after portland changes

Reviewed-on: #1

.vscode/launch.json

@@ -13,7 +13,7 @@
     },
     {
       "type": "wpilib",
-      "name": "WPILib Systemcore Debug",
+      "name": "WPILib roboRIO Debug",
       "request": "launch",
       "desktop": false,
     }

.vscode/settings.json

@@ -37,7 +37,7 @@
     "org.mockito.Mockito.*",
     "org.mockito.ArgumentMatchers.*",
     "org.mockito.Answers.*",
-    "org.wpilib.units.Units.*"
+    "edu.wpi.first.units.Units.*"
   ],
   "java.completion.filteredTypes": [
     "java.awt.*",
@@ -53,10 +53,9 @@
     "javax.swing.*",
     "javax.management.*",
     "javax.smartcardio.*",
-    "org.wpilib.math.proto.*",
+    "edu.wpi.first.math.proto.*",
-    "org.wpilib.math.**.proto.*",
+    "edu.wpi.first.math.**.proto.*",
-    "org.wpilib.math.**.struct.*",
+    "edu.wpi.first.math.**.struct.*",
   ],
-  "java.debug.settings.enableRunDebugCodeLens": false,
   "java.dependency.enableDependencyCheckup": false
 }

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2027_alpha7",
+    "projectYear": "2026",
-    "teamNumber": 9999
+    "teamNumber": 2648
 }

build.gradle

@@ -1,45 +1,39 @@
 plugins {
     id "java"
-    id "application"
+    id "edu.wpi.first.GradleRIO" version "2026.2.1"
-    id "org.wpilib.GradleRIO" version "2027.0.0-alpha-7"
 }
 
 java {
-    sourceCompatibility = JavaVersion.VERSION_25
+    sourceCompatibility = JavaVersion.VERSION_17
-    targetCompatibility = JavaVersion.VERSION_25
+    targetCompatibility = JavaVersion.VERSION_17
 }
 
-def ROBOT_MAIN_CLASS = "first.Main"
+def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
-// Define my targets (SystemCore) and artifacts (deployable files)
+// Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.
 deploy {
     targets {
-        systemcore(getTargetTypeClass('SystemCore')) {
+        roborio(getTargetTypeClass('RoboRIO')) {
             // Team number is loaded either from the .wpilib/wpilib_preferences.json
             // or from command line. If not found an exception will be thrown.
             // You can use getTeamOrDefault(team) instead of getTeamNumber if you
             // want to store a team number in this file.
-            team = project.wpilib.getTeamNumber()
+            team = project.frc.getTeamNumber()
-            // Use the default systemcore host name. This must be called after setting team
+            debug = project.frc.getDebugOrDefault(false)
-            // as happens on the line above
-            useDefaultSystemcoreHostName()
-            debug = project.wpilib.getDebugOrDefault(false)
 
             artifacts {
                 // First part is artifact name, 2nd is artifact type
                 // getTargetTypeClass is a shortcut to get the class type using a string
 
-                wpilibJava(getArtifactTypeClass('WPILibJavaArtifact')) {
+                frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
-                    // Set to true to use debug including JNI, which will drastically impact performance.
-                    debugJni = false
                 }
 
                 // Static files artifact
-                wpilibStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
+                frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
                     files = project.fileTree('src/main/deploy')
-                    directory = '/home/systemcore/deploy'
+                    directory = '/home/lvuser/deploy'
-                    deleteOldFiles = false // Change to true to delete files on systemcore that no
+                    deleteOldFiles = false // Change to true to delete files on roboRIO that no
                                            // longer exist in deploy directory of this project
                 }
             }
@@ -47,14 +41,20 @@ deploy {
     }
 }
 
-def deployArtifact = deploy.targets.systemcore.artifacts.wpilibJava
+def deployArtifact = deploy.targets.roborio.artifacts.frcJava
 
-// Set to true to use debug for simulation including JNI
+// Set to true to use debug for all targets including JNI, which will drastically impact
-wpi.java.runSimWithDebugJni = false
+// performance.
+wpi.java.debugJni = false
 
 // Set this to true to enable desktop support.
 def includeDesktopSupport = true
 
+task(replayWatch, type: JavaExec) {
+    mainClass = "org.littletonrobotics.junction.ReplayWatch"
+    classpath = sourceSets.main.runtimeClasspath
+}
+
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 5.
 dependencies {
@@ -62,11 +62,11 @@ dependencies {
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
 
-    systemcoreDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.systemcore)
+    roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
-    systemcoreDebug wpi.java.vendor.jniDebug(wpi.platforms.systemcore)
+    roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
 
-    systemcoreRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.systemcore)
+    roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
-    systemcoreRelease wpi.java.vendor.jniRelease(wpi.platforms.systemcore)
+    roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
 
     nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
     nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
@@ -78,6 +78,9 @@ dependencies {
 
     testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
     testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
+
+    def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
+    annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version"
 }
 
 test {
@@ -89,18 +92,23 @@ test {
 wpi.sim.addGui().defaultEnabled = true
 wpi.sim.addDriverstation()
 
-application.mainClass = ROBOT_MAIN_CLASS
+// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
-
+// in order to make them all available at runtime. Also adding the manifest so WPILib
-deployArtifact.configureApplication(application)
+// knows where to look for our Robot Class.
-wpi.java.configureApplication(application)
-wpi.java.configureTestTasks(test)
-
 jar {
+    from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
     from('src') { into 'backup/src' }
     from('vendordeps') { into 'backup/vendordeps' }
     from('build.gradle') { into 'backup' }
+    manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
+    duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }
 
+// Configure jar and deploy tasks
+deployArtifact.jarTask = jar
+wpi.java.configureExecutableTasks(jar)
+wpi.java.configureTestTasks(test)
+
 // Configure string concat to always inline compile
 tasks.withType(JavaCompile) {
     options.compilerArgs.add '-XDstringConcat=inline'

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-9.4.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME

gradlew

@@ -1,7 +1,7 @@
 #!/bin/sh
 
 #
-# Copyright © 2015 the original authors.
+# Copyright © 2015-2021 the original authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -57,7 +57,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/2d6327017519d23b96af35865dc997fcb544fb40/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -86,7 +86,8 @@ done
 # shellcheck disable=SC2034
 APP_BASE_NAME=${0##*/}
 # Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
-APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s\n' "$PWD" ) || exit
+APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s
+' "$PWD" ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -114,6 +115,7 @@ case "$( uname )" in                #(
   NONSTOP* )        nonstop=true ;;
 esac
 
+CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
 
 
 # Determine the Java command to use to start the JVM.
@@ -171,6 +173,7 @@ fi
 # For Cygwin or MSYS, switch paths to Windows format before running java
 if "$cygwin" || "$msys" ; then
     APP_HOME=$( cygpath --path --mixed "$APP_HOME" )
+    CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" )
 
     JAVACMD=$( cygpath --unix "$JAVACMD" )
 
@@ -203,14 +206,15 @@ fi
 DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
 
 # Collect all arguments for the java command:
-#   * DEFAULT_JVM_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
 #     and any embedded shellness will be escaped.
 #   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
 #     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
-        -jar "$APP_HOME/gradle/wrapper/gradle-wrapper.jar" \
+        -classpath "$CLASSPATH" \
+        org.gradle.wrapper.GradleWrapperMain \
         "$@"
 
 # Stop when "xargs" is not available.

gradlew.bat

@@ -70,10 +70,11 @@ goto fail
 :execute
 @rem Setup the command line
 
+set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
 
 
 @rem Execute Gradle
-"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -jar "%APP_HOME%\gradle\wrapper\gradle-wrapper.jar" %*
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
 
 :end
 @rem End local scope for the variables with windows NT shell

settings.gradle

@@ -2,35 +2,27 @@ import org.gradle.internal.os.OperatingSystem
 
 pluginManagement {
     repositories {
-        String wpilibYear = '2027_alpha7'
+        mavenLocal()
-        File wpilibHome
+        gradlePluginPortal()
-        def os = OperatingSystem.current()
+        String frcYear = '2026'
-        if (os.isWindows()) {
+        File frcHome
+        if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')
             if (publicFolder == null) {
                 publicFolder = "C:\\Users\\Public"
             }
             def homeRoot = new File(publicFolder, "wpilib")
-            wpilibHome = new File(homeRoot, wpilibYear)
+            frcHome = new File(homeRoot, frcYear)
-        } else if (os.isLinux()) {
-            String xdgDataHome = System.getenv('XDG_DATA_HOME')
-            if (xdgDataHome == null || xdgDataHome.trim().isEmpty() || !new File(xdgDataHome).isAbsolute()) {
-                xdgDataHome = new File(System.getProperty("user.home"), ".local/share").getPath()
-            }
-            def homeRoot = new File(xdgDataHome, "wpilib")
-            wpilibHome = new File(homeRoot, wpilibYear)
         } else {
             def userFolder = System.getProperty("user.home")
-            def homeRoot = new File(userFolder, ".wpilib")
+            def homeRoot = new File(userFolder, "wpilib")
-            wpilibHome = new File(homeRoot, wpilibYear)
+            frcHome = new File(homeRoot, frcYear)
         }
-        def wpilibHomeMaven = new File(wpilibHome, 'maven')
+        def frcHomeMaven = new File(frcHome, 'maven')
         maven {
-            name = 'wpilibHome'
+            name = 'frcHome'
-            url = wpilibHomeMaven
+            url = frcHomeMaven
         }
-        mavenLocal()
-        gradlePluginPortal()
     }
 }
 

src/main/deploy/example.txt

@@ -1,3 +1,3 @@
-Files placed in this directory will be deployed to the Systemcore into the
+Files placed in this directory will be deployed to the RoboRIO into the
 'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function
 to get a proper path relative to the deploy directory.

src/main/deploy/pathplanner/autos/Center to Shoot.auto

@@ -0,0 +1,37 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "intake down"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "spinup"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Center to Shoot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "shoot close"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/Left Shoot.auto

@@ -0,0 +1,67 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "intake down"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "spinup"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "start to score left"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "shoot close"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left to Outpost"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "stop spindexer"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "trough to shot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "spinup"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "shoot N jimmy"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/Outpost.auto

@@ -0,0 +1,31 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Start to outpost"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Outpost to Ranged Shot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Auto Shoot"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/left to center.auto

@@ -0,0 +1,25 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "intake down"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "left start to center"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/navgrid.json

@@ -0,0 +1 @@
+{"field_size":{"x":16.54,"y":8.07},"nodeSizeMeters":0.3,"grid":[[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,tLine truncated

src/main/deploy/pathplanner/paths/Center to Shoot.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.622028469750891,
+        "y": 4.008102016607354
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.266975088967973,
+        "y": 4.0403795966785285
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.1271055753262162,
+        "y": 4.008102016607354
+      },
+      "prevControl": {
+        "x": 4.0416370106761565,
+        "y": 4.0403795966785285
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 2.0,
+    "maxAcceleration": 1.5,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/Example Path.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 7.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.0,
+        "y": 7.0
+      },
+      "isLocked": false,
+      "linkedName": null
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+    {
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+        "y": 6.0
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+        "y": 6.0
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+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
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+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 2.0,
+    "maxAcceleration": 1.5,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
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+    "rotation": 0.0
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+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/Left to Outpost.path

@@ -0,0 +1,80 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.2515736040609142,
+        "y": 4.914375634517767
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.4338749089244973,
+        "y": 5.333984175443034
+      },
+      "isLocked": false,
+      "linkedName": "left close"
+    },
+    {
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+        "y": 5.927269035532995
+      },
+      "prevControl": {
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+        "y": 6.110175322602984
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "trough"
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.5,
+      "rotationDegrees": 180.0
+    }
+  ],
+  "constraintZones": [
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 0.3963599595551063,
+      "maxWaypointRelativePos": 1.0,
+      "constraints": {
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+        "maxAcceleration": 4.0,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 720.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    }
+  ],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "Intake Start",
+      "waypointRelativePos": 0.09706774519716882,
+      "endWaypointRelativePos": null,
+      "command": null
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 2.0,
+    "maxAcceleration": 1.5,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 178.80651057601818
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -31.15930450834445
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/My Bumpers Arent All The Way Over.path

@@ -0,0 +1,151 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 4.0
+      },
+      "prevControl": null,
+      "nextControl": {
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+        "y": 3.3951907719609573
+      },
+      "isLocked": false,
+      "linkedName": null
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+    {
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+        "y": 2.6628305235137533
+      },
+      "prevControl": {
+        "x": 2.8612866015971603,
+        "y": 2.6628305235137533
+      },
+      "nextControl": {
+        "x": 3.3612866015971603,
+        "y": 2.6628305235137533
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.839529724933453,
+        "y": 2.357009760425909
+      },
+      "prevControl": {
+        "x": 5.055196983507387,
+        "y": 2.7986728575396165
+      },
+      "nextControl": {
+        "x": 6.668464951197871,
+        "y": 1.890230700976042
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.612129547471162,
+        "y": 0.8279059449866895
+      },
+      "prevControl": {
+        "x": 6.3623142538133335,
+        "y": 0.8182976644613882
+      },
+      "nextControl": {
+        "x": 7.030621118012423,
+        "y": 0.844001774622892
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.189520851818989,
+        "y": 0.8279059449866895
+      },
+      "prevControl": {
+        "x": 8.08578683847011,
+        "y": 0.4907704016028374
+      },
+      "nextControl": {
+        "x": 8.318287488908608,
+        "y": 1.246397515527949
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.189520851818989,
+        "y": 7.111241666666667
+      },
+      "prevControl": {
+        "x": 8.36001268105017,
+        "y": 7.294087328812116
+      },
+      "nextControl": {
+        "x": 6.244366666666667,
+        "y": 5.025141666666666
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.518108333333333,
+        "y": 5.592016666666666
+      },
+      "prevControl": {
+        "x": 3.205916666666667,
+        "y": 5.644925000000001
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1,
+      "rotationDegrees": 45.0
+    },
+    {
+      "waypointRelativePos": 2,
+      "rotationDegrees": 45.0
+    },
+    {
+      "waypointRelativePos": 3,
+      "rotationDegrees": -135.0
+    },
+    {
+      "waypointRelativePos": 5,
+      "rotationDegrees": -135.0
+    }
+  ],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 2.0,
+    "maxAcceleration": 1.5,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -133.87669728592465
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/Outpost to Ranged Shot.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.7089624329216013,
+        "y": 0.668228980317108
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.1043470483005366,
+        "y": 0.7169051878354196
+      },
+      "isLocked": false,
+      "linkedName": "Outpost"
+    },
+    {
+      "anchor": {
+        "x": 2.3639534883720925,
+        "y": 2.9722361359570666
+      },
+      "prevControl": {
+        "x": 2.234150268336314,
+        "y": 2.5666010733452596
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 2.0,
+    "maxAcceleration": 1.5,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 24.304549265936608
+  },
+  "reversed": false,
+  "folder": "Right Outpost",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/Start to outpost.path

@@ -0,0 +1,66 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.6619856887266913,
+        "y": 2.2583184257605784
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.4937567084046877,
+        "y": 1.3172450805011864
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.7089624329216013,
+        "y": 0.668228980317108
+      },
+      "prevControl": {
+        "x": 1.6987119856944104,
+        "y": 1.0414132379199703
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "Outpost"
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.7234468937875753,
+      "rotationDegrees": 180.0
+    }
+  ],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "Intake Start",
+      "waypointRelativePos": 0.4500000000000002,
+      "endWaypointRelativePos": null,
+      "command": null
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 2.0,
+    "maxAcceleration": 1.5,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "reversed": false,
+  "folder": "Right Outpost",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/left start to center.path

@@ -0,0 +1,132 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.573857868020305,
+        "y": 6.3692588832487305
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.1594923857868027,
+        "y": 6.424507614213196
+      },
+      "isLocked": false,
+      "linkedName": "start left"
+    },
+    {
+      "anchor": {
+        "x": 2.634629441624366,
+        "y": 5.558944162436549
+      },
+      "prevControl": {
+        "x": 2.4136345177664977,
+        "y": 5.908852791878173
+      },
+      "nextControl": {
+        "x": 2.895419769065523,
+        "y": 5.146026143988051
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.522294416243654,
+        "y": 5.558944162436549
+      },
+      "prevControl": {
+        "x": 3.5095162657293457,
+        "y": 5.533304209258972
+      },
+      "nextControl": {
+        "x": 6.704619289340102,
+        "y": 5.614192893401015
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.478101522849547,
+        "y": 7.244030456855094
+      },
+      "prevControl": {
+        "x": 6.765542310662505,
+        "y": 7.465169522706244
+      },
+      "nextControl": {
+        "x": 8.012172588839395,
+        "y": 7.078284263961693
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.671472081218274,
+        "y": 4.7670456852791885
+      },
+      "prevControl": {
+        "x": 7.726720812182741,
+        "y": 7.639979695431472
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1.5636363636363326,
+      "rotationDegrees": -45.0
+    },
+    {
+      "waypointRelativePos": 3.0318181818182266,
+      "rotationDegrees": -90.0
+    }
+  ],
+  "constraintZones": [
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 2.6208291203235685,
+      "maxWaypointRelativePos": 4.0,
+      "constraints": {
+        "maxVelocity": 1.0,
+        "maxAcceleration": 1.5,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 720.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    }
+  ],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "Intake Start",
+      "waypointRelativePos": 0,
+      "endWaypointRelativePos": null,
+      "command": null
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 2.0,
+    "maxAcceleration": 1.5,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -89.09061955080092
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -90.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/start to score left.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.573857868020305,
+        "y": 6.3692588832487305
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.7991959463121194,
+        "y": 6.260219737341258
+      },
+      "isLocked": false,
+      "linkedName": "start left"
+    },
+    {
+      "anchor": {
+        "x": 3.2515736040609142,
+        "y": 4.914375634517767
+      },
+      "prevControl": {
+        "x": 3.44523908448796,
+        "y": 5.430816915656558
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "left close"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 2.0,
+    "maxAcceleration": 1.5,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -31.15930450834445
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -90.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/trough to shot.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.77458883248731,
+        "y": 5.927269035532995
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.7745888324873098,
+        "y": 5.927269035532995
+      },
+      "isLocked": false,
+      "linkedName": "trough"
+    },
+    {
+      "anchor": {
+        "x": 3.2515736040609142,
+        "y": 4.914375634517767
+      },
+      "prevControl": {
+        "x": 2.6254213197969554,
+        "y": 5.420822335025381
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "left close"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 2.0,
+    "maxAcceleration": 1.5,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -31.15930450834445
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 178.80651057601818
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/settings.json

@@ -0,0 +1,36 @@
+{
+  "robotWidth": 0.921,
+  "robotLength": 0.787,
+  "holonomicMode": true,
+  "pathFolders": [
+    "Right Outpost"
+  ],
+  "autoFolders": [],
+  "defaultMaxVel": 2.0,
+  "defaultMaxAccel": 1.5,
+  "defaultMaxAngVel": 540.0,
+  "defaultMaxAngAccel": 720.0,
+  "defaultNominalVoltage": 12.0,
+  "robotMass": 64.864,
+  "robotMOI": 37.809,
+  "robotTrackwidth": 0.546,
+  "driveWheelRadius": 0.051,
+  "driveGearing": 6.122,
+  "maxDriveSpeed": 4.66,
+  "driveMotorType": "krakenX60",
+  "driveCurrentLimit": 65.0,
+  "wheelCOF": 1.2,
+  "flModuleX": 0.238,
+  "flModuleY": 0.3015,
+  "frModuleX": 0.238,
+  "frModuleY": -0.3015,
+  "blModuleX": -0.238,
+  "blModuleY": 0.3015,
+  "brModuleX": -0.238,
+  "brModuleY": -0.3015,
+  "bumperOffsetX": 0.0,
+  "bumperOffsetY": 0.0,
+  "robotFeatures": [
+    "{\"name\":\"Rectangle\",\"type\":\"rounded_rect\",\"data\":{\"center\":{\"x\":0.55,\"y\":0.0},\"size\":{\"width\":0.921,\"length\":0.305},\"borderRadius\":0.05,\"strokeWidth\":0.02,\"filled\":false}}"
+  ]
+}

src/main/java/first/Main.java

@@ -1,25 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package first;
-
-import org.wpilib.framework.RobotBase;
-
-/**
- * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
- * you are doing, do not modify this file except to change the parameter class to the startRobot
- * call.
- */
-public final class Main {
-  private Main() {}
-
-  /**
-   * Main initialization function. Do not perform any initialization here.
-   *
-   * <p>If you change your main robot class, change the parameter type.
-   */
-  public static void main(String... args) {
-    RobotBase.startRobot(first.robot.Robot::new);
-  }
-}

src/main/java/first/robot/Robot.java

@@ -1,76 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package first.robot;
-
-import org.wpilib.command2.Command;
-import org.wpilib.command2.CommandScheduler;
-import org.wpilib.epilogue.Epilogue;
-import org.wpilib.epilogue.Logged;
-import org.wpilib.framework.TimedRobot;
-
-@Logged
-public class Robot extends TimedRobot {
-  private Command autonomousCommand;
-
-  private final RobotContainer robotContainer;
-
-  public Robot() {
-    robotContainer = new RobotContainer();
-  }
-
-  @Override
-  public void robotPeriodic() {
-    CommandScheduler.getInstance().run();
-    Epilogue.update(this);
-  }
-
-  @Override
-  public void disabledInit() {}
-
-  @Override
-  public void disabledPeriodic() {}
-
-  @Override
-  public void disabledExit() {}
-
-  @Override
-  public void autonomousInit() {
-    autonomousCommand = robotContainer.getAutonomousCommand();
-
-    if (autonomousCommand != null) {
-      CommandScheduler.getInstance().schedule(autonomousCommand);
-    }
-  }
-
-  @Override
-  public void autonomousPeriodic() {}
-
-  @Override
-  public void autonomousExit() {
-    if (autonomousCommand != null) {
-      autonomousCommand.cancel();
-    }
-  }
-
-  @Override
-  public void teleopInit() {}
-
-  @Override
-  public void teleopPeriodic() {}
-
-  @Override
-  public void teleopExit() {}
-
-  @Override
-  public void utilityInit() {
-    CommandScheduler.getInstance().cancelAll();
-  }
-
-  @Override
-  public void utilityPeriodic() {}
-
-  @Override
-  public void utilityExit() {}
-}

src/main/java/first/robot/RobotContainer.java

@@ -1,22 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package first.robot;
-
-import org.wpilib.command2.Command;
-import org.wpilib.command2.Commands;
-import org.wpilib.epilogue.Logged;
-
-@Logged
-public class RobotContainer {
-  public RobotContainer() {
-    configureBindings();
-  }
-
-  private void configureBindings() {}
-
-  public Command getAutonomousCommand() {
-    return Commands.print("No autonomous command configured");
-  }
-}

src/main/java/first/robot/constants/RollerIndexerConstants.java

@@ -1,33 +0,0 @@
-package first.robot.constants;
-
-import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
-
-import org.wpilib.hardware.bus.CANPort;
-
-import com.revrobotics.spark.config.SparkMaxConfig;
-
-public class RollerIndexerConstants {
-    public static final CANPort kCANPort = CANPort.CAN_S0;
-
-    public static final int kMotor1CANID = 50;
-    public static final int kMotor2CANID = 4;
-
-    public static final int kCurrentLimit = 40;
-
-    public static final double kMotorSpeed = 1;
-
-    public static final boolean kMotorInverted = true;
-
-    public static final IdleMode kIdleMode = IdleMode.kBrake;
-
-    // YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A CONFIGURATION ITEM
-
-    public static final SparkMaxConfig kMotorConfig = new SparkMaxConfig();
-    
-    static {
-        kMotorConfig
-            .inverted(kMotorInverted)
-            .smartCurrentLimit(kCurrentLimit)
-            .idleMode(kIdleMode);
-    }
-}

src/main/java/first/robot/constants/SystemCoreConstants.java

@@ -1,7 +0,0 @@
-package first.robot.constants;
-
-import org.wpilib.hardware.imu.OnboardIMU.MountOrientation;
-
-public class SystemCoreConstants {
-    public static final MountOrientation kSystemCoreMountOrientation = MountOrientation.FLAT;
-}

src/main/java/first/robot/interfaces/IIndexer.java

@@ -1,13 +0,0 @@
-package first.robot.interfaces;
-
-import java.util.function.DoubleSupplier;
-
-import org.wpilib.command2.Command;
-
-public interface IIndexer {
-    public Command spinToShooter();
-    public Command spinToShooter(DoubleSupplier shooterSpeedRPM, double cutOffRPM);
-    public Command spinToIntake();
-    public Command stop();
-    public Command instantaneousStop();
-}

src/main/java/first/robot/subsystems/Hood.java

@@ -1,126 +0,0 @@
-package first.robot.subsystems;
-
-import java.util.Optional;
-import java.util.function.DoubleSupplier;
-
-import org.wpilib.command2.Command;
-import org.wpilib.command2.SubsystemBase;
-import org.wpilib.epilogue.Logged;
-import org.wpilib.math.geometry.Pose2d;
-import org.wpilib.math.interpolation.InterpolatingDoubleTreeMap;
-
-import com.revrobotics.PersistMode;
-import com.revrobotics.RelativeEncoder;
-import com.revrobotics.ResetMode;
-import com.revrobotics.spark.SparkClosedLoopController;
-import com.revrobotics.spark.SparkLowLevel.ControlType;
-import com.revrobotics.spark.SparkLowLevel.MotorType;
-import com.revrobotics.spark.SparkMax;
-
-import first.robot.constants.HoodConstants;
-import first.robot.constants.ShooterConstants.ShooterSpeeds;
-import first.robot.utilities.Utilities;
-
-@Logged
-public class Hood extends SubsystemBase {
-    private SparkMax motor;
-
-    private RelativeEncoder encoder;
-
-    private SparkClosedLoopController controller;
-
-    private double currentTargetRadians;
-
-    public Hood() {
-        motor = new SparkMax(
-            HoodConstants.kCANPort, 
-            HoodConstants.kMotorCANID, 
-            MotorType.kBrushless
-        );
-
-        motor.configure(
-            HoodConstants.kConfig, 
-            ResetMode.kResetSafeParameters, 
-            PersistMode.kPersistParameters
-        );   
-
-        encoder = motor.getEncoder();
-        encoder.setPosition(HoodConstants.kStartupAngle);
-
-        controller = motor.getClosedLoopController();
-
-        currentTargetRadians = HoodConstants.kStartupAngle;
-    }
-
-    public double getHoodTargetDegrees() {
-        return Math.toDegrees(currentTargetRadians);
-    }
-
-    public double getHoodTargetRadians() {
-        return currentTargetRadians;
-    }
-
-    public double getCurrentHoodAngleDegrees() {
-        return Math.toDegrees(encoder.getPosition().get());
-    }
-
-    public double getCurrentHoodAngleRadians() {
-        return encoder.getPosition().get();
-    }
-
-    public double getOutputVoltage() {
-        return motor.getAppliedOutput().get() * motor.getBusVoltage().get();
-    }
-
-    public double getOutputCurrent() {
-        return motor.getOutputCurrent().get();
-    }
-
-    public boolean isHoodAtSetpoint() {
-        return controller.isAtSetpoint().get();
-    }
-
-    public Command trackToAnglePoseBased(Drivetrain drivetrain, Shooter shooter) {
-        return trackToAngle(() -> {
-            Pose2d drivetrainPose = drivetrain.getPose();
-            Pose2d hubPose = Utilities.getHubPose();
-
-            double distance = drivetrainPose.getTranslation()
-                .getDistance(hubPose.getTranslation());
-
-            Optional<ShooterSpeeds> currentSpeeds = shooter.getTargetSpeeds();
-                
-            if(currentSpeeds.isPresent()) {
-                InterpolatingDoubleTreeMap map = HoodConstants.kHoodInterpolators.get(currentSpeeds.get());
-
-                if(map != null) {
-                    return Math.clamp(map.get(distance), 0, 40);
-                } else {
-                    return 0;
-                }
-            } else {
-                return 0;
-            }
-        });
-    }
-
-    public Command trackToAngle(DoubleSupplier radianAngleSupplier) {
-        return run(() -> {
-            currentTargetRadians = radianAngleSupplier.getAsDouble();
-
-            controller.setSetpoint(currentTargetRadians, ControlType.kPosition);
-        });
-    }
-
-    public Command manualSpeed(DoubleSupplier speed) {
-        currentTargetRadians = 0;
-
-        return run(() -> {
-            motor.setThrottle(speed.getAsDouble() * HoodConstants.kMaxManualSpeedMultiplier);
-        });
-    }
-
-    public Command stop() {
-        return manualSpeed(() -> 0);
-    }
-}

src/main/java/first/robot/subsystems/IntakePivot.java

@@ -1,130 +0,0 @@
-package first.robot.subsystems;
-
-import java.util.Optional;
-import java.util.function.DoubleSupplier;
-
-import org.wpilib.command2.Command;
-import org.wpilib.command2.Commands;
-import org.wpilib.command2.SubsystemBase;
-import org.wpilib.epilogue.Logged;
-
-import com.revrobotics.PersistMode;
-import com.revrobotics.RelativeEncoder;
-import com.revrobotics.ResetMode;
-import com.revrobotics.spark.SparkClosedLoopController;
-import com.revrobotics.spark.SparkLowLevel.ControlType;
-import com.revrobotics.spark.SparkLowLevel.MotorType;
-import com.revrobotics.spark.SparkMax;
-
-import first.robot.constants.IntakePivotConstants;
-import first.robot.constants.IntakePivotConstants.IntakePivotPosition;
-
-@Logged
-public class IntakePivot extends SubsystemBase {
-    private SparkMax leftMotor;
-    private SparkMax rightMotor;
-
-    private RelativeEncoder encoder;
-
-    private SparkClosedLoopController controller;
-
-    private IntakePivotPosition currentTargetPosition;
-
-    public IntakePivot() {
-        leftMotor = new SparkMax(
-            IntakePivotConstants.kCANPort,
-            IntakePivotConstants.kLeftMotorCANID, 
-            MotorType.kBrushless
-        );
-        rightMotor = new SparkMax(
-            IntakePivotConstants.kCANPort,
-            IntakePivotConstants.kRightMotorCANID, 
-            MotorType.kBrushless
-        );
-
-        leftMotor.configure(
-            IntakePivotConstants.KLeftMotorConfig, 
-            ResetMode.kResetSafeParameters, 
-            PersistMode.kPersistParameters
-        );
-
-        rightMotor.configure(
-            IntakePivotConstants.kRightMotorConfig, 
-            ResetMode.kResetSafeParameters, 
-            PersistMode.kPersistParameters
-        );
-
-        controller = leftMotor.getClosedLoopController();
-
-        encoder = leftMotor.getEncoder();
-        encoder.setPosition(IntakePivotConstants.IntakePivotPosition.kUp.getPositionRadians());
-    }
-
-    public double getTargetPosition() {
-        return currentTargetPosition == null ? -1 : currentTargetPosition.getPositionRadians();
-    }
-
-    public double getCurrentPosition() {
-        return encoder.getPosition().get();
-    }
-
-    public boolean isAtSetpoint() {
-        return controller.isAtSetpoint().get();
-    }
-
-    public Command maintainPosition(IntakePivotPosition position) {
-        return run(() -> {
-            currentTargetPosition = position;
-
-            if(currentTargetPosition == null) {
-                leftMotor.disable();
-            } else {
-                controller.setSetpoint(currentTargetPosition.getPositionRadians(), ControlType.kPosition);
-            }
-        });
-    }
-
-    public Command manualSpeed(DoubleSupplier speed) {
-        return run(() -> {
-            currentTargetPosition = null;
-            
-            leftMotor.setThrottle(speed.getAsDouble() * IntakePivotConstants.kMaxManualSpeedMultiplier);
-            rightMotor.setThrottle(speed.getAsDouble() * IntakePivotConstants.kMaxManualSpeedMultiplier);
-        });
-    }
-
-    /**
-     * Repeatedly moves the intake up and down. AKA "Jimmying" the intake
-     * 
-     * @param time How long the intake will go both ways for (seconds)
-     * @return Command that repeatedly Jimmys the intake
-     */
-    public Command jimmy(double time){
-        return Commands.repeatingSequence(
-            manualSpeed(() -> -0.75).withTimeout(time),
-            manualSpeed(() -> 0.75).withTimeout(time)
-        );
-    }
-
-    /**
-     * Repeatedly moves the intake up and down. AKA "Jimmying" the intake
-     * 
-     * @param time How long the intake will go both ways for (seconds)
-     * @return Command that repeatedly Jimmys the intake
-     */
-    public Command jimmy(DoubleSupplier time) {
-        return Commands.repeatingSequence(
-            manualSpeed(() -> -0.75).withTimeout(time.getAsDouble()),
-            manualSpeed(() -> 0.75).withTimeout(time.getAsDouble())
-        );
-    }
-
-    public Command stop() {
-        return manualSpeed(() -> 0);
-    }
-
-    public Optional<IntakePivotPosition> getCurrentTargetPosition() {
-        return Optional.ofNullable(currentTargetPosition);
-    }
-}
-

src/main/java/first/robot/subsystems/IntakeRoller.java

@@ -1,66 +0,0 @@
-package first.robot.subsystems;
-
-import org.wpilib.command2.Command;
-import org.wpilib.command2.SubsystemBase;
-import org.wpilib.epilogue.Logged;
-
-import com.revrobotics.PersistMode;
-import com.revrobotics.ResetMode;
-import com.revrobotics.spark.SparkLowLevel.MotorType;
-import com.revrobotics.spark.SparkMax;
-
-import first.robot.constants.IntakeRollerConstants;
-
-@Logged
-public class IntakeRoller extends SubsystemBase {
-    private SparkMax leftMotor;
-    private SparkMax rightMotor;
-
-    public IntakeRoller() {
-        leftMotor = new SparkMax(
-            IntakeRollerConstants.kCANPort,
-            IntakeRollerConstants.kLeftMotorCANID, 
-            MotorType.kBrushless
-        );
-
-        rightMotor = new SparkMax(
-            IntakeRollerConstants.kCANPort,
-            IntakeRollerConstants.kRightMotorCANID, 
-            MotorType.kBrushless
-        );
-
-        leftMotor.configure(
-            IntakeRollerConstants.leftMotorConfig, 
-            ResetMode.kResetSafeParameters, 
-            PersistMode.kPersistParameters
-        );
-
-        rightMotor.configure(
-            IntakeRollerConstants.rightMotorConfig,
-            ResetMode.kResetSafeParameters,
-            PersistMode.kPersistParameters
-        );
-    }
-
-    public Command runIn() {
-        return run(() -> {
-            leftMotor.setThrottle(IntakeRollerConstants.kIntakeInSpeed);
-            rightMotor.setThrottle(IntakeRollerConstants.kIntakeInSpeed);
-        });
-    }
-
-    public Command runOut() {
-        return run(() -> {
-            leftMotor.setThrottle(-IntakeRollerConstants.kIntakeOutSpeed);
-            rightMotor.setThrottle(-IntakeRollerConstants.kIntakeOutSpeed);
-        });
-    }
-
-    public Command stop() {
-        return run(() -> {
-            leftMotor.setThrottle(0);
-            rightMotor.setThrottle(0);
-        });
-    }
-    
-}

src/main/java/first/robot/subsystems/RollerIndexer.java

@@ -1,88 +0,0 @@
-package first.robot.subsystems;
-
-import java.util.function.DoubleSupplier;
-
-import org.wpilib.command2.Command;
-import org.wpilib.command2.SubsystemBase;
-import org.wpilib.epilogue.Logged;
-
-import com.revrobotics.PersistMode;
-import com.revrobotics.ResetMode;
-import com.revrobotics.spark.SparkLowLevel.MotorType;
-import com.revrobotics.spark.SparkMax;
-
-import first.robot.constants.RollerIndexerConstants;
-import first.robot.interfaces.IIndexer;
-
-@Logged
-public class RollerIndexer extends SubsystemBase implements IIndexer {
-    private SparkMax motor1;
-    private SparkMax motor2;
-
-    public RollerIndexer() {
-        motor1 = new SparkMax(
-            RollerIndexerConstants.kCANPort,
-            RollerIndexerConstants.kMotor1CANID, 
-            MotorType.kBrushless
-        );
-
-        motor2 = new SparkMax(
-            RollerIndexerConstants.kCANPort,
-            RollerIndexerConstants.kMotor2CANID, 
-            MotorType.kBrushless
-        );
-
-        motor1.configure(
-            RollerIndexerConstants.kMotorConfig, 
-            ResetMode.kResetSafeParameters, 
-            PersistMode.kPersistParameters
-        );
-
-        motor2.configure(
-            RollerIndexerConstants.kMotorConfig, 
-            ResetMode.kResetSafeParameters, 
-            PersistMode.kPersistParameters
-        );
-    }
-
-    public Command spinToShooter() {
-        return run(() -> {
-            motor1.setThrottle(RollerIndexerConstants.kMotorSpeed);
-            motor2.setThrottle(-RollerIndexerConstants.kMotorSpeed);
-        });
-    }
-
-    public Command spinToShooter(DoubleSupplier shooterSpeedRPM, double cutOffRPM) {
-        return run(() -> {
-            if(shooterSpeedRPM.getAsDouble() < cutOffRPM) {
-                motor1.setThrottle(0);
-                motor2.setThrottle(0);
-            } else {
-                motor1.setThrottle(RollerIndexerConstants.kMotorSpeed);
-                motor2.setThrottle(-RollerIndexerConstants.kMotorSpeed);
-            }
-        });
-    }
-
-    public Command spinToIntake() {
-        return run(() -> {
-            motor1.setThrottle(-RollerIndexerConstants.kMotorSpeed);
-            motor2.setThrottle(RollerIndexerConstants.kMotorSpeed);
-        });
-    }
-
-    public Command stop() {
-        return run(() -> {
-            motor1.setThrottle(0);
-            motor2.setThrottle(0);
-        });
-    }
-
-    public Command instantaneousStop() {
-        return runOnce(() -> {
-            motor1.setThrottle(0);
-            motor2.setThrottle(0);
-        });
-    }
-    
-}

src/main/java/first/robot/subsystems/Shooter.java

@@ -1,147 +0,0 @@
-package first.robot.subsystems;
-
-import java.util.Optional;
-import java.util.function.DoubleSupplier;
-
-import org.wpilib.command2.Command;
-import org.wpilib.command2.SubsystemBase;
-import org.wpilib.math.controller.SimpleMotorFeedforward;
-
-import com.revrobotics.AbsoluteEncoder;
-import com.revrobotics.PersistMode;
-import com.revrobotics.ResetMode;
-import com.revrobotics.spark.ClosedLoopSlot;
-import com.revrobotics.spark.SparkClosedLoopController;
-import com.revrobotics.spark.SparkLowLevel.ControlType;
-import com.revrobotics.spark.SparkLowLevel.MotorType;
-import com.revrobotics.spark.SparkMax;
-
-import first.robot.constants.ShooterConstants;
-import first.robot.constants.ShooterConstants.ShooterSpeeds;
-
-public class Shooter extends SubsystemBase {
-    private SparkMax leftMotor;
-    private SparkMax rightMotor;
-
-    private AbsoluteEncoder leftEncoder;
-    private AbsoluteEncoder rightEncoder;
-
-    private SparkClosedLoopController leftClosedLoopController;
-    private SparkClosedLoopController rightClosedLoopController;
-
-    private ShooterSpeeds targetSpeeds;
-    private SimpleMotorFeedforward shooterFFLeft;
-    private SimpleMotorFeedforward shooterFFRight;
-
-    public Shooter() {
-        leftMotor = new SparkMax(
-            ShooterConstants.kCANPort,
-            ShooterConstants.kLeftShooterMotorCANID, 
-            MotorType.kBrushless
-        );
-        
-        rightMotor = new SparkMax(
-            ShooterConstants.kCANPort,
-            ShooterConstants.kRightShooterMotorCANID, 
-            MotorType.kBrushless
-        );
-
-        leftMotor.configure(
-            ShooterConstants.kLeftMotorConfig, 
-            ResetMode.kResetSafeParameters, 
-            PersistMode.kPersistParameters
-        );
-
-        rightMotor.configure(
-            ShooterConstants.kRightMotorConfig, 
-            ResetMode.kResetSafeParameters, 
-            PersistMode.kPersistParameters
-        );
-
-        leftEncoder = leftMotor.getAbsoluteEncoder();
-        rightEncoder = rightMotor.getAbsoluteEncoder();
-
-        leftClosedLoopController = leftMotor.getClosedLoopController();
-        rightClosedLoopController = rightMotor.getClosedLoopController();
-
-        // TODO Set this to the initial startup speed
-        targetSpeeds = null;
-
-        shooterFFLeft = new SimpleMotorFeedforward(ShooterConstants.kLeftS, ShooterConstants.kLeftV, ShooterConstants.kLeftA);
-        shooterFFRight = new SimpleMotorFeedforward(ShooterConstants.kRightS, ShooterConstants.kRightV, ShooterConstants.kRightA);
-    }
-
-    public double getTargetRPM() {
-        return targetSpeeds == null ? -1 : targetSpeeds.getSpeedRPM();
-    }
-
-    public double getLeftCurrentRPM() {
-        return leftEncoder.getVelocity().get();
-    }
-
-    public double getRightCurrentRPM() {
-        return rightEncoder.getVelocity().get();
-    }
-
-    public double getLeftOutputVoltage() {
-        return leftMotor.getAppliedOutput().get() * leftMotor.getBusVoltage().get();
-    }
-
-    public double getRightOutputVoltage() {
-        return rightMotor.getAppliedOutput().get() * rightMotor.getBusVoltage().get();
-    }
-
-    public boolean isLeftAtSetpoint() {
-        return leftClosedLoopController.isAtSetpoint().get();
-    }
-
-    public boolean isRightAtSetpoint() {
-        return rightClosedLoopController.isAtSetpoint().get();
-    }
-
-    public Command maintainSpeed(ShooterSpeeds speeds) {
-        return run(() -> {
-            targetSpeeds = speeds;
-
-            if(targetSpeeds == null) {
-                leftMotor.disable();
-                rightMotor.disable();
-            } else {
-                leftClosedLoopController.setSetpoint(
-                    targetSpeeds.getSpeedRPM(), 
-                    ControlType.kVelocity,
-                    ClosedLoopSlot.kSlot0,
-                    shooterFFLeft.calculate(targetSpeeds.getSpeedRPM())
-                );
-
-                rightClosedLoopController.setSetpoint(
-                    targetSpeeds.getSpeedRPM(), 
-                    ControlType.kVelocity,
-                    ClosedLoopSlot.kSlot0,
-                    shooterFFRight.calculate(targetSpeeds.getSpeedRPM())
-                );
-            }
-        });
-    }
-
-    public Command manualSpeed(DoubleSupplier speed) {
-        return run(() -> {
-            targetSpeeds = null;
-            
-            leftMotor.setThrottle(speed.getAsDouble() * ShooterConstants.kMaxManualSpeedMultiplier);
-            rightMotor.setThrottle(speed.getAsDouble() * ShooterConstants.kMaxManualSpeedMultiplier);
-        });
-    }
-
-    public Command stop() {
-        return manualSpeed(() -> 0);
-    }
-
-    public double getAverageActualSpeeds() {
-        return (leftEncoder.getVelocity().get() + rightEncoder.getVelocity().get()) / 2;
-    }
-
-    public Optional<ShooterSpeeds> getTargetSpeeds() {
-        return Optional.ofNullable(targetSpeeds);
-    }
-}

src/main/java/frc/robot/Main.java

@@ -0,0 +1,15 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+public final class Main {
+  private Main() {}
+
+  public static void main(String... args) {
+    RobotBase.startRobot(Robot::new);
+  }
+}

src/main/java/frc/robot/Robot.java

@@ -0,0 +1,101 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot;
+
+import org.littletonrobotics.junction.LogFileUtil;
+import org.littletonrobotics.junction.LoggedRobot;
+import org.littletonrobotics.junction.Logger;
+import org.littletonrobotics.junction.networktables.NT4Publisher;
+import org.littletonrobotics.junction.wpilog.WPILOGReader;
+import org.littletonrobotics.junction.wpilog.WPILOGWriter;
+
+import edu.wpi.first.wpilibj.PowerDistribution;
+import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import frc.robot.constants.CompetitionConstants;
+
+public class Robot extends LoggedRobot {
+  private Command m_autonomousCommand;
+
+  private final RobotContainer m_robotContainer;
+
+  @SuppressWarnings("resource")
+  public Robot() {
+    Logger.recordMetadata("ProjectName", "2026_Robot_Code");
+
+    if(isReal()) {
+      if(CompetitionConstants.kLogToNetworkTables) {
+        Logger.addDataReceiver(new NT4Publisher());
+      }
+      
+      Logger.addDataReceiver(new WPILOGWriter());
+
+      new PowerDistribution(1, ModuleType.kRev);
+    } else {
+      setUseTiming(false);
+      String logPath = LogFileUtil.findReplayLog();
+      Logger.setReplaySource(new WPILOGReader(logPath));
+      Logger.addDataReceiver(new WPILOGWriter(LogFileUtil.addPathSuffix(logPath, "_sim")));
+    }
+
+    Logger.start();
+
+    m_robotContainer = new RobotContainer();
+  }
+
+  @Override
+  public void robotPeriodic() {
+    CommandScheduler.getInstance().run();
+  }
+
+  @Override
+  public void disabledInit() {}
+
+  @Override
+  public void disabledPeriodic() {}
+
+  @Override
+  public void disabledExit() {}
+
+  @Override
+  public void autonomousInit() {
+    m_autonomousCommand = m_robotContainer.getAutonomousCommand();
+
+    if (m_autonomousCommand != null) {
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
+    }
+  }
+
+  @Override
+  public void autonomousPeriodic() {}
+
+  @Override
+  public void autonomousExit() {}
+
+  @Override
+  public void teleopInit() {
+    if (m_autonomousCommand != null) {
+      m_autonomousCommand.cancel();
+    }
+  }
+
+  @Override
+  public void teleopPeriodic() {}
+
+  @Override
+  public void teleopExit() {}
+
+  @Override
+  public void testInit() {
+    CommandScheduler.getInstance().cancelAll();
+  }
+
+  @Override
+  public void testPeriodic() {}
+
+  @Override
+  public void testExit() {}
+}

src/main/java/frc/robot/RobotContainer.java

@@ -0,0 +1,459 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot;
+
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+
+import java.util.OptionalDouble;
+
+import org.littletonrobotics.junction.Logger;
+
+import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.auto.NamedCommands;
+import com.pathplanner.lib.events.EventTrigger;
+import com.pathplanner.lib.path.EventMarker;
+
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.PrintCommand;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
+import frc.robot.constants.AutoConstants;
+import frc.robot.constants.CompetitionConstants;
+import frc.robot.constants.HoodConstants;
+import frc.robot.constants.OIConstants;
+import frc.robot.constants.ShooterConstants;
+import frc.robot.constants.IntakePivotConstants.IntakePivotPosition;
+import frc.robot.constants.ShooterConstants.ShooterSpeeds;
+import frc.robot.subsystems.Climber;
+import frc.robot.subsystems.Drivetrain;
+import frc.robot.subsystems.Hood;
+import frc.robot.subsystems.IntakePivot;
+import frc.robot.subsystems.IntakeRoller;
+import frc.robot.subsystems.PhotonVision;
+import frc.robot.subsystems.Shooter;
+import frc.robot.subsystems.Spindexer;
+import frc.robot.utilities.Elastic;
+import frc.robot.utilities.Utilities;
+
+public class RobotContainer {
+    private PhotonVision vision;
+    private Drivetrain drivetrain;
+    private Hood hood;
+    private Shooter shooter;
+    private IntakePivot intakePivot;
+    private IntakeRoller intakeRoller;
+    private Spindexer spindexer;
+    //private Climber climber;
+
+    private CommandXboxController driver;
+    private CommandXboxController secondary;
+
+    private SendableChooser<Command> autoChooser;
+
+    private Timer shiftTimer;
+
+    public RobotContainer() {
+        vision = new PhotonVision();
+        drivetrain = new Drivetrain(null);
+        hood = new Hood();
+        shooter = new Shooter();
+        intakePivot = new IntakePivot();
+        intakeRoller = new IntakeRoller();
+        spindexer = new Spindexer();
+        //climber = new Climber();
+        configureNamedCommands();
+
+         
+        //vision.addPoseEstimateConsumer(drivetrain::consumeVisualPose);
+        vision.addPoseEstimateConsumer((vp) -> {
+            Logger.recordOutput(
+                "Vision/" + vp.cameraName() + "/Pose", 
+                vp.visualPose()
+            );
+        });
+        
+
+        driver = new CommandXboxController(OIConstants.kDriverControllerPort);
+        secondary = new CommandXboxController(OIConstants.kOperatorControllerPort);
+
+        shiftTimer = new Timer();
+        shiftTimer.reset();
+
+        configureBindings();
+        //testConfigureBindings();
+        configureShiftDisplay();
+
+        if(AutoConstants.kAutoConfigOk) {
+            autoChooser = AutoBuilder.buildAutoChooser();
+            SmartDashboard.putData("Auto Chooser", autoChooser);
+            
+        }
+    }
+
+    /**
+     * Before you @ mention me for terrible match controls, these are <i>TEST BINDINGS</i>
+     * 
+     * The are configured in such a way to make testing of multiple systems possible without
+     * having to constantly change bindings.
+     * 
+     * Most of the configurations here won't make sense for actual competition play. See
+     * {@link #configureBindings()} for actual competition play
+     * 
+     * The intent of each binding is outlined by comments above each binding. 
+     */
+    private void testConfigureBindings() {
+        // This should just work, if it doesn't it's likely modules aren't assigned the right IDs
+        // after the electronics rebuild. For testing normal operation nothing about the Drivetrain
+        // class should need to change
+        //drivetrain.setDefaultCommand(drivetrain.drive(() -> 0, () -> 0, () -> 0, () -> true));
+        drivetrain.setDefaultCommand(
+            drivetrain.drive(
+                driver::getLeftY,
+                driver::getLeftX, 
+                driver::getRightX, 
+                () -> true
+            )
+        );
+
+        driver.y().whileTrue(drivetrain.zeroHeading());
+/* 
+        // This needs to be tested after a prolonged amount of driving around <i>aggressively</i>.
+        // Do things like going over the bump repeatedly, spin around a bunch, etc. 
+        // If this works well over time, then this is likely all we need
+        driver.a().whileTrue(
+            drivetrain.lockRotationToHub(
+                driver::getLeftY, 
+                driver::getLeftX, 
+                false
+            ) 
+        );
+
+        // This can be tested as an alternative to the above, it's less dynamic, but is a simpler
+        // alternative. 
+        driver.b().whileTrue(
+            drivetrain.lockToYaw(
+                () -> {
+                    OptionalDouble maybeYaw = vision.getBestYawForTag(Utilities.getHubCenterAprilTagID());
+
+                    return maybeYaw.isEmpty() ? 0 : maybeYaw.getAsDouble();
+                }, 
+                driver::getLeftY, 
+                driver::getLeftX
+            )
+        );*/
+
+        // Stop everything by default other than the drivetrain
+        shooter.setDefaultCommand(shooter.stop());
+        intakePivot.setDefaultCommand(intakePivot.stop());
+        intakeRoller.setDefaultCommand(intakeRoller.stop());
+        hood.setDefaultCommand(hood.stop());
+        spindexer.setDefaultCommand(spindexer.stop());
+        //climber.setDefaultCommand(climber.stop());
+
+        // While holding POV up of the driver controller, the climber
+        // should move such that its motor moves the climber down with the left
+        // driver controller trigger axis, and up with the right driver controller
+        // trigger axis.
+        // DO NOT INVERT MOTION WITH UNARY MINUS (-). Every motor can be inverted
+        // from the constants file for the subsystem having the problem. 
+        //driver.povUp().whileTrue(climber.manualSpeed(() -> {
+        //    return driver.getLeftTriggerAxis() * -1 + driver.getRightTriggerAxis();
+        //}));
+
+        // While holding the right bumper of the driver controller, the intake rollers
+        // and the spindexer and feeder should move such that all motors are moving in such a way
+        // that it would draw balls from the floor, through the spindexer, and into the
+        // feeder. 
+        // DO NOT INVERT MOTION WITH UNARY MINUS (-). Every motor can be inverted from the 
+        // constants file for the subsystem having the problem
+        driver.rightBumper().whileTrue(
+            spindexer.spinToShooter()  
+        );
+
+        // While holding the left bumper of the driver controller, the intake rollers
+        // and the spindexer and feeder should move such that all motors are moving in such a way
+        // that it would try to eject balls through the intake.
+        // DO NOT INVERT MOTION WITH UNARY MINUS (-). Every motor can be inverted from the 
+        // constants file for the subsystem having the problem
+        driver.leftBumper().whileTrue(
+            intakeRoller.runIn()
+            //intakeRoller.runOut().alongWith(spindexer.spinToIntake())
+        );
+
+        // While holding D-Pad up on the secondary controller, the shooter should spin
+        // while holding down the secondary controllers right trigger some amount.
+        // DO NOT INVERT MOTION WITH UNARY MINUS (-). Every motor can be inverted from the
+        // constants file for the subsystem having the problem
+        secondary.povUp().whileTrue(
+            shooter.manualSpeed(secondary::getRightTriggerAxis)
+        );
+
+        // While holding D-Pad down on the seconadry controller, the intakePivot should move
+        // such that left trigger on the secondary controller moves the pivot down, and 
+        // right trigger on the secondary controller moves the pivot up.
+        // DO NOT INVERT MOTION WITH UNARY MINUS (-). Every motor can be inverted from the
+        // constants file for the subsystem having the problem
+        secondary.povDown().whileTrue(
+            intakePivot.manualSpeed(() -> {
+                return secondary.getLeftTriggerAxis() * -1 + secondary.getRightTriggerAxis();
+            })
+        );
+
+        // While holding D-Pad left on the secondary controller, the hood should move
+        // such that the left trigger on the secondary controller moves the hood down, and
+        // right trigger on the secondary controller moves the hood up.
+        // DO NOT INVERT MOTION WITH UNARY MINUS (-). Every motor can be inverted from the 
+        // constants file for the subsystem having the problem
+        secondary.povLeft().whileTrue(
+            hood.manualSpeed(() -> {
+                return secondary.getLeftTriggerAxis() * -1 + secondary.getRightTriggerAxis();
+            })
+        );
+
+        // STOP STOP STOP STOP STOP STOP STOP STOP STOP STOP STOP STOP STOP STOP STOP STOP
+        // Don't proceed unless you've verified by hand or with the above bindings, that sensing
+        // systems are providing correct values in the correct direction of rotation. 
+    
+
+        // Useful for testing PID and FF responses of the shooter
+        // You need to have graphs up of the logged data to make sure the response is correct
+        secondary.a().whileTrue(shooter.maintainSpeed(ShooterSpeeds.kHubSpeed));
+        secondary.b().whileTrue(shooter.maintainSpeed(ShooterSpeeds.kFeedSpeed));
+
+        // Useful for testing PID and FF responses of the intake pivot
+        // You need to have graphs up of the logged data to make sure the response is correct
+        secondary.x().whileTrue(intakePivot.maintainPosition(IntakePivotPosition.kDown));
+        secondary.y().whileTrue(intakePivot.maintainPosition(IntakePivotPosition.kUp));
+
+        secondary.povUp().whileTrue(hood.trackToAngle(() -> Math.toRadians(40.0)));
+        secondary.povDown().whileTrue(hood.trackToAngle(() -> Math.toRadians(0.0)));
+        
+
+        // TODO Some means of testing hood PIDF
+        // TODO Some means of testing climber PIDF
+    }
+  
+    private void configureBindings() {
+        drivetrain.setDefaultCommand(
+            drivetrain.drive(
+                driver::getLeftY,
+                driver::getLeftX, 
+                driver::getRightX, 
+                () -> true
+            )
+        );
+        shooter.setDefaultCommand(shooter.stop());
+        intakeRoller.setDefaultCommand(intakeRoller.stop());
+        spindexer.setDefaultCommand(spindexer.stop());
+
+        intakePivot.setDefaultCommand(intakePivot.manualSpeed(() -> secondary.getLeftY()));
+
+        driver.y().whileTrue(drivetrain.zeroHeading());
+
+        driver.leftTrigger().whileTrue(
+            drivetrain.lockRotationToHub(
+                driver::getLeftY, 
+                driver::getLeftX, 
+                false
+            ) 
+        );
+
+        driver.leftBumper().whileTrue(intakeRoller.runOut());
+        driver.rightBumper().whileTrue(intakeRoller.runIn());
+
+        driver.rightTrigger().whileTrue(spindexer.spinToShooter());
+        driver.b().whileTrue(spindexer.spinToIntake());
+       /*  driver.b().whileTrue(
+            drivetrain.lockToYaw(
+                () -> {
+                    OptionalDouble maybeYaw = vision.getBestYawForTag(Utilities.getHubCenterAprilTagID());
+
+                    return maybeYaw.isEmpty() ? 0 : maybeYaw.getAsDouble();
+                }, 
+                driver::getLeftY, 
+                driver::getLeftX
+            )
+        );*/
+
+        secondary.a().toggleOnTrue(shooter.maintainSpeed(ShooterSpeeds.kHubSpeed));
+        secondary.x().toggleOnTrue(shooter.maintainSpeed(ShooterSpeeds.kFeedSpeed));
+
+        secondary.y().onTrue(hood.trackToAngle(() -> Units.degreesToRadians(40)));
+        //40 good for feeding
+        secondary.b().onTrue(hood.trackToAngle(() -> Units.degreesToRadians(30)));
+        //30 degrees good for shooter far near outpost
+        secondary.rightBumper().onTrue(hood.trackToAngle(() -> Units.degreesToRadians(10)));
+        //10 degrees good for shooting ~33in away from hub
+
+        /* 
+        hood.setDefaultCommand(hood.trackToAngle(() -> {
+            Pose2d drivetrainPose = drivetrain.getPose();
+            Pose2d hubPose = Utilities.getHubPose();
+
+            double distance = drivetrainPose.getTranslation()
+                .plus(CompetitionConstants.kRobotToShooter.getTranslation().toTranslation2d())
+                .getDistance(hubPose.getTranslation());
+                
+            if(HoodConstants.kUseInterpolatorForAngle) {
+                return HoodConstants.kDistanceToAngle.get(distance);
+            } else {
+                // TODO The average actual speeds isn't <i>really</i> the exit velocity of the ball
+                // on a hooded shooter, based on documentation, it's more like 30-50% depending on
+                // hood material, surface friction, etc.
+                return Utilities.shotAngle(
+                    shooter.getAverageActualSpeeds(), 
+                    distance, 
+                    CompetitionConstants.kHubGoalHeightMeters - ShooterConstants.kShooterHeightMeters, 
+                    false
+                );
+            }
+        }));*/
+    }
+
+    private void configureNamedCommands() {
+        NamedCommands.registerCommand(
+            "Drivetrain Set X", 
+            drivetrain.setX()
+        );
+
+        NamedCommands.registerCommand(
+            "Drivetrain Face Hub", 
+            drivetrain.rotateToPose(
+                Utilities.getHubPose(),
+                false // TODO Should this be true by default?
+            )
+        );
+
+        NamedCommands.registerCommand(
+            "intake down", 
+            intakePivot.manualSpeed(()->0.75)
+                .withTimeout(1)
+        );
+
+        NamedCommands.registerCommand("spinup", 
+            shooter.maintainSpeed(ShooterSpeeds.kHubSpeed)
+                .withTimeout(3));
+
+        NamedCommands.registerCommand("shoot close", 
+            spindexer.spinToShooter()
+                .alongWith(shooter.maintainSpeed(ShooterSpeeds.kHubSpeed))
+                .alongWith(hood.trackToAngle(() -> Units.degreesToRadians(10)))
+                .withTimeout(3).andThen(spindexer.instantaneousStop()));
+        
+       // NamedCommands.registerCommand("Intake Start", intakeRoller.runIn());
+
+        new EventTrigger("Intake Start")
+            .onTrue(intakeRoller.runIn());
+
+        NamedCommands.registerCommand("stop spindexer", spindexer.instantaneousStop());
+
+        NamedCommands.registerCommand("jimmy",
+            Commands.repeatingSequence(
+                    intakePivot.manualSpeed(() -> -0.75).withTimeout(0.2)
+                    .andThen(intakePivot.manualSpeed(() -> 0.75).withTimeout(0.2))
+                )
+            );
+
+        NamedCommands.registerCommand("shoot N jimmy", 
+            Commands.parallel(
+                Commands.repeatingSequence(
+                    intakePivot.manualSpeed(() -> -0.75).withTimeout(0.5),
+                    intakePivot.manualSpeed(() -> 0.75).withTimeout(0.5)
+                ),
+                spindexer.spinToShooter()
+                    .alongWith(shooter.maintainSpeed(ShooterSpeeds.kHubSpeed),
+                               hood.trackToAngle(() -> Units.degreesToRadians(10)))
+                
+            ).withTimeout(3).andThen(spindexer.instantaneousStop()));
+    }
+
+    public Command getAutonomousCommand() {
+        return autoChooser.getSelected();
+    }
+
+    /**
+     * The "shift display" relies on Elastic's ability to show 1 or more colors
+     * in a box on the dashboard. 
+     * 
+     * Using the RobotModeTriggers and a Timer based on the FPGA, a reasonably
+     * accurate "shift display" can be created to indicate whose hub is active
+     * and when. 
+     * 
+     * During autonomous, and the first 10 seconds of teleop, the shift display
+     * will display a gradient of both red and blue, indicating the fact that 
+     * both hubs are active.
+     * 
+     * For the rest of teleop, with the exception of the endgame, the display
+     * will present either the color red, or the color blue, based on the returned
+     * value of Utilities.whoHasFirstShift(). Because shifts change on a known cycle,
+     * we can use the known state of who has first shift, to determine the remaining three shifts
+     * that come after.
+     * 
+     * For the endgame portion of teleop, the shift display returns to the gradient
+     * of both red and blue. 
+     * 
+     * Because this relies on the RobotModeTriggers and an FPGA timer, it should be 
+     * <i>reasonably</i> accurate, it's unlikely to be perfect relative to field time
+     * but it will be very very very (likely unnoticably) close. 
+     */
+    private void configureShiftDisplay() {
+        SmartDashboard.putStringArray(OIConstants.kCurrentActiveHub, OIConstants.kRedBlueDisplay);
+        
+        RobotModeTriggers.autonomous().onTrue(new InstantCommand(() -> {
+            shiftTimer.stop();
+            SmartDashboard.putStringArray(OIConstants.kCurrentActiveHub, OIConstants.kRedBlueDisplay);
+        }));
+
+        RobotModeTriggers.teleop().onTrue(new InstantCommand(() -> {
+            Elastic.selectTab(OIConstants.kTeleopTab);
+            shiftTimer.reset();
+            shiftTimer.start();
+        }));
+
+        new Trigger(() -> shiftTimer.get() <= 10).onTrue(new InstantCommand(() -> {
+            SmartDashboard.putStringArray(OIConstants.kCurrentActiveHub, OIConstants.kRedBlueDisplay);
+        }));
+
+        new Trigger(() -> shiftTimer.get() > 10 && shiftTimer.get() <= 35).onTrue(new InstantCommand(() -> {
+            SmartDashboard.putStringArray(
+                OIConstants.kCurrentActiveHub, 
+                Utilities.whoHasFirstShift() == Alliance.Red ? OIConstants.kRedDisplay : OIConstants.kBlueDisplay
+            );
+        }));
+
+        new Trigger(() -> shiftTimer.get() > 35 && shiftTimer.get() <= 60).onTrue(new InstantCommand(() -> {
+            SmartDashboard.putStringArray(
+                OIConstants.kCurrentActiveHub, 
+                Utilities.whoHasFirstShift() == Alliance.Red ? OIConstants.kBlueDisplay : OIConstants.kRedDisplay
+            );
+        }));
+
+        new Trigger(() -> shiftTimer.get() > 60 && shiftTimer.get() <= 85).onTrue(new InstantCommand(() -> {
+            SmartDashboard.putStringArray(
+                OIConstants.kCurrentActiveHub, 
+                Utilities.whoHasFirstShift() == Alliance.Red ? OIConstants.kRedDisplay : OIConstants.kBlueDisplay
+            );
+        }));
+
+        new Trigger(() -> shiftTimer.get() > 85 && shiftTimer.get() <= 110).onTrue(new InstantCommand(() -> {
+            SmartDashboard.putStringArray(
+                OIConstants.kCurrentActiveHub, 
+                Utilities.whoHasFirstShift() == Alliance.Red ? OIConstants.kBlueDisplay : OIConstants.kRedDisplay
+            );
+        }));
+
+        new Trigger(() -> shiftTimer.get() > 110).onTrue(new InstantCommand(() -> {
+            SmartDashboard.putStringArray(OIConstants.kCurrentActiveHub, OIConstants.kRedBlueDisplay);
+        }));
+    }
+}

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

@@ -1,15 +1,18 @@
-package first.robot.constants;
+package frc.robot.constants;
 
 import java.io.IOException;
 
 import org.json.simple.parser.ParseException;
-import org.wpilib.math.trajectory.TrapezoidProfile;
 
 import com.pathplanner.lib.config.PIDConstants;
 import com.pathplanner.lib.config.RobotConfig;
 import com.pathplanner.lib.controllers.PPHolonomicDriveController;
 import com.pathplanner.lib.path.PathConstraints;
 
+import edu.wpi.first.math.trajectory.TrapezoidProfile;
+import edu.wpi.first.math.util.Units;
+
+// TODO This is all hold over from 2025, does any of it need to change?
 public class AutoConstants {
     public static final double kMaxSpeedMetersPerSecond = 4;
     public static final double kMaxAccelerationMetersPerSecondSquared = 4;
@@ -21,6 +24,8 @@ public class AutoConstants {
     public static final double kPXYController = 3.5;
     public static final double kPThetaController = 5;
 
+    public static final double kYawPIDTolerance = Units.degreesToRadians(2);
+
     public static final double kAlignPXYController = 2;
     public static final double kAlignPThetaController = 5;
 
@@ -57,4 +62,4 @@ public class AutoConstants {
             kAutoConfigOk = false;
         }
     }
-}
+}

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

@@ -1,10 +1,8 @@
-package first.robot.constants;
+package frc.robot.constants;
-
-import org.wpilib.hardware.bus.CANPort;
 
 import com.revrobotics.spark.FeedbackSensor;
-import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 import com.revrobotics.spark.config.SparkMaxConfig;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 
 public class ClimberConstants {
     // TODO Real values
@@ -24,8 +22,6 @@ public class ClimberConstants {
         }
     }
 
-    public static final CANPort kCANPort = CANPort.CAN_S0;
-
     public static final int kMotorCANID = 0;
 
     public static final double kConversionFactor = 0;
@@ -53,9 +49,6 @@ public class ClimberConstants {
             .smartCurrentLimit(kCurrentLimit)
             .idleMode(kIdleMode);
         kMotorConfig.encoder
-            // Ignoring the red here for now. REVLib 2027alpha8 is entirely missing
-            // a solution for this. Issue is open and pending
-            // https://github.com/wpilibsuite/SystemcoreTesting/issues/401
             .positionConversionFactor(kConversionFactor)
             .velocityConversionFactor(kConversionFactor / 60);
         kMotorConfig.closedLoop

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

@@ -1,14 +1,19 @@
-package first.robot.constants;
+package frc.robot.constants;
 
-import org.wpilib.fields.Field;
+import edu.wpi.first.apriltag.AprilTagFieldLayout;
-import org.wpilib.fields.Fields;
+import edu.wpi.first.apriltag.AprilTagFields;
-import org.wpilib.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Pose2d;
-import org.wpilib.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Rotation2d;
-import org.wpilib.math.geometry.Transform3d;
+import edu.wpi.first.math.geometry.Transform3d;
-import org.wpilib.math.util.Units;
+import edu.wpi.first.math.util.Units;
 
 public class CompetitionConstants {
-    public static final Field kField = Fields.FRC_2026_REBUILT_ANDY_MARK.loadField();
+    // THIS SHOULD BE FALSE DURING COMPETITION PLAY
+    public static final boolean kLogToNetworkTables = true;
+
+    public static final AprilTagFieldLayout kTagLayout = AprilTagFieldLayout.loadField(
+        AprilTagFields.kDefaultField
+    );
 
     public static final double kHubGoalHeightMeters = Units.inchesToMeters(72);
 

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

@@ -1,13 +1,12 @@
-package first.robot.constants;
+package frc.robot.constants;
 
-import org.wpilib.hardware.bus.CANPort;
+import edu.wpi.first.math.Matrix;
-import org.wpilib.math.geometry.Translation2d;
+import edu.wpi.first.math.VecBuilder;
-import org.wpilib.math.kinematics.SwerveDriveKinematics;
+import edu.wpi.first.math.geometry.Translation2d;
-import org.wpilib.math.linalg.Matrix;
+import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
-import org.wpilib.math.linalg.VecBuilder;
+import edu.wpi.first.math.numbers.N1;
-import org.wpilib.math.numbers.N1;
+import edu.wpi.first.math.numbers.N3;
-import org.wpilib.math.numbers.N3;
+import edu.wpi.first.math.util.Units;
-import org.wpilib.math.util.Units;
 
 public class DrivetrainConstants {
     public static final double kMaxSpeedMetersPerSecond = 4.663;
@@ -21,8 +20,6 @@ public class DrivetrainConstants {
     public static final double kRearLeftMagEncoderOffset = 3.761;
     public static final double kRearRightMagEncoderOffset = 2.573;
 
-    public static final CANPort kCANPort = CANPort.CAN_S0;
-
     public static final int kFrontLeftDrivingCANID = 4;
     public static final int kFrontRightDrivingCANID = 3;
     public static final int kRearLeftDrivingCANID = 1;
@@ -41,15 +38,14 @@ public class DrivetrainConstants {
     public static final boolean kGyroReversed = true;
 
     // TODO Hold over from 2025, adjust?
-    public static final double kHeadingP = .65;
+    public static final double kHeadingP = .1;
     public static final double kXTranslationP = .5;
     public static final double kYTranslationP = .5;
-    public static final double kYawPIDTolerance = Units.degreesToRadians(1);
 
     // TODO How much do we trust gyro and encoders vs vision estimates.
     // NOTE: Bigger values indicate LESS trust. Generally all three values for a given matrix should be the same
     public static final Matrix<N3, N1> kSensorFusionOdometryStdDevs = VecBuilder.fill(0.1, 0.1, 0.1);
-    public static final Matrix<N3, N1> kVisionOdometryStdDevs = VecBuilder.fill(0.3, 0.3, 0.3);
+    public static final Matrix<N3, N1> kVisionOdometryStdDevs = VecBuilder.fill(0.9, 0.9, 0.9);
 
     // YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A NEW CONFIGURATION ITEM
     public static final SwerveDriveKinematics kDriveKinematics = new SwerveDriveKinematics(

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

@@ -1,22 +1,21 @@
-package first.robot.constants;
+package frc.robot.constants;
 
-import java.util.Map;
+import java.io.BufferedReader;
-
+import java.io.File;
-import org.wpilib.hardware.bus.CANPort;
+import java.io.FileReader;
-import org.wpilib.math.interpolation.InterpolatingDoubleTreeMap;
+import java.io.IOException;
-import org.wpilib.math.util.Units;
+import java.nio.file.Path;
 
 import com.revrobotics.spark.ClosedLoopSlot;
 import com.revrobotics.spark.FeedbackSensor;
-import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 import com.revrobotics.spark.config.SparkMaxConfig;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 
-import first.robot.constants.ShooterConstants.ShooterSpeeds;
+import edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap;
+import edu.wpi.first.wpilibj.Filesystem;
 
 public class HoodConstants {
     // TODO Real Values
-    public static final CANPort kCANPort = CANPort.CAN_S0;
-    
     public static final int kMotorCANID = 12;
 
     public static final double kConversionFactor = (1.0/3.0)*(8.0/147.0)*2*Math.PI;
@@ -44,9 +43,9 @@ public class HoodConstants {
 
     public static final IdleMode kIdleMode = IdleMode.kBrake;
 
-    public static final Map<ShooterSpeeds, InterpolatingDoubleTreeMap> kHoodInterpolators = Map.of(
+    // TODO This needs to be filled in from some source
-        ShooterSpeeds.kHubSpeed, new InterpolatingDoubleTreeMap()
+    public static final InterpolatingDoubleTreeMap kDistanceToAngle = new InterpolatingDoubleTreeMap();
-    );
+
     // YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A CONFIGURATION ITEM
 
     public static final SparkMaxConfig kConfig = new SparkMaxConfig();
@@ -57,9 +56,6 @@ public class HoodConstants {
             .inverted(kInverted)
             .smartCurrentLimit(kCurrentLimit);
         kConfig.encoder
-            // Ignoring the red here for now. REVLib 2027alpha8 is entirely missing
-            // a solution for this. Issue is open and pending
-            // https://github.com/wpilibsuite/SystemcoreTesting/issues/401
             .positionConversionFactor(kConversionFactor)
             .velocityConversionFactor(kConversionFactor / 60);
         kConfig.closedLoop
@@ -70,24 +66,27 @@ public class HoodConstants {
             .feedForward
                 .sva(kS, kV, kA);
 
-        kHoodInterpolators.get(ShooterSpeeds.kHubSpeed).put(
-            Double.valueOf(Units.inchesToMeters(22.2 + 40)), 
-            Double.valueOf(Units.degreesToRadians(9.5)));
 
-        kHoodInterpolators.get(ShooterSpeeds.kHubSpeed).put(
+        File interpolatorFile = Path.of(
-            Double.valueOf(Units.inchesToMeters(22.2 + 60)), 
+            Filesystem.getDeployDirectory().getAbsolutePath().toString(), 
-            Double.valueOf(Units.degreesToRadians(12.5)));
+            "interpolatorData.csv"
+        ).toFile();
 
-        kHoodInterpolators.get(ShooterSpeeds.kHubSpeed).put(
+        if(interpolatorFile.exists()) {
-            Double.valueOf(Units.inchesToMeters(22.2 + 80)),
+            try (BufferedReader reader = new BufferedReader(new FileReader(interpolatorFile))) {
-            Double.valueOf(Units.degreesToRadians(16.25)));
+                reader.lines().forEach((s) -> {
+                    if(s.trim() != "") { //Empty or whitespace line protection
+                        String[] lineSplit = s.split(",");
 
-        kHoodInterpolators.get(ShooterSpeeds.kHubSpeed).put(
+                        kDistanceToAngle.put(
-            Double.valueOf(Units.inchesToMeters(22.2 + 100)), 
+                            Double.valueOf(lineSplit[0].replace("\"", "")), 
-            Double.valueOf(Units.degreesToRadians(20.5)));
+                            Double.valueOf(lineSplit[1].replace("\"", ""))
-
+                        );
-        kHoodInterpolators.get(ShooterSpeeds.kHubSpeed).put(
+                    }
-            Double.valueOf(Units.inchesToMeters(22.2 + 120)), 
+                });
-            Double.valueOf(Units.degreesToRadians(23.5)));
+            } catch (IOException e) {
+                // This condition is never reached because of the if exists line above
+            }
+        }
     }
 }

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

@@ -1,35 +1,25 @@
-package first.robot.constants;
+package frc.robot.constants;
-
-import org.wpilib.hardware.bus.CANPort;
 
 import com.revrobotics.spark.FeedbackSensor;
-import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 import com.revrobotics.spark.config.SparkMaxConfig;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 
 public class IntakePivotConstants {
+    // TODO Real values
     public enum IntakePivotPosition {
         kUp(Math.toRadians(116.0)),
         kDown(Math.toRadians(0.0));
-
         private double positionRadians;
-        private double positionRotations;
 
         private IntakePivotPosition(double positionRadians) {
             this.positionRadians = positionRadians;
-            this.positionRotations = positionRadians / kConversionFactor;
         }
 
         public double getPositionRadians() {
             return positionRadians;
         }
-
-        public double getPositionRotations() {
-            return positionRotations;
-        }
     }
 
-    public static final CANPort kCANPort = CANPort.CAN_S0;
-
     public static final int kLeftMotorCANID = 16;
     public static final int kRightMotorCANID = 9;
 
@@ -63,9 +53,6 @@ public class IntakePivotConstants {
             .smartCurrentLimit(kCurrentLimit)
             .inverted(false);
         KLeftMotorConfig.encoder
-            // Ignoring the red here for now. REVLib 2027alpha8 is entirely missing
-            // a solution for this. Issue is open and pending
-            // https://github.com/wpilibsuite/SystemcoreTesting/issues/401
             .positionConversionFactor(kConversionFactor)
             .velocityConversionFactor(kConversionFactor / 60);
         KLeftMotorConfig.closedLoop
@@ -73,9 +60,6 @@ public class IntakePivotConstants {
             .pid(kP, kI, kD)
             .outputRange(-1, 1)
             .positionWrappingEnabled(true)
-            // Ignoring the red here for now. REVLib 2027alpha8 is entirely missing
-            // a solution for this. Issue is open and pending
-            // https://github.com/wpilibsuite/SystemcoreTesting/issues/401
             .positionWrappingInputRange(0, 2 * Math.PI)
             .feedForward
                 .svag(kS, kV, kA, kG);

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

@@ -1,14 +1,10 @@
-package first.robot.constants;
+package frc.robot.constants;
-
-import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
-
-import org.wpilib.hardware.bus.CANPort;
 
 import com.revrobotics.spark.config.SparkMaxConfig;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 
 public class IntakeRollerConstants {
-    public static final CANPort kCANPort = CANPort.CAN_S0;
+    // TODO Real values
-    
     public static final int kRightMotorCANID = 20;
     public static final int kLeftMotorCANID = 1;
 
@@ -17,8 +13,7 @@ public class IntakeRollerConstants {
     public static final boolean kInvertLeftMotor = false;
     public static final boolean kInvertRightMotor = true;
 
-    public static final double kIntakeInSpeed = .9;
+    public static final double kSpeed = 1;
-    public static final double kIntakeOutSpeed = 1;
 
     public static final IdleMode kIdleMode = IdleMode.kCoast;
 

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

@@ -1,5 +1,5 @@
-package first.robot.constants;
+package frc.robot.constants;
 
 public class KrakenMotorConstants {
     public static final double kFreeSpeedRPM = 6000;
-}
+}

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

@@ -1,7 +1,4 @@
-package first.robot.constants;
+package frc.robot.constants;
-
-import org.wpilib.hardware.bus.CANPort;
-import org.wpilib.math.util.Units;
 
 import com.ctre.phoenix6.configs.AudioConfigs;
 import com.ctre.phoenix6.configs.ClosedLoopRampsConfigs;
@@ -13,8 +10,10 @@ import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import com.revrobotics.spark.ClosedLoopSlot;
 import com.revrobotics.spark.FeedbackSensor;
-import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 import com.revrobotics.spark.config.SparkMaxConfig;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+
+import edu.wpi.first.math.util.Units;
 
 public class ModuleConstants {
     public enum ModuleName {
@@ -30,7 +29,7 @@ public class ModuleConstants {
         }
 
         public String getLoggableName() {
-            return loggableName;
+            return "Drivetrain/Modules/" + loggableName;
         }
         
     }
@@ -57,7 +56,7 @@ public class ModuleConstants {
 
     // TODO Hold over from 2025, adjust?
     public static final int kDriveMotorStatorCurrentLimit = 90;
-    public static final int kDriveMotorSupplyCurrentLimit = 40;
+    public static final int kDriveMotorSupplyCurrentLimit = 55;
 
     // TODO Hold over from 2025, adjust?
     public static final InvertedValue kDriveInversionState = InvertedValue.Clockwise_Positive;
@@ -120,9 +119,7 @@ public class ModuleConstants {
             .smartCurrentLimit(kTurnMotorCurrentLimit)
             .inverted(true);
         turningConfig.encoder
-            // Ignoring the red here for now. REVLib 2027alpha8 is entirely missing
+            //.inverted(true)
-            // a solution for this. Issue is open and pending
-            // https://github.com/wpilibsuite/SystemcoreTesting/issues/401
             .positionConversionFactor(kTurningFactor)
             .velocityConversionFactor(kTurningFactor / 60.0);
         turningConfig.closedLoop
@@ -131,9 +128,6 @@ public class ModuleConstants {
             .outputRange(-1, 1)
             .allowedClosedLoopError(kTurnTolerance, ClosedLoopSlot.kSlot0)
             .positionWrappingEnabled(true)
-            // Ignoring the red here for now. REVLib 2027alpha8 is entirely missing
-            // a solution for this. Issue is open and pending
-            // https://github.com/wpilibsuite/SystemcoreTesting/issues/401
             .positionWrappingInputRange(0, 2 * Math.PI);
             
     }

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

@@ -1,6 +1,6 @@
-package first.robot.constants;
+package frc.robot.constants;
 
-import org.wpilib.util.Color;
+import edu.wpi.first.wpilibj.util.Color;
 
 public class OIConstants {
     public static final int kDriverControllerPort = 0;
@@ -15,15 +15,15 @@ public class OIConstants {
     public static final String kCurrentActiveHub = "Alliance Hub Currently Active";
 
     public static final String[] kRedBlueDisplay = {
-        Color.RED.toHexString(),
+        Color.kRed.toHexString(),
-        Color.BLUE.toHexString()
+        Color.kBlue.toHexString()
     };
 
     public static final String[] kRedDisplay = {
-        Color.RED.toHexString()
+        Color.kRed.toHexString()
     };
 
     public static final String[] kBlueDisplay = {
-        Color.BLUE.toHexString()
+        Color.kBlue.toHexString()
     };
 }

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

@@ -1,12 +1,11 @@
-package first.robot.constants;
+package frc.robot.constants;
 
 import java.util.List;
 
-import org.wpilib.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Rotation3d;
-import org.wpilib.math.geometry.Transform3d;
+import edu.wpi.first.math.geometry.Transform3d;
-import org.wpilib.math.util.Units;
+import edu.wpi.first.math.util.Units;
-
+import frc.robot.utilities.PhotonVisionConfig;
-import first.robot.utilities.PhotonVisionConfig;
 
 public class PhotonConstants {
     public static final String kCamera1Name = "CameraPV1";
@@ -19,7 +18,7 @@ public class PhotonConstants {
         Units.inchesToMeters(28.5),
         new Rotation3d(
             Units.degreesToRadians(0), 
-            Units.degreesToRadians(-24.0), 
+            Units.degreesToRadians(24.0), 
             Units.degreesToRadians(30.0)
         )
     );
@@ -29,7 +28,7 @@ public class PhotonConstants {
         Units.inchesToMeters(28.5),
         new Rotation3d(
             Units.degreesToRadians(0.0), 
-            Units.degreesToRadians(-24.0), 
+            Units.degreesToRadians(24.0), 
             Units.degreesToRadians(-10.0)
         )
     );
@@ -45,4 +44,4 @@ public class PhotonConstants {
         new PhotonVisionConfig(kCamera1Name, kCamera1RobotToCam, kCamera1HeightMeters, kCamera1PitchRadians),
         new PhotonVisionConfig(kCamera2Name, kCamera2RobotToCam, kCamera2HeightMeters, kCamera2PitchRadians)
     );
-}
+}

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

@@ -1,12 +1,10 @@
-package first.robot.constants;
+package frc.robot.constants;
 
-import org.wpilib.hardware.bus.CANPort;
-import org.wpilib.math.util.Units;
-
-import com.revrobotics.spark.ClosedLoopSlot;
 import com.revrobotics.spark.FeedbackSensor;
-import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 import com.revrobotics.spark.config.SparkMaxConfig;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+
+import edu.wpi.first.math.util.Units;
 
 public class ShooterConstants {
     public enum ShooterSpeeds {
@@ -36,26 +34,24 @@ public class ShooterConstants {
     public static final double kWheelDiameter = Units.inchesToMeters(4);
 
     // TODO Real values
-    public static final CANPort kCANPort = CANPort.CAN_S0;
-
     public static final int kLeftShooterMotorCANID = 2;
     public static final int kRightShooterMotorCANID = 5;
 
     public static final boolean kLeftShooterMotorInverted = true;
     public static final boolean kRightShooterMotorInverted = false;
 
-    public static final double kLeftP = 0.75;//0.01;//0.001;
+    public static final double kLeftP = 0.001;
     public static final double kLeftI = 0;
-    public static final double kLeftD = 0;//0.1;//1.8;
+    public static final double kLeftD = 0;
     public static final double kLeftS = 0;
-    public static final double kLeftV = 0.00129;
+    public static final double kLeftV = 0.0013;
     public static final double kLeftA = 0;
 
-    public static final double kRightP = 0.75;//0.001;//0.001;
+    public static final double kRightP = 0.001;
     public static final double kRightI = 0;
-    public static final double kRightD = 0;//0.1;
+    public static final double kRightD = 0.000;
     public static final double kRightS = 0;
-    public static final double kRightV = 0.00125;
+    public static final double kRightV = 0.00121;
     public static final double kRightA = 0;
 
     public static final double kMaxManualSpeedMultiplier = 1;
@@ -72,44 +68,35 @@ public class ShooterConstants {
     public static final SparkMaxConfig kLeftMotorConfig = new SparkMaxConfig();
     public static final SparkMaxConfig kRightMotorConfig = new SparkMaxConfig();
 
+
     static {
         kLeftMotorConfig
             .idleMode(kShooterIdleMode)
             .smartCurrentLimit(kCurrentLimit)
             .inverted(kLeftShooterMotorInverted);
         kLeftMotorConfig.absoluteEncoder
-            // Ignoring the red here for now. REVLib 2027alpha8 is entirely missing
-            // a solution for this. Issue is open and pending
-            // https://github.com/wpilibsuite/SystemcoreTesting/issues/401
             .positionConversionFactor(1)
-            .velocityConversionFactor(60)
+            .velocityConversionFactor(60);
-            .averageDepth(8); // VERY IMPORTANT FOR RESPONSE OF FLYWHEEL DEFAULTS ARE DOGWATER
         kLeftMotorConfig.closedLoop
             .feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
-            .pid(kLeftP, kLeftI, kLeftD, ClosedLoopSlot.kSlot0)
+            .pid(kLeftP, kLeftI, kLeftD)
             .outputRange(-1, 1)
-            .allowedClosedLoopError(25.0, ClosedLoopSlot.kSlot0)
             .feedForward
-                .sva(kLeftS, kLeftV, kLeftA, ClosedLoopSlot.kSlot0);
+                .sva(kLeftS, kLeftV, kLeftA);
 
         kRightMotorConfig
             .idleMode(kShooterIdleMode)
             .smartCurrentLimit(kCurrentLimit)
             .inverted(kRightShooterMotorInverted);
         kRightMotorConfig.absoluteEncoder
-            // Ignoring the red here for now. REVLib 2027alpha8 is entirely missing
-            // a solution for this. Issue is open and pending
-            // https://github.com/wpilibsuite/SystemcoreTesting/issues/401
             .positionConversionFactor(1)
             .velocityConversionFactor(60)
-            .averageDepth(8)// VERY IMPORTANT FOR RESPONSE OF FLYWHEEL DEFAULTS ARE DOGWATER
             .inverted(true);
         kRightMotorConfig.closedLoop
             .feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
             .pid(kRightP, kRightI, kRightD)
             .outputRange(-1, 1)
-            .allowedClosedLoopError(25.0, ClosedLoopSlot.kSlot0)
             .feedForward
-                .sva(kRightS, kRightV, kRightA, ClosedLoopSlot.kSlot0);
+                .sva(kRightS, kRightV, kRightA);
     }
 }

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

@@ -1,18 +1,14 @@
-package first.robot.constants;
+package frc.robot.constants;
-
-import org.wpilib.hardware.bus.CANPort;
 
 import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
 import com.ctre.phoenix6.configs.MotorOutputConfigs;
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
-import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 import com.revrobotics.spark.config.SparkMaxConfig;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 
 public class SpindexerConstants {
     // TODO Real values
-    public static final CANPort kCANPort = CANPort.CAN_S0;
-    
     public static final int kSpindexerMotorCANID = 0;
     public static final int kFeederMotorCANID = 4;
 

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

@@ -1,23 +1,22 @@
-package first.robot.subsystems;
+package frc.robot.subsystems;
 
 import java.util.function.DoubleSupplier;
 
-import org.wpilib.command2.Command;
+import org.littletonrobotics.junction.Logger;
-import org.wpilib.command2.SubsystemBase;
-import org.wpilib.epilogue.Logged;
 
 import com.revrobotics.PersistMode;
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.ResetMode;
 import com.revrobotics.spark.SparkClosedLoopController;
-import com.revrobotics.spark.SparkLowLevel.ControlType;
-import com.revrobotics.spark.SparkLowLevel.MotorType;
 import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkBase.ControlType;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
 
-import first.robot.constants.ClimberConstants;
+import edu.wpi.first.wpilibj2.command.Command;
-import first.robot.constants.ClimberConstants.ClimberPositions;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.constants.ClimberConstants;
+import frc.robot.constants.ClimberConstants.ClimberPositions;
 
-@Logged
 public class Climber extends SubsystemBase {
     private SparkMax motor;
 
@@ -28,11 +27,7 @@ public class Climber extends SubsystemBase {
     private ClimberPositions targetPosition;
 
     public Climber() {
-        motor = new SparkMax(
+        motor = new SparkMax(ClimberConstants.kMotorCANID, MotorType.kBrushless);
-            ClimberConstants.kCANPort,
-            ClimberConstants.kMotorCANID, 
-            MotorType.kBrushless
-        );
 
         motor.configure(
             ClimberConstants.kMotorConfig, 
@@ -47,20 +42,11 @@ public class Climber extends SubsystemBase {
         targetPosition = null;
     }
 
-    public double getTargetPositionMeters() {
+    @Override
-        if (targetPosition == null) {
+    public void periodic() {
-            return -1;
+        Logger.recordOutput("Climber/TargetPositionMeters", targetPosition == null ? -1 : targetPosition.getPositionMeters());
-        } else {
+        Logger.recordOutput("Climber/CurrentPositionMeters", encoder.getPosition());
-            return targetPosition.getPositionMeters();
+        Logger.recordOutput("Climber/AtSetpoint", controller.isAtSetpoint());
-        }
-    }
-
-    public double getCurrentPositionMeters() {
-        return encoder.getPosition().get();
-    }
-
-    public boolean isAtSetpoint() {
-        return controller.isAtSetpoint().get();
     }
 
     public Command maintainPosition(ClimberPositions position) {
@@ -78,7 +64,7 @@ public class Climber extends SubsystemBase {
         return run(() -> {
             targetPosition = null;
 
-            motor.setThrottle(speed.getAsDouble());
+            motor.set(speed.getAsDouble());
         });
     }
 

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

@@ -1,4 +1,4 @@
-package first.robot.subsystems;
+package frc.robot.subsystems;
 
 import java.util.List;
 import java.util.Optional;
@@ -6,43 +6,41 @@ import java.util.function.BooleanSupplier;
 import java.util.function.DoubleSupplier;
 import java.util.function.Supplier;
 
-import org.wpilib.command2.Command;
+import org.littletonrobotics.junction.Logger;
-import org.wpilib.command2.PrintCommand;
-import org.wpilib.command2.SubsystemBase;
-import org.wpilib.driverstation.Alliance;
-import org.wpilib.driverstation.MatchState;
-import org.wpilib.epilogue.Logged;
-import org.wpilib.hardware.imu.OnboardIMU;
-import org.wpilib.math.controller.PIDController;
-import org.wpilib.math.estimator.SwerveDrivePoseEstimator;
-import org.wpilib.math.geometry.Pose2d;
-import org.wpilib.math.geometry.Rotation2d;
-import org.wpilib.math.kinematics.ChassisVelocities;
-import org.wpilib.math.kinematics.SwerveDriveKinematics;
-import org.wpilib.math.kinematics.SwerveModulePosition;
-import org.wpilib.math.kinematics.SwerveModuleVelocity;
-import org.wpilib.math.util.MathUtil;
 
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.path.PathPlannerPath;
+import com.studica.frc.AHRS;
+import com.studica.frc.AHRS.NavXComType;
 
-import first.robot.constants.AutoConstants;
+import edu.wpi.first.math.MathUtil;
-import first.robot.constants.DrivetrainConstants;
+import edu.wpi.first.math.controller.PIDController;
-import first.robot.constants.ModuleConstants.ModuleName;
+import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator;
-import first.robot.constants.OIConstants;
+import edu.wpi.first.math.geometry.Pose2d;
-import first.robot.constants.SystemCoreConstants;
+import edu.wpi.first.math.geometry.Rotation2d;
-import first.robot.utilities.SwerveModule;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
-import first.robot.utilities.Utilities;
+import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
-import first.robot.utilities.VisualPose;
+import edu.wpi.first.math.kinematics.SwerveModulePosition;
+import edu.wpi.first.math.kinematics.SwerveModuleState;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.PrintCommand;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.constants.AutoConstants;
+import frc.robot.constants.DrivetrainConstants;
+import frc.robot.constants.OIConstants;
+import frc.robot.constants.ModuleConstants.ModuleName;
+import frc.robot.utilities.SwerveModule;
+import frc.robot.utilities.Utilities;
+import frc.robot.utilities.VisualPose;
 
-@Logged
 public class Drivetrain extends SubsystemBase {
     private SwerveModule frontLeft;
     private SwerveModule frontRight;
     private SwerveModule rearLeft;
     private SwerveModule rearRight;
 
-    private OnboardIMU imu;
+    private AHRS gyro;
 
     private SwerveDrivePoseEstimator estimator;
 
@@ -50,7 +48,6 @@ public class Drivetrain extends SubsystemBase {
 
     public Drivetrain(Pose2d startupPose) {
         frontLeft = new SwerveModule(
-            DrivetrainConstants.kCANPort,
             ModuleName.kFrontLeft, 
             DrivetrainConstants.kFrontLeftDrivingCANID, 
             DrivetrainConstants.kFrontLeftTurningCANID, 
@@ -59,7 +56,6 @@ public class Drivetrain extends SubsystemBase {
         );
 
         frontRight = new SwerveModule(
-            DrivetrainConstants.kCANPort,
             ModuleName.kFrontRight, 
             DrivetrainConstants.kFrontRightDrivingCANID, 
             DrivetrainConstants.kFrontRightTurningCANID, 
@@ -68,7 +64,6 @@ public class Drivetrain extends SubsystemBase {
         );
 
         rearLeft = new SwerveModule(
-            DrivetrainConstants.kCANPort,
             ModuleName.kRearLeft, 
             DrivetrainConstants.kRearLeftDrivingCANID, 
             DrivetrainConstants.kRearLeftTurningCANID, 
@@ -77,7 +72,6 @@ public class Drivetrain extends SubsystemBase {
         );
 
         rearRight = new SwerveModule(
-            DrivetrainConstants.kCANPort,
             ModuleName.kRearRight, 
             DrivetrainConstants.kRearRightDrivingCANID, 
             DrivetrainConstants.kRearRightTurningCANID, 
@@ -85,15 +79,15 @@ public class Drivetrain extends SubsystemBase {
             DrivetrainConstants.kRearRightMagEncoderOffset
         );
 
-        imu = new OnboardIMU(SystemCoreConstants.kSystemCoreMountOrientation);
+        gyro = new AHRS(NavXComType.kMXP_SPI);
 
         yawRotationController = new PIDController(
-            DrivetrainConstants.kHeadingP, 
+            AutoConstants.kPThetaController, 
             0, 
             0
         );
         yawRotationController.enableContinuousInput(-Math.PI, Math.PI);
-        yawRotationController.setTolerance(DrivetrainConstants.kYawPIDTolerance);
+        yawRotationController.setTolerance(AutoConstants.kYawPIDTolerance);
 
         // TODO 2025 used non-standard deviations for encoder/gyro inputs and vision, will need to be tuned for 2026 in the future
         estimator = new SwerveDrivePoseEstimator(
@@ -119,9 +113,9 @@ public class Drivetrain extends SubsystemBase {
                 AutoConstants.kPPDriveController, 
                 AutoConstants.kRobotConfig,
                 () -> {
-                    Optional<Alliance> alliance = MatchState.getAlliance();
+                    Optional<DriverStation.Alliance> alliance = DriverStation.getAlliance();
                         if (alliance.isPresent()) {
-                            return alliance.get() == Alliance.RED;
+                            return alliance.get() == DriverStation.Alliance.Red;
                         }
                         return false;
                 }, 
@@ -146,6 +140,11 @@ public class Drivetrain extends SubsystemBase {
         frontRight.periodic();
         rearLeft.periodic();
         rearRight.periodic();
+
+        Logger.recordOutput("Drivetrain/Pose", getPose());
+        Logger.recordOutput("Drivetrain/Gyro Angle", getGyroValue());
+        Logger.recordOutput("Drivetrain/Heading", getHeadingDegrees());
+        Logger.recordOutput("Drivetrain/Velocity", getCurrentChassisSpeeds());
     }
 
     /**
@@ -170,7 +169,7 @@ public class Drivetrain extends SubsystemBase {
         .get();
 
         return run(() -> {
-            module.setDesiredState(new SwerveModuleVelocity(
+            module.setDesiredState(new SwerveModuleState(
                 staticSpeed, 
                 Rotation2d.fromDegrees(staticAngleDegrees)
             ));
@@ -263,12 +262,10 @@ public class Drivetrain extends SubsystemBase {
                         targetRotation = targetRotation.rotateBy(Rotation2d.k180deg);
                     }
 
-                    double outputPower = -yawRotationController.calculate(
+                    return yawRotationController.calculate(
                         getHeading().getRadians(),
                         targetRotation.getRadians()
                     );
-
-                    return outputPower;
                 }, 
                 () -> true
             )
@@ -320,16 +317,16 @@ public class Drivetrain extends SubsystemBase {
 
     public Command setX() {
         return run(() -> {
-            frontLeft.setDesiredState(new SwerveModuleVelocity(0, Rotation2d.fromDegrees(45)));
+            frontLeft.setDesiredState(new SwerveModuleState(0, Rotation2d.fromDegrees(45)));
-            frontRight.setDesiredState(new SwerveModuleVelocity(0, Rotation2d.fromDegrees(-45)));
+            frontRight.setDesiredState(new SwerveModuleState(0, Rotation2d.fromDegrees(-45)));
-            rearLeft.setDesiredState(new SwerveModuleVelocity(0, Rotation2d.fromDegrees(-45)));
+            rearLeft.setDesiredState(new SwerveModuleState(0, Rotation2d.fromDegrees(-45)));
-            rearRight.setDesiredState(new SwerveModuleVelocity(0, Rotation2d.fromDegrees(45)));
+            rearRight.setDesiredState(new SwerveModuleState(0, Rotation2d.fromDegrees(45)));
         });
     }
 
     public Command zeroHeading() {
         return run(() -> {
-            imu.resetYaw();;
+            gyro.reset();
             estimator.resetRotation(new Rotation2d(0));
         });
     }
@@ -380,25 +377,26 @@ public class Drivetrain extends SubsystemBase {
 
         double rotationDelivered = rotation * DrivetrainConstants.kMaxAngularSpeed;
 
-        ChassisVelocities velocities = new ChassisVelocities(xSpeedDelivered, ySpeedDelivered, rotationDelivered);
+        SwerveModuleState[] swerveModuleStates = DrivetrainConstants.kDriveKinematics.toSwerveModuleStates(
-
-        SwerveModuleVelocity[] swerveModuleStates = DrivetrainConstants.kDriveKinematics.toSwerveModuleVelocities(
             fieldRelative ?
-                velocities.toFieldRelative(Rotation2d.fromDegrees(getGyroValue())) : velocities 
+                ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedDelivered, ySpeedDelivered, rotationDelivered, 
+                    //estimator.getEstimatedPosition().getRotation()) :
+                    Rotation2d.fromDegrees(getGyroValue())) :
+                new ChassisSpeeds(xSpeedDelivered, ySpeedDelivered, rotationDelivered)   
         );
 
         setModuleStates(swerveModuleStates);
     }
 
-    public void driveWithChassisSpeeds(ChassisVelocities speeds) {
+    public void driveWithChassisSpeeds(ChassisSpeeds speeds) {
-        ChassisVelocities discreteSpeeds = speeds.discretize(0.2);
+        ChassisSpeeds discreteSpeeds = ChassisSpeeds.discretize(speeds, 0.2);
-        SwerveModuleVelocity[] newStates = DrivetrainConstants.kDriveKinematics.toSwerveModuleVelocities(discreteSpeeds);
+        SwerveModuleState[] newStates = DrivetrainConstants.kDriveKinematics.toSwerveModuleStates(discreteSpeeds);
 
         setModuleStates(newStates);
     }
 
-    public void setModuleStates(SwerveModuleVelocity[] desiredStates) {
+    public void setModuleStates(SwerveModuleState[] desiredStates) {
-        SwerveDriveKinematics.desaturateWheelVelocities(
+        SwerveDriveKinematics.desaturateWheelSpeeds(
             desiredStates, DrivetrainConstants.kMaxSpeedMetersPerSecond);
         frontLeft.setDesiredState(desiredStates[0]);
         frontRight.setDesiredState(desiredStates[1]);
@@ -406,8 +404,8 @@ public class Drivetrain extends SubsystemBase {
         rearRight.setDesiredState(desiredStates[3]);
     }
 
-    public ChassisVelocities getCurrentChassisSpeeds() {
+    public ChassisSpeeds getCurrentChassisSpeeds() {
-        return DrivetrainConstants.kDriveKinematics.toChassisVelocities(
+        return DrivetrainConstants.kDriveKinematics.toChassisSpeeds(
             frontLeft.getState(),
             frontRight.getState(),
             rearLeft.getState(),
@@ -420,7 +418,7 @@ public class Drivetrain extends SubsystemBase {
     }
 
     public double getGyroValue() {
-        return imu.getYawRadians() * (DrivetrainConstants.kGyroReversed ? -1 : 1);
+        return gyro.getAngle() * (DrivetrainConstants.kGyroReversed ? -1 : 1);
     }
 
     public Rotation2d getHeading() {
@@ -431,4 +429,3 @@ public class Drivetrain extends SubsystemBase {
         return estimator.getEstimatedPosition().getRotation().getDegrees();
     }
 }
-

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

@@ -0,0 +1,136 @@
+package frc.robot.subsystems;
+
+import java.util.function.DoubleSupplier;
+
+import org.littletonrobotics.junction.Logger;
+
+import com.revrobotics.PersistMode;
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.ResetMode;
+import com.revrobotics.spark.SparkClosedLoopController;
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkBase.ControlType;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
+import frc.robot.constants.HoodConstants;
+
+public class Hood extends SubsystemBase {
+    private SparkMax motor;
+
+    private RelativeEncoder encoder;
+
+    private SparkClosedLoopController controller;
+
+    //private Trigger resetTrigger;
+    //private Trigger timerTrigger;
+
+    //private Timer resetTimer;
+
+    private double currentTargetDegrees;
+
+    public Hood() {
+        motor = new SparkMax(HoodConstants.kMotorCANID, MotorType.kBrushless);
+
+        motor.configure(
+            HoodConstants.kConfig, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );   
+
+        encoder = motor.getEncoder();
+        encoder.setPosition(HoodConstants.kStartupAngle);
+
+        controller = motor.getClosedLoopController();
+
+        /*resetTimer = new Timer();
+        resetTimer.reset();
+
+        resetTrigger = new Trigger(() -> (motor.getOutputCurrent() > HoodConstants.kAmpsToTriggerPositionReset));
+        resetTrigger.onTrue(new InstantCommand(resetTimer::start));
+        resetTrigger.onFalse(new InstantCommand(() -> {
+            resetTimer.stop();
+            resetTimer.reset();
+        }));
+
+        timerTrigger = new Trigger(() -> resetTimer.hasElapsed(HoodConstants.kTimeAboveThresholdToReset));
+        timerTrigger.onTrue(new InstantCommand(() -> {
+            encoder.setPosition(0);
+            resetTimer.reset();
+        }));*/
+
+        currentTargetDegrees = HoodConstants.kStartupAngle;
+    }
+
+    @Override
+    public void periodic() {
+        Logger.recordOutput("Hood/OutputCurrent", motor.getOutputCurrent());
+        Logger.recordOutput("Hood/CurrentTarget", Math.toDegrees(currentTargetDegrees));
+        Logger.recordOutput("Hood/CurrentAngle", Math.toDegrees(encoder.getPosition()));
+        Logger.recordOutput("Hood/AtSetpoint", controller.isAtSetpoint());
+        Logger.recordOutput("Hood/VoltageOut", motor.getAppliedOutput()*motor.getBusVoltage());
+    }
+
+    public Command trackToAngle(DoubleSupplier degreeAngleSupplier) {
+        return run(() -> {
+            currentTargetDegrees = degreeAngleSupplier.getAsDouble();
+
+            controller.setSetpoint(currentTargetDegrees, ControlType.kPosition);
+        });
+    }
+
+    /**
+     * An automated form of resetting the hood position sensing.
+     * 
+     * Run down at the full manual speed (note that this is affected by the 
+     * kMaxManualSpeedMultiplier constant) until the timer trigger becomes true
+     * (i.e. the output current has been above the threshold (kAmpsToTriggerPositionReset) 
+     * for reset for the amount of specified by kTimeAboveThresholdToReset). Once
+     * that returns true, the motor is stopped until the timer trigger switches to false
+     * (i.e. it has reset the position automatically, because that's how it's configured, 
+     * and resets the timer to 0, which makes the timer trigger false)
+     * 
+     * @return A complete Command structure that performs the specified action
+     */
+    /*public Command automatedRezero() {
+        return manualSpeed(() -> -1)
+            .until(timerTrigger)
+            .andThen(
+                stop().until(timerTrigger.negate())
+        );
+    }
+
+    /**
+     * An alternate form of {@link #automatedRezero()} that doesn't rely on the triggers
+     * to reset the hood position to zero. Note that this method doesn't have any time limiting
+     * factor to it, as soon as the current goes above the threshold specified by 
+     * kAmpsToTriggerPositionReset the encoder position will be set to zero
+     * 
+     * @return A complete Command structure that performs the specified action
+     */
+    /*public Command automatedRezeroNoTimer() {
+        return manualSpeed(() -> -1)
+            .until(() -> motor.getOutputCurrent() >= HoodConstants.kAmpsToTriggerPositionReset)
+            .andThen(new InstantCommand(() -> encoder.setPosition(0)));
+    }*/
+
+    public Command manualSpeed(DoubleSupplier speed) {
+        currentTargetDegrees = 0;
+
+        return run(() -> {
+            motor.set(speed.getAsDouble() * HoodConstants.kMaxManualSpeedMultiplier);
+        });
+    }
+
+    public Command stop() {
+        return manualSpeed(() -> 0);
+    }
+
+    public double getTargetDegrees() {
+        return currentTargetDegrees;
+    }
+}

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

@@ -0,0 +1,97 @@
+package frc.robot.subsystems;
+
+import java.util.Optional;
+import java.util.function.DoubleSupplier;
+
+import org.littletonrobotics.junction.Logger;
+
+import com.revrobotics.PersistMode;
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.ResetMode;
+import com.revrobotics.spark.SparkClosedLoopController;
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkBase.ControlType;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.constants.IntakePivotConstants;
+import frc.robot.constants.IntakePivotConstants.IntakePivotPosition;
+
+public class IntakePivot extends SubsystemBase {
+    private SparkMax leftMotor;
+    private SparkMax rightMotor;
+
+    private RelativeEncoder encoder;
+
+    private SparkClosedLoopController controller;
+
+    private IntakePivotPosition currentTargetPosition;
+
+    public IntakePivot() {
+        leftMotor = new SparkMax(IntakePivotConstants.kLeftMotorCANID, MotorType.kBrushless);
+        rightMotor = new SparkMax(IntakePivotConstants.kRightMotorCANID, MotorType.kBrushless);
+
+        leftMotor.configure(
+            IntakePivotConstants.KLeftMotorConfig, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
+
+        rightMotor.configure(
+            IntakePivotConstants.kRightMotorConfig, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
+
+        controller = leftMotor.getClosedLoopController();
+
+        encoder = leftMotor.getEncoder();
+        encoder.setPosition(IntakePivotConstants.IntakePivotPosition.kUp.getPositionRadians());
+    }
+
+    @Override
+    public void periodic() {
+        Logger.recordOutput(
+            "IntakePivot/TargetPosition", 
+            currentTargetPosition == null ? -1 : currentTargetPosition.getPositionRadians());
+        Logger.recordOutput("IntakePivot/CurrentPosition", encoder.getPosition());
+        Logger.recordOutput("IntakePivot/AtSetpoint", controller.isAtSetpoint());
+    }
+
+    public Command maintainPosition(IntakePivotPosition position) {
+        return run(() -> {
+            currentTargetPosition = position;
+
+            if(currentTargetPosition == null) {
+                leftMotor.disable();
+            } else {
+                controller.setSetpoint(currentTargetPosition.getPositionRadians(), ControlType.kPosition);
+            }
+        });
+    }
+
+    public Command manualSpeed(DoubleSupplier speed) {
+        return run(() -> {
+            currentTargetPosition = null;
+            
+            leftMotor.set(speed.getAsDouble() * IntakePivotConstants.kMaxManualSpeedMultiplier);
+            rightMotor.set(speed.getAsDouble() * IntakePivotConstants.kMaxManualSpeedMultiplier);
+        });
+    }
+
+    // public Command jimmy(){
+    //     return run(() -> {
+    //         leftMotor.set(0.5 * IntakePivotConstants.kMaxManualSpeedMultiplier);
+    //         rightMotor.set(0.5 * IntakePivotConstants.kMaxManualSpeedMultiplier);
+    //     })
+    // }
+
+    public Command stop() {
+        return manualSpeed(() -> 0);
+    }
+
+    public Optional<IntakePivotPosition> getCurrentTargetPosition() {
+        return Optional.ofNullable(currentTargetPosition);
+    }
+}

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

@@ -0,0 +1,54 @@
+package frc.robot.subsystems;
+
+import com.revrobotics.PersistMode;
+import com.revrobotics.ResetMode;
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.constants.IntakeRollerConstants;
+
+public class IntakeRoller extends SubsystemBase {
+    private SparkMax leftMotor;
+    private SparkMax rightMotor;
+
+    public IntakeRoller() {
+        leftMotor = new SparkMax(IntakeRollerConstants.kLeftMotorCANID, MotorType.kBrushless);
+        rightMotor = new SparkMax(IntakeRollerConstants.kRightMotorCANID, MotorType.kBrushless);
+
+        leftMotor.configure(
+            IntakeRollerConstants.leftMotorConfig, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
+
+        rightMotor.configure(
+            IntakeRollerConstants.rightMotorConfig,
+            ResetMode.kResetSafeParameters,
+            PersistMode.kPersistParameters
+        );
+    }
+
+    public Command runIn() {
+        return run(() -> {
+            leftMotor.set(IntakeRollerConstants.kSpeed*0.8);
+            rightMotor.set(IntakeRollerConstants.kSpeed*0.8);
+        });
+    }
+
+    public Command runOut() {
+        return run(() -> {
+            leftMotor.set(-IntakeRollerConstants.kSpeed);
+            rightMotor.set(-IntakeRollerConstants.kSpeed);
+        });
+    }
+
+    public Command stop() {
+        return run(() -> {
+            leftMotor.set(0);
+            rightMotor.set(0);
+        });
+    }
+    
+}

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

@@ -1,4 +1,4 @@
-package first.robot.subsystems;
+package frc.robot.subsystems;
 
 import java.util.ArrayList;
 import java.util.List;
@@ -9,16 +9,17 @@ import java.util.function.Consumer;
 import org.photonvision.EstimatedRobotPose;
 import org.photonvision.PhotonCamera;
 import org.photonvision.PhotonPoseEstimator;
+import org.photonvision.PhotonPoseEstimator.PoseStrategy;
 import org.photonvision.targeting.PhotonPipelineResult;
 import org.photonvision.targeting.PhotonTrackedTarget;
-import org.wpilib.command2.SubsystemBase;
-import org.wpilib.math.geometry.Pose3d;
-import org.wpilib.math.geometry.Transform3d;
 
-import first.robot.constants.CompetitionConstants;
+import edu.wpi.first.math.geometry.Pose3d;
-import first.robot.constants.PhotonConstants;
+import edu.wpi.first.math.geometry.Transform3d;
-import first.robot.utilities.PhotonVisionConfig;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import first.robot.utilities.VisualPose;
+import frc.robot.constants.CompetitionConstants;
+import frc.robot.constants.PhotonConstants;
+import frc.robot.utilities.PhotonVisionConfig;
+import frc.robot.utilities.VisualPose;
 
 /**
  * This "Subsystem" is not actually a Subsystem. The intent is for this to be treated as
@@ -57,7 +58,8 @@ public class PhotonVision extends SubsystemBase {
         for(int i = 0; i < PhotonConstants.configs.size(); i++) {
             cameras[i] = new PhotonCamera(PhotonConstants.configs.get(i).cameraName());
             estimators[i] = new PhotonPoseEstimator(
-                CompetitionConstants.kField, 
+                CompetitionConstants.kTagLayout, 
+                PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, 
                 PhotonConstants.configs.get(i).robotToCamera()
             );
             latestResults.add(null);
@@ -74,7 +76,7 @@ public class PhotonVision extends SubsystemBase {
             if(!results.isEmpty()) {
                 latestResults.set(i, results.get(results.size() - 1));
 
-                Optional<EstimatedRobotPose> pose = estimators[i].estimateCoprocMultiTagPose(latestResults.get(i));
+                Optional<EstimatedRobotPose> pose = estimators[i].update(latestResults.get(i));
 
                 if(!pose.isEmpty()) {
                     VisualPose visualPose = new VisualPose(
@@ -134,9 +136,9 @@ public class PhotonVision extends SubsystemBase {
         // See PhotonPoseEstimator.multiTagOnCoprocStrategy
         // TODO This doesn't currently account for the offset of the tag relative to say the hub
         // unclear if that offset amount will be important or not
-        return Optional.of(Pose3d.ZERO
+        return Optional.of(Pose3d.kZero
             .plus(bestCameraToTarget.inverse())
-            .relativeTo(CompetitionConstants.kField.getOrigin())
+            .relativeTo(CompetitionConstants.kTagLayout.getOrigin())
             .plus(config.robotToCamera().inverse()));
     }
 
@@ -201,4 +203,3 @@ public class PhotonVision extends SubsystemBase {
         poseEstimateConsumers.add(consumer);
     }
 }
-

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

@@ -0,0 +1,123 @@
+package frc.robot.subsystems;
+
+import java.util.Optional;
+import java.util.function.DoubleSupplier;
+
+import org.littletonrobotics.junction.Logger;
+
+import com.revrobotics.AbsoluteEncoder;
+import com.revrobotics.PersistMode;
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.ResetMode;
+import com.revrobotics.spark.SparkClosedLoopController;
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkBase.ControlType;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.constants.ShooterConstants;
+import frc.robot.constants.ShooterConstants.ShooterSpeeds;
+
+public class Shooter extends SubsystemBase {
+    private SparkMax leftMotor;
+    private SparkMax rightMotor;
+
+    private AbsoluteEncoder leftEncoder;
+    private AbsoluteEncoder rightEncoder;
+
+    private RelativeEncoder rightRelative;
+
+    private SparkClosedLoopController leftClosedLoopController;
+    private SparkClosedLoopController rightClosedLoopController;
+
+    private ShooterSpeeds targetSpeeds;
+
+    public Shooter() {
+        leftMotor = new SparkMax(ShooterConstants.kLeftShooterMotorCANID, MotorType.kBrushless);
+        rightMotor = new SparkMax(ShooterConstants.kRightShooterMotorCANID, MotorType.kBrushless);
+
+        leftMotor.configure(
+            ShooterConstants.kLeftMotorConfig, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
+
+        rightMotor.configure(
+            ShooterConstants.kRightMotorConfig, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
+
+        leftEncoder = leftMotor.getAbsoluteEncoder();
+        rightEncoder = rightMotor.getAbsoluteEncoder();
+
+        leftClosedLoopController = leftMotor.getClosedLoopController();
+        rightClosedLoopController = rightMotor.getClosedLoopController();
+
+        // TODO Set this to the initial startup speed
+        targetSpeeds = null;
+
+        rightRelative = rightMotor.getEncoder();
+    }
+
+    @Override
+    public void periodic() {
+        Logger.recordOutput(
+            "Shooter/TargetRPM", 
+            targetSpeeds == null ? 0 : targetSpeeds.getSpeedRPM()
+        );
+
+        Logger.recordOutput("Shooter/LeftRollers/CurrentRPM", leftEncoder.getVelocity());
+        Logger.recordOutput("Shooter/RightRollers/CurrentRPM", rightEncoder.getVelocity());
+
+        Logger.recordOutput("Shooter/RightRollers/rightmotor", rightRelative.getVelocity());
+
+
+        // TODO How does the SparkMAX controller determine "at setpoint"? Is there any tolerance?
+        Logger.recordOutput("Shooter/LeftRollers/AtSetpoint", leftClosedLoopController.isAtSetpoint());
+        Logger.recordOutput("Shooter/RightRollers/AtSetpoint", rightClosedLoopController.isAtSetpoint());
+    }
+
+    public Command maintainSpeed(ShooterSpeeds speeds) {
+        return run(() -> {
+            targetSpeeds = speeds;
+
+            if(targetSpeeds == null) {
+                leftMotor.disable();
+                rightMotor.disable();
+            } else {
+                leftClosedLoopController.setSetpoint(
+                    targetSpeeds.getSpeedRPM(), 
+                    ControlType.kVelocity
+                );
+
+                rightClosedLoopController.setSetpoint(
+                    targetSpeeds.getSpeedRPM(), 
+                    ControlType.kVelocity
+                );
+            }
+        });
+    }
+
+    public Command manualSpeed(DoubleSupplier speed) {
+        return run(() -> {
+            targetSpeeds = null;
+            
+            leftMotor.set(speed.getAsDouble() * ShooterConstants.kMaxManualSpeedMultiplier);
+            rightMotor.set(speed.getAsDouble() * ShooterConstants.kMaxManualSpeedMultiplier);
+        });
+    }
+
+    public Command stop() {
+        return manualSpeed(() -> 0);
+    }
+
+    public double getAverageActualSpeeds() {
+        return (leftEncoder.getVelocity() + rightEncoder.getVelocity()) / 2;
+    }
+
+    public Optional<ShooterSpeeds> getTargetSpeeds() {
+        return Optional.ofNullable(targetSpeeds);
+    }
+}

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

@@ -1,24 +1,17 @@
-package first.robot.subsystems;
+package frc.robot.subsystems;
 
-import java.util.function.DoubleSupplier;
-
-import org.wpilib.command2.Command;
-import org.wpilib.command2.SubsystemBase;
-import org.wpilib.epilogue.Logged;
-
-import com.ctre.phoenix6.CANBus;
 import com.ctre.phoenix6.controls.DutyCycleOut;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.revrobotics.PersistMode;
 import com.revrobotics.ResetMode;
-import com.revrobotics.spark.SparkLowLevel.MotorType;
 import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
 
-import first.robot.constants.SpindexerConstants;
+import edu.wpi.first.wpilibj2.command.Command;
-import first.robot.interfaces.IIndexer;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.constants.SpindexerConstants;
 
-@Logged
+public class Spindexer extends SubsystemBase {
-public class Spindexer extends SubsystemBase implements IIndexer {
     private TalonFX spindexerMotor;
 
     private SparkMax feederMotor;
@@ -26,16 +19,9 @@ public class Spindexer extends SubsystemBase implements IIndexer {
     private DutyCycleOut spindexerMotorOutput;
 
     public Spindexer() {
-        spindexerMotor = new TalonFX(
+        spindexerMotor = new TalonFX(SpindexerConstants.kSpindexerMotorCANID);
-            SpindexerConstants.kSpindexerMotorCANID,
-            new CANBus(SpindexerConstants.kCANPort)
-        );
 
-        feederMotor = new SparkMax(
+        feederMotor = new SparkMax(SpindexerConstants.kFeederMotorCANID, MotorType.kBrushless);
-            SpindexerConstants.kCANPort,
-            SpindexerConstants.kFeederMotorCANID, 
-            MotorType.kBrushless
-        );
 
         spindexerMotor.getConfigurator().apply(SpindexerConstants.kSpindexerCurrentLimitConfig);
         spindexerMotor.getConfigurator().apply(SpindexerConstants.kSpindexerMotorConfig);
@@ -54,23 +40,7 @@ public class Spindexer extends SubsystemBase implements IIndexer {
             spindexerMotor.setControl(
                 spindexerMotorOutput.withOutput(SpindexerConstants.kSpindexerSpeed)
             );
-            feederMotor.setThrottle(SpindexerConstants.kFeederSpeed);
+            feederMotor.set(SpindexerConstants.kFeederSpeed);
-        });
-    }
-
-    public Command spinToShooter(DoubleSupplier shooterSpeedRPM, double cutOffRPM) {
-        return run(() -> {
-            if(shooterSpeedRPM.getAsDouble() < cutOffRPM) {
-                spindexerMotor.setControl(
-                    spindexerMotorOutput.withOutput(0)
-                );
-                feederMotor.setThrottle(0);
-            } else {
-                spindexerMotor.setControl(
-                    spindexerMotorOutput.withOutput(SpindexerConstants.kSpindexerSpeed)
-                );
-                feederMotor.setThrottle(SpindexerConstants.kFeederSpeed);
-            }
         });
     }
 
@@ -79,22 +49,22 @@ public class Spindexer extends SubsystemBase implements IIndexer {
             spindexerMotor.setControl(
                 spindexerMotorOutput.withOutput(-SpindexerConstants.kSpindexerSpeed)
             );
-            feederMotor.setThrottle(-SpindexerConstants.kFeederSpeed);
+            feederMotor.set(-SpindexerConstants.kFeederSpeed);
         });
     }
 
     public Command stop() {
         return run(() -> {
             spindexerMotor.setControl(spindexerMotorOutput.withOutput(0));
-            feederMotor.setThrottle(0);
+            feederMotor.set(0);
         });
     }
 
     public Command instantaneousStop() {
         return runOnce(() -> {
             spindexerMotor.setControl(spindexerMotorOutput.withOutput(0));
-            feederMotor.setThrottle(0);
+            feederMotor.set(0);
         });
     }
     
-}
+}

src/main/java/frc/robot/utilities/Elastic.java

@@ -1,27 +1,28 @@
-package first.robot.utilities;
+// Copyright (c) 2023-2026 Gold87 and other Elastic contributors
+// This software can be modified and/or shared under the terms
+// defined by the Elastic license:
+// https://github.com/Gold872/elastic_dashboard/blob/main/LICENSE
 
-import org.wpilib.networktables.NetworkTableInstance;
+package frc.robot.utilities;
-import org.wpilib.networktables.PubSubOption;
-import org.wpilib.networktables.StringPublisher;
-import org.wpilib.networktables.StringTopic;
 
-import io.avaje.json.JsonException;
+import com.fasterxml.jackson.annotation.JsonProperty;
-import io.avaje.jsonb.Json;
+import com.fasterxml.jackson.core.JsonProcessingException;
-import io.avaje.jsonb.JsonType;
+import com.fasterxml.jackson.databind.ObjectMapper;
-import io.avaje.jsonb.Jsonb;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.networktables.PubSubOption;
+import edu.wpi.first.networktables.StringPublisher;
+import edu.wpi.first.networktables.StringTopic;
 
 public final class Elastic {
   private static final StringTopic notificationTopic =
       NetworkTableInstance.getDefault().getStringTopic("/Elastic/RobotNotifications");
   private static final StringPublisher notificationPublisher =
-      notificationTopic.publish(PubSubOption.SEND_ALL, PubSubOption.KEEP_DUPLICATES);
+      notificationTopic.publish(PubSubOption.sendAll(true), PubSubOption.keepDuplicates(true));
   private static final StringTopic selectedTabTopic =
       NetworkTableInstance.getDefault().getStringTopic("/Elastic/SelectedTab");
   private static final StringPublisher selectedTabPublisher =
-      selectedTabTopic.publish(PubSubOption.KEEP_DUPLICATES);
+      selectedTabTopic.publish(PubSubOption.keepDuplicates(true));
-  private static final Jsonb jsonb = Jsonb.builder().build();
+  private static final ObjectMapper objectMapper = new ObjectMapper();
-  private static final JsonType<Notification> notificationJsonType =
-      jsonb.type(Notification.class);
 
   /**
    * Represents the possible levels of notifications for the Elastic dashboard. These levels are
@@ -44,8 +45,8 @@ public final class Elastic {
    */
   public static void sendNotification(Notification notification) {
     try {
-      notificationPublisher.set(notificationJsonType.toJson(notification));
+      notificationPublisher.set(objectMapper.writeValueAsString(notification));
-    } catch (JsonException e) {
+    } catch (JsonProcessingException e) {
       e.printStackTrace();
     }
   }
@@ -78,24 +79,23 @@ public final class Elastic {
    * properties such as level, title, description, display time, and dimensions to control how the
    * notification is displayed on the dashboard.
    */
-  @Json
   public static class Notification {
-    @Json.Property("level")
+    @JsonProperty("level")
     private NotificationLevel level;
 
-    @Json.Property("title")
+    @JsonProperty("title")
     private String title;
 
-    @Json.Property("description")
+    @JsonProperty("description")
     private String description;
 
-    @Json.Property("displayTime")
+    @JsonProperty("displayTime")
     private int displayTimeMillis;
 
-    @Json.Property("width")
+    @JsonProperty("width")
     private double width;
 
-    @Json.Property("height")
+    @JsonProperty("height")
     private double height;
 
     /**

src/main/java/frc/robot/utilities/PhotonVisionConfig.java

@@ -1,6 +1,6 @@
-package first.robot.utilities;
+package frc.robot.utilities;
 
-import org.wpilib.math.geometry.Transform3d;
+import edu.wpi.first.math.geometry.Transform3d;
 
 public record PhotonVisionConfig (
     String cameraName,

src/main/java/frc/robot/utilities/SparkMAXTester.java

@@ -1,13 +1,12 @@
-package first.robot.utilities;
+package frc.robot.utilities;
 
 import java.util.function.DoubleSupplier;
 
-import org.wpilib.command2.Command;
-import org.wpilib.command2.SubsystemBase;
-import org.wpilib.hardware.bus.CANPort;
-
-import com.revrobotics.spark.SparkLowLevel.MotorType;
 import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 /**
  * A simple subsystem that can be used to test a single SparkMax and associated NEO motor
@@ -20,8 +19,8 @@ public class SparkMAXTester extends SubsystemBase {
      * 
      * @param deviceID The CAN ID of the SparkMAX that needs testing
      */
-    public SparkMAXTester(CANPort canPort, int deviceID) {
+    public SparkMAXTester(int deviceID) {
-        spark = new SparkMax(canPort, deviceID, MotorType.kBrushless);
+        spark = new SparkMax(deviceID, MotorType.kBrushless);
     }
 
     /**
@@ -32,7 +31,7 @@ public class SparkMAXTester extends SubsystemBase {
      */
     public Command setSpeed(DoubleSupplier speed) {
         return run(() -> {
-            spark.setThrottle(speed.getAsDouble());
+            spark.set(speed.getAsDouble());
         });
     }
 }

src/main/java/frc/robot/utilities/SwerveModule.java

@@ -1,24 +1,23 @@
-package first.robot.utilities;
+package frc.robot.utilities;
 
-import org.wpilib.hardware.bus.CANPort;
+import org.littletonrobotics.junction.Logger;
-import org.wpilib.hardware.rotation.AnalogEncoder;
-import org.wpilib.math.geometry.Rotation2d;
-import org.wpilib.math.kinematics.SwerveModulePosition;
-import org.wpilib.math.kinematics.SwerveModuleVelocity;
 
-import com.ctre.phoenix6.CANBus;
 import com.ctre.phoenix6.controls.VelocityVoltage;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.revrobotics.PersistMode;
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.ResetMode;
 import com.revrobotics.spark.SparkClosedLoopController;
-import com.revrobotics.spark.SparkLowLevel.ControlType;
-import com.revrobotics.spark.SparkLowLevel.MotorType;
 import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkBase.ControlType;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
 
-import first.robot.constants.ModuleConstants;
+import edu.wpi.first.math.geometry.Rotation2d;
-import first.robot.constants.ModuleConstants.ModuleName;
+import edu.wpi.first.math.kinematics.SwerveModulePosition;
+import edu.wpi.first.math.kinematics.SwerveModuleState;
+import edu.wpi.first.wpilibj.AnalogEncoder;
+import frc.robot.constants.ModuleConstants;
+import frc.robot.constants.ModuleConstants.ModuleName;
 
 /*
  * This thread
@@ -45,8 +44,8 @@ public class SwerveModule {
 
     private VelocityVoltage driveVelocityRequest;
 
-    private SwerveModuleVelocity lastTargetState;
+    private SwerveModuleState lastTargetState;
-    private SwerveModuleVelocity lastTargetStateOptimized;
+    private SwerveModuleState lastTargetStateOptimized;
 
     private boolean isAbsoluteEncoderDisabled;
     private boolean turningEncoderAutoRezeroEnabled;
@@ -57,35 +56,32 @@ public class SwerveModule {
      * This constructor assumes you zeroed the swerve modules (faced all the bevel gears to the left)
      * before booting up the robot.
      * 
-     * @param canPort The CANPort enumeration that represents the CAN bus that the motors for this module live on
      * @param moduleName The module name, Front Left, Front Right, etc.
      * @param drivingCANID The CAN ID of the Kraken used to drive the module wheel
      * @param turningCANID The CAN ID of the Spark MAX used to turn the module wheel
      */
-    public SwerveModule(CANPort canPort, ModuleName moduleName, int drivingCANID, int turningCANID) {
+    public SwerveModule(ModuleName moduleName, int drivingCANID, int turningCANID) {
-        this(canPort, moduleName, drivingCANID, turningCANID, -1, -1);
+        this(moduleName, drivingCANID, turningCANID, -1, -1);
     }
 
     /**
      * Builds the swerve module with the normal features, disables automatic rezeroing of the turning encoder
      * from the absolute encoder. 
      * 
-     * @param canPort The CANPort enumeration that represents the CAN bus that the motors for this module live on
      * @param moduleName The module name, Front Left, Front Right, etc.
      * @param drivingCANID The CAN ID of the Kraken used to drive the module wheel
      * @param turningCANID The CAN ID of the Spark MAX used to turn the module wheel
      * @param analogEncoderID The Analog In port ID for the Thrify Absolute Encoder
      * @param analogEncoderOffset The angular offset for the absolute encoder to achieve 0 position on the module 
      */
-    public SwerveModule(CANPort canPort, ModuleName moduleName, int drivingCANID, int turningCANID, int analogEncoderID, double analogEncoderOffset) {
+    public SwerveModule(ModuleName moduleName, int drivingCANID, int turningCANID, int analogEncoderID, double analogEncoderOffset) {
-        this(canPort, moduleName, drivingCANID, turningCANID, analogEncoderID, analogEncoderOffset, false);
+        this(moduleName, drivingCANID, turningCANID, analogEncoderID, analogEncoderOffset, false);
     }
 
     /**
      * Builds the swerve module with the normal features, and gives the option to enable automatic turning encoder rezeroing
      * when the turning motor is not moving
      * 
-     * @param canPort The CANPort enumeration that represents the CAN bus that the motors for this module live on
      * @param moduleName The module name, Front Left, Front Right, etc.
      * @param drivingCANID The CAN ID of the Kraken used to drive the module wheel
      * @param turningCANID The CAN ID of the Spark MAX used to turn the module wheel
@@ -93,12 +89,12 @@ public class SwerveModule {
      * @param analogEncoderOffset The angular offset for the absolute encoder to achieve 0 position on the module 
      * @param turningEncoderAutoRezeroEnabled Should the turning encoder in the NEO automatically rezero from the absolute encoder
      */
-    public SwerveModule(CANPort canPort, ModuleName moduleName, int drivingCANID, int turningCANID, 
+    public SwerveModule(ModuleName moduleName, int drivingCANID, int turningCANID, 
         int analogEncoderID, double analogEncoderOffset, boolean turningEncoderAutoRezeroEnabled) {
         isAbsoluteEncoderDisabled = (analogEncoderID == -1) || (analogEncoderOffset < 0);
 
-        drive = new TalonFX(drivingCANID, new CANBus(canPort));
+        drive = new TalonFX(drivingCANID);
-        turning = new SparkMax(canPort, turningCANID, MotorType.kBrushless);
+        turning = new SparkMax(turningCANID, MotorType.kBrushless);
 
         turningRelativeEncoder = turning.getEncoder();
 
@@ -165,8 +161,8 @@ public class SwerveModule {
         return moduleName;
     }
 
-    public SwerveModuleVelocity getState() {
+    public SwerveModuleState getState() {
-        return new SwerveModuleVelocity(
+        return new SwerveModuleState(
             drive.getVelocity().getValueAsDouble() * ModuleConstants.kWheelCircumferenceMeters, 
             new Rotation2d(getTurningEncoderPosition())
         );
@@ -184,8 +180,8 @@ public class SwerveModule {
         turning.disable();
     }
 
-    public void setDesiredState(SwerveModuleVelocity desiredState) {
+    public void setDesiredState(SwerveModuleState desiredState) {
-        lastTargetState = new SwerveModuleVelocity(desiredState.velocity, desiredState.angle);
+        lastTargetState = new SwerveModuleState(desiredState.speedMetersPerSecond, desiredState.angle);
         
         desiredState.optimize(new Rotation2d(getTurningEncoderPosition()));
 
@@ -193,9 +189,9 @@ public class SwerveModule {
 
         drive.setControl(
             driveVelocityRequest.withVelocity(
-                desiredState.velocity / ModuleConstants.kWheelCircumferenceMeters
+                desiredState.speedMetersPerSecond / ModuleConstants.kWheelCircumferenceMeters
             ).withFeedForward(
-                desiredState.velocity / ModuleConstants.kWheelCircumferenceMeters
+                desiredState.speedMetersPerSecond / ModuleConstants.kWheelCircumferenceMeters
             )
         );
 
@@ -206,7 +202,7 @@ public class SwerveModule {
     }
 
     public double getTurningEncoderPosition() {
-        return turningRelativeEncoder.getPosition().get() * (ModuleConstants.kIsEncoderInverted ? -1 : 1);
+        return turningRelativeEncoder.getPosition() * (ModuleConstants.kIsEncoderInverted ? -1 : 1);
     }
 
     public void resetEncoders() {
@@ -223,4 +219,3 @@ public class SwerveModule {
         }
     }
 }
-

src/main/java/frc/robot/utilities/Utilities.java

@@ -1,12 +1,11 @@
-package first.robot.utilities;
+package frc.robot.utilities;
 
 import java.util.Optional;
 
-import org.wpilib.driverstation.Alliance;
+import edu.wpi.first.math.geometry.Pose2d;
-import org.wpilib.driverstation.MatchState;
+import edu.wpi.first.wpilibj.DriverStation;
-import org.wpilib.math.geometry.Pose2d;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
-
+import frc.robot.constants.CompetitionConstants;
-import first.robot.constants.CompetitionConstants;
 
 public class Utilities {
     public static final double kG = -9.81;
@@ -19,22 +18,19 @@ public class Utilities {
      *  is not present
      */
     public static Alliance whoHasFirstShift() {
-        Optional<String> gameData = MatchState.getGameData();
+        String gameData = DriverStation.getGameSpecificMessage();
 
-        if(gameData.isPresent()) {
+        if(gameData.length() > 0) {
-            String gameDataString = gameData.get();
+            switch (gameData.charAt(0)) {
-
+                case 'B':
-            if(gameDataString.length() > 0) {
+                    return Alliance.Red;
-                switch (gameDataString.charAt(0)) {
+                case 'R':
-                    case 'B':
+                    return Alliance.Blue;
-                        return Alliance.RED;
+                default:
-                    case 'R':
+                    return null;
-                        return Alliance.BLUE;
-                    default:
-                        return null;
-                }
             }
         }
+        
         return null;
     }
 
@@ -46,9 +42,9 @@ public class Utilities {
      * @return The Pose2d object which represents the appropriate pose of the Hub
      */
     public static Pose2d getHubPose() {
-        Optional<Alliance> alliance = MatchState.getAlliance();
+        Optional<Alliance> alliance = DriverStation.getAlliance();
 
-        if(alliance.isEmpty() || alliance.get() == Alliance.BLUE) {
+        if(alliance.isEmpty() || alliance.get() == Alliance.Blue) {
             return CompetitionConstants.kBlueHubLocation;
         } else {
             return CompetitionConstants.kRedHubLocation;
@@ -63,9 +59,9 @@ public class Utilities {
      * @return The tag ID that is in the center of the assigned alliance's hub
      */
     public static int getHubCenterAprilTagID() {
-        Optional<Alliance> alliance = MatchState.getAlliance();
+        Optional<Alliance> alliance = DriverStation.getAlliance();
 
-        if(alliance.isEmpty() || alliance.get() == Alliance.BLUE) {
+        if(alliance.isEmpty() || alliance.get() == Alliance.Blue) {
             return 26;
         } else {
             return 10;

src/main/java/frc/robot/utilities/VisualPose.java

@@ -1,6 +1,6 @@
-package first.robot.utilities;
+package frc.robot.utilities;
 
-import org.wpilib.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Pose2d;
 
 /**
  * A record class which represents the source of a visual pose, the pose itself

vendordeps/AdvantageKit.json

@@ -0,0 +1,35 @@
+{
+    "fileName": "AdvantageKit.json",
+    "name": "AdvantageKit",
+    "version": "26.0.0",
+    "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
+    "frcYear": "2026",
+    "mavenUrls": [
+        "https://frcmaven.wpi.edu/artifactory/littletonrobotics-mvn-release/"
+    ],
+    "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json",
+    "javaDependencies": [
+        {
+            "groupId": "org.littletonrobotics.akit",
+            "artifactId": "akit-java",
+            "version": "26.0.0"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "org.littletonrobotics.akit",
+            "artifactId": "akit-wpilibio",
+            "version": "26.0.0",
+            "skipInvalidPlatforms": false,
+            "isJar": false,
+            "validPlatforms": [
+                "linuxathena",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal",
+                "windowsx86-64"
+            ]
+        }
+    ],
+    "cppDependencies": []
+}

vendordeps/PathplannerLib-2026.1.2.json

@@ -1,18 +1,18 @@
 {
-    "fileName": "PathplannerLibSystemCoreAlpha.json",
+    "fileName": "PathplannerLib-2026.1.2.json",
     "name": "PathplannerLib",
-    "version": "2027.0.0-alpha-4.1",
+    "version": "2026.1.2",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
-    "wpilibYear": "2027_alpha7",
+    "frcYear": "2026",
     "mavenUrls": [
         "https://3015rangerrobotics.github.io/pathplannerlib/repo"
     ],
-    "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLibSystemCoreAlpha.json",
+    "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json",
     "javaDependencies": [
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2027.0.0-alpha-4.1"
+            "version": "2026.1.2"
         }
     ],
     "jniDependencies": [],
@@ -20,7 +20,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2027.0.0-alpha-4.1",
+            "version": "2026.1.2",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -29,7 +29,8 @@
                 "windowsx86-64",
                 "linuxx86-64",
                 "osxuniversal",
-                "linuxsystemcore",
+                "linuxathena",
+                "linuxarm32",
                 "linuxarm64"
             ]
         }

vendordeps/Phoenix5-5.36.0.json

@@ -0,0 +1,171 @@
+{
+    "fileName": "Phoenix5-5.36.0.json",
+    "name": "CTRE-Phoenix (v5)",
+    "version": "5.36.0",
+    "frcYear": "2026",
+    "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
+    "mavenUrls": [
+        "https://maven.ctr-electronics.com/release/"
+    ],
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2026-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-frc2026-latest.json",
+            "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-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-frc2026-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-frc2026-latest.json"
+        }
+    ],
+    "javaDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "api-java",
+            "version": "5.36.0"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "wpiapi-java",
+            "version": "5.36.0"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "cci",
+            "version": "5.36.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "cci-sim",
+            "version": "5.36.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "wpiapi-cpp",
+            "version": "5.36.0",
+            "libName": "CTRE_Phoenix_WPI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "api-cpp",
+            "version": "5.36.0",
+            "libName": "CTRE_Phoenix",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "cci",
+            "version": "5.36.0",
+            "libName": "CTRE_PhoenixCCI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "wpiapi-cpp-sim",
+            "version": "5.36.0",
+            "libName": "CTRE_Phoenix_WPISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "api-cpp-sim",
+            "version": "5.36.0",
+            "libName": "CTRE_PhoenixSim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "cci-sim",
+            "version": "5.36.0",
+            "libName": "CTRE_PhoenixCCISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ]
+}

vendordeps/Phoenix6-26.1.0.json

@@ -1,60 +1,60 @@
 {
-    "fileName": "Phoenix6-26.70.0-alpha-2.json",
+    "fileName": "Phoenix6-26.1.0.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "26.70.0-alpha-2",
+    "version": "26.1.0",
-    "wpilibYear": "2027_alpha7",
+    "frcYear": "2026",
     "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-frc2027-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-latest.json",
     "conflictsWith": [
         {
             "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
-            "errorMessage": "Users cannot have both the replay and regular Phoenix 6 vendordeps in their robot program.",
+            "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.",
-            "offlineFileName": "Phoenix6-replay-frc2027-latest.json"
+            "offlineFileName": "Phoenix6-replay-frc2026-latest.json"
         }
     ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "26.70.0-alpha-2"
+            "version": "26.1.0"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "api-cpp",
-            "version": "26.70.0-alpha-2",
+            "version": "26.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
                 "windowsx86-64",
                 "linuxx86-64",
                 "linuxarm64",
-                "linuxsystemcore"
+                "linuxathena"
             ],
             "simMode": "hwsim"
         },
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "26.70.0-alpha-2",
+            "version": "26.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
                 "windowsx86-64",
                 "linuxx86-64",
                 "linuxarm64",
-                "linuxsystemcore"
+                "linuxathena"
             ],
             "simMode": "hwsim"
         },
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "api-cpp-sim",
-            "version": "26.70.0-alpha-2",
+            "version": "26.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -68,7 +68,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "26.70.0-alpha-2",
+            "version": "26.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -82,7 +82,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "26.70.0-alpha-2",
+            "version": "26.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -96,7 +96,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "26.70.0-alpha-2",
+            "version": "26.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +110,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "26.70.0-alpha-2",
+            "version": "26.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -124,7 +124,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "26.70.0-alpha-2",
+            "version": "26.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -138,7 +138,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFXS",
-            "version": "26.70.0-alpha-2",
+            "version": "26.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -152,7 +152,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "26.70.0-alpha-2",
+            "version": "26.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -166,7 +166,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "26.70.0-alpha-2",
+            "version": "26.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -180,7 +180,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "26.70.0-alpha-2",
+            "version": "26.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -194,7 +194,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdi",
-            "version": "26.70.0-alpha-2",
+            "version": "26.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -208,7 +208,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdle",
-            "version": "26.70.0-alpha-2",
+            "version": "26.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -224,7 +224,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "26.70.0-alpha-2",
+            "version": "26.1.0",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -233,14 +233,14 @@
                 "windowsx86-64",
                 "linuxx86-64",
                 "linuxarm64",
-                "linuxsystemcore"
+                "linuxathena"
             ],
             "simMode": "hwsim"
         },
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "26.70.0-alpha-2",
+            "version": "26.1.0",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -249,14 +249,14 @@
                 "windowsx86-64",
                 "linuxx86-64",
                 "linuxarm64",
-                "linuxsystemcore"
+                "linuxathena"
             ],
             "simMode": "hwsim"
         },
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "26.70.0-alpha-2",
+            "version": "26.1.0",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -272,7 +272,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "26.70.0-alpha-2",
+            "version": "26.1.0",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -288,7 +288,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "26.70.0-alpha-2",
+            "version": "26.1.0",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -304,7 +304,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "26.70.0-alpha-2",
+            "version": "26.1.0",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -320,7 +320,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "26.70.0-alpha-2",
+            "version": "26.1.0",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -336,7 +336,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "26.70.0-alpha-2",
+            "version": "26.1.0",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -352,7 +352,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFXS",
-            "version": "26.70.0-alpha-2",
+            "version": "26.1.0",
             "libName": "CTRE_SimProTalonFXS",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -368,7 +368,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "26.70.0-alpha-2",
+            "version": "26.1.0",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -384,7 +384,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "26.70.0-alpha-2",
+            "version": "26.1.0",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -400,7 +400,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "26.70.0-alpha-2",
+            "version": "26.1.0",
             "libName": "CTRE_SimProCANrange",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -416,7 +416,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdi",
-            "version": "26.70.0-alpha-2",
+            "version": "26.1.0",
             "libName": "CTRE_SimProCANdi",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -432,7 +432,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdle",
-            "version": "26.70.0-alpha-2",
+            "version": "26.1.0",
             "libName": "CTRE_SimProCANdle",
             "headerClassifier": "headers",
             "sharedLibrary": true,

vendordeps/REVLib.json

@@ -1,60 +1,63 @@
 {
     "fileName": "REVLib.json",
     "name": "REVLib",
-    "version": "2027.0.0-alpha-8",
+    "version": "2026.0.0",
-    "wpilibYear": "2027_alpha7",
+    "frcYear": "2026",
     "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
     "mavenUrls": [
         "https://maven.revrobotics.com/"
     ],
-    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2027.json",
+    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2026.json",
     "javaDependencies": [
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-java",
-            "version": "2027.0.0-alpha-8"
+            "version": "2026.0.0"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2027.0.0-alpha-8",
+            "version": "2026.0.0",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
                 "windowsx86-64",
                 "linuxarm64",
                 "linuxx86-64",
-                "linuxsystemcore",
+                "linuxathena",
+                "linuxarm32",
                 "osxuniversal"
             ]
         },
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "RevLibBackendDriver",
-            "version": "2027.0.0-alpha-8",
+            "version": "2026.0.0",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
                 "windowsx86-64",
                 "linuxarm64",
                 "linuxx86-64",
-                "linuxsystemcore",
+                "linuxathena",
+                "linuxarm32",
                 "osxuniversal"
             ]
         },
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "RevLibWpiBackendDriver",
-            "version": "2027.0.0-alpha-8",
+            "version": "2026.0.0",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
                 "windowsx86-64",
                 "linuxarm64",
                 "linuxx86-64",
-                "linuxsystemcore",
+                "linuxathena",
+                "linuxarm32",
                 "osxuniversal"
             ]
         }
@@ -63,7 +66,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-cpp",
-            "version": "2027.0.0-alpha-8",
+            "version": "2026.0.0",
             "libName": "REVLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -72,14 +75,15 @@
                 "windowsx86-64",
                 "linuxarm64",
                 "linuxx86-64",
-                "linuxsystemcore",
+                "linuxathena",
+                "linuxarm32",
                 "osxuniversal"
             ]
         },
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2027.0.0-alpha-8",
+            "version": "2026.0.0",
             "libName": "REVLibDriver",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -88,14 +92,15 @@
                 "windowsx86-64",
                 "linuxarm64",
                 "linuxx86-64",
-                "linuxsystemcore",
+                "linuxathena",
+                "linuxarm32",
                 "osxuniversal"
             ]
         },
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "RevLibBackendDriver",
-            "version": "2027.0.0-alpha-8",
+            "version": "2026.0.0",
             "libName": "BackendDriver",
             "sharedLibrary": true,
             "skipInvalidPlatforms": true,
@@ -103,14 +108,15 @@
                 "windowsx86-64",
                 "linuxarm64",
                 "linuxx86-64",
-                "linuxsystemcore",
+                "linuxathena",
+                "linuxarm32",
                 "osxuniversal"
             ]
         },
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "RevLibWpiBackendDriver",
-            "version": "2027.0.0-alpha-8",
+            "version": "2026.0.0",
             "libName": "REVLibWpi",
             "sharedLibrary": true,
             "skipInvalidPlatforms": true,
@@ -118,7 +124,8 @@
                 "windowsx86-64",
                 "linuxarm64",
                 "linuxx86-64",
-                "linuxsystemcore",
+                "linuxathena",
+                "linuxarm32",
                 "osxuniversal"
             ]
         }

vendordeps/Studica.json

@@ -0,0 +1,71 @@
+{
+    "fileName": "Studica.json",
+    "name": "Studica",
+    "version": "2026.0.0",
+    "frcYear": "2026",
+    "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
+    "mavenUrls": [
+        "https://dev.studica.com/maven/release/2026/"
+    ],
+    "jsonUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.studica.frc",
+            "artifactId": "Studica-java",
+            "version": "2026.0.0"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.studica.frc",
+            "artifactId": "Studica-driver",
+            "version": "2026.0.0",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.studica.frc",
+            "artifactId": "Studica-cpp",
+            "version": "2026.0.0",
+            "libName": "Studica",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.studica.frc",
+            "artifactId": "Studica-driver",
+            "version": "2026.0.0",
+            "libName": "StudicaDriver",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ]
+}

vendordeps/WPILibNewCommands.json

@@ -1,41 +1,36 @@
 {
-  "fileName": "CommandsV2.json",
+  "fileName": "WPILibNewCommands.json",
-  "name": "Commands V2",
+  "name": "WPILib-New-Commands",
   "version": "1.0.0",
   "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "wpilibYear": "2027_alpha7",
+  "frcYear": "2026",
   "mavenUrls": [],
   "jsonUrl": "",
-  "conflictsWith": [
-    {
-      "uuid": "4decdc05-a056-46cf-9561-39449bbb01306",
-      "errorMessage": "Users can not have both Commands v2 and Commands v3 vendordeps in their robot program.",
-      "offlineFileName": "CommandsV3.json"
-    }
-  ],
   "javaDependencies": [
     {
-      "groupId": "org.wpilib.commandsv2",
+      "groupId": "edu.wpi.first.wpilibNewCommands",
-      "artifactId": "commandsv2-java",
+      "artifactId": "wpilibNewCommands-java",
       "version": "wpilib"
     }
   ],
   "jniDependencies": [],
   "cppDependencies": [
     {
-      "groupId": "org.wpilib.commandsv2",
+      "groupId": "edu.wpi.first.wpilibNewCommands",
-      "artifactId": "commandsv2-cpp",
+      "artifactId": "wpilibNewCommands-cpp",
       "version": "wpilib",
-      "libName": "commandsv2",
+      "libName": "wpilibNewCommands",
       "headerClassifier": "headers",
       "sourcesClassifier": "sources",
       "sharedLibrary": true,
       "skipInvalidPlatforms": true,
       "binaryPlatforms": [
         "linuxsystemcore",
+        "linuxathena",
+        "linuxarm32",
         "linuxarm64",
         "windowsx86-64",
-        "windowsarm64",
+        "windowsx86",
         "linuxx86-64",
         "osxuniversal"
       ]

vendordeps/photonlib-v2027.0.0-alpha-2.json

@@ -1,84 +0,0 @@
-{
-  "fileName": "photonlib.json",
-  "name": "photonlib",
-  "version": "dev-v2027.0.0-alpha-2-81-g5b5b7870",
-  "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
-  "wpilibYear": "2027_alpha7",
-  "mavenUrls": [
-    "https://maven.photonvision.org/repository/internal",
-    "https://maven.photonvision.org/repository/snapshots"
-  ],
-  "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json",
-  "jniDependencies": [
-    {
-      "groupId": "org.photonvision",
-      "artifactId": "photontargeting-cpp",
-      "version": "dev-v2027.0.0-alpha-2-81-g5b5b7870",
-      "skipInvalidPlatforms": true,
-      "isJar": false,
-      "validPlatforms": [
-        "windowsx86-64",
-        "linuxsystemcore",
-        "linuxx86-64",
-        "osxuniversal"
-      ]
-    },
-    {
-      "groupId": "org.wpilib.fields",
-      "artifactId": "fields-cpp",
-      "version": "wpilib",
-      "skipInvalidPlatforms": true,
-      "isJar": false,
-      "validPlatforms": [
-        "windowsx86-64",
-        "linuxsystemcore",
-        "linuxx86-64",
-        "osxuniversal"
-      ]
-    }
-  ],
-  "cppDependencies": [
-    {
-      "groupId": "org.photonvision",
-      "artifactId": "photonlib-cpp",
-      "version": "dev-v2027.0.0-alpha-2-81-g5b5b7870",
-      "libName": "photonlib",
-      "headerClassifier": "headers",
-      "sharedLibrary": true,
-      "skipInvalidPlatforms": true,
-      "binaryPlatforms": [
-        "windowsx86-64",
-        "linuxsystemcore",
-        "linuxx86-64",
-        "osxuniversal"
-      ]
-    },
-    {
-      "groupId": "org.photonvision",
-      "artifactId": "photontargeting-cpp",
-      "version": "dev-v2027.0.0-alpha-2-81-g5b5b7870",
-      "libName": "photontargeting",
-      "headerClassifier": "headers",
-      "sharedLibrary": true,
-      "skipInvalidPlatforms": true,
-      "binaryPlatforms": [
-        "windowsx86-64",
-        "linuxsystemcore",
-        "linuxx86-64",
-        "osxuniversal"
-      ]
-    }
-  ],
-  "javaDependencies": [
-    {
-      "groupId": "org.photonvision",
-      "artifactId": "photonlib-java",
-      "version": "dev-v2027.0.0-alpha-2-81-g5b5b7870"
-    },
-    {
-      "groupId": "org.photonvision",
-      "artifactId": "photontargeting-java",
-      "version": "dev-v2027.0.0-alpha-2-81-g5b5b7870"
-    }
-  ]
-}

vendordeps/photonlib.json

@@ -0,0 +1,71 @@
+{
+    "fileName": "photonlib.json",
+    "name": "photonlib",
+    "version": "v2026.0.1-beta",
+    "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
+    "frcYear": "2026",
+    "mavenUrls": [
+        "https://maven.photonvision.org/repository/internal",
+        "https://maven.photonvision.org/repository/snapshots"
+    ],
+    "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json",
+    "jniDependencies": [
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photontargeting-cpp",
+            "version": "v2026.0.1-beta",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxathena",
+                "linuxx86-64",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photonlib-cpp",
+            "version": "v2026.0.1-beta",
+            "libName": "photonlib",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxathena",
+                "linuxx86-64",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photontargeting-cpp",
+            "version": "v2026.0.1-beta",
+            "libName": "photontargeting",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxathena",
+                "linuxx86-64",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "javaDependencies": [
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photonlib-java",
+            "version": "v2026.0.1-beta"
+        },
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photontargeting-java",
+            "version": "v2026.0.1-beta"
+        }
+    ]
+}