diff --git a/.gitignore b/.gitignore
index bb68930..5d781f8 100644
--- a/.gitignore
+++ b/.gitignore
@@ -19,4 +19,5 @@
 build
 __pycache__
 
-Pods
\ No newline at end of file
+Pods
+CarControlleriOS/**/car
\ No newline at end of file
diff --git a/CarControlleriOS/CarController/Podfile b/CarControlleriOS/CarController/Podfile
index a14c476..ac4cb24 100644
--- a/CarControlleriOS/CarController/Podfile
+++ b/CarControlleriOS/CarController/Podfile
@@ -6,7 +6,6 @@ target 'CarController' do
   use_frameworks!
 
   # Pods for CarController
-  pod 'SwiftGRPC'
+  pod 'gRPC-Swift', '1.0.0-alpha.11'
   pod 'SwiftyZeroMQ5'
-  pod 'SwiftProtobuf', '~> 1.0'
 end
diff --git a/CarControlleriOS/build.gradle b/CarControlleriOS/build.gradle
new file mode 100644
index 0000000..ea6f5da
--- /dev/null
+++ b/CarControlleriOS/build.gradle
@@ -0,0 +1,16 @@
+configurations{
+        swift {
+            canBeConsumed = false
+            canBeResolved = true
+    }
+}
+
+dependencies {
+    swift project(path: ':protobuf', configuration: 'swift')
+}
+
+task copySwiftCode(type: Copy, dependsOn: configurations.swift) {
+    // Copy python protobuf code from proto project.
+    from zipTree(configurations.swift.asPath)
+    into './CarController/CarController'
+}
\ No newline at end of file
diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar
index 5c2d1cf..490fda8 100644
Binary files a/gradle/wrapper/gradle-wrapper.jar and b/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/gradlew b/gradlew
index 83f2acf..2fe81a7 100755
--- a/gradlew
+++ b/gradlew
@@ -154,19 +154,19 @@ if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
         else
             eval `echo args$i`="\"$arg\""
         fi
-        i=$((i+1))
+        i=`expr $i + 1`
     done
     case $i in
-        (0) set -- ;;
-        (1) set -- "$args0" ;;
-        (2) set -- "$args0" "$args1" ;;
-        (3) set -- "$args0" "$args1" "$args2" ;;
-        (4) set -- "$args0" "$args1" "$args2" "$args3" ;;
-        (5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
-        (6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
-        (7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
-        (8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
-        (9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
+        0) set -- ;;
+        1) set -- "$args0" ;;
+        2) set -- "$args0" "$args1" ;;
+        3) set -- "$args0" "$args1" "$args2" ;;
+        4) set -- "$args0" "$args1" "$args2" "$args3" ;;
+        5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
+        6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
+        7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
+        8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
+        9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
     esac
 fi
 
@@ -175,14 +175,9 @@ save () {
     for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
     echo " "
 }
-APP_ARGS=$(save "$@")
+APP_ARGS=`save "$@"`
 
 # Collect all arguments for the java command, following the shell quoting and substitution rules
 eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
 
-# by default we should be in the correct project dir, but when run from Finder on Mac, the cwd is wrong
-if [ "$(uname)" = "Darwin" ] && [ "$HOME" = "$PWD" ]; then
-  cd "$(dirname "$0")"
-fi
-
 exec "$JAVACMD" "$@"
diff --git a/gradlew.bat b/gradlew.bat
index 24467a1..9109989 100644
--- a/gradlew.bat
+++ b/gradlew.bat
@@ -29,6 +29,9 @@ if "%DIRNAME%" == "" set DIRNAME=.
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
+@rem Resolve any "." and ".." in APP_HOME to make it shorter.
+for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
+
 @rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
 set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
 
diff --git a/protobuf/build.gradle b/protobuf/build.gradle
index eb9fd29..a8e7b78 100644
--- a/protobuf/build.gradle
+++ b/protobuf/build.gradle
@@ -12,17 +12,28 @@ configurations {
         canBeResolved = false
         canBeConsumed = true
     }
+    // For Swift Codegen
+    swift {
+        canBeConsumed = true
+        canBeResolved = false
+    }
 }
 
 protobuf {
     protoc { artifact = 'com.google.protobuf:protoc:3.11.0' }
     plugins {
+        swift {
+            path = "$projectDir/grpc_plugins/protoc-gen-swift"
+        }
         grpc {
             artifact = 'io.grpc:protoc-gen-grpc-java:1.28.1' // CURRENT_GRPC_VERSION
         }
         grpc_python {
             path = "$projectDir/grpc_plugins/grpc_python_plugin_1.28.1-${osdetector.classifier}"
         }
+        grpc_swift {
+            path = "$projectDir/grpc_plugins/protoc-gen-grpc-swift-$osdetector.classifier"
+        }
     }
     generateProtoTasks {
         all().each { task ->
@@ -32,12 +43,16 @@ protobuf {
                 python {}
             }
             task.plugins {
+                swift{}
                 grpc { // Options added to --grpc_out
                     option 'lite'
                 }
                 grpc_python {
                     outputSubDir = 'python'
                 }
+                grpc_swift {
+                    outputSubDir = 'swift'
+                }
             }
         }
     }
@@ -47,8 +62,13 @@ task packPythonGrpc(type: Zip, dependsOn: protobuf.generateProtoTasks.all()) {
     from protobuf.generatedFilesBaseDir + '/main/python'
 }
 
+task packSwiftGrpc(type: Zip, dependsOn: protobuf.generateProtoTasks.all()) {
+    from protobuf.generatedFilesBaseDir + '/main/swift'
+}
+
 artifacts {
     python(packPythonGrpc)
+    swift(packSwiftGrpc)
 }
 
 dependencies {
diff --git a/protobuf/grpc_plugins/protoc-gen-grpc-swift-osx-x86_64 b/protobuf/grpc_plugins/protoc-gen-grpc-swift-osx-x86_64
new file mode 100755
index 0000000..620e612
Binary files /dev/null and b/protobuf/grpc_plugins/protoc-gen-grpc-swift-osx-x86_64 differ
diff --git a/protobuf/grpc_plugins/protoc-gen-swift b/protobuf/grpc_plugins/protoc-gen-swift
new file mode 100755
index 0000000..4da327b
Binary files /dev/null and b/protobuf/grpc_plugins/protoc-gen-swift differ
diff --git a/settings.gradle b/settings.gradle
index 06d1ba1..553d966 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -1,4 +1,5 @@
 include ':app'
 include ':protobuf'
 include 'car'
+include 'CarControlleriOS'
 rootProject.name='CarController'