diff --git a/Robot2024/lib/build.gradle b/Robot2024/lib/build.gradle
index 14b2ed2..de94e9c 100644
--- a/Robot2024/lib/build.gradle
+++ b/Robot2024/lib/build.gradle
@@ -41,8 +41,6 @@ dependencies {
     nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
     simulationRelease wpi.sim.enableRelease()
 
-	implementation 'edu.wpi.first.wpilibNewCommands:wpilibNewCommands-java:2023.4.3'
-
     testImplementation 'junit:junit:4.13'
 }
 
diff --git a/Robot2024/lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java b/Robot2024/lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java
index df9e7af..7a2c83c 100644
--- a/Robot2024/lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java
+++ b/Robot2024/lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java
@@ -129,25 +129,17 @@ public interface Position {
 	}
 
 	/**
-	 * Sets the desired setpoint to the current setpoint, and enables the pid
-	 * controll
+	 * Sets the desired setpoint to the current setpoint, and enables the PID.
+	 * control.
+	 *
+	 * <p>Prefer calling this over calling {@link #setSetpoint(double)}.
 	 * 
 	 * @param setpoint the position to go to
 	 */
-	public void setSetpoint(double setpoint) {
+	public void setSetpoint(T setpoint) {
 		if (!isEnabled()) {
 			enable();
 		}
-		super.setSetpoint(setpoint);
-	}
-
-	/**
-	 * Sets the desired setpoint to the current setpoint, and enables the pid
-	 * controll
-	 * 
-	 * @param setpoint the position to go to
-	 */
-	public void setSetpoint(T setpoint) {
 		setSetpoint(setpoint.getPos());
 	}
 
diff --git a/Robot2024/vendordeps/WPILibNewCommands.json b/Robot2024/lib/vendordeps/WPILibNewCommands.json
similarity index 100%
rename from Robot2024/vendordeps/WPILibNewCommands.json
rename to Robot2024/lib/vendordeps/WPILibNewCommands.json