diff --git a/cpp/SwerveWithPathPlanner/src/main/deploy/pathplanner/settings.json b/cpp/SwerveWithPathPlanner/src/main/deploy/pathplanner/settings.json
index 4281425f..4a0d130e 100644
--- a/cpp/SwerveWithPathPlanner/src/main/deploy/pathplanner/settings.json
+++ b/cpp/SwerveWithPathPlanner/src/main/deploy/pathplanner/settings.json
@@ -1,6 +1,6 @@
 {
-  "robotWidth": 0.9,
-  "robotLength": 0.9,
+  "robotWidth": 0.762,
+  "robotLength": 0.762,
   "holonomicMode": true,
   "pathFolders": [],
   "autoFolders": [],
@@ -8,14 +8,25 @@
   "defaultMaxAccel": 3.0,
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
+  "defaultNominalVoltage": 12.0,
   "robotMass": 75.0,
   "robotMOI": 6.883,
-  "robotWheelbase": 0.5588,
   "robotTrackwidth": 0.5588,
   "driveWheelRadius": 0.05504,
   "driveGearing": 7.363636,
   "maxDriveSpeed": 4.7,
   "driveMotorType": "krakenX60FOC",
   "driveCurrentLimit": 120.0,
-  "wheelCOF": 1.7
+  "wheelCOF": 1.7,
+  "flModuleX": 0.267,
+  "flModuleY": 0.2667,
+  "frModuleX": 0.267,
+  "frModuleY": -0.267,
+  "blModuleX": -0.267,
+  "blModuleY": 0.267,
+  "brModuleX": -0.267,
+  "brModuleY": -0.267,
+  "bumperOffsetX": 0.0,
+  "bumperOffsetY": 0.0,
+  "robotFeatures": []
 }
\ No newline at end of file
diff --git a/cpp/SwerveWithPathPlanner/vendordeps/PathplannerLib-beta.json b/cpp/SwerveWithPathPlanner/vendordeps/PathplannerLib-beta.json
index 4083333d..e79fe1ae 100644
--- a/cpp/SwerveWithPathPlanner/vendordeps/PathplannerLib-beta.json
+++ b/cpp/SwerveWithPathPlanner/vendordeps/PathplannerLib-beta.json
@@ -1,7 +1,7 @@
 {
     "fileName": "PathplannerLib-beta.json",
     "name": "PathplannerLib",
-    "version": "2025.0.0-beta-4",
+    "version": "2025.0.0-beta-5",
     "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-4"
+            "version": "2025.0.0-beta-5"
         }
     ],
     "jniDependencies": [],
@@ -20,7 +20,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2025.0.0-beta-4",
+            "version": "2025.0.0-beta-5",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
diff --git a/java/SwerveWithPathPlanner/src/main/deploy/pathplanner/settings.json b/java/SwerveWithPathPlanner/src/main/deploy/pathplanner/settings.json
index 4281425f..4a0d130e 100644
--- a/java/SwerveWithPathPlanner/src/main/deploy/pathplanner/settings.json
+++ b/java/SwerveWithPathPlanner/src/main/deploy/pathplanner/settings.json
@@ -1,6 +1,6 @@
 {
-  "robotWidth": 0.9,
-  "robotLength": 0.9,
+  "robotWidth": 0.762,
+  "robotLength": 0.762,
   "holonomicMode": true,
   "pathFolders": [],
   "autoFolders": [],
@@ -8,14 +8,25 @@
   "defaultMaxAccel": 3.0,
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
+  "defaultNominalVoltage": 12.0,
   "robotMass": 75.0,
   "robotMOI": 6.883,
-  "robotWheelbase": 0.5588,
   "robotTrackwidth": 0.5588,
   "driveWheelRadius": 0.05504,
   "driveGearing": 7.363636,
   "maxDriveSpeed": 4.7,
   "driveMotorType": "krakenX60FOC",
   "driveCurrentLimit": 120.0,
-  "wheelCOF": 1.7
+  "wheelCOF": 1.7,
+  "flModuleX": 0.267,
+  "flModuleY": 0.2667,
+  "frModuleX": 0.267,
+  "frModuleY": -0.267,
+  "blModuleX": -0.267,
+  "blModuleY": 0.267,
+  "brModuleX": -0.267,
+  "brModuleY": -0.267,
+  "bumperOffsetX": 0.0,
+  "bumperOffsetY": 0.0,
+  "robotFeatures": []
 }
\ No newline at end of file
diff --git a/java/SwerveWithPathPlanner/vendordeps/PathplannerLib-beta.json b/java/SwerveWithPathPlanner/vendordeps/PathplannerLib-beta.json
index 4083333d..e79fe1ae 100644
--- a/java/SwerveWithPathPlanner/vendordeps/PathplannerLib-beta.json
+++ b/java/SwerveWithPathPlanner/vendordeps/PathplannerLib-beta.json
@@ -1,7 +1,7 @@
 {
     "fileName": "PathplannerLib-beta.json",
     "name": "PathplannerLib",
-    "version": "2025.0.0-beta-4",
+    "version": "2025.0.0-beta-5",
     "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-4"
+            "version": "2025.0.0-beta-5"
         }
     ],
     "jniDependencies": [],
@@ -20,7 +20,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2025.0.0-beta-4",
+            "version": "2025.0.0-beta-5",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,