diff --git a/Makefile b/Makefile
index db46e86..49e3827 100755
--- a/Makefile
+++ b/Makefile
@@ -29,7 +29,7 @@ IS_LIBRARY:=1
 # Be sure that your header files are in the include directory inside of a folder with the
 # same name as what you set LIBNAME to below.
 LIBNAME:=units
-VERSION:=0.3.0
+VERSION:=0.3.1
 # EXCLUDE_SRC_FROM_LIB= $(SRCDIR)/unpublishedfile.c
 # this line excludes opcontrol.c and similar files
 EXCLUDE_SRC_FROM_LIB+=$(foreach file, $(SRCDIR)/main,$(foreach cext,$(CEXTS),$(file).$(cext)) $(foreach cxxext,$(CXXEXTS),$(file).$(cxxext)))
diff --git a/firmware/libpros.a b/firmware/libpros.a
index 43f4e94..36de8fa 100644
Binary files a/firmware/libpros.a and b/firmware/libpros.a differ
diff --git a/include/api.h b/include/api.h
index b97e65d..d56915c 100644
--- a/include/api.h
+++ b/include/api.h
@@ -41,9 +41,9 @@
 
 #define PROS_VERSION_MAJOR 4
 #define PROS_VERSION_MINOR 1
+#define PROS_VERSION_PATCH 1
+#define PROS_VERSION_STRING "4.1.1"
 
-#define PROS_VERSION_PATCH 0
-#define PROS_VERSION_STRING "4.1.0"
 
 #include "pros/adi.h"
 #include "pros/colors.h"
diff --git a/include/main.h b/include/main.h
index 9407e1e..438dc79 100644
--- a/include/main.h
+++ b/include/main.h
@@ -22,7 +22,7 @@
  *
  * For instance, E_CONTROLLER_MASTER has a shorter name: CONTROLLER_MASTER.
  * E_CONTROLLER_MASTER is pedantically correct within the PROS styleguide, but
- * not convienent for most student programmers.
+ * not convenient for most student programmers.
  */
 #define PROS_USE_SIMPLE_NAMES
 
diff --git a/include/pros/optical.h b/include/pros/optical.h
index 049c395..61a2c86 100644
--- a/include/pros/optical.h
+++ b/include/pros/optical.h
@@ -460,6 +460,39 @@ int32_t optical_enable_gesture(uint8_t port);
  */
 int32_t optical_disable_gesture(uint8_t port);
 
+/**
+ * Get integration time (update rate) of the optical sensor in milliseconds, with
+ * minimum time being 
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Optical Sensor
+ *
+ * \param port
+ *        The V5 Optical Sensor port number from 1-21
+ * \return Integration time in milliseconds if the operation is successful 
+ * or PROS_ERR if the operation failed, setting errno.
+ */
+double optical_get_integration_time(uint8_t port);
+
+/**
+ * Set integration time (update rate) of the optical sensor in milliseconds.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Optical Sensor
+ *
+ * \param port
+ *        The V5 Optical Sensor port number from 1-21
+ * \param time
+ *        The desired integration time in milliseconds
+ * \return 1 if the operation is successful or PROS_ERR if the operation failed,
+ * setting errno.
+ */
+int32_t optical_set_integration_time(uint8_t port, double time);
+
 ///@}
 
 ///@}
diff --git a/include/pros/optical.hpp b/include/pros/optical.hpp
index 463daa8..b3e1d4e 100644
--- a/include/pros/optical.hpp
+++ b/include/pros/optical.hpp
@@ -398,6 +398,36 @@ class Optical : public Device {
 	 */
 	virtual std::int32_t disable_gesture();
 
+	/**
+	 * Set integration time (update rate) of the optical sensor in milliseconds, with
+	 * minimum time being 3 ms and maximum time being 712 ms. Default is 100 ms, with the 
+	 * optical sensor communciating with the V5 brain every 20 ms. 
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as an Optical Sensor
+ 	 *
+	 * \return 1 if the operation is successful or PROS_ERR_F if the operation failed,
+	 * setting errno.
+	 */
+	double get_integration_time();
+
+	/**
+	 * Get integration time (update rate) of the optical sensor in milliseconds.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as an Optical Sensor
+	 *
+	 * \param time
+	 *        The desired integration time in milliseconds
+	 * \return Integration time in milliseconds if the operation is successful 
+	 *  or PROS_ERR if the operation failed, setting errno.
+	 */
+	std::int32_t set_integration_time(double time);
+
 	/**
 	 * This is the overload for the << operator for printing to streams
 	 *
diff --git a/include/units/units.hpp b/include/units/units.hpp
index cc0c7be..1b2d0c3 100644
--- a/include/units/units.hpp
+++ b/include/units/units.hpp
@@ -5,6 +5,7 @@
 #include <ratio>
 #include <iostream>
 #include <utility>
+#include <algorithm>
 
 // define M_PI if not already defined
 #ifndef M_PI
diff --git a/project.pros b/project.pros
index 78c4660..ba5ff5a 100755
--- a/project.pros
+++ b/project.pros
@@ -5,7 +5,7 @@
         "target": "v5",
         "templates": {
             "kernel": {
-                "location": "C:\\Users\\liamt\\AppData\\Roaming\\PROS\\templates\\kernel@4.1.0",
+                "location": "C:\\Users\\Liam Teale\\AppData\\Roaming\\PROS\\templates\\kernel@4.1.1",
                 "metadata": {
                     "cold_addr": "58720256",
                     "cold_output": "bin/cold.package.bin",
@@ -18,64 +18,64 @@
                 "py/object": "pros.conductor.templates.local_template.LocalTemplate",
                 "supported_kernels": null,
                 "system_files": [
-                    "include\\pros\\rtos.hpp",
-                    "firmware\\libpros.a",
-                    "include\\pros\\imu.hpp",
+                    "include/pros/gps.hpp",
+                    "include/pros/motors.h",
+                    "include/pros/error.h",
+                    "include/pros/imu.hpp",
+                    "include/pros/serial.h",
+                    "include/pros/rtos.h",
+                    "include/pros/optical.hpp",
+                    "firmware/libc.a",
+                    "include/pros/distance.hpp",
+                    "include/pros/rotation.h",
                     "common.mk",
-                    "include\\pros\\rotation.hpp",
-                    "include\\pros\\abstract_motor.hpp",
-                    "include\\pros\\serial.h",
-                    "include\\pros\\vision.hpp",
-                    "include\\pros\\colors.h",
-                    "include\\pros\\colors.hpp",
-                    "include\\pros\\device.hpp",
-                    "include\\pros\\misc.h",
-                    "include\\api.h",
-                    "include\\pros\\link.h",
-                    "firmware\\v5-hot.ld",
-                    "include\\pros\\distance.h",
-                    "firmware\\v5-common.ld",
-                    "include\\pros\\imu.h",
-                    "include\\pros\\motor_group.hpp",
-                    "include\\pros\\vision.h",
-                    "include\\pros\\misc.hpp",
-                    "include\\pros\\adi.h",
-                    "include\\pros\\screen.h",
-                    "include\\pros\\motors.h",
-                    "include\\pros\\llemu.h",
-                    "include\\pros\\adi.hpp",
-                    "include\\pros\\device.h",
-                    "include\\pros\\motors.hpp",
-                    "include\\pros\\serial.hpp",
-                    "include\\pros\\ext_adi.h",
-                    "include\\pros\\apix.h",
-                    "include\\pros\\rtos.h",
-                    "include\\pros\\rotation.h",
-                    "include\\pros\\llemu.hpp",
-                    "firmware\\libc.a",
-                    "firmware\\v5.ld",
-                    "include\\pros\\gps.h",
-                    "include\\pros\\optical.hpp",
-                    "include\\pros\\gps.hpp",
-                    "firmware\\libm.a",
-                    "include\\pros\\distance.hpp",
-                    "include\\pros\\link.hpp",
-                    "include\\pros\\optical.h",
-                    "include\\pros\\screen.hpp",
-                    "include\\pros\\error.h"
+                    "include/pros/motors.hpp",
+                    "firmware/v5.ld",
+                    "include/pros/gps.h",
+                    "include/pros/link.hpp",
+                    "include/pros/colors.h",
+                    "include/pros/imu.h",
+                    "include/pros/adi.hpp",
+                    "include/pros/ext_adi.h",
+                    "include/pros/misc.hpp",
+                    "include/pros/link.h",
+                    "include/pros/device.h",
+                    "include/pros/misc.h",
+                    "firmware/v5-common.ld",
+                    "include/pros/adi.h",
+                    "include/pros/abstract_motor.hpp",
+                    "include/api.h",
+                    "firmware/v5-hot.ld",
+                    "firmware/libm.a",
+                    "include/pros/device.hpp",
+                    "include/pros/apix.h",
+                    "include/pros/llemu.h",
+                    "include/pros/vision.hpp",
+                    "include/pros/serial.hpp",
+                    "include/pros/llemu.hpp",
+                    "include/pros/colors.hpp",
+                    "include/pros/rotation.hpp",
+                    "include/pros/distance.h",
+                    "include/pros/rtos.hpp",
+                    "include/pros/vision.h",
+                    "include/pros/screen.h",
+                    "include/pros/optical.h",
+                    "firmware/libpros.a",
+                    "include/pros/motor_group.hpp",
+                    "include/pros/screen.hpp"
                 ],
                 "target": "v5",
                 "user_files": [
-                    "src\\main.c",
-                    "include\\main.hh",
+                    "src/main.cpp",
+                    "src/main.c",
                     "Makefile",
-                    "include\\main.h",
+                    "src/main.cc",
+                    "include/main.h",
                     ".gitignore",
-                    "src\\main.cc",
-                    "include\\main.hpp",
-                    "src\\main.cpp"
+                    "include/main.hh",
+                    "include/main.hpp"
                 ],
-                "version": "4.1.0"
+                "version": "4.1.1"
             }
         },
         "upload_options": {},
diff --git a/src/units/dummy.cpp b/src/units/dummy.cpp
new file mode 100644
index 0000000..b422cc3
--- /dev/null
+++ b/src/units/dummy.cpp
@@ -0,0 +1,4 @@
+// this file exists to force the PROS build script to produce a .a file
+// otherwise units does not compile reliably on all platforms
+// and the pros conductor will not let you create a template if there is
+// no .a file