diff --git a/coprocessors/configure-linux-router.sh b/coprocessors/configure-linux-router.sh
index 3c7df3e..f7fde7a 100755
--- a/coprocessors/configure-linux-router.sh
+++ b/coprocessors/configure-linux-router.sh
@@ -9,6 +9,7 @@ ip link set $IFACE down
 # Set the IP address and routable subnet of the interface
 echo "Setting IP address and subnet..."
 ip addr add 10.36.36.1/24 dev $IFACE
+ip addr add 10.36.36.2/24 dev $IFACE
 
 # Enable IP forwarding
 echo "Enabling IP forwarding..."
diff --git a/coprocessors/flake.lock b/coprocessors/flake.lock
index a6f0bbf..ca4c65b 100644
--- a/coprocessors/flake.lock
+++ b/coprocessors/flake.lock
@@ -23,11 +23,11 @@
         "systems": "systems_2"
       },
       "locked": {
-        "lastModified": 1705309234,
-        "narHash": "sha256-uNRRNRKmJyCRC/8y1RqBkqWBLM034y4qN7EprSdmgyA=",
+        "lastModified": 1710146030,
+        "narHash": "sha256-SZ5L6eA7HJ/nmkzGG7/ISclqe6oZdOZTNoesiInkXPQ=",
         "owner": "numtide",
         "repo": "flake-utils",
-        "rev": "1ef2e671c3b0c19053962c07dbda38332dcebf26",
+        "rev": "b1d9ab70662946ef0850d488da1c9019f3a9752a",
         "type": "github"
       },
       "original": {
@@ -58,23 +58,6 @@
         "type": "github"
       }
     },
-    "mesa-panfork": {
-      "flake": false,
-      "locked": {
-        "lastModified": 1670633863,
-        "narHash": "sha256-4eZHMiYS+sRDHNBtLZTA8ELZnLns7yT3USU5YQswxQ0=",
-        "owner": "panfork",
-        "repo": "mesa",
-        "rev": "120202c675749c5ef81ae4c8cdc30019b4de08f4",
-        "type": "gitlab"
-      },
-      "original": {
-        "owner": "panfork",
-        "ref": "csf",
-        "repo": "mesa",
-        "type": "gitlab"
-      }
-    },
     "naersk": {
       "inputs": {
         "nixpkgs": "nixpkgs_2"
@@ -93,13 +76,50 @@
         "type": "github"
       }
     },
+    "nixlib": {
+      "locked": {
+        "lastModified": 1709426687,
+        "narHash": "sha256-jLBZmwXf0WYHzLkmEMq33bqhX55YtT5edvluFr0RcSA=",
+        "owner": "nix-community",
+        "repo": "nixpkgs.lib",
+        "rev": "7873d84a89ae6e4841528ff7f5697ddcb5bdfe6c",
+        "type": "github"
+      },
+      "original": {
+        "owner": "nix-community",
+        "repo": "nixpkgs.lib",
+        "type": "github"
+      }
+    },
+    "nixos-generators": {
+      "inputs": {
+        "nixlib": "nixlib",
+        "nixpkgs": [
+          "nixos-rk3588",
+          "nixpkgs"
+        ]
+      },
+      "locked": {
+        "lastModified": 1709557527,
+        "narHash": "sha256-PV8oYqhTHX6FGZMQ1m5dhRuS914AhofPwgnAMhUZtwE=",
+        "owner": "nix-community",
+        "repo": "nixos-generators",
+        "rev": "d048d6fc4bada612ff08d4b9d5edc48d45389431",
+        "type": "github"
+      },
+      "original": {
+        "owner": "nix-community",
+        "repo": "nixos-generators",
+        "type": "github"
+      }
+    },
     "nixos-hardware": {
       "locked": {
-        "lastModified": 1708091350,
-        "narHash": "sha256-o28BJYi68qqvHipT7V2jkWxDiMS1LF9nxUsou+eFUPQ=",
+        "lastModified": 1709410583,
+        "narHash": "sha256-esOSUoQ7mblwcsSea0K17McZuwAIjoS6dq/4b83+lvw=",
         "owner": "NixOS",
         "repo": "nixos-hardware",
-        "rev": "106d3fec43bcea19cb2e061ca02531d54b542ce3",
+        "rev": "59e37017b9ed31dee303dbbd4531c594df95cfbc",
         "type": "github"
       },
       "original": {
@@ -112,18 +132,18 @@
     "nixos-rk3588": {
       "inputs": {
         "flake-utils": "flake-utils",
-        "mesa-panfork": "mesa-panfork",
+        "nixos-generators": "nixos-generators",
         "nixpkgs": [
           "nixpkgs"
         ],
         "pre-commit-hooks": "pre-commit-hooks"
       },
       "locked": {
-        "lastModified": 1703010942,
-        "narHash": "sha256-YYNCF1cnVyQk6OPVnwyvpeg3brwS/ICRGAvFwe2RCZc=",
+        "lastModified": 1709799829,
+        "narHash": "sha256-/hUwUFhKMRXRXU9tdW2GhqzyjrbR+duZbPMUcKdiCZ4=",
         "owner": "ryan4yin",
         "repo": "nixos-rk3588",
-        "rev": "fce637ae61bc0fce3c68c39c117d08bcc8e2bedf",
+        "rev": "52d63fecbaebd6fd0dab22d9a48d96084e8ca4e9",
         "type": "github"
       },
       "original": {
@@ -134,28 +154,26 @@
     },
     "nixpkgs": {
       "locked": {
-        "lastModified": 1708105575,
-        "narHash": "sha256-sS4AItZeUnAei6v8FqxNlm+/27MPlfoGym/TZP0rmH0=",
+        "lastModified": 1709703039,
+        "narHash": "sha256-6hqgQ8OK6gsMu1VtcGKBxKQInRLHtzulDo9Z5jxHEFY=",
         "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "1d1817869c47682a6bee85b5b0a6537b6c0fba26",
+        "rev": "9df3e30ce24fd28c7b3e2de0d986769db5d6225d",
         "type": "github"
       },
       "original": {
         "owner": "NixOS",
-        "ref": "nixos-23.11",
+        "ref": "nixos-unstable",
         "repo": "nixpkgs",
         "type": "github"
       }
     },
     "nixpkgs_2": {
       "locked": {
-        "lastModified": 1707205916,
-        "narHash": "sha256-fmRJilYGlB7VCt3XsdYxrA0u8e/K84O5xYucerUY0iM=",
-        "owner": "NixOS",
-        "repo": "nixpkgs",
-        "rev": "8cc79aa39bbc6eaedaf286ae655b224c71e02907",
-        "type": "github"
+        "lastModified": 0,
+        "narHash": "sha256-n6F0n8UV6lnTZbYPl1A9q1BS0p4hduAv1mGAP17CVd0=",
+        "path": "/nix/store/bjvqq8c79dbi59g7xzcc6lhl0f19m3d7-source",
+        "type": "path"
       },
       "original": {
         "id": "nixpkgs",
@@ -204,11 +222,11 @@
         ]
       },
       "locked": {
-        "lastModified": 1708286249,
-        "narHash": "sha256-kleRBU/1hbQdYCQrlahOdOzshOVWdzDkKbIYmsO+zJs=",
+        "lastModified": 1711075133,
+        "narHash": "sha256-0RU6tD3oGyQlCaX0zPBfKX1GfV0wgoxznKB/pa5zA3Y=",
         "owner": "FRC3636",
         "repo": "rgb-2024",
-        "rev": "a718855c6f8815d98f0b1285a8644aabe8e02cd5",
+        "rev": "eee8468ec24085b45e8d78c5983369789de55759",
         "type": "github"
       },
       "original": {
diff --git a/coprocessors/flake.nix b/coprocessors/flake.nix
index 5c7f768..e2e73cc 100644
--- a/coprocessors/flake.nix
+++ b/coprocessors/flake.nix
@@ -2,7 +2,7 @@
   description = "Coprocessor NixOS configurations for 3636's 2024 FRC robot.";
 
   inputs = {
-    nixpkgs.url = "github:NixOS/nixpkgs/nixos-23.11";
+    nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable";
     nixos-rk3588 = {
       url = "github:ryan4yin/nixos-rk3588";
       inputs.nixpkgs.follows = "nixpkgs";
@@ -70,7 +70,8 @@
       };
 
       overlays.default = self: super: {
-        photonvision = self.callPackage ./pkgs/photonvision.nix { };
+        photonvision = self.callPackage ./pkgs/photonvision { };
+        pplib-coprocessor = self.callPackage ./pkgs/pplib-coprocessor { };
         rgb-2024 = rgb-2024.packages.${self.system}.default;
       };
 
diff --git a/coprocessors/hosts/copepod/default.nix b/coprocessors/hosts/copepod/default.nix
index 2793b1c..b18de66 100644
--- a/coprocessors/hosts/copepod/default.nix
+++ b/coprocessors/hosts/copepod/default.nix
@@ -11,66 +11,146 @@
     };
     kernelModules = [ "spidev" ];
   };
+  systemd.services.rgb-2024 = {
+    description = "RGB LED strip driver";
+    wantedBy = [ "multi-user.target" ];
+    after = [ "network.target" ];
+    unitConfig = {
+      # Allow infinite restarts
+      StartLimitIntervalSec = "0";
+    };
+    serviceConfig = {
+      Type = "simple";
+      ExecStart = "${pkgs.rgb-2024}/bin/rgb-2024";
+      Restart = "on-failure";
+
+      RestartSec = 3;
+    };
+  };
 
   hardware = {
     raspberry-pi."4".apply-overlays-dtmerge.enable = true;
     deviceTree = {
       enable = true;
       filter = "*rpi-4-*.dtb";
-      overlays = [{
-        name = "spi";
-        dtsText = ''
-                  /dts-v1/;
-          /plugin/;
-
-          / {
-          	compatible = "raspberrypi";
-          	fragment@0 {
-          		target = <&spi>;
-          		__overlay__ {
-          			cs-gpios = <&gpio 8 1>, <&gpio 7 1>;
-          			status = "okay";
-          			pinctrl-names = "default";
-          			pinctrl-0 = <&spi0_pins &spi0_cs_pins>;
-          			#address-cells = <1>;
-          			#size-cells = <0>;
-          			spidev@0 {
-          				reg = <0>;	// CE0
-          				spi-max-frequency = <500000>;
-          				compatible = "spidev";
-          			};
-
-          			spidev@1 {
-          				reg = <1>;	// CE1
-          				spi-max-frequency = <500000>;
-          				compatible = "spidev";
-          			};
-          		};
-          	};
-                  fragment@1 {
-          		target = <&alt0>;
-          		__overlay__ {
-          			// Drop GPIO 7, SPI 8-11
-          			brcm,pins = <4 5>;
-          		};
-          	};
-
-          	fragment@2 {
-          		target = <&gpio>;
-          		__overlay__ {
-          			spi0_pins: spi0_pins {
-          				brcm,pins = <9 10 11>;
-          				brcm,function = <4>; // alt0
-          			};
-          			spi0_cs_pins: spi0_cs_pins {
-          				brcm,pins = <8 7>;
-          				brcm,function = <1>; // out
-          			};
-          		};
-          	};
-          };
-        '';
-      }];
+      overlays = [
+        {
+          name = "spi0";
+          dtsText = ''
+            /dts-v1/;
+            /plugin/;
+
+            / {
+            	compatible = "raspberrypi";
+            	fragment@0 {
+            		target = <&spi>;
+            		__overlay__ {
+            			cs-gpios = <&gpio 8 1>, <&gpio 7 1>;
+            			status = "okay";
+            			pinctrl-names = "default";
+            			pinctrl-0 = <&spi0_pins &spi0_cs_pins>;
+            			#address-cells = <1>;
+            			#size-cells = <0>;
+            			spidev@0 {
+            				reg = <0>;	// CE0
+            				spi-max-frequency = <500000>;
+            				compatible = "spidev";
+            			};
+
+            			spidev@1 {
+            				reg = <1>;	// CE1
+            				spi-max-frequency = <500000>;
+            				compatible = "spidev";
+            			};
+            		};
+            	};
+              fragment@1 {
+            		target = <&alt0>;
+            		__overlay__ {
+            			// Drop GPIO 7, SPI 8-11
+            			brcm,pins = <4 5>;
+            		};
+            	};
+
+            	fragment@2 {
+            		target = <&gpio>;
+            		__overlay__ {
+            			spi0_pins: spi0_pins {
+            				brcm,pins = <9 10 11>;
+            				brcm,function = <4>; // alt0
+            			};
+            			spi0_cs_pins: spi0_cs_pins {
+            				brcm,pins = <8 7>;
+            				brcm,function = <1>; // out
+            			};
+            		};
+            	};
+            };
+          '';
+        }
+				{
+          name = "spi1";
+          dtsText = ''
+            /dts-v1/;
+            /plugin/;
+
+
+            / {
+            	compatible = "raspberrypi";
+
+            	fragment@0 {
+            		target = <&gpio>;
+            		__overlay__ {
+            			spi1_pins: spi1_pins {
+            				brcm,pins = <19 20 21>;
+            				brcm,function = <3>; /* alt4 */
+            			};
+
+            			spi1_cs_pins: spi1_cs_pins {
+            				brcm,pins = <18>;
+            				brcm,function = <1>; /* output */
+            			};
+            		};
+            	};
+
+            	fragment@1 {
+            		target = <&spi1>;
+            		frag1: __overlay__ {
+            			/* needed to avoid dtc warning */
+            			#address-cells = <1>;
+            			#size-cells = <0>;
+            			pinctrl-names = "default";
+            			pinctrl-0 = <&spi1_pins &spi1_cs_pins>;
+            			cs-gpios = <&gpio 18 1>;
+            			status = "okay";
+
+            			spidev1_0: spidev@0 {
+            				compatible = "spidev";
+            				reg = <0>;      /* CE0 */
+            				#address-cells = <1>;
+            				#size-cells = <0>;
+            				spi-max-frequency = <500000>;
+            				status = "okay";
+            			};
+            		};
+            	};
+
+            	fragment@2 {
+            		target = <&aux>;
+            		__overlay__ {
+            			status = "okay";
+            		};
+            	};
+
+            	__overrides__ {
+            		cs0_pin  = <&spi1_cs_pins>,"brcm,pins:0",
+            			   <&frag1>,"cs-gpios:4";
+            		cs0_spidev = <&spidev1_0>,"status";
+            	};
+            };
+          '';
+        }
+      ];
     };
   };
 
@@ -78,10 +158,11 @@
   users.groups.gpio = { };
 
   services.udev.extraRules = ''
-    SUBSYSTEM=="spidev", KERNEL=="spidev0.0", GROUP="spi", MODE="0660"
-    SUBSYSTEM=="bcm2835-gpiomem", KERNEL=="gpiomem", GROUP="gpio",MODE="0660"
-    SUBSYSTEM=="gpio", KERNEL=="gpiochip*", ACTION=="add", RUN+="${pkgs.bash}/bin/bash -c 'chown root:gpio /sys/class/gpio/export /sys/class/gpio/unexport ; chmod 220 /sys/class/gpio/export /sys/class/gpio/unexport'"
-    SUBSYSTEM=="gpio", KERNEL=="gpio*", ACTION=="add",RUN+="${pkgs.bash}/bin/bash -c 'chown root:gpio /sys%p/active_low /sys%p/direction /sys%p/edge /sys%p/value ; chmod 660 /sys%p/active_low /sys%p/direction /sys%p/edge /sys%p/value'"
+		SUBSYSTEM=="spidev", KERNEL=="spidev0.0", GROUP="spi", MODE="0660"
+		SUBSYSTEM=="spidev", KERNEL=="spidev1.0", GROUP="spi", MODE="0660"
+		SUBSYSTEM=="bcm2835-gpiomem", KERNEL=="gpiomem", GROUP="gpio",MODE="0660"
+		SUBSYSTEM=="gpio", KERNEL=="gpiochip*", ACTION=="add", RUN+="${pkgs.bash}/bin/bash -c 'chown root:gpio /sys/class/gpio/export /sys/class/gpio/unexport ; chmod 220 /sys/class/gpio/export /sys/class/gpio/unexport'"
+		SUBSYSTEM=="gpio", KERNEL=="gpio*", ACTION=="add",RUN+="${pkgs.bash}/bin/bash -c 'chown root:gpio /sys%p/active_low /sys%p/direction /sys%p/edge /sys%p/value ; chmod 660 /sys%p/active_low /sys%p/direction /sys%p/edge /sys%p/value'"
   '';
 
   networking = {
diff --git a/coprocessors/hosts/tangerine/default.nix b/coprocessors/hosts/tangerine/default.nix
index b7c21f1..b05b01a 100644
--- a/coprocessors/hosts/tangerine/default.nix
+++ b/coprocessors/hosts/tangerine/default.nix
@@ -20,7 +20,14 @@
       };
     };
 
-    services.photonvision.enable = true;
+    services.photonvision = {
+      enable = true;
+    };
+
+    services.pplib-coprocessor = {
+      enable = true;
+      server = "10.36.36.2";
+    };
 
     boot = {
       binfmt.emulatedSystems = [ "aarch64-linux" ];
diff --git a/coprocessors/modules/default.nix b/coprocessors/modules/default.nix
index 7dfb285..2b3282b 100644
--- a/coprocessors/modules/default.nix
+++ b/coprocessors/modules/default.nix
@@ -5,6 +5,7 @@
     ./networking.nix
     ./administration.nix
     ./services/photonvision.nix
+    ./services/pplib-coprocessor.nix
   ];
 
   config = {
diff --git a/coprocessors/modules/networking.nix b/coprocessors/modules/networking.nix
index 569470e..35f213e 100644
--- a/coprocessors/modules/networking.nix
+++ b/coprocessors/modules/networking.nix
@@ -20,6 +20,8 @@ in
 
   config = {
     networking = {
+      firewall.enable = false;
+
       nameservers = [ "1.1.1.1" "1.0.0.1" ];
 
       interfaces."${robotNetworkConfig.interface}" = {
diff --git a/coprocessors/modules/services/pplib-coprocessor.nix b/coprocessors/modules/services/pplib-coprocessor.nix
new file mode 100644
index 0000000..8848e94
--- /dev/null
+++ b/coprocessors/modules/services/pplib-coprocessor.nix
@@ -0,0 +1,41 @@
+{ config, pkgs, lib, ... }:
+
+with lib;
+let
+  cfg = config.services.pplib-coprocessor;
+in
+{
+  options = {
+    services.pplib-coprocessor = {
+      enable = mkEnableOption (mdDoc "Offload PathPlannerLib's pathfinding to a coprocessor");
+      package = mkPackageOption pkgs "pplib-coprocessor" {};
+      server = mkOption {
+        type = types.str;
+        default = "localhost";
+        description = "The hostname or address of the PPLib server.";
+      };
+    };
+  };
+
+  config = mkIf cfg.enable {
+    systemd.services.pplib-coprocessor = {
+      description = "Offload PathPlannerLib's pathfinding to a coprocessor";
+
+      wantedBy = [ "multi-user.target" ];
+      after = [ "network.target" ];
+
+      serviceConfig = {
+        Type = "simple";
+        ExecStart = "${cfg.package}/bin/pplib-coprocessor ${cfg.server}";
+
+        Restart = "on-failure";
+        RestartSec = "1";
+      };
+    };
+
+    networking.firewall = {
+      allowedTCPPorts = [ 5800 ];
+      allowedTCPPortRanges = [ { from = 1180; to = 1190; } ];
+    };
+  };
+}
diff --git a/coprocessors/pkgs/photonvision.nix b/coprocessors/pkgs/photonvision/default.nix
similarity index 100%
rename from coprocessors/pkgs/photonvision.nix
rename to coprocessors/pkgs/photonvision/default.nix
diff --git a/coprocessors/pkgs/pplib-coprocessor/default.nix b/coprocessors/pkgs/pplib-coprocessor/default.nix
new file mode 100644
index 0000000..7c6370f
--- /dev/null
+++ b/coprocessors/pkgs/pplib-coprocessor/default.nix
@@ -0,0 +1,24 @@
+{ lib, fetchFromGitHub, buildDartApplication }:
+
+buildDartApplication rec {
+  pname = "pplib-coprocessor";
+  version = "v2024.0.0-beta-1";
+
+  src = fetchFromGitHub {
+    owner = "mjansen4857";
+    repo = "pplib_coprocessor";
+    rev = version;
+    hash = "sha256-XYlWLvoV+VSuajgjkguBWUhE4brdLNP1oqHSB/6nr5c=";
+  };
+
+  dartEntryPoints."pplib_coprocessor" = "bin/pplib_coprocessor.dart";
+
+  pubspecLock = lib.importJSON ./pubspec.lock.json;
+  
+  meta = with lib; {
+    description = "Offload PathPlannerLib's pathfinding to a coprocessor";
+    homepage = "https://github.com/mjansen4857/pplib_coprocessor";
+    license = licenses.mit;
+    maintainers = with maintainers; [ max-niederman ];
+  };
+}
\ No newline at end of file
diff --git a/coprocessors/pkgs/pplib-coprocessor/pubspec.lock.json b/coprocessors/pkgs/pplib-coprocessor/pubspec.lock.json
new file mode 100644
index 0000000..542cb56
--- /dev/null
+++ b/coprocessors/pkgs/pplib-coprocessor/pubspec.lock.json
@@ -0,0 +1,607 @@
+{
+  "packages": {
+    "_fe_analyzer_shared": {
+      "dependency": "transitive",
+      "description": {
+        "name": "_fe_analyzer_shared",
+        "sha256": "eb376e9acf6938204f90eb3b1f00b578640d3188b4c8a8ec054f9f479af8d051",
+        "url": "https://pub.dev"
+      },
+      "source": "hosted",
+      "version": "64.0.0"
+    },
+    "analyzer": {
+      "dependency": "transitive",
+      "description": {
+        "name": "analyzer",
+        "sha256": "69f54f967773f6c26c7dcb13e93d7ccee8b17a641689da39e878d5cf13b06893",
+        "url": "https://pub.dev"
+      },
+      "source": "hosted",
+      "version": "6.2.0"
+    },
+    "args": {
+      "dependency": "direct main",
+      "description": {
+        "name": "args",
+        "sha256": "eef6c46b622e0494a36c5a12d10d77fb4e855501a91c1b9ef9339326e58f0596",
+        "url": "https://pub.dev"
+      },
+      "source": "hosted",
+      "version": "2.4.2"
+    },
+    "async": {
+      "dependency": "transitive",
+      "description": {
+        "name": "async",
+        "sha256": "947bfcf187f74dbc5e146c9eb9c0f10c9f8b30743e341481c1e2ed3ecc18c20c",
+        "url": "https://pub.dev"
+      },
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+  }
+}