Changes from build session 3/3/26

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2026.1.1"
+    id "edu.wpi.first.GradleRIO" version "2026.2.1"
 }
 
 java {

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/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
+    },
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 6.0
+      },
+      "prevControl": {
+        "x": 3.0,
+        "y": 6.0
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "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/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": {
+        "x": 2.572076308784383,
+        "y": 3.3951907719609573
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.1112866015971603,
+        "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": 0.49077040160283747
+      },
+      "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": 3.0,
+    "maxAcceleration": 3.0,
+    "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": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 24.304549265936604
+  },
+  "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": 1.6987119856944102,
+        "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": 3.0,
+    "maxAcceleration": 3.0,
+    "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/settings.json

@@ -0,0 +1,36 @@
+{
+  "robotWidth": 0.921,
+  "robotLength": 0.787,
+  "holonomicMode": true,
+  "pathFolders": [
+    "Right Outpost"
+  ],
+  "autoFolders": [],
+  "defaultMaxVel": 3.0,
+  "defaultMaxAccel": 3.0,
+  "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/frc/robot/RobotContainer.java

@@ -4,37 +4,393 @@
 
 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 edu.wpi.first.math.geometry.Pose2d;
+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 Drivetrain drivetrain;
+    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 driver;
+    private CommandXboxController secondary;
 
-  public RobotContainer() {
-    drivetrain = new Drivetrain();
+    private SendableChooser<Command> autoChooser;
 
-    driver = new CommandXboxController(OIConstants.kDriverControllerPort);
+    private Timer shiftTimer;
 
-    configureBindings();
-  }
+    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();
 
-  private void configureBindings() {
-    drivetrain.setDefaultCommand(
-      drivetrain.drive(
-        driver::getLeftX, 
-        driver::getLeftY, 
-        driver::getRightX, 
-        () -> true
-      )
-    );
-  }
+        
+        vision.addPoseEstimateConsumer(drivetrain::consumeVisualPose);
+        vision.addPoseEstimateConsumer((vp) -> {
+            Logger.recordOutput(
+                "Vision/" + vp.cameraName() + "/Pose", 
+                vp.visualPose()
+            );
+        });
 
-  public Command getAutonomousCommand() {
-    return Commands.print("No autonomous command configured");
-  }
+        driver = new CommandXboxController(OIConstants.kDriverControllerPort);
+        secondary = new CommandXboxController(OIConstants.kOperatorControllerPort);
+
+        shiftTimer = new Timer();
+        shiftTimer.reset();
+
+        //configureBindings();
+        testConfigureBindings();
+        configureShiftDisplay();
+
+        if(AutoConstants.kAutoConfigOk) {
+            autoChooser = AutoBuilder.buildAutoChooser();
+            configureNamedCommands();
+        }
+    }
+
+    /**
+     * 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
+            )
+        );
+
+        driver.a().whileTrue(
+            drivetrain.lockRotationToHub(
+                driver::getLeftY, 
+                driver::getLeftX, 
+                false
+            ) 
+        );
+
+        /*
+        driver.b().whileTrue(
+            drivetrain.lockToYaw(
+                () -> {
+                    OptionalDouble maybeYaw = vision.getBestYawForTag(Utilities.getHubCenterAprilTagID());
+
+                    return maybeYaw.isEmpty() ? 0 : maybeYaw.getAsDouble();
+                }, 
+                driver::getLeftY, 
+                driver::getLeftX
+            )
+        );*/
+
+        shooter.setDefaultCommand(
+            shooter.maintainSpeed(ShooterSpeeds.kHubSpeed)
+        );
+
+        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?
+            )
+        );
+    }
+
+    public Command getAutonomousCommand() {
+        if(AutoConstants.kAutoConfigOk) {
+            return autoChooser.getSelected();
+        } else {
+            return new PrintCommand("Robot Config loading failed, autonomous disabled");
+        }
+    }
+
+    /**
+     * 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

@@ -0,0 +1,65 @@
+package frc.robot.constants;
+
+import java.io.IOException;
+
+import org.json.simple.parser.ParseException;
+
+import com.pathplanner.lib.config.PIDConstants;
+import com.pathplanner.lib.config.RobotConfig;
+import com.pathplanner.lib.controllers.PPHolonomicDriveController;
+import 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;
+    public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI;
+    public static final double kMaxAngularAccelerationRadiansPerSecondSquared = Math.PI;
+
+    public static final double kMaxSpeedMetersPerSecondAutoAlign = 2.5;
+
+    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;
+
+    // Constraint for the motion profiled robot angle controller
+    public static final TrapezoidProfile.Constraints kThetaControllerConstraints = new TrapezoidProfile.Constraints(
+        kMaxAngularSpeedRadiansPerSecond, kMaxAngularAccelerationRadiansPerSecondSquared);
+
+    public static final TrapezoidProfile.Constraints kAlignThetaControllerConstraints = new TrapezoidProfile.Constraints(
+        kMaxAngularSpeedRadiansPerSecond, kMaxAngularAccelerationRadiansPerSecondSquared);
+
+    // TODO This is a constant being managed like a static rewriteable variable
+    public static RobotConfig kRobotConfig;
+    public static boolean kAutoConfigOk;
+
+    public static final PPHolonomicDriveController kPPDriveController = new PPHolonomicDriveController(
+        new PIDConstants(kPXYController, 0, 0),
+        new PIDConstants(kPThetaController, 0, 0)
+    );
+
+    public static final PathConstraints kOnTheFlyConstraints = new PathConstraints(
+        kMaxSpeedMetersPerSecond, 
+        kMaxAccelerationMetersPerSecondSquared, 
+        kMaxAngularSpeedRadiansPerSecond, 
+        kMaxAngularAccelerationRadiansPerSecondSquared
+    );
+
+    static {
+        try {
+            kRobotConfig = RobotConfig.fromGUISettings();
+            kAutoConfigOk = true;
+        } catch (IOException | ParseException e) {
+            System.err.println("FAILED TO READ ROBOTCONFIG, WAS THE CONFIG SET UP IN PATHPLANNER?");
+            e.printStackTrace();
+            kAutoConfigOk = false;
+        }
+    }
+}

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

@@ -0,0 +1,61 @@
+package frc.robot.constants;
+
+import com.revrobotics.spark.FeedbackSensor;
+import com.revrobotics.spark.config.SparkMaxConfig;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+
+public class ClimberConstants {
+    // TODO Real values
+    public enum ClimberPositions {
+        kStow(0),
+        kClimbOffGround(0),
+        kUp(0);
+
+        private double positionMeters;
+
+        private ClimberPositions(double positionMeters) {
+            this.positionMeters = positionMeters;
+        }
+
+        public double getPositionMeters() {
+            return positionMeters;
+        }
+    }
+
+    public static final int kMotorCANID = 0;
+
+    public static final double kConversionFactor = 0;
+
+    public static final double kP = 0;
+    public static final double kI = 0;
+    public static final double kD = 0;
+    public static final double kS = 0;
+    public static final double kV = 0;
+    public static final double kA = 0;
+
+    public static final boolean kMotorInverted = false;
+
+    public static final int kCurrentLimit = 40;
+
+    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);
+        kMotorConfig.encoder
+            .positionConversionFactor(kConversionFactor)
+            .velocityConversionFactor(kConversionFactor / 60);
+        kMotorConfig.closedLoop
+            .feedbackSensor(FeedbackSensor.kPrimaryEncoder)
+            .pid(kP, kI, kD)
+            .outputRange(-1, 1)
+            .feedForward
+                .sva(kS, kV, kA);
+    }
+}

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

@@ -2,6 +2,10 @@ package frc.robot.constants;
 
 import edu.wpi.first.apriltag.AprilTagFieldLayout;
 import edu.wpi.first.apriltag.AprilTagFields;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.math.util.Units;
 
 public class CompetitionConstants {
     // THIS SHOULD BE FALSE DURING COMPETITION PLAY
@@ -10,4 +14,29 @@ public class CompetitionConstants {
     public static final AprilTagFieldLayout kTagLayout = AprilTagFieldLayout.loadField(
         AprilTagFields.kDefaultField
     );
+
+    public static final double kHubGoalHeightMeters = Units.inchesToMeters(72);
+
+    // TODO Real Values
+    public static final Transform3d kRobotToShooter = new Transform3d();
+
+    public static final Pose2d kBlueHubLocation = new Pose2d(
+        Units.inchesToMeters(182.11), 
+        Units.inchesToMeters(158.84), 
+        Rotation2d.fromDegrees(0)
+    );
+
+    // TODO The origination value produced by the April Tag Field Layout object may
+    // influence what this value should actually be. See AprilTagFieldLayout.getOrigin
+    // For now, the X axis position (forward/backward) is calculated as though the blue
+    // alliance wall right hand side is the originiation point, so, the distance from
+    // the blue alliance wall, to the blue alliance hub center point, plus
+    // the distance between the center of the blue alliance hub and the center of
+    // the red alliance hub
+    public static final Pose2d kRedHubLocation = new Pose2d(
+        Units.inchesToMeters(182.11 + 143.5 * 2),
+        Units.inchesToMeters(158.84),
+        Rotation2d.fromDegrees(0)
+    );
+
 }

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

@@ -1,49 +1,39 @@
 package frc.robot.constants;
 
+import edu.wpi.first.math.Matrix;
+import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
+import edu.wpi.first.math.numbers.N1;
+import edu.wpi.first.math.numbers.N3;
 import edu.wpi.first.math.util.Units;
 
 public class DrivetrainConstants {
-    // TODO Hold over from 2025, adjust?
-    public static final double kMaxSpeedMetersPerSecond = 4.125;
+    public static final double kMaxSpeedMetersPerSecond = 4.663;
     public static final double kMaxAngularSpeed = 2 * Math.PI;
 
-    // TODO Replace zeros with real numbers
-    public static final double kTrackWidth = Units.inchesToMeters(0);
-    public static final double kWheelBase = Units.inchesToMeters(0);
+    public static final double kTrackWidth = Units.inchesToMeters(23.75);
+    public static final double kWheelBase = Units.inchesToMeters(18.75);
+ 
+    public static final double kFrontLeftMagEncoderOffset = 2.965;
+    public static final double kFrontRightMagEncoderOffset = 1.120;
+    public static final double kRearLeftMagEncoderOffset = 3.761;
+    public static final double kRearRightMagEncoderOffset = 2.573;
 
-    // TODO Replace zeros with real numbers
-    // These values should be determinable by writing the magnetic encoder output
-    // to the dashboard, and manually aligning all wheels such that the bevel gears
-    // on the side of the wheel all face left. Some known straight edge (like 1x1 or similar)
-    // should be used as the alignment medium. If done correctly, and the modules aren't disassembled,
-    // then these values should work throughout the season the first time they are set. 
-    public static final double kFrontLeftMagEncoderOffset = 0;
-    public static final double kFrontRightMagEncoderOffset = 0;
-    public static final double kRearLeftMagEncoderOffset = 0;
-    public static final double kRearRightMagEncoderOffset = 0;
+    public static final int kFrontLeftDrivingCANID = 4;
+    public static final int kFrontRightDrivingCANID = 3;
+    public static final int kRearLeftDrivingCANID = 1;
+    public static final int kRearRightDrivingCANID = 2;
 
-    // Kraken CAN IDs 
-    // TODO Real CAN IDs
-    public static final int kFrontLeftDrivingCANID = 0;
-    public static final int kFrontRightDrivingCANID = 0;
-    public static final int kRearLeftDrivingCANID = 0;
-    public static final int kRearRightDrivingCANID = 0;
+    public static final int kFrontLeftTurningCANID = 7; // 8
+    public static final int kFrontRightTurningCANID = 21; //9
+    public static final int kRearLeftTurningCANID = 6; //7
+    public static final int kRearRightTurningCANID = 8; //6
 
-    // SparkMAX CAN IDs
-    // TODO Real CAN IDs
-    public static final int kFrontLeftTurningCANID = 0;
-    public static final int kFrontRightTurningCANID = 0;
-    public static final int kRearLeftTurningCANID = 0;
-    public static final int kRearRightTurningCANID = 0;
-
-    // Analog Encoder Input Ports 
-    // TODO Real Port IDs
-    public static final int kFrontLeftAnalogInPort = 0;
-    public static final int kFrontRightAnalogInPort = 0;
+    public static final int kFrontLeftAnalogInPort = 3;
+    public static final int kFrontRightAnalogInPort = 2;
     public static final int kRearLeftAnalogInPort = 0;
-    public static final int kRearRightAnalogInPort = 0;
+    public static final int kRearRightAnalogInPort = 1;
 
     public static final boolean kGyroReversed = true;
 
@@ -52,6 +42,11 @@ public class DrivetrainConstants {
     public static final double kXTranslationP = .5;
     public static final double kYTranslationP = .5;
 
+    // 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(0.9, 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(
         new Translation2d(kWheelBase / 2, kTrackWidth / 2),

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

@@ -0,0 +1,92 @@
+package frc.robot.constants;
+
+import java.io.BufferedReader;
+import java.io.File;
+import java.io.FileReader;
+import java.io.IOException;
+import java.nio.file.Path;
+
+import com.revrobotics.spark.ClosedLoopSlot;
+import com.revrobotics.spark.FeedbackSensor;
+import com.revrobotics.spark.config.SparkMaxConfig;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+
+import edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap;
+import edu.wpi.first.wpilibj.Filesystem;
+
+public class HoodConstants {
+    // TODO Real Values
+    public static final int kMotorCANID = 12;
+
+    public static final double kConversionFactor = (1.0/3.0)*(8.0/147.0)*2*Math.PI;
+
+    public static final double kP = 1.75;
+    public static final double kI = 0;
+    public static final double kD = 0;
+    public static final double kS = 0.435;
+    public static final double kV = 0;
+    public static final double kA = 0;
+    public static final double kStartupAngle = 0.0;
+    public static final double kMaxManualSpeedMultiplier = 0.1;
+    public static final double kTolerance = Math.toRadians(0.5);
+
+    public static final double kAmpsToTriggerPositionReset = 10;
+
+    // TODO This is just barely longer than the default frame time for output current information
+    // Should this be longer?
+    public static final double kTimeAboveThresholdToReset = .25;
+
+    public static final int kCurrentLimit = 15;
+
+    public static final boolean kInverted = true;
+    public static final boolean kUseInterpolatorForAngle = false;
+
+    public static final IdleMode kIdleMode = IdleMode.kBrake;
+
+    // TODO This needs to be filled in from some source
+    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();
+
+    static {
+        kConfig
+            .idleMode(kIdleMode)
+            .inverted(kInverted)
+            .smartCurrentLimit(kCurrentLimit);
+        kConfig.encoder
+            .positionConversionFactor(kConversionFactor)
+            .velocityConversionFactor(kConversionFactor / 60);
+        kConfig.closedLoop
+            .feedbackSensor(FeedbackSensor.kPrimaryEncoder)
+            .pid(kP, kI, kD)
+            .outputRange(-1, 1)
+            .allowedClosedLoopError(kTolerance, ClosedLoopSlot.kSlot0)
+            .feedForward
+                .sva(kS, kV, kA);
+
+
+        File interpolatorFile = Path.of(
+            Filesystem.getDeployDirectory().getAbsolutePath().toString(), 
+            "interpolatorData.csv"
+        ).toFile();
+
+        if(interpolatorFile.exists()) {
+            try (BufferedReader reader = new BufferedReader(new FileReader(interpolatorFile))) {
+                reader.lines().forEach((s) -> {
+                    if(s.trim() != "") { //Empty or whitespace line protection
+                        String[] lineSplit = s.split(",");
+
+                        kDistanceToAngle.put(
+                            Double.valueOf(lineSplit[0].replace("\"", "")), 
+                            Double.valueOf(lineSplit[1].replace("\"", ""))
+                        );
+                    }
+                });
+            } catch (IOException e) {
+                // This condition is never reached because of the if exists line above
+            }
+        }
+    }
+}

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

@@ -0,0 +1,73 @@
+package frc.robot.constants;
+
+import com.revrobotics.spark.FeedbackSensor;
+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 IntakePivotPosition(double positionRadians) {
+            this.positionRadians = positionRadians;
+        }
+
+        public double getPositionRadians() {
+            return positionRadians;
+        }
+    }
+
+    public static final int kLeftMotorCANID = 16;
+    public static final int kRightMotorCANID = 9;
+
+    public static final double kConversionFactor = 60.0/11.0*60.0/18.0*38.0/16.0;
+
+    // Ultra conservative multiplier to prevent 1/8" lexan destruction, modify at your own peril
+    public static final double kMaxManualSpeedMultiplier = .3;
+
+    public static final double kP = 0;
+    public static final double kI = 0;
+    public static final double kD = 0;
+    public static final double kS = 0;
+    public static final double kV = 5.26;
+    public static final double kA = 0.05;
+    public static final double kG = 0.25;
+
+    public static final boolean kInvertMotors = false;
+
+    public static final int kCurrentLimit = 30;
+
+    public static final IdleMode kIdleMode = IdleMode.kCoast;
+
+    // YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A CONFIGURATION ITEM
+    
+    public static final SparkMaxConfig KLeftMotorConfig = new SparkMaxConfig();
+    public static final SparkMaxConfig kRightMotorConfig = new SparkMaxConfig();
+
+    static {
+        KLeftMotorConfig
+            .idleMode(kIdleMode)
+            .smartCurrentLimit(kCurrentLimit)
+            .inverted(kInvertMotors);
+        KLeftMotorConfig.encoder
+            .positionConversionFactor(kConversionFactor)
+            .velocityConversionFactor(kConversionFactor / 60);
+        KLeftMotorConfig.closedLoop
+            .feedbackSensor(FeedbackSensor.kPrimaryEncoder)
+            .pid(kP, kI, kD)
+            .outputRange(-1, 1)
+            .positionWrappingEnabled(true)
+            .positionWrappingInputRange(0, 2 * Math.PI)
+            .feedForward
+                .svag(kS, kV, kA, kG);
+
+        kRightMotorConfig
+            .idleMode(kIdleMode)
+            .smartCurrentLimit(kCurrentLimit)
+            .inverted(kInvertMotors)
+            .follow(kLeftMotorCANID);
+    }
+}

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

@@ -0,0 +1,28 @@
+package frc.robot.constants;
+
+import com.revrobotics.spark.config.SparkMaxConfig;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+
+public class IntakeRollerConstants {
+    // TODO Real values
+    public static final int kMotorCANID = 20;
+
+    public static final int kCurrentLimit = 40;
+
+    public static final boolean kInvertMotors = true;
+
+    public static final double kSpeed = .6;
+
+    public static final IdleMode kIdleMode = IdleMode.kCoast;
+
+    // YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A CONFIGURATION ITEM
+
+    public static final SparkMaxConfig leftMotorConfig = new SparkMaxConfig();
+
+    static {
+        leftMotorConfig
+            .idleMode(kIdleMode)
+            .smartCurrentLimit(kCurrentLimit)
+            .inverted(kInvertMotors);
+    }
+}

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

@@ -7,6 +7,7 @@ import com.ctre.phoenix6.configs.MotorOutputConfigs;
 import com.ctre.phoenix6.configs.Slot0Configs;
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
+import com.revrobotics.spark.ClosedLoopSlot;
 import com.revrobotics.spark.FeedbackSensor;
 import com.revrobotics.spark.config.SparkMaxConfig;
 import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
@@ -14,9 +15,26 @@ import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 import edu.wpi.first.math.util.Units;
 
 public class ModuleConstants {
+    public enum ModuleName {
+        kFrontLeft("FrontLeft"),
+        kFrontRight("FrontRight"),
+        kRearLeft("RearLeft"),
+        kRearRight("RearRight");
+
+        private String loggableName;
+
+        private ModuleName(String loggableName) {
+            this.loggableName = loggableName;
+        }
+
+        public String getLoggableName() {
+            return "Drivetrain/Modules/" + loggableName;
+        }
+        
+    }
+
     // DRIVING MOTOR CONFIG (Kraken)
-    // TODO Replace with something other than 0
-    public static final double kDrivingMotorReduction = 0;
+    public static final double kDrivingMotorReduction = (14.0 * 28.0 * 15.0) / (50 * 16 * 45);
 
     public static final double kDrivingMotorFeedSpeedRPS = KrakenMotorConstants.kFreeSpeedRPM / 60;
     public static final double kWheelDiameterMeters = Units.inchesToMeters(4);
@@ -43,13 +61,19 @@ public class ModuleConstants {
     public static final NeutralModeValue kDriveIdleMode = NeutralModeValue.Brake;
 
     // TURNING MOTOR CONFIG (NEO)
-
-    // TODO Hold over from 2025, adjust?
-    public static final double kTurningMotorReduction = 0;
+    public static final double kTurningMotorReduction = 150.0/7.0;
     public static final double kTurningFactor = 2 * Math.PI / kTurningMotorReduction;
-    public static final double kTurnP = 1;
+    // TODO Adjust? Let over from 2025
+    public static final double kTurnP = 12;
     public static final double kTurnI = 0;
     public static final double kTurnD = 0;
+
+    public static final double kTurnTolerance = Math.toRadians(0.25);
+
+    public static final boolean kIsEncoderInverted = false;
+
+    // TODO How sensitive is too sensitive?
+    public static final double kAutoResetPositionDeadband = Units.degreesToRadians(.25);
     
     public static final int kTurnMotorCurrentLimit = 20;
 
@@ -87,16 +111,19 @@ public class ModuleConstants {
 
         turningConfig
             .idleMode(kTurnIdleMode)
-            .smartCurrentLimit(kTurnMotorCurrentLimit);
+            .smartCurrentLimit(kTurnMotorCurrentLimit)
+            .inverted(true);
         turningConfig.encoder
-            .inverted(true)
+            //.inverted(true)
             .positionConversionFactor(kTurningFactor)
             .velocityConversionFactor(kTurningFactor / 60.0);
         turningConfig.closedLoop
             .feedbackSensor(FeedbackSensor.kPrimaryEncoder)
             .pid(kTurnP, kTurnI, kTurnD)
             .outputRange(-1, 1)
+            .allowedClosedLoopError(kTurnTolerance, ClosedLoopSlot.kSlot0)
             .positionWrappingEnabled(true)
             .positionWrappingInputRange(0, 2 * Math.PI);
+            
     }
 }

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

@@ -1,5 +1,7 @@
 package frc.robot.constants;
 
+import edu.wpi.first.wpilibj.util.Color;
+
 public class OIConstants {
     public static final int kDriverControllerPort = 0;
     public static final int kOperatorControllerPort = 1;
@@ -7,4 +9,21 @@ public class OIConstants {
     public static final double kDriveDeadband = .01;
 
     public static final double kJoystickExponential = 3;
+
+    public static final String kTeleopTab = "Teleoperated";
+
+    public static final String kCurrentActiveHub = "Alliance Hub Currently Active";
+
+    public static final String[] kRedBlueDisplay = {
+        Color.kRed.toHexString(),
+        Color.kBlue.toHexString()
+    };
+
+    public static final String[] kRedDisplay = {
+        Color.kRed.toHexString()
+    };
+
+    public static final String[] kBlueDisplay = {
+        Color.kBlue.toHexString()
+    };
 }

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

@@ -0,0 +1,38 @@
+package frc.robot.constants;
+
+import java.util.List;
+
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.math.util.Units;
+import frc.robot.utilities.PhotonVisionConfig;
+
+public class PhotonConstants {
+    public static final String kCamera1Name = "pv1";
+    public static final String kCamera2Name = "pv2";
+
+    // TODO Need actual values for all of this
+    public static final Transform3d kCamera1RobotToCam = new Transform3d();
+    public static final Transform3d kCamera2RobotToCam = new Transform3d(
+        Units.inchesToMeters(1.5),
+        Units.inchesToMeters(-10.5),
+        Units.inchesToMeters(28.5),
+        new Rotation3d(
+            Units.degreesToRadians(0), 
+            Units.degreesToRadians(24), 
+            Units.degreesToRadians(-10)
+        )
+    );
+
+    public static final double kCamera1HeightMeters = 0;
+    public static final double kCamera1PitchRadians = 0;
+    public static final double kCamera2HeightMeters = 0;
+    public static final double kCamera2PitchRadians = 0;
+
+    // YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A CONFIGURATION ITEM
+
+    public static final List<PhotonVisionConfig> configs = List.of(
+        //new PhotonVisionConfig(kCamera1Name, kCamera1RobotToCam, kCamera1HeightMeters, kCamera1PitchRadians),
+        new PhotonVisionConfig(kCamera2Name, kCamera2RobotToCam, kCamera2HeightMeters, kCamera2PitchRadians)
+    );
+}

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

@@ -0,0 +1,101 @@
+package frc.robot.constants;
+
+import com.revrobotics.spark.FeedbackSensor;
+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 {
+        kHubSpeed(3000.0),
+        kFeedSpeed(5000.0);
+
+        private double speedMPS;
+        private double speedRPM;
+
+        private ShooterSpeeds(double speedRPM) {
+            this.speedMPS = speedRPM * kWheelDiameter*Math.PI;
+            this.speedRPM = speedRPM;
+        }
+
+        public double getSpeedMPS() {
+            return speedMPS * kWheelDiameter*Math.PI;
+        }
+
+        public double getSpeedRPM(){
+            return speedRPM;
+        }
+    }
+
+    // TODO Conversion factor?
+
+    public static final double kWheelDiameter = Units.inchesToMeters(4);
+
+    // TODO Real values
+    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 = 0.001;
+    public static final double kLeftI = 0;
+    public static final double kLeftD = 0;
+    public static final double kLeftS = 0;
+    public static final double kLeftV = 0.0013;
+    public static final double kLeftA = 0;
+
+    public static final double kRightP = 0.001;
+    public static final double kRightI = 0;
+    public static final double kRightD = 0.000;
+    public static final double kRightS = 0;
+    public static final double kRightV = 0.00121;
+    public static final double kRightA = 0;
+
+    public static final double kMaxManualSpeedMultiplier = 1;
+
+    public static final double kShooterHeightMeters = 0;
+
+    // TODO Is this value sane?
+    public static final int kCurrentLimit = 60;
+
+    public static final IdleMode kShooterIdleMode = IdleMode.kCoast;
+
+    // YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A CONFIGURATION ITEM
+
+    public static final SparkMaxConfig kLeftMotorConfig = new SparkMaxConfig();
+    public static final SparkMaxConfig kRightMotorConfig = new SparkMaxConfig();
+
+
+    static {
+        kLeftMotorConfig
+            .idleMode(kShooterIdleMode)
+            .smartCurrentLimit(kCurrentLimit)
+            .inverted(kLeftShooterMotorInverted);
+        kLeftMotorConfig.absoluteEncoder
+            .positionConversionFactor(1)
+            .velocityConversionFactor(60);
+        kLeftMotorConfig.closedLoop
+            .feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
+            .pid(kLeftP, kLeftI, kLeftD)
+            .outputRange(-1, 1)
+            .feedForward
+                .sva(kLeftS, kLeftV, kLeftA);
+
+        kRightMotorConfig
+            .idleMode(kShooterIdleMode)
+            .smartCurrentLimit(kCurrentLimit)
+            .inverted(kRightShooterMotorInverted);
+        kRightMotorConfig.absoluteEncoder
+            .positionConversionFactor(1)
+            .velocityConversionFactor(60)
+            .inverted(true);
+        kRightMotorConfig.closedLoop
+            .feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
+            .pid(kRightP, kRightI, kRightD)
+            .outputRange(-1, 1)
+            .feedForward
+                .sva(kRightS, kRightV, kRightA);
+    }
+}

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

@@ -0,0 +1,50 @@
+package frc.robot.constants;
+
+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.SparkMaxConfig;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+
+public class SpindexerConstants {
+    // TODO Real values
+    public static final int kSpindexerMotorCANID = 0;
+    public static final int kFeederMotorCANID = 4;
+
+    public static final int kSpindexerStatorCurrentLimit = 110;
+    public static final int kSpindexerSupplyCurrentLimit = 60;
+    public static final int kFeederCurrentLimit = 40;
+
+    public static final double kSpindexerSpeed = 1;
+    public static final double kFeederSpeed = 1;
+
+    public static final boolean kFeederMotorInverted = true;
+
+    public static final InvertedValue kSpindexerInversionState = InvertedValue.Clockwise_Positive;
+    public static final NeutralModeValue kSpindexerIdleMode = NeutralModeValue.Coast;
+
+    public static final IdleMode kFeederIdleMode = IdleMode.kBrake;
+
+    // YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A CONFIGURATION ITEM
+
+    public static final SparkMaxConfig kFeederConfig = new SparkMaxConfig();
+
+    public static final CurrentLimitsConfigs kSpindexerCurrentLimitConfig = new CurrentLimitsConfigs();
+    public static final MotorOutputConfigs kSpindexerMotorConfig = new MotorOutputConfigs();
+    
+    static {
+        kSpindexerCurrentLimitConfig.StatorCurrentLimitEnable = true;
+        kSpindexerCurrentLimitConfig.SupplyCurrentLimitEnable = true;
+        kSpindexerCurrentLimitConfig.StatorCurrentLimit = kSpindexerStatorCurrentLimit;
+        kSpindexerCurrentLimitConfig.SupplyCurrentLimit = kSpindexerSupplyCurrentLimit;
+
+        kSpindexerMotorConfig.Inverted = kSpindexerInversionState;
+        kSpindexerMotorConfig.NeutralMode = kSpindexerIdleMode;
+
+        kFeederConfig
+            .inverted(kFeederMotorInverted)
+            .smartCurrentLimit(kFeederCurrentLimit)
+            .idleMode(kFeederIdleMode);
+    }
+}

src/main/java/frc/robot/interfaces/IAprilTagProvider.java

@@ -1,39 +0,0 @@
-package frc.robot.interfaces;
-
-import java.util.OptionalDouble;
-
-/**
- * An interface which ensures a class can provide common AprilTag oriented
- * information from various sources in a consistent way.
- */
-public interface IAprilTagProvider {
-    /**
-     * A method to get the tags currently in the camera's field of view
-     * @return
-     */
-    public int[] getVisibleTagIDs();
-
-    /**
-     * A method to get the distance from <i>the camera</i> to the AprilTag specified
-     * 
-     * @param id The ID of the AprilTag to give a distance to
-     * @return The distance, in meters, to the target, or OptionalDouble.empty() if the tag is not present in the camera's view
-     */
-    public OptionalDouble getTagDistanceFromCameraByID(int id);
-
-    /**
-     * A method to get the pitch from the center of the image of a particular AprilTag
-     * 
-     * @param id The ID of the AprilTag to get the pitch of
-     * @return The pitch, in degrees, of the target, or OptionalDouble.empty() if the tag is not present in the camera's view
-     */
-    public OptionalDouble getTagPitchByID(int id);
-
-    /**
-     * A method to get the yaw from the center of the image of a particular AprilTag
-     * 
-     * @param id The ID of the AprilTag to get the yaw of
-     * @return The yaw, in degrees, of the target, or OptionalDouble.empty() if the tag is not present in the camera's view
-     */
-    public OptionalDouble getTagYawByID(int id);
-}

src/main/java/frc/robot/interfaces/IVisualPoseProvider.java

@@ -1,27 +0,0 @@
-package frc.robot.interfaces;
-
-import java.util.Optional;
-
-import edu.wpi.first.math.geometry.Pose2d;
-
-/**
- * An interface which ensures a class' ability to provide visual pose information
- * in a consistent way
- */
-public interface IVisualPoseProvider {
-    /**
-     * A record that can contain the two elements necessary for a WPILIB
-     * pose estimator to use the information from a vision system as part of a full
-     * robot pose estimation
-     */
-    public record VisualPose(Pose2d visualPose, double timestamp) {}
-
-    /**
-     * Return a VisualPose or null if an empty Optional if none is available.
-     * Implementation should provide an empty response if it's unable to provide
-     * a reliable pose, or any pose at all.
-     * 
-     * @return An Optional containing a VisualPose, or empty if no VisualPose can reliably be provided
-     */
-    public Optional<VisualPose> getVisualPose();
-}

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

@@ -0,0 +1,74 @@
+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.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.constants.ClimberConstants;
+import frc.robot.constants.ClimberConstants.ClimberPositions;
+
+public class Climber extends SubsystemBase {
+    private SparkMax motor;
+
+    private RelativeEncoder encoder;
+
+    private SparkClosedLoopController controller;
+
+    private ClimberPositions targetPosition;
+
+    public Climber() {
+        motor = new SparkMax(ClimberConstants.kMotorCANID, MotorType.kBrushless);
+
+        motor.configure(
+            ClimberConstants.kMotorConfig, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
+
+        encoder = motor.getEncoder();
+
+        controller = motor.getClosedLoopController();
+
+        targetPosition = null;
+    }
+
+    @Override
+    public void periodic() {
+        Logger.recordOutput("Climber/TargetPositionMeters", targetPosition == null ? -1 : targetPosition.getPositionMeters());
+        Logger.recordOutput("Climber/CurrentPositionMeters", encoder.getPosition());
+        Logger.recordOutput("Climber/AtSetpoint", controller.isAtSetpoint());
+    }
+
+    public Command maintainPosition(ClimberPositions position) {
+        return run(() -> {
+            targetPosition = position;
+
+            controller.setSetpoint(
+                position.getPositionMeters(), 
+                ControlType.kPosition
+            );
+        });
+    }
+
+    public Command manualSpeed(DoubleSupplier speed) {
+        return run(() -> {
+            targetPosition = null;
+
+            motor.set(speed.getAsDouble());
+        });
+    }
+
+    public Command stop() {
+        return manualSpeed(() -> 0);
+    }
+}

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

@@ -1,14 +1,20 @@
 package frc.robot.subsystems;
 
+import java.util.List;
+import java.util.Optional;
 import java.util.function.BooleanSupplier;
 import java.util.function.DoubleSupplier;
+import java.util.function.Supplier;
 
 import org.littletonrobotics.junction.Logger;
 
+import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.path.PathPlannerPath;
 import com.studica.frc.AHRS;
 import com.studica.frc.AHRS.NavXComType;
 
 import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
@@ -16,11 +22,17 @@ import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
 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;
 
 public class Drivetrain extends SubsystemBase {
     private SwerveModule frontLeft;
@@ -32,9 +44,11 @@ public class Drivetrain extends SubsystemBase {
 
     private SwerveDrivePoseEstimator estimator;
 
-    public Drivetrain() {
+    private PIDController yawRotationController;
+
+    public Drivetrain(Pose2d startupPose) {
         frontLeft = new SwerveModule(
-            "FrontLeft", 
+            ModuleName.kFrontLeft, 
             DrivetrainConstants.kFrontLeftDrivingCANID, 
             DrivetrainConstants.kFrontLeftTurningCANID, 
             DrivetrainConstants.kFrontLeftAnalogInPort, 
@@ -42,7 +56,7 @@ public class Drivetrain extends SubsystemBase {
         );
 
         frontRight = new SwerveModule(
-            "FrontRight", 
+            ModuleName.kFrontRight, 
             DrivetrainConstants.kFrontRightDrivingCANID, 
             DrivetrainConstants.kFrontRightTurningCANID, 
             DrivetrainConstants.kFrontRightAnalogInPort, 
@@ -50,7 +64,7 @@ public class Drivetrain extends SubsystemBase {
         );
 
         rearLeft = new SwerveModule(
-            "RearLeft", 
+            ModuleName.kRearLeft, 
             DrivetrainConstants.kRearLeftDrivingCANID, 
             DrivetrainConstants.kRearLeftTurningCANID, 
             DrivetrainConstants.kRearLeftAnalogInPort, 
@@ -58,7 +72,7 @@ public class Drivetrain extends SubsystemBase {
         );
 
         rearRight = new SwerveModule(
-            "RearRight", 
+            ModuleName.kRearRight, 
             DrivetrainConstants.kRearRightDrivingCANID, 
             DrivetrainConstants.kRearRightTurningCANID, 
             DrivetrainConstants.kRearRightAnalogInPort, 
@@ -67,6 +81,14 @@ public class Drivetrain extends SubsystemBase {
 
         gyro = new AHRS(NavXComType.kMXP_SPI);
 
+        yawRotationController = new PIDController(
+            AutoConstants.kPThetaController, 
+            0, 
+            0
+        );
+        yawRotationController.enableContinuousInput(-Math.PI, Math.PI);
+        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(
             DrivetrainConstants.kDriveKinematics, 
@@ -77,8 +99,29 @@ public class Drivetrain extends SubsystemBase {
                 rearLeft.getPosition(),
                 rearRight.getPosition()
             },
-            new Pose2d()
+            startupPose != null ? startupPose : new Pose2d(),
+            DrivetrainConstants.kSensorFusionOdometryStdDevs,
+            DrivetrainConstants.kVisionOdometryStdDevs
         );
+
+        if(AutoConstants.kAutoConfigOk) {
+            AutoBuilder.configure(
+                this::getPose, 
+                this::resetOdometry, 
+                this::getCurrentChassisSpeeds, 
+                (speeds, feedforwards) -> driveWithChassisSpeeds(speeds), 
+                AutoConstants.kPPDriveController, 
+                AutoConstants.kRobotConfig,
+                () -> {
+                    Optional<DriverStation.Alliance> alliance = DriverStation.getAlliance();
+                        if (alliance.isPresent()) {
+                            return alliance.get() == DriverStation.Alliance.Red;
+                        }
+                        return false;
+                }, 
+                this
+            );
+        }
     }
 
     @Override
@@ -99,16 +142,173 @@ public class Drivetrain extends SubsystemBase {
         rearRight.periodic();
 
         Logger.recordOutput("Drivetrain/Pose", getPose());
-        Logger.recordOutput("Drivetrain/Heading", getHeading());
+        Logger.recordOutput("Drivetrain/Gyro Angle", getGyroValue());
+        Logger.recordOutput("Drivetrain/Heading", getHeadingDegrees());
+    }
+
+    /**
+     * Can be used to run an individual module on the drive base a static speed while maintaining a static angle.
+     * 
+     * Good for diagnosing issues with swerve module configuration. Essentially useless otherwise.
+     * 
+     * @param name The ModuleName enumeration that indicates which module you want to control
+     * @param staticSpeed The static speed in Meters Per Second to spin the drive wheel at
+     * @param staticAngleDegrees The static angle in degrees that you want the wheel to face
+     * @return A complete Command structure that performs the specified action
+     */
+    public Command runIndividualModule(ModuleName name, double staticSpeed, double staticAngleDegrees) {
+        SwerveModule module = List.of(
+            frontLeft,
+            frontRight,
+            rearLeft,
+            rearRight
+        ).stream()
+        .filter((m) -> m.getModuleName() == name)
+        .findFirst()
+        .get();
+
+        return run(() -> {
+            module.setDesiredState(new SwerveModuleState(
+                staticSpeed, 
+                Rotation2d.fromDegrees(staticAngleDegrees)
+            ));
+        });
+    }
+
+    public Command disableOutputs() {
+        return run(() -> {
+            frontLeft.disableOutput();
+            frontRight.disableOutput();
+            rearLeft.disableOutput();
+            rearRight.disableOutput();
+        });  
+    }
+
+    /**
+     * Rotates the robot to a face a given Pose2d position on the field
+     * 
+     * Note that this Command does not provide a means of timeout. If you are
+     * using this in an auto context, this Command should be decorated with 
+     * withTimeout(<some_value>). Otherwise, you will be waiting for the PID
+     * Controller doing the work to report that it is at the desired setpoint. 
+     * 
+     * @param targetPose The Pose2d object to rotate the robot towards
+     * @param rotate180 When false, the front of the robot faces the specified pose, when true
+     *   the back of the robot faces the specified pose
+     * @return A complete Command structure that performs the specified action
+     */
+    public Command rotateToPose(Pose2d targetPose, boolean rotate180) {
+        return lockRotationToSuppliedPose(() -> targetPose, () -> 0, () -> 0, rotate180)
+            .until(yawRotationController::atSetpoint);
+    }
+
+    /**
+     * Locks the robots rotation to face the Alliance Hub on the field. 
+     * 
+     * This method is innately aware of which hub to face based on the assigned alliance color.
+     * 
+     * This method is <i>NOT</i> for autonomous, see rotateToPose
+     * 
+     * This method provides a field oriented mechanism of driving the robot, such that the robot
+     * is always facing the point on the field that is the center of the alliance hub. This
+     * method assumes that the robots estimated pose is reasonably accurate. 
+     * 
+     * @param xSpeed The X (forward/backward) translational speed of the robot
+     * @param ySpeed The Y (left/right) translational speed of the robot
+     * @param rotate180 When false, the front of the robot faces the hub, when true, the back
+     *   of the robot faces the hub
+     * @return A complete Command structure that performs the specified action
+     */
+    public Command lockRotationToHub(DoubleSupplier xSpeed, DoubleSupplier ySpeed, boolean rotate180) {
+        return lockRotationToSuppliedPose(
+            Utilities::getHubPose, 
+            xSpeed, 
+            ySpeed, 
+            rotate180
+        );
+    }
+
+    /**
+     * Locks the robots rotation to face a particular pose on the field
+     * 
+     * This method is <i>NOT</i> for autonomous, see rotateToPose
+     * 
+     * This method provides a field oriented mechanism of driving the robot, such that the robot
+     * is always facing the point on the field that is the Pose2d object being supplied. This 
+     * method assumes that the robots estimated pose is reasonably accurate.
+     * 
+     * @param poseSupplier A Supplier object, lambda, or method reference which consistently produces a Pose2d object to point towards
+     * @param xSpeed The X (forward/backward) translational speed of the robot
+     * @param ySpeed The Y (left/right) translational speed of the robot
+     * @param rotate180 When false, the front of the robot faces the supplied pose, when true, the back
+     *   of the robot faces the supplied pose
+     * @return A complete Command structure that performs the specified action
+     */
+    public Command lockRotationToSuppliedPose(Supplier<Pose2d> poseSupplier, DoubleSupplier xSpeed, DoubleSupplier ySpeed, boolean rotate180) {
+        return runOnce(yawRotationController::reset).andThen(
+            drive(
+                xSpeed,
+                ySpeed, 
+                () -> {
+                    Pose2d faceTowards = poseSupplier.get();
+
+                    Rotation2d targetRotation = new Rotation2d(
+                        faceTowards.getX() - getPose().getX(), 
+                        faceTowards.getY() - getPose().getY()
+                    );
+
+                    if(rotate180) {
+                        targetRotation = targetRotation.rotateBy(Rotation2d.k180deg);
+                    }
+
+                    return yawRotationController.calculate(
+                        getHeading().getRadians(),
+                        targetRotation.getRadians()
+                    );
+                }, 
+                () -> true
+            )
+        );
+    }
+
+    /**
+     * A method to lock to a particular source of an external "yaw". The intent is for this yaw to be sourced from
+     * {@link frc.robot.subsystems.PhotonVision#getBestYawForTag(int)} which generates a "yaw" for a particular tag as referenced
+     * from the center point of the cameras image frame. The objective being to "0 the source" using a PID Controller, or in
+     * other terms, to center the provided tag in the camera's image frame.
+     * 
+     * @param yaw The "yaw" of the tag source relative to the center of the image frame
+     * @param xSpeed The X (forward/backward) translational speed of the robot
+     * @param ySpeed The Y (left/right) translational speed of the robot
+     * @return A complete Command structure that performs the specified action
+     */
+    public Command lockToYaw(DoubleSupplier yaw, DoubleSupplier xSpeed, DoubleSupplier ySpeed) {
+        return runOnce(yawRotationController::reset).andThen(
+            drive(
+                xSpeed,
+                ySpeed, 
+                () -> yawRotationController.calculate(yaw.getAsDouble(), 0),
+                () -> true
+            )
+        );
+    }
+
+    public Command drivePathPlannerPath(PathPlannerPath path) {
+        if(AutoConstants.kAutoConfigOk) {
+            return AutoBuilder.followPath(path);
+        } else {
+            return new PrintCommand("Robot Config loading failed, on the fly PathPlanner disabled");
+        }
+        
     }
 
     public Command drive(DoubleSupplier xSpeed, DoubleSupplier ySpeed, DoubleSupplier rotation, BooleanSupplier fieldRelative) {
-        // TODO Inversions? Specific Alliance code?
+        // TODO Specific Alliance code?
         return run(() -> {
             drive(
-                MathUtil.applyDeadband(xSpeed.getAsDouble(), OIConstants.kDriveDeadband), 
-                MathUtil.applyDeadband(ySpeed.getAsDouble(), OIConstants.kDriveDeadband),
-                MathUtil.applyDeadband(rotation.getAsDouble(), OIConstants.kDriveDeadband), 
+                -MathUtil.applyDeadband(xSpeed.getAsDouble(), OIConstants.kDriveDeadband), 
+                -MathUtil.applyDeadband(ySpeed.getAsDouble(), OIConstants.kDriveDeadband),
+                -MathUtil.applyDeadband(rotation.getAsDouble(), OIConstants.kDriveDeadband), 
                 fieldRelative.getAsBoolean()
             );
         });
@@ -123,6 +323,20 @@ public class Drivetrain extends SubsystemBase {
         });
     }
 
+    public Command zeroHeading() {
+        return run(() -> {
+            gyro.reset();
+            estimator.resetRotation(new Rotation2d(0));
+        });
+    }
+
+    public void consumeVisualPose(VisualPose pose) {
+        estimator.addVisionMeasurement(
+            pose.visualPose(), 
+            pose.timestamp()
+        );
+    }
+
     public void resetEncoders() {
         frontLeft.resetEncoders();
         frontRight.resetEncoders();
@@ -130,6 +344,19 @@ public class Drivetrain extends SubsystemBase {
         rearRight.resetEncoders();
     }
 
+    public void resetOdometry(Pose2d pose) {
+        estimator.resetPosition(
+            Rotation2d.fromDegrees(getGyroValue()),
+            new SwerveModulePosition[] {
+                frontLeft.getPosition(),
+                frontRight.getPosition(),
+                rearLeft.getPosition(),
+                rearRight.getPosition()
+            },
+            pose
+        );
+    }
+
     public void drive(double xSpeed, double ySpeed, double rotation, boolean fieldRelative) {
         double p = Math.sqrt(Math.pow(xSpeed, 2) + Math.pow(ySpeed, 2));
         double xSpeedDelivered = 0;
@@ -188,7 +415,11 @@ public class Drivetrain extends SubsystemBase {
         return gyro.getAngle() * (DrivetrainConstants.kGyroReversed ? -1 : 1);
     }
 
-    public double getHeading() {
+    public Rotation2d getHeading() {
+        return estimator.getEstimatedPosition().getRotation();
+    }
+
+    public double getHeadingDegrees() {
         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 +1,89 @@
+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);
+        });
+    }
+
+    public Command stop() {
+        return manualSpeed(() -> 0);
+    }
+
+    public Optional<IntakePivotPosition> getCurrentTargetPosition() {
+        return Optional.ofNullable(currentTargetPosition);
+    }
+}

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

@@ -0,0 +1,43 @@
+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 motor;
+
+    public IntakeRoller() {
+        motor = new SparkMax(IntakeRollerConstants.kMotorCANID, MotorType.kBrushless);
+
+        motor.configure(
+            IntakeRollerConstants.leftMotorConfig, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
+    }
+
+    public Command runIn() {
+        return run(() -> {
+            motor.set(IntakeRollerConstants.kSpeed);
+        });
+    }
+
+    public Command runOut() {
+        return run(() -> {
+            motor.set(-IntakeRollerConstants.kSpeed);
+        });
+    }
+
+    public Command stop() {
+        return run(() -> {
+            motor.set(0);
+        });
+    }
+    
+}

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

@@ -0,0 +1,205 @@
+package frc.robot.subsystems;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Optional;
+import java.util.OptionalDouble;
+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 edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+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
+ * a "resource", that is, something that is not inherently a physical mechanism to be controlled.
+ * 
+ * A "resource" in this instance should be thought of as something that can be safely shared
+ * by other Subsystems generally without collision if more that one Subsystem requires the 
+ * "resource" at any given time.
+ * 
+ * Resources should <i>NOT</i> produce Commands, they should not have a default Command.
+ * Resources do not have behaviors, and because Commands are in of themselves behaviors,
+ * this class should not have Commands. 
+ * 
+ * Part of the thinking behind creating the PhotonVision components this way is to rely
+ * on the CommandScheduler to call periodic. If this weren't the case, some other subsystem
+ * would have to manage calling for periodic updates, while still sharing the resource with 
+ * other subsystems <i>somehow</i>. 
+ * 
+ * This class is dynamic, by adding or removing PhotonVisionConfig objects to the "configs"
+ * List in the PhotonConstants file, you change what is set up internally in this class. 
+ * 1 config means 1 camera, 1 estimator, 1 stored pipeline result, 2 configs means 2 cameras,
+ * 2 estimators, etc. etc. 
+ */
+public class PhotonVision extends SubsystemBase {
+    private PhotonCamera[] cameras;
+    private PhotonPoseEstimator[] estimators;
+    private List<PhotonPipelineResult> latestResults;
+
+    private ArrayList<Consumer<VisualPose>> poseEstimateConsumers;
+
+    public PhotonVision() {
+        cameras = new PhotonCamera[PhotonConstants.configs.size()];
+        estimators = new PhotonPoseEstimator[PhotonConstants.configs.size()];
+        latestResults = new ArrayList<PhotonPipelineResult>();
+
+        for(int i = 0; i < PhotonConstants.configs.size(); i++) {
+            cameras[i] = new PhotonCamera(PhotonConstants.configs.get(i).cameraName());
+            estimators[i] = new PhotonPoseEstimator(
+                CompetitionConstants.kTagLayout, 
+                PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, 
+                PhotonConstants.configs.get(i).robotToCamera()
+            );
+            latestResults.add(null);
+        }
+
+        poseEstimateConsumers = new ArrayList<Consumer<VisualPose>>();
+    }
+
+    @Override
+    public void periodic() {
+        for(int i = 0; i < cameras.length; i++) {
+            List<PhotonPipelineResult> results = cameras[i].getAllUnreadResults();
+
+            if(!results.isEmpty()) {
+                latestResults.set(i, results.get(results.size() - 1));
+
+                Optional<EstimatedRobotPose> pose = estimators[i].update(latestResults.get(i));
+
+                if(!pose.isEmpty()) {
+                    VisualPose visualPose = new VisualPose(
+                        cameras[i].getName(),
+                        pose.get().estimatedPose.toPose2d(), 
+                        pose.get().timestampSeconds
+                    );
+
+                    for(Consumer<VisualPose> consumer: poseEstimateConsumers) {
+                        consumer.accept(visualPose);
+                    }
+                }
+            }
+        }
+    }
+
+    /**
+     * Returns the best 3D pose for a given AprilTag ID as seen by the cameras on the robot.
+     * 
+     * All cameras fields of view are observed, if no camera can see the given tag ID, this
+     * method will return Optional.empty().
+     * 
+     * Note that this method has no minimum confidence threshold for a tag. This means that 
+     * if one camera thinks it sees the tag, even with very low confidence, it'll still return
+     * some sort of pose. 
+     * 
+     * @param tagID The ID of the tag to look for in the latest results from all cameras
+     * @return An Optional object containing a Pose3d object, or Optional.empty() if
+     *   the tag is not present anywhere in the robots field of view. 
+     */
+    public Optional<Pose3d> getBestPoseForTag(int tagID) {
+        PhotonVisionConfig config = null;
+        Transform3d bestCameraToTarget = null;
+        float bestConfidence = -1;
+
+        for(int cameraIndex = 0; cameraIndex < latestResults.size(); cameraIndex++) {
+            if(latestResults.get(cameraIndex) == null) {
+                continue;
+            }
+
+            for(PhotonTrackedTarget target: latestResults.get(cameraIndex).getTargets()) {
+                if(target.getFiducialId() != tagID || bestConfidence > target.getDetectedObjectConfidence()) {
+                    continue;
+                }
+
+                config = PhotonConstants.configs.get(cameraIndex);
+                bestCameraToTarget = target.bestCameraToTarget;
+                bestConfidence = target.getDetectedObjectConfidence();
+            }
+        }
+
+        if(bestCameraToTarget == null) {
+            return Optional.empty();
+        }
+
+        // This is based on what PhotonVision does for multitag Pose estimation
+        // 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.kZero
+            .plus(bestCameraToTarget.inverse())
+            .relativeTo(CompetitionConstants.kTagLayout.getOrigin())
+            .plus(config.robotToCamera().inverse()));
+    }
+
+    /**
+     * Returns the best yaw for a given AprilTag ID as seen by the cameras on the robot.
+     * 
+     * All cameras fields of view are observed, if no camera can see the given tag ID, this
+     * method will return OptionalDouble.empty()
+     * 
+     * Note that this method has no minimum confidence threshold for a tag. This means that
+     * if one camera thinks it sees the tag, even with very low confidence, it'll still
+     * return some sort of yaw value.
+     * 
+     * Note that the yaw value here is the yaw of the observed tag relative to the center
+     * of the cameras image frame. 
+     * 
+     * @param tagID The ID of the tag to look for in the latest results from all cameras
+     * @return An OptionalDouble object containing a Double representing the described yaw
+     *   of the AprilTag specified, or OptionalDouble.empty() if the tag is not present
+     *   anywhere in the robots field of view
+     */
+    public OptionalDouble getBestYawForTag(int tagID) {
+        double bestTagYaw = -1;
+        float bestConfidence = -1;
+
+        for(PhotonPipelineResult result: latestResults) {
+            if(result == null) {
+                continue;
+            }
+
+            for(PhotonTrackedTarget target: result.getTargets()) {
+                if(target.getFiducialId() != tagID || bestConfidence > target.getDetectedObjectClassID()) {
+                    continue;
+                }
+
+                bestTagYaw = target.getYaw();
+                bestConfidence = target.getDetectedObjectConfidence();
+            }
+        }
+
+        if(bestConfidence == -1) {
+            return OptionalDouble.empty();
+        }
+
+        return OptionalDouble.of(bestTagYaw);
+    }
+
+    /**
+     * Add a Consumer of VisualPose records to the PhotonVision resource. 
+     * 
+     * Each consumer will receive a VisualPose object when any camera produces a new
+     * VisualPose. 
+     * 
+     * The number of Poses produced in a given 20ms cycle is the same number as how many
+     * cameras there are on the robot, assuming those cameras see enough tags to generate a pose, 
+     * as currently all cameras configuration will generate a Pose2d
+     * 
+     * @param consumer The lambda, functional reference, or Consumer implementing object 
+     *  that will consume Poses produced by the PhotonVision resource.
+     */
+    public void addPoseEstimateConsumer(Consumer<VisualPose> consumer) {
+        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

@@ -0,0 +1,63 @@
+package frc.robot.subsystems;
+
+import com.ctre.phoenix6.controls.DutyCycleOut;
+import com.ctre.phoenix6.hardware.TalonFX;
+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.SpindexerConstants;
+
+public class Spindexer extends SubsystemBase {
+    private TalonFX spindexerMotor;
+
+    private SparkMax feederMotor;
+
+    private DutyCycleOut spindexerMotorOutput;
+
+    public Spindexer() {
+        spindexerMotor = new TalonFX(SpindexerConstants.kSpindexerMotorCANID);
+
+        feederMotor = new SparkMax(SpindexerConstants.kFeederMotorCANID, MotorType.kBrushless);
+
+        spindexerMotor.getConfigurator().apply(SpindexerConstants.kSpindexerCurrentLimitConfig);
+        spindexerMotor.getConfigurator().apply(SpindexerConstants.kSpindexerMotorConfig);
+
+        feederMotor.configure(
+            SpindexerConstants.kFeederConfig, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
+
+        spindexerMotorOutput = new DutyCycleOut(0);
+    }
+
+    public Command spinToShooter() {
+        return run(() -> {
+            spindexerMotor.setControl(
+                spindexerMotorOutput.withOutput(SpindexerConstants.kSpindexerSpeed)
+            );
+            feederMotor.set(SpindexerConstants.kFeederSpeed);
+        });
+    }
+
+    public Command spinToIntake() {
+        return run(() -> {
+            spindexerMotor.setControl(
+                spindexerMotorOutput.withOutput(-SpindexerConstants.kSpindexerSpeed)
+            );
+            feederMotor.set(-SpindexerConstants.kFeederSpeed);
+        });
+    }
+
+    public Command stop() {
+        return run(() -> {
+            spindexerMotor.setControl(spindexerMotorOutput.withOutput(0));
+            feederMotor.set(0);
+        });
+    }
+    
+}

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

@@ -0,0 +1,390 @@
+// 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
+
+package frc.robot.utilities;
+
+import com.fasterxml.jackson.annotation.JsonProperty;
+import com.fasterxml.jackson.core.JsonProcessingException;
+import com.fasterxml.jackson.databind.ObjectMapper;
+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.sendAll(true), PubSubOption.keepDuplicates(true));
+  private static final StringTopic selectedTabTopic =
+      NetworkTableInstance.getDefault().getStringTopic("/Elastic/SelectedTab");
+  private static final StringPublisher selectedTabPublisher =
+      selectedTabTopic.publish(PubSubOption.keepDuplicates(true));
+  private static final ObjectMapper objectMapper = new ObjectMapper();
+
+  /**
+   * Represents the possible levels of notifications for the Elastic dashboard. These levels are
+   * used to indicate the severity or type of notification.
+   */
+  public enum NotificationLevel {
+    /** Informational Message */
+    INFO,
+    /** Warning message */
+    WARNING,
+    /** Error message */
+    ERROR
+  }
+
+  /**
+   * Sends an notification to the Elastic dashboard. The notification is serialized as a JSON string
+   * before being published.
+   *
+   * @param notification the {@link Notification} object containing notification details
+   */
+  public static void sendNotification(Notification notification) {
+    try {
+      notificationPublisher.set(objectMapper.writeValueAsString(notification));
+    } catch (JsonProcessingException e) {
+      e.printStackTrace();
+    }
+  }
+
+  /**
+   * Selects the tab of the dashboard with the given name. If no tab matches the name, this will
+   * have no effect on the widgets or tabs in view.
+   *
+   * <p>If the given name is a number, Elastic will select the tab whose index equals the number
+   * provided.
+   *
+   * @param tabName the name of the tab to select
+   */
+  public static void selectTab(String tabName) {
+    selectedTabPublisher.set(tabName);
+  }
+
+  /**
+   * Selects the tab of the dashboard at the given index. If this index is greater than or equal to
+   * the number of tabs, this will have no effect.
+   *
+   * @param tabIndex the index of the tab to select.
+   */
+  public static void selectTab(int tabIndex) {
+    selectTab(Integer.toString(tabIndex));
+  }
+
+  /**
+   * Represents an notification object to be sent to the Elastic dashboard. This object holds
+   * properties such as level, title, description, display time, and dimensions to control how the
+   * notification is displayed on the dashboard.
+   */
+  public static class Notification {
+    @JsonProperty("level")
+    private NotificationLevel level;
+
+    @JsonProperty("title")
+    private String title;
+
+    @JsonProperty("description")
+    private String description;
+
+    @JsonProperty("displayTime")
+    private int displayTimeMillis;
+
+    @JsonProperty("width")
+    private double width;
+
+    @JsonProperty("height")
+    private double height;
+
+    /**
+     * Creates a new Notification with all default parameters. This constructor is intended to be
+     * used with the chainable decorator methods
+     *
+     * <p>Title and description fields are empty.
+     */
+    public Notification() {
+      this(NotificationLevel.INFO, "", "");
+    }
+
+    /**
+     * Creates a new Notification with all properties specified.
+     *
+     * @param level the level of the notification (e.g., INFO, WARNING, ERROR)
+     * @param title the title text of the notification
+     * @param description the descriptive text of the notification
+     * @param displayTimeMillis the time in milliseconds for which the notification is displayed
+     * @param width the width of the notification display area
+     * @param height the height of the notification display area, inferred if below zero
+     */
+    public Notification(
+        NotificationLevel level,
+        String title,
+        String description,
+        int displayTimeMillis,
+        double width,
+        double height) {
+      this.level = level;
+      this.title = title;
+      this.displayTimeMillis = displayTimeMillis;
+      this.description = description;
+      this.height = height;
+      this.width = width;
+    }
+
+    /**
+     * Creates a new Notification with default display time and dimensions.
+     *
+     * @param level the level of the notification
+     * @param title the title text of the notification
+     * @param description the descriptive text of the notification
+     */
+    public Notification(NotificationLevel level, String title, String description) {
+      this(level, title, description, 3000, 350, -1);
+    }
+
+    /**
+     * Creates a new Notification with a specified display time and default dimensions.
+     *
+     * @param level the level of the notification
+     * @param title the title text of the notification
+     * @param description the descriptive text of the notification
+     * @param displayTimeMillis the display time in milliseconds
+     */
+    public Notification(
+        NotificationLevel level, String title, String description, int displayTimeMillis) {
+      this(level, title, description, displayTimeMillis, 350, -1);
+    }
+
+    /**
+     * Creates a new Notification with specified dimensions and default display time. If the height
+     * is below zero, it is automatically inferred based on screen size.
+     *
+     * @param level the level of the notification
+     * @param title the title text of the notification
+     * @param description the descriptive text of the notification
+     * @param width the width of the notification display area
+     * @param height the height of the notification display area, inferred if below zero
+     */
+    public Notification(
+        NotificationLevel level, String title, String description, double width, double height) {
+      this(level, title, description, 3000, width, height);
+    }
+
+    /**
+     * Updates the level of this notification
+     *
+     * @param level the level to set the notification to
+     */
+    public void setLevel(NotificationLevel level) {
+      this.level = level;
+    }
+
+    /**
+     * @return the level of this notification
+     */
+    public NotificationLevel getLevel() {
+      return level;
+    }
+
+    /**
+     * Updates the title of this notification
+     *
+     * @param title the title to set the notification to
+     */
+    public void setTitle(String title) {
+      this.title = title;
+    }
+
+    /**
+     * Gets the title of this notification
+     *
+     * @return the title of this notification
+     */
+    public String getTitle() {
+      return title;
+    }
+
+    /**
+     * Updates the description of this notification
+     *
+     * @param description the description to set the notification to
+     */
+    public void setDescription(String description) {
+      this.description = description;
+    }
+
+    public String getDescription() {
+      return description;
+    }
+
+    /**
+     * Updates the display time of the notification
+     *
+     * @param seconds the number of seconds to display the notification for
+     */
+    public void setDisplayTimeSeconds(double seconds) {
+      setDisplayTimeMillis((int) Math.round(seconds * 1000));
+    }
+
+    /**
+     * Updates the display time of the notification in milliseconds
+     *
+     * @param displayTimeMillis the number of milliseconds to display the notification for
+     */
+    public void setDisplayTimeMillis(int displayTimeMillis) {
+      this.displayTimeMillis = displayTimeMillis;
+    }
+
+    /**
+     * Gets the display time of the notification in milliseconds
+     *
+     * @return the number of milliseconds the notification is displayed for
+     */
+    public int getDisplayTimeMillis() {
+      return displayTimeMillis;
+    }
+
+    /**
+     * Updates the width of the notification
+     *
+     * @param width the width to set the notification to
+     */
+    public void setWidth(double width) {
+      this.width = width;
+    }
+
+    /**
+     * Gets the width of the notification
+     *
+     * @return the width of the notification
+     */
+    public double getWidth() {
+      return width;
+    }
+
+    /**
+     * Updates the height of the notification
+     *
+     * <p>If the height is set to -1, the height will be determined automatically by the dashboard
+     *
+     * @param height the height to set the notification to
+     */
+    public void setHeight(double height) {
+      this.height = height;
+    }
+
+    /**
+     * Gets the height of the notification
+     *
+     * @return the height of the notification
+     */
+    public double getHeight() {
+      return height;
+    }
+
+    /**
+     * Modifies the notification's level and returns itself to allow for method chaining
+     *
+     * @param level the level to set the notification to
+     * @return the current notification
+     */
+    public Notification withLevel(NotificationLevel level) {
+      this.level = level;
+      return this;
+    }
+
+    /**
+     * Modifies the notification's title and returns itself to allow for method chaining
+     *
+     * @param title the title to set the notification to
+     * @return the current notification
+     */
+    public Notification withTitle(String title) {
+      setTitle(title);
+      return this;
+    }
+
+    /**
+     * Modifies the notification's description and returns itself to allow for method chaining
+     *
+     * @param description the description to set the notification to
+     * @return the current notification
+     */
+    public Notification withDescription(String description) {
+      setDescription(description);
+      return this;
+    }
+
+    /**
+     * Modifies the notification's display time and returns itself to allow for method chaining
+     *
+     * @param seconds the number of seconds to display the notification for
+     * @return the current notification
+     */
+    public Notification withDisplaySeconds(double seconds) {
+      return withDisplayMilliseconds((int) Math.round(seconds * 1000));
+    }
+
+    /**
+     * Modifies the notification's display time and returns itself to allow for method chaining
+     *
+     * @param displayTimeMillis the number of milliseconds to display the notification for
+     * @return the current notification
+     */
+    public Notification withDisplayMilliseconds(int displayTimeMillis) {
+      setDisplayTimeMillis(displayTimeMillis);
+      return this;
+    }
+
+    /**
+     * Modifies the notification's width and returns itself to allow for method chaining
+     *
+     * @param width the width to set the notification to
+     * @return the current notification
+     */
+    public Notification withWidth(double width) {
+      setWidth(width);
+      return this;
+    }
+
+    /**
+     * Modifies the notification's height and returns itself to allow for method chaining
+     *
+     * @param height the height to set the notification to
+     * @return the current notification
+     */
+    public Notification withHeight(double height) {
+      setHeight(height);
+      return this;
+    }
+
+    /**
+     * Modifies the notification's height and returns itself to allow for method chaining
+     *
+     * <p>This will set the height to -1 to have it automatically determined by the dashboard
+     *
+     * @return the current notification
+     */
+    public Notification withAutomaticHeight() {
+      setHeight(-1);
+      return this;
+    }
+
+    /**
+     * Modifies the notification to disable the auto dismiss behavior
+     *
+     * <p>This sets the display time to 0 milliseconds
+     *
+     * <p>The auto dismiss behavior can be re-enabled by setting the display time to a number
+     * greater than 0
+     *
+     * @return the current notification
+     */
+    public Notification withNoAutoDismiss() {
+      setDisplayTimeMillis(0);
+      return this;
+    }
+  }
+}

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

@@ -1,163 +0,0 @@
-package frc.robot.utilities;
-
-import java.io.IOException;
-import java.util.List;
-import java.util.Optional;
-import java.util.OptionalDouble;
-
-import org.photonvision.EstimatedRobotPose;
-import org.photonvision.PhotonCamera;
-import org.photonvision.PhotonPoseEstimator;
-import org.photonvision.PhotonPoseEstimator.PoseStrategy;
-import org.photonvision.PhotonUtils;
-import org.photonvision.targeting.PhotonPipelineResult;
-import org.photonvision.targeting.PhotonTrackedTarget;
-
-import edu.wpi.first.math.geometry.Transform3d;
-import edu.wpi.first.math.util.Units;
-import frc.robot.constants.CompetitionConstants;
-import frc.robot.interfaces.IAprilTagProvider;
-import frc.robot.interfaces.IVisualPoseProvider;
-
-public class PhotonVision implements IAprilTagProvider,IVisualPoseProvider {
-
-    private final PhotonCamera camera;
-
-    private final PhotonPoseEstimator photonPoseEstimator;
-
-    private final double cameraHeightMeters;
-    private final double cameraPitchRadians;
-
-    private PhotonPipelineResult latestResult;
-
-    public PhotonVision(String cameraName, Transform3d robotToCam, double cameraHeightMeters, double cameraPitchRadians) throws IOException {
-        camera = new PhotonCamera(cameraName);
-
-        photonPoseEstimator = new PhotonPoseEstimator(
-            CompetitionConstants.kTagLayout, 
-            PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, 
-            robotToCam
-        );
-
-        this.cameraHeightMeters = cameraHeightMeters;
-        this.cameraPitchRadians = cameraPitchRadians;
-
-        this.latestResult = null;
-    }
-
-    public void periodic() {
-        // TODO Do we care about missed results? Probably not, if we're taking long enough to miss results something else is wrong
-        List<PhotonPipelineResult> results = camera.getAllUnreadResults();
-
-        if(!results.isEmpty()) {
-            latestResult = results.get(results.size() - 1);
-        }
-    }
-
-    @Override
-    public Optional<VisualPose> getVisualPose() {
-        if(latestResult == null) {
-            return Optional.empty();
-        }
-
-        Optional<EstimatedRobotPose> pose = photonPoseEstimator.update(latestResult);
-
-        if (pose.isEmpty()) {
-            return Optional.empty();
-        }
-
-        return Optional.of(
-            new VisualPose(
-                pose.get().estimatedPose.toPose2d(), 
-                pose.get().timestampSeconds
-            )
-        );
-    }
-
-    @Override
-    public OptionalDouble getTagDistanceFromCameraByID(int id) {
-        if (latestResult == null) {
-            return OptionalDouble.empty();
-        }
-
-        if (!latestResult.hasTargets()) {
-            return OptionalDouble.empty();
-        }
-
-        Optional<PhotonTrackedTarget> desiredTarget = getTargetFromList(latestResult.getTargets(), id);
-        
-        if (desiredTarget.isEmpty()) {
-            return OptionalDouble.empty();
-        }
-
-        return OptionalDouble.of(
-            PhotonUtils.calculateDistanceToTargetMeters(
-                cameraHeightMeters, 
-                CompetitionConstants.kTagLayout.getTagPose(id).get().getZ(),
-                cameraPitchRadians, 
-                Units.degreesToRadians(desiredTarget.get().getPitch()))
-        );
-    }
-
-    @Override
-    public OptionalDouble getTagPitchByID(int id) {
-        if(latestResult == null) {
-            OptionalDouble.empty();
-        }
-        
-        if (!latestResult.hasTargets()) {
-            return OptionalDouble.empty();
-        }
-
-        Optional<PhotonTrackedTarget> desiredTarget = getTargetFromList(latestResult.getTargets(), id);
-
-        if (desiredTarget.isEmpty()) {
-            return OptionalDouble.empty();
-        }
-
-        return OptionalDouble.of(
-            desiredTarget.get().getPitch()
-        );
-    }
-
-    @Override
-    public OptionalDouble getTagYawByID(int id) {
-        if(latestResult == null) {
-            OptionalDouble.empty();
-        }
-        
-        if (!latestResult.hasTargets()) {
-            return OptionalDouble.empty();
-        }
-
-        Optional<PhotonTrackedTarget> desiredTarget = getTargetFromList(latestResult.getTargets(), id);
-
-        if (desiredTarget.isEmpty()) {
-            return OptionalDouble.empty();
-        }
-
-        return OptionalDouble.of(
-            desiredTarget.get().getYaw()
-        );
-    }
-
-    private Optional<PhotonTrackedTarget> getTargetFromList(List<PhotonTrackedTarget> targets, int id) {
-        for (PhotonTrackedTarget target : targets) {
-            if (target.getFiducialId() == id) {
-                return Optional.of(target);
-            }
-        }
-
-        return Optional.empty();
-    }
-
-    @Override
-    public int[] getVisibleTagIDs() {
-        if(latestResult == null) {
-            return new int[] {};
-        }
-
-        return latestResult.getTargets().stream().mapToInt(PhotonTrackedTarget::getFiducialId).toArray();
-    }
-    
-}

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

@@ -0,0 +1,10 @@
+package frc.robot.utilities;
+
+import edu.wpi.first.math.geometry.Transform3d;
+
+public record PhotonVisionConfig (
+    String cameraName,
+    Transform3d robotToCamera,
+    double cameraHeightMeters,
+    double cameraPitchRadians
+) {}

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

@@ -0,0 +1,37 @@
+package frc.robot.utilities;
+
+import java.util.function.DoubleSupplier;
+
+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
+ */
+public class SparkMAXTester extends SubsystemBase {
+    private SparkMax spark;
+
+    /**
+     * Constructor
+     * 
+     * @param deviceID The CAN ID of the SparkMAX that needs testing
+     */
+    public SparkMAXTester(int deviceID) {
+        spark = new SparkMax(deviceID, MotorType.kBrushless);
+    }
+
+    /**
+     * Sets the speed of the motor
+     * 
+     * @param speed A method or lambda which returns a double between -1 and 1
+     * @return A Command object that runs indefinitely to control motor speed
+     */
+    public Command setSpeed(DoubleSupplier speed) {
+        return run(() -> {
+            spark.set(speed.getAsDouble());
+        });
+    }
+}

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

@@ -1,4 +1,4 @@
-package frc.robot.utiltiies;
+package frc.robot.utilities;
 
 import org.littletonrobotics.junction.Logger;
 
@@ -17,6 +17,7 @@ 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
@@ -30,6 +31,8 @@ import frc.robot.constants.ModuleConstants;
  * the controller closed loop controller. 
  */
 public class SwerveModule {
+    private ModuleName moduleName;
+
     private TalonFX drive;
     private SparkMax turning;
 
@@ -41,16 +44,64 @@ public class SwerveModule {
 
     private VelocityVoltage driveVelocityRequest;
 
-    private String moduleName;
+    private SwerveModuleState lastTargetState;
+    private SwerveModuleState lastTargetStateOptimized;
+
+    private boolean isAbsoluteEncoderDisabled;
+    private boolean turningEncoderAutoRezeroEnabled;
+
+    /**
+     * Builds the swerve module but with the Absolute Encoder disabled.
+     * 
+     * This constructor assumes you zeroed the swerve modules (faced all the bevel gears to the left)
+     * before booting up the robot.
+     * 
+     * @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(ModuleName moduleName, int drivingCANID, int turningCANID) {
+        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 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(ModuleName moduleName, int drivingCANID, int turningCANID, int analogEncoderID, double analogEncoderOffset) {
+        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 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 
+     * @param turningEncoderAutoRezeroEnabled Should the turning encoder in the NEO automatically rezero from the absolute encoder
+     */
+    public SwerveModule(ModuleName moduleName, int drivingCANID, int turningCANID, 
+        int analogEncoderID, double analogEncoderOffset, boolean turningEncoderAutoRezeroEnabled) {
+        isAbsoluteEncoderDisabled = (analogEncoderID == -1) || (analogEncoderOffset < 0);
 
-    public SwerveModule(String moduleName, int drivingCANID, int turningCANID, int analogEncoderID, double analogEncoderOffset) {
         drive = new TalonFX(drivingCANID);
         turning = new SparkMax(turningCANID, MotorType.kBrushless);
 
         turningRelativeEncoder = turning.getEncoder();
 
-        turningAbsoluteEncoder = new AnalogEncoder(analogEncoderID, 2 * Math.PI, analogEncoderOffset);
-
+        if(!isAbsoluteEncoderDisabled) {
+            turningAbsoluteEncoder = new AnalogEncoder(analogEncoderID, 2 * Math.PI, analogEncoderOffset);
+        }
+        
         turningClosedLoopController = turning.getClosedLoopController();
 
         drive.getConfigurator().apply(ModuleConstants.kDriveCurrentLimitConfig);
@@ -65,37 +116,75 @@ public class SwerveModule {
             PersistMode.kPersistParameters
         );
 
-        turningRelativeEncoder.setPosition(turningAbsoluteEncoder.get());
+        driveVelocityRequest = new VelocityVoltage(0);
+
+        if(isAbsoluteEncoderDisabled){
+            turningRelativeEncoder.setPosition(0);
+        } else {
+            turningRelativeEncoder.setPosition(turningAbsoluteEncoder.get());
+        }
+        
         drive.setPosition(0);
 
-        this.moduleName = "Drivetrain/Modules/" + moduleName;
+        this.lastTargetState = getState();
+        this.lastTargetStateOptimized = getState();
+
+        this.turningEncoderAutoRezeroEnabled = turningEncoderAutoRezeroEnabled;
+
+        this.moduleName = moduleName;
     }
 
     public void periodic() {
-        Logger.recordOutput(moduleName + "/AbsoluteEncoder/Position", turningAbsoluteEncoder.get());
-        Logger.recordOutput(moduleName + "/SwerveModuleState", getState());
-        Logger.recordOutput(moduleName + "/SwerveModulePosition", getPosition());
+        
+        if(!isAbsoluteEncoderDisabled) {
+            Logger.recordOutput(moduleName.getLoggableName() + "/AbsoluteEncoder/Position", turningAbsoluteEncoder.get());
+        }
+        
+        Logger.recordOutput(moduleName.getLoggableName() + "/ModuleTargetState", lastTargetState);
+        Logger.recordOutput(moduleName.getLoggableName() + "/ModuleTargetStateOptimized", lastTargetStateOptimized);
+        Logger.recordOutput(moduleName.getLoggableName() + "/SwerveModuleState", getState());
+        Logger.recordOutput(moduleName.getLoggableName() + "/SwerveModulePosition", getPosition());
+        Logger.recordOutput(moduleName.getLoggableName() + "/RelativeEncoderPosition", getTurningEncoderPosition());
+
+        // TODO Re-enable this? Was turned off when there was drivetrain issues
+        // Now that there aren't, do we try this again?
+        /*
+        if(!isAbsoluteEncoderDisabled && turningEncoderAutoRezeroEnabled) {
+            if(Math.abs(getState().angle.getRadians() - lastTargetState.angle.getRadians()) <= ModuleConstants.kAutoResetPositionDeadband) {
+                resetEncoders();
+            }
+        }*/
+    }
+
+    public ModuleName getModuleName() {
+        return moduleName;
     }
 
     public SwerveModuleState getState() {
         return new SwerveModuleState(
             drive.getVelocity().getValueAsDouble() * ModuleConstants.kWheelCircumferenceMeters, 
-            new Rotation2d(turningRelativeEncoder.getPosition())
+            new Rotation2d(getTurningEncoderPosition())
         );
     }
 
     public SwerveModulePosition getPosition() {
         return new SwerveModulePosition(
             drive.getPosition().getValueAsDouble() * ModuleConstants.kWheelCircumferenceMeters, 
-            new Rotation2d(turningRelativeEncoder.getPosition())
+            new Rotation2d(getTurningEncoderPosition())
         );
     }
 
+    public void disableOutput() {
+        drive.disable();
+        turning.disable();
+    }
+
     public void setDesiredState(SwerveModuleState desiredState) {
-        // TODO is this really necessary, the offset is managed by the Absolute Encoder
-        // and its "source of truth" behavior in relation to the relative encoder
-        // Probably doesn't *hurt* that it's here, but it may not be needed
-        desiredState.optimize(new Rotation2d(turningRelativeEncoder.getPosition()));
+        lastTargetState = new SwerveModuleState(desiredState.speedMetersPerSecond, desiredState.angle);
+        
+        desiredState.optimize(new Rotation2d(getTurningEncoderPosition()));
+
+        lastTargetStateOptimized = desiredState;
 
         drive.setControl(
             driveVelocityRequest.withVelocity(
@@ -111,6 +200,10 @@ public class SwerveModule {
         );
     }
 
+    public double getTurningEncoderPosition() {
+        return turningRelativeEncoder.getPosition() * (ModuleConstants.kIsEncoderInverted ? -1 : 1);
+    }
+
     public void resetEncoders() {
         drive.setPosition(0);
 
@@ -118,6 +211,10 @@ public class SwerveModule {
     }
 
     public void zeroTurningEncoder() {
-        turningRelativeEncoder.setPosition(turningAbsoluteEncoder.get());
+        if(isAbsoluteEncoderDisabled) {
+            turningRelativeEncoder.setPosition(0);
+        } else {
+            turningRelativeEncoder.setPosition(turningAbsoluteEncoder.get());
+        }
     }
 }

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

@@ -0,0 +1,115 @@
+package frc.robot.utilities;
+
+import java.util.Optional;
+
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import frc.robot.constants.CompetitionConstants;
+
+public class Utilities {
+    public static final double kG = -9.81;
+    
+    /**
+     * Returns the Alliance enumeration that indicates who will have the first
+     * shift. Returns null if the data is not available. 
+     * 
+     * @return The Alliance that will have the first shift, or null if game specific data
+     *  is not present
+     */
+    public static Alliance whoHasFirstShift() {
+        String gameData = DriverStation.getGameSpecificMessage();
+
+        if(gameData.length() > 0) {
+            switch (gameData.charAt(0)) {
+                case 'B':
+                    return Alliance.Red;
+                case 'R':
+                    return Alliance.Blue;
+                default:
+                    return null;
+            }
+        }
+        
+        return null;
+    }
+
+    /**
+     * Returns the pose of the hub for the given alliance assigned to our robot.
+     * If no alliance is assigned (which is unlikely) this method returns
+     * the Blue hub pose, which is the closet to the field origin
+     * 
+     * @return The Pose2d object which represents the appropriate pose of the Hub
+     */
+    public static Pose2d getHubPose() {
+        Optional<Alliance> alliance = DriverStation.getAlliance();
+
+        if(alliance.isEmpty() || alliance.get() == Alliance.Blue) {
+            return CompetitionConstants.kBlueHubLocation;
+        } else {
+            return CompetitionConstants.kRedHubLocation;
+        }
+    }
+
+    /**
+     * Returns the AprilTag ID of the tag that is in the center of the hub
+     * for the robot's assigned alliance. If no alliance is assigned (which is unlikely)
+     * the Blue hub's center tag is returned. 
+     * 
+     * @return The tag ID that is in the center of the assigned alliance's hub
+     */
+    public static int getHubCenterAprilTagID() {
+        Optional<Alliance> alliance = DriverStation.getAlliance();
+
+        if(alliance.isEmpty() || alliance.get() == Alliance.Blue) {
+            return 26;
+        } else {
+            return 10;
+        }
+    }
+
+    /**
+     * A ChatGPT possible hallucination related to calcuating whether a shot is possible
+     * for a given speed and change in X and Y position
+     * 
+     * Note that X in this scenario is the physical distance from the shooter exit to 
+     * target. Y is the change in height from the shooter exit to the target height
+     * 
+     * @param targetVMPS The target velocity of the shooter in Meters per Second
+     * @param deltaXM The "as the crow flies" distance between the shooter exit and the target
+     * @param deltaYM The height difference between the shooter exit and the target
+     * @return A true or false value indicating whether the shot is possible
+     */
+    public static boolean shotPossible(double targetVMPS, double deltaXM, double deltaYM) {
+        return Math.pow(targetVMPS, 4) >= 
+            -9.81 * (-9.81 * Math.pow(deltaXM, 2) + 2 * deltaYM * Math.pow(targetVMPS, 2));
+    }
+
+    /**
+     * A ChatGPT possible hallucination that calculates the angle required to make a shot for
+     * a given speed and change in X and Y position
+     * 
+     * Note that X in this scenario is the physical disatance from the shooter exit to
+     * target. Y is the change in height from the shooter exit to the target height
+     * 
+     * Setting softerShot to true changes the angle of attack to a soft, long range shot. False
+     * makes the shot more of a lob
+     * 
+     * @param targetVMPS The target velocity of the shooter in Meters per Second
+     * @param deltaXM The "as the crow flies" distance between the shooter exit and the target
+     * @param deltaYM The height difference between the shooter exit and the target
+     * @param softerShot True for a long range shot, false for a short range lob
+     * @return The angle required of the shooter to make the shot described by the input parameters
+     */
+    public static double shotAngle(double targetVMPS, double deltaXM, double deltaYM, boolean softerShot) {
+        double vPow2 = Math.pow(targetVMPS, 2);
+        double vPow4 = Math.pow(targetVMPS, 4);
+        double sqrtPiece = Math.sqrt(vPow4 - kG * (kG * Math.pow(deltaXM, 2) + 2 * deltaYM * vPow2));
+
+        if(softerShot) {
+            return Math.atan((vPow2 - sqrtPiece) / (kG * deltaXM));
+        } else {
+            return Math.atan((vPow2 + sqrtPiece) / (kG * deltaXM));
+        }
+    }
+}

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

@@ -0,0 +1,9 @@
+package frc.robot.utilities;
+
+import edu.wpi.first.math.geometry.Pose2d;
+
+/**
+ * A record class which represents the source of a visual pose, the pose itself
+ * and the timestamp the pose was generated. 
+ */
+public record VisualPose(String cameraName, Pose2d visualPose, double timestamp) {}