diff --git a/azure-pipelines.yml b/azure-pipelines.yml
index c4bb1f9a..fafb7cdc 100644
--- a/azure-pipelines.yml
+++ b/azure-pipelines.yml
@@ -22,6 +22,7 @@ stages:
     
     variables:
       DISPLAY: ':10'
+      MACOSX_DEPLOYMENT_TARGET: 11
 
     steps:
       - bash: |
@@ -59,7 +60,7 @@ stages:
 
   - job: Mac
     pool:
-      vmImage: 'macOS-11'
+      vmImage: 'macOS-12'
     steps:
       - script: |
           mkdir build
diff --git a/src/main/java/robotbuilder/RobotBuilder.java b/src/main/java/robotbuilder/RobotBuilder.java
index 82794811..ae67722e 100644
--- a/src/main/java/robotbuilder/RobotBuilder.java
+++ b/src/main/java/robotbuilder/RobotBuilder.java
@@ -20,7 +20,7 @@
  */
 public class RobotBuilder {
 
-    public static final int VERSION_MAJOR = 5;
+    public static final int VERSION_MAJOR = 6;
     public static final int VERSION_MINOR = 0;
 
     public static final String VERSION = VERSION_MAJOR + "." + VERSION_MINOR;
diff --git a/src/main/resources/export/cpp/ExportDescription.yaml b/src/main/resources/export/cpp/ExportDescription.yaml
index 1daa0a2a..ceddbaef 100644
--- a/src/main/resources/export/cpp/ExportDescription.yaml
+++ b/src/main/resources/export/cpp/ExportDescription.yaml
@@ -127,7 +127,7 @@ Instructions:
     Defaults: "None"
     Export: "RobotContainer"
     Import: "\\#include \"subsystems/#class($Short_Name).h\""
-    ClassName: "frc2::SubsystemBase"
+    ClassName: "frc2::Subsystem"
   PID Subsystem:
     Defaults: "None"
     Export: "RobotContainer"
@@ -343,7 +343,7 @@ Instructions:
 
   Command:
     Defaults: "Command,None"
-    ClassName: "frc2::CommandBase"
+    ClassName: "frc2::Command"
   Sequential Command Group:
     Defaults: "Command,None"
   PID Command:
diff --git a/src/main/resources/export/cpp/RobotContainer-prototypes.h b/src/main/resources/export/cpp/RobotContainer-prototypes.h
index 36317404..0263e020 100644
--- a/src/main/resources/export/cpp/RobotContainer-prototypes.h
+++ b/src/main/resources/export/cpp/RobotContainer-prototypes.h
@@ -1,7 +1,7 @@
 // The robot's subsystems
 #foreach ($component in $components)
 #if ("#type($component)" != "" 
-&& ("#type($component)" == "frc2::SubsystemBase"
+&& ("#type($component)" == "frc2::Subsystem"
      || "#type($component)" == "frc2::PIDSubsystem"))
     #class($component.getName()) #variable($component.getName());
 #end
diff --git a/src/main/resources/export/cpp/RobotContainer-subsystem-default_command.cpp b/src/main/resources/export/cpp/RobotContainer-subsystem-default_command.cpp
index 7b75d5ee..1c6d8f78 100644
--- a/src/main/resources/export/cpp/RobotContainer-subsystem-default_command.cpp
+++ b/src/main/resources/export/cpp/RobotContainer-subsystem-default_command.cpp
@@ -1,5 +1,5 @@
 #foreach ($component in $components)
-#if ("#type($component)" == "frc2::SubsystemBase" || "#type($component)" == "frc2::PIDSubsystem")
+#if ("#type($component)" == "frc2::Subsystem" || "#type($component)" == "frc2::PIDSubsystem")
 #foreach ($command in $commands)
 #if($command.name == $component.getProperty("Default Command").value)
 #set($params = $component.getProperty("Default command parameters").getValue())
diff --git a/src/main/resources/export/cpp/SetpointCommand-includes.h b/src/main/resources/export/cpp/SetpointCommand-includes.h
index 0c2861b4..d46a69df 100644
--- a/src/main/resources/export/cpp/SetpointCommand-includes.h
+++ b/src/main/resources/export/cpp/SetpointCommand-includes.h
@@ -1,4 +1,4 @@
 
-\#include "frc2/command/CommandBase.h"
+\#include "frc2/command/Command.h"
 \#include "frc2/command/CommandHelper.h"
 \#include "subsystems/#class(${command.getProperty("Requires").getValue()}).h"
\ No newline at end of file
diff --git a/src/main/resources/export/cpp/SetpointCommand.h b/src/main/resources/export/cpp/SetpointCommand.h
index 43f6bd66..b96c69aa 100644
--- a/src/main/resources/export/cpp/SetpointCommand.h
+++ b/src/main/resources/export/cpp/SetpointCommand.h
@@ -13,7 +13,7 @@
  *
  * @author ExampleAuthor
  */
-class #class($command.name): public frc2::CommandHelper<frc2::CommandBase, #class($command.name)> {
+class #class($command.name): public frc2::CommandHelper<frc2::Command, #class($command.name)> {
 public:
 #@autogenerated_code("constructor", "    ")
 #parse("${exporter_path}SetpointCommand-constructor-header.h")
diff --git a/src/main/resources/export/cpp/Subsystem-includes.h b/src/main/resources/export/cpp/Subsystem-includes.h
index 7ebbfb6e..82cf2996 100644
--- a/src/main/resources/export/cpp/Subsystem-includes.h
+++ b/src/main/resources/export/cpp/Subsystem-includes.h
@@ -1,2 +1,2 @@
-\#include <frc2/command/SubsystemBase.h>
+\#include <frc2/command/Subsystem.h>
 ${helper.getImports($subsystem, "RobotMap")}
\ No newline at end of file
diff --git a/src/main/resources/export/cpp/Subsystem.cpp b/src/main/resources/export/cpp/Subsystem.cpp
index 035dd175..d39fc3ca 100644
--- a/src/main/resources/export/cpp/Subsystem.cpp
+++ b/src/main/resources/export/cpp/Subsystem.cpp
@@ -1,5 +1,5 @@
 #set($subsystem = $helper.getByName($subsystem_name, $robot))
-#macro( klass $cmd )#if( "#type($cmd)" == "" )SendableSubsystemBase#elsefrc::#type($cmd)#end#end
+#macro( klass $cmd )#if( "#type($cmd)" == "" )Subsystem#elsefrc::#type($cmd)#end#end
 #header()
 // ROBOTBUILDER TYPE: Subsystem.
 
diff --git a/src/main/resources/export/cpp/Subsystem.h b/src/main/resources/export/cpp/Subsystem.h
index 8e5f9f8e..a880571c 100644
--- a/src/main/resources/export/cpp/Subsystem.h
+++ b/src/main/resources/export/cpp/Subsystem.h
@@ -13,7 +13,7 @@
  *
  * @author ExampleAuthor
  */
-class #class($subsystem.name): public frc2::SubsystemBase {
+class #class($subsystem.name): public frc2::Subsystem {
 private:
     // It's desirable that everything possible is private except
     // for methods that implement subsystem capabilities
diff --git a/src/main/resources/export/cpp/build.gradle b/src/main/resources/export/cpp/build.gradle
index c768b722..adf04068 100644
--- a/src/main/resources/export/cpp/build.gradle
+++ b/src/main/resources/export/cpp/build.gradle
@@ -4,6 +4,11 @@ plugins {
     id "edu.wpi.first.GradleRIO" version "${wpilib_version}"
 }
 
+wpi.maven.useLocal = false
+wpi.maven.useDevelopment = true
+wpi.versions.wpilibVersion = '2023.+'
+wpi.versions.wpimathVersion = '2023.+'
+
 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployTools.
 deploy {
diff --git a/src/main/resources/export/cpp/command-includes.h b/src/main/resources/export/cpp/command-includes.h
index c9ee1b3d..650444d7 100644
--- a/src/main/resources/export/cpp/command-includes.h
+++ b/src/main/resources/export/cpp/command-includes.h
@@ -1,6 +1,6 @@
 
 \#include <frc2/command/CommandHelper.h>
-\#include <frc2/command/CommandBase.h>
+\#include <frc2/command/Command.h>
 
 #if (${command.getProperty("Requires").getValue()} != "None")
 \#include "subsystems/#class(${command.getProperty("Requires").getValue()}).h"
diff --git a/src/main/resources/export/java/Command.java b/src/main/resources/export/java/Command.java
index 41b6709d..1ef59f15 100644
--- a/src/main/resources/export/java/Command.java
+++ b/src/main/resources/export/java/Command.java
@@ -4,8 +4,8 @@
 package ${package}.commands;
 #set($command = $helper.getByName($command_name, $robot))
 #set($params = $command.getProperty("Parameters").getValue())
-#macro( klass $cmd )#if( "#type($cmd)" == "" )CommandBase#else#type($cmd)#end#end
-import edu.wpi.first.wpilibj2.command.CommandBase;
+#macro( klass $cmd )#if( "#type($cmd)" == "" )Command#else#type($cmd)#end#end
+import edu.wpi.first.wpilibj2.command.Command;
 import java.util.function.DoubleSupplier;
 
 #@autogenerated_code("imports", "")
diff --git a/src/main/resources/export/java/ExportDescription.yaml b/src/main/resources/export/java/ExportDescription.yaml
index 6899b6f4..a7eb73bc 100644
--- a/src/main/resources/export/java/ExportDescription.yaml
+++ b/src/main/resources/export/java/ExportDescription.yaml
@@ -139,7 +139,7 @@ Instructions:
     Import: "import ${package}.subsystems.*;"
     Declaration: "private #class($Short_Name) #variable($Short_Name);"
     Construction: "#variable($Short_Name) = new #class($Short_Name)();"
-    ClassName: "SubsystemBase"
+    ClassName: "Subsystem"
   PID Subsystem:
     Defaults: "None"
     Export: "RobotContainer"
diff --git a/src/main/resources/export/java/RobotContainer-declarations.java b/src/main/resources/export/java/RobotContainer-declarations.java
index 502306c5..0d3f88ce 100644
--- a/src/main/resources/export/java/RobotContainer-declarations.java
+++ b/src/main/resources/export/java/RobotContainer-declarations.java
@@ -2,7 +2,7 @@
 #foreach ($component in $components)
 #if ($helper.exportsTo("RobotContainer", $component)
 && "#type($component)" != "" 
-&& ("#type($component)" == "SubsystemBase"
+&& ("#type($component)" == "Subsystem"
      || "#type($component)" == "PIDSubsystem"))
     public final #class($component.getName()) m_#variable($component.getName()) = new #class($component.getName())();
 #end
diff --git a/src/main/resources/export/java/RobotContainer-subsystem_default_Command.java b/src/main/resources/export/java/RobotContainer-subsystem_default_Command.java
index 408adc06..83914441 100644
--- a/src/main/resources/export/java/RobotContainer-subsystem_default_Command.java
+++ b/src/main/resources/export/java/RobotContainer-subsystem_default_Command.java
@@ -1,7 +1,7 @@
 #foreach ($component in $components)
 #if ($helper.exportsTo("RobotContainer", $component)
 && "#type($component)" != "" 
-&& ("#type($component)" == "SubsystemBase"
+&& ("#type($component)" == "Subsystem"
      || "#type($component)" == "PIDSubsystem"))
 #foreach ($command in $commands)
 #if($command.name == $component.getProperty("Default Command").value)
diff --git a/src/main/resources/export/java/SetpointCommand.java b/src/main/resources/export/java/SetpointCommand.java
index d7d2f185..45675886 100644
--- a/src/main/resources/export/java/SetpointCommand.java
+++ b/src/main/resources/export/java/SetpointCommand.java
@@ -5,7 +5,7 @@
 #set($command = $helper.getByName($command_name, $robot))
 
 import java.util.function.DoubleSupplier;
-import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpilibj2.command.Command;
 import ${package}.Robot;
 #@autogenerated_code("imports", "")
 #parse("${exporter_path}Command-imports.java")
@@ -14,7 +14,7 @@
 /**
  *
  */
-public class #class($command.name) extends CommandBase {
+public class #class($command.name) extends Command {
 
 #@autogenerated_code("variable_declarations", "    ")
 #parse("${exporter_path}Command-variable-declarations.java")
diff --git a/src/main/resources/export/java/Subsystem.java b/src/main/resources/export/java/Subsystem.java
index f109877c..094da6db 100644
--- a/src/main/resources/export/java/Subsystem.java
+++ b/src/main/resources/export/java/Subsystem.java
@@ -3,12 +3,12 @@
 
 package ${package}.subsystems;
 #set($subsystem = $helper.getByName($subsystem_name, $robot))
-#macro( klass $cmd )#if( "#type($cmd)" == "" ) SubsystemBase #else#type($cmd)#end#end
+#macro( klass $cmd )#if( "#type($cmd)" == "" ) Subsystem #else#type($cmd)#end#end
 
 
 import ${package}.commands.*;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj2.command.Subsystem;
 
 #@autogenerated_code("imports", "")
 #parse("${exporter_path}Subsystem-imports.java")
diff --git a/src/main/resources/export/java/build.gradle b/src/main/resources/export/java/build.gradle
index f096a4e5..d9072b58 100644
--- a/src/main/resources/export/java/build.gradle
+++ b/src/main/resources/export/java/build.gradle
@@ -5,6 +5,11 @@ plugins {
     id "edu.wpi.first.GradleRIO" version "${wpilib_version}"
 }
 
+wpi.maven.useLocal = false
+wpi.maven.useDevelopment = true
+wpi.versions.wpilibVersion = '2023.+'
+wpi.versions.wpimathVersion = '2023.+'
+
 sourceCompatibility = JavaVersion.VERSION_11
 targetCompatibility = JavaVersion.VERSION_11