diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 00000000..c5f3f6b9
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,3 @@
+{
+    "java.configuration.updateBuildConfiguration": "interactive"
+}
\ No newline at end of file
diff --git a/build.gradle b/build.gradle
index 8cf4665a..62c8ecea 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-2"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-3"
 }
 
 java {
diff --git a/src/main/java/frc/robot/constants/GlobalConstants.java b/src/main/java/frc/robot/constants/GlobalConstants.java
index 3533337d..ad4f83a6 100644
--- a/src/main/java/frc/robot/constants/GlobalConstants.java
+++ b/src/main/java/frc/robot/constants/GlobalConstants.java
@@ -23,6 +23,8 @@ public class GlobalConstants {
     public static final Mass ROBOT_MASS = Pounds.of(150);
     public static final MomentOfInertia ROBOT_MOI = KilogramSquareMeters.of(6.883);
 
+    public static final double COEFFICIENT_OF_FRICTION = 1.0;
+
     public static final DCMotor DRIVE_MOTOR = DCMotor.getKrakenX60Foc(1).withReduction(EXAMPLE_MODULE.DriveMotorGearRatio);
     public static final DCMotor STEER_MOTOR = DCMotor.getKrakenX60Foc(1).withReduction(EXAMPLE_MODULE.SteerMotorGearRatio);
 
@@ -48,8 +50,10 @@ public static RobotConfig getRobotConfigPathplanner() {
               robotConfigPathplanner = new RobotConfig(ROBOT_MASS, ROBOT_MOI, 
                 new ModuleConfig(
                     Meters.of(EXAMPLE_MODULE.WheelRadius), 
-                    MAX_TRANSLATIONAL_SPEED, 1, 
-                    DRIVE_MOTOR, EXAMPLE_MODULE.DriveMotorInitialConfigs.CurrentLimits.getStatorCurrentLimitMeasure(),
+                    MAX_TRANSLATIONAL_SPEED, 
+                    COEFFICIENT_OF_FRICTION, 
+                    DRIVE_MOTOR, 
+                    EXAMPLE_MODULE.DriveMotorInitialConfigs.CurrentLimits.getStatorCurrentLimitMeasure(),
                     1
                 ),
                 moduleOffsets);
diff --git a/src/main/java/frc/robot/subsystems/FieldOrientedOrbitSwerveRequest.java b/src/main/java/frc/robot/subsystems/FieldOrientedOrbitSwerveRequest.java
index 5b1a9143..ccd16dfa 100644
--- a/src/main/java/frc/robot/subsystems/FieldOrientedOrbitSwerveRequest.java
+++ b/src/main/java/frc/robot/subsystems/FieldOrientedOrbitSwerveRequest.java
@@ -80,7 +80,7 @@ public StatusCode apply(SwerveControlParameters parameters, SwerveModule... modu
         double yAcceleration = toApplyY - slewedFieldChassisSpeeds.vyMetersPerSecond;
         
         ChassisSpeeds accelerations = new ChassisSpeeds(xAcceleration, yAcceleration, 0);
-        accelerations.toRobotRelativeSpeeds(parameters.currentPose.getRotation());
+        accelerations = ChassisSpeeds.fromFieldRelativeSpeeds(accelerations,parameters.currentPose.getRotation());
 
         if (accelerations.vxMetersPerSecond > forwardXRateLimit*timestep) {
             if (maintainStraightStopping) accelerations.vyMetersPerSecond = accelerations.vyMetersPerSecond * forwardXRateLimit*timestep / accelerations.vxMetersPerSecond;
@@ -98,13 +98,13 @@ public StatusCode apply(SwerveControlParameters parameters, SwerveModule... modu
             accelerations.vyMetersPerSecond = -backwardYRateLimit*timestep;
         }
 
-        accelerations.toFieldRelativeSpeeds(parameters.currentPose.getRotation());
+        accelerations = ChassisSpeeds.fromFieldRelativeSpeeds(accelerations,parameters.currentPose.getRotation());
 
         slewedFieldChassisSpeeds = slewedFieldChassisSpeeds.plus(accelerations);
 
         ChassisSpeeds robotRelativeSpeeds = new ChassisSpeeds(slewedFieldChassisSpeeds.vxMetersPerSecond, slewedFieldChassisSpeeds.vyMetersPerSecond, chassisSpeeds.omegaRadiansPerSecond);
 
-        robotRelativeSpeeds.toRobotRelativeSpeeds(parameters.currentPose.getRotation());
+        robotRelativeSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(robotRelativeSpeeds,parameters.currentPose.getRotation());
 
         // Keep the robot from tipping over
         // robotRelativeSpeeds.vxMetersPerSecond = xLimiter.calculate(robotRelativeSpeeds.vxMetersPerSecond);
diff --git a/vendordeps/PathplannerLib-beta.json b/vendordeps/PathplannerLib-beta.json
index e79fe1ae..4be80014 100644
--- a/vendordeps/PathplannerLib-beta.json
+++ b/vendordeps/PathplannerLib-beta.json
@@ -1,7 +1,7 @@
 {
     "fileName": "PathplannerLib-beta.json",
     "name": "PathplannerLib",
-    "version": "2025.0.0-beta-5",
+    "version": "2025.0.0-beta-6.1",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
     "frcYear": "2025",
     "mavenUrls": [
@@ -12,7 +12,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2025.0.0-beta-5"
+            "version": "2025.0.0-beta-6.1"
         }
     ],
     "jniDependencies": [],
@@ -20,7 +20,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2025.0.0-beta-5",
+            "version": "2025.0.0-beta-6.1",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,