diff --git a/ateam_common/CMakeLists.txt b/ateam_common/CMakeLists.txt
index 617a8a615..f78386bd9 100644
--- a/ateam_common/CMakeLists.txt
+++ b/ateam_common/CMakeLists.txt
@@ -3,7 +3,6 @@ project(ateam_common)
 
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(rclcpp_components REQUIRED)
 find_package(Boost REQUIRED)
 find_package(Protobuf REQUIRED)
 find_package(eigen3_cmake_module REQUIRED)
@@ -26,7 +25,6 @@ target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_20)
 target_compile_options(${PROJECT_NAME} PRIVATE -Werror -Wall -Wextra -Wpedantic)
 ament_target_dependencies(${PROJECT_NAME}
   rclcpp
-  rclcpp_components
   ateam_geometry
   ateam_msgs
   angles
@@ -48,7 +46,7 @@ target_include_directories(${PROJECT_NAME}
 set_property(TARGET ${PROJECT_NAME} PROPERTY ENABLE_EXPORTS ON)
 
 ament_export_targets(${PROJECT_NAME} HAS_LIBRARY_TARGET)
-ament_export_dependencies(Boost Protobuf angles ateam_geometry)
+ament_export_dependencies(rclcpp ateam_geometry ateam_msgs angles ssl_league_msgs Eigen3 Boost Protobuf)
 
 install(
   DIRECTORY include/
diff --git a/ateam_common/include/ateam_common/game_controller_listener.hpp b/ateam_common/include/ateam_common/game_controller_listener.hpp
index b580fa82f..cff5683a6 100644
--- a/ateam_common/include/ateam_common/game_controller_listener.hpp
+++ b/ateam_common/include/ateam_common/game_controller_listener.hpp
@@ -46,8 +46,8 @@ enum class GameStage
   ExtraTimeHalftime = 8,
   ExtraTimePreSecondHalf = 9,
   ExtraTimeSecondHalf = 10,
-  PenaltyBreak = 11,
-  Penalty = 12,
+  PenaltyShootoutBreak = 11,
+  PenaltyShootout = 12,
   PostGame = 13,
   Unknown = 14
 };
diff --git a/ateam_common/include/ateam_common/robot_constants.hpp b/ateam_common/include/ateam_common/robot_constants.hpp
index c1bc0c83b..b75b254be 100644
--- a/ateam_common/include/ateam_common/robot_constants.hpp
+++ b/ateam_common/include/ateam_common/robot_constants.hpp
@@ -39,6 +39,6 @@ const Eigen::Vector3d kMaxRobotAccel = Eigen::Vector3d(3, 3, 36);
 constexpr double kBallDiameter = 0.04267;
 constexpr double kBallRadius = kBallDiameter / 2;
 
-constexpr double kDefaultDribblerSpeed = 300;
+constexpr double kDefaultDribblerSetpoint = 0.025;
 
 #endif  // ATEAM_COMMON__ROBOT_CONSTANTS_HPP_
diff --git a/ateam_common/package.xml b/ateam_common/package.xml
index d399e6443..59abfd1d9 100644
--- a/ateam_common/package.xml
+++ b/ateam_common/package.xml
@@ -10,7 +10,6 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>rclcpp</depend>
-  <depend>rclcpp_components</depend>
   <depend>boost</depend>
   <depend>eigen3_cmake_module</depend>
   <depend>ateam_geometry</depend>
diff --git a/ateam_joystick_control/src/joystick_control_node.cpp b/ateam_joystick_control/src/joystick_control_node.cpp
index 68cda57af..c70d19b9f 100644
--- a/ateam_joystick_control/src/joystick_control_node.cpp
+++ b/ateam_joystick_control/src/joystick_control_node.cpp
@@ -101,7 +101,7 @@ class JoystickControlNode : public rclcpp::Node
   using TriggerFunction = std::function<bool(const sensor_msgs::msg::Joy & )>;
 
   std::string command_topic_template_;
-  float dribbler_speed_ = kDefaultDribblerSpeed;
+  float dribbler_speed_ = kDefaultDribblerSetpoint;
   sensor_msgs::msg::Joy prev_joy_msg_;
 
   TriggerFunction kick_trigger_;
diff --git a/ateam_kenobi/src/skills/capture.cpp b/ateam_kenobi/src/skills/capture.cpp
index dff715ff1..6c6af8dc5 100644
--- a/ateam_kenobi/src/skills/capture.cpp
+++ b/ateam_kenobi/src/skills/capture.cpp
@@ -119,7 +119,7 @@ RobotCommand Capture::runCapture(const World & world, const Robot & robot)
     command.motion_intent = intent;
   }
 
-  command.dribbler_speed = kDefaultDribblerSpeed;
+  command.dribbler_speed = kDefaultDribblerSetpoint;
 
   return command;
 }
diff --git a/ateam_kenobi/src/skills/extract.cpp b/ateam_kenobi/src/skills/extract.cpp
index 0af2b0936..264ea43f3 100644
--- a/ateam_kenobi/src/skills/extract.cpp
+++ b/ateam_kenobi/src/skills/extract.cpp
@@ -74,7 +74,7 @@ RobotCommand Extract::RunFrame(const World & world, const Robot & robot)
   command.motion_intent = intent;
 
   if (robot.breakbeam_ball_detected) {
-    command.dribbler_speed = kDefaultDribblerSpeed;
+    command.dribbler_speed = kDefaultDribblerSetpoint;
   }
   return command;
 }
diff --git a/ateam_kenobi/src/skills/intercept.cpp b/ateam_kenobi/src/skills/intercept.cpp
index 615635603..5b2d67242 100644
--- a/ateam_kenobi/src/skills/intercept.cpp
+++ b/ateam_kenobi/src/skills/intercept.cpp
@@ -157,7 +157,7 @@ ateam_msgs::msg::RobotMotionCommand Intercept::runIntercept(
   easy_move_to_.setTargetPosition(world.ball.pos);
   auto command = easy_move_to_.runFrame(robot, world);
 
-  command.dribbler_speed = kDefaultDribblerSpeed;
+  command.dribbler_speed = kDefaultDribblerSetpoint;
 
   return command;
 }
diff --git a/ateam_kenobi/src/skills/pass_receiver.cpp b/ateam_kenobi/src/skills/pass_receiver.cpp
index bd24d5f53..c4552a7d6 100644
--- a/ateam_kenobi/src/skills/pass_receiver.cpp
+++ b/ateam_kenobi/src/skills/pass_receiver.cpp
@@ -167,14 +167,14 @@ RobotCommand PassReceiver::runPass(const World & world, const Robot & robot)
   intent.planner_options.avoid_ball = false;
   RobotCommand command;
   command.motion_intent = intent;
-  command.dribbler_speed = kDefaultDribblerSpeed * 1.2;
+  command.dribbler_speed = kDefaultDribblerSetpoint * 1.2;
   return command;
 }
 
 RobotCommand PassReceiver::runPostPass()
 {
   RobotCommand command;
-  command.dribbler_speed = kDefaultDribblerSpeed;
+  command.dribbler_speed = kDefaultDribblerSetpoint;
   return command;
 }
 
diff --git a/ateam_kenobi/src/skills/pivot_kick.cpp b/ateam_kenobi/src/skills/pivot_kick.cpp
index 69141020f..f55cfa74e 100644
--- a/ateam_kenobi/src/skills/pivot_kick.cpp
+++ b/ateam_kenobi/src/skills/pivot_kick.cpp
@@ -105,7 +105,7 @@ RobotCommand PivotKick::Pivot(const Robot & robot)
 
   RobotCommand command;
   command.motion_intent = intent;
-  command.dribbler_speed = kDefaultDribblerSpeed;
+  command.dribbler_speed = kDefaultDribblerSetpoint;
 
   return command;
 }
@@ -121,7 +121,7 @@ RobotCommand PivotKick::KickBall(const Robot & robot)
 
   command.motion_intent = intent;
 
-  command.dribbler_speed = kDefaultDribblerSpeed;
+  command.dribbler_speed = kDefaultDribblerSetpoint;
 
   command.kick_speed = GetKickSpeed();
   if (IsAllowedToKick()) {