diff --git a/Pipfile b/Pipfile
index 1fc6f86..1e9b9d0 100644
--- a/Pipfile
+++ b/Pipfile
@@ -4,24 +4,24 @@ verify_ssl = true
 name = "pypi"
 
 [packages]
-pyfrc = "~=2022.1.2"
-robotpy-halsim-gui = "~=2022.4.1"
-numpy = "~=1.22.1"
-robotpy-ctre = "~=2022.1.0"
-robotpy-navx = "~=2022.0.1"
-robotpy-photonvision = "~=2022.1.0"
-robotpy-rev = "~=2022.0.1"
-robotpy-wpilib-utilities = "~=2022.0.5"
-robotpy-wpimath = "~=2022.4.1.1"
-robotpy-wpiutil = "~=2022.4.1.1"
-wpilib = "~=2022.4.1.5"
+pyfrc = "==2023.0.0b4"
+robotpy-halsim-gui = "==2023.0.0b7"
+numpy = "==1.24.1"
+robotpy-ctre = "==2023.0.0b6"
+robotpy-navx = "==2023.0.0b2"
+robotpy-photonvision = "==2023.1.1b7"
+robotpy-rev = "==2023.0.0b2"
+robotpy-wpilib-utilities = "==2023.0.0b2"
+robotpy-wpimath = "==2023.0.0b7"
+robotpy-wpiutil = "==2023.0.0b7"
+wpilib = "==2023.0.0b7"
 
 [dev-packages]
 hypothesis = "*"
 pytest = "*"
 
 [requires]
-python_version = "3.10"
+python_version = "3.11"
 
 [scripts]
 deploy = "python robot.py deploy"
diff --git a/Pipfile.lock b/Pipfile.lock
index c8bd1fb..e8a0451 100644
--- a/Pipfile.lock
+++ b/Pipfile.lock
@@ -1,11 +1,11 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "f1cf5c91b61980707d866283dd8d231a34d052ad93d49dcd8bb20cec03f32081"
+            "sha256": "48f5028d098426e29759ecf7fd0b6824d171a0cada8befd83c17a701a1ca921c"
         },
         "pipfile-spec": 6,
         "requires": {
-            "python_version": "3.10"
+            "python_version": "3.11"
         },
         "sources": [
             {
@@ -18,116 +18,147 @@
     "default": {
         "attrs": {
             "hashes": [
-                "sha256:2d27e3784d7a565d36ab851fe94887c5eccd6a463168875832a1be79c82828b4",
-                "sha256:626ba8234211db98e869df76230a137c4c40a12d72445c45d5f5b716f076e2fd"
+                "sha256:29e95c7f6778868dbd49170f98f8818f78f3dc5e0e37c0b1f474e3561b240836",
+                "sha256:c9227bfc2f01993c03f68db37d1d15c9690188323c067c641f1a35ca58185f99"
             ],
-            "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3, 3.4'",
-            "version": "==21.4.0"
+            "markers": "python_version >= '3.6'",
+            "version": "==22.2.0"
         },
         "bcrypt": {
             "hashes": [
-                "sha256:56e5da069a76470679f312a7d3d23deb3ac4519991a0361abc11da837087b61d",
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-                "sha256:63d4e3ff96188e5898779b6057878fecf3f11cfe6ec3b313ea09955d587ec7a7",
-                "sha256:81fec756feff5b6818ea7ab031205e1d323d8943d237303baca2c5f9c7846f34",
-                "sha256:a0584a92329210fcd75eb8a3250c5a941633f8bfaf2a18f81009b097732839b7",
-                "sha256:a67fb841b35c28a59cebed05fbd3e80eea26e6d75851f0574a9273c80f3e9b55",
-                "sha256:b589229207630484aefe5899122fb938a5b017b0f4349f769b8c13e78d99a8fd",
-                "sha256:c95d4cbebffafcdd28bd28bb4e25b31c50f6da605c81ffd9ad8a3d1b2ab7b1b6",
-                "sha256:cd1ea2ff3038509ea95f687256c46b79f5fc382ad0aa3664d200047546d511d1",
-                "sha256:cdcdcb3972027f83fe24a48b1e90ea4b584d35f1cc279d76de6fc4b13376239d"
+                "sha256:089098effa1bc35dc055366740a067a2fc76987e8ec75349eb9484061c54f535",
+                "sha256:08d2947c490093a11416df18043c27abe3921558d2c03e2076ccb28a116cb6d0",
+                "sha256:0eaa47d4661c326bfc9d08d16debbc4edf78778e6aaba29c1bc7ce67214d4410",
+                "sha256:27d375903ac8261cfe4047f6709d16f7d18d39b1ec92aaf72af989552a650ebd",
+                "sha256:2b3ac11cf45161628f1f3733263e63194f22664bf4d0c0f3ab34099c02134665",
+                "sha256:2caffdae059e06ac23fce178d31b4a702f2a3264c20bfb5ff541b338194d8fab",
+                "sha256:3100851841186c25f127731b9fa11909ab7b1df6fc4b9f8353f4f1fd952fbf71",
+                "sha256:5ad4d32a28b80c5fa6671ccfb43676e8c1cc232887759d1cd7b6f56ea4355215",
+                "sha256:67a97e1c405b24f19d08890e7ae0c4f7ce1e56a712a016746c8b2d7732d65d4b",
+                "sha256:705b2cea8a9ed3d55b4491887ceadb0106acf7c6387699fca771af56b1cdeeda",
+                "sha256:8a68f4341daf7522fe8d73874de8906f3a339048ba406be6ddc1b3ccb16fc0d9",
+                "sha256:a522427293d77e1c29e303fc282e2d71864579527a04ddcfda6d4f8396c6c36a",
+                "sha256:ae88eca3024bb34bb3430f964beab71226e761f51b912de5133470b649d82344",
+                "sha256:b1023030aec778185a6c16cf70f359cbb6e0c289fd564a7cfa29e727a1c38f8f",
+                "sha256:b3b85202d95dd568efcb35b53936c5e3b3600c7cdcc6115ba461df3a8e89f38d",
+                "sha256:b57adba8a1444faf784394de3436233728a1ecaeb6e07e8c22c8848f179b893c",
+                "sha256:bf4fa8b2ca74381bb5442c089350f09a3f17797829d958fad058d6e44d9eb83c",
+                "sha256:ca3204d00d3cb2dfed07f2d74a25f12fc12f73e606fcaa6975d1f7ae69cacbb2",
+                "sha256:cbb03eec97496166b704ed663a53680ab57c5084b2fc98ef23291987b525cb7d",
+                "sha256:e9a51bbfe7e9802b5f3508687758b564069ba937748ad7b9e890086290d2f79e",
+                "sha256:fbdaec13c5105f0c4e5c52614d04f0bca5f5af007910daa8b6b12095edaa67b3"
             ],
             "markers": "python_version >= '3.6'",
-            "version": "==3.2.0"
+            "version": "==4.0.1"
         },
         "cffi": {
             "hashes": [
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-            "version": "==1.15.0"
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+                "sha256:e00b098126fd45523dd056d2efba6c5a63b71ffe9f2bbe1a4fe1716e1d0c331e",
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+                "sha256:fcd131dd944808b5bdb38e6f5b53013c5aa4f334c5cad0c72742f6eba4b73db0"
+            ],
+            "version": "==1.15.1"
         },
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@@ -138,52 +169,60 @@
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@@ -193,14 +232,6 @@
             "markers": "python_version >= '3.6'",
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@@ -210,11 +241,11 @@
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@@ -240,251 +271,257 @@
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@@ -494,53 +531,45 @@
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+                "sha256:b457d3d8a81e968b7197921f6d79309ed4b2ee7a5ab62306f355b51a8d598784",
+                "sha256:cc0048c6dda48ea9409b8a33b80846b30ad43de33a32bb1c68bd01cc23fae807",
+                "sha256:d401ed8d308e53718f842f0ca928061eedbd56874bdc170e6e9019f2f0605d10",
+                "sha256:eaacb1314d484be095c7aa1e9820b94ecbada8121817c9d03672be4036867c1c",
+                "sha256:f2b5bffeea7374f3e872783418705b0f3095254a7f788c1d62576f41a07094cc",
+                "sha256:f55097cf592696bc6bd902ea5fd3cc485ac3265cdcd3d3cb6f763c796ede010f"
             ],
             "index": "pypi",
-            "version": "==2022.4.1.5"
+            "version": "==2023.0.0b7"
         }
     },
     "develop": {
         "attrs": {
             "hashes": [
-                "sha256:2d27e3784d7a565d36ab851fe94887c5eccd6a463168875832a1be79c82828b4",
-                "sha256:626ba8234211db98e869df76230a137c4c40a12d72445c45d5f5b716f076e2fd"
+                "sha256:29e95c7f6778868dbd49170f98f8818f78f3dc5e0e37c0b1f474e3561b240836",
+                "sha256:c9227bfc2f01993c03f68db37d1d15c9690188323c067c641f1a35ca58185f99"
             ],
-            "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3, 3.4'",
-            "version": "==21.4.0"
+            "markers": "python_version >= '3.6'",
+            "version": "==22.2.0"
         },
         "hypothesis": {
             "hashes": [
-                "sha256:41503e20a246ab4522d78f2df8afc40fd7349eeaf0fe07cdc233069c671e6e35",
-                "sha256:f60b1dfaa8c2175c40513449f9c49b7543d50e66e16a5e22cf5fca460e864037"
+                "sha256:7bb22d22e35db99d5724bbf5bdc686b46add94a0f228bf1be249c47ec46b9c7f",
+                "sha256:fbf7da30aea839d88898f74bcc027f0f997060498a8a7605880688c8a2166215"
             ],
             "index": "pypi",
-            "version": "==6.39.4"
+            "version": "==6.61.0"
         },
         "iniconfig": {
             "hashes": [
@@ -551,11 +580,11 @@
         },
         "packaging": {
             "hashes": [
-                "sha256:dd47c42927d89ab911e606518907cc2d3a1f38bbd026385970643f9c5b8ecfeb",
-                "sha256:ef103e05f519cdc783ae24ea4e2e0f508a9c99b2d4969652eed6a2e1ea5bd522"
+                "sha256:2198ec20bd4c017b8f9717e00f0c8714076fc2fd93816750ab48e2c41de2cfd3",
+                "sha256:957e2148ba0e1a3b282772e791ef1d8083648bc131c8ab0c1feba110ce1146c3"
             ],
-            "markers": "python_version >= '3.6'",
-            "version": "==21.3"
+            "markers": "python_version >= '3.7'",
+            "version": "==22.0"
         },
         "pluggy": {
             "hashes": [
@@ -565,29 +594,13 @@
             "markers": "python_version >= '3.6'",
             "version": "==1.0.0"
         },
-        "py": {
-            "hashes": [
-                "sha256:51c75c4126074b472f746a24399ad32f6053d1b34b68d2fa41e558e6f4a98719",
-                "sha256:607c53218732647dff4acdfcd50cb62615cedf612e72d1724fb1a0cc6405b378"
-            ],
-            "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3, 3.4'",
-            "version": "==1.11.0"
-        },
-        "pyparsing": {
-            "hashes": [
-                "sha256:18ee9022775d270c55187733956460083db60b37d0d0fb357445f3094eed3eea",
-                "sha256:a6c06a88f252e6c322f65faf8f418b16213b51bdfaece0524c1c1bc30c63c484"
-            ],
-            "markers": "python_version >= '3.6'",
-            "version": "==3.0.7"
-        },
         "pytest": {
             "hashes": [
-                "sha256:841132caef6b1ad17a9afde46dc4f6cfa59a05f9555aae5151f73bdf2820ca63",
-                "sha256:92f723789a8fdd7180b6b06483874feca4c48a5c76968e03bb3e7f806a1869ea"
+                "sha256:892f933d339f068883b6fd5a459f03d85bfcb355e4981e146d2c7616c21fef71",
+                "sha256:c4014eb40e10f11f355ad4e3c2fb2c6c6d1919c73f3b5a433de4708202cade59"
             ],
             "markers": "python_version >= '3.7'",
-            "version": "==7.1.1"
+            "version": "==7.2.0"
         },
         "sortedcontainers": {
             "hashes": [
@@ -595,14 +608,6 @@
                 "sha256:a163dcaede0f1c021485e957a39245190e74249897e2ae4b2aa38595db237ee0"
             ],
             "version": "==2.4.0"
-        },
-        "tomli": {
-            "hashes": [
-                "sha256:939de3e7a6161af0c887ef91b7d41a53e7c5a1ca976325f429cb46ea9bc30ecc",
-                "sha256:de526c12914f0c550d15924c62d72abc48d6fe7364aa87328337a31007fe8a4f"
-            ],
-            "markers": "python_version >= '3.7'",
-            "version": "==2.0.1"
         }
     }
 }
diff --git a/autonomous/autonomous.py b/autonomous/autonomous.py
index 9bf3894..f38f641 100644
--- a/autonomous/autonomous.py
+++ b/autonomous/autonomous.py
@@ -148,7 +148,7 @@ def move(self, tm: float) -> None:
         self.chassis_speeds = self.drive_controller.calculate(
             currentPose=current_pose,
             desiredState=target_state,
-            angleRef=target_heading,
+            desiredHeading=target_heading,
         )
         self.chassis.drive_local(
             self.chassis_speeds.vx, self.chassis_speeds.vy, self.chassis_speeds.omega
diff --git a/components/chassis.py b/components/chassis.py
index 17e5dbf..c031ef5 100644
--- a/components/chassis.py
+++ b/components/chassis.py
@@ -11,6 +11,7 @@
 from wpimath.kinematics import (
     SwerveDrive4Kinematics,
     ChassisSpeeds,
+    SwerveModulePosition,
     SwerveModuleState,
 )
 from wpimath.geometry import Translation2d, Rotation2d, Pose2d
@@ -103,6 +104,9 @@ def get_rotation(self) -> Rotation2d:
     def get_speed(self) -> float:
         return self.drive.getSelectedSensorVelocity() * self.DRIVE_COUNTS_TO_METRES * 10
 
+    def get_distance_travelled(self) -> float:
+        return self.drive.getSelectedSensorPosition() * self.DRIVE_COUNTS_TO_METRES
+
     def set(self, desired_state: SwerveModuleState):
 
         if abs(desired_state.speed) < 1e-3:
@@ -134,6 +138,9 @@ def sync_steer_encoders(self) -> None:
             self.get_absolute_angle() * self.STEER_RAD_TO_COUNTS
         )
 
+    def get_position(self) -> SwerveModulePosition:
+        return SwerveModulePosition(self.get_distance_travelled(), self.get_rotation())
+
     def get(self) -> SwerveModuleState:
         return SwerveModuleState(self.get_speed(), self.get_rotation())
 
@@ -228,11 +235,11 @@ def setup(self) -> None:
         self.sync_all()
         self.imu.zeroYaw()
         self.estimator = SwerveDrive4PoseEstimator(
-            self.imu.getRotation2d(),
-            Pose2d(0, 0, 0),
             self.kinematics,
+            self._get_imu_heading(),
+            self.get_module_positions(),
+            Pose2d(0, 0, 0),
             stateStdDevs=(0.1, 0.1, math.radians(5)),
-            localMeasurementStdDevs=(0.01,),
             visionMeasurementStdDevs=(0.5, 0.5, 0.2),
         )
         self.field_obj = self.field.getObject("fused_pose")
@@ -265,12 +272,10 @@ def execute(self) -> None:
         # rotation2d and translation2d have mul but not div
         control_rate = 1 / dt
         chassis_speeds = self.kinematics.toChassisSpeeds(
-            (
-                self.modules[0].get(),
-                self.modules[1].get(),
-                self.modules[2].get(),
-                self.modules[3].get(),
-            )
+            self.modules[0].get(),
+            self.modules[1].get(),
+            self.modules[2].get(),
+            self.modules[3].get(),
         )
         cur_trans_vel = Translation2d(chassis_speeds.vx, chassis_speeds.vy).rotateBy(
             self.get_rotation()
@@ -299,7 +304,9 @@ def sync_all(self) -> None:
 
     def set_pose(self, pose: Pose2d) -> None:
         self.pose_history.clear()
-        self.estimator.resetPosition(pose, self.imu.getRotation2d())
+        self.estimator.resetPosition(
+            self._get_imu_heading(), self.get_module_positions(), pose
+        )
         self.update_pose_history()
         self.field.setRobotPose(pose)
         self.field_obj.setPose(pose)
@@ -321,9 +328,14 @@ def zero_yaw(self) -> None:
         # a misake copied from diff drive pose estimator
         # beacuse we never pass the encoder distances to the estimator
         self.estimator.resetPosition(
-            Pose2d(cur_pose.translation(), Rotation2d(0)), self.imu.getRotation2d()
+            self._get_imu_heading(),
+            self.get_module_positions(),
+            Pose2d(cur_pose.translation(), Rotation2d(0)),
         )
 
+    def get_module_positions(self):
+        return tuple(module.get_position() for module in self.modules)
+
     def get_pose(self) -> Pose2d:
         """Get the current location of the robot relative to the goal."""
         return self.estimator.getEstimatedPosition()
@@ -332,6 +344,10 @@ def get_rotation(self) -> Rotation2d:
         """Get the current heading of the robot."""
         return self.get_pose().rotation()
 
+    def _get_imu_heading(self) -> Rotation2d:
+        """Get the heading from the IMU."""
+        return self.imu.getRotation2d()
+
     def get_pose_at(self, t: float) -> Pose2d:
         """Gets where the robot was at t"""
         return self.pose_history.sample(t)
@@ -349,11 +365,8 @@ def robot_to_world(
 
     def update_odometry(self) -> None:
         self.estimator.update(
-            self.imu.getRotation2d(),
-            self.modules[0].get(),
-            self.modules[1].get(),
-            self.modules[2].get(),
-            self.modules[3].get(),
+            self._get_imu_heading(),
+            self.get_module_positions(),
         )
         self.field_obj.setPose(self.get_pose())
 
diff --git a/components/vision.py b/components/vision.py
index 72e3481..a0e1996 100644
--- a/components/vision.py
+++ b/components/vision.py
@@ -13,8 +13,6 @@
 )
 from wpimath.geometry import Pose2d, Transform2d, Translation2d, Rotation2d
 
-import random
-
 
 class Vision:
     """Communicates with limelight to get vision data and calculate pose"""
@@ -48,6 +46,7 @@ def _camera_to_robot(self) -> Transform2d:
     def __init__(self) -> None:
         self.camera = PhotonCamera("gloworm")
 
+        """
         if wpilib.RobotBase.isSimulation():
             self.sim_vision_system = SimVisionSystem(
                 "gloworm",
@@ -69,6 +68,7 @@ def __init__(self) -> None:
                 )
             )
             self.camera = self.sim_vision_system.cam
+        """
 
         self.camera.setLEDMode(LEDMode.kOn)
         self.max_std_dev = 0.05
@@ -83,6 +83,7 @@ def setup(self) -> None:
         self.field_obj = self.field.getObject("vision_pose")
 
     def execute(self) -> None:
+        """
         if wpilib.RobotBase.isSimulation():
             # Create some vision target results
             pose = self.field.getRobotPose()
@@ -106,6 +107,7 @@ def execute(self) -> None:
                 newCamPitch=math.degrees(self.CAMERA_PITCH) + random.gauss(0.0, 0.5),
             )
             self.sim_vision_system.processFrame(pose)
+        """
 
         results = self.camera.getLatestResult()
         self.has_target = results.hasTargets()
diff --git a/physics.py b/physics.py
index f657a15..fca5236 100644
--- a/physics.py
+++ b/physics.py
@@ -120,7 +120,7 @@ def update_sim(self, now: float, tm_diff: float) -> None:
             ],
             tuple([module.get() for module in self.swerve_modules]),
         )
-        speeds = self.kinematics.toChassisSpeeds(states)
+        speeds = self.kinematics.toChassisSpeeds(*states)
 
         self.imu_yaw.set(self.imu_yaw.get() - math.degrees(speeds.omega * tm_diff))
 
diff --git a/requirements-sim.txt b/requirements-sim.txt
index 1c2a959..1b421b7 100644
--- a/requirements-sim.txt
+++ b/requirements-sim.txt
@@ -1,3 +1,3 @@
-pyfrc ~= 2022.1.2
-robotpy-halsim-gui ~= 2022.4.1
+pyfrc==2023.0.0b4
+robotpy-halsim-gui==2023.0.0b7
 -r requirements.txt
diff --git a/requirements-test.txt b/requirements-test.txt
index b1e896e..cce5beb 100644
--- a/requirements-test.txt
+++ b/requirements-test.txt
@@ -1,4 +1,4 @@
 hypothesis
-pyfrc ~= 2022.1.2
+pyfrc==2023.0.0b4
 pytest
 -r requirements.txt
diff --git a/requirements.txt b/requirements.txt
index ac8db26..660cbda 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,9 +1,9 @@
-numpy ~= 1.22.1
-robotpy-ctre ~= 2022.1.0
-robotpy-navx ~= 2022.0.1
-robotpy-rev ~= 2022.0.1
-robotpy-wpilib-utilities ~= 2022.0.5
-robotpy-wpimath ~= 2022.4.1.1
-robotpy-wpiutil ~= 2022.4.1.1
-wpilib ~= 2022.4.1.5
-robotpy-photonvision ~= 2022.1.0
+numpy==1.24.1
+robotpy-ctre==2023.0.0b6
+robotpy-navx==2023.0.0b2
+robotpy-rev==2023.0.0b2
+robotpy-wpilib-utilities==2023.0.0b2
+robotpy-wpimath==2023.0.0b7
+robotpy-wpiutil==2023.0.0b7
+wpilib==2023.0.0b7
+robotpy-photonvision==2023.1.1b7
diff --git a/robot.py b/robot.py
index 5b2782a..29aa30b 100755
--- a/robot.py
+++ b/robot.py
@@ -113,7 +113,7 @@ def createObjects(self) -> None:
             except ImportError:
                 self.logger.exception("Could not import CameraServer")
             else:
-                CameraServer.getInstance().startAutomaticCapture()
+                CameraServer.startAutomaticCapture()
 
     def autonomousInit(self) -> None:
         self.shooter_control.lead_shots = False
diff --git a/tests/pyfrc_test.py b/tests/pyfrc_test.py
index 2519292..e9f220c 100644
--- a/tests/pyfrc_test.py
+++ b/tests/pyfrc_test.py
@@ -1,14 +1,13 @@
 # NB: autonomous is tested separately in autonomous_test.py
 from pyfrc.tests import (  # type: ignore
-    # Running all the tests seems to segfault, but a subset seems okay?
-    # test_disabled,
-    # test_operator_control,
+    test_disabled,
+    test_operator_control,
     test_practice,
 )
 
 # Make pyflakes happy about our imports.
 __all__ = (
-    # "test_disabled",
-    # "test_operator_control",
+    "test_disabled",
+    "test_operator_control",
     "test_practice",
 )