diff --git a/build.gradle b/build.gradle
index a203c62..8110ecc 100644
--- a/build.gradle
+++ b/build.gradle
@@ -2,7 +2,7 @@ plugins {
 	id "idea"
 	id 'maven-publish'
 	id "org.jetbrains.kotlin.jvm" version "1.6.10"
-	id "edu.wpi.first.GradleRIO" version "2023.2.1"
+	id "edu.wpi.first.GradleRIO" version "2023.4.2"
 	id "com.diffplug.spotless" version "6.3.0"
 	id "com.peterabeles.gversion" version "1.10"
 	id "org.jetbrains.kotlinx.kover" version "0.4.2"
@@ -21,8 +21,8 @@ dependencies {
 
 	implementation "org.jetbrains.kotlin:kotlin-stdlib"
 
-	implementation "edu.wpi.first.wpimath:wpimath-java:2023.2.1"
-	implementation "edu.wpi.first.wpiutil:wpiutil-java:2023.2.1"
+	implementation "edu.wpi.first.wpimath:wpimath-java:2023.4.2"
+	implementation "edu.wpi.first.wpiutil:wpiutil-java:2023.4.2"
 
 	implementation wpi.java.deps.wpilib()
 	implementation wpi.java.vendor.java()
@@ -39,7 +39,7 @@ publishing {
 		release(MavenPublication) {
 			groupId = 'org.team4099'
 			artifactId = 'falconutils'
-			version = '1.1.13'
+			version = '1.1.14'
 
 			from(components["kotlin"])
 		}
diff --git a/src/main/kotlin/org/team4099/lib/units/MechanismUnits.kt b/src/main/kotlin/org/team4099/lib/units/MechanismUnits.kt
index 8ef0af9..c1e9018 100644
--- a/src/main/kotlin/org/team4099/lib/units/MechanismUnits.kt
+++ b/src/main/kotlin/org/team4099/lib/units/MechanismUnits.kt
@@ -69,7 +69,7 @@ interface MechanismSensor<U : UnitKey> {
     derivativeGain: DerivativeGain<Velocity<U>, Volt>,
   ): Double
 
-  fun velocityFeedforwardToRawUnits(velocityFeedforward: VelocityFeedforward<U, Volt>): Double
+  fun velocityFeedforwardToRawUnits(velocityFeedforward: VelocityFeedforward<Velocity<U>, Volt>): Double
 }
 
 class LinearMechanismSensor(
@@ -157,7 +157,7 @@ class LinearMechanismSensor(
   }
 
   override inline fun velocityFeedforwardToRawUnits(
-    velocityFeedforward: VelocityFeedforward<Meter, Volt>
+    velocityFeedforward: VelocityFeedforward<Velocity<Meter>, Volt>
   ): Double {
     return velocityFeedforward.value * velocityToRawUnits(1.0.meters.perSecond) /
       compensationVoltage.inVolts * fullPowerThrottle
@@ -246,7 +246,7 @@ class AngularMechanismSensor(
   }
 
   override inline fun velocityFeedforwardToRawUnits(
-    velocityFeedforward: VelocityFeedforward<Radian, Volt>
+    velocityFeedforward: VelocityFeedforward<Velocity<Radian>, Volt>
   ): Double {
     return velocityFeedforward.value * velocityToRawUnits(1.0.radians.perSecond) /
       compensationVoltage.inVolts * fullPowerThrottle