diff --git a/hal/src/main/java/edu/wpi/first/hal/CANAPITypes.java b/hal/src/main/java/edu/wpi/first/hal/CANAPITypes.java
index cef69b65b2..f97cc18f92 100644
--- a/hal/src/main/java/edu/wpi/first/hal/CANAPITypes.java
+++ b/hal/src/main/java/edu/wpi/first/hal/CANAPITypes.java
@@ -35,10 +35,10 @@ public final class CANAPITypes {
     kGyroSensor(4),
     /** Accelerometer. */
     kAccelerometer(5),
-    /** Ultrasonic sensor. */
-    kUltrasonicSensor(6),
-    /** Gear tooth sensor. */
-    kGearToothSensor(7),
+    /** Distance sensor. */
+    kDistanceSensor(6),
+    /** Encoder. */
+    kEncoder(7),
     /** Power distribution. */
     kPowerDistribution(8),
     /** Pneumatics. */
@@ -49,6 +49,8 @@ public final class CANAPITypes {
     kIOBreakout(11),
     /** Servo Controller. */
     kServoController(12),
+    /** Color Sensor. */
+    kColorSensor(13),
     /** Firmware update. */
     kFirmwareUpdate(31);
 
@@ -105,7 +107,15 @@ public final class CANAPITypes {
     /** AndyMark. */
     kAndyMark(15),
     /** Vivid-Hosting. */
-    kVividHosting(16);
+    kVividHosting(16),
+    /** Vertos Robotics. */
+    kVertosRobotics(17),
+    /** SWYFT Robotics. */
+    kSWYFTRobotics(18),
+    /** Lumyn Labs. */
+    kLumynLabs(19),
+    /** Brushland Labs. */
+    kBrushlandLabs(20);
 
     /** The manufacturer ID. */
     @SuppressWarnings("MemberName")
diff --git a/hal/src/main/native/include/hal/CANAPITypes.h b/hal/src/main/native/include/hal/CANAPITypes.h
index 7cfe93b4c4..6270697507 100644
--- a/hal/src/main/native/include/hal/CANAPITypes.h
+++ b/hal/src/main/native/include/hal/CANAPITypes.h
@@ -32,10 +32,10 @@ HAL_ENUM(HAL_CANDeviceType) {
   HAL_CAN_Dev_kGyroSensor = 4,
   /// Accelerometer.
   HAL_CAN_Dev_kAccelerometer = 5,
-  /// Ultrasonic sensor.
-  HAL_CAN_Dev_kUltrasonicSensor = 6,
-  /// Gear tooth sensor.
-  HAL_CAN_Dev_kGearToothSensor = 7,
+  /// Distance sensor.
+  HAL_CAN_Dev_kDistanceSensor = 6,
+  /// Encoder.
+  HAL_CAN_Dev_kEncoder = 7,
   /// Power distribution.
   HAL_CAN_Dev_kPowerDistribution = 8,
   /// Pneumatics.
@@ -44,8 +44,10 @@ HAL_ENUM(HAL_CANDeviceType) {
   HAL_CAN_Dev_kMiscellaneous = 10,
   /// IO breakout.
   HAL_CAN_Dev_kIOBreakout = 11,
-  // Servo controller.
+  /// Servo controller.
   HAL_CAN_Dev_kServoController = 12,
+  /// Color Sensor.
+  HAL_CAN_Dev_ColorSensor = 13,
   /// Firmware update.
   HAL_CAN_Dev_kFirmwareUpdate = 31
 };
@@ -89,6 +91,14 @@ HAL_ENUM(HAL_CANManufacturer) {
   /// AndyMark.
   HAL_CAN_Man_kAndyMark = 15,
   /// Vivid-Hosting.
-  HAL_CAN_Man_kVividHosting = 16
+  HAL_CAN_Man_kVividHosting = 16,
+  /// Vertos Robotics.
+  HAL_CAN_Man_kVertosRobotics = 17,
+  /// SWYFT Robotics.
+  HAL_CAN_Man_kSWYFTRobotics = 18,
+  /// Lumyn Labs.
+  HAL_CAN_Man_kLumynLabs = 19,
+  /// Brushland Labs
+  HAL_CAN_Man_kBrushlandLabs = 20
 };
 /** @} */