Merge branch 'main' into kraken_swerve

WPILib-License.md

@@ -1,24 +1,24 @@
-Copyright (c) 2009-2024 FIRST and other WPILib contributors
+Copyright (c) 2009-2024 FIRST and other WPILib contributors
-All rights reserved.
+All rights reserved.
-
+
-Redistribution and use in source and binary forms, with or without
+Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
+modification, are permitted provided that the following conditions are met:
-   * Redistributions of source code must retain the above copyright
+   * Redistributions of source code must retain the above copyright
-     notice, this list of conditions and the following disclaimer.
+     notice, this list of conditions and the following disclaimer.
-   * Redistributions in binary form must reproduce the above copyright
+   * Redistributions in binary form must reproduce the above copyright
-     notice, this list of conditions and the following disclaimer in the
+     notice, this list of conditions and the following disclaimer in the
-     documentation and/or other materials provided with the distribution.
+     documentation and/or other materials provided with the distribution.
-   * Neither the name of FIRST, WPILib, nor the names of other WPILib
+   * Neither the name of FIRST, WPILib, nor the names of other WPILib
-     contributors may be used to endorse or promote products derived from
+     contributors may be used to endorse or promote products derived from
-     this software without specific prior written permission.
+     this software without specific prior written permission.
-
+
-THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND
+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
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
+WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
-PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
-ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+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
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

build.gradle

@@ -1,102 +1,104 @@
-plugins {
+plugins {
-    id "java"
+    id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2025.2.1"
-}
+}
-
+
-java {
+java {
-    sourceCompatibility = JavaVersion.VERSION_17
+    sourceCompatibility = JavaVersion.VERSION_17
-    targetCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
-}
+}
-
+
-def ROBOT_MAIN_CLASS = "frc.robot.Main"
+def ROBOT_MAIN_CLASS = "frc.robot.Main"
-
+
-// Define my targets (RoboRIO) and artifacts (deployable files)
+// Define my targets (RoboRIO) and artifacts (deployable files)
-// This is added by GradleRIO's backing project DeployUtils.
+// This is added by GradleRIO's backing project DeployUtils.
-deploy {
+deploy {
-    targets {
+    targets {
-        roborio(getTargetTypeClass('RoboRIO')) {
+        roborio(getTargetTypeClass('RoboRIO')) {
-            // Team number is loaded either from the .wpilib/wpilib_preferences.json
+            // Team number is loaded either from the .wpilib/wpilib_preferences.json
-            // or from command line. If not found an exception will be thrown.
+            // or from command line. If not found an exception will be thrown.
-            // You can use getTeamOrDefault(team) instead of getTeamNumber if you
+            // You can use getTeamOrDefault(team) instead of getTeamNumber if you
-            // want to store a team number in this file.
+            // want to store a team number in this file.
-            team = project.frc.getTeamNumber()
+            team = project.frc.getTeamNumber()
-            debug = project.frc.getDebugOrDefault(false)
+            debug = project.frc.getDebugOrDefault(false)
-
+
-            artifacts {
+            artifacts {
-                // First part is artifact name, 2nd is artifact type
+                // First part is artifact name, 2nd is artifact type
-                // getTargetTypeClass is a shortcut to get the class type using a string
+                // getTargetTypeClass is a shortcut to get the class type using a string
-
+
-                frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
+                frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
-                }
+                }
-
+
-                // Static files artifact
+                // Static files artifact
-                frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
+                frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
-                    files = project.fileTree('src/main/deploy')
+                    files = project.fileTree('src/main/deploy')
-                    directory = '/home/lvuser/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.
+def deployArtifact = deploy.targets.roborio.artifacts.frcJava
-wpi.java.debugJni = false
+
-
+// Set to true to use debug for JNI.
-// Set this to true to enable desktop support.
+wpi.java.debugJni = false
-def includeDesktopSupport = false
+
-
+// Set this to true to enable desktop support.
-// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
+def includeDesktopSupport = false
-// Also defines JUnit 5.
+
-dependencies {
+// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
-    annotationProcessor wpi.java.deps.wpilibAnnotations()
+// Also defines JUnit 5.
-    implementation wpi.java.deps.wpilib()
+dependencies {
-    implementation wpi.java.vendor.java()
+    annotationProcessor wpi.java.deps.wpilibAnnotations()
-
+    implementation wpi.java.deps.wpilib()
-    roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
+    implementation wpi.java.vendor.java()
-    roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
+
-
+    roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
-    roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
+    roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
-    roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
+
-
+    roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
-    nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
+    roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
-    nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
+
-    simulationDebug wpi.sim.enableDebug()
+    nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
-
+    nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
-    nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
+    simulationDebug wpi.sim.enableDebug()
-    nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
+
-    simulationRelease wpi.sim.enableRelease()
+    nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
-
+    nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
-    testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
+    simulationRelease wpi.sim.enableRelease()
-    testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
+
-}
+    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'
+test {
-}
+    useJUnitPlatform()
-
+    systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
-// Simulation configuration (e.g. environment variables).
+}
-wpi.sim.addGui().defaultEnabled = true
+
-wpi.sim.addDriverstation()
+// Simulation configuration (e.g. environment variables).
-
+wpi.sim.addGui().defaultEnabled = true
-// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
+wpi.sim.addDriverstation()
-// in order to make them all available at runtime. Also adding the manifest so WPILib
+
-// knows where to look for our Robot Class.
+// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
-jar {
+// in order to make them all available at runtime. Also adding the manifest so WPILib
-    from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+// knows where to look for our Robot Class.
-    from sourceSets.main.allSource
+jar {
-    manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
+    from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
-    duplicatesStrategy = DuplicatesStrategy.INCLUDE
+    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)
+// Configure jar and deploy tasks
-wpi.java.configureTestTasks(test)
+deployArtifact.jarTask = jar
-
+wpi.java.configureExecutableTasks(jar)
-// Configure string concat to always inline compile
+wpi.java.configureTestTasks(test)
-tasks.withType(JavaCompile) {
+
-    options.compilerArgs.add '-XDstringConcat=inline'
+// Configure string concat to always inline compile
-}
+tasks.withType(JavaCompile) {
+    options.compilerArgs.add '-XDstringConcat=inline'
+}

gradle/wrapper/gradle-wrapper.properties

@@ -1,7 +1,7 @@
-distributionBase=GRADLE_USER_HOME
+distributionBase=GRADLE_USER_HOME
-distributionPath=permwrapper/dists
+distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.10.2-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip
-networkTimeout=10000
+networkTimeout=10000
-validateDistributionUrl=true
+validateDistributionUrl=true
-zipStoreBase=GRADLE_USER_HOME
+zipStoreBase=GRADLE_USER_HOME
-zipStorePath=permwrapper/dists
+zipStorePath=permwrapper/dists

gradlew.bat

@@ -1,94 +1,94 @@
-@rem
+@rem
-@rem Copyright 2015 the original author or authors.
+@rem Copyright 2015 the original author or authors.
-@rem
+@rem
-@rem Licensed under the Apache License, Version 2.0 (the "License");
+@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 not use this file except in compliance with the License.
-@rem You may obtain a copy of the License at
+@rem You may obtain a copy of the License at
-@rem
+@rem
-@rem      https://www.apache.org/licenses/LICENSE-2.0
+@rem      https://www.apache.org/licenses/LICENSE-2.0
-@rem
+@rem
-@rem Unless required by applicable law or agreed to in writing, software
+@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 distributed under the License is distributed on an "AS IS" BASIS,
-@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-@rem See the License for the specific language governing permissions and
+@rem See the License for the specific language governing permissions and
-@rem limitations under the License.
+@rem limitations under the License.
-@rem
+@rem
-@rem SPDX-License-Identifier: Apache-2.0
+@rem SPDX-License-Identifier: Apache-2.0
-@rem
+@rem
-
+
-@if "%DEBUG%"=="" @echo off
+@if "%DEBUG%"=="" @echo off
-@rem ##########################################################################
+@rem ##########################################################################
-@rem
+@rem
-@rem  Gradle startup script for Windows
+@rem  Gradle startup script for Windows
-@rem
+@rem
-@rem ##########################################################################
+@rem ##########################################################################
-
+
-@rem Set local scope for the variables with windows NT shell
+@rem Set local scope for the variables with windows NT shell
-if "%OS%"=="Windows_NT" setlocal
+if "%OS%"=="Windows_NT" setlocal
-
+
-set DIRNAME=%~dp0
+set DIRNAME=%~dp0
-if "%DIRNAME%"=="" set DIRNAME=.
+if "%DIRNAME%"=="" set DIRNAME=.
-@rem This is normally unused
+@rem This is normally unused
-set APP_BASE_NAME=%~n0
+set APP_BASE_NAME=%~n0
-set APP_HOME=%DIRNAME%
+set APP_HOME=%DIRNAME%
-
+
-@rem Resolve any "." and ".." in APP_HOME to make it shorter.
+@rem Resolve any "." and ".." in APP_HOME to make it shorter.
-for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
+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.
+@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"
+set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
-
+
-@rem Find java.exe
+@rem Find java.exe
-if defined JAVA_HOME goto findJavaFromJavaHome
+if defined JAVA_HOME goto findJavaFromJavaHome
-
+
-set JAVA_EXE=java.exe
+set JAVA_EXE=java.exe
-%JAVA_EXE% -version >NUL 2>&1
+%JAVA_EXE% -version >NUL 2>&1
-if %ERRORLEVEL% equ 0 goto execute
+if %ERRORLEVEL% equ 0 goto execute
-
+
-echo. 1>&2
+echo. 1>&2
-echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 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. 1>&2
-echo Please set the JAVA_HOME variable in your environment to match the 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
+echo location of your Java installation. 1>&2
-
+
-goto fail
+goto fail
-
+
-:findJavaFromJavaHome
+:findJavaFromJavaHome
-set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_HOME=%JAVA_HOME:"=%
-set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
-
+
-if exist "%JAVA_EXE%" goto execute
+if exist "%JAVA_EXE%" goto execute
-
+
-echo. 1>&2
+echo. 1>&2
-echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
-echo. 1>&2
+echo. 1>&2
-echo Please set the JAVA_HOME variable in your environment to match the 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
+echo location of your Java installation. 1>&2
-
+
-goto fail
+goto fail
-
+
-:execute
+:execute
-@rem Setup the command line
+@rem Setup the command line
-
+
-set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
-
+
-
+
-@rem Execute Gradle
+@rem Execute Gradle
-"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
-
+
-:end
+:end
-@rem End local scope for the variables with windows NT shell
+@rem End local scope for the variables with windows NT shell
-if %ERRORLEVEL% equ 0 goto mainEnd
+if %ERRORLEVEL% equ 0 goto mainEnd
-
+
-:fail
+:fail
-rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
+rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
-rem the _cmd.exe /c_ return code!
+rem the _cmd.exe /c_ return code!
-set EXIT_CODE=%ERRORLEVEL%
+set EXIT_CODE=%ERRORLEVEL%
-if %EXIT_CODE% equ 0 set EXIT_CODE=1
+if %EXIT_CODE% equ 0 set EXIT_CODE=1
-if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE%
+if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE%
-exit /b %EXIT_CODE%
+exit /b %EXIT_CODE%
-
+
-:mainEnd
+:mainEnd
-if "%OS%"=="Windows_NT" endlocal
+if "%OS%"=="Windows_NT" endlocal
-
+
-:omega
+:omega

settings.gradle

@@ -1,30 +1,30 @@
-import org.gradle.internal.os.OperatingSystem
+import org.gradle.internal.os.OperatingSystem
-
+
-pluginManagement {
+pluginManagement {
-    repositories {
+    repositories {
-        mavenLocal()
+        mavenLocal()
-        gradlePluginPortal()
+        gradlePluginPortal()
-        String frcYear = '2025'
+        String frcYear = '2025'
-        File frcHome
+        File frcHome
-        if (OperatingSystem.current().isWindows()) {
+        if (OperatingSystem.current().isWindows()) {
-            String publicFolder = System.getenv('PUBLIC')
+            String publicFolder = System.getenv('PUBLIC')
-            if (publicFolder == null) {
+            if (publicFolder == null) {
-                publicFolder = "C:\\Users\\Public"
+                publicFolder = "C:\\Users\\Public"
-            }
+            }
-            def homeRoot = new File(publicFolder, "wpilib")
+            def homeRoot = new File(publicFolder, "wpilib")
-            frcHome = new File(homeRoot, frcYear)
+            frcHome = new File(homeRoot, frcYear)
-        } else {
+        } else {
-            def userFolder = System.getProperty("user.home")
+            def userFolder = System.getProperty("user.home")
-            def homeRoot = new File(userFolder, "wpilib")
+            def homeRoot = new File(userFolder, "wpilib")
-            frcHome = new File(homeRoot, frcYear)
+            frcHome = new File(homeRoot, frcYear)
-        }
+        }
-        def frcHomeMaven = new File(frcHome, 'maven')
+        def frcHomeMaven = new File(frcHome, 'maven')
-        maven {
+        maven {
-            name 'frcHome'
+            name = 'frcHome'
-            url frcHomeMaven
+            url = frcHomeMaven
-        }
+        }
-    }
+    }
-}
+}
-
+
-Properties props = System.getProperties();
+Properties props = System.getProperties();
-props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");

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;
@@ -12,8 +14,16 @@ import frc.robot.subsystems.Drivetrain;
 import frc.robot.subsystems.Elevator;
 import frc.robot.subsystems.Indexer;
 import frc.robot.subsystems.Manipulator;
+
+import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.auto.NamedCommands;
+
+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.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.PrintCommand;
+import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 
 public class RobotContainer {
@@ -34,6 +44,8 @@ public class RobotContainer {
 	private CommandXboxController driver;
 	private CommandXboxController operator;
 
+	private SendableChooser<Command> autoChooser;
+
 	public RobotContainer() {
 		arm = new Arm();
 
@@ -52,7 +64,13 @@ public class RobotContainer {
 		driver = new CommandXboxController(OIConstants.kDriverControllerPort);
 		operator = new CommandXboxController(OIConstants.kOperatorControllerPort);
 
+		autoChooser = AutoBuilder.buildAutoChooser();
+
 		configureButtonBindings();
+
+		configureNamedCommands();
+
+		configureShuffleboard();
 	}
 
 	private void configureButtonBindings() {
@@ -78,7 +96,7 @@ public class RobotContainer {
 		);
 
 		elevator.setDefaultCommand(
-			elevator.runElevator(operator::getLeftY)
+			elevator.runAssistedElevator(operator::getLeftY)
 		);
 
 		indexer.setDefaultCommand(
@@ -100,23 +118,140 @@ 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)
 		);
 	}
 
-	public Command getAutonomousCommand() {
+	private void configureNamedCommands() {
-		return new PrintCommand("NO AUTO DEFINED");
+		NamedCommands.registerCommand("Drivetrain Set X", drivetrain.setXCommand());
 	}
-}
+
+	//creates tabs and transforms them on the shuffleboard
+    private void configureShuffleboard() {
+		ShuffleboardTab autoTab = Shuffleboard.getTab(OIConstants.kAutoTab);
+    	ShuffleboardTab sensorTab = Shuffleboard.getTab(OIConstants.kSensorsTab);
+
+		Shuffleboard.selectTab(OIConstants.kAutoTab);
+
+		autoTab.add("Auto Selection", autoChooser)
+			.withSize(2, 1)
+			.withPosition(0, 0)
+			.withWidget(BuiltInWidgets.kComboBoxChooser);
+
+		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 autoChooser.getSelected();
+	}
+
+	//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 moveManipulator method that will guarantee a safe movement. 
+	 * Here in case we need want to skip moveManipulator debugging
+	 */
+	@SuppressWarnings("unused")
+	private Command safeMoveManipulator(double elevatorPosition, double armPosition) {
+		return moveManipulatorUtil(elevatorPosition, ArmConstants.kArmSafeStowPosition, false, true)
+			.andThen(arm.goToSetpoint(armPosition, 2));
+	}
+}

src/main/java/frc/robot/constants/ArmConstants.java

@@ -1,10 +1,79 @@
 package frc.robot.constants;
 
+import static edu.wpi.first.units.Units.Volts;
+import static edu.wpi.first.units.Units.Second;
+import static edu.wpi.first.units.Units.Seconds;
+
+import com.ctre.phoenix6.configs.CANcoderConfiguration;
+import com.ctre.phoenix6.signals.SensorDirectionValue;
+import com.revrobotics.spark.config.SparkMaxConfig;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
+import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config;
+
 public class ArmConstants {
     public static final int kArmMotorID = 0;
     public static final int kCANcoderID = 0;
 
-    public static final double kEncoderConversionFactor = 0;
+    public static final int kMotorAmpsMax = 0;
 
     public static final double kArmMaxVelocity = 0;
+
+    public static final double kPositionalP = 0;
+    public static final double kPositionalI = 0;
+    public static final double kPositionalD = 0;
+    public static final double kPositionalTolerance = Units.degreesToRadians(1);
+
+    public static final double kVelocityP = 0;
+    public static final double kVelocityI = 0;
+    public static final double kVelocityD = 0;
+    // TODO Is this reasonable?
+    public static final double kVelocityTolerance = Units.degreesToRadians(3) / 60;
+
+    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 double kMagnetOffset = 0.0;
+    public static final double kAbsoluteSensorDiscontinuityPoint = 0.0;
+
+    public static final double kSysIDRampRate = 1;
+    public static final double kSysIDStepVolts = 7;
+    public static final double kSysIDTimeout = 10;
+
+    public static final SensorDirectionValue kSensorDirection = SensorDirectionValue.CounterClockwise_Positive;
+
+    public static final IdleMode kIdleMode = IdleMode.kBrake;
+
+    // YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A NEW CONFIG
+
+    public static final SysIdRoutine.Config kSysIDConfig = new Config(
+        Volts.of(kSysIDRampRate).per(Second),
+        Volts.of(kSysIDStepVolts),
+        Seconds.of(kSysIDTimeout)
+    );
+
+    public static final CANcoderConfiguration canCoderConfig = new CANcoderConfiguration();
+
+    public static final SparkMaxConfig motorConfig = new SparkMaxConfig();
+
+    static {
+        canCoderConfig.MagnetSensor.SensorDirection = SensorDirectionValue.CounterClockwise_Positive;
+        canCoderConfig.MagnetSensor.MagnetOffset = 0.0;
+        // TODO Need to do more reading on this setting, and how to properly offset the Arm so that horizontal is 0
+        //canCoderConfig.MagnetSensor.AbsoluteSensorDiscontinuityPoint = 0.5;
+
+        motorConfig
+            .smartCurrentLimit(kMotorAmpsMax)
+            .idleMode(kIdleMode);
+    }
+
+
 }

src/main/java/frc/robot/constants/AutoConstants.java

@@ -1,5 +1,13 @@
 package frc.robot.constants;
 
+import java.io.IOException;
+
+import org.json.simple.parser.ParseException;
+
+import com.pathplanner.lib.config.PIDConstants;
+import com.pathplanner.lib.config.RobotConfig;
+import com.pathplanner.lib.controllers.PPHolonomicDriveController;
+
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 
 public class AutoConstants {
@@ -15,4 +23,21 @@ public class AutoConstants {
     // Constraint for the motion profiled robot angle controller
     public static final TrapezoidProfile.Constraints kThetaControllerConstraints = new TrapezoidProfile.Constraints(
         kMaxAngularSpeedRadiansPerSecond, kMaxAngularSpeedRadiansPerSecondSquared);
+
+    // TODO This is a constant being managed like a static rewriteable variable
+    public static RobotConfig kRobotConfig;
+
+    public static final PPHolonomicDriveController kPPDriveController = new PPHolonomicDriveController(
+        new PIDConstants(kPXController, 0, 0),
+        new PIDConstants(kPYController, 0, 0)
+    );
+
+    static {
+        try {
+            kRobotConfig = RobotConfig.fromGUISettings();
+        } catch (IOException | ParseException e) {
+            System.err.println("FAILED TO READ ROBOTCONFIG, WAS THE CONFIG SET UP IN PATHPLANNER?");
+            e.printStackTrace();
+        }
+    }
 }

src/main/java/frc/robot/constants/ElevatorConstants.java

@@ -33,6 +33,18 @@ 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;
+    public static final double kElevatorMaxHeight = 0;
+
     // 1, 7, 10 are the defaults for these, change as necessary
     public static final double kSysIDRampRate = 1;
     public static final double kSysIDStepVolts = 7;

src/main/java/frc/robot/constants/ModuleConstants.java

@@ -2,6 +2,12 @@ package frc.robot.constants;
 
 import com.revrobotics.spark.config.ClosedLoopConfig.FeedbackSensor;
 import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
+import com.ctre.phoenix6.configs.FeedbackConfigs;
+import com.ctre.phoenix6.configs.MotorOutputConfigs;
+import com.ctre.phoenix6.configs.Slot0Configs;
+import com.ctre.phoenix6.signals.InvertedValue;
+import com.ctre.phoenix6.signals.NeutralModeValue;
 import com.revrobotics.spark.config.SparkMaxConfig;
 
 public class ModuleConstants {
@@ -20,52 +26,73 @@ public class ModuleConstants {
     public static final double kDriveWheelFreeSpeedRps = (kDrivingMotorFreeSpeedRps * kWheelCircumferenceMeters)
         / kDrivingMotorReduction;
 
-    public static final int kDriveMotorCurrentLimit = 40;
+    public static final double kDrivingFactor = kWheelDiameterMeters * Math.PI / kDrivingMotorReduction;
+    public static final double kTurningFactor = 2 * Math.PI;
+    public static final double kDrivingVelocityFeedForward = 1 / kDriveWheelFreeSpeedRps;
+    
+    public static final double kDriveP = .04;
+    public static final double kDriveI = 0;
+    public static final double kDriveD = 0;
+    public static final double kDriveS = 0;
+    public static final double kDriveV = kDrivingVelocityFeedForward;
+    public static final double kDriveA = 0;
+    
+    public static final double kTurnP = 1;
+    public static final double kTurnI = 0;
+    public static final double kTurnD = 0;
+
+    public static final int kDriveMotorStatorCurrentLimit = 120;
     public static final int kTurnMotorCurrentLimit = 20;
 
+    public static final IdleMode kTurnIdleMode = IdleMode.kBrake;
+
+    public static final InvertedValue kDriveInversionState = InvertedValue.Clockwise_Positive;
+    public static final NeutralModeValue kDriveIdleMode = NeutralModeValue.Brake;
+
     // YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A NEW CONFIGURATION ITEM 
 
-    public static final SparkMaxConfig drivingConfig = new SparkMaxConfig();
     public static final SparkMaxConfig turningConfig = new SparkMaxConfig();
 
-    static {
+    public static final FeedbackConfigs kDriveFeedConfig = new FeedbackConfigs();
-        // Use module constants to calculate conversion factors and feed forward gain.
+    public static final CurrentLimitsConfigs kDriveCurrentLimitConfig = new CurrentLimitsConfigs();
-        double drivingFactor = kWheelDiameterMeters * Math.PI / kDrivingMotorReduction;
+    public static final MotorOutputConfigs kDriveMotorConfig = new MotorOutputConfigs();
-        double turningFactor = 2 * Math.PI;
+    public static final Slot0Configs kDriveSlot0Config = new Slot0Configs();
-        double drivingVelocityFeedForward = 1 / kDriveWheelFreeSpeedRps;
 
-        drivingConfig
+    static {
-            .idleMode(IdleMode.kBrake)
+        kDriveFeedConfig.SensorToMechanismRatio = kDrivingMotorReduction;
-            .smartCurrentLimit(kDriveMotorCurrentLimit);
+
-        drivingConfig.encoder
+        kDriveCurrentLimitConfig.StatorCurrentLimitEnable = true;
-            .positionConversionFactor(drivingFactor) // meters
+        kDriveCurrentLimitConfig.StatorCurrentLimit = kDriveMotorStatorCurrentLimit;
-            .velocityConversionFactor(drivingFactor / 60.0); // meters per second
+
-        drivingConfig.closedLoop
+        kDriveMotorConfig.Inverted = kDriveInversionState;
-            .feedbackSensor(FeedbackSensor.kPrimaryEncoder)
+        kDriveMotorConfig.NeutralMode = kDriveIdleMode;
-            // These are example gains you may need to them for your own robot!
+
-            .pid(0.04, 0, 0)
+        kDriveSlot0Config.kP = kDriveP;
-            .velocityFF(drivingVelocityFeedForward)
+        kDriveSlot0Config.kI = kDriveI;
-            .outputRange(-1, 1);
+        kDriveSlot0Config.kD = kDriveD;
+        kDriveSlot0Config.kS = kDriveS;
+        kDriveSlot0Config.kV = kDriveV;
+        kDriveSlot0Config.kA = kDriveA;
 
         turningConfig
-            .idleMode(IdleMode.kBrake)
+            .idleMode(kTurnIdleMode)
-            .smartCurrentLimit(20);
+            .smartCurrentLimit(kTurnMotorCurrentLimit);
         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
+            .positionConversionFactor(kTurningFactor) // radians
-            .velocityConversionFactor(turningFactor / 60.0); // radians per second
+            .velocityConversionFactor(kTurningFactor / 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)
+            .pid(kTurnP, kTurnI, kTurnD)
             .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);
+            .positionWrappingInputRange(0, kTurningFactor);
     }
 }

src/main/java/frc/robot/constants/OIConstants.java

@@ -5,4 +5,7 @@ public class OIConstants {
     public static final int kOperatorControllerPort = 1;
     
     public static final double kDriveDeadband = 0.05;
+
+    public static final String kAutoTab = "Auto Tab";
+    public static final String kSensorsTab = "Sensors Tab";
 }

src/main/java/frc/robot/subsystems/Arm.java

@@ -4,16 +4,19 @@ import java.util.function.DoubleSupplier;
 
 import com.ctre.phoenix6.hardware.CANcoder;
 import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkBase.PersistMode;
+import com.revrobotics.spark.SparkBase.ResetMode;
 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;
 
 public class Arm extends SubsystemBase {
-    private SparkMax armMotor;
+    protected SparkMax armMotor;
 
     private CANcoder canCoder;
 
@@ -28,7 +31,49 @@ public class Arm extends SubsystemBase {
             MotorType.kBrushless
         );
 
+        armMotor.configure(ArmConstants.motorConfig, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);
+
+        positionController = new PIDController(
+            ArmConstants.kPositionalP, 
+            ArmConstants.kPositionalI, 
+            ArmConstants.kPositionalD
+        );
+        
+        // TODO: Generate constants for continuous input range based on CANcoder configuration?
+        positionController.enableContinuousInput(Units.degreesToRadians(-180), Units.degreesToRadians(179));
+        positionController.setTolerance(ArmConstants.kPositionalTolerance);
+
+        velocityController = new PIDController(
+            ArmConstants.kVelocityP, 
+            ArmConstants.kVelocityI, 
+            ArmConstants.kVelocityD
+        );
+
+        velocityController.setTolerance(ArmConstants.kVelocityTolerance);
+
         canCoder = new CANcoder(ArmConstants.kCANcoderID);
+        canCoder.getConfigurator().apply(ArmConstants.canCoderConfig);
+    }
+
+    /**
+     * 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
@@ -37,11 +82,11 @@ public class Arm extends SubsystemBase {
             double realSpeedTarget = speed.getAsDouble() * ArmConstants.kArmMaxVelocity;
 
             double voltsOut = velocityController.calculate(
-                rotationsToRadians(canCoder.getVelocity().getValueAsDouble()), 
+                getEncoderVelocity(), 
                 realSpeedTarget
             ) + feedForward.calculate(
-                rotationsToRadians(canCoder.getPosition().getValueAsDouble()), 
+                getEncoderPosition(), 
-                canCoder.getVelocity().getValueAsDouble()
+                getEncoderVelocity()
             );
 
             armMotor.setVoltage(voltsOut);
@@ -51,18 +96,22 @@ 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(), 
+                getEncoderPosition(), 
-                canCoder.getVelocity().getValueAsDouble()
+                getEncoderVelocity()
             );
 
             armMotor.setVoltage(voltsOut);
         }).until(positionController::atSetpoint).withTimeout(timeout);
     }
 
-    protected double rotationsToRadians(double rotations) {
+    public double getEncoderPosition() {
-        return rotations * 2 * Math.PI;
+        return Units.rotationsToRadians(canCoder.getAbsolutePosition().getValueAsDouble());
+    }
+
+    public double getEncoderVelocity() {
+        return Units.rotationsToRadians(canCoder.getVelocity().getValueAsDouble());
     }
 }

src/main/java/frc/robot/subsystems/Drivetrain.java

@@ -4,9 +4,14 @@
 
 package frc.robot.subsystems;
 
+import java.util.Optional;
 import java.util.function.BooleanSupplier;
 import java.util.function.DoubleSupplier;
 
+import com.pathplanner.lib.auto.AutoBuilder;
+import com.studica.frc.AHRS;
+import com.studica.frc.AHRS.NavXComType;
+
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
@@ -15,10 +20,10 @@ 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.DriverStation;
-import edu.wpi.first.wpilibj.ADIS16470_IMU.IMUAxis;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.constants.AutoConstants;
 import frc.robot.constants.DrivetrainConstants;
 import frc.robot.constants.OIConstants;
 
@@ -30,7 +35,7 @@ public class Drivetrain extends SubsystemBase {
     protected MAXSwerveModule m_rearRight;
 
     // The gyro sensor
-    private ADIS16470_IMU m_gyro;
+    private AHRS ahrs;
 
     // Odometry class for tracking robot pose
     private SwerveDriveOdometry m_odometry;
@@ -61,11 +66,41 @@ public class Drivetrain extends SubsystemBase {
             DrivetrainConstants.kBackRightChassisAngularOffset
         );
 
-        m_gyro = new ADIS16470_IMU();
+        ahrs = new AHRS(NavXComType.kMXP_SPI);
 
         m_odometry = new SwerveDriveOdometry(
             DrivetrainConstants.kDriveKinematics,
-            Rotation2d.fromDegrees(m_gyro.getAngle(IMUAxis.kZ)),
+            Rotation2d.fromDegrees(ahrs.getAngle()),
+            new SwerveModulePosition[] {
+                m_frontLeft.getPosition(),
+                m_frontRight.getPosition(),
+                m_rearLeft.getPosition(),
+                m_rearRight.getPosition()
+        });
+
+        AutoBuilder.configure(
+            this::getPose, 
+            this::resetOdometry, 
+            this::getCurrentChassisSpeeds, 
+            this::driveWithChassisSpeeds, 
+            AutoConstants.kPPDriveController, 
+            AutoConstants.kRobotConfig,
+            () -> {
+                Optional<DriverStation.Alliance> alliance = DriverStation.getAlliance();
+                    if (alliance.isPresent()) {
+                        return alliance.get() == DriverStation.Alliance.Red;
+                    }
+                    return false;
+            }, 
+            this
+        );
+    }
+
+    @Override
+    public void periodic() {
+        // Update the odometry in the periodic block
+        m_odometry.update(
+            Rotation2d.fromDegrees(getGyroValue()),
             new SwerveModulePosition[] {
                 m_frontLeft.getPosition(),
                 m_frontRight.getPosition(),
@@ -74,17 +109,21 @@ public class Drivetrain extends SubsystemBase {
         });
     }
 
-    @Override
+    public ChassisSpeeds getCurrentChassisSpeeds() {
-    public void periodic() {
+        return DrivetrainConstants.kDriveKinematics.toChassisSpeeds(
-        // Update the odometry in the periodic block
+            m_frontLeft.getState(),
-        m_odometry.update(
+            m_frontRight.getState(),
-            Rotation2d.fromDegrees(m_gyro.getAngle(IMUAxis.kZ)),
+            m_rearLeft.getState(),
-            new SwerveModulePosition[] {
+            m_rearRight.getState()
-                m_frontLeft.getPosition(),
+        );
-                m_frontRight.getPosition(),
+    }
-                m_rearLeft.getPosition(),
+
-                m_rearRight.getPosition()
+    public void driveWithChassisSpeeds(ChassisSpeeds speeds) {
-        });
+        ChassisSpeeds discreteSpeeds = ChassisSpeeds.discretize(speeds, 0.2);
+        SwerveModuleState[] newStates = DrivetrainConstants.kDriveKinematics.toSwerveModuleStates(discreteSpeeds);
+        SwerveDriveKinematics.desaturateWheelSpeeds(newStates, DrivetrainConstants.kMaxSpeedMetersPerSecond);
+
+        setModuleStates(newStates);
     }
 
     /**
@@ -103,7 +142,7 @@ public class Drivetrain extends SubsystemBase {
      */
     public void resetOdometry(Pose2d pose) {
         m_odometry.resetPosition(
-            Rotation2d.fromDegrees(m_gyro.getAngle(IMUAxis.kZ)),
+            Rotation2d.fromDegrees(getGyroValue()),
             new SwerveModulePosition[] {
                 m_frontLeft.getPosition(),
                 m_frontRight.getPosition(),
@@ -144,7 +183,7 @@ public class Drivetrain extends SubsystemBase {
         var swerveModuleStates = DrivetrainConstants.kDriveKinematics.toSwerveModuleStates(
             fieldRelative
                 ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedDelivered, ySpeedDelivered, rotDelivered,
-                        Rotation2d.fromDegrees(m_gyro.getAngle(IMUAxis.kZ)))
+                        Rotation2d.fromDegrees(getGyroValue()))
                 : new ChassisSpeeds(xSpeedDelivered, ySpeedDelivered, rotDelivered));
         SwerveDriveKinematics.desaturateWheelSpeeds(
             swerveModuleStates, DrivetrainConstants.kMaxSpeedMetersPerSecond);
@@ -194,7 +233,11 @@ public class Drivetrain extends SubsystemBase {
 
     /** Zeroes the heading of the robot. */
     public void zeroHeading() {
-        m_gyro.reset();
+        ahrs.reset();;
+    }
+
+    public double getGyroValue() {
+        return ahrs.getAngle() * (DrivetrainConstants.kGyroReversed ? -1 : 1);
     }
 
     /**
@@ -203,7 +246,7 @@ public class Drivetrain extends SubsystemBase {
      * @return the robot's heading in degrees, from -180 to 180
      */
     public double getHeading() {
-        return Rotation2d.fromDegrees(m_gyro.getAngle(IMUAxis.kZ)).getDegrees();
+        return Rotation2d.fromDegrees(getGyroValue()).getDegrees();
     }
 
     /**
@@ -212,6 +255,6 @@ public class Drivetrain extends SubsystemBase {
      * @return The turn rate of the robot, in degrees per second
      */
     public double getTurnRate() {
-        return m_gyro.getRate(IMUAxis.kZ) * (DrivetrainConstants.kGyroReversed ? -1.0 : 1.0);
+        return ahrs.getRate() * (DrivetrainConstants.kGyroReversed ? -1.0 : 1.0);
     }
 }

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
         );
@@ -83,8 +76,34 @@ public class Elevator extends SubsystemBase {
         );
     }
 
-    //manual command that keeps ouput speed consistent no matter the direction
+    /**
-    public Command runElevator(DoubleSupplier speed) {
+     * 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;
+    }
+
+    /**
+     * A manual translation command that will move the elevator using a consistent velocity disregarding direction
+     * 
+     * @param speed How fast the elevator moves
+     * @return Sets motor voltage to move the elevator relative to the speed parameter
+     */
+    public Command runAssistedElevator(DoubleSupplier speed) {
         return run(() -> {
             double realSpeedTarget = speed.getAsDouble() * ElevatorConstants.kElevatorMaxVelocity;
 
@@ -94,11 +113,29 @@ public class Elevator extends SubsystemBase {
             ) + feedForward.calculate(realSpeedTarget);
 
             elevatorMotor1.setVoltage(voltsOut);
-        }).until(() -> topLimitSwitch.get() || bottomLimitSwitch.get());
+        }).until(
+            () -> bottomLimitSwitch.get() || encoder.getPosition() >= ElevatorConstants.kElevatorMaxHeight);
     }
 
+    /**
+     * A manual translation command that uses feed forward calculation to maintain position
+     * 
+     * @param speed The speed at which the elevator translates
+     * @return Sets motor voltage to translate the elevator and maintain position
+     */
+    public Command runManualElevator(double speed) {
+        return run(() -> {
+            elevatorMotor1.set(speed);
+        });
+    }
     
-    //go to setpoint command
+    /**
+     * Moves the elevator to a target destination (setpoint)
+     * 
+     * @param setpoint Target destination of the subsystem
+     * @param timeout Time to achieve the setpoint before quitting
+     * @return Sets motor voltage to achieve the target destination
+     */
     public Command goToSetpoint(double setpoint, double timeout) {
         return run(() -> {
             double voltsOut = positionController.calculate(
@@ -108,7 +145,25 @@ public class Elevator extends SubsystemBase {
 
             elevatorMotor1.setVoltage(voltsOut);
         }).until(
-            () -> positionController.atSetpoint() || topLimitSwitch.get() || bottomLimitSwitch.get()
+            () -> positionController.atSetpoint() || bottomLimitSwitch.get()
         ).withTimeout(timeout);
     }
-}
+
+    /**
+     * Returns the current encoder position
+     * 
+     * @return Current encoder position
+     */
+    public double getEncoderPosition() {
+        return encoder.getPosition();
+    }
+
+    /**
+     * Returns the value of the bottom limit switch on the elevator (false = disabled, true = enabled)
+     * 
+     * @return The value of bottomLimitSwitch
+     */
+    public boolean getBottomLimitSwitch() {
+        return bottomLimitSwitch.get();
+    }
+}

src/main/java/frc/robot/subsystems/MAXSwerveModule.java

@@ -15,21 +15,22 @@ 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.ctre.phoenix6.controls.VelocityVoltage;
+import com.ctre.phoenix6.hardware.TalonFX;
 import com.revrobotics.AbsoluteEncoder;
-import com.revrobotics.RelativeEncoder;
 
 import frc.robot.constants.ModuleConstants;
 
 public class MAXSwerveModule {
-  private final SparkMax m_drivingSpark;
+  private final TalonFX m_drive;
   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 final VelocityVoltage driveVelocityRequest;
+
   private double m_chassisAngularOffset = 0;
   private SwerveModuleState m_desiredState = new SwerveModuleState(0.0, new Rotation2d());
 
@@ -40,26 +41,29 @@ public class MAXSwerveModule {
    * Encoder.
    */
   public MAXSwerveModule(int drivingCANId, int turningCANId, double chassisAngularOffset) {
-    m_drivingSpark = new SparkMax(drivingCANId, MotorType.kBrushless);
+    m_drive = new TalonFX(drivingCANId);
     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();
 
+    driveVelocityRequest = new VelocityVoltage(0).withSlot(0);
+
     // 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(ModuleConstants.drivingConfig, ResetMode.kResetSafeParameters,
+    m_drive.getConfigurator().apply(ModuleConstants.kDriveCurrentLimitConfig);
-        PersistMode.kPersistParameters);
+    m_drive.getConfigurator().apply(ModuleConstants.kDriveFeedConfig);
+    m_drive.getConfigurator().apply(ModuleConstants.kDriveMotorConfig);
+    m_drive.getConfigurator().apply(ModuleConstants.kDriveSlot0Config);
+
     m_turningSpark.configure(ModuleConstants.turningConfig, ResetMode.kResetSafeParameters,
         PersistMode.kPersistParameters);
 
     m_chassisAngularOffset = chassisAngularOffset;
     m_desiredState.angle = new Rotation2d(m_turningEncoder.getPosition());
-    m_drivingEncoder.setPosition(0);
+    m_drive.setPosition(0);
   }
 
   /**
@@ -70,7 +74,7 @@ public class MAXSwerveModule {
   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(),
+    return new SwerveModuleState(m_drive.getVelocity().getValueAsDouble(),
         new Rotation2d(m_turningEncoder.getPosition() - m_chassisAngularOffset));
   }
 
@@ -82,8 +86,7 @@ public class MAXSwerveModule {
   public SwerveModulePosition getPosition() {
     // Apply chassis angular offset to the encoder position to get the position
     // relative to the chassis.
-    return new SwerveModulePosition(
+    return new SwerveModulePosition(m_drive.getPosition().getValueAsDouble(),
-        m_drivingEncoder.getPosition(),
         new Rotation2d(m_turningEncoder.getPosition() - m_chassisAngularOffset));
   }
 
@@ -102,14 +105,21 @@ public class MAXSwerveModule {
     correctedDesiredState.optimize(new Rotation2d(m_turningEncoder.getPosition()));
 
     // Command driving and turning SPARKS towards their respective setpoints.
-    m_drivingClosedLoopController.setReference(correctedDesiredState.speedMetersPerSecond, ControlType.kVelocity);
+    m_drive.setControl(
+      driveVelocityRequest.withVelocity(
+        correctedDesiredState.speedMetersPerSecond
+      ).withFeedForward(
+        correctedDesiredState.speedMetersPerSecond
+      )
+    );
+
     m_turningClosedLoopController.setReference(correctedDesiredState.angle.getRadians(), ControlType.kPosition);
 
     m_desiredState = desiredState;
   }
 
   public void setVoltageDrive(double voltage){
-    m_drivingSpark.setVoltage(voltage);
+    m_drive.setVoltage(voltage);
   }
 
   public void setVoltageTurn(double voltage) {
@@ -117,7 +127,7 @@ public class MAXSwerveModule {
   }
 
   public double getVoltageDrive() {
-    return m_drivingSpark.get() * RobotController.getBatteryVoltage();
+    return m_drive.get() * RobotController.getBatteryVoltage();
   }
 
   public double getVoltageTurn() {
@@ -126,6 +136,6 @@ public class MAXSwerveModule {
 
   /** Zeroes all the SwerveModule encoders. */
   public void resetEncoders() {
-    m_drivingEncoder.setPosition(0);
+    m_drive.setPosition(0);
   }
 }

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);
-    }
 }

src/main/java/frc/robot/subsystems/sysid/ArmSysID.java

@@ -0,0 +1,62 @@
+package frc.robot.subsystems.sysid;
+
+import static edu.wpi.first.units.Units.Volts;
+import static edu.wpi.first.units.Units.Radians;
+import static edu.wpi.first.units.Units.RadiansPerSecond;
+
+import edu.wpi.first.units.measure.MutAngle;
+import edu.wpi.first.units.measure.MutAngularVelocity;
+import edu.wpi.first.units.measure.MutVoltage;
+import edu.wpi.first.wpilibj.RobotController;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
+import frc.robot.constants.ArmConstants;
+import frc.robot.subsystems.Arm;
+
+public class ArmSysID extends Arm {
+    private MutVoltage appliedVoltage;
+
+    private MutAngle armPosition;
+
+    private MutAngularVelocity armVelocity;
+
+    private SysIdRoutine routine;
+
+    public ArmSysID() {
+        super();
+
+        appliedVoltage = Volts.mutable(0);
+
+        armPosition = Radians.mutable(0);
+
+        armVelocity = RadiansPerSecond.mutable(0);
+
+        routine = new SysIdRoutine(
+            ArmConstants.kSysIDConfig,
+            new SysIdRoutine.Mechanism(
+                armMotor::setVoltage, 
+                (log) -> {
+                    log.motor("armMotor")
+                        .voltage(appliedVoltage.mut_replace(
+                            armMotor.get() * RobotController.getBatteryVoltage(), Volts
+                        ))
+                        .angularPosition(armPosition.mut_replace(
+                            getEncoderPosition(), Radians
+                        ))
+                        .angularVelocity(armVelocity.mut_replace(
+                            getEncoderVelocity(), RadiansPerSecond
+                        ));
+                }, 
+                this
+            )
+        );
+    }
+
+    public Command sysIdQuasistatic(SysIdRoutine.Direction direction) {
+        return routine.quasistatic(direction);
+    }
+
+    public Command sysIdDynamic(SysIdRoutine.Direction direction) {
+        return routine.dynamic(direction);
+    }
+}

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"
+            ]
+        }
+    ]
+}

vendordeps/Phoenix5-5.35.1.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",
+            "offlineFileName": "Phoenix6-frc2025-latest.json",
-            "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-beta-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,

vendordeps/Phoenix6-25.2.1.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",
+            "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": "25.0.0-beta-4",
             "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",
+            "artifactId": "simProPigeon2",
-            "version": "25.0.0-beta-4",
+            "version": "25.2.1",
-            "libName": "CTRE_SimProCANrange",
+            "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
             "skipInvalidPlatforms": true,
@@ -371,9 +401,9 @@
         },
         {
             "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simProPigeon2",
+            "artifactId": "simProCANrange",
-            "version": "25.0.0-beta-4",
+            "version": "25.2.1",
-            "libName": "CTRE_SimProPigeon2",
+            "libName": "CTRE_SimProCANrange",
             "headerClassifier": "headers",
             "sharedLibrary": true,
             "skipInvalidPlatforms": true,

vendordeps/REVLib-2025.0.1.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",

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"
+        }
+    ]
+}