Final commit before merging to main to continue progress

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/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/settings.json

@@ -0,0 +1,32 @@
+{
+  "robotWidth": 0.9,
+  "robotLength": 0.9,
+  "holonomicMode": true,
+  "pathFolders": [],
+  "autoFolders": [],
+  "defaultMaxVel": 3.0,
+  "defaultMaxAccel": 3.0,
+  "defaultMaxAngVel": 540.0,
+  "defaultMaxAngAccel": 720.0,
+  "defaultNominalVoltage": 12.0,
+  "robotMass": 74.088,
+  "robotMOI": 6.883,
+  "robotTrackwidth": 0.546,
+  "driveWheelRadius": 0.048,
+  "driveGearing": 5.143,
+  "maxDriveSpeed": 5.45,
+  "driveMotorType": "krakenX60",
+  "driveCurrentLimit": 60.0,
+  "wheelCOF": 1.2,
+  "flModuleX": 0.273,
+  "flModuleY": 0.273,
+  "frModuleX": 0.273,
+  "frModuleY": -0.273,
+  "blModuleX": -0.273,
+  "blModuleY": 0.273,
+  "brModuleX": -0.273,
+  "brModuleY": -0.273,
+  "bumperOffsetX": 0.0,
+  "bumperOffsetY": 0.0,
+  "robotFeatures": []
+}

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

@@ -22,11 +22,12 @@ public class Robot extends LoggedRobot {
 
   private final RobotContainer m_robotContainer;
 
+  @SuppressWarnings("resource")
   public Robot() {
     Logger.recordMetadata("ProjectName", "2026_Robot_Code");
 
     if(isReal()) {
-      if(CompetitionConstants.logToNetworkTables) {
+      if(CompetitionConstants.kLogToNetworkTables) {
         Logger.addDataReceiver(new NT4Publisher());
       }
       

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

@@ -4,37 +4,128 @@
 
 package frc.robot;
 
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+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.OIConstants;
 import frc.robot.subsystems.Drivetrain;
+import frc.robot.subsystems.PhotonVision;
+import frc.robot.utilities.Elastic;
+import frc.robot.utilities.Utilities;
 
 public class RobotContainer {
+  private PhotonVision vision;
   private Drivetrain drivetrain;
 
   private CommandXboxController driver;
 
+  private SendableChooser<Command> autoChooser;
+
+  private Timer shiftTimer;
+
   public RobotContainer() {
+    vision = new PhotonVision();
     drivetrain = new Drivetrain();
 
+    vision.addPoseEstimateConsumer(drivetrain::consumeVisualPose);
+
     driver = new CommandXboxController(OIConstants.kDriverControllerPort);
 
+    shiftTimer = new Timer();
+    shiftTimer.reset();
+
     configureBindings();
   }
   
   private void configureBindings() {
     drivetrain.setDefaultCommand(
       drivetrain.drive(
-        driver::getLeftX, 
         driver::getLeftY,
+        driver::getLeftX, 
         driver::getRightX, 
-        () -> true
+        () -> false
       )
     );
+
+    driver.start().and(driver.x()).whileTrue(drivetrain.runFrontLeft(1, 0));
+    driver.start().and(driver.y()).whileTrue(drivetrain.runFrontRight(1, 0));
+    driver.start().and(driver.a()).whileTrue(drivetrain.runRearLeft(1, 0));
+    driver.start().and(driver.b()).whileTrue(drivetrain.runRearRight(1, 0));
+    driver.start().negate().and(driver.x()).whileTrue(drivetrain.runFrontLeft(0, 45));
+    driver.start().negate().and(driver.y()).whileTrue(drivetrain.runFrontRight(0, 45));
+    driver.start().negate().and(driver.a()).whileTrue(drivetrain.runRearLeft(0, 45));
+    driver.start().negate().and(driver.b()).whileTrue(drivetrain.runRearRight(0, 45));
+    driver.rightBumper().whileTrue(drivetrain.setX());
+
+    //drivetrain.setDefaultCommand(drivetrain.disableOutputs());
+
+    configureShiftDisplay();
   }
 
   public Command getAutonomousCommand() {
-    return Commands.print("No autonomous command configured");
+    if(AutoConstants.kAutoConfigOk) {
+      return autoChooser.getSelected();
+    } else {
+      return new PrintCommand("Robot Config loading failed, autonomous disabled");
+    }
+  }
+
+  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 +1,62 @@
+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;
+
+// TODO This is all hold over from 2025, does any of it need to change?
+public class AutoConstants {
+    public static final double kMaxSpeedMetersPerSecond = 5;
+    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 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/CompetitionConstants.java

@@ -1,6 +1,13 @@
 package frc.robot.constants;
 
+import edu.wpi.first.apriltag.AprilTagFieldLayout;
+import edu.wpi.first.apriltag.AprilTagFields;
+
 public class CompetitionConstants {
     // THIS SHOULD BE FALSE DURING COMPETITION PLAY
-    public static final boolean logToNetworkTables = true;
+    public static final boolean kLogToNetworkTables = true;
+
+    public static final AprilTagFieldLayout kTagLayout = AprilTagFieldLayout.loadField(
+        AprilTagFields.kDefaultField
+    );
 }

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

@@ -9,41 +9,28 @@ public class DrivetrainConstants {
     public static final double kMaxSpeedMetersPerSecond = 4.125;
     public static final double kMaxAngularSpeed = 2 * Math.PI;
 
-    // TODO Replace zeros with real numbers
+    public static final double kTrackWidth = Units.inchesToMeters(23.75);
-    public static final double kTrackWidth = Units.inchesToMeters(0);
+    public static final double kWheelBase = Units.inchesToMeters(18.75);
-    public static final double kWheelBase = Units.inchesToMeters(0);
  
-    // TODO Replace zeros with real numbers
+    public static final double kFrontLeftMagEncoderOffset = 2.965;
-    // These values should be determinable by writing the magnetic encoder output
+    public static final double kFrontRightMagEncoderOffset = 1.120;
-    // to the dashboard, and manually aligning all wheels such that the bevel gears
+    public static final double kRearLeftMagEncoderOffset = 3.761;
-    // on the side of the wheel all face left. Some known straight edge (like 1x1 or similar)
+    public static final double kRearRightMagEncoderOffset = 2.573;
-    // 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;
 
-    // Kraken CAN IDs 
-    // TODO Real CAN IDs
     public static final int kFrontLeftDrivingCANID = 0;
-    public static final int kFrontRightDrivingCANID = 0;
+    public static final int kFrontRightDrivingCANID = 3;
-    public static final int kRearLeftDrivingCANID = 0;
+    public static final int kRearLeftDrivingCANID = 1;
-    public static final int kRearRightDrivingCANID = 0;
+    public static final int kRearRightDrivingCANID = 2;
 
-    // SparkMAX CAN IDs
+    public static final int kFrontLeftTurningCANID = 8;
-    // TODO Real CAN IDs
+    public static final int kFrontRightTurningCANID = 9;
-    public static final int kFrontLeftTurningCANID = 0;
+    public static final int kRearLeftTurningCANID = 7;
-    public static final int kFrontRightTurningCANID = 0;
+    public static final int kRearRightTurningCANID = 6;
-    public static final int kRearLeftTurningCANID = 0;
-    public static final int kRearRightTurningCANID = 0;
 
-    // Analog Encoder Input Ports 
+    public static final int kFrontLeftAnalogInPort = 3;
-    // TODO Real Port IDs
+    public static final int kFrontRightAnalogInPort = 2;
-    public static final int kFrontLeftAnalogInPort = 0;
-    public static final int kFrontRightAnalogInPort = 0;
     public static final int kRearLeftAnalogInPort = 0;
-    public static final int kRearRightAnalogInPort = 0;
+    public static final int kRearRightAnalogInPort = 1;
 
     public static final boolean kGyroReversed = true;
 

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

@@ -0,0 +1,43 @@
+package frc.robot.constants;
+
+import com.revrobotics.spark.FeedbackSensor;
+import com.revrobotics.spark.config.SparkMaxConfig;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+
+public class HoodConstants {
+    // TODO Real Values
+    public static final int kMotorCANID = 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 double kStartupAngle = 0;
+
+    public static final int kCurrentLimit = 15;
+
+    public static final boolean kInverted = false;
+
+    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 kConfig = new SparkMaxConfig();
+
+    static {
+        kConfig
+            .idleMode(kIdleMode)
+            .inverted(kInverted)
+            .smartCurrentLimit(kCurrentLimit);
+        kConfig.closedLoop
+            .feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
+            .pid(kP, kI, kD)
+            .outputRange(-1, 1)
+            .positionWrappingEnabled(true)
+            .positionWrappingInputRange(0, Math.PI * 2)
+            .feedForward
+                .sva(kS, kV, kA);
+    }
+}

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

@@ -0,0 +1,69 @@
+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(0),
+        kDown(0);
+        private double positionRadians;
+
+        private IntakePivotPosition(double positionRadians) {
+            this.positionRadians = positionRadians;
+        }
+
+        public double getPositionRadians() {
+            return positionRadians;
+        }
+    }
+
+    public static final int kLeftMotorCANID = 0;
+    public static final int kRightMotorCANID = 1;
+
+    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 kInvertMotors = false;
+
+    public static final int kCurrentLimit = 30;
+
+    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 KLeftMotorConfig = new SparkMaxConfig();
+    public static final SparkMaxConfig kRightMotorConfig = new SparkMaxConfig();
+
+    static {
+        KLeftMotorConfig
+            .idleMode(kIdleMode)
+            .smartCurrentLimit(kCurrentLimit)
+            .inverted(kInvertMotors);
+        KLeftMotorConfig.absoluteEncoder
+            .positionConversionFactor(kConversionFactor)
+            .velocityConversionFactor(kConversionFactor / 60);
+        KLeftMotorConfig.closedLoop
+            .feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
+            .pid(kP, kI, kD)
+            .outputRange(-1, 1)
+            .positionWrappingEnabled(true)
+            .positionWrappingInputRange(0, 2 * Math.PI)
+            .feedForward
+                .sva(kS, kV, kA);
+
+        kRightMotorConfig
+            .idleMode(kIdleMode)
+            .smartCurrentLimit(kCurrentLimit)
+            .inverted(kInvertMotors)
+            .follow(kLeftMotorCANID);
+    }
+}

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

@@ -0,0 +1,34 @@
+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 kLeftMotorCANID = 0;
+    public static final int kRightMotorCANID = 0;
+
+    public static final int kCurrentLimit = 30;
+
+    public static final boolean kInvertMotors = false;
+
+    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();
+    public static final SparkMaxConfig rightMotorConfig = new SparkMaxConfig();
+
+    static {
+        leftMotorConfig
+            .idleMode(kIdleMode)
+            .smartCurrentLimit(kCurrentLimit)
+            .inverted(kInvertMotors);
+
+        rightMotorConfig
+            .idleMode(kIdleMode)
+            .smartCurrentLimit(kCurrentLimit)
+            .inverted(kInvertMotors)
+            .follow(kLeftMotorCANID);
+    }
+}

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

@@ -15,8 +15,7 @@ import edu.wpi.first.math.util.Units;
 
 public class ModuleConstants {
     // DRIVING MOTOR CONFIG (Kraken)
-    // TODO Replace with something other than 0
+    public static final double kDrivingMotorReduction = (14.0 * 28.0 * 15.0) / (50 * 16 * 45);
-    public static final double kDrivingMotorReduction = 0;
 
     public static final double kDrivingMotorFeedSpeedRPS = KrakenMotorConstants.kFreeSpeedRPM / 60;
     public static final double kWheelDiameterMeters = Units.inchesToMeters(4);
@@ -43,14 +42,18 @@ public class ModuleConstants {
     public static final NeutralModeValue kDriveIdleMode = NeutralModeValue.Brake;
 
     // TURNING MOTOR CONFIG (NEO)
-
+    public static final double kTurningMotorReduction = 150.0/7.0;
-    // TODO Hold over from 2025, adjust?
-    public static final double kTurningMotorReduction = 0;
     public static final double kTurningFactor = 2 * Math.PI / kTurningMotorReduction;
+    // TODO Adjust? Let over from 2025
     public static final double kTurnP = 1;
     public static final double kTurnI = 0;
     public static final double kTurnD = 0;
 
+    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;
 
     public static final IdleMode kTurnIdleMode = IdleMode.kBrake;
@@ -87,9 +90,10 @@ 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
@@ -98,5 +102,6 @@ public class ModuleConstants {
             .outputRange(-1, 1)
             .positionWrappingEnabled(true)
             .positionWrappingInputRange(0, 2 * Math.PI);
+            
     }
 }

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

@@ -0,0 +1,29 @@
+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;
+    
+    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 +1,27 @@
+package frc.robot.constants;
+
+import java.util.List;
+
+import edu.wpi.first.math.geometry.Transform3d;
+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();
+
+    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 +1,114 @@
+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(0, 0),
+        kFeedSpeed(0, 0);
+
+        private double frontRollerMPS;
+        private double rearRollerMPS;
+
+        private ShooterSpeeds(double frontRollerMPS, double rearRollerMPS) {
+            this.frontRollerMPS = frontRollerMPS;
+            this.rearRollerMPS = rearRollerMPS;
+        }
+
+        public double getFrontRollerMPS() {
+            return frontRollerMPS;
+        }
+
+        public double getRearRollerMPS() {
+            return rearRollerMPS;
+        }
+    }
+
+    // TODO Conversion factor?
+
+    public static final double kWheelDiameter = Units.inchesToMeters(6);
+
+    // TODO Real values
+    public static final int kFrontShooterMotor1CANID = 0;
+    public static final int kFrontShooterMotor2CANID = 0;
+    public static final int kRearShooterMotor1CANID = 0;
+    public static final int kRearShooterMotor2CANID = 0;
+
+    public static final boolean kFrontShooterMotor1Inverted = false;
+    public static final boolean kFrontShooterMotor2Inverted = false;
+    public static final boolean kRearShooterMotor1Inverted = false;
+    public static final boolean kRearShooterMotor2Inverted = false;
+
+    public static final double kFrontP = 0;
+    public static final double kFrontI = 0;
+    public static final double kFrontD = 0;
+    public static final double kFrontS = 0;
+    public static final double kFrontV = 0;
+    public static final double kFrontA = 0;
+
+    public static final double kRearP = 0;
+    public static final double kRearI = 0;
+    public static final double kRearD = 0;
+    public static final double kRearS = 0;
+    public static final double kRearV = 0;
+    public static final double kRearA = 0;
+
+    // TODO Is this value sane?
+    public static final int kCurrentLimit = 30;
+
+    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 kFrontMotor1Config = new SparkMaxConfig();
+    public static final SparkMaxConfig kFrontMotor2Config = new SparkMaxConfig();
+    public static final SparkMaxConfig kRearMotor1Config = new SparkMaxConfig();
+    public static final SparkMaxConfig kRearMotor2Config = new SparkMaxConfig();
+
+
+    static {
+        kFrontMotor1Config
+            .idleMode(kShooterIdleMode)
+            .smartCurrentLimit(kCurrentLimit)
+            .inverted(kFrontShooterMotor1Inverted);
+        kFrontMotor1Config.absoluteEncoder
+            .positionConversionFactor(kWheelDiameter * Math.PI)
+            .velocityConversionFactor(kWheelDiameter * Math.PI / 60);
+        kFrontMotor1Config.closedLoop
+            .feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
+            .pid(kFrontP, kFrontI, kFrontD)
+            .outputRange(-1, 1)
+            .feedForward
+                .sva(kFrontS, kFrontV, kFrontA);
+
+        kFrontMotor2Config
+            .idleMode(kShooterIdleMode)
+            .smartCurrentLimit(kCurrentLimit)
+            .inverted(kFrontShooterMotor2Inverted)
+            .follow(kFrontShooterMotor1CANID);
+
+        kRearMotor1Config
+            .idleMode(kShooterIdleMode)
+            .smartCurrentLimit(kCurrentLimit)
+            .inverted(kRearShooterMotor1Inverted);
+        kRearMotor1Config.absoluteEncoder
+            .positionConversionFactor(kWheelDiameter * Math.PI)
+            .velocityConversionFactor(kWheelDiameter * Math.PI / 60);
+        kRearMotor1Config.closedLoop
+            .feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
+            .pid(kRearP, kRearI, kRearD)
+            .outputRange(-1, 1)
+            .feedForward
+                .sva(kRearS, kRearV, kRearA);
+
+        kRearMotor2Config
+            .idleMode(kShooterIdleMode)
+            .smartCurrentLimit(kCurrentLimit)
+            .inverted(kRearShooterMotor2Inverted)
+            .follow(kRearShooterMotor1CANID);
+    }
+}

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

@@ -0,0 +1,47 @@
+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 = 0;
+
+    public static final int kSpindexerStatorCurrentLimit = 80;
+    public static final int kSpindexerSupplyCurrentLimit = 30;
+    public static final int kFeederCurrentLimit = 30;
+
+    public static final boolean kFeederMotorInverted = false;
+
+    public static final InvertedValue kSpindexerInversionState = InvertedValue.Clockwise_Positive;
+    public static final NeutralModeValue kSpindexerIdleMode = NeutralModeValue.Brake;
+
+    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

@@ -17,10 +17,9 @@ public interface IAprilTagProvider {
      * 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
-     * @param targetHeightMeters The height of the AprilTag off the ground, in meters
      * @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, double targetHeightMeters);
+    public OptionalDouble getTagDistanceFromCameraByID(int id);
 
     /**
      * A method to get the pitch from the center of the image of a particular AprilTag

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

@@ -1,14 +1,19 @@
 package frc.robot.subsystems;
 
+import java.util.Optional;
+import java.util.OptionalDouble;
 import java.util.function.BooleanSupplier;
 import java.util.function.DoubleSupplier;
 
 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;
@@ -16,10 +21,14 @@ 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.interfaces.IVisualPoseProvider.VisualPose;
 import frc.robot.utilities.SwerveModule;
 
 public class Drivetrain extends SubsystemBase {
@@ -32,6 +41,9 @@ public class Drivetrain extends SubsystemBase {
 
     private SwerveDrivePoseEstimator estimator;
 
+    private PhotonVision camera1;
+    private PhotonVision camera2;
+
     public Drivetrain() {
         frontLeft = new SwerveModule(
             "FrontLeft", 
@@ -79,6 +91,25 @@ public class Drivetrain extends SubsystemBase {
             },
             new Pose2d()
         );
+
+        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 +130,91 @@ public class Drivetrain extends SubsystemBase {
         rearRight.periodic();
 
         Logger.recordOutput("Drivetrain/Pose", getPose());
+        Logger.recordOutput("Drivetrain/Gyro Angle", getGyroValue());
         Logger.recordOutput("Drivetrain/Heading", getHeading());
     }
 
+    public Command runFrontLeft(double staticSpeed, double staticAngleDegrees) {
+        return run(() -> {
+            frontLeft.setDesiredState(new SwerveModuleState(
+                staticSpeed, 
+                Rotation2d.fromDegrees(staticAngleDegrees)));
+        });
+    }
+    public Command runFrontRight(double staticSpeed, double staticAngleDegrees) {
+        return run(() -> {
+            frontRight.setDesiredState(new SwerveModuleState(
+                staticSpeed, 
+                Rotation2d.fromDegrees(staticAngleDegrees)));
+        });
+    }
+    public Command runRearLeft(double staticSpeed, double staticAngleDegrees) {
+        return run(() -> {
+            rearLeft.setDesiredState(new SwerveModuleState(
+                staticSpeed, 
+                Rotation2d.fromDegrees(staticAngleDegrees)));
+        });
+    }
+    public Command runRearRight(double staticSpeed, double staticAngleDegrees) {
+        return run(() -> {
+            rearRight.setDesiredState(new SwerveModuleState(
+                staticSpeed, 
+                Rotation2d.fromDegrees(staticAngleDegrees)));
+        });
+    }
+
+    public Command disableOutputs() {
+        return run(() -> {
+            frontLeft.disableOutput();
+            frontRight.disableOutput();
+            rearLeft.disableOutput();
+            rearRight.disableOutput();
+        });  
+    }
+
+    // TODO check both cameras
+    /*public Command driveAprilTagLock(DoubleSupplier xSpeed, DoubleSupplier ySpeed, double deadband, int tagID) {
+        if (camera1 == null) {
+            return new PrintCommand("Camera 1 not available");
+        }
+
+        // TODO The process variable is different here than what these constants are used for, may need to use something different
+        PIDController controller = new PIDController(
+            AutoConstants.kPThetaController, 
+            0, 
+            0
+        );
+
+        return runOnce(controller::reset).andThen(
+            drive(
+                xSpeed, 
+                ySpeed, 
+                () -> {
+                    OptionalDouble tagYaw = camera1.getTagYawByID(tagID);
+
+                    return (tagYaw.isEmpty() ? 0 : controller.calculate(tagYaw.getAsDouble(), 0));
+                },
+                () -> false
+           )
+        );
+    }*/
+
+    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(xSpeed.getAsDouble(), OIConstants.kDriveDeadband), 
-                MathUtil.applyDeadband(ySpeed.getAsDouble(), OIConstants.kDriveDeadband),
+                -MathUtil.applyDeadband(ySpeed.getAsDouble(), OIConstants.kDriveDeadband),
-                MathUtil.applyDeadband(rotation.getAsDouble(), OIConstants.kDriveDeadband), 
+                -MathUtil.applyDeadband(rotation.getAsDouble(), OIConstants.kDriveDeadband), 
                 fieldRelative.getAsBoolean()
             );
         });
@@ -123,6 +229,13 @@ public class Drivetrain extends SubsystemBase {
         });
     }
 
+    public void consumeVisualPose(VisualPose pose) {
+        estimator.addVisionMeasurement(
+            pose.visualPose(), 
+            pose.timestamp()
+        );
+    }
+
     public void resetEncoders() {
         frontLeft.resetEncoders();
         frontRight.resetEncoders();
@@ -130,6 +243,19 @@ 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;

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

@@ -0,0 +1,60 @@
+package frc.robot.subsystems;
+
+import java.util.function.DoubleSupplier;
+
+import org.littletonrobotics.junction.Logger;
+
+import com.revrobotics.AbsoluteEncoder;
+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.HoodConstants;
+
+public class Hood extends SubsystemBase {
+    private SparkMax motor;
+
+    private AbsoluteEncoder encoder;
+
+    private SparkClosedLoopController controller;
+
+    private double currentTargetRadians;
+
+    public Hood() {
+        motor = new SparkMax(HoodConstants.kMotorCANID, MotorType.kBrushless);
+
+        encoder = motor.getAbsoluteEncoder();
+
+        controller = motor.getClosedLoopController();
+
+        currentTargetRadians = HoodConstants.kStartupAngle;
+    }
+
+    @Override
+    public void periodic() {
+        Logger.recordOutput("Hood/CurrentTarget", currentTargetRadians);
+        Logger.recordOutput("Hood/CurrentAngle", encoder.getPosition());
+        Logger.recordOutput("Hood/AtSetpoint", controller.isAtSetpoint());
+    }
+
+    public Command trackToAngle(DoubleSupplier radianAngleSupplier) {
+        return run(() -> {
+            currentTargetRadians = radianAngleSupplier.getAsDouble();
+
+            controller.setSetpoint(currentTargetRadians, ControlType.kPosition);
+        });
+    }
+
+    public Command stop() {
+        return run(() -> {
+            motor.disable();
+        });
+    }
+
+    public double getTargetRadians() {
+        return currentTargetRadians;
+    }
+}

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

@@ -0,0 +1,79 @@
+package frc.robot.subsystems;
+
+import java.util.Optional;
+
+import org.littletonrobotics.junction.Logger;
+
+import com.revrobotics.AbsoluteEncoder;
+import com.revrobotics.PersistMode;
+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 AbsoluteEncoder 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.getAbsoluteEncoder();
+    }
+
+    @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) {
+        currentTargetPosition = position;
+
+        return run(() -> {
+            if(currentTargetPosition == null) {
+                leftMotor.disable();
+            } else {
+                controller.setSetpoint(currentTargetPosition.getPositionRadians(), ControlType.kPosition);
+            }
+        });
+    }
+
+    public Command stop() {
+        return maintainPosition(null);
+    }
+
+    public Optional<IntakePivotPosition> getCurrentTargetPosition() {
+        return Optional.ofNullable(currentTargetPosition);
+    }
+}

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

@@ -0,0 +1,51 @@
+package frc.robot.subsystems;
+
+import com.revrobotics.PersistMode;
+import com.revrobotics.ResetMode;
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.constants.IntakeRollerConstants;
+
+public class IntakeRoller extends SubsystemBase {
+    private SparkMax leftMotor;
+    private SparkMax rightMotor;
+
+    public IntakeRoller() {
+        leftMotor = new SparkMax(IntakeRollerConstants.kLeftMotorCANID, MotorType.kBrushless);
+        rightMotor = new SparkMax(IntakeRollerConstants.kRightMotorCANID, MotorType.kBrushless);
+
+        leftMotor.configure(
+            IntakeRollerConstants.leftMotorConfig, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
+
+        rightMotor.configure(
+            IntakeRollerConstants.rightMotorConfig, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
+    }
+
+    public Command runIn() {
+        return run(() -> {
+            leftMotor.set(1);
+        });
+    }
+
+    public Command runOut() {
+        return run(() -> {
+            leftMotor.set(-1);
+        });
+    }
+
+    public Command stop() {
+        return run(() -> {
+            leftMotor.set(0);
+        });
+    }
+    
+}

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

@@ -0,0 +1,198 @@
+package frc.robot.subsystems;
+
+import java.io.IOException;
+import java.util.ArrayList;
+import java.util.Comparator;
+import java.util.List;
+import java.util.Optional;
+import java.util.OptionalDouble;
+import java.util.function.Consumer;
+import java.util.stream.Stream;
+
+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 edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
+import frc.robot.constants.CompetitionConstants;
+import frc.robot.constants.PhotonConstants;
+import frc.robot.interfaces.IAprilTagProvider;
+import frc.robot.interfaces.IVisualPoseProvider;
+import frc.robot.interfaces.IVisualPoseProvider.VisualPose;
+import frc.robot.utilities.PhotonVisionConfig;
+
+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(
+                    pose.get().estimatedPose.toPose2d(), 
+                    pose.get().timestampSeconds
+                );
+
+                for(Consumer<VisualPose> consumer: poseEstimateConsumers) {
+                    consumer.accept(visualPose);
+                }
+            }
+        }
+    }
+
+    public void testMethod(int targetID) {
+        Optional<PhotonTrackedTarget> target = latestResults.stream()
+            .filter((p) -> p != null)
+            .map(PhotonPipelineResult::getTargets)
+            .map(List::stream)
+            .reduce(Stream::concat)
+            .get()
+            .filter((p) -> p.getFiducialId() == targetID)
+            .max(
+                Comparator.comparingDouble((ptt) -> {
+                    return (double)ptt.getDetectedObjectConfidence();
+                })
+            );
+
+    }
+
+    public void addPoseEstimateConsumer(Consumer<VisualPose> consumer) {
+        poseEstimateConsumers.add(consumer);
+    }
+
+    /*public Trigger tagPrescenseTrigger(int targetTag) {
+        return new Trigger(() -> {
+            return List.of(latestResults).stream()
+                .filter((p) -> p != null)
+                .anyMatch((p) -> {
+                    return p.getTargets().stream().map(PhotonTrackedTarget::getFiducialId).anyMatch((i) -> {
+                        return i == targetTag;
+                    });
+                });
+            });
+    }*/
+/* 
+    @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/subsystems/Shooter.java

@@ -0,0 +1,122 @@
+package frc.robot.subsystems;
+
+import java.util.Optional;
+
+import org.littletonrobotics.junction.Logger;
+
+import com.revrobotics.AbsoluteEncoder;
+import com.revrobotics.PersistMode;
+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 frontMotor1;
+    private SparkMax frontMotor2;
+    private SparkMax rearMotor1;
+    private SparkMax rearMotor2;
+
+    private AbsoluteEncoder frontEncoder;
+    private AbsoluteEncoder rearEncoder;
+
+    private SparkClosedLoopController frontClosedLoopController;
+    private SparkClosedLoopController rearClosedLoopController;
+
+    private ShooterSpeeds targetSpeeds;
+
+    public Shooter() {
+        frontMotor1 = new SparkMax(ShooterConstants.kFrontShooterMotor1CANID, MotorType.kBrushless);
+        frontMotor2 = new SparkMax(ShooterConstants.kFrontShooterMotor2CANID, MotorType.kBrushless);
+        rearMotor1 = new SparkMax(ShooterConstants.kRearShooterMotor1CANID, MotorType.kBrushless);
+        rearMotor2 = new SparkMax(ShooterConstants.kRearShooterMotor2CANID, MotorType.kBrushless);
+
+        frontMotor1.configure(
+            ShooterConstants.kFrontMotor1Config, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
+
+        rearMotor1.configure(
+            ShooterConstants.kRearMotor1Config, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
+
+        frontMotor2.configure(
+            ShooterConstants.kFrontMotor2Config, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
+
+        rearMotor2.configure(
+            ShooterConstants.kRearMotor2Config, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
+
+        frontEncoder = frontMotor1.getAbsoluteEncoder();
+        rearEncoder = rearMotor1.getAbsoluteEncoder();
+
+        frontClosedLoopController = frontMotor1.getClosedLoopController();
+        rearClosedLoopController = rearMotor1.getClosedLoopController();
+
+        // TODO Set this to the initial startup speed
+        targetSpeeds = null;
+    }
+
+    @Override
+    public void periodic() {
+        Logger.recordOutput(
+            "Shooter/FrontRollers/TargetMPS", 
+            targetSpeeds == null ? 0 : targetSpeeds.getFrontRollerMPS()
+        );
+
+        Logger.recordOutput(
+            "Shooter/RearRollers/TargetMPS", 
+            targetSpeeds == null ? 0 : targetSpeeds.getRearRollerMPS()
+        );
+
+        Logger.recordOutput("Shooter/FrontRollers/CurrentMPS", frontEncoder.getVelocity());
+        Logger.recordOutput("Shooter/RearRollers/CurrentMPS", rearEncoder.getVelocity());
+
+        // TODO How does the SparkMAX controller determine "at setpoint"? Is there any tolerance?
+        Logger.recordOutput("Shooter/FrontRollers/AtSetpoint", frontClosedLoopController.isAtSetpoint());
+        Logger.recordOutput("Shooter/RearRollers/AtSetpoint", rearClosedLoopController.isAtSetpoint());
+    }
+
+    public Command maintainSpeed(ShooterSpeeds speeds) {
+        targetSpeeds = speeds;
+
+        return run(() -> {
+            if(targetSpeeds == null) {
+                frontMotor1.disable();
+                rearMotor1.disable();
+            } else {
+                frontClosedLoopController.setSetpoint(
+                    targetSpeeds.getFrontRollerMPS(), 
+                    ControlType.kVelocity
+                );
+
+                rearClosedLoopController.setSetpoint(
+                    targetSpeeds.getRearRollerMPS(), 
+                    ControlType.kVelocity
+                );
+            }
+        });
+    }
+
+    public Command stop() {
+        return maintainSpeed(null);
+    }
+
+    public Optional<ShooterSpeeds> getTargetSpeeds() {
+        return Optional.ofNullable(targetSpeeds);
+    }
+}

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

@@ -0,0 +1,59 @@
+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(1));
+            feederMotor.set(1);
+        });
+    }
+
+    public Command spinToIntake() {
+        return run(() -> {
+            spindexerMotor.setControl(spindexerMotorOutput.withOutput(-1));
+            feederMotor.set(-1);
+        });
+    }
+
+    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

@@ -1,166 +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.apriltag.AprilTagFieldLayout;
-import edu.wpi.first.apriltag.AprilTagFields;
-import edu.wpi.first.math.geometry.Transform3d;
-import edu.wpi.first.math.util.Units;
-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(
-            AprilTagFieldLayout.loadFromResource(
-                AprilTagFields.kDefaultField.m_resourceFile
-            ), 
-            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, double targetHeightMeters) {
-        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, 
-                targetHeightMeters, 
-                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 +1,23 @@
+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;
+
+public class SparkMAXTester extends SubsystemBase {
+    private SparkMax spark;
+
+    public SparkMAXTester(int deviceID) {
+        spark = new SparkMax(deviceID, MotorType.kBrushless);
+    }
+
+    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;
 
@@ -43,13 +43,63 @@ public class SwerveModule {
 
     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(String 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(String 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(String moduleName, int drivingCANID, int turningCANID, 
+        int analogEncoderID, double analogEncoderOffset, boolean turningEncoderAutoRezeroEnabled) {
+        isAbsoluteEncoderDisabled = (analogEncoderID == -1) || (analogEncoderOffset < 0);
+
         drive = new TalonFX(drivingCANID);
         turning = new SparkMax(turningCANID, MotorType.kBrushless);
 
         turningRelativeEncoder = turning.getEncoder();
 
+        if(!isAbsoluteEncoderDisabled) {
             turningAbsoluteEncoder = new AnalogEncoder(analogEncoderID, 2 * Math.PI, analogEncoderOffset);
+        }
         
         turningClosedLoopController = turning.getClosedLoopController();
 
@@ -65,37 +115,71 @@ public class SwerveModule {
             PersistMode.kPersistParameters
         );
 
+        driveVelocityRequest = new VelocityVoltage(0);
+
+        if(isAbsoluteEncoderDisabled){
+            turningRelativeEncoder.setPosition(0);
+        } else {
             turningRelativeEncoder.setPosition(turningAbsoluteEncoder.get());
+        }
+        
         drive.setPosition(0);
 
+        this.lastTargetState = getState();
+        this.lastTargetStateOptimized = getState();
+
+        this.turningEncoderAutoRezeroEnabled = turningEncoderAutoRezeroEnabled;
+
         this.moduleName = "Drivetrain/Modules/" + moduleName;
     }
 
     public void periodic() {
+        
+        if(!isAbsoluteEncoderDisabled) {
             Logger.recordOutput(moduleName + "/AbsoluteEncoder/Position", turningAbsoluteEncoder.get());
+        }
+        
+        Logger.recordOutput(moduleName + "/ModuleTargetState", lastTargetState);
+        Logger.recordOutput(moduleName + "/ModuleTargetStateOptimized", lastTargetStateOptimized);
         Logger.recordOutput(moduleName + "/SwerveModuleState", getState());
         Logger.recordOutput(moduleName + "/SwerveModulePosition", getPosition());
+        Logger.recordOutput(moduleName + "/RelativeEncoderPosition", getTurningEncoderPosition());
+
+        /*
+        if(!isAbsoluteEncoderDisabled && turningEncoderAutoRezeroEnabled) {
+            if(Math.abs(getState().angle.getRadians() - lastTargetState.angle.getRadians()) <= ModuleConstants.kAutoResetPositionDeadband) {
+                resetEncoders();
+            }
+        }*/
     }
 
     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) {
+        lastTargetState = new SwerveModuleState(desiredState.speedMetersPerSecond, desiredState.angle);
         // 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()));
+        desiredState.optimize(new Rotation2d(getTurningEncoderPosition()));
+
+        lastTargetStateOptimized = desiredState;
 
         drive.setControl(
             driveVelocityRequest.withVelocity(
@@ -111,6 +195,10 @@ public class SwerveModule {
         );
     }
 
+    public double getTurningEncoderPosition() {
+        return turningRelativeEncoder.getPosition() * (ModuleConstants.kIsEncoderInverted ? -1 : 1);
+    }
+
     public void resetEncoders() {
         drive.setPosition(0);
 
@@ -118,6 +206,10 @@ public class SwerveModule {
     }
 
     public void zeroTurningEncoder() {
+        if(isAbsoluteEncoderDisabled) {
+            turningRelativeEncoder.setPosition(0);
+        } else {
             turningRelativeEncoder.setPosition(turningAbsoluteEncoder.get());
         }
     }
+}

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

@@ -0,0 +1,74 @@
+package frc.robot.utilities;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+
+public class Utilities {
+    public static final double kG = -9.81;
+    
+    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;
+    }
+
+    /**
+     * 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
+     * 
+     * TODO Review ChatGPT's math more thoroughly, preferably with someone with fresher math skills
+     * 
+     * @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
+     * 
+     * TODO Review ChatGPT's math more thoroughly, preferably with someone with fresher math skills
+     * 
+     * @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));
+        }
+    }
+}