Initial Commit, REV template

2025-01-04 16:23:47 -05:00 · 2025-01-04 16:23:47 -05:00 · cfd538f97e
commit cfd538f97e
22 changed files with 1590 additions and 0 deletions
--- a/.gitignore
+++ b/.gitignore
@ -0,0 +1,184 @@
+# 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
+networktables.json
+simgui.json
+*-window.json
+
+# Simulation data log directory
+logs/
+
+# Folder that has CTRE Phoenix Sim device config storage
+ctre_sim/
+
+# clangd
+/.cache
+compile_commands.json
--- 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": "2025beta",
+    "teamNumber": 2714
+}
--- a/LICENSE.txt
+++ b/LICENSE.txt
@ -0,0 +1,25 @@
+Copyright (c) 2018-2023 REV Robotics
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice,
+   this list of conditions and the following disclaimer.
+2. 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.
+3. Neither the name of REV Robotics nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER 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/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 +1,102 @@
+plugins {
+    id "java"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
+}
+
+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 {
+    annotationProcessor wpi.java.deps.wpilibAnnotations()
+    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-8.10.2-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=permwrapper/dists
--- a/252
+++ b/252
@ -0,0 +1,252 @@
+#!/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.
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+
+##############################################################################
+#
+#   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/platforms/jvm/plugins-application/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 -P "${APP_HOME:-./}" > /dev/null && printf '%s
+' "$PWD" ) || 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 +1,94 @@
+@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
+@rem SPDX-License-Identifier: Apache-2.0
+@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. 1>&2
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2
+echo. 1>&2
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
+echo location of your Java installation. 1>&2
+
+goto fail
+
+:findJavaFromJavaHome
+set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
+if exist "%JAVA_EXE%" goto execute
+
+echo. 1>&2
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
+echo. 1>&2
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
+echo location of your Java installation. 1>&2
+
+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 = '2025'
+        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/Configs.java
+++ b/src/main/java/frc/robot/Configs.java
@ -0,0 +1,56 @@
+package frc.robot;
+
+import com.revrobotics.spark.config.SparkMaxConfig;
+import com.revrobotics.spark.config.ClosedLoopConfig.FeedbackSensor;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+
+import frc.robot.Constants.ModuleConstants;
+
+public final class Configs {
+    public static final class MAXSwerveModule {
+        public static final SparkMaxConfig drivingConfig = new SparkMaxConfig();
+        public static final SparkMaxConfig turningConfig = new SparkMaxConfig();
+
+        static {
+            // Use module constants to calculate conversion factors and feed forward gain.
+            double drivingFactor = ModuleConstants.kWheelDiameterMeters * Math.PI
+                    / ModuleConstants.kDrivingMotorReduction;
+            double turningFactor = 2 * Math.PI;
+            double drivingVelocityFeedForward = 1 / ModuleConstants.kDriveWheelFreeSpeedRps;
+
+            drivingConfig
+                    .idleMode(IdleMode.kBrake)
+                    .smartCurrentLimit(50);
+            drivingConfig.encoder
+                    .positionConversionFactor(drivingFactor) // meters
+                    .velocityConversionFactor(drivingFactor / 60.0); // meters per second
+            drivingConfig.closedLoop
+                    .feedbackSensor(FeedbackSensor.kPrimaryEncoder)
+                    // These are example gains you may need to them for your own robot!
+                    .pid(0.04, 0, 0)
+                    .velocityFF(drivingVelocityFeedForward)
+                    .outputRange(-1, 1);
+
+            turningConfig
+                    .idleMode(IdleMode.kBrake)
+                    .smartCurrentLimit(20);
+            turningConfig.absoluteEncoder
+                    // Invert the turning encoder, since the output shaft rotates in the opposite
+                    // direction of the steering motor in the MAXSwerve Module.
+                    .inverted(true)
+                    .positionConversionFactor(turningFactor) // radians
+                    .velocityConversionFactor(turningFactor / 60.0); // radians per second
+            turningConfig.closedLoop
+                    .feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
+                    // These are example gains you may need to them for your own robot!
+                    .pid(1, 0, 0)
+                    .outputRange(-1, 1)
+                    // 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.
+                    .positionWrappingEnabled(true)
+                    .positionWrappingInputRange(0, turningFactor);
+        }
+    }
+}
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@ -0,0 +1,102 @@
+// 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.math.geometry.Translation2d;
+import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
+import edu.wpi.first.math.trajectory.TrapezoidProfile;
+import edu.wpi.first.math.util.Units;
+
+/**
+ * The Constants class provides a convenient place for teams to hold robot-wide
+ * numerical or boolean
+ * constants. This class should not be used for any other purpose. All constants
+ * should be declared
+ * globally (i.e. public static). Do not put anything functional in this class.
+ *
+ * <p>
+ * It is advised to statically import this class (or one of its inner classes)
+ * wherever the
+ * constants are needed, to reduce verbosity.
+ */
+public final class Constants {
+  public static final class DriveConstants {
+    // Driving Parameters - Note that these are not the maximum capable speeds of
+    // the robot, rather the allowed maximum speeds
+    public static final double kMaxSpeedMetersPerSecond = 4.8;
+    public static final double kMaxAngularSpeed = 2 * Math.PI; // radians per second
+
+    // Chassis configuration
+    public static final double kTrackWidth = Units.inchesToMeters(26.5);
+    // Distance between centers of right and left wheels on robot
+    public static final double kWheelBase = Units.inchesToMeters(26.5);
+    // Distance between front and back wheels on robot
+    public static final SwerveDriveKinematics kDriveKinematics = new SwerveDriveKinematics(
+        new Translation2d(kWheelBase / 2, kTrackWidth / 2),
+        new Translation2d(kWheelBase / 2, -kTrackWidth / 2),
+        new Translation2d(-kWheelBase / 2, kTrackWidth / 2),
+        new Translation2d(-kWheelBase / 2, -kTrackWidth / 2));
+
+    // Angular offsets of the modules relative to the chassis in radians
+    public static final double kFrontLeftChassisAngularOffset = -Math.PI / 2;
+    public static final double kFrontRightChassisAngularOffset = 0;
+    public static final double kBackLeftChassisAngularOffset = Math.PI;
+    public static final double kBackRightChassisAngularOffset = Math.PI / 2;
+
+    // SPARK MAX CAN IDs
+    public static final int kFrontLeftDrivingCanId = 11;
+    public static final int kRearLeftDrivingCanId = 13;
+    public static final int kFrontRightDrivingCanId = 15;
+    public static final int kRearRightDrivingCanId = 17;
+
+    public static final int kFrontLeftTurningCanId = 10;
+    public static final int kRearLeftTurningCanId = 12;
+    public static final int kFrontRightTurningCanId = 14;
+    public static final int kRearRightTurningCanId = 16;
+
+    public static final boolean kGyroReversed = false;
+  }
+
+  public static final class ModuleConstants {
+    // The MAXSwerve module can be configured with one of three pinion gears: 12T,
+    // 13T, or 14T. This changes the drive speed of the module (a pinion gear with
+    // more teeth will result in a robot that drives faster).
+    public static final int kDrivingMotorPinionTeeth = 14;
+
+    // Calculations required for driving motor conversion factors and feed forward
+    public static final double kDrivingMotorFreeSpeedRps = NeoMotorConstants.kFreeSpeedRpm / 60;
+    public static final double kWheelDiameterMeters = 0.0762;
+    public static final double kWheelCircumferenceMeters = kWheelDiameterMeters * Math.PI;
+    // 45 teeth on the wheel's bevel gear, 22 teeth on the first-stage spur gear, 15
+    // teeth on the bevel pinion
+    public static final double kDrivingMotorReduction = (45.0 * 22) / (kDrivingMotorPinionTeeth * 15);
+    public static final double kDriveWheelFreeSpeedRps = (kDrivingMotorFreeSpeedRps * kWheelCircumferenceMeters)
+        / kDrivingMotorReduction;
+  }
+
+  public static final class OIConstants {
+    public static final int kDriverControllerPort = 0;
+    public static final double kDriveDeadband = 0.05;
+  }
+
+  public static final class AutoConstants {
+    public static final double kMaxSpeedMetersPerSecond = 3;
+    public static final double kMaxAccelerationMetersPerSecondSquared = 3;
+    public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI;
+    public static final double kMaxAngularSpeedRadiansPerSecondSquared = Math.PI;
+
+    public static final double kPXController = 1;
+    public static final double kPYController = 1;
+    public static final double kPThetaController = 1;
+
+    // Constraint for the motion profiled robot angle controller
+    public static final TrapezoidProfile.Constraints kThetaControllerConstraints = new TrapezoidProfile.Constraints(
+        kMaxAngularSpeedRadiansPerSecond, kMaxAngularSpeedRadiansPerSecondSquared);
+  }
+
+  public static final class NeoMotorConstants {
+    public static final double kFreeSpeedRpm = 5676;
+  }
+}
--- a/src/main/java/frc/robot/Main.java
+++ b/src/main/java/frc/robot/Main.java
@ -0,0 +1,25 @@
+// 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;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
+public final class Main {
+  private Main() {}
+
+  /**
+   * Main initialization function. Do not perform any initialization here.
+   *
+   * <p>If you change your main robot class, change the parameter type.
+   */
+  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 +1,102 @@
+// 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;
+
+/**
+ * The VM is configured to automatically run this class, and to call the functions corresponding to
+ * each mode, as described in the TimedRobot documentation. If you change the name of this class or
+ * the package after creating this project, you must also update the build.gradle file in the
+ * project.
+ */
+public class Robot extends TimedRobot {
+  private Command m_autonomousCommand;
+
+  private RobotContainer m_robotContainer;
+
+  /**
+   * This function is run when the robot is first started up and should be used for any
+   * initialization code.
+   */
+  @Override
+  public void robotInit() {
+    // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
+    // autonomous chooser on the dashboard.
+    m_robotContainer = new RobotContainer();
+  }
+
+  /**
+   * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics
+   * that you want ran during disabled, autonomous, teleoperated and test.
+   *
+   * <p>This runs after the mode specific periodic functions, but before LiveWindow and
+   * SmartDashboard integrated updating.
+   */
+  @Override
+  public void robotPeriodic() {
+    // Runs the Scheduler.  This is responsible for polling buttons, adding newly-scheduled
+    // commands, running already-scheduled commands, removing finished or interrupted commands,
+    // and running subsystem periodic() methods.  This must be called from the robot's periodic
+    // block in order for anything in the Command-based framework to work.
+    CommandScheduler.getInstance().run();
+  }
+
+  /** This function is called once each time the robot enters Disabled mode. */
+  @Override
+  public void disabledInit() {}
+
+  @Override
+  public void disabledPeriodic() {}
+
+  /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
+  @Override
+  public void autonomousInit() {
+    m_autonomousCommand = m_robotContainer.getAutonomousCommand();
+
+    /*
+     * String autoSelected = SmartDashboard.getString("Auto Selector",
+     * "Default"); switch(autoSelected) { case "My Auto": autonomousCommand
+     * = new MyAutoCommand(); break; case "Default Auto": default:
+     * autonomousCommand = new ExampleCommand(); break; }
+     */
+
+    // schedule the autonomous command (example)
+    if (m_autonomousCommand != null) {
+      m_autonomousCommand.schedule();
+    }
+  }
+
+  /** This function is called periodically during autonomous. */
+  @Override
+  public void autonomousPeriodic() {}
+
+  @Override
+  public void teleopInit() {
+    // This makes sure that the autonomous stops running when
+    // teleop starts running. If you want the autonomous to
+    // continue until interrupted by another command, remove
+    // this line or comment it out.
+    if (m_autonomousCommand != null) {
+      m_autonomousCommand.cancel();
+    }
+  }
+
+  /** This function is called periodically during operator control. */
+  @Override
+  public void teleopPeriodic() {}
+
+  @Override
+  public void testInit() {
+    // Cancels all running commands at the start of test mode.
+    CommandScheduler.getInstance().cancelAll();
+  }
+
+  /** This function is called periodically during test mode. */
+  @Override
+  public void testPeriodic() {}
+}
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@ -0,0 +1,122 @@
+// 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.math.MathUtil;
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.controller.ProfiledPIDController;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.trajectory.Trajectory;
+import edu.wpi.first.math.trajectory.TrajectoryConfig;
+import edu.wpi.first.math.trajectory.TrajectoryGenerator;
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.PS4Controller.Button;
+import frc.robot.Constants.AutoConstants;
+import frc.robot.Constants.DriveConstants;
+import frc.robot.Constants.OIConstants;
+import frc.robot.subsystems.DriveSubsystem;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.SwerveControllerCommand;
+import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+import java.util.List;
+
+/*
+ * This class is where the bulk of the robot should be declared.  Since Command-based is a
+ * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
+ * periodic methods (other than the scheduler calls).  Instead, the structure of the robot
+ * (including subsystems, commands, and button mappings) should be declared here.
+ */
+public class RobotContainer {
+  // The robot's subsystems
+  private final DriveSubsystem m_robotDrive = new DriveSubsystem();
+
+  // The driver's controller
+  XboxController m_driverController = new XboxController(OIConstants.kDriverControllerPort);
+
+  /**
+   * The container for the robot. Contains subsystems, OI devices, and commands.
+   */
+  public RobotContainer() {
+    // Configure the button bindings
+    configureButtonBindings();
+
+    // Configure default commands
+    m_robotDrive.setDefaultCommand(
+        // The left stick controls translation of the robot.
+        // Turning is controlled by the X axis of the right stick.
+        new RunCommand(
+            () -> m_robotDrive.drive(
+                -MathUtil.applyDeadband(m_driverController.getLeftY(), OIConstants.kDriveDeadband),
+                -MathUtil.applyDeadband(m_driverController.getLeftX(), OIConstants.kDriveDeadband),
+                -MathUtil.applyDeadband(m_driverController.getRightX(), OIConstants.kDriveDeadband),
+                true),
+            m_robotDrive));
+  }
+
+  /**
+   * Use this method to define your button->command mappings. Buttons can be
+   * created by
+   * instantiating a {@link edu.wpi.first.wpilibj.GenericHID} or one of its
+   * subclasses ({@link
+   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then calling
+   * passing it to a
+   * {@link JoystickButton}.
+   */
+  private void configureButtonBindings() {
+    new JoystickButton(m_driverController, Button.kR1.value)
+        .whileTrue(new RunCommand(
+            () -> m_robotDrive.setX(),
+            m_robotDrive));
+  }
+
+  /**
+   * Use this to pass the autonomous command to the main {@link Robot} class.
+   *
+   * @return the command to run in autonomous
+   */
+  public Command getAutonomousCommand() {
+    // Create config for trajectory
+    TrajectoryConfig config = new TrajectoryConfig(
+        AutoConstants.kMaxSpeedMetersPerSecond,
+        AutoConstants.kMaxAccelerationMetersPerSecondSquared)
+        // Add kinematics to ensure max speed is actually obeyed
+        .setKinematics(DriveConstants.kDriveKinematics);
+
+    // An example trajectory to follow. All units in meters.
+    Trajectory exampleTrajectory = TrajectoryGenerator.generateTrajectory(
+        // Start at the origin facing the +X direction
+        new Pose2d(0, 0, new Rotation2d(0)),
+        // Pass through these two interior waypoints, making an 's' curve path
+        List.of(new Translation2d(1, 1), new Translation2d(2, -1)),
+        // End 3 meters straight ahead of where we started, facing forward
+        new Pose2d(3, 0, new Rotation2d(0)),
+        config);
+
+    var thetaController = new ProfiledPIDController(
+        AutoConstants.kPThetaController, 0, 0, AutoConstants.kThetaControllerConstraints);
+    thetaController.enableContinuousInput(-Math.PI, Math.PI);
+
+    SwerveControllerCommand swerveControllerCommand = new SwerveControllerCommand(
+        exampleTrajectory,
+        m_robotDrive::getPose, // Functional interface to feed supplier
+        DriveConstants.kDriveKinematics,
+
+        // Position controllers
+        new PIDController(AutoConstants.kPXController, 0, 0),
+        new PIDController(AutoConstants.kPYController, 0, 0),
+        thetaController,
+        m_robotDrive::setModuleStates,
+        m_robotDrive);
+
+    // Reset odometry to the starting pose of the trajectory.
+    m_robotDrive.resetOdometry(exampleTrajectory.getInitialPose());
+
+    // Run path following command, then stop at the end.
+    return swerveControllerCommand.andThen(() -> m_robotDrive.drive(0, 0, 0, false));
+  }
+}
--- a/src/main/java/frc/robot/subsystems/DriveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
@ -0,0 +1,180 @@
+// 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 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.wpilibj.ADIS16470_IMU;
+import edu.wpi.first.wpilibj.ADIS16470_IMU.IMUAxis;
+import frc.robot.Constants.DriveConstants;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class DriveSubsystem extends SubsystemBase {
+  // Create MAXSwerveModules
+  private final MAXSwerveModule m_frontLeft = new MAXSwerveModule(
+      DriveConstants.kFrontLeftDrivingCanId,
+      DriveConstants.kFrontLeftTurningCanId,
+      DriveConstants.kFrontLeftChassisAngularOffset);
+
+  private final MAXSwerveModule m_frontRight = new MAXSwerveModule(
+      DriveConstants.kFrontRightDrivingCanId,
+      DriveConstants.kFrontRightTurningCanId,
+      DriveConstants.kFrontRightChassisAngularOffset);
+
+  private final MAXSwerveModule m_rearLeft = new MAXSwerveModule(
+      DriveConstants.kRearLeftDrivingCanId,
+      DriveConstants.kRearLeftTurningCanId,
+      DriveConstants.kBackLeftChassisAngularOffset);
+
+  private final MAXSwerveModule m_rearRight = new MAXSwerveModule(
+      DriveConstants.kRearRightDrivingCanId,
+      DriveConstants.kRearRightTurningCanId,
+      DriveConstants.kBackRightChassisAngularOffset);
+
+  // The gyro sensor
+  private final ADIS16470_IMU m_gyro = new ADIS16470_IMU();
+
+  // Odometry class for tracking robot pose
+  SwerveDriveOdometry m_odometry = new SwerveDriveOdometry(
+      DriveConstants.kDriveKinematics,
+      Rotation2d.fromDegrees(m_gyro.getAngle(IMUAxis.kZ)),
+      new SwerveModulePosition[] {
+          m_frontLeft.getPosition(),
+          m_frontRight.getPosition(),
+          m_rearLeft.getPosition(),
+          m_rearRight.getPosition()
+      });
+
+  /** Creates a new DriveSubsystem. */
+  public DriveSubsystem() {
+  }
+
+  @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);
+  }
+
+  /**
+   * 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.
+   */
+  public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelative) {
+    // Convert the commanded speeds into the correct units for the drivetrain
+    double xSpeedDelivered = xSpeed * DriveConstants.kMaxSpeedMetersPerSecond;
+    double ySpeedDelivered = ySpeed * DriveConstants.kMaxSpeedMetersPerSecond;
+    double rotDelivered = rot * DriveConstants.kMaxAngularSpeed;
+
+    var swerveModuleStates = DriveConstants.kDriveKinematics.toSwerveModuleStates(
+        fieldRelative
+            ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedDelivered, ySpeedDelivered, rotDelivered,
+                Rotation2d.fromDegrees(m_gyro.getAngle(IMUAxis.kZ)))
+            : new ChassisSpeeds(xSpeedDelivered, ySpeedDelivered, rotDelivered));
+    SwerveDriveKinematics.desaturateWheelSpeeds(
+        swerveModuleStates, DriveConstants.kMaxSpeedMetersPerSecond);
+    m_frontLeft.setDesiredState(swerveModuleStates[0]);
+    m_frontRight.setDesiredState(swerveModuleStates[1]);
+    m_rearLeft.setDesiredState(swerveModuleStates[2]);
+    m_rearRight.setDesiredState(swerveModuleStates[3]);
+  }
+
+  /**
+   * 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, DriveConstants.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) * (DriveConstants.kGyroReversed ? -1.0 : 1.0);
+  }
+}
--- a/src/main/java/frc/robot/subsystems/MAXSwerveModule.java
+++ b/src/main/java/frc/robot/subsystems/MAXSwerveModule.java
@ -0,0 +1,114 @@
+// 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 edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.kinematics.SwerveModulePosition;
+import edu.wpi.first.math.kinematics.SwerveModuleState;
+
+import com.revrobotics.spark.SparkClosedLoopController;
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkBase.ControlType;
+import com.revrobotics.spark.SparkBase.PersistMode;
+import com.revrobotics.spark.SparkBase.ResetMode;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+import com.revrobotics.AbsoluteEncoder;
+import com.revrobotics.RelativeEncoder;
+
+import frc.robot.Configs;
+
+public class MAXSwerveModule {
+  private final SparkMax m_drivingSpark;
+  private final SparkMax m_turningSpark;
+
+  private final RelativeEncoder m_drivingEncoder;
+  private final AbsoluteEncoder m_turningEncoder;
+
+  private final SparkClosedLoopController m_drivingClosedLoopController;
+  private final SparkClosedLoopController m_turningClosedLoopController;
+
+  private double m_chassisAngularOffset = 0;
+  private SwerveModuleState m_desiredState = new SwerveModuleState(0.0, new Rotation2d());
+
+  /**
+   * 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_drivingSpark = new SparkMax(drivingCANId, MotorType.kBrushless);
+    m_turningSpark = new SparkMax(turningCANId, MotorType.kBrushless);
+
+    m_drivingEncoder = m_drivingSpark.getEncoder();
+    m_turningEncoder = m_turningSpark.getAbsoluteEncoder();
+
+    m_drivingClosedLoopController = m_drivingSpark.getClosedLoopController();
+    m_turningClosedLoopController = m_turningSpark.getClosedLoopController();
+
+    // Apply the respective configurations to the SPARKS. Reset parameters before
+    // applying the configuration to bring the SPARK to a known good state. Persist
+    // the settings to the SPARK to avoid losing them on a power cycle.
+    m_drivingSpark.configure(Configs.MAXSwerveModule.drivingConfig, ResetMode.kResetSafeParameters,
+        PersistMode.kPersistParameters);
+    m_turningSpark.configure(Configs.MAXSwerveModule.turningConfig, ResetMode.kResetSafeParameters,
+        PersistMode.kPersistParameters);
+
+    m_chassisAngularOffset = chassisAngularOffset;
+    m_desiredState.angle = new Rotation2d(m_turningEncoder.getPosition());
+    m_drivingEncoder.setPosition(0);
+  }
+
+  /**
+   * 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.
+    correctedDesiredState.optimize(new Rotation2d(m_turningEncoder.getPosition()));
+
+    // Command driving and turning SPARKS towards their respective setpoints.
+    m_drivingClosedLoopController.setReference(correctedDesiredState.speedMetersPerSecond, ControlType.kVelocity);
+    m_turningClosedLoopController.setReference(correctedDesiredState.angle.getRadians(), ControlType.kPosition);
+
+    m_desiredState = desiredState;
+  }
+
+  /** Zeroes all the SwerveModule encoders. */
+  public void resetEncoders() {
+    m_drivingEncoder.setPosition(0);
+  }
+}
--- a/vendordeps/REVLib-2025.0.0-beta-2.json
+++ b/vendordeps/REVLib-2025.0.0-beta-2.json
@ -0,0 +1,74 @@
+{
+    "fileName": "REVLib-2025.0.0-beta-2.json",
+    "name": "REVLib",
+    "version": "2025.0.0-beta-2",
+    "frcYear": "2025",
+    "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
+    "mavenUrls": [
+        "https://maven.revrobotics.com/"
+    ],
+    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2025.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-java",
+            "version": "2025.0.0-beta-2"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2025.0.0-beta-2",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-cpp",
+            "version": "2025.0.0-beta-2",
+            "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": "2025.0.0-beta-2",
+            "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": "2025",
+  "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"
+      ]
+    }
+  ]
+}