diff --git a/build.gradle b/build.gradle
index 6a5c233..bbe9eb2 100644
--- a/build.gradle
+++ b/build.gradle
@@ -4,7 +4,7 @@ buildscript {
         jcenter()
     }
     dependencies {
-        classpath 'com.android.tools.build:gradle:1.3.0'
+        classpath 'com.android.tools.build:gradle:2.1.3'
     }
 }
 
diff --git a/ftc-library/build.gradle b/ftc-library/build.gradle
index 7b37499..e824aa3 100644
--- a/ftc-library/build.gradle
+++ b/ftc-library/build.gradle
@@ -4,7 +4,7 @@ buildscript {
         jcenter()
     }
     dependencies {
-        classpath 'com.android.tools.build:gradle:1.3.0'
+        classpath 'com.android.tools.build:gradle:2.1.3'
     }
 }
 android {
diff --git a/ftc-library/libs/Blocks-release-sources.jar b/ftc-library/libs/Blocks-release-sources.jar
new file mode 100644
index 0000000..e5789ab
Binary files /dev/null and b/ftc-library/libs/Blocks-release-sources.jar differ
diff --git a/ftc-library/libs/Blocks-release.aar b/ftc-library/libs/Blocks-release.aar
new file mode 100644
index 0000000..73f25dd
Binary files /dev/null and b/ftc-library/libs/Blocks-release.aar differ
diff --git a/ftc-library/libs/FtcCommon-release-sources.jar b/ftc-library/libs/FtcCommon-release-sources.jar
new file mode 100644
index 0000000..0cc1c2b
Binary files /dev/null and b/ftc-library/libs/FtcCommon-release-sources.jar differ
diff --git a/ftc-library/libs/FtcCommon-release.aar b/ftc-library/libs/FtcCommon-release.aar
index fd10ef3..25a27ff 100755
Binary files a/ftc-library/libs/FtcCommon-release.aar and b/ftc-library/libs/FtcCommon-release.aar differ
diff --git a/ftc-library/libs/Hardware-release-sources.jar b/ftc-library/libs/Hardware-release-sources.jar
new file mode 100644
index 0000000..f1ad5cf
Binary files /dev/null and b/ftc-library/libs/Hardware-release-sources.jar differ
diff --git a/ftc-library/libs/Hardware-release.aar b/ftc-library/libs/Hardware-release.aar
index 526c223..0d44c44 100755
Binary files a/ftc-library/libs/Hardware-release.aar and b/ftc-library/libs/Hardware-release.aar differ
diff --git a/ftc-library/libs/Inspection-release.aar b/ftc-library/libs/Inspection-release.aar
new file mode 100644
index 0000000..33d7b19
Binary files /dev/null and b/ftc-library/libs/Inspection-release.aar differ
diff --git a/ftc-library/libs/RobotCore-release-sources.jar b/ftc-library/libs/RobotCore-release-sources.jar
new file mode 100644
index 0000000..a367e1e
Binary files /dev/null and b/ftc-library/libs/RobotCore-release-sources.jar differ
diff --git a/ftc-library/libs/RobotCore-release.aar b/ftc-library/libs/RobotCore-release.aar
index 1c7f247..edb728c 100755
Binary files a/ftc-library/libs/RobotCore-release.aar and b/ftc-library/libs/RobotCore-release.aar differ
diff --git a/ftc-library/libs/Vuforia.jar b/ftc-library/libs/Vuforia.jar
new file mode 100644
index 0000000..80cefa4
Binary files /dev/null and b/ftc-library/libs/Vuforia.jar differ
diff --git a/ftc-library/libs/armeabi-v7a/libVuforia.so b/ftc-library/libs/armeabi-v7a/libVuforia.so
new file mode 100644
index 0000000..75f64c6
Binary files /dev/null and b/ftc-library/libs/armeabi-v7a/libVuforia.so differ
diff --git a/ftc-library/libs/ftc.debug.keystore b/ftc-library/libs/ftc.debug.keystore
new file mode 100644
index 0000000..a7204e6
Binary files /dev/null and b/ftc-library/libs/ftc.debug.keystore differ
diff --git a/ftc-library/src/main/java/com/lasarobotics/library/sensor/legacy/hitechnic/Gyroscope.java b/ftc-library/src/main/java/com/lasarobotics/library/sensor/legacy/hitechnic/Gyroscope.java
index 231d4b2..d723e2d 100644
--- a/ftc-library/src/main/java/com/lasarobotics/library/sensor/legacy/hitechnic/Gyroscope.java
+++ b/ftc-library/src/main/java/com/lasarobotics/library/sensor/legacy/hitechnic/Gyroscope.java
@@ -73,7 +73,7 @@ public void reset() {
      * @return The offset gyroscope rotation in degrees per second
      */
     public double getRate() {
-        return gyroSensor.getRotation() - offset;
+        return gyroSensor.getHeading() - offset;
     }
 
     /**
diff --git a/ftc-library/src/main/java/com/lasarobotics/library/skynet/EncodedMotor.java b/ftc-library/src/main/java/com/lasarobotics/library/skynet/EncodedMotor.java
index 352a9ba..dc928ef 100644
--- a/ftc-library/src/main/java/com/lasarobotics/library/skynet/EncodedMotor.java
+++ b/ftc-library/src/main/java/com/lasarobotics/library/skynet/EncodedMotor.java
@@ -2,11 +2,12 @@
 
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorController;
+import com.qualcomm.robotcore.hardware.DcMotorImpl;
 
 /**
  * Drive encoder support
  */
-public class EncodedMotor extends DcMotor {
+public class EncodedMotor extends DcMotorImpl {
     private boolean isEncoderEnabled = true;
     private boolean encodersResetting = false;
     private int encoderOffset = 0;
@@ -65,14 +66,14 @@ public boolean hasReachedPosition(double position) {
 
     public void enableEncoder() {
         //This command requires (at least ?) one execution loop to reset the encoders
-        super.setMode(DcMotorController.RunMode.RUN_USING_ENCODERS);
+        super.setMode(RunMode.RUN_WITHOUT_ENCODER);
 
         isEncoderEnabled = true;
     }
 
     public void disableEncoder() {
         //This command requires (at least ?) one execution loop to reset the encoders
-        super.setMode(DcMotorController.RunMode.RUN_WITHOUT_ENCODERS);
+        super.setMode(RunMode.RUN_WITHOUT_ENCODER);
 
         isEncoderEnabled = false;
     }
@@ -97,7 +98,7 @@ public void resetEncoder() {
             return;
 
         //This command requires (at least ?) one execution loop to reset the encoders
-        super.setMode(DcMotorController.RunMode.RESET_ENCODERS);
+        super.setMode(RunMode.RESET_ENCODERS);
 
         encodersResetting = true;
         encoderOffset = -super.getCurrentPosition();