Upgrading to 2025.2.1

did small amounts of stuff. can't remember
Adjusting moveManipulator so it's not so...rough
2025-01-18 11:12:48 -05:00 · 2025-01-18 15:47:18 +00:00 · 2025-01-16 17:59:12 -05:00 · 2025-01-16 19:52:38 +00:00 · 2025-01-16 19:46:20 +00:00 · 2025-01-16 15:26:54 +00:00
17 changed files with 663 additions and 356 deletions
--- a/WPILib-License.md
+++ b/WPILib-License.md
@@ -1,24 +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.
+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
@@ -1,102 +1,104 @@
-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'
-}
+plugins {
+    id "java"
+    id "edu.wpi.first.GradleRIO" version "2025.2.1"
+}
+
+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'
+                    deleteOldFiles = false // Change to true to delete files on roboRIO that no
+                                           // longer exist in deploy directory of this project
+                }
+            }
+        }
+    }
+}
+
+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.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,7 +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
+distributionBase=GRADLE_USER_HOME
+distributionPath=permwrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=permwrapper/dists
--- a/gradlew.bat
+++ b/gradlew.bat
@@ -1,94 +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
+@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
@@ -1,30 +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");
+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/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -4,6 +4,8 @@

 package frc.robot;

+import frc.robot.constants.ArmConstants;
+import frc.robot.constants.ElevatorConstants;
 import frc.robot.constants.OIConstants;
 import frc.robot.subsystems.Arm;
 import frc.robot.subsystems.ClimberPivot;
@@ -12,7 +14,11 @@ import frc.robot.subsystems.Drivetrain;
 import frc.robot.subsystems.Elevator;
 import frc.robot.subsystems.Indexer;
 import frc.robot.subsystems.Manipulator;
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.PrintCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;

@@ -53,6 +59,8 @@ public class RobotContainer {
 		operator = new CommandXboxController(OIConstants.kOperatorControllerPort);

 		configureButtonBindings();
+
+		configureShuffleboard();
 	}

 	private void configureButtonBindings() {
@@ -100,23 +108,118 @@ public class RobotContainer {

 		//Operator inputs
 		operator.povUp().onTrue(
-			elevator.goToSetpoint(0, 0)
+			moveManipulator(
+				ElevatorConstants.kElevatorL4Position, 
+				ArmConstants.kArmL4Position
+			)
 		);

 		operator.povRight().onTrue(
-			elevator.goToSetpoint(0, 0)
+			moveManipulator(
+				ElevatorConstants.kElevatorL3Position, 
+				ArmConstants.kArmL3Position
+			)
 		);

 		operator.povLeft().onTrue(
-			elevator.goToSetpoint(0, 0)
+			moveManipulator(
+				ElevatorConstants.kElevatorL2Position, 
+				ArmConstants.kArmL2Position
+			)
 		);

 		operator.povDown().onTrue(
-			elevator.goToSetpoint(0, 0)
+			moveManipulator(
+				ElevatorConstants.kElevatorL1Position, 
+				ArmConstants.kArmL1Position
+			)
+		);
+
+		operator.a().onTrue(
+			coralIntakeRoutine()
+		);
+
+		operator.x().onTrue(
+			algaeIntakeRoutine(true)
+		);
+
+		operator.b().onTrue(
+			algaeIntakeRoutine(false)
 		);
 	}

+	//creates tabs and transforms them on the shuffleboard
+    private void configureShuffleboard() {
+    	ShuffleboardTab sensorTab = Shuffleboard.getTab(OIConstants.kSensorsTab);
+
+		sensorTab.addDouble("ElevatorPosition", elevator::getEncoderPosition)
+			.withSize(2, 1)
+			.withPosition(0, 0)
+			.withWidget(BuiltInWidgets.kTextView);
+
+		sensorTab.addDouble("ArmPosition", arm::getEncoderPosition)
+			.withSize(2, 1)
+			.withPosition(2, 0)
+			.withWidget(BuiltInWidgets.kTextView);
+  }
+
 	public Command getAutonomousCommand() {
 		return new PrintCommand("NO AUTO DEFINED");
 	}
+
+	//teleop routines
+	private Command coralIntakeRoutine() {
+		return moveManipulator(
+			ElevatorConstants.kElevatorCoralIntakePosition, 
+			ArmConstants.kArmCoralIntakePosition
+		)
+			.andThen(manipulator.runUntilCollected(1, true));
+	}
+
+	private Command algaeIntakeRoutine(boolean l2) {
+		return moveManipulator(
+			l2 ? ElevatorConstants.kElevatorL2AlgaePosition : ElevatorConstants.kElevatorL3AlgaePosition, 
+			l2 ? ArmConstants.kArmL2AlgaePosition : ArmConstants.kArmL3AlgaePosition
+		)
+			.andThen(manipulator.runUntilCollected(1, false));
+	}
+
+	private Command moveManipulator(double elevatorPosition, double armPosition) {
+		// If the elevator current and target positions are above the brace, or the arm current and target position is in
+		// front of the brace, move together
+		if ((elevator.isMotionSafe() && elevator.isMotionSafe(elevatorPosition)) || (arm.isMotionSafe() && arm.isMotionSafe(armPosition))) { 
+			return moveManipulatorUtil(elevatorPosition, armPosition, false, false);
+		// If the target position is behind the brace, and the arm is not behind the brace, move the arm to a safe position first,
+		// then the elevator, then the arm again
+		} else if (!arm.isMotionSafe(armPosition) && !arm.isMotionSafe()) { 
+			return moveManipulatorUtil(elevatorPosition, ArmConstants.kArmSafeStowPosition, false, true)
+				.andThen(arm.goToSetpoint(armPosition, 2));
+		// If the target position is behind the brace, and the arm is behind the brace, move the elevator first, then the arm
+		} else if (!arm.isMotionSafe(armPosition) && arm.isMotionSafe()) {
+			return moveManipulatorUtil(elevatorPosition, armPosition, true, true);
+		// If the arm is behind the brace, move the arm first, then the elevator
+		} else if (!arm.isMotionSafe()) {
+			return moveManipulatorUtil(elevatorPosition, armPosition, false, true);
+		// Catch all command that's safe regardless of arm and elevator positions
+		} else { 
+			return moveManipulatorUtil(elevatorPosition, ArmConstants.kArmSafeStowPosition, false, true)
+				.andThen(arm.goToSetpoint(armPosition, 2));
+		}
+	}
+
+	private Command moveManipulatorUtil(double elevatorPosition, double armPosition, boolean elevatorFirst, boolean sequential) {
+		return Commands.either(
+			Commands.either(
+				elevator.goToSetpoint(elevatorPosition, 2).andThen(arm.goToSetpoint(armPosition, 2)),
+				elevator.goToSetpoint(elevatorPosition, 2).alongWith(arm.goToSetpoint(armPosition, 2)),
+				() -> sequential
+			), 
+			Commands.either(
+				arm.goToSetpoint(armPosition, 2).andThen(elevator.goToSetpoint(elevatorPosition, 2)), 
+				arm.goToSetpoint(armPosition, 2).alongWith(elevator.goToSetpoint(elevatorPosition, 2)), 
+				() -> sequential
+			), 
+			() -> elevatorFirst
+		);
+	}
 }
--- a/src/main/java/frc/robot/constants/ArmConstants.java
+++ b/src/main/java/frc/robot/constants/ArmConstants.java
@@ -1,5 +1,7 @@
 package frc.robot.constants;

+import com.ctre.phoenix6.configs.CANcoderConfiguration;
+
 public class ArmConstants {
    public static final int kArmMotorID = 0;
    public static final int kCANcoderID = 0;
@@ -7,4 +9,17 @@ public class ArmConstants {
    public static final double kEncoderConversionFactor = 0;

    public static final double kArmMaxVelocity = 0;
+
+    public static final double kArmCoralIntakePosition = 0;
+    public static final double kArmL1Position = 0;
+    public static final double kArmL2Position = 0;
+    public static final double kArmL3Position = 0;
+    public static final double kArmL4Position = 0;
+    public static final double kArmL2AlgaePosition = 0;
+    public static final double kArmL3AlgaePosition = 0;
+    public static final double kArmSafeStowPosition = 0;
+
+    public static final CANcoderConfiguration canCoderConfig = new CANcoderConfiguration();
+
+    
 }
--- a/src/main/java/frc/robot/constants/ElevatorConstants.java
+++ b/src/main/java/frc/robot/constants/ElevatorConstants.java
@@ -33,6 +33,17 @@ public class ElevatorConstants {
    public static final double kFeedForwardG = 0;
    public static final double kFeedForwardV = 0;

+    public static final double kElevatorMaxVelocity = 0;
+
+    public static final double kElevatorCoralIntakePosition = 0;
+    public static final double kElevatorL1Position = 0;
+    public static final double kElevatorL2Position = 0;
+    public static final double kElevatorL3Position = 0;
+    public static final double kElevatorL4Position = 0;
+    public static final double kElevatorL2AlgaePosition = 0;
+    public static final double kElevatorL3AlgaePosition = 0;
+    public static final double kElevatorBracePosition = 0;
+
    // 1, 7, 10 are the defaults for these, change as necessary
    public static final double kSysIDRampRate = 1;
    public static final double kSysIDStepVolts = 7;
--- a/src/main/java/frc/robot/constants/OIConstants.java
+++ b/src/main/java/frc/robot/constants/OIConstants.java
@@ -5,4 +5,6 @@ public class OIConstants {
    public static final int kOperatorControllerPort = 1;
    
    public static final double kDriveDeadband = 0.05;
+
+    public static final String kSensorsTab = "SensorsTab";
 }
--- a/src/main/java/frc/robot/subsystems/Arm.java
+++ b/src/main/java/frc/robot/subsystems/Arm.java
@@ -8,6 +8,7 @@ import com.revrobotics.spark.SparkLowLevel.MotorType;

 import edu.wpi.first.math.controller.ArmFeedforward;
 import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.constants.ArmConstants;
@@ -31,17 +32,38 @@ public class Arm extends SubsystemBase {
        canCoder = new CANcoder(ArmConstants.kCANcoderID);
    }

+    /**
+     * Returns whether or not the motion is safe relative to the encoder's current position
+     * and the arm safe stow position
+     * 
+     * @return Is the motion safe
+     */
+    public boolean isMotionSafe() {
+        return isMotionSafe(getEncoderPosition());
+    }
+
+    /**
+     * Returns whether or not the motion is safe relative to some target position and the
+     * arm safe stow position
+     * 
+     * @param motionTarget The target position to determine the safety of
+     * @return Is the motion safe
+     */
+    public boolean isMotionSafe(double motionTarget) {
+        return motionTarget > ArmConstants.kArmSafeStowPosition;
+    }
+
    //manual command that keeps ouput speed consistent no matter the direction
    public Command runArm(DoubleSupplier speed) {
        return run(() -> {
            double realSpeedTarget = speed.getAsDouble() * ArmConstants.kArmMaxVelocity;

            double voltsOut = velocityController.calculate(
-                rotationsToRadians(canCoder.getVelocity().getValueAsDouble()), 
+                getEncoderVelocity(), 
                realSpeedTarget
            ) + feedForward.calculate(
-                rotationsToRadians(canCoder.getPosition().getValueAsDouble()), 
-                canCoder.getVelocity().getValueAsDouble()
+                getEncoderPosition(), 
+                getEncoderVelocity()
            );

            armMotor.setVoltage(voltsOut);
@@ -51,18 +73,22 @@ public class Arm extends SubsystemBase {
    public Command goToSetpoint(double setpoint, double timeout) {
        return run(() -> {
            double voltsOut = positionController.calculate(
-                canCoder.getPosition().getValueAsDouble(), 
+                getEncoderPosition(), 
                setpoint
            ) + feedForward.calculate(
-                canCoder.getPosition().getValueAsDouble(), 
-                canCoder.getVelocity().getValueAsDouble()
+                getEncoderPosition(), 
+                getEncoderVelocity()
            );

            armMotor.setVoltage(voltsOut);
        }).until(positionController::atSetpoint).withTimeout(timeout);
    }

-    protected double rotationsToRadians(double rotations) {
-        return rotations * 2 * Math.PI;
+    public double getEncoderPosition() {
+        return Units.rotationsToRadians(canCoder.getPosition().getValueAsDouble());
+    }
+
+    public double getEncoderVelocity() {
+        return Units.rotationsToRadians(canCoder.getVelocity().getValueAsDouble());
    }
 }
--- a/src/main/java/frc/robot/subsystems/Elevator.java
+++ b/src/main/java/frc/robot/subsystems/Elevator.java
@@ -6,8 +6,6 @@ import com.revrobotics.RelativeEncoder;
 import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.SparkBase.PersistMode;
 import com.revrobotics.spark.SparkBase.ResetMode;
-import com.revrobotics.spark.SparkBase.PersistMode;
-import com.revrobotics.spark.SparkBase.ResetMode;
 import com.revrobotics.spark.SparkLowLevel.MotorType;

 import edu.wpi.first.math.controller.ElevatorFeedforward;
@@ -23,7 +21,6 @@ public class Elevator extends SubsystemBase {

    protected RelativeEncoder encoder;

-    private DigitalInput topLimitSwitch;
    private DigitalInput bottomLimitSwitch;

    private PIDController positionController;
@@ -56,10 +53,6 @@ public class Elevator extends SubsystemBase {

        encoder = elevatorMotor1.getEncoder();

-        topLimitSwitch = new DigitalInput(
-            ElevatorConstants.kTopLimitSwitchID
-        );
-
        bottomLimitSwitch = new DigitalInput(
            ElevatorConstants.kBottomLimitSwitchID
        );
@@ -83,6 +76,27 @@ public class Elevator extends SubsystemBase {
        );
    }

+    /**
+     * Returns whether or not the motion is safe relative to the encoder's current position
+     * and the elevator brace position
+     * 
+     * @return Is the motion safe
+     */
+    public boolean isMotionSafe() {
+        return isMotionSafe(getEncoderPosition());
+    }
+
+    /**
+     * Returns whether or not the motion is safe relative to some target position and the elevator
+     * brace position
+     * 
+     * @param motionTarget The target position to determine the safety of
+     * @return Is the motion safe
+     */
+    public boolean isMotionSafe(double motionTarget) {
+        return motionTarget > ElevatorConstants.kElevatorBracePosition;
+    }
+
    //manual command that keeps ouput speed consistent no matter the direction
    public Command runElevator(DoubleSupplier speed) {
        return run(() -> {
@@ -94,7 +108,7 @@ public class Elevator extends SubsystemBase {
            ) + feedForward.calculate(realSpeedTarget);

            elevatorMotor1.setVoltage(voltsOut);
-        }).until(() -> topLimitSwitch.get() || bottomLimitSwitch.get());
+        }).until(bottomLimitSwitch::get);
    }

    
@@ -108,7 +122,11 @@ public class Elevator extends SubsystemBase {

            elevatorMotor1.setVoltage(voltsOut);
        }).until(
-            () -> positionController.atSetpoint() || topLimitSwitch.get() || bottomLimitSwitch.get()
+            () -> positionController.atSetpoint() || bottomLimitSwitch.get()
        ).withTimeout(timeout);
    }
+
+    public double getEncoderPosition() {
+        return encoder.getPosition();
+    }
 }
--- a/src/main/java/frc/robot/subsystems/Manipulator.java
+++ b/src/main/java/frc/robot/subsystems/Manipulator.java
@@ -35,10 +35,4 @@ public class Manipulator extends SubsystemBase {
            manipulatorMotor.set(coral ? speed : speed * -1);
        }).until(() -> coralBeamBreak.get() || algaeBeamBreak.get());
    }
-
-    public Command indexCoral(double speed) {
-        return run(() -> {
-            manipulatorMotor.set(speed);
-        }).until(coralBeamBreak::get);
-    }
 }
--- a/vendordeps/PathplannerLib-2025.2.1.json
+++ b/vendordeps/PathplannerLib-2025.2.1.json
@@ -0,0 +1,38 @@
+{
+    "fileName": "PathplannerLib-2025.2.1.json",
+    "name": "PathplannerLib",
+    "version": "2025.2.1",
+    "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
+    "frcYear": "2025",
+    "mavenUrls": [
+        "https://3015rangerrobotics.github.io/pathplannerlib/repo"
+    ],
+    "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.pathplanner.lib",
+            "artifactId": "PathplannerLib-java",
+            "version": "2025.2.1"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "com.pathplanner.lib",
+            "artifactId": "PathplannerLib-cpp",
+            "version": "2025.2.1",
+            "libName": "PathplannerLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal",
+                "linuxathena",
+                "linuxarm32",
+                "linuxarm64"
+            ]
+        }
+    ]
+}
--- a/vendordeps/Phoenix5-5.34.0-beta-4.json
+++ b/vendordeps/Phoenix5-5.34.0-beta-4.json
@@ -1,50 +1,50 @@
 {
-    "fileName": "Phoenix5-5.34.0-beta-4.json",
+    "fileName": "Phoenix5-5.35.1.json",
    "name": "CTRE-Phoenix (v5)",
-    "version": "5.34.0-beta-4",
+    "version": "5.35.1",
    "frcYear": "2025",
    "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
    "mavenUrls": [
        "https://maven.ctr-electronics.com/release/"
    ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2025-beta-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2025-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-frc2025-beta-latest.json",
-            "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-beta-latest.json"
+            "offlineFileName": "Phoenix6-frc2025-latest.json",
+            "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json"
        }
    ],
    "conflictsWith": [
        {
            "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
            "errorMessage": "Users must use the Phoenix 5 replay vendordep when using the Phoenix 6 replay vendordep.",
-            "offlineFileName": "Phoenix6-replay-frc2025-beta-latest.json"
+            "offlineFileName": "Phoenix6-replay-frc2025-latest.json"
        },
        {
            "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df",
            "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.",
-            "offlineFileName": "Phoenix5-replay-frc2025-beta-latest.json"
+            "offlineFileName": "Phoenix5-replay-frc2025-latest.json"
        }
    ],
    "javaDependencies": [
        {
            "groupId": "com.ctre.phoenix",
            "artifactId": "api-java",
-            "version": "5.34.0-beta-4"
+            "version": "5.35.1"
        },
        {
            "groupId": "com.ctre.phoenix",
            "artifactId": "wpiapi-java",
-            "version": "5.34.0-beta-4"
+            "version": "5.35.1"
        }
    ],
    "jniDependencies": [
        {
            "groupId": "com.ctre.phoenix",
            "artifactId": "cci",
-            "version": "5.34.0-beta-4",
+            "version": "5.35.1",
            "isJar": false,
            "skipInvalidPlatforms": true,
            "validPlatforms": [
@@ -58,7 +58,7 @@
        {
            "groupId": "com.ctre.phoenix.sim",
            "artifactId": "cci-sim",
-            "version": "5.34.0-beta-4",
+            "version": "5.35.1",
            "isJar": false,
            "skipInvalidPlatforms": true,
            "validPlatforms": [
@@ -74,7 +74,7 @@
        {
            "groupId": "com.ctre.phoenix",
            "artifactId": "wpiapi-cpp",
-            "version": "5.34.0-beta-4",
+            "version": "5.35.1",
            "libName": "CTRE_Phoenix_WPI",
            "headerClassifier": "headers",
            "sharedLibrary": true,
@@ -90,7 +90,7 @@
        {
            "groupId": "com.ctre.phoenix",
            "artifactId": "api-cpp",
-            "version": "5.34.0-beta-4",
+            "version": "5.35.1",
            "libName": "CTRE_Phoenix",
            "headerClassifier": "headers",
            "sharedLibrary": true,
@@ -106,7 +106,7 @@
        {
            "groupId": "com.ctre.phoenix",
            "artifactId": "cci",
-            "version": "5.34.0-beta-4",
+            "version": "5.35.1",
            "libName": "CTRE_PhoenixCCI",
            "headerClassifier": "headers",
            "sharedLibrary": true,
@@ -122,7 +122,7 @@
        {
            "groupId": "com.ctre.phoenix.sim",
            "artifactId": "wpiapi-cpp-sim",
-            "version": "5.34.0-beta-4",
+            "version": "5.35.1",
            "libName": "CTRE_Phoenix_WPISim",
            "headerClassifier": "headers",
            "sharedLibrary": true,
@@ -138,7 +138,7 @@
        {
            "groupId": "com.ctre.phoenix.sim",
            "artifactId": "api-cpp-sim",
-            "version": "5.34.0-beta-4",
+            "version": "5.35.1",
            "libName": "CTRE_PhoenixSim",
            "headerClassifier": "headers",
            "sharedLibrary": true,
@@ -154,7 +154,7 @@
        {
            "groupId": "com.ctre.phoenix.sim",
            "artifactId": "cci-sim",
-            "version": "5.34.0-beta-4",
+            "version": "5.35.1",
            "libName": "CTRE_PhoenixCCISim",
            "headerClassifier": "headers",
            "sharedLibrary": true,
--- a/vendordeps/Phoenix6-25.0.0-beta-4.json
+++ b/vendordeps/Phoenix6-25.0.0-beta-4.json
@@ -1,32 +1,32 @@
 {
-    "fileName": "Phoenix6-25.0.0-beta-4.json",
+    "fileName": "Phoenix6-25.2.1.json",
    "name": "CTRE-Phoenix (v6)",
-    "version": "25.0.0-beta-4",
+    "version": "25.2.1",
    "frcYear": "2025",
    "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-frc2025-beta-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json",
    "conflictsWith": [
        {
            "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
            "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.",
-            "offlineFileName": "Phoenix6-replay-frc2025-beta-latest.json"
+            "offlineFileName": "Phoenix6-replay-frc2025-latest.json"
        }
    ],
    "javaDependencies": [
        {
            "groupId": "com.ctre.phoenix6",
            "artifactId": "wpiapi-java",
-            "version": "25.0.0-beta-4"
+            "version": "25.2.1"
        }
    ],
    "jniDependencies": [
        {
            "groupId": "com.ctre.phoenix6",
            "artifactId": "api-cpp",
-            "version": "25.0.0-beta-4",
+            "version": "25.2.1",
            "isJar": false,
            "skipInvalidPlatforms": true,
            "validPlatforms": [
@@ -40,7 +40,7 @@
        {
            "groupId": "com.ctre.phoenix6",
            "artifactId": "tools",
-            "version": "25.0.0-beta-4",
+            "version": "25.2.1",
            "isJar": false,
            "skipInvalidPlatforms": true,
            "validPlatforms": [
@@ -54,7 +54,7 @@
        {
            "groupId": "com.ctre.phoenix6.sim",
            "artifactId": "api-cpp-sim",
-            "version": "25.0.0-beta-4",
+            "version": "25.2.1",
            "isJar": false,
            "skipInvalidPlatforms": true,
            "validPlatforms": [
@@ -68,7 +68,7 @@
        {
            "groupId": "com.ctre.phoenix6.sim",
            "artifactId": "tools-sim",
-            "version": "25.0.0-beta-4",
+            "version": "25.2.1",
            "isJar": false,
            "skipInvalidPlatforms": true,
            "validPlatforms": [
@@ -82,7 +82,7 @@
        {
            "groupId": "com.ctre.phoenix6.sim",
            "artifactId": "simTalonSRX",
-            "version": "25.0.0-beta-4",
+            "version": "25.2.1",
            "isJar": false,
            "skipInvalidPlatforms": true,
            "validPlatforms": [
@@ -96,7 +96,7 @@
        {
            "groupId": "com.ctre.phoenix6.sim",
            "artifactId": "simVictorSPX",
-            "version": "25.0.0-beta-4",
+            "version": "25.2.1",
            "isJar": false,
            "skipInvalidPlatforms": true,
            "validPlatforms": [
@@ -110,7 +110,7 @@
        {
            "groupId": "com.ctre.phoenix6.sim",
            "artifactId": "simPigeonIMU",
-            "version": "25.0.0-beta-4",
+            "version": "25.2.1",
            "isJar": false,
            "skipInvalidPlatforms": true,
            "validPlatforms": [
@@ -124,7 +124,7 @@
        {
            "groupId": "com.ctre.phoenix6.sim",
            "artifactId": "simCANCoder",
-            "version": "25.0.0-beta-4",
+            "version": "25.2.1",
            "isJar": false,
            "skipInvalidPlatforms": true,
            "validPlatforms": [
@@ -138,7 +138,21 @@
        {
            "groupId": "com.ctre.phoenix6.sim",
            "artifactId": "simProTalonFX",
-            "version": "25.0.0-beta-4",
+            "version": "25.2.1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFXS",
+            "version": "25.2.1",
            "isJar": false,
            "skipInvalidPlatforms": true,
            "validPlatforms": [
@@ -152,21 +166,7 @@
        {
            "groupId": "com.ctre.phoenix6.sim",
            "artifactId": "simProCANcoder",
-            "version": "25.0.0-beta-4",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simProCANrange",
-            "version": "25.0.0-beta-4",
+            "version": "25.2.1",
            "isJar": false,
            "skipInvalidPlatforms": true,
            "validPlatforms": [
@@ -180,7 +180,21 @@
        {
            "groupId": "com.ctre.phoenix6.sim",
            "artifactId": "simProPigeon2",
-            "version": "25.0.0-beta-4",
+            "version": "25.2.1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANrange",
+            "version": "25.2.1",
            "isJar": false,
            "skipInvalidPlatforms": true,
            "validPlatforms": [
@@ -196,7 +210,7 @@
        {
            "groupId": "com.ctre.phoenix6",
            "artifactId": "wpiapi-cpp",
-            "version": "25.0.0-beta-4",
+            "version": "25.2.1",
            "libName": "CTRE_Phoenix6_WPI",
            "headerClassifier": "headers",
            "sharedLibrary": true,
@@ -212,7 +226,7 @@
        {
            "groupId": "com.ctre.phoenix6",
            "artifactId": "tools",
-            "version": "25.0.0-beta-4",
+            "version": "25.2.1",
            "libName": "CTRE_PhoenixTools",
            "headerClassifier": "headers",
            "sharedLibrary": true,
@@ -228,7 +242,7 @@
        {
            "groupId": "com.ctre.phoenix6.sim",
            "artifactId": "wpiapi-cpp-sim",
-            "version": "25.0.0-beta-4",
+            "version": "25.2.1",
            "libName": "CTRE_Phoenix6_WPISim",
            "headerClassifier": "headers",
            "sharedLibrary": true,
@@ -244,7 +258,7 @@
        {
            "groupId": "com.ctre.phoenix6.sim",
            "artifactId": "tools-sim",
-            "version": "25.0.0-beta-4",
+            "version": "25.2.1",
            "libName": "CTRE_PhoenixTools_Sim",
            "headerClassifier": "headers",
            "sharedLibrary": true,
@@ -260,7 +274,7 @@
        {
            "groupId": "com.ctre.phoenix6.sim",
            "artifactId": "simTalonSRX",
-            "version": "25.0.0-beta-4",
+            "version": "25.2.1",
            "libName": "CTRE_SimTalonSRX",
            "headerClassifier": "headers",
            "sharedLibrary": true,
@@ -276,7 +290,7 @@
        {
            "groupId": "com.ctre.phoenix6.sim",
            "artifactId": "simVictorSPX",
-            "version": "25.0.0-beta-4",
+            "version": "25.2.1",
            "libName": "CTRE_SimVictorSPX",
            "headerClassifier": "headers",
            "sharedLibrary": true,
@@ -292,7 +306,7 @@
        {
            "groupId": "com.ctre.phoenix6.sim",
            "artifactId": "simPigeonIMU",
-            "version": "25.0.0-beta-4",
+            "version": "25.2.1",
            "libName": "CTRE_SimPigeonIMU",
            "headerClassifier": "headers",
            "sharedLibrary": true,
@@ -308,7 +322,7 @@
        {
            "groupId": "com.ctre.phoenix6.sim",
            "artifactId": "simCANCoder",
-            "version": "25.0.0-beta-4",
+            "version": "25.2.1",
            "libName": "CTRE_SimCANCoder",
            "headerClassifier": "headers",
            "sharedLibrary": true,
@@ -324,7 +338,7 @@
        {
            "groupId": "com.ctre.phoenix6.sim",
            "artifactId": "simProTalonFX",
-            "version": "25.0.0-beta-4",
+            "version": "25.2.1",
            "libName": "CTRE_SimProTalonFX",
            "headerClassifier": "headers",
            "sharedLibrary": true,
@@ -337,10 +351,26 @@
            ],
            "simMode": "swsim"
        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFXS",
+            "version": "25.2.1",
+            "libName": "CTRE_SimProTalonFXS",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
        {
            "groupId": "com.ctre.phoenix6.sim",
            "artifactId": "simProCANcoder",
-            "version": "25.0.0-beta-4",
+            "version": "25.2.1",
            "libName": "CTRE_SimProCANcoder",
            "headerClassifier": "headers",
            "sharedLibrary": true,
@@ -355,9 +385,9 @@
        },
        {
            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simProCANrange",
-            "version": "25.0.0-beta-4",
-            "libName": "CTRE_SimProCANrange",
+            "artifactId": "simProPigeon2",
+            "version": "25.2.1",
+            "libName": "CTRE_SimProPigeon2",
            "headerClassifier": "headers",
            "sharedLibrary": true,
            "skipInvalidPlatforms": true,
@@ -371,9 +401,9 @@
        },
        {
            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simProPigeon2",
-            "version": "25.0.0-beta-4",
-            "libName": "CTRE_SimProPigeon2",
+            "artifactId": "simProCANrange",
+            "version": "25.2.1",
+            "libName": "CTRE_SimProCANrange",
            "headerClassifier": "headers",
            "sharedLibrary": true,
            "skipInvalidPlatforms": true,
--- a/vendordeps/REVLib-2025.0.0-beta-3.json
+++ b/vendordeps/REVLib-2025.0.0-beta-3.json
@@ -1,7 +1,7 @@
 {
-    "fileName": "REVLib-2025.0.0-beta-3.json",
+    "fileName": "REVLib-2025.0.1.json",
    "name": "REVLib",
-    "version": "2025.0.0-beta-3",
+    "version": "2025.0.1",
    "frcYear": "2025",
    "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
    "mavenUrls": [
@@ -12,19 +12,18 @@
        {
            "groupId": "com.revrobotics.frc",
            "artifactId": "REVLib-java",
-            "version": "2025.0.0-beta-3"
+            "version": "2025.0.1"
        }
    ],
    "jniDependencies": [
        {
            "groupId": "com.revrobotics.frc",
            "artifactId": "REVLib-driver",
-            "version": "2025.0.0-beta-3",
+            "version": "2025.0.1",
            "skipInvalidPlatforms": true,
            "isJar": false,
            "validPlatforms": [
                "windowsx86-64",
-                "windowsx86",
                "linuxarm64",
                "linuxx86-64",
                "linuxathena",
@@ -37,14 +36,13 @@
        {
            "groupId": "com.revrobotics.frc",
            "artifactId": "REVLib-cpp",
-            "version": "2025.0.0-beta-3",
+            "version": "2025.0.1",
            "libName": "REVLib",
            "headerClassifier": "headers",
            "sharedLibrary": false,
            "skipInvalidPlatforms": true,
            "binaryPlatforms": [
                "windowsx86-64",
-                "windowsx86",
                "linuxarm64",
                "linuxx86-64",
                "linuxathena",
@@ -55,14 +53,13 @@
        {
            "groupId": "com.revrobotics.frc",
            "artifactId": "REVLib-driver",
-            "version": "2025.0.0-beta-3",
+            "version": "2025.0.1",
            "libName": "REVLibDriver",
            "headerClassifier": "headers",
            "sharedLibrary": false,
            "skipInvalidPlatforms": true,
            "binaryPlatforms": [
                "windowsx86-64",
-                "windowsx86",
                "linuxarm64",
                "linuxx86-64",
                "linuxathena",
--- a/vendordeps/Studica-2025.0.1.json
+++ b/vendordeps/Studica-2025.0.1.json
@@ -0,0 +1,71 @@
+{
+    "fileName": "Studica-2025.0.1.json",
+    "name": "Studica",
+    "version": "2025.0.1",
+    "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
+    "frcYear": "2025",
+    "mavenUrls": [
+        "https://dev.studica.com/maven/release/2025/"
+    ],
+    "jsonUrl": "https://dev.studica.com/releases/2025/Studica-2025.0.1.json",
+    "cppDependencies": [
+        {
+            "artifactId": "Studica-cpp",
+            "binaryPlatforms": [
+                "linuxathena",
+                "linuxarm32",
+                "linuxarm64",
+                "linuxx86-64",
+                "osxuniversal",
+                "windowsx86-64"
+            ],
+            "groupId": "com.studica.frc",
+            "headerClassifier": "headers",
+            "libName": "Studica",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "version": "2025.0.1"
+        },
+        {
+            "artifactId": "Studica-driver",
+            "binaryPlatforms": [
+                "linuxathena",
+                "linuxarm32",
+                "linuxarm64",
+                "linuxx86-64",
+                "osxuniversal",
+                "windowsx86-64"
+            ],
+            "groupId": "com.studica.frc",
+            "headerClassifier": "headers",
+            "libName": "StudicaDriver",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "version": "2025.0.1"
+        }
+    ],
+    "javaDependencies": [
+        {
+            "artifactId": "Studica-java",
+            "groupId": "com.studica.frc",
+            "version": "2025.0.1"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "artifactId": "Studica-driver",
+            "groupId": "com.studica.frc",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "linuxathena",
+                "linuxarm32",
+                "linuxarm64",
+                "linuxx86-64",
+                "osxuniversal",
+                "windowsx86-64"
+            ],
+            "version": "2025.0.1"
+        }
+    ]
+}
Author	SHA1	Message	Date
Bradley Bickford	ecf4916b93	Upgrading to 2025.2.1	2025-01-18 11:12:48 -05:00
NoahLacks63	91cd13f87a	did small amounts of stuff. can't remember	2025-01-18 15:47:18 +00:00
Bradley Bickford	5325920b42	Adjusting moveManipulator so it's not so...rough	2025-01-16 17:59:12 -05:00
NoahLacks63	d1d577f52f	fixed a terrible formatting error	2025-01-16 19:52:38 +00:00
NoahLacks63	11a191440c	added a smooth manipulator translation method	2025-01-16 19:46:20 +00:00
NoahLacks63	f4cfd2874b	began adding elevator and arm methods	2025-01-16 15:26:54 +00:00
NoahLacks63	f391d1540b	One more fix to resolve Noah's merge conflict for him	2025-01-15 02:24:19 +00:00