A number of changes to accomodate some encoder stuff

src/main/java/com/team2648/iocore/abstracts/BooleanSensorIO.java

@@ -1,9 +0,0 @@
-package com.team2648.iocore.abstracts;
-
-public abstract class BooleanSensorIO extends IOBase {
-    public BooleanSensorIO(String sensorTypeName) {
-        super("Sensors/Booleans/" + sensorTypeName);
-    }
-
-    public abstract boolean get();
-}

src/main/java/com/team2648/iocore/abstracts/DoubleSensorIO.java

@@ -1,21 +0,0 @@
-package com.team2648.iocore.abstracts;
-
-import edu.wpi.first.units.Unit;
-
-public abstract class DoubleSensorIO<T extends Unit> extends IOBase {
-    private T unitReference;
-
-    public DoubleSensorIO(String sensorTypeName, T unitReference) {
-        super("Sensors/Doubles/" + sensorTypeName);
-
-        this.unitReference = unitReference;
-    }
-
-    public abstract double get();
-
-    @SuppressWarnings("unchecked")
-    public T getMeasure() {
-        return (T) unitReference.of(get());
-    }
-    
-}

src/main/java/com/team2648/iocore/abstracts/EncoderIO.java

@@ -0,0 +1,11 @@
+package com.team2648.iocore.abstracts;
+
+public abstract class EncoderIO extends IOBase {
+    public EncoderIO(String encoderTypeName) {
+        super("Encoders/" + encoderTypeName);
+    }
+
+    public abstract double getPosition();
+    public abstract double getVelocity();
+    public abstract void setPosition(double position);
+}

src/main/java/com/team2648/iocore/abstracts/MotorControllerIO.java

@@ -3,9 +3,10 @@ package com.team2648.iocore.abstracts;
 import java.util.List;
 import java.util.function.DoubleSupplier;
 
-import com.team2648.iocore.config.CommonMotorConfig;
+import com.team2648.iocore.commons.CommonMotorControllerConfig;
+import com.team2648.iocore.enums.MotorControllerEncoderType;
 
-public abstract class MotorIO extends IOBase {
+public abstract class MotorControllerIO extends IOBase {
     public enum ControlTypes {
         kDutyCycle,
         kPIDPosition,
@@ -14,12 +15,12 @@ public abstract class MotorIO extends IOBase {
 
     private List<ControlTypes> supportedControlTypes;
 
-    public MotorIO(String motorTypeName, ControlTypes... supportedControlTypes) {
+    public MotorControllerIO(String motorTypeName, ControlTypes... supportedControlTypes) {
         this(motorTypeName, List.of(supportedControlTypes));
     }
 
-    public MotorIO(String motorTypeName, List<ControlTypes> supportedControlTypes) {
+    public MotorControllerIO(String motorTypeName, List<ControlTypes> supportedControlTypes) {
-        super("Motor/" + motorTypeName);
+        super("/Motor/" + motorTypeName);
 
         this.supportedControlTypes = supportedControlTypes;
     }
@@ -30,11 +31,13 @@ public abstract class MotorIO extends IOBase {
         return supportedControlTypes.stream().anyMatch((t) -> t.equals(type));
     }
 
-    public abstract void applyConfig(CommonMotorConfig config);
+    public abstract void applyConfig(CommonMotorControllerConfig config);
 
     public void run(ControlTypes type, DoubleSupplier controlValueSource) {
         run(type, controlValueSource.getAsDouble());
     }
 
     public abstract void run(ControlTypes type, double controlValue);
+
+    public abstract EncoderIO getEncoder(MotorControllerEncoderType type);
 }

src/main/java/com/team2648/iocore/commons/CommonMotorControllerConfig.java

@@ -0,0 +1,19 @@
+package com.team2648.iocore.commons;
+
+public class CommonMotorControllerConfig {
+    private boolean isInverted;
+
+    public CommonMotorControllerConfig() {
+
+    }
+
+    public boolean isInverted() {
+        return isInverted;
+    }
+
+    public CommonMotorControllerConfig setInverted(boolean inverted) {
+        this.isInverted = inverted;
+
+        return this;
+    }
+}

src/main/java/com/team2648/iocore/config/CommonMotorConfig.java

@@ -1,19 +0,0 @@
-package com.team2648.iocore.config;
-
-public class CommonMotorConfig {
-    private boolean isInverted;
-
-    public CommonMotorConfig() {
-
-    }
-
-    public boolean isInverted() {
-        return isInverted;
-    }
-
-    public CommonMotorConfig setInverted(boolean inverted) {
-        this.isInverted = inverted;
-
-        return this;
-    }
-}

src/main/java/com/team2648/iocore/enums/MotorControllerEncoderType.java

@@ -0,0 +1,7 @@
+package com.team2648.iocore.enums;
+
+public enum MotorControllerEncoderType {
+    kInternal,
+    kAbsolute,
+    kExternal;
+}

src/main/java/com/team2648/iocore/realio/REVLIBAbsoluteEncoderIO.java

@@ -0,0 +1,29 @@
+package com.team2648.iocore.realio;
+
+import com.revrobotics.AbsoluteEncoder;
+import com.team2648.iocore.abstracts.EncoderIO;
+
+public class REVLIBAbsoluteEncoderIO extends EncoderIO {
+    private AbsoluteEncoder encoder;
+
+    public REVLIBAbsoluteEncoderIO(String name, AbsoluteEncoder encoder) {
+        super("/REVLIB/Absolute/" + name);
+
+        this.encoder = encoder;
+    }
+
+    @Override
+    public double getPosition() {
+        return encoder.getPosition();
+    }
+
+    @Override
+    public double getVelocity() {
+        return encoder.getVelocity();
+    }
+
+    @Override
+    public void setPosition(double position) {
+        throw new UnsupportedOperationException("The position of an absolute encoder is not resettable");
+    }
+}

src/main/java/com/team2648/iocore/realio/REVLIBRelativeEncoderIO.java

@@ -0,0 +1,30 @@
+package com.team2648.iocore.realio;
+
+import com.revrobotics.RelativeEncoder;
+import com.team2648.iocore.abstracts.EncoderIO;
+
+public class REVLIBRelativeEncoderIO extends EncoderIO {
+    private RelativeEncoder encoder;
+
+    public REVLIBRelativeEncoderIO(String name, RelativeEncoder encoder) {
+        super("/REVLIB/Relative/" + name);
+
+        this.encoder = encoder;
+    }
+
+    @Override
+    public double getPosition() {
+        return encoder.getPosition();
+    }
+
+    @Override
+    public double getVelocity() {
+        return encoder.getVelocity();
+    }
+
+    @Override
+    public void setPosition(double position) {
+        encoder.setPosition(position);
+    }
+    
+}

src/main/java/com/team2648/iocore/realio/VictorSPIO.java

@@ -1,14 +1,16 @@
 package com.team2648.iocore.realio;
 
-import com.team2648.iocore.abstracts.MotorIO;
+import com.team2648.iocore.abstracts.EncoderIO;
-import com.team2648.iocore.config.CommonMotorConfig;
+import com.team2648.iocore.abstracts.MotorControllerIO;
+import com.team2648.iocore.commons.CommonMotorControllerConfig;
+import com.team2648.iocore.enums.MotorControllerEncoderType;
 import com.team2648.iocore.interfaces.PWMFollowableMotor;
 
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.motorcontrol.PWMMotorController;
 import edu.wpi.first.wpilibj.motorcontrol.VictorSP;
 
-public class VictorSPIO extends MotorIO implements PWMFollowableMotor{
+public class VictorSPIO extends MotorControllerIO implements PWMFollowableMotor{
     private VictorSP motor;
 
     public VictorSPIO(String motorName, int pwmPort) {
@@ -23,7 +25,7 @@ public class VictorSPIO extends MotorIO implements PWMFollowableMotor{
     }
 
     @Override
-    public void applyConfig(CommonMotorConfig config) {
+    public void applyConfig(CommonMotorControllerConfig config) {
         motor.setInverted(config.isInverted());
     }
 
@@ -48,4 +50,8 @@ public class VictorSPIO extends MotorIO implements PWMFollowableMotor{
         return motor;
     }
 
+    @Override
+    public EncoderIO getEncoder(MotorControllerEncoderType type) {
+        throw new UnsupportedOperationException("VictorSP does not support any encoder type");
+    }
 }

vendordeps/REVLib.json

@@ -0,0 +1,133 @@
+{
+    "fileName": "REVLib.json",
+    "name": "REVLib",
+    "version": "2026.0.4",
+    "frcYear": "2026",
+    "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
+    "mavenUrls": [
+        "https://maven.revrobotics.com/"
+    ],
+    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2026.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-java",
+            "version": "2026.0.4"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2026.0.4",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "RevLibBackendDriver",
+            "version": "2026.0.4",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "RevLibWpiBackendDriver",
+            "version": "2026.0.4",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-cpp",
+            "version": "2026.0.4",
+            "libName": "REVLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2026.0.4",
+            "libName": "REVLibDriver",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "RevLibBackendDriver",
+            "version": "2026.0.4",
+            "libName": "BackendDriver",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "RevLibWpiBackendDriver",
+            "version": "2026.0.4",
+            "libName": "REVLibWpi",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ]
+}