diff --git a/README.md b/README.md
index 377e1696..c4bfa594 100644
--- a/README.md
+++ b/README.md
@@ -2,12 +2,12 @@
 
 [![CircleCI](https://circleci.com/gh/sourcebots/sbot.svg?style=svg)](https://circleci.com/gh/sourcebots/sbot)
 [![PyPI version](https://badge.fury.io/py/sbot.svg)](https://badge.fury.io/py/sbot)
+[![Documentation Status](https://readthedocs.org/projects/pip/badge/?version=stable)](http://pip.pypa.io/en/stable/?badge=stable)
 
 `sbot` - SourceBots Robot API - Powered by j5
 
-This is an experimental API for SourceBots, based on the [j5](https://github.com/j5api/j5)
-library for writing Robotics APIs. If successful, it could potentially be deployed at
-SourceBots / Smallpeice 2019.
+This is the API for SourceBots, based on the [j5](https://github.com/j5api/j5)
+library for writing Robotics APIs. It will first be deployed at Smallpeice 2019.
 
 Much like it's predecessor, [robot-api](https://github.com/sourcebots/robot-api), `sbot` supports
 multiple backends, although should be more reliable as there is no `UNIX-AF` socket layer.
diff --git a/poetry.lock b/poetry.lock
index ec121a61..c2581819 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -276,9 +276,10 @@ description = "J5 Robotics API"
 name = "j5"
 optional = false
 python-versions = ">=3.6,<4.0"
-version = "0.6.0"
+version = "0.7.0"
 
 [package.dependencies]
+pyquaternion = ">=0.9.5,<0.10.0"
 pyserial = ">=3.4,<4.0"
 pyusb = ">=1.0,<2.0"
 zoloto = ">=0.2.0,<0.3.0"
@@ -441,6 +442,17 @@ optional = false
 python-versions = ">=2.6, !=3.0.*, !=3.1.*, !=3.2.*"
 version = "2.4.1.1"
 
+[[package]]
+category = "main"
+description = "A fully featured, pythonic library for representing and using quaternions."
+name = "pyquaternion"
+optional = false
+python-versions = "*"
+version = "0.9.5"
+
+[package.dependencies]
+numpy = "*"
+
 [[package]]
 category = "main"
 description = "Python Serial Port Extension"
@@ -721,7 +733,7 @@ opencv-contrib-python-headless = ">=4.1,<5.0"
 ujson = ">=1.35,<2.0"
 
 [metadata]
-content-hash = "ab6f80fe46654c64a3abdc6b35972f095a59685c2afecf0467d2b71a456f7513"
+content-hash = "0792355db4282b59a0f739ca86c88cc9192ca9b2f01ef1f1512dbd9152695189"
 python-versions = "^3.6"
 
 [metadata.hashes]
@@ -753,7 +765,7 @@ idna = ["c357b3f628cf53ae2c4c05627ecc484553142ca23264e593d327bcde5e9c3407", "ea8
 imagesize = ["3f349de3eb99145973fefb7dbe38554414e5c30abd0c8e4b970a7c9d09f3a1d8", "f3832918bc3c66617f92e35f5d70729187676313caa60c187eb0f28b8fe5e3b5"]
 importlib-metadata = ["6dfd58dfe281e8d240937776065dd3624ad5469c835248219bd16cf2e12dbeb7", "cb6ee23b46173539939964df59d3d72c3e0c1b5d54b84f1d8a7e912fe43612db"]
 isort = ["54da7e92468955c4fceacd0c86bd0ec997b0e1ee80d97f67c35a78b719dccab1", "6e811fcb295968434526407adb8796944f1988c5b65e8139058f2014cbe100fd"]
-j5 = ["8684cfdfd1f5bb978c2d9332b1b7d620747b84119f1798e0e8ac89c18b3bead3", "93db34e676aaabee62f99a3688868c40d26ed8ed615eaea1ae00085e9a7ff7d5"]
+j5 = ["81268b5c0bd4e143fc80f8ede502acfa8e8021b85e9e70d3bc2406d49afce8d9", "96dfe7ea7431b2ce66e8dc4e35dfa5301934ffa273bfac563e8544a912e8b4b3"]
 jinja2 = ["065c4f02ebe7f7cf559e49ee5a95fb800a9e4528727aec6f24402a5374c65013", "14dd6caf1527abb21f08f86c784eac40853ba93edb79552aa1e4b8aef1b61c7b"]
 markdown = ["9ba587db9daee7ec761cfc656272be6aabe2ed300fece21208e4aab2e457bc8f", "a856869c7ff079ad84a3e19cd87a64998350c2b94e9e08e44270faef33400f81"]
 markupsafe = ["00bc623926325b26bb9605ae9eae8a215691f33cae5df11ca5424f06f2d1f473", "09027a7803a62ca78792ad89403b1b7a73a01c8cb65909cd876f7fcebd79b161", "09c4b7f37d6c648cb13f9230d847adf22f8171b1ccc4d5682398e77f40309235", "1027c282dad077d0bae18be6794e6b6b8c91d58ed8a8d89a89d59693b9131db5", "24982cc2533820871eba85ba648cd53d8623687ff11cbb805be4ff7b4c971aff", "29872e92839765e546828bb7754a68c418d927cd064fd4708fab9fe9c8bb116b", "43a55c2930bbc139570ac2452adf3d70cdbb3cfe5912c71cdce1c2c6bbd9c5d1", "46c99d2de99945ec5cb54f23c8cd5689f6d7177305ebff350a58ce5f8de1669e", "500d4957e52ddc3351cabf489e79c91c17f6e0899158447047588650b5e69183", "535f6fc4d397c1563d08b88e485c3496cf5784e927af890fb3c3aac7f933ec66", "62fe6c95e3ec8a7fad637b7f3d372c15ec1caa01ab47926cfdf7a75b40e0eac1", "6dd73240d2af64df90aa7c4e7481e23825ea70af4b4922f8ede5b9e35f78a3b1", "717ba8fe3ae9cc0006d7c451f0bb265ee07739daf76355d06366154ee68d221e", "79855e1c5b8da654cf486b830bd42c06e8780cea587384cf6545b7d9ac013a0b", "7c1699dfe0cf8ff607dbdcc1e9b9af1755371f92a68f706051cc8c37d447c905", "88e5fcfb52ee7b911e8bb6d6aa2fd21fbecc674eadd44118a9cc3863f938e735", "8defac2f2ccd6805ebf65f5eeb132adcf2ab57aa11fdf4c0dd5169a004710e7d", "98c7086708b163d425c67c7a91bad6e466bb99d797aa64f965e9d25c12111a5e", "9add70b36c5666a2ed02b43b335fe19002ee5235efd4b8a89bfcf9005bebac0d", "9bf40443012702a1d2070043cb6291650a0841ece432556f784f004937f0f32c", "ade5e387d2ad0d7ebf59146cc00c8044acbd863725f887353a10df825fc8ae21", "b00c1de48212e4cc9603895652c5c410df699856a2853135b3967591e4beebc2", "b1282f8c00509d99fef04d8ba936b156d419be841854fe901d8ae224c59f0be5", "b2051432115498d3562c084a49bba65d97cf251f5a331c64a12ee7e04dacc51b", "ba59edeaa2fc6114428f1637ffff42da1e311e29382d81b339c1817d37ec93c6", "c8716a48d94b06bb3b2524c2b77e055fb313aeb4ea620c8dd03a105574ba704f", "cd5df75523866410809ca100dc9681e301e3c27567cf498077e8551b6d20e42f", "e249096428b3ae81b08327a63a485ad0878de3fb939049038579ac0ef61e17e7"]
@@ -771,6 +783,7 @@ pydocstyle = ["2258f9b0df68b97bf3a6c29003edc5238ff8879f1efb6f1999988d934e432bd8"
 pyflakes = ["17dbeb2e3f4d772725c777fabc446d5634d1038f234e77343108ce445ea69ce0", "d976835886f8c5b31d47970ed689944a0262b5f3afa00a5a7b4dc81e5449f8a2"]
 pygments = ["71e430bc85c88a430f000ac1d9b331d2407f681d6f6aec95e8bcfbc3df5b0127", "881c4c157e45f30af185c1ffe8d549d48ac9127433f2c380c24b84572ad66297"]
 pyparsing = ["43c5486cefefa536c9aab528881c992328f020eefe4f6d06332449c365218580", "d6c5ffe9d0305b9b977f7a642d36b9370954d1da7ada4c62393382cbadad4265"]
+pyquaternion = ["2d89d19259d62a8fbd25219eee7dacc1f6bb570becb70e1e883f622597c7d81d", "9da8a22375783c1d5f2d65d195b4eb6c1ce2c5a5cab4700860b3bacc4dacb460", "bac5945d08b9a2f4106dc76206e40f353c7240fdf37a370e13b03113c135f59b"]
 pyserial = ["6e2d401fdee0eab996cf734e67773a0143b932772ca8b42451440cfed942c627", "e0770fadba80c31013896c7e6ef703f72e7834965954a78e71a3049488d4d7d8"]
 pytest = ["6aa9bc2f6f6504d7949e9df2a756739ca06e58ffda19b5e53c725f7b03fb4aae", "b77ae6f2d1a760760902a7676887b665c086f71e3461c64ed2a312afcedc00d6"]
 pytest-cov = ["2b097cde81a302e1047331b48cadacf23577e431b61e9c6f49a1170bbe3d3da6", "e00ea4fdde970725482f1f35630d12f074e121a23801aabf2ae154ec6bdd343a"]
diff --git a/pyproject.toml b/pyproject.toml
index 0f62fa7a..09de913d 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "sbot"
-version = "0.3.0"
+version = "0.4.0"
 description = "Experimental SourceBots API"
 authors = ["Dan Trickey <dan@trickey.io>"]
 readme = "README.md"
@@ -17,7 +17,7 @@ classifiers = [
 
 [tool.poetry.dependencies]
 python = "^3.6"
-j5 = "^0.6.0"
+j5 = "^0.7.0"
 
 
 [tool.poetry.dev-dependencies]
diff --git a/sbot/robot.py b/sbot/robot.py
index 4c3a31e1..079c7a95 100644
--- a/sbot/robot.py
+++ b/sbot/robot.py
@@ -22,7 +22,7 @@
 from . import metadata
 from .vision import SbotCameraBackend
 
-__version__ = "0.2.0"
+__version__ = "0.4.0"
 
 LOGGER = logging.getLogger(__name__)
 
diff --git a/tests/test_sbot.py b/tests/test_sbot.py
index 7049c87e..0a36a0b6 100644
--- a/tests/test_sbot.py
+++ b/tests/test_sbot.py
@@ -1,12 +1,6 @@
 """Test that the module works."""
-from sbot import __version__
 
 
 def test_import() -> None:
     """Test that we can import the module."""
     import sbot  # noqa: F401
-
-
-def test_version() -> None:
-    """Test that the version is as expected."""
-    assert __version__ == '0.2.0'