Upgrading to 2025.2.1

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2025.2.1"
 }
 
 java {
@@ -33,6 +33,8 @@ deploy {
                 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
                 }
             }
         }

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 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
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME

settings.gradle

@@ -20,8 +20,8 @@ pluginManagement {
         }
         def frcHomeMaven = new File(frcHome, 'maven')
         maven {
-            name 'frcHome'
+            name = 'frcHome'
-            url frcHomeMaven
+            url = frcHomeMaven
         }
     }
 }

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() {
@@ -61,7 +69,7 @@ public class RobotContainer {
 		);
 
 		climberPivot.setDefaultCommand(
-			climberPivot.goToAngle(0)
+			climberPivot.goToAngle(0, 1)
 		);
 
 		climberRollers.setDefaultCommand(
@@ -78,7 +86,7 @@ public class RobotContainer {
 		);
 
 		elevator.setDefaultCommand(
-			elevator.goToSetpoint(0, 1)
+			elevator.runElevator(operator::getLeftY)
 		);
 
 		indexer.setDefaultCommand(
@@ -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
+		);
+	}
 }

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

@@ -1,8 +1,25 @@
 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;
 
     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();
+
+    
 }

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

@@ -11,20 +11,39 @@ import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config;
 
 public class ElevatorConstants {
-    public static final int kElevatorMotorID = 0;
+    public static final int kElevatorMotor1ID = 0;
+    public static final int kElevatorMotor2ID = 0;
+
+    public static final int kTopLimitSwitchID = 0;
+    public static final int kBottomLimitSwitchID = 0;
 
     public static final double kEncoderConversionFactor = 0;
 
     public static final int kMotorAmpsMax = 0;
 
-    public static final double kPIDControllerP = 0;
+    public static final double kPositionControllerP = 0;
-    public static final double kPIDControllerI = 0;
+    public static final double kPositionControllerI = 0;
-    public static final double kPIDControllerD = 0;
+    public static final double kPositionControllerD = 0;
+    
+    public static final double kVelocityControllerP = 0;
+    public static final double kVelocityControllerI = 0;
+    public static final double kVelocityControllerD = 0;
 
     public static final double kFeedForwardS = 0;
     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;

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";
 }

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

@@ -1,25 +1,30 @@
 package frc.robot.subsystems;
 
+import java.util.function.DoubleSupplier;
+
 import com.ctre.phoenix6.hardware.CANcoder;
 import com.revrobotics.spark.SparkMax;
 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;
+    private SparkMax armMotor;
 
     private CANcoder canCoder;
 
-    private PIDController pidController;
+    private PIDController positionController;
+    private PIDController velocityController;
+
     private ArmFeedforward feedForward;
 
     public Arm() {
-        ArmMotor = new SparkMax(
+        armMotor = new SparkMax(
             ArmConstants.kArmMotorID, 
             MotorType.kBrushless
         );
@@ -27,17 +32,63 @@ public class Arm extends SubsystemBase {
         canCoder = new CANcoder(ArmConstants.kCANcoderID);
     }
 
-    public Command goToSetpoint(double setpoint, double timeout) {
+    /**
+     * 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 voltsOut = pidController.calculate(
+            double realSpeedTarget = speed.getAsDouble() * ArmConstants.kArmMaxVelocity;
-                canCoder.getPosition().getValueAsDouble(), 
+
-                setpoint
+            double voltsOut = velocityController.calculate(
+                getEncoderVelocity(), 
+                realSpeedTarget
             ) + feedForward.calculate(
-                canCoder.getPosition().getValueAsDouble(), 
+                getEncoderPosition(), 
-                canCoder.getVelocity().getValueAsDouble()
+                getEncoderVelocity()
             );
 
-            ArmMotor.setVoltage(voltsOut);
+            armMotor.setVoltage(voltsOut);
-        }).until(pidController::atSetpoint).withTimeout(timeout);
+        });
+    }
+
+    public Command goToSetpoint(double setpoint, double timeout) {
+        return run(() -> {
+            double voltsOut = positionController.calculate(
+                getEncoderPosition(), 
+                setpoint
+            ) + feedForward.calculate(
+                getEncoderPosition(), 
+                getEncoderVelocity()
+            );
+
+            armMotor.setVoltage(voltsOut);
+        }).until(positionController::atSetpoint).withTimeout(timeout);
+    }
+
+    public double getEncoderPosition() {
+        return Units.rotationsToRadians(canCoder.getPosition().getValueAsDouble());
+    }
+
+    public double getEncoderVelocity() {
+        return Units.rotationsToRadians(canCoder.getVelocity().getValueAsDouble());
     }
 }

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

@@ -1,6 +1,6 @@
 package frc.robot.subsystems;
 
-import com.revrobotics.AbsoluteEncoder;
+import com.revrobotics.RelativeEncoder;
 import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
 
@@ -13,7 +13,7 @@ import frc.robot.constants.ClimberPivotConstants;
 public class ClimberPivot extends SubsystemBase {
     private SparkMax pivotMotor;
 
-    private AbsoluteEncoder neoEncoder;
+    private RelativeEncoder neoEncoder;
 
     private DigitalInput cageLimitSwitch;
 
@@ -25,9 +25,9 @@ public class ClimberPivot extends SubsystemBase {
             MotorType.kBrushless
         );
 
-        neoEncoder = pivotMotor.getAbsoluteEncoder();
+        neoEncoder = pivotMotor.getEncoder();
 
-        cageLimitSwitch = new DigitalInput(0);
+        cageLimitSwitch = new DigitalInput(ClimberPivotConstants.kClimberLimitSwitchID);
 
         pidController = new PIDController(
             ClimberPivotConstants.kPIDControllerP,
@@ -42,7 +42,7 @@ public class ClimberPivot extends SubsystemBase {
         });
     }
 
-    public Command goToAngle(double setpoint) {
+    public Command goToAngle(double setpoint, double timeout) {
         return run(() -> {
             pivotMotor.set(
                 pidController.calculate(
@@ -50,7 +50,7 @@ public class ClimberPivot extends SubsystemBase {
                     setpoint
                 )
             );
-        });
+        }).withTimeout(timeout);
     }
 
     public boolean getCageLimitSwitch() {

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

@@ -1,5 +1,7 @@
 package frc.robot.subsystems;
 
+import java.util.function.DoubleSupplier;
+
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.SparkBase.PersistMode;
@@ -8,22 +10,32 @@ import com.revrobotics.spark.SparkLowLevel.MotorType;
 
 import edu.wpi.first.math.controller.ElevatorFeedforward;
 import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.constants.ElevatorConstants;
 
 public class Elevator extends SubsystemBase {
     protected SparkMax elevatorMotor1;
+    protected SparkMax elevatorMotor2;
 
     protected RelativeEncoder encoder;
 
-    private PIDController pidController;
+    private DigitalInput bottomLimitSwitch;
+
+    private PIDController positionController;
+    private PIDController velocityController;
 
     private ElevatorFeedforward feedForward;
     
     public Elevator() {
         elevatorMotor1 = new SparkMax(
-            ElevatorConstants.kElevatorMotorID, 
+            ElevatorConstants.kElevatorMotor1ID, 
+            MotorType.kBrushless
+        );
+        
+        elevatorMotor2 = new SparkMax(
+            ElevatorConstants.kElevatorMotor2ID,
             MotorType.kBrushless
         );
 
@@ -33,12 +45,28 @@ public class Elevator extends SubsystemBase {
             PersistMode.kPersistParameters
         );
 
+        elevatorMotor2.configure(
+            ElevatorConstants.motorConfig.follow(ElevatorConstants.kElevatorMotor1ID), 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
+
         encoder = elevatorMotor1.getEncoder();
 
-        pidController = new PIDController(
+        bottomLimitSwitch = new DigitalInput(
-            ElevatorConstants.kPIDControllerP, 
+            ElevatorConstants.kBottomLimitSwitchID
-            ElevatorConstants.kPIDControllerI, 
+        );
-            ElevatorConstants.kPIDControllerD
+
+        positionController = new PIDController(
+            ElevatorConstants.kPositionControllerP, 
+            ElevatorConstants.kPositionControllerI, 
+            ElevatorConstants.kPositionControllerD
+        );
+
+        velocityController = new PIDController(
+            ElevatorConstants.kVelocityControllerP, 
+            ElevatorConstants.kVelocityControllerI, 
+            ElevatorConstants.kVelocityControllerD
         );
 
         feedForward = new ElevatorFeedforward(
@@ -48,20 +76,57 @@ public class Elevator extends SubsystemBase {
         );
     }
 
-    public Command runElevator(double speed) {
+    /**
-        return run(() -> {
+     * Returns whether or not the motion is safe relative to the encoder's current position
-            elevatorMotor1.set(speed);
+     * 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(() -> {
+            double realSpeedTarget = speed.getAsDouble() * ElevatorConstants.kElevatorMaxVelocity;
+
+            double voltsOut = velocityController.calculate(
+                encoder.getVelocity(), 
+                realSpeedTarget
+            ) + feedForward.calculate(realSpeedTarget);
+
+            elevatorMotor1.setVoltage(voltsOut);
+        }).until(bottomLimitSwitch::get);
+    }
+
+    
+    //go to setpoint command
     public Command goToSetpoint(double setpoint, double timeout) {
         return run(() -> {
-            double voltsOut = pidController.calculate(
+            double voltsOut = positionController.calculate(
                 encoder.getPosition(),
                 setpoint
             ) + feedForward.calculate(0);
 
             elevatorMotor1.setVoltage(voltsOut);
-        }).until(pidController::atSetpoint).withTimeout(timeout);
+        }).until(
+            () -> positionController.atSetpoint() || bottomLimitSwitch.get()
+        ).withTimeout(timeout);
+    }
+
+    public double getEncoderPosition() {
+        return encoder.getPosition();
     }
 }

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

@@ -31,7 +31,6 @@ public class Indexer extends SubsystemBase {
     public Command indexCoral(double speed) {
         return run(() -> {
             indexerMotor.set(speed);
-        })
+        }).until(indexerBeamBreak::get);
-        .until(indexerBeamBreak::get);
     }
 }

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

@@ -33,14 +33,6 @@ public class Manipulator extends SubsystemBase {
     public Command runUntilCollected(double speed, boolean coral) {
         return run(() -> {
             manipulatorMotor.set(coral ? speed : speed * -1);
-        })
+        }).until(() -> coralBeamBreak.get() || algaeBeamBreak.get());
-        .until(() -> coralBeamBreak.get() || algaeBeamBreak.get());
-    }
-
-    public Command indexCoral(double speed) {
-        return run(() -> {
-            manipulatorMotor.set(speed);
-        })
-        .until(coralBeamBreak::get);
     }
 }

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"
+        }
+    ]
+}