ni-libraries/libni_rtlog.so.2.3.0 and /dev/null differ
diff --git a/ni-libraries/libni_rtlog.so.2.4 b/ni-libraries/libni_rtlog.so.2.4
new file mode 100644
index 0000000000..abaf6d93e8
--- /dev/null
+++ b/ni-libraries/libni_rtlog.so.2.4
@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libni_rtlog.so.2.4.0 )
diff --git a/ni-libraries/libni_rtlog.so.2.4.0 b/ni-libraries/libni_rtlog.so.2.4.0
new file mode 100755
index 0000000000..447e399ffd
Binary files /dev/null and b/ni-libraries/libni_rtlog.so.2.4.0 differ
diff --git a/ni-libraries/libniimaqdx.so b/ni-libraries/libniimaqdx.so
index ed97ce70e2..cd0a3acc1b 100644
--- a/ni-libraries/libniimaqdx.so
+++ b/ni-libraries/libniimaqdx.so
@@ -1,2 +1,2 @@
 OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libniimaqdx.so.14 )
+GROUP ( libniimaqdx.so.15 )
diff --git a/ni-libraries/libniimaqdx.so.14 b/ni-libraries/libniimaqdx.so.14
deleted file mode 100644
index 6edea924c0..0000000000
--- a/ni-libraries/libniimaqdx.so.14
+++ /dev/null
@@ -1,2 +0,0 @@
-OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libniimaqdx.so.14.0 )
diff --git a/ni-libraries/libniimaqdx.so.14.0 b/ni-libraries/libniimaqdx.so.14.0
deleted file mode 100644
index 12b642e62d..0000000000
--- a/ni-libraries/libniimaqdx.so.14.0
+++ /dev/null
@@ -1,2 +0,0 @@
-OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libniimaqdx.so.14.0.0 )
diff --git a/ni-libraries/libniimaqdx.so.14.0.0 b/ni-libraries/libniimaqdx.so.14.0.0
deleted file mode 100755
index 27cd188d4c..0000000000
Binary files a/ni-libraries/libniimaqdx.so.14.0.0 and /dev/null differ
diff --git a/ni-libraries/libniimaqdx.so.15 b/ni-libraries/libniimaqdx.so.15
new file mode 100644
index 0000000000..4f92f0d35d
--- /dev/null
+++ b/ni-libraries/libniimaqdx.so.15
@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libniimaqdx.so.15.0 )
diff --git a/ni-libraries/libniimaqdx.so.15.0 b/ni-libraries/libniimaqdx.so.15.0
new file mode 100644
index 0000000000..4e7e77beaf
--- /dev/null
+++ b/ni-libraries/libniimaqdx.so.15.0
@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libniimaqdx.so.15.0.0 )
diff --git a/ni-libraries/libniimaqdx.so.15.0.0 b/ni-libraries/libniimaqdx.so.15.0.0
new file mode 100755
index 0000000000..ccad9d943c
Binary files /dev/null and b/ni-libraries/libniimaqdx.so.15.0.0 differ
diff --git a/ni-libraries/libnipalu.so b/ni-libraries/libnipalu.so
new file mode 100644
index 0000000000..96b50311b3
--- /dev/null
+++ b/ni-libraries/libnipalu.so
@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libnipalu.so.15 )
diff --git a/ni-libraries/libnipalu.so.15 b/ni-libraries/libnipalu.so.15
new file mode 100644
index 0000000000..f951d9d302
--- /dev/null
+++ b/ni-libraries/libnipalu.so.15
@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libnipalu.so.15.0 )
diff --git a/ni-libraries/libnipalu.so.15.0 b/ni-libraries/libnipalu.so.15.0
new file mode 100644
index 0000000000..d50d250ab9
--- /dev/null
+++ b/ni-libraries/libnipalu.so.15.0
@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libnipalu.so.15.0.0 )
diff --git a/ni-libraries/libnipalu.so.15.0.0 b/ni-libraries/libnipalu.so.15.0.0
new file mode 100644
index 0000000000..81f4a451d0
Binary files /dev/null and b/ni-libraries/libnipalu.so.15.0.0 differ
diff --git a/ni-libraries/libnirio_emb_can.so b/ni-libraries/libnirio_emb_can.so
index eeb81339f5..6da3410979 100644
--- a/ni-libraries/libnirio_emb_can.so
+++ b/ni-libraries/libnirio_emb_can.so
@@ -1,2 +1,2 @@
 OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libnirio_emb_can.so.14 )
+GROUP ( libnirio_emb_can.so.15 )
diff --git a/ni-libraries/libnirio_emb_can.so.14 b/ni-libraries/libnirio_emb_can.so.14
deleted file mode 100644
index c0548d75e1..0000000000
--- a/ni-libraries/libnirio_emb_can.so.14
+++ /dev/null
@@ -1,2 +0,0 @@
-OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libnirio_emb_can.so.14.0 )
diff --git a/ni-libraries/libnirio_emb_can.so.14.0 b/ni-libraries/libnirio_emb_can.so.14.0
deleted file mode 100644
index b4e836f213..0000000000
--- a/ni-libraries/libnirio_emb_can.so.14.0
+++ /dev/null
@@ -1,2 +0,0 @@
-OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libnirio_emb_can.so.14.0.0 )
diff --git a/ni-libraries/libnirio_emb_can.so.14.0.0 b/ni-libraries/libnirio_emb_can.so.14.0.0
deleted file mode 100755
index 3e04ea843a..0000000000
Binary files a/ni-libraries/libnirio_emb_can.so.14.0.0 and /dev/null differ
diff --git a/ni-libraries/libnirio_emb_can.so.15 b/ni-libraries/libnirio_emb_can.so.15
new file mode 100644
index 0000000000..381ed2d0f2
--- /dev/null
+++ b/ni-libraries/libnirio_emb_can.so.15
@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libnirio_emb_can.so.15.0 )
diff --git a/ni-libraries/libnirio_emb_can.so.15.0 b/ni-libraries/libnirio_emb_can.so.15.0
new file mode 100644
index 0000000000..64e2ff1b87
--- /dev/null
+++ b/ni-libraries/libnirio_emb_can.so.15.0
@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libnirio_emb_can.so.15.0.0 )
diff --git a/ni-libraries/libnirio_emb_can.so.15.0.0 b/ni-libraries/libnirio_emb_can.so.15.0.0
new file mode 100755
index 0000000000..98f760bc65
Binary files /dev/null and b/ni-libraries/libnirio_emb_can.so.15.0.0 differ
diff --git a/ni-libraries/libnivision.so b/ni-libraries/libnivision.so
index 67c0c57ee5..f81bbcf38a 100644
--- a/ni-libraries/libnivision.so
+++ b/ni-libraries/libnivision.so
@@ -1,2 +1,2 @@
 OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libnivision.so.14 )
+GROUP ( libnivision.so.15 )
diff --git a/ni-libraries/libnivision.so.14 b/ni-libraries/libnivision.so.14
deleted file mode 100644
index 4306944687..0000000000
--- a/ni-libraries/libnivision.so.14
+++ /dev/null
@@ -1,2 +0,0 @@
-OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libnivision.so.14.0 )
diff --git a/ni-libraries/libnivision.so.14.0 b/ni-libraries/libnivision.so.14.0
deleted file mode 100644
index 3a4d263c62..0000000000
--- a/ni-libraries/libnivision.so.14.0
+++ /dev/null
@@ -1,2 +0,0 @@
-OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libnivision.so.14.0.0 )
diff --git a/ni-libraries/libnivision.so.15 b/ni-libraries/libnivision.so.15
new file mode 100644
index 0000000000..adb373e5a2
--- /dev/null
+++ b/ni-libraries/libnivision.so.15
@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libnivision.so.15.0 )
diff --git a/ni-libraries/libnivision.so.15.0 b/ni-libraries/libnivision.so.15.0
new file mode 100644
index 0000000000..eae0f232bb
--- /dev/null
+++ b/ni-libraries/libnivision.so.15.0
@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libnivision.so.15.0.0 )
diff --git a/ni-libraries/libnivision.so.14.0.0 b/ni-libraries/libnivision.so.15.0.0
similarity index 51%
rename from ni-libraries/libnivision.so.14.0.0
rename to ni-libraries/libnivision.so.15.0.0
index a0a4810cfe..0f435eae81 100755
Binary files a/ni-libraries/libnivision.so.14.0.0 and b/ni-libraries/libnivision.so.15.0.0 differ
diff --git a/ni-libraries/libnivissvc.so b/ni-libraries/libnivissvc.so
index e0bbd489a6..47649eea75 100644
--- a/ni-libraries/libnivissvc.so
+++ b/ni-libraries/libnivissvc.so
@@ -1,2 +1,2 @@
 OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libnivissvc.so.14 )
+GROUP ( libnivissvc.so.15 )
diff --git a/ni-libraries/libnivissvc.so.14 b/ni-libraries/libnivissvc.so.14
deleted file mode 100644
index 205cc35502..0000000000
--- a/ni-libraries/libnivissvc.so.14
+++ /dev/null
@@ -1,2 +0,0 @@
-OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libnivissvc.so.14.0 )
diff --git a/ni-libraries/libnivissvc.so.14.0 b/ni-libraries/libnivissvc.so.14.0
deleted file mode 100644
index 26ffd42be1..0000000000
--- a/ni-libraries/libnivissvc.so.14.0
+++ /dev/null
@@ -1,2 +0,0 @@
-OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libnivissvc.so.14.0.0 )
diff --git a/ni-libraries/libnivissvc.so.14.0.0 b/ni-libraries/libnivissvc.so.14.0.0
deleted file mode 100755
index 480578d4c4..0000000000
Binary files a/ni-libraries/libnivissvc.so.14.0.0 and /dev/null differ
diff --git a/ni-libraries/libnivissvc.so.15 b/ni-libraries/libnivissvc.so.15
new file mode 100644
index 0000000000..8181c862e9
--- /dev/null
+++ b/ni-libraries/libnivissvc.so.15
@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libnivissvc.so.15.0 )
diff --git a/ni-libraries/libnivissvc.so.15.0 b/ni-libraries/libnivissvc.so.15.0
new file mode 100644
index 0000000000..408c822815
--- /dev/null
+++ b/ni-libraries/libnivissvc.so.15.0
@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libnivissvc.so.15.0.0 )
diff --git a/ni-libraries/libnivissvc.so.15.0.0 b/ni-libraries/libnivissvc.so.15.0.0
new file mode 100755
index 0000000000..e314583787
Binary files /dev/null and b/ni-libraries/libnivissvc.so.15.0.0 differ
diff --git a/ni-libraries/libvisa.so b/ni-libraries/libvisa.so
index 4ca711ce90..0ada01105b 100755
Binary files a/ni-libraries/libvisa.so and b/ni-libraries/libvisa.so differ
diff --git a/test-scripts/config.sh b/test-scripts/config.sh
index c45d80064f..7055e3f4ea 100755
--- a/test-scripts/config.sh
+++ b/test-scripts/config.sh
@@ -10,8 +10,8 @@
 # so that test results are not commited to the repo
 DEFAULT_LOCAL_TEST_RESULTS_DIR=../test-reports
 
-ROBOT_ADDRESS=lvuser@roboRIO-190.local
-ADMIN_ROBOT_ADDRESS=admin@roboRIO-190.local
+ROBOT_ADDRESS=lvuser@roboRIO-190-FRC.local
+ADMIN_ROBOT_ADDRESS=admin@roboRIO-190-FRC.local
 DEFAULT_LOCAL_RUN_TEST_SCRIPT="run-tests-on-robot.sh"
 
 DEFAULT_DESTINATION_DIR=/home/lvuser
diff --git a/wpilibc/build.gradle b/wpilibc/build.gradle
index 05f54eee81..52e416fabf 100644
--- a/wpilibc/build.gradle
+++ b/wpilibc/build.gradle
@@ -72,7 +72,7 @@ model {
                 linker.args '-pthread'
                 cppCompiler.args '-Wno-unused-variable'
                 linker.args '-Wno-unused-variable'
-                linker.args '-Wl,-rpath,/opt/GenICam_v2_3/bin/Linux_armv7-a'
+                linker.args '-Wl,-rpath,/opt/GenICam_v2_3/bin/Linux_armv7-a,-rpath,/usr/local/frc/rpath-lib'
             }
             sources {
                 cpp {
diff --git a/wpilibc/wpilibC++IntegrationTests/CMakeLists.txt b/wpilibc/wpilibC++IntegrationTests/CMakeLists.txt
index 88887b318e..124029bf07 100644
--- a/wpilibc/wpilibC++IntegrationTests/CMakeLists.txt
+++ b/wpilibc/wpilibC++IntegrationTests/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 2.8)
 project(WPILibC++IntegrationTests)
 
-SET(CMAKE_EXE_LINKER_FLAGS "-Wl,-rpath,/opt/GenICam_v2_3/bin/Linux_armv7-a")
+SET(CMAKE_EXE_LINKER_FLAGS "-Wl,-rpath,/opt/GenICam_v2_3/bin/Linux_armv7-a,-rpath,/usr/local/frc/rpath-lib")
 
 file(GLOB_RECURSE SRC_FILES src/*.cpp src/gtest/src/gtest-all.cc src/gtest/src/gtest_main.cc)
 include_directories(include/ src/gtest/ src/gtest/include/ ../wpilibC++Devices/include/ ${WPILIB_INCLUDES} ${HAL_API_INCLUDES} ${NWT_API_INCLUDES})
diff --git a/wpilibj/build.gradle b/wpilibj/build.gradle
index cb96446756..79474677ec 100644
--- a/wpilibj/build.gradle
+++ b/wpilibj/build.gradle
@@ -49,6 +49,7 @@ model {
                     dependsOn jniHeaders
                     dependsOn addNiLibraryLinks
                 }
+		linker.args '-Wl,-rpath,/opt/GenICam_v2_3/bin/Linux_armv7-a,-rpath,/usr/local/frc/rpath-lib'
             }
             sources {
                 cpp {
diff --git a/wpilibj/wpilibJavaJNI/CMakeLists.txt b/wpilibj/wpilibJavaJNI/CMakeLists.txt
index d44eb519cd..2a56e5a7cb 100644
--- a/wpilibj/wpilibJavaJNI/CMakeLists.txt
+++ b/wpilibj/wpilibJavaJNI/CMakeLists.txt
@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 2.8)
 project(WPILibJavaJNI)
 
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wformat=2 -Wextra -Wno-unused-parameter -fPIC -Werror")
+SET(CMAKE_EXE_LINKER_FLAGS "-Wl,-rpath,/usr/local/frc/rpath-lib")
 SET(CMAKE_SKIP_BUILD_RPATH TRUE)
 file(GLOB_RECURSE NI_LIBS ../../ni-libraries/*.so)
 list(REMOVE_ITEM NI_LIBS ${CMAKE_CURRENT_SOURCE_DIR}/../../ni-libraries/libwpi.so ${CMAKE_CURRENT_SOURCE_DIR}/../../ni-libraries/libwpi_2015.so)
diff --git a/wpilibj/wpilibJavaJNI/lib/CANJNI.cpp b/wpilibj/wpilibJavaJNI/lib/CANJNI.cpp
index 34ee4c1f62..a5acc89155 100644
--- a/wpilibj/wpilibJavaJNI/lib/CANJNI.cpp
+++ b/wpilibj/wpilibJavaJNI/lib/CANJNI.cpp
@@ -5,7 +5,7 @@
 #include "edu_wpi_first_wpilibj_can_CANJNI.h"
 
 #include "HAL/CAN.hpp"
-#include "NetworkCommunication/CANSessionMux.h"
+#include "FRC_NetworkCommunication/CANSessionMux.h"
 
 // set the logging level
 //TLogLevel canJNILogLevel = logDEBUG;