initial commit

2024-12-22 22:19:11 +00:00 · 2024-12-22 22:19:11 +00:00 · 5cd41af114
commit 5cd41af114
30 changed files with 2416 additions and 0 deletions
--- a/.gitignore
+++ b/.gitignore
@ -0,0 +1,178 @@
+# This gitignore has been specially created by the WPILib team.
+# If you remove items from this file, intellisense might break.
+
+### C++ ###
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+### Java ###
+# Compiled class file
+*.class
+
+# Log file
+*.log
+
+# BlueJ files
+*.ctxt
+
+# Mobile Tools for Java (J2ME)
+.mtj.tmp/
+
+# Package Files #
+*.jar
+*.war
+*.nar
+*.ear
+*.zip
+*.tar.gz
+*.rar
+
+# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml
+hs_err_pid*
+
+### Linux ###
+*~
+
+# temporary files which can be created if a process still has a handle open of a deleted file
+.fuse_hidden*
+
+# KDE directory preferences
+.directory
+
+# Linux trash folder which might appear on any partition or disk
+.Trash-*
+
+# .nfs files are created when an open file is removed but is still being accessed
+.nfs*
+
+### macOS ###
+# General
+.DS_Store
+.AppleDouble
+.LSOverride
+
+# Icon must end with two \r
+Icon
+
+# Thumbnails
+._*
+
+# Files that might appear in the root of a volume
+.DocumentRevisions-V100
+.fseventsd
+.Spotlight-V100
+.TemporaryItems
+.Trashes
+.VolumeIcon.icns
+.com.apple.timemachine.donotpresent
+
+# Directories potentially created on remote AFP share
+.AppleDB
+.AppleDesktop
+Network Trash Folder
+Temporary Items
+.apdisk
+
+### VisualStudioCode ###
+.vscode/*
+!.vscode/settings.json
+!.vscode/tasks.json
+!.vscode/launch.json
+!.vscode/extensions.json
+
+### Windows ###
+# Windows thumbnail cache files
+Thumbs.db
+ehthumbs.db
+ehthumbs_vista.db
+
+# Dump file
+*.stackdump
+
+# Folder config file
+[Dd]esktop.ini
+
+# Recycle Bin used on file shares
+$RECYCLE.BIN/
+
+# Windows Installer files
+*.cab
+*.msi
+*.msix
+*.msm
+*.msp
+
+# Windows shortcuts
+*.lnk
+
+### Gradle ###
+.gradle
+/build/
+
+# Ignore Gradle GUI config
+gradle-app.setting
+
+# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored)
+!gradle-wrapper.jar
+
+# Cache of project
+.gradletasknamecache
+
+# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898
+# gradle/wrapper/gradle-wrapper.properties
+
+# # VS Code Specific Java Settings
+# DO NOT REMOVE .classpath and .project
+.classpath
+.project
+.settings/
+bin/
+
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
+# Simulation GUI and other tools window save file
+*-window.json
+
+# Simulation data log directory
+logs/
+
+# Folder that has CTRE Phoenix Sim device config storage
+ctre_sim/
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@ -0,0 +1,21 @@
+{
+  // Use IntelliSense to learn about possible attributes.
+  // Hover to view descriptions of existing attributes.
+  // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+  "version": "0.2.0",
+  "configurations": [
+
+    {
+      "type": "wpilib",
+      "name": "WPILib Desktop Debug",
+      "request": "launch",
+      "desktop": true,
+    },
+    {
+      "type": "wpilib",
+      "name": "WPILib roboRIO Debug",
+      "request": "launch",
+      "desktop": false,
+    }
+  ]
+}
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@ -0,0 +1,29 @@
+{
+  "java.configuration.updateBuildConfiguration": "automatic",
+  "java.server.launchMode": "Standard",
+  "files.exclude": {
+    "**/.git": true,
+    "**/.svn": true,
+    "**/.hg": true,
+    "**/CVS": true,
+    "**/.DS_Store": true,
+    "bin/": true,
+    "**/.classpath": true,
+    "**/.project": true,
+    "**/.settings": true,
+    "**/.factorypath": true,
+    "**/*~": true
+  },
+  "java.test.config": [
+    {
+      "name": "WPIlibUnitTests",
+      "workingDirectory": "${workspaceFolder}/build/jni/release",
+      "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ],
+      "env": {
+        "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" ,
+        "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release"
+      }
+    },
+  ],
+  "java.test.defaultConfig": "WPIlibUnitTests"
+}
--- a/.wpilib/wpilib_preferences.json
+++ b/.wpilib/wpilib_preferences.json
@ -0,0 +1,6 @@
+{
+    "enableCppIntellisense": false,
+    "currentLanguage": "java",
+    "projectYear": "2024",
+    "teamNumber": 2648
+}
--- a/WPILib-License.md
+++ b/WPILib-License.md
@ -0,0 +1,24 @@
+Copyright (c) 2009-2024 FIRST and other WPILib contributors
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+   * Neither the name of FIRST, WPILib, nor the names of other WPILib
+     contributors may be used to endorse or promote products derived from
+     this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
--- a/build.gradle
+++ b/build.gradle
@ -0,0 +1,101 @@
+plugins {
+    id "java"
+    id "edu.wpi.first.GradleRIO" version "2024.3.2"
+}
+
+java {
+    sourceCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
+}
+
+def ROBOT_MAIN_CLASS = "frc.robot.Main"
+
+// Define my targets (RoboRIO) and artifacts (deployable files)
+// This is added by GradleRIO's backing project DeployUtils.
+deploy {
+    targets {
+        roborio(getTargetTypeClass('RoboRIO')) {
+            // Team number is loaded either from the .wpilib/wpilib_preferences.json
+            // or from command line. If not found an exception will be thrown.
+            // You can use getTeamOrDefault(team) instead of getTeamNumber if you
+            // want to store a team number in this file.
+            team = project.frc.getTeamNumber()
+            debug = project.frc.getDebugOrDefault(false)
+
+            artifacts {
+                // First part is artifact name, 2nd is artifact type
+                // getTargetTypeClass is a shortcut to get the class type using a string
+
+                frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
+                }
+
+                // Static files artifact
+                frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
+                    files = project.fileTree('src/main/deploy')
+                    directory = '/home/lvuser/deploy'
+                }
+            }
+        }
+    }
+}
+
+def deployArtifact = deploy.targets.roborio.artifacts.frcJava
+
+// Set to true to use debug for JNI.
+wpi.java.debugJni = false
+
+// Set this to true to enable desktop support.
+def includeDesktopSupport = false
+
+// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
+// Also defines JUnit 5.
+dependencies {
+    implementation wpi.java.deps.wpilib()
+    implementation wpi.java.vendor.java()
+
+    roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
+    roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
+
+    roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
+    roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
+
+    nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
+    nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
+    simulationDebug wpi.sim.enableDebug()
+
+    nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
+    nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
+    simulationRelease wpi.sim.enableRelease()
+
+    testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
+    testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
+}
+
+test {
+    useJUnitPlatform()
+    systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
+}
+
+// Simulation configuration (e.g. environment variables).
+wpi.sim.addGui().defaultEnabled = true
+wpi.sim.addDriverstation()
+
+// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
+// in order to make them all available at runtime. Also adding the manifest so WPILib
+// knows where to look for our Robot Class.
+jar {
+    from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+    from sourceSets.main.allSource
+    manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
+    duplicatesStrategy = DuplicatesStrategy.INCLUDE
+}
+
+// Configure jar and deploy tasks
+deployArtifact.jarTask = jar
+wpi.java.configureExecutableTasks(jar)
+wpi.java.configureTestTasks(test)
+
+// Configure string concat to always inline compile
+tasks.withType(JavaCompile) {
+    options.compilerArgs.add '-XDstringConcat=inline'
+}
--- a/gradle/wrapper/gradle-wrapper.jar
+++ b/gradle/wrapper/gradle-wrapper.jar
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@ -0,0 +1,7 @@
+distributionBase=GRADLE_USER_HOME
+distributionPath=permwrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=permwrapper/dists
--- a/249
+++ b/249
@ -0,0 +1,249 @@
+#!/bin/sh
+
+#
+# Copyright © 2015-2021 the original authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+
+##############################################################################
+#
+#   Gradle start up script for POSIX generated by Gradle.
+#
+#   Important for running:
+#
+#   (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is
+#       noncompliant, but you have some other compliant shell such as ksh or
+#       bash, then to run this script, type that shell name before the whole
+#       command line, like:
+#
+#           ksh Gradle
+#
+#       Busybox and similar reduced shells will NOT work, because this script
+#       requires all of these POSIX shell features:
+#         * functions;
+#         * expansions «$var», «${var}», «${var:-default}», «${var+SET}»,
+#           «${var#prefix}», «${var%suffix}», and «$( cmd )»;
+#         * compound commands having a testable exit status, especially «case»;
+#         * various built-in commands including «command», «set», and «ulimit».
+#
+#   Important for patching:
+#
+#   (2) This script targets any POSIX shell, so it avoids extensions provided
+#       by Bash, Ksh, etc; in particular arrays are avoided.
+#
+#       The "traditional" practice of packing multiple parameters into a
+#       space-separated string is a well documented source of bugs and security
+#       problems, so this is (mostly) avoided, by progressively accumulating
+#       options in "$@", and eventually passing that to Java.
+#
+#       Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS,
+#       and GRADLE_OPTS) rely on word-splitting, this is performed explicitly;
+#       see the in-line comments for details.
+#
+#       There are tweaks for specific operating systems such as AIX, CygWin,
+#       Darwin, MinGW, and NonStop.
+#
+#   (3) This script is generated from the Groovy template
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       within the Gradle project.
+#
+#       You can find Gradle at https://github.com/gradle/gradle/.
+#
+##############################################################################
+
+# Attempt to set APP_HOME
+
+# Resolve links: $0 may be a link
+app_path=$0
+
+# Need this for daisy-chained symlinks.
+while
+    APP_HOME=${app_path%"${app_path##*/}"}  # leaves a trailing /; empty if no leading path
+    [ -h "$app_path" ]
+do
+    ls=$( ls -ld "$app_path" )
+    link=${ls#*' -> '}
+    case $link in             #(
+      /*)   app_path=$link ;; #(
+      *)    app_path=$APP_HOME$link ;;
+    esac
+done
+
+# This is normally unused
+# shellcheck disable=SC2034
+APP_BASE_NAME=${0##*/}
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
+
+# Use the maximum available, or set MAX_FD != -1 to use that value.
+MAX_FD=maximum
+
+warn () {
+    echo "$*"
+} >&2
+
+die () {
+    echo
+    echo "$*"
+    echo
+    exit 1
+} >&2
+
+# OS specific support (must be 'true' or 'false').
+cygwin=false
+msys=false
+darwin=false
+nonstop=false
+case "$( uname )" in                #(
+  CYGWIN* )         cygwin=true  ;; #(
+  Darwin* )         darwin=true  ;; #(
+  MSYS* | MINGW* )  msys=true    ;; #(
+  NONSTOP* )        nonstop=true ;;
+esac
+
+CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
+
+
+# Determine the Java command to use to start the JVM.
+if [ -n "$JAVA_HOME" ] ; then
+    if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
+        # IBM's JDK on AIX uses strange locations for the executables
+        JAVACMD=$JAVA_HOME/jre/sh/java
+    else
+        JAVACMD=$JAVA_HOME/bin/java
+    fi
+    if [ ! -x "$JAVACMD" ] ; then
+        die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+    fi
+else
+    JAVACMD=java
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+    fi
+fi
+
+# Increase the maximum file descriptors if we can.
+if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
+    case $MAX_FD in #(
+      max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
+        MAX_FD=$( ulimit -H -n ) ||
+            warn "Could not query maximum file descriptor limit"
+    esac
+    case $MAX_FD in  #(
+      '' | soft) :;; #(
+      *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
+        ulimit -n "$MAX_FD" ||
+            warn "Could not set maximum file descriptor limit to $MAX_FD"
+    esac
+fi
+
+# Collect all arguments for the java command, stacking in reverse order:
+#   * args from the command line
+#   * the main class name
+#   * -classpath
+#   * -D...appname settings
+#   * --module-path (only if needed)
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables.
+
+# For Cygwin or MSYS, switch paths to Windows format before running java
+if "$cygwin" || "$msys" ; then
+    APP_HOME=$( cygpath --path --mixed "$APP_HOME" )
+    CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" )
+
+    JAVACMD=$( cygpath --unix "$JAVACMD" )
+
+    # Now convert the arguments - kludge to limit ourselves to /bin/sh
+    for arg do
+        if
+            case $arg in                                #(
+              -*)   false ;;                            # don't mess with options #(
+              /?*)  t=${arg#/} t=/${t%%/*}              # looks like a POSIX filepath
+                    [ -e "$t" ] ;;                      #(
+              *)    false ;;
+            esac
+        then
+            arg=$( cygpath --path --ignore --mixed "$arg" )
+        fi
+        # Roll the args list around exactly as many times as the number of
+        # args, so each arg winds up back in the position where it started, but
+        # possibly modified.
+        #
+        # NB: a `for` loop captures its iteration list before it begins, so
+        # changing the positional parameters here affects neither the number of
+        # iterations, nor the values presented in `arg`.
+        shift                   # remove old arg
+        set -- "$@" "$arg"      # push replacement arg
+    done
+fi
+
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
+
+set -- \
+        "-Dorg.gradle.appname=$APP_BASE_NAME" \
+        -classpath "$CLASSPATH" \
+        org.gradle.wrapper.GradleWrapperMain \
+        "$@"
+
+# Stop when "xargs" is not available.
+if ! command -v xargs >/dev/null 2>&1
+then
+    die "xargs is not available"
+fi
+
+# Use "xargs" to parse quoted args.
+#
+# With -n1 it outputs one arg per line, with the quotes and backslashes removed.
+#
+# In Bash we could simply go:
+#
+#   readarray ARGS < <( xargs -n1 <<<"$var" ) &&
+#   set -- "${ARGS[@]}" "$@"
+#
+# but POSIX shell has neither arrays nor command substitution, so instead we
+# post-process each arg (as a line of input to sed) to backslash-escape any
+# character that might be a shell metacharacter, then use eval to reverse
+# that process (while maintaining the separation between arguments), and wrap
+# the whole thing up as a single "set" statement.
+#
+# This will of course break if any of these variables contains a newline or
+# an unmatched quote.
+#
+
+eval "set -- $(
+        printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" |
+        xargs -n1 |
+        sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' |
+        tr '\n' ' '
+    )" '"$@"'
+
+exec "$JAVACMD" "$@"
--- a/gradlew.bat
+++ b/gradlew.bat
@ -0,0 +1,92 @@
+@rem
+@rem Copyright 2015 the original author or authors.
+@rem
+@rem Licensed under the Apache License, Version 2.0 (the "License");
+@rem you may not use this file except in compliance with the License.
+@rem You may obtain a copy of the License at
+@rem
+@rem      https://www.apache.org/licenses/LICENSE-2.0
+@rem
+@rem Unless required by applicable law or agreed to in writing, software
+@rem distributed under the License is distributed on an "AS IS" BASIS,
+@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+@rem See the License for the specific language governing permissions and
+@rem limitations under the License.
+@rem
+
+@if "%DEBUG%"=="" @echo off
+@rem ##########################################################################
+@rem
+@rem  Gradle startup script for Windows
+@rem
+@rem ##########################################################################
+
+@rem Set local scope for the variables with windows NT shell
+if "%OS%"=="Windows_NT" setlocal
+
+set DIRNAME=%~dp0
+if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
+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"
+
+@rem Find java.exe
+if defined JAVA_HOME goto findJavaFromJavaHome
+
+set JAVA_EXE=java.exe
+%JAVA_EXE% -version >NUL 2>&1
+if %ERRORLEVEL% equ 0 goto execute
+
+echo.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:findJavaFromJavaHome
+set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
+if exist "%JAVA_EXE%" goto execute
+
+echo.
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:execute
+@rem Setup the command line
+
+set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+
+
+@rem Execute Gradle
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
+
+:end
+@rem End local scope for the variables with windows NT shell
+if %ERRORLEVEL% equ 0 goto mainEnd
+
+:fail
+rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
+rem the _cmd.exe /c_ return code!
+set EXIT_CODE=%ERRORLEVEL%
+if %EXIT_CODE% equ 0 set EXIT_CODE=1
+if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE%
+exit /b %EXIT_CODE%
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega
--- a/settings.gradle
+++ b/settings.gradle
@ -0,0 +1,30 @@
+import org.gradle.internal.os.OperatingSystem
+
+pluginManagement {
+    repositories {
+        mavenLocal()
+        gradlePluginPortal()
+        String frcYear = '2024'
+        File frcHome
+        if (OperatingSystem.current().isWindows()) {
+            String publicFolder = System.getenv('PUBLIC')
+            if (publicFolder == null) {
+                publicFolder = "C:\\Users\\Public"
+            }
+            def homeRoot = new File(publicFolder, "wpilib")
+            frcHome = new File(homeRoot, frcYear)
+        } else {
+            def userFolder = System.getProperty("user.home")
+            def homeRoot = new File(userFolder, "wpilib")
+            frcHome = new File(homeRoot, frcYear)
+        }
+        def frcHomeMaven = new File(frcHome, 'maven')
+        maven {
+            name 'frcHome'
+            url frcHomeMaven
+        }
+    }
+}
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
--- a/src/main/deploy/example.txt
+++ b/src/main/deploy/example.txt
@ -0,0 +1,3 @@
+Files placed in this directory will be deployed to the RoboRIO into the
+'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function
+to get a proper path relative to the deploy directory.
--- a/src/main/java/frc/robot/Main.java
+++ b/src/main/java/frc/robot/Main.java
@ -0,0 +1,15 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+public final class Main {
+  private Main() {}
+
+  public static void main(String... args) {
+    RobotBase.startRobot(Robot::new);
+  }
+}
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@ -0,0 +1,73 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot;
+
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+
+public class Robot extends TimedRobot {
+  private Command m_autonomousCommand;
+
+  private RobotContainer m_robotContainer;
+
+  @Override
+  public void robotInit() {
+    m_robotContainer = new RobotContainer();
+  }
+
+  @Override
+  public void robotPeriodic() {
+    CommandScheduler.getInstance().run();
+  }
+
+  @Override
+  public void disabledInit() {}
+
+  @Override
+  public void disabledPeriodic() {}
+
+  @Override
+  public void disabledExit() {}
+
+  @Override
+  public void autonomousInit() {
+    m_autonomousCommand = m_robotContainer.getAutonomousCommand();
+
+    if (m_autonomousCommand != null) {
+      m_autonomousCommand.schedule();
+    }
+  }
+
+  @Override
+  public void autonomousPeriodic() {}
+
+  @Override
+  public void autonomousExit() {}
+
+  @Override
+  public void teleopInit() {
+    if (m_autonomousCommand != null) {
+      m_autonomousCommand.cancel();
+    }
+  }
+
+  @Override
+  public void teleopPeriodic() {}
+
+  @Override
+  public void teleopExit() {}
+
+  @Override
+  public void testInit() {
+    CommandScheduler.getInstance().cancelAll();
+  }
+
+  @Override
+  public void testPeriodic() {}
+
+  @Override
+  public void testExit() {}
+}
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@ -0,0 +1,163 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot;
+
+import java.util.Optional;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import frc.robot.constants.HoodConstants;
+import frc.robot.constants.NeoMotorConstants;
+import frc.robot.constants.OIConstants;
+import frc.robot.subsystems.Climber;
+import frc.robot.subsystems.Drivetrain;
+import frc.robot.subsystems.Hood;
+import frc.robot.subsystems.Indexer;
+import frc.robot.subsystems.IntakePivot;
+import frc.robot.subsystems.IntakeRollers;
+import frc.robot.subsystems.Sensors;
+import frc.robot.subsystems.Shooter;
+
+public class RobotContainer {
+    private Climber climber;
+    private Drivetrain drivetrain;
+    private Hood hood;
+    private Indexer indexer;
+    private IntakePivot intakePivot;
+    private IntakeRollers intakeRollers;
+    private Sensors sensors;
+    private Shooter shooter;
+
+    private CommandXboxController driver;
+    private CommandXboxController operator;
+
+    public RobotContainer() {
+        climber = new Climber();
+        drivetrain = new Drivetrain();
+        hood = new Hood();
+        indexer = new Indexer();
+        intakePivot = new IntakePivot();
+        intakeRollers = new IntakeRollers();
+        sensors = new Sensors();
+        shooter = new Shooter();
+
+        driver = new CommandXboxController(OIConstants.kDriverUSB);
+        operator = new CommandXboxController(OIConstants.kOperatorUSB);
+
+        configureBindings();
+    }
+
+    private void configureBindings() {
+        climber.setDefaultCommand(
+            climber.stopClimber()
+        );
+
+        drivetrain.setDefaultCommand(drivetrain.drive(
+            driver::getLeftX, 
+            driver::getLeftY, 
+            driver::getRightX, 
+            () -> {
+                Optional<Alliance> alliance = DriverStation.getAlliance();
+
+                return alliance.isEmpty() || alliance.get() == Alliance.Blue ? false : true;
+            }, 
+            0.05, 
+            true, 
+            true
+        ));
+
+        hood.setDefaultCommand(
+            hood.hoodDown()
+        );
+
+        indexer.setDefaultCommand(
+            indexer.stopIndexer()
+        );
+
+        intakePivot.setDefaultCommand(
+            intakePivot.intakeUp()
+        );
+
+        intakeRollers.setDefaultCommand(
+            intakeRollers.stopIntake()
+        );
+
+        shooter.setDefaultCommand(
+            shooter.manualShooter(
+                driver::getRightTriggerAxis
+            )
+        );
+
+        //driver inputs//
+        driver.leftBumper().onTrue(shootGamePiece());
+
+        driver.leftTrigger().whileTrue(autoIntake());
+
+        driver.rightBumper().onTrue(ampShoot());
+        
+        //operator inputs//
+        operator.povUp().onTrue(hood.hoodUp());
+
+        operator.povDown().onTrue(autoClimb());
+
+        operator.leftBumper().onTrue(ampLoad());
+    }
+
+    public Command getAutonomousCommand() {
+        return Commands.print("No autonomous command configured");
+    }
+
+    //smart methods//
+    private Command shootGamePiece() {
+        return shooter.setSpeedShooter(NeoMotorConstants.kFreeSpeedRpm)
+            .until(() -> shooter.atSetpoint())
+            .withTimeout(2)
+                .andThen(
+                    shooter.setSpeedShooter(NeoMotorConstants.kFreeSpeedRpm)
+                        .alongWith(indexer.runIndexer(1))
+                        .until(() -> !sensors.getHoodBeamBreak() && !sensors.getIndexerBeamBreak())
+                        .withTimeout(2)
+                );
+    }
+
+    private Command ampLoad() {
+        return indexer.runIndexer(1)
+            .alongWith(shooter.setSpeedShooter(NeoMotorConstants.kFreeSpeedRpm / 4))
+            .until(() -> sensors.getHoodBeamBreak())
+            .withTimeout(2)
+                .andThen(
+                    hood.hoodUp()
+                );
+    }
+
+    private Command ampShoot() {
+        return shooter.setSpeedShooter(NeoMotorConstants.kFreeSpeedRpm)
+        .until(() -> sensors.getHoodBeamBreak())
+            .andThen(
+                hood.hoodDown()
+            );
+    }
+
+    private Command autoIntake() {
+        return intakePivot.intakeDown()
+            .until(() -> intakePivot.atSetpoint())
+            .withTimeout(2)
+            .andThen(
+                intakePivot.intakeDown()
+                    .alongWith(intakeRollers.runIntake(1))
+                    .until(() -> sensors.getIndexerBeamBreak())
+            );
+    }
+
+    private Command autoClimb() {
+        return climber.runClimber(1)
+            .until(() -> hood.getEncoder() <= HoodConstants.kHoodDownPosition)
+            .withTimeout(2);
+    }
+}
+// https://git.coldlightalchemist.com/NoahLacks63/2024again.git
--- a/src/main/java/frc/robot/constants
+++ b/src/main/java/frc/robot/constants
@ -0,0 +1 @@
+Subproject commit d9aeb8354643a01d043d06ab1974e46a625069eb
--- a/src/main/java/frc/robot/subsystems/Climber.java
+++ b/src/main/java/frc/robot/subsystems/Climber.java
@ -0,0 +1,32 @@
+package frc.robot.subsystems;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.constants.ClimberConstants;
+
+public class Climber extends SubsystemBase {
+    private CANSparkMax motor1;
+    private CANSparkMax motor2;
+
+    public Climber() {
+        motor1 = new CANSparkMax(ClimberConstants.kMotor1ID, MotorType.kBrushless);
+        motor2 = new CANSparkMax(ClimberConstants.kMotor2ID, MotorType.kBrushless);
+
+        motor2.follow(motor1);
+    }
+
+    public Command runClimber(double speed) {
+        return run(() -> {
+            motor1.set(speed);
+        });
+    }
+
+    public Command stopClimber() {
+        return run(() -> {
+            motor1.set(0);
+        });
+    }
+}
--- a/src/main/java/frc/robot/subsystems/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/Drivetrain.java
@ -0,0 +1,291 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+import java.util.function.BooleanSupplier;
+import java.util.function.DoubleSupplier;
+
+import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.math.filter.SlewRateLimiter;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
+import edu.wpi.first.math.kinematics.SwerveDriveOdometry;
+import edu.wpi.first.math.kinematics.SwerveModulePosition;
+import edu.wpi.first.math.kinematics.SwerveModuleState;
+import edu.wpi.first.util.WPIUtilJNI;
+import edu.wpi.first.wpilibj.ADIS16470_IMU;
+import edu.wpi.first.wpilibj.ADIS16470_IMU.IMUAxis;
+import frc.robot.constants.DrivetrainConstants;
+import frc.utils.MAXSwerveModule;
+import frc.utils.SwerveUtils;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Drivetrain extends SubsystemBase {
+  // Create MAXSwerveModules
+  private MAXSwerveModule m_frontLeft;
+  private MAXSwerveModule m_frontRight;
+  private MAXSwerveModule m_rearLeft;
+  private MAXSwerveModule m_rearRight;
+
+  // The gyro sensor
+  private ADIS16470_IMU m_gyro;
+
+  // Slew rate filter variables for controlling lateral acceleration
+  private double m_currentRotation;
+  private double m_currentTranslationDir;
+  private double m_currentTranslationMag;
+
+  private SlewRateLimiter m_magLimiter;
+  private SlewRateLimiter m_rotLimiter;
+  private double m_prevTime;
+
+  // Odometry class for tracking robot pose
+  SwerveDriveOdometry m_odometry;
+
+  /** Creates a new DriveSubsystem. */
+  public Drivetrain() {
+    m_frontLeft = new MAXSwerveModule(
+      DrivetrainConstants.kFrontLeftDrivingCanId,
+      DrivetrainConstants.kFrontLeftTurningCanId,
+      DrivetrainConstants.kFrontLeftChassisAngularOffset
+    );
+
+    m_frontRight = new MAXSwerveModule(
+      DrivetrainConstants.kFrontRightDrivingCanId,
+      DrivetrainConstants.kFrontRightTurningCanId,
+      DrivetrainConstants.kFrontRightChassisAngularOffset
+    );
+
+    m_rearLeft = new MAXSwerveModule(
+      DrivetrainConstants.kRearLeftDrivingCanId,
+      DrivetrainConstants.kRearLeftTurningCanId,
+      DrivetrainConstants.kBackLeftChassisAngularOffset
+    );
+
+    m_rearRight = new MAXSwerveModule(
+      DrivetrainConstants.kRearRightDrivingCanId,
+      DrivetrainConstants.kRearRightTurningCanId,
+      DrivetrainConstants.kBackRightChassisAngularOffset
+    );
+
+    m_gyro = new ADIS16470_IMU();
+
+    m_magLimiter = new SlewRateLimiter(DrivetrainConstants.kMagnitudeSlewRate);
+    m_rotLimiter = new SlewRateLimiter(DrivetrainConstants.kRotationalSlewRate);
+
+    m_odometry = new SwerveDriveOdometry(
+      DrivetrainConstants.kDriveKinematics,
+      Rotation2d.fromDegrees(m_gyro.getAngle(IMUAxis.kZ)),
+      new SwerveModulePosition[] {
+          m_frontLeft.getPosition(),
+          m_frontRight.getPosition(),
+          m_rearLeft.getPosition(),
+          m_rearRight.getPosition()
+      }
+    );
+
+    m_currentRotation = 0.0;
+    m_currentTranslationDir = 0.0;
+    m_currentTranslationMag = 0.0;
+    m_prevTime = WPIUtilJNI.now() * 1e-6;
+  }
+
+  @Override
+  public void periodic() {
+    // Update the odometry in the periodic block
+    m_odometry.update(
+        Rotation2d.fromDegrees(m_gyro.getAngle(IMUAxis.kZ)),
+        new SwerveModulePosition[] {
+            m_frontLeft.getPosition(),
+            m_frontRight.getPosition(),
+            m_rearLeft.getPosition(),
+            m_rearRight.getPosition()
+        });
+  }
+
+  /**
+   * Returns the currently-estimated pose of the robot.
+   *
+   * @return The pose.
+   */
+  public Pose2d getPose() {
+    return m_odometry.getPoseMeters();
+  }
+
+  /**
+   * Resets the odometry to the specified pose.
+   *
+   * @param pose The pose to which to set the odometry.
+   */
+  public void resetOdometry(Pose2d pose) {
+    m_odometry.resetPosition(
+        Rotation2d.fromDegrees(m_gyro.getAngle(IMUAxis.kZ)),
+        new SwerveModulePosition[] {
+            m_frontLeft.getPosition(),
+            m_frontRight.getPosition(),
+            m_rearLeft.getPosition(),
+            m_rearRight.getPosition()
+        },
+        pose);
+  }
+
+  public Command drive(DoubleSupplier xSpeed, DoubleSupplier ySpeed, DoubleSupplier rot, BooleanSupplier redInvert,
+    double deadband, boolean fieldRelative, boolean rateLimit) {
+
+    return run(() -> {
+      drive(
+        -MathUtil.applyDeadband(xSpeed.getAsDouble(), deadband) * (fieldRelative && redInvert.getAsBoolean() ? -1 : 1), 
+        -MathUtil.applyDeadband(ySpeed.getAsDouble(), deadband) * (fieldRelative && redInvert.getAsBoolean() ? -1 : 1), 
+        -MathUtil.applyDeadband(rot.getAsDouble(), deadband), 
+        fieldRelative, 
+        rateLimit
+      );
+    });
+  }
+
+  /**
+   * Method to drive the robot using joystick info.
+   *
+   * @param xSpeed        Speed of the robot in the x direction (forward).
+   * @param ySpeed        Speed of the robot in the y direction (sideways).
+   * @param rot           Angular rate of the robot.
+   * @param fieldRelative Whether the provided x and y speeds are relative to the
+   *                      field.
+   * @param rateLimit     Whether to enable rate limiting for smoother control.
+   */
+  public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelative, boolean rateLimit) {
+    
+    double xSpeedCommanded;
+    double ySpeedCommanded;
+
+    if (rateLimit) {
+      // Convert XY to polar for rate limiting
+      double inputTranslationDir = Math.atan2(ySpeed, xSpeed);
+      double inputTranslationMag = Math.sqrt(Math.pow(xSpeed, 2) + Math.pow(ySpeed, 2));
+
+      // Calculate the direction slew rate based on an estimate of the lateral acceleration
+      double directionSlewRate;
+      if (m_currentTranslationMag != 0.0) {
+        directionSlewRate = Math.abs(DrivetrainConstants.kDirectionSlewRate / m_currentTranslationMag);
+      } else {
+        directionSlewRate = 500.0; //some high number that means the slew rate is effectively instantaneous
+      }
+      
+
+      double currentTime = WPIUtilJNI.now() * 1e-6;
+      double elapsedTime = currentTime - m_prevTime;
+      double angleDif = SwerveUtils.AngleDifference(inputTranslationDir, m_currentTranslationDir);
+      if (angleDif < 0.45*Math.PI) {
+        m_currentTranslationDir = SwerveUtils.StepTowardsCircular(m_currentTranslationDir, inputTranslationDir, directionSlewRate * elapsedTime);
+        m_currentTranslationMag = m_magLimiter.calculate(inputTranslationMag);
+      }
+      else if (angleDif > 0.85*Math.PI) {
+        if (m_currentTranslationMag > 1e-4) { //some small number to avoid floating-point errors with equality checking
+          // keep currentTranslationDir unchanged
+          m_currentTranslationMag = m_magLimiter.calculate(0.0);
+        }
+        else {
+          m_currentTranslationDir = SwerveUtils.WrapAngle(m_currentTranslationDir + Math.PI);
+          m_currentTranslationMag = m_magLimiter.calculate(inputTranslationMag);
+        }
+      }
+      else {
+        m_currentTranslationDir = SwerveUtils.StepTowardsCircular(m_currentTranslationDir, inputTranslationDir, directionSlewRate * elapsedTime);
+        m_currentTranslationMag = m_magLimiter.calculate(0.0);
+      }
+      m_prevTime = currentTime;
+      
+      xSpeedCommanded = m_currentTranslationMag * Math.cos(m_currentTranslationDir);
+      ySpeedCommanded = m_currentTranslationMag * Math.sin(m_currentTranslationDir);
+      m_currentRotation = m_rotLimiter.calculate(rot);
+
+
+    } else {
+      xSpeedCommanded = xSpeed;
+      ySpeedCommanded = ySpeed;
+      m_currentRotation = rot;
+    }
+
+    // Convert the commanded speeds into the correct units for the drivetrain
+    double xSpeedDelivered = xSpeedCommanded * DrivetrainConstants.kMaxSpeedMetersPerSecond;
+    double ySpeedDelivered = ySpeedCommanded * DrivetrainConstants.kMaxSpeedMetersPerSecond;
+    double rotDelivered = m_currentRotation * DrivetrainConstants.kMaxAngularSpeed;
+
+    var swerveModuleStates = DrivetrainConstants.kDriveKinematics.toSwerveModuleStates(
+        fieldRelative
+            ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedDelivered, ySpeedDelivered, rotDelivered, Rotation2d.fromDegrees(m_gyro.getAngle(IMUAxis.kZ)))
+            : new ChassisSpeeds(xSpeedDelivered, ySpeedDelivered, rotDelivered));
+    SwerveDriveKinematics.desaturateWheelSpeeds(
+        swerveModuleStates, DrivetrainConstants.kMaxSpeedMetersPerSecond);
+    m_frontLeft.setDesiredState(swerveModuleStates[0]);
+    m_frontRight.setDesiredState(swerveModuleStates[1]);
+    m_rearLeft.setDesiredState(swerveModuleStates[2]);
+    m_rearRight.setDesiredState(swerveModuleStates[3]);
+  }
+
+  public Command setXCommand() {
+    return run(() -> {
+      setX();
+    });
+  }
+
+  /**
+   * Sets the wheels into an X formation to prevent movement.
+   */
+  public void setX() {
+    m_frontLeft.setDesiredState(new SwerveModuleState(0, Rotation2d.fromDegrees(45)));
+    m_frontRight.setDesiredState(new SwerveModuleState(0, Rotation2d.fromDegrees(-45)));
+    m_rearLeft.setDesiredState(new SwerveModuleState(0, Rotation2d.fromDegrees(-45)));
+    m_rearRight.setDesiredState(new SwerveModuleState(0, Rotation2d.fromDegrees(45)));
+  }
+
+  /**
+   * Sets the swerve ModuleStates.
+   *
+   * @param desiredStates The desired SwerveModule states.
+   */
+  public void setModuleStates(SwerveModuleState[] desiredStates) {
+    SwerveDriveKinematics.desaturateWheelSpeeds(
+        desiredStates, DrivetrainConstants.kMaxSpeedMetersPerSecond);
+    m_frontLeft.setDesiredState(desiredStates[0]);
+    m_frontRight.setDesiredState(desiredStates[1]);
+    m_rearLeft.setDesiredState(desiredStates[2]);
+    m_rearRight.setDesiredState(desiredStates[3]);
+  }
+
+  /** Resets the drive encoders to currently read a position of 0. */
+  public void resetEncoders() {
+    m_frontLeft.resetEncoders();
+    m_rearLeft.resetEncoders();
+    m_frontRight.resetEncoders();
+    m_rearRight.resetEncoders();
+  }
+
+  /** Zeroes the heading of the robot. */
+  public void zeroHeading() {
+    m_gyro.reset();
+  }
+
+  /**
+   * Returns the heading of the robot.
+   *
+   * @return the robot's heading in degrees, from -180 to 180
+   */
+  public double getHeading() {
+    return Rotation2d.fromDegrees(m_gyro.getAngle(IMUAxis.kZ)).getDegrees();
+  }
+
+  /**
+   * Returns the turn rate of the robot.
+   *
+   * @return The turn rate of the robot, in degrees per second
+   */
+  public double getTurnRate() {
+    return m_gyro.getRate(IMUAxis.kZ) * (DrivetrainConstants.kGyroReversed ? -1.0 : 1.0);
+  }
+}
--- a/src/main/java/frc/robot/subsystems/Hood.java
+++ b/src/main/java/frc/robot/subsystems/Hood.java
@ -0,0 +1,54 @@
+package frc.robot.subsystems;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.constants.HoodConstants;
+
+public class Hood extends SubsystemBase {
+    private CANSparkMax motor1;
+
+    private Encoder encoder;
+
+    private PIDController pidController;
+
+    public Hood() {
+        motor1 = new CANSparkMax(HoodConstants.kMotor1ID, MotorType.kBrushless);
+
+        encoder = new Encoder(HoodConstants.kEncoderA, HoodConstants.kEncoderB);
+
+        pidController = new PIDController(
+            HoodConstants.kHoodP, 
+            HoodConstants.kHoodI, 
+            HoodConstants.kHoodD
+        );
+    }
+
+    public Command hoodUp() {
+        return run(() -> {
+            motor1.set(pidController.calculate(
+                encoder.getDistance(), 
+                HoodConstants.kHoodUpPosition));
+        });
+    }
+
+    public Command hoodDown() {
+        return run(() -> {
+            motor1.set(pidController.calculate(
+                encoder.getDistance(), 
+                HoodConstants.kHoodDownPosition));
+        });
+    }
+
+    public boolean atSetpoint() {
+        return pidController.atSetpoint();
+    }
+
+    public double getEncoder() {
+        return encoder.getDistance();
+    }
+}
--- a/src/main/java/frc/robot/subsystems/Indexer.java
+++ b/src/main/java/frc/robot/subsystems/Indexer.java
@ -0,0 +1,28 @@
+package frc.robot.subsystems;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.constants.IndexerConstants;
+
+public class Indexer extends SubsystemBase {
+    private CANSparkMax motor1;
+
+    public Indexer() {
+        motor1 = new CANSparkMax(IndexerConstants.kMotor1ID, MotorType.kBrushless);
+    }
+
+    public Command runIndexer(double speed) {
+        return run(() -> {
+            motor1.set(speed);
+        });
+    }
+
+    public Command stopIndexer() {
+        return run(() -> {
+            motor1.set(0);
+        });
+    }
+}
--- a/src/main/java/frc/robot/subsystems/IntakePivot.java
+++ b/src/main/java/frc/robot/subsystems/IntakePivot.java
@ -0,0 +1,50 @@
+package frc.robot.subsystems;
+
+import com.revrobotics.AbsoluteEncoder;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.constants.IntakePivotConstants;
+
+public class IntakePivot extends SubsystemBase {
+    private CANSparkMax motor1;
+
+    private AbsoluteEncoder motor1Encoder;
+
+    private PIDController pidController;
+
+    public IntakePivot() {
+        motor1 = new CANSparkMax(IntakePivotConstants.kMotor1ID, MotorType.kBrushless);
+
+        motor1Encoder = motor1.getAbsoluteEncoder();
+
+        pidController = new PIDController(
+            IntakePivotConstants.kHoodP, 
+            IntakePivotConstants.kHoodI, 
+            IntakePivotConstants.kHoodD
+        );
+    }
+
+    public Command intakeUp() {
+        return run(() -> {
+            motor1.set(pidController.calculate(
+                motor1Encoder.getPosition(), 
+                IntakePivotConstants.kIntakeUpPosition));
+        });
+    }
+
+    public Command intakeDown() {
+        return run(() -> {
+            motor1.set(pidController.calculate(
+                motor1Encoder.getPosition(), 
+                IntakePivotConstants.kIntakeDownPosition));
+        });
+    }
+
+    public boolean atSetpoint() {
+        return pidController.atSetpoint();
+    }
+}
--- a/src/main/java/frc/robot/subsystems/IntakeRollers.java
+++ b/src/main/java/frc/robot/subsystems/IntakeRollers.java
@ -0,0 +1,28 @@
+package frc.robot.subsystems;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.constants.IntakeRollersConstants;
+
+public class IntakeRollers extends SubsystemBase {
+    private CANSparkMax motor1;
+
+    public IntakeRollers() {
+        motor1 = new CANSparkMax(IntakeRollersConstants.kMotor1ID, MotorType.kBrushless);
+    }
+
+    public Command runIntake(double speed) {
+        return run(() -> {
+            motor1.set(speed);
+        });
+    }
+
+    public Command stopIntake() {
+        return run(() -> {
+            motor1.set(0);
+        });
+    }   
+}
--- a/src/main/java/frc/robot/subsystems/Sensors.java
+++ b/src/main/java/frc/robot/subsystems/Sensors.java
@ -0,0 +1,23 @@
+package frc.robot.subsystems;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.constants.SensorsConstants;
+
+public class Sensors extends SubsystemBase {
+    private DigitalInput hoodBeamBreak;
+    private DigitalInput indexerBeamBreak;
+
+    public Sensors() {
+        hoodBeamBreak = new DigitalInput(SensorsConstants.kHoodBeamBreakID);
+        indexerBeamBreak = new DigitalInput(SensorsConstants.kIndexerBeamBreakID);
+    }
+
+    public boolean getHoodBeamBreak() {
+        return hoodBeamBreak.get();
+    }
+
+    public boolean getIndexerBeamBreak() {
+        return indexerBeamBreak.get();
+    }
+}
--- a/src/main/java/frc/robot/subsystems/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/Shooter.java
@ -0,0 +1,60 @@
+package frc.robot.subsystems;
+
+import java.util.function.DoubleSupplier;
+
+import com.revrobotics.AbsoluteEncoder;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+
+import edu.wpi.first.math.controller.BangBangController;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.constants.ShooterConstants;
+
+public class Shooter extends SubsystemBase {
+    private CANSparkMax topRoller;
+    private CANSparkMax bottomRoller;
+
+    private AbsoluteEncoder topEncoder;
+
+    private BangBangController bangBangController;
+
+    public Shooter() {
+        topRoller = new CANSparkMax(ShooterConstants.kTopRollerID, MotorType.kBrushless);
+        bottomRoller = new CANSparkMax(ShooterConstants.kBottomRollerID, MotorType.kBrushless);
+        
+        bottomRoller.follow(topRoller);
+        bottomRoller.setInverted(true);
+
+        topEncoder = topRoller.getAbsoluteEncoder();
+
+        bangBangController = new BangBangController(ShooterConstants.kBangBangTolerance);
+    }
+
+    public Command manualShooter(DoubleSupplier speed) {
+        return run(() -> {
+            topRoller.set(speed.getAsDouble());
+        });
+    }
+
+    public Command setSpeedShooter(double speed) {
+        return run(() -> {
+            topRoller.set(
+                bangBangController.calculate(
+                    topEncoder.getVelocity(), 
+                    speed
+                )
+            );
+        });
+    }
+
+    public Command stopShooter() {
+        return run(() -> {
+            topRoller.set(0);
+        });
+    }
+
+    public boolean atSetpoint() {
+        return bangBangController.atSetpoint();
+    }
+}
--- a/src/main/java/frc/utils/MAXSwerveModule.java
+++ b/src/main/java/frc/utils/MAXSwerveModule.java
@ -0,0 +1,167 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.utils;
+
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.kinematics.SwerveModulePosition;
+import edu.wpi.first.math.kinematics.SwerveModuleState;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+import com.revrobotics.SparkAbsoluteEncoder.Type;
+import com.revrobotics.SparkPIDController;
+import com.revrobotics.AbsoluteEncoder;
+import com.revrobotics.RelativeEncoder;
+
+import frc.robot.constants.ModuleConstants;
+
+public class MAXSwerveModule {
+  private final CANSparkMax m_drivingSparkMax;
+  private final CANSparkMax m_turningSparkMax;
+
+  private final RelativeEncoder m_drivingEncoder;
+  private final AbsoluteEncoder m_turningEncoder;
+
+  private final SparkPIDController m_drivingPIDController;
+  private final SparkPIDController m_turningPIDController;
+
+  private double m_chassisAngularOffset;
+  private SwerveModuleState m_desiredState;
+
+  /**
+   * Constructs a MAXSwerveModule and configures the driving and turning motor,
+   * encoder, and PID controller. This configuration is specific to the REV
+   * MAXSwerve Module built with NEOs, SPARKS MAX, and a Through Bore
+   * Encoder.
+   */
+  public MAXSwerveModule(int drivingCANId, int turningCANId, double chassisAngularOffset) {
+    m_drivingSparkMax = new CANSparkMax(drivingCANId, MotorType.kBrushless);
+    m_turningSparkMax = new CANSparkMax(turningCANId, MotorType.kBrushless);
+
+    // Factory reset, so we get the SPARKS MAX to a known state before configuring
+    // them. This is useful in case a SPARK MAX is swapped out.
+    m_drivingSparkMax.restoreFactoryDefaults();
+    m_turningSparkMax.restoreFactoryDefaults();
+
+    // Setup encoders and PID controllers for the driving and turning SPARKS MAX.
+    m_drivingEncoder = m_drivingSparkMax.getEncoder();
+    m_turningEncoder = m_turningSparkMax.getAbsoluteEncoder(Type.kDutyCycle);
+    m_drivingPIDController = m_drivingSparkMax.getPIDController();
+    m_turningPIDController = m_turningSparkMax.getPIDController();
+    m_drivingPIDController.setFeedbackDevice(m_drivingEncoder);
+    m_turningPIDController.setFeedbackDevice(m_turningEncoder);
+
+    // Apply position and velocity conversion factors for the driving encoder. The
+    // native units for position and velocity are rotations and RPM, respectively,
+    // but we want meters and meters per second to use with WPILib's swerve APIs.
+    m_drivingEncoder.setPositionConversionFactor(ModuleConstants.kDrivingEncoderPositionFactor);
+    m_drivingEncoder.setVelocityConversionFactor(ModuleConstants.kDrivingEncoderVelocityFactor);
+
+    // Apply position and velocity conversion factors for the turning encoder. We
+    // want these in radians and radians per second to use with WPILib's swerve
+    // APIs.
+    m_turningEncoder.setPositionConversionFactor(ModuleConstants.kTurningEncoderPositionFactor);
+    m_turningEncoder.setVelocityConversionFactor(ModuleConstants.kTurningEncoderVelocityFactor);
+
+    // Invert the turning encoder, since the output shaft rotates in the opposite direction of
+    // the steering motor in the MAXSwerve Module.
+    m_turningEncoder.setInverted(ModuleConstants.kTurningEncoderInverted);
+
+    // Enable PID wrap around for the turning motor. This will allow the PID
+    // controller to go through 0 to get to the setpoint i.e. going from 350 degrees
+    // to 10 degrees will go through 0 rather than the other direction which is a
+    // longer route.
+    m_turningPIDController.setPositionPIDWrappingEnabled(true);
+    m_turningPIDController.setPositionPIDWrappingMinInput(ModuleConstants.kTurningEncoderPositionPIDMinInput);
+    m_turningPIDController.setPositionPIDWrappingMaxInput(ModuleConstants.kTurningEncoderPositionPIDMaxInput);
+
+    // Set the PID gains for the driving motor. Note these are example gains, and you
+    // may need to tune them for your own robot!
+    m_drivingPIDController.setP(ModuleConstants.kDrivingP);
+    m_drivingPIDController.setI(ModuleConstants.kDrivingI);
+    m_drivingPIDController.setD(ModuleConstants.kDrivingD);
+    m_drivingPIDController.setFF(ModuleConstants.kDrivingFF);
+    m_drivingPIDController.setOutputRange(ModuleConstants.kDrivingMinOutput,
+        ModuleConstants.kDrivingMaxOutput);
+
+    // Set the PID gains for the turning motor. Note these are example gains, and you
+    // may need to tune them for your own robot!
+    m_turningPIDController.setP(ModuleConstants.kTurningP);
+    m_turningPIDController.setI(ModuleConstants.kTurningI);
+    m_turningPIDController.setD(ModuleConstants.kTurningD);
+    m_turningPIDController.setFF(ModuleConstants.kTurningFF);
+    m_turningPIDController.setOutputRange(ModuleConstants.kTurningMinOutput,
+        ModuleConstants.kTurningMaxOutput);
+
+    m_drivingSparkMax.setIdleMode(ModuleConstants.kDrivingMotorIdleMode);
+    m_turningSparkMax.setIdleMode(ModuleConstants.kTurningMotorIdleMode);
+    m_drivingSparkMax.setSmartCurrentLimit(ModuleConstants.kDrivingMotorCurrentLimit);
+    m_turningSparkMax.setSmartCurrentLimit(ModuleConstants.kTurningMotorCurrentLimit);
+
+    // Save the SPARK MAX configurations. If a SPARK MAX browns out during
+    // operation, it will maintain the above configurations.
+    m_drivingSparkMax.burnFlash();
+    m_turningSparkMax.burnFlash();
+
+    m_chassisAngularOffset = chassisAngularOffset;
+    m_desiredState.angle = new Rotation2d(m_turningEncoder.getPosition());
+    m_drivingEncoder.setPosition(0);
+
+    m_chassisAngularOffset = 0;
+    m_desiredState = new SwerveModuleState(0.0, new Rotation2d());
+  }
+
+  /**
+   * Returns the current state of the module.
+   *
+   * @return The current state of the module.
+   */
+  public SwerveModuleState getState() {
+    // Apply chassis angular offset to the encoder position to get the position
+    // relative to the chassis.
+    return new SwerveModuleState(m_drivingEncoder.getVelocity(),
+        new Rotation2d(m_turningEncoder.getPosition() - m_chassisAngularOffset));
+  }
+
+  /**
+   * Returns the current position of the module.
+   *
+   * @return The current position of the module.
+   */
+  public SwerveModulePosition getPosition() {
+    // Apply chassis angular offset to the encoder position to get the position
+    // relative to the chassis.
+    return new SwerveModulePosition(
+        m_drivingEncoder.getPosition(),
+        new Rotation2d(m_turningEncoder.getPosition() - m_chassisAngularOffset));
+  }
+
+  /**
+   * Sets the desired state for the module.
+   *
+   * @param desiredState Desired state with speed and angle.
+   */
+  public void setDesiredState(SwerveModuleState desiredState) {
+    // Apply chassis angular offset to the desired state.
+    SwerveModuleState correctedDesiredState = new SwerveModuleState();
+    correctedDesiredState.speedMetersPerSecond = desiredState.speedMetersPerSecond;
+    correctedDesiredState.angle = desiredState.angle.plus(Rotation2d.fromRadians(m_chassisAngularOffset));
+
+    // Optimize the reference state to avoid spinning further than 90 degrees.
+    SwerveModuleState optimizedDesiredState = SwerveModuleState.optimize(correctedDesiredState,
+        new Rotation2d(m_turningEncoder.getPosition()));
+
+    // Command driving and turning SPARKS MAX towards their respective setpoints.
+    m_drivingPIDController.setReference(optimizedDesiredState.speedMetersPerSecond, CANSparkMax.ControlType.kVelocity);
+    m_turningPIDController.setReference(optimizedDesiredState.angle.getRadians(), CANSparkMax.ControlType.kPosition);
+
+    m_desiredState = desiredState;
+  }
+
+  /** Zeroes all the SwerveModule encoders. */
+  public void resetEncoders() {
+    m_drivingEncoder.setPosition(0);
+  }
+}
--- a/src/main/java/frc/utils/SwerveUtils.java
+++ b/src/main/java/frc/utils/SwerveUtils.java
@ -0,0 +1,89 @@
+package frc.utils;
+
+public class SwerveUtils {
+
+    /**
+     * Steps a value towards a target with a specified step size.
+     * @param _current The current or starting value.  Can be positive or negative.
+     * @param _target The target value the algorithm will step towards.  Can be positive or negative.
+     * @param _stepsize The maximum step size that can be taken.
+     * @return The new value for {@code _current} after performing the specified step towards the specified target.
+     */
+    public static double StepTowards(double _current, double _target, double _stepsize) {
+        if (Math.abs(_current - _target) <= _stepsize) {
+            return _target;
+        }
+        else if (_target < _current) {
+            return _current - _stepsize;
+        }
+        else {
+            return _current + _stepsize;
+        }
+    }
+
+    /**
+     * Steps a value (angle) towards a target (angle) taking the shortest path with a specified step size.
+     * @param _current The current or starting angle (in radians).  Can lie outside the 0 to 2*PI range.
+     * @param _target The target angle (in radians) the algorithm will step towards.  Can lie outside the 0 to 2*PI range.
+     * @param _stepsize The maximum step size that can be taken (in radians).
+     * @return The new angle (in radians) for {@code _current} after performing the specified step towards the specified target.
+     * This value will always lie in the range 0 to 2*PI (exclusive).
+     */
+    public static double StepTowardsCircular(double _current, double _target, double _stepsize) {
+        _current = WrapAngle(_current);
+        _target = WrapAngle(_target);
+
+        double stepDirection = Math.signum(_target - _current);
+        double difference = Math.abs(_current - _target);
+        
+        if (difference <= _stepsize) {
+            return _target;
+        }
+        else if (difference > Math.PI) { //does the system need to wrap over eventually?
+            //handle the special case where you can reach the target in one step while also wrapping
+            if (_current + 2*Math.PI - _target < _stepsize || _target + 2*Math.PI - _current < _stepsize) {
+                return _target;
+            }
+            else {
+                return WrapAngle(_current - stepDirection * _stepsize); //this will handle wrapping gracefully
+            }
+
+        }
+        else {
+            return _current + stepDirection * _stepsize;
+        }
+    }
+
+    /**
+     * Finds the (unsigned) minimum difference between two angles including calculating across 0.
+     * @param _angleA An angle (in radians).
+     * @param _angleB An angle (in radians).
+     * @return The (unsigned) minimum difference between the two angles (in radians).
+     */
+    public static double AngleDifference(double _angleA, double _angleB) {
+        double difference = Math.abs(_angleA - _angleB);
+        return difference > Math.PI? (2 * Math.PI) - difference : difference;
+    }
+
+    /**
+     * Wraps an angle until it lies within the range from 0 to 2*PI (exclusive).
+     * @param _angle The angle (in radians) to wrap.  Can be positive or negative and can lie multiple wraps outside the output range.
+     * @return An angle (in radians) from 0 and 2*PI (exclusive).
+     */
+    public static double WrapAngle(double _angle) {
+        double twoPi = 2*Math.PI;
+
+        if (_angle == twoPi) { // Handle this case separately to avoid floating point errors with the floor after the division in the case below
+            return 0.0;
+        }
+        else if (_angle > twoPi) {
+            return _angle - twoPi*Math.floor(_angle / twoPi);
+        }
+        else if (_angle < 0.0) {
+            return _angle + twoPi*(Math.floor((-_angle) / twoPi)+1);
+        }
+        else {
+            return _angle;
+        }
+    }
+}
--- a/vendordeps/Phoenix5.json
+++ b/vendordeps/Phoenix5.json
@ -0,0 +1,151 @@
+{
+    "fileName": "Phoenix5.json",
+    "name": "CTRE-Phoenix (v5)",
+    "version": "5.33.1",
+    "frcYear": 2024,
+    "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
+    "mavenUrls": [
+        "https://maven.ctr-electronics.com/release/"
+    ],
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2024-latest.json",
+    "requires": [
+        {
+            "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
+            "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6.  Please add the Phoenix 6 vendordep before adding Phoenix 5.",
+            "offlineFileName": "Phoenix6.json",
+            "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json"
+        }
+    ],
+    "javaDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "api-java",
+            "version": "5.33.1"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "wpiapi-java",
+            "version": "5.33.1"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "cci",
+            "version": "5.33.1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "cci-sim",
+            "version": "5.33.1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "wpiapi-cpp",
+            "version": "5.33.1",
+            "libName": "CTRE_Phoenix_WPI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "api-cpp",
+            "version": "5.33.1",
+            "libName": "CTRE_Phoenix",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "cci",
+            "version": "5.33.1",
+            "libName": "CTRE_PhoenixCCI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "wpiapi-cpp-sim",
+            "version": "5.33.1",
+            "libName": "CTRE_Phoenix_WPISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "api-cpp-sim",
+            "version": "5.33.1",
+            "libName": "CTRE_PhoenixSim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "cci-sim",
+            "version": "5.33.1",
+            "libName": "CTRE_PhoenixCCISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ]
+}
--- a/vendordeps/Phoenix6.json
+++ b/vendordeps/Phoenix6.json
@ -0,0 +1,339 @@
+{
+    "fileName": "Phoenix6.json",
+    "name": "CTRE-Phoenix (v6)",
+    "version": "24.3.0",
+    "frcYear": 2024,
+    "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
+    "mavenUrls": [
+        "https://maven.ctr-electronics.com/release/"
+    ],
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
+    "conflictsWith": [
+        {
+            "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
+            "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
+            "offlineFileName": "Phoenix6And5.json"
+        }
+    ],
+    "javaDependencies": [
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "wpiapi-java",
+            "version": "24.3.0"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "tools",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "tools-sim",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simTalonSRX",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simTalonFX",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simVictorSPX",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simPigeonIMU",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simCANCoder",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFX",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANcoder",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProPigeon2",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "wpiapi-cpp",
+            "version": "24.3.0",
+            "libName": "CTRE_Phoenix6_WPI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "tools",
+            "version": "24.3.0",
+            "libName": "CTRE_PhoenixTools",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "wpiapi-cpp-sim",
+            "version": "24.3.0",
+            "libName": "CTRE_Phoenix6_WPISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "tools-sim",
+            "version": "24.3.0",
+            "libName": "CTRE_PhoenixTools_Sim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simTalonSRX",
+            "version": "24.3.0",
+            "libName": "CTRE_SimTalonSRX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simTalonFX",
+            "version": "24.3.0",
+            "libName": "CTRE_SimTalonFX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simVictorSPX",
+            "version": "24.3.0",
+            "libName": "CTRE_SimVictorSPX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simPigeonIMU",
+            "version": "24.3.0",
+            "libName": "CTRE_SimPigeonIMU",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simCANCoder",
+            "version": "24.3.0",
+            "libName": "CTRE_SimCANCoder",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFX",
+            "version": "24.3.0",
+            "libName": "CTRE_SimProTalonFX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANcoder",
+            "version": "24.3.0",
+            "libName": "CTRE_SimProCANcoder",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProPigeon2",
+            "version": "24.3.0",
+            "libName": "CTRE_SimProPigeon2",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ]
+}
--- a/vendordeps/REVLib.json
+++ b/vendordeps/REVLib.json
@ -0,0 +1,74 @@
+{
+    "fileName": "REVLib.json",
+    "name": "REVLib",
+    "version": "2024.2.4",
+    "frcYear": "2024",
+    "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
+    "mavenUrls": [
+        "https://maven.revrobotics.com/"
+    ],
+    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2024.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-java",
+            "version": "2024.2.4"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2024.2.4",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-cpp",
+            "version": "2024.2.4",
+            "libName": "REVLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2024.2.4",
+            "libName": "REVLibDriver",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ]
+}
--- a/vendordeps/WPILibNewCommands.json
+++ b/vendordeps/WPILibNewCommands.json
@ -0,0 +1,38 @@
+{
+  "fileName": "WPILibNewCommands.json",
+  "name": "WPILib-New-Commands",
+  "version": "1.0.0",
+  "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
+  "frcYear": "2024",
+  "mavenUrls": [],
+  "jsonUrl": "",
+  "javaDependencies": [
+    {
+      "groupId": "edu.wpi.first.wpilibNewCommands",
+      "artifactId": "wpilibNewCommands-java",
+      "version": "wpilib"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "groupId": "edu.wpi.first.wpilibNewCommands",
+      "artifactId": "wpilibNewCommands-cpp",
+      "version": "wpilib",
+      "libName": "wpilibNewCommands",
+      "headerClassifier": "headers",
+      "sourcesClassifier": "sources",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "linuxathena",
+        "linuxarm32",
+        "linuxarm64",
+        "windowsx86-64",
+        "windowsx86",
+        "linuxx86-64",
+        "osxuniversal"
+      ]
+    }
+  ]
+}
				`@ -0,0 +1 @@`
				`Subproject commit d9aeb8354643a01d043d06ab1974e46a625069eb`