Added the last few subsystems, cleaning up more logging

.vscode/launch.json

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

.vscode/settings.json

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

.wpilib/wpilib_preferences.json

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

build.gradle

@@ -1,39 +1,45 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2026.1.1"
+    id "application"
+    id "org.wpilib.GradleRIO" version "2027.0.0-alpha-7"
 }
 
 java {
-    sourceCompatibility = JavaVersion.VERSION_17
+    sourceCompatibility = JavaVersion.VERSION_25
-    targetCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_25
 }
 
-def ROBOT_MAIN_CLASS = "frc.robot.Main"
+def ROBOT_MAIN_CLASS = "first.Main"
 
-// Define my targets (RoboRIO) and artifacts (deployable files)
+// Define my targets (SystemCore) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.
 deploy {
     targets {
-        roborio(getTargetTypeClass('RoboRIO')) {
+        systemcore(getTargetTypeClass('SystemCore')) {
             // Team number is loaded either from the .wpilib/wpilib_preferences.json
             // or from command line. If not found an exception will be thrown.
             // You can use getTeamOrDefault(team) instead of getTeamNumber if you
             // want to store a team number in this file.
-            team = project.frc.getTeamNumber()
+            team = project.wpilib.getTeamNumber()
-            debug = project.frc.getDebugOrDefault(false)
+            // Use the default systemcore host name. This must be called after setting team
+            // as happens on the line above
+            useDefaultSystemcoreHostName()
+            debug = project.wpilib.getDebugOrDefault(false)
 
             artifacts {
                 // First part is artifact name, 2nd is artifact type
                 // getTargetTypeClass is a shortcut to get the class type using a string
 
-                frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
+                wpilibJava(getArtifactTypeClass('WPILibJavaArtifact')) {
+                    // Set to true to use debug including JNI, which will drastically impact performance.
+                    debugJni = false
                 }
 
                 // Static files artifact
-                frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
+                wpilibStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
                     files = project.fileTree('src/main/deploy')
-                    directory = '/home/lvuser/deploy'
+                    directory = '/home/systemcore/deploy'
-                    deleteOldFiles = false // Change to true to delete files on roboRIO that no
+                    deleteOldFiles = false // Change to true to delete files on systemcore that no
                                            // longer exist in deploy directory of this project
                 }
             }
@@ -41,11 +47,10 @@ deploy {
     }
 }
 
-def deployArtifact = deploy.targets.roborio.artifacts.frcJava
+def deployArtifact = deploy.targets.systemcore.artifacts.wpilibJava
 
-// Set to true to use debug for all targets including JNI, which will drastically impact
+// Set to true to use debug for simulation including JNI
-// performance.
+wpi.java.runSimWithDebugJni = false
-wpi.java.debugJni = false
 
 // Set this to true to enable desktop support.
 def includeDesktopSupport = true
@@ -57,11 +62,11 @@ dependencies {
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
 
-    roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
+    systemcoreDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.systemcore)
-    roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
+    systemcoreDebug wpi.java.vendor.jniDebug(wpi.platforms.systemcore)
 
-    roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
+    systemcoreRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.systemcore)
-    roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
+    systemcoreRelease wpi.java.vendor.jniRelease(wpi.platforms.systemcore)
 
     nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
     nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
@@ -84,23 +89,18 @@ test {
 wpi.sim.addGui().defaultEnabled = true
 wpi.sim.addDriverstation()
 
-// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
+application.mainClass = ROBOT_MAIN_CLASS
-// in order to make them all available at runtime. Also adding the manifest so WPILib
+
-// knows where to look for our Robot Class.
+deployArtifact.configureApplication(application)
+wpi.java.configureApplication(application)
+wpi.java.configureTestTasks(test)
+
 jar {
-    from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
     from('src') { into 'backup/src' }
     from('vendordeps') { into 'backup/vendordeps' }
     from('build.gradle') { into 'backup' }
-    manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
-    duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }
 
-// Configure jar and deploy tasks
-deployArtifact.jarTask = jar
-wpi.java.configureExecutableTasks(jar)
-wpi.java.configureTestTasks(test)
-
 // Configure string concat to always inline compile
 tasks.withType(JavaCompile) {
     options.compilerArgs.add '-XDstringConcat=inline'

gradle/wrapper/gradle-wrapper.properties

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

gradlew

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

gradlew.bat

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

settings.gradle

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

src/main/deploy/example.txt

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

src/main/java/first/Main.java

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

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

@@ -2,24 +2,28 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package frc.robot;
+package first.robot;
 
-import edu.wpi.first.wpilibj.TimedRobot;
+import org.wpilib.command2.Command;
-import edu.wpi.first.wpilibj2.command.Command;
+import org.wpilib.command2.CommandScheduler;
-import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import org.wpilib.epilogue.Epilogue;
+import org.wpilib.epilogue.Logged;
+import org.wpilib.framework.TimedRobot;
 
+@Logged
 public class Robot extends TimedRobot {
-  private Command m_autonomousCommand;
+  private Command autonomousCommand;
 
-  private final RobotContainer m_robotContainer;
+  private final RobotContainer robotContainer;
 
   public Robot() {
-    m_robotContainer = new RobotContainer();
+    robotContainer = new RobotContainer();
   }
 
   @Override
   public void robotPeriodic() {
     CommandScheduler.getInstance().run();
+    Epilogue.update(this);
   }
 
   @Override
@@ -33,10 +37,10 @@ public class Robot extends TimedRobot {
 
   @Override
   public void autonomousInit() {
-    m_autonomousCommand = m_robotContainer.getAutonomousCommand();
+    autonomousCommand = robotContainer.getAutonomousCommand();
 
-    if (m_autonomousCommand != null) {
+    if (autonomousCommand != null) {
-      CommandScheduler.getInstance().schedule(m_autonomousCommand);
+      CommandScheduler.getInstance().schedule(autonomousCommand);
     }
   }
 
@@ -44,15 +48,15 @@ public class Robot extends TimedRobot {
   public void autonomousPeriodic() {}
 
   @Override
-  public void autonomousExit() {}
+  public void autonomousExit() {
-
+    if (autonomousCommand != null) {
-  @Override
+      autonomousCommand.cancel();
-  public void teleopInit() {
-    if (m_autonomousCommand != null) {
-      m_autonomousCommand.cancel();
     }
   }
 
+  @Override
+  public void teleopInit() {}
+
   @Override
   public void teleopPeriodic() {}
 
@@ -60,13 +64,13 @@ public class Robot extends TimedRobot {
   public void teleopExit() {}
 
   @Override
-  public void testInit() {
+  public void utilityInit() {
     CommandScheduler.getInstance().cancelAll();
   }
 
   @Override
-  public void testPeriodic() {}
+  public void utilityPeriodic() {}
 
   @Override
-  public void testExit() {}
+  public void utilityExit() {}
 }

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

@@ -2,11 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package frc.robot;
+package first.robot;
 
-import edu.wpi.first.wpilibj2.command.Command;
+import org.wpilib.command2.Command;
-import edu.wpi.first.wpilibj2.command.Commands;
+import org.wpilib.command2.Commands;
+import org.wpilib.epilogue.Logged;
 
+@Logged
 public class RobotContainer {
   public RobotContainer() {
     configureBindings();

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

@@ -0,0 +1,60 @@
+package first.robot.constants;
+
+import java.io.IOException;
+
+import org.json.simple.parser.ParseException;
+import org.wpilib.math.trajectory.TrapezoidProfile;
+
+import com.pathplanner.lib.config.PIDConstants;
+import com.pathplanner.lib.config.RobotConfig;
+import com.pathplanner.lib.controllers.PPHolonomicDriveController;
+import com.pathplanner.lib.path.PathConstraints;
+
+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 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/first/robot/constants/ClimberConstants.java

@@ -0,0 +1,68 @@
+package first.robot.constants;
+
+import org.wpilib.hardware.bus.CANPort;
+
+import com.revrobotics.spark.FeedbackSensor;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+import com.revrobotics.spark.config.SparkMaxConfig;
+
+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 CANPort kCANPort = CANPort.CAN_S0;
+
+    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
+            // Ignoring the red here for now. REVLib 2027alpha8 is entirely missing
+            // a solution for this. Issue is open and pending
+            // https://github.com/wpilibsuite/SystemcoreTesting/issues/401
+            .positionConversionFactor(kConversionFactor)
+            .velocityConversionFactor(kConversionFactor / 60);
+        kMotorConfig.closedLoop
+            .feedbackSensor(FeedbackSensor.kPrimaryEncoder)
+            .pid(kP, kI, kD)
+            .outputRange(-1, 1)
+            .feedForward
+                .sva(kS, kV, kA);
+    }
+}

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

@@ -0,0 +1,37 @@
+package first.robot.constants;
+
+import org.wpilib.fields.Field;
+import org.wpilib.fields.Fields;
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.geometry.Transform3d;
+import org.wpilib.math.util.Units;
+
+public class CompetitionConstants {
+    public static final Field kField = Fields.FRC_2026_REBUILT_ANDY_MARK.loadField();
+
+    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/first/robot/constants/DrivetrainConstants.java

@@ -0,0 +1,61 @@
+package first.robot.constants;
+
+import org.wpilib.hardware.bus.CANPort;
+import org.wpilib.math.geometry.Translation2d;
+import org.wpilib.math.kinematics.SwerveDriveKinematics;
+import org.wpilib.math.linalg.Matrix;
+import org.wpilib.math.linalg.VecBuilder;
+import org.wpilib.math.numbers.N1;
+import org.wpilib.math.numbers.N3;
+import org.wpilib.math.util.Units;
+
+public class DrivetrainConstants {
+    public static final double kMaxSpeedMetersPerSecond = 4.663;
+    public static final double kMaxAngularSpeed = 2 * Math.PI;
+
+    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;
+
+    public static final CANPort kCANPort = CANPort.CAN_S0;
+
+    public static final int kFrontLeftDrivingCANID = 4;
+    public static final int kFrontRightDrivingCANID = 3;
+    public static final int kRearLeftDrivingCANID = 1;
+    public static final int kRearRightDrivingCANID = 2;
+
+    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
+
+    public static final int kFrontLeftAnalogInPort = 3;
+    public static final int kFrontRightAnalogInPort = 2;
+    public static final int kRearLeftAnalogInPort = 0;
+    public static final int kRearRightAnalogInPort = 1;
+
+    public static final boolean kGyroReversed = true;
+
+    // TODO Hold over from 2025, adjust?
+    public static final double kHeadingP = .65;
+    public static final double kXTranslationP = .5;
+    public static final double kYTranslationP = .5;
+    public static final double kYawPIDTolerance = Units.degreesToRadians(1);
+
+    // TODO How much do we trust gyro and encoders vs vision estimates.
+    // NOTE: Bigger values indicate LESS trust. Generally all three values for a given matrix should be the same
+    public static final Matrix<N3, N1> kSensorFusionOdometryStdDevs = VecBuilder.fill(0.1, 0.1, 0.1);
+    public static final Matrix<N3, N1> kVisionOdometryStdDevs = VecBuilder.fill(0.3, 0.3, 0.3);
+
+    // 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),
+        new Translation2d(kWheelBase / 2, -kTrackWidth / 2),
+        new Translation2d(-kWheelBase / 2, kTrackWidth / 2),
+        new Translation2d(-kWheelBase / 2, -kTrackWidth / 2)
+    );
+}

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

@@ -0,0 +1,93 @@
+package first.robot.constants;
+
+import java.util.Map;
+
+import org.wpilib.hardware.bus.CANPort;
+import org.wpilib.math.interpolation.InterpolatingDoubleTreeMap;
+import org.wpilib.math.util.Units;
+
+import com.revrobotics.spark.ClosedLoopSlot;
+import com.revrobotics.spark.FeedbackSensor;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+import com.revrobotics.spark.config.SparkMaxConfig;
+
+import first.robot.constants.ShooterConstants.ShooterSpeeds;
+
+public class HoodConstants {
+    // TODO Real Values
+    public static final CANPort kCANPort = CANPort.CAN_S0;
+    
+    public static final int kMotorCANID = 12;
+
+    public static final double kConversionFactor = (1.0/3.0)*(8.0/147.0)*2*Math.PI;
+
+    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;
+
+    public static final Map<ShooterSpeeds, InterpolatingDoubleTreeMap> kHoodInterpolators = Map.of(
+        ShooterSpeeds.kHubSpeed, 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
+            // Ignoring the red here for now. REVLib 2027alpha8 is entirely missing
+            // a solution for this. Issue is open and pending
+            // https://github.com/wpilibsuite/SystemcoreTesting/issues/401
+            .positionConversionFactor(kConversionFactor)
+            .velocityConversionFactor(kConversionFactor / 60);
+        kConfig.closedLoop
+            .feedbackSensor(FeedbackSensor.kPrimaryEncoder)
+            .pid(kP, kI, kD)
+            .outputRange(-1, 1)
+            .allowedClosedLoopError(kTolerance, ClosedLoopSlot.kSlot0)
+            .feedForward
+                .sva(kS, kV, kA);
+
+        kHoodInterpolators.get(ShooterSpeeds.kHubSpeed).put(
+            Double.valueOf(Units.inchesToMeters(22.2 + 40)), 
+            Double.valueOf(Units.degreesToRadians(9.5)));
+
+        kHoodInterpolators.get(ShooterSpeeds.kHubSpeed).put(
+            Double.valueOf(Units.inchesToMeters(22.2 + 60)), 
+            Double.valueOf(Units.degreesToRadians(12.5)));
+
+        kHoodInterpolators.get(ShooterSpeeds.kHubSpeed).put(
+            Double.valueOf(Units.inchesToMeters(22.2 + 80)),
+            Double.valueOf(Units.degreesToRadians(16.25)));
+
+        kHoodInterpolators.get(ShooterSpeeds.kHubSpeed).put(
+            Double.valueOf(Units.inchesToMeters(22.2 + 100)), 
+            Double.valueOf(Units.degreesToRadians(20.5)));
+
+        kHoodInterpolators.get(ShooterSpeeds.kHubSpeed).put(
+            Double.valueOf(Units.inchesToMeters(22.2 + 120)), 
+            Double.valueOf(Units.degreesToRadians(23.5)));
+    }
+}

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

@@ -0,0 +1,89 @@
+package first.robot.constants;
+
+import org.wpilib.hardware.bus.CANPort;
+
+import com.revrobotics.spark.FeedbackSensor;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+import com.revrobotics.spark.config.SparkMaxConfig;
+
+public class IntakePivotConstants {
+    public enum IntakePivotPosition {
+        kUp(Math.toRadians(116.0)),
+        kDown(Math.toRadians(0.0));
+
+        private double positionRadians;
+        private double positionRotations;
+
+        private IntakePivotPosition(double positionRadians) {
+            this.positionRadians = positionRadians;
+            this.positionRotations = positionRadians / kConversionFactor;
+        }
+
+        public double getPositionRadians() {
+            return positionRadians;
+        }
+
+        public double getPositionRotations() {
+            return positionRotations;
+        }
+    }
+
+    public static final CANPort kCANPort = CANPort.CAN_S0;
+
+    public static final int kLeftMotorCANID = 16;
+    public static final int kRightMotorCANID = 9;
+
+    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(false);
+        KLeftMotorConfig.encoder
+            // Ignoring the red here for now. REVLib 2027alpha8 is entirely missing
+            // a solution for this. Issue is open and pending
+            // https://github.com/wpilibsuite/SystemcoreTesting/issues/401
+            .positionConversionFactor(kConversionFactor)
+            .velocityConversionFactor(kConversionFactor / 60);
+        KLeftMotorConfig.closedLoop
+            .feedbackSensor(FeedbackSensor.kPrimaryEncoder)
+            .pid(kP, kI, kD)
+            .outputRange(-1, 1)
+            .positionWrappingEnabled(true)
+            // Ignoring the red here for now. REVLib 2027alpha8 is entirely missing
+            // a solution for this. Issue is open and pending
+            // https://github.com/wpilibsuite/SystemcoreTesting/issues/401
+            .positionWrappingInputRange(0, 2 * Math.PI)
+            .feedForward
+                .svag(kS, kV, kA, kG);
+
+        kRightMotorConfig
+            .idleMode(kIdleMode)
+            .smartCurrentLimit(kCurrentLimit)
+            .inverted(true)
+            ;//.follow(kLeftMotorCANID);
+    }
+}

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

@@ -0,0 +1,41 @@
+package first.robot.constants;
+
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+
+import org.wpilib.hardware.bus.CANPort;
+
+import com.revrobotics.spark.config.SparkMaxConfig;
+
+public class IntakeRollerConstants {
+    public static final CANPort kCANPort = CANPort.CAN_S0;
+    
+    public static final int kRightMotorCANID = 20;
+    public static final int kLeftMotorCANID = 1;
+
+    public static final int kCurrentLimit = 65;
+
+    public static final boolean kInvertLeftMotor = false;
+    public static final boolean kInvertRightMotor = true;
+
+    public static final double kIntakeInSpeed = .9;
+    public static final double kIntakeOutSpeed = 1;
+
+    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(kInvertLeftMotor);
+        rightMotorConfig
+            .idleMode(kIdleMode)
+            .smartCurrentLimit(kCurrentLimit)
+            .inverted(kInvertRightMotor)
+        ;
+    }
+}

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

@@ -0,0 +1,5 @@
+package first.robot.constants;
+
+public class KrakenMotorConstants {
+    public static final double kFreeSpeedRPM = 6000;
+}

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

@@ -0,0 +1,140 @@
+package first.robot.constants;
+
+import org.wpilib.hardware.bus.CANPort;
+import org.wpilib.math.util.Units;
+
+import com.ctre.phoenix6.configs.AudioConfigs;
+import com.ctre.phoenix6.configs.ClosedLoopRampsConfigs;
+import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
+import com.ctre.phoenix6.configs.FeedbackConfigs;
+import com.ctre.phoenix6.configs.MotorOutputConfigs;
+import com.ctre.phoenix6.configs.Slot0Configs;
+import com.ctre.phoenix6.signals.InvertedValue;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+import com.revrobotics.spark.ClosedLoopSlot;
+import com.revrobotics.spark.FeedbackSensor;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+import com.revrobotics.spark.config.SparkMaxConfig;
+
+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 loggableName;
+        }
+        
+    }
+
+    // DRIVING MOTOR CONFIG (Kraken)
+    public static final double kDrivingMotorReduction = (50 * 16 * 45)/(14.0 * 28.0 * 15.0);
+
+    public static final double kDrivingMotorFeedSpeedRPS = KrakenMotorConstants.kFreeSpeedRPM / 60;
+    public static final double kWheelDiameterMeters = Units.inchesToMeters(4);
+    public static final double kWheelCircumferenceMeters = kWheelDiameterMeters * Math.PI;
+    public static final double kDriveWheelFreeSpeedRPS = (kDrivingMotorFeedSpeedRPS * kWheelCircumferenceMeters) /
+        kDrivingMotorReduction;
+    public static final double kDrivingFactor = kWheelDiameterMeters * Math.PI / kDrivingMotorReduction;
+    public static final double kDrivingVelocityFeedForward = 1 / kDriveWheelFreeSpeedRPS;
+    
+    // TODO Hold over from 2025, adjust?
+    public static final double kDriveP = .06;
+    public static final double kDriveI = 0;
+    public static final double kDriveD = 0;
+    public static final double kDriveS = 0;
+    public static final double kDriveV = kDrivingVelocityFeedForward;
+    public static final double kDriveA = 0;
+    public static final double kClosedLoopRampRate = .01;
+
+    // TODO Hold over from 2025, adjust?
+    public static final int kDriveMotorStatorCurrentLimit = 90;
+    public static final int kDriveMotorSupplyCurrentLimit = 40;
+
+    // TODO Hold over from 2025, adjust?
+    public static final InvertedValue kDriveInversionState = InvertedValue.Clockwise_Positive;
+    public static final NeutralModeValue kDriveIdleMode = NeutralModeValue.Brake;
+
+    // TURNING MOTOR CONFIG (NEO)
+    public static final double kTurningMotorReduction = 150.0/7.0;
+    public static final double kTurningFactor = 2 * Math.PI / kTurningMotorReduction;
+    // 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;
+
+    public static final IdleMode kTurnIdleMode = IdleMode.kBrake;
+
+    // YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A CONFIGURATION ITEM
+
+    public static final SparkMaxConfig turningConfig = new SparkMaxConfig();
+
+    public static final FeedbackConfigs kDriveFeedConfig = new FeedbackConfigs();
+    public static final CurrentLimitsConfigs kDriveCurrentLimitConfig = new CurrentLimitsConfigs();
+    public static final MotorOutputConfigs kDriveMotorConfig = new MotorOutputConfigs();
+    public static final AudioConfigs kAudioConfig = new AudioConfigs();
+    public static final Slot0Configs kDriveSlot0Config = new Slot0Configs();
+    public static final ClosedLoopRampsConfigs kDriveClosedLoopRampConfig = new ClosedLoopRampsConfigs();
+
+    static {
+        kDriveFeedConfig.SensorToMechanismRatio = kDrivingMotorReduction;
+
+        kDriveCurrentLimitConfig.StatorCurrentLimitEnable = true;
+        kDriveCurrentLimitConfig.SupplyCurrentLimitEnable = true;
+        kDriveCurrentLimitConfig.StatorCurrentLimit = kDriveMotorStatorCurrentLimit;
+        kDriveCurrentLimitConfig.SupplyCurrentLimit = kDriveMotorSupplyCurrentLimit;
+
+        kDriveMotorConfig.Inverted = kDriveInversionState;
+        kDriveMotorConfig.NeutralMode = kDriveIdleMode;
+
+        kAudioConfig.AllowMusicDurDisable = true;
+
+        kDriveSlot0Config.kP = kDriveP;
+        kDriveSlot0Config.kI = kDriveI;
+        kDriveSlot0Config.kD = kDriveD;
+        kDriveSlot0Config.kS = kDriveS;
+        kDriveSlot0Config.kV = kDriveV;
+        kDriveSlot0Config.kA = kDriveA;
+
+        kDriveClosedLoopRampConfig.withVoltageClosedLoopRampPeriod(kClosedLoopRampRate);
+
+        turningConfig
+            .idleMode(kTurnIdleMode)
+            .smartCurrentLimit(kTurnMotorCurrentLimit)
+            .inverted(true);
+        turningConfig.encoder
+            // Ignoring the red here for now. REVLib 2027alpha8 is entirely missing
+            // a solution for this. Issue is open and pending
+            // https://github.com/wpilibsuite/SystemcoreTesting/issues/401
+            .positionConversionFactor(kTurningFactor)
+            .velocityConversionFactor(kTurningFactor / 60.0);
+        turningConfig.closedLoop
+            .feedbackSensor(FeedbackSensor.kPrimaryEncoder)
+            .pid(kTurnP, kTurnI, kTurnD)
+            .outputRange(-1, 1)
+            .allowedClosedLoopError(kTurnTolerance, ClosedLoopSlot.kSlot0)
+            .positionWrappingEnabled(true)
+            // Ignoring the red here for now. REVLib 2027alpha8 is entirely missing
+            // a solution for this. Issue is open and pending
+            // https://github.com/wpilibsuite/SystemcoreTesting/issues/401
+            .positionWrappingInputRange(0, 2 * Math.PI);
+            
+    }
+}

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

@@ -0,0 +1,29 @@
+package first.robot.constants;
+
+import org.wpilib.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.RED.toHexString(),
+        Color.BLUE.toHexString()
+    };
+
+    public static final String[] kRedDisplay = {
+        Color.RED.toHexString()
+    };
+
+    public static final String[] kBlueDisplay = {
+        Color.BLUE.toHexString()
+    };
+}

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

@@ -0,0 +1,48 @@
+package first.robot.constants;
+
+import java.util.List;
+
+import org.wpilib.math.geometry.Rotation3d;
+import org.wpilib.math.geometry.Transform3d;
+import org.wpilib.math.util.Units;
+
+import first.robot.utilities.PhotonVisionConfig;
+
+public class PhotonConstants {
+    public static final String kCamera1Name = "CameraPV1";
+    public static final String kCamera2Name = "CameraPV2";
+
+    // TODO Need actual values for all of this
+    public static final Transform3d kCamera1RobotToCam = new Transform3d(
+        Units.inchesToMeters(1.5),
+        Units.inchesToMeters(-8.5),
+        Units.inchesToMeters(28.5),
+        new Rotation3d(
+            Units.degreesToRadians(0), 
+            Units.degreesToRadians(-24.0), 
+            Units.degreesToRadians(30.0)
+        )
+    );
+    public static final Transform3d kCamera2RobotToCam = new Transform3d(
+        Units.inchesToMeters(1.5),
+        Units.inchesToMeters(-10.5),
+        Units.inchesToMeters(28.5),
+        new Rotation3d(
+            Units.degreesToRadians(0.0), 
+            Units.degreesToRadians(-24.0), 
+            Units.degreesToRadians(-10.0)
+        )
+    );
+
+    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/first/robot/constants/RollerIndexerConstants.java

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

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

@@ -0,0 +1,115 @@
+package first.robot.constants;
+
+import org.wpilib.hardware.bus.CANPort;
+import org.wpilib.math.util.Units;
+
+import com.revrobotics.spark.ClosedLoopSlot;
+import com.revrobotics.spark.FeedbackSensor;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+import com.revrobotics.spark.config.SparkMaxConfig;
+
+public class ShooterConstants {
+    public enum ShooterSpeeds {
+        kHubSpeed(3000.0),
+        kFeedSpeed(5000.0),
+        kIdleSpeed(750.0);
+
+        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 CANPort kCANPort = CANPort.CAN_S0;
+
+    public static final int kLeftShooterMotorCANID = 2;
+    public static final int kRightShooterMotorCANID = 5;
+
+    public static final boolean kLeftShooterMotorInverted = true;
+    public static final boolean kRightShooterMotorInverted = false;
+
+    public static final double kLeftP = 0.75;//0.01;//0.001;
+    public static final double kLeftI = 0;
+    public static final double kLeftD = 0;//0.1;//1.8;
+    public static final double kLeftS = 0;
+    public static final double kLeftV = 0.00129;
+    public static final double kLeftA = 0;
+
+    public static final double kRightP = 0.75;//0.001;//0.001;
+    public static final double kRightI = 0;
+    public static final double kRightD = 0;//0.1;
+    public static final double kRightS = 0;
+    public static final double kRightV = 0.00125;
+    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
+            // Ignoring the red here for now. REVLib 2027alpha8 is entirely missing
+            // a solution for this. Issue is open and pending
+            // https://github.com/wpilibsuite/SystemcoreTesting/issues/401
+            .positionConversionFactor(1)
+            .velocityConversionFactor(60)
+            .averageDepth(8); // VERY IMPORTANT FOR RESPONSE OF FLYWHEEL DEFAULTS ARE DOGWATER
+        kLeftMotorConfig.closedLoop
+            .feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
+            .pid(kLeftP, kLeftI, kLeftD, ClosedLoopSlot.kSlot0)
+            .outputRange(-1, 1)
+            .allowedClosedLoopError(25.0, ClosedLoopSlot.kSlot0)
+            .feedForward
+                .sva(kLeftS, kLeftV, kLeftA, ClosedLoopSlot.kSlot0);
+
+        kRightMotorConfig
+            .idleMode(kShooterIdleMode)
+            .smartCurrentLimit(kCurrentLimit)
+            .inverted(kRightShooterMotorInverted);
+        kRightMotorConfig.absoluteEncoder
+            // Ignoring the red here for now. REVLib 2027alpha8 is entirely missing
+            // a solution for this. Issue is open and pending
+            // https://github.com/wpilibsuite/SystemcoreTesting/issues/401
+            .positionConversionFactor(1)
+            .velocityConversionFactor(60)
+            .averageDepth(8)// VERY IMPORTANT FOR RESPONSE OF FLYWHEEL DEFAULTS ARE DOGWATER
+            .inverted(true);
+        kRightMotorConfig.closedLoop
+            .feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
+            .pid(kRightP, kRightI, kRightD)
+            .outputRange(-1, 1)
+            .allowedClosedLoopError(25.0, ClosedLoopSlot.kSlot0)
+            .feedForward
+                .sva(kRightS, kRightV, kRightA, ClosedLoopSlot.kSlot0);
+    }
+}

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

@@ -0,0 +1,54 @@
+package first.robot.constants;
+
+import org.wpilib.hardware.bus.CANPort;
+
+import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
+import com.ctre.phoenix6.configs.MotorOutputConfigs;
+import com.ctre.phoenix6.signals.InvertedValue;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+import com.revrobotics.spark.config.SparkMaxConfig;
+
+public class SpindexerConstants {
+    // TODO Real values
+    public static final CANPort kCANPort = CANPort.CAN_S0;
+    
+    public static final int kSpindexerMotorCANID = 0;
+    public static final int kFeederMotorCANID = 4;
+
+    public static final int kSpindexerStatorCurrentLimit = 95;
+    public static final int kSpindexerSupplyCurrentLimit = 50;
+    public static final int kFeederCurrentLimit = 30;
+
+    public static final double kSpindexerSpeed = 1;
+    public static final double kFeederSpeed = 1;
+
+    public static final boolean kFeederMotorInverted = false;
+
+    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/first/robot/constants/SystemCoreConstants.java

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

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

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

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

@@ -0,0 +1,88 @@
+package first.robot.subsystems;
+
+import java.util.function.DoubleSupplier;
+
+import org.wpilib.command2.Command;
+import org.wpilib.command2.SubsystemBase;
+import org.wpilib.epilogue.Logged;
+
+import com.revrobotics.PersistMode;
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.ResetMode;
+import com.revrobotics.spark.SparkClosedLoopController;
+import com.revrobotics.spark.SparkLowLevel.ControlType;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+import com.revrobotics.spark.SparkMax;
+
+import first.robot.constants.ClimberConstants;
+import first.robot.constants.ClimberConstants.ClimberPositions;
+
+@Logged
+public class Climber extends SubsystemBase {
+    private SparkMax motor;
+
+    private RelativeEncoder encoder;
+
+    private SparkClosedLoopController controller;
+
+    private ClimberPositions targetPosition;
+
+    public Climber() {
+        motor = new SparkMax(
+            ClimberConstants.kCANPort,
+            ClimberConstants.kMotorCANID, 
+            MotorType.kBrushless
+        );
+
+        motor.configure(
+            ClimberConstants.kMotorConfig, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
+
+        encoder = motor.getEncoder();
+
+        controller = motor.getClosedLoopController();
+
+        targetPosition = null;
+    }
+
+    public double getTargetPositionMeters() {
+        if (targetPosition == null) {
+            return -1;
+        } else {
+            return targetPosition.getPositionMeters();
+        }
+    }
+
+    public double getCurrentPositionMeters() {
+        return encoder.getPosition().get();
+    }
+
+    public boolean isAtSetpoint() {
+        return controller.isAtSetpoint().get();
+    }
+
+    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.setThrottle(speed.getAsDouble());
+        });
+    }
+
+    public Command stop() {
+        return manualSpeed(() -> 0);
+    }
+}

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

@@ -0,0 +1,434 @@
+package first.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.wpilib.command2.Command;
+import org.wpilib.command2.PrintCommand;
+import org.wpilib.command2.SubsystemBase;
+import org.wpilib.driverstation.Alliance;
+import org.wpilib.driverstation.MatchState;
+import org.wpilib.epilogue.Logged;
+import org.wpilib.hardware.imu.OnboardIMU;
+import org.wpilib.math.controller.PIDController;
+import org.wpilib.math.estimator.SwerveDrivePoseEstimator;
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.kinematics.ChassisVelocities;
+import org.wpilib.math.kinematics.SwerveDriveKinematics;
+import org.wpilib.math.kinematics.SwerveModulePosition;
+import org.wpilib.math.kinematics.SwerveModuleVelocity;
+import org.wpilib.math.util.MathUtil;
+
+import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.path.PathPlannerPath;
+
+import first.robot.constants.AutoConstants;
+import first.robot.constants.DrivetrainConstants;
+import first.robot.constants.ModuleConstants.ModuleName;
+import first.robot.constants.OIConstants;
+import first.robot.constants.SystemCoreConstants;
+import first.robot.utilities.SwerveModule;
+import first.robot.utilities.Utilities;
+import first.robot.utilities.VisualPose;
+
+@Logged
+public class Drivetrain extends SubsystemBase {
+    private SwerveModule frontLeft;
+    private SwerveModule frontRight;
+    private SwerveModule rearLeft;
+    private SwerveModule rearRight;
+
+    private OnboardIMU imu;
+
+    private SwerveDrivePoseEstimator estimator;
+
+    private PIDController yawRotationController;
+
+    public Drivetrain(Pose2d startupPose) {
+        frontLeft = new SwerveModule(
+            DrivetrainConstants.kCANPort,
+            ModuleName.kFrontLeft, 
+            DrivetrainConstants.kFrontLeftDrivingCANID, 
+            DrivetrainConstants.kFrontLeftTurningCANID, 
+            DrivetrainConstants.kFrontLeftAnalogInPort, 
+            DrivetrainConstants.kFrontLeftMagEncoderOffset
+        );
+
+        frontRight = new SwerveModule(
+            DrivetrainConstants.kCANPort,
+            ModuleName.kFrontRight, 
+            DrivetrainConstants.kFrontRightDrivingCANID, 
+            DrivetrainConstants.kFrontRightTurningCANID, 
+            DrivetrainConstants.kFrontRightAnalogInPort, 
+            DrivetrainConstants.kFrontRightMagEncoderOffset
+        );
+
+        rearLeft = new SwerveModule(
+            DrivetrainConstants.kCANPort,
+            ModuleName.kRearLeft, 
+            DrivetrainConstants.kRearLeftDrivingCANID, 
+            DrivetrainConstants.kRearLeftTurningCANID, 
+            DrivetrainConstants.kRearLeftAnalogInPort, 
+            DrivetrainConstants.kRearLeftMagEncoderOffset
+        );
+
+        rearRight = new SwerveModule(
+            DrivetrainConstants.kCANPort,
+            ModuleName.kRearRight, 
+            DrivetrainConstants.kRearRightDrivingCANID, 
+            DrivetrainConstants.kRearRightTurningCANID, 
+            DrivetrainConstants.kRearRightAnalogInPort, 
+            DrivetrainConstants.kRearRightMagEncoderOffset
+        );
+
+        imu = new OnboardIMU(SystemCoreConstants.kSystemCoreMountOrientation);
+
+        yawRotationController = new PIDController(
+            DrivetrainConstants.kHeadingP, 
+            0, 
+            0
+        );
+        yawRotationController.enableContinuousInput(-Math.PI, Math.PI);
+        yawRotationController.setTolerance(DrivetrainConstants.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, 
+            Rotation2d.fromDegrees(getGyroValue()), 
+            new SwerveModulePosition[] {
+                frontLeft.getPosition(),
+                frontRight.getPosition(),
+                rearLeft.getPosition(),
+                rearRight.getPosition()
+            },
+            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<Alliance> alliance = MatchState.getAlliance();
+                        if (alliance.isPresent()) {
+                            return alliance.get() == Alliance.RED;
+                        }
+                        return false;
+                }, 
+                this
+            );
+        }
+    }
+
+    @Override
+    public void periodic() {
+        estimator.update(
+            Rotation2d.fromDegrees(getGyroValue()),
+            new SwerveModulePosition[] {
+                frontLeft.getPosition(),
+                frontRight.getPosition(),
+                rearLeft.getPosition(),
+                rearRight.getPosition()
+            }
+        );
+
+        frontLeft.periodic();
+        frontRight.periodic();
+        rearLeft.periodic();
+        rearRight.periodic();
+    }
+
+    /**
+     * 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 SwerveModuleVelocity(
+                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);
+                    }
+
+                    double outputPower = -yawRotationController.calculate(
+                        getHeading().getRadians(),
+                        targetRotation.getRadians()
+                    );
+
+                    return outputPower;
+                }, 
+                () -> 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 Specific Alliance code?
+        return run(() -> {
+            drive(
+                -MathUtil.applyDeadband(xSpeed.getAsDouble(), OIConstants.kDriveDeadband), 
+                -MathUtil.applyDeadband(ySpeed.getAsDouble(), OIConstants.kDriveDeadband),
+                -MathUtil.applyDeadband(rotation.getAsDouble(), OIConstants.kDriveDeadband), 
+                fieldRelative.getAsBoolean()
+            );
+        });
+    }
+
+    public Command setX() {
+        return run(() -> {
+            frontLeft.setDesiredState(new SwerveModuleVelocity(0, Rotation2d.fromDegrees(45)));
+            frontRight.setDesiredState(new SwerveModuleVelocity(0, Rotation2d.fromDegrees(-45)));
+            rearLeft.setDesiredState(new SwerveModuleVelocity(0, Rotation2d.fromDegrees(-45)));
+            rearRight.setDesiredState(new SwerveModuleVelocity(0, Rotation2d.fromDegrees(45)));
+        });
+    }
+
+    public Command zeroHeading() {
+        return run(() -> {
+            imu.resetYaw();;
+            estimator.resetRotation(new Rotation2d(0));
+        });
+    }
+
+    public void consumeVisualPose(VisualPose pose) {
+        if(Math.abs(pose.visualPose().minus(getPose()).getTranslation().getNorm()) > 1) {
+            return;
+        }
+        
+        estimator.addVisionMeasurement(
+            pose.visualPose(), 
+            pose.timestamp()
+        );
+    }
+
+    public void resetEncoders() {
+        frontLeft.resetEncoders();
+        frontRight.resetEncoders();
+        rearLeft.resetEncoders();
+        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;
+        double ySpeedDelivered = 0;
+
+        if(p != 0){
+            xSpeedDelivered = xSpeed * (Math.pow(p, OIConstants.kJoystickExponential) / p) * DrivetrainConstants.kMaxSpeedMetersPerSecond;
+            ySpeedDelivered = ySpeed * (Math.pow(p, OIConstants.kJoystickExponential) / p) * DrivetrainConstants.kMaxSpeedMetersPerSecond;
+        }else{
+            xSpeedDelivered = 0;
+            ySpeedDelivered = 0;
+        }
+
+        double rotationDelivered = rotation * DrivetrainConstants.kMaxAngularSpeed;
+
+        ChassisVelocities velocities = new ChassisVelocities(xSpeedDelivered, ySpeedDelivered, rotationDelivered);
+
+        SwerveModuleVelocity[] swerveModuleStates = DrivetrainConstants.kDriveKinematics.toSwerveModuleVelocities(
+            fieldRelative ?
+                velocities.toFieldRelative(Rotation2d.fromDegrees(getGyroValue())) : velocities 
+        );
+
+        setModuleStates(swerveModuleStates);
+    }
+
+    public void driveWithChassisSpeeds(ChassisVelocities speeds) {
+        ChassisVelocities discreteSpeeds = speeds.discretize(0.2);
+        SwerveModuleVelocity[] newStates = DrivetrainConstants.kDriveKinematics.toSwerveModuleVelocities(discreteSpeeds);
+
+        setModuleStates(newStates);
+    }
+
+    public void setModuleStates(SwerveModuleVelocity[] desiredStates) {
+        SwerveDriveKinematics.desaturateWheelVelocities(
+            desiredStates, DrivetrainConstants.kMaxSpeedMetersPerSecond);
+        frontLeft.setDesiredState(desiredStates[0]);
+        frontRight.setDesiredState(desiredStates[1]);
+        rearLeft.setDesiredState(desiredStates[2]);
+        rearRight.setDesiredState(desiredStates[3]);
+    }
+
+    public ChassisVelocities getCurrentChassisSpeeds() {
+        return DrivetrainConstants.kDriveKinematics.toChassisVelocities(
+            frontLeft.getState(),
+            frontRight.getState(),
+            rearLeft.getState(),
+            rearRight.getState()
+        );
+    }
+
+    public Pose2d getPose() {
+        return estimator.getEstimatedPosition();
+    }
+
+    public double getGyroValue() {
+        return imu.getYawRadians() * (DrivetrainConstants.kGyroReversed ? -1 : 1);
+    }
+
+    public Rotation2d getHeading() {
+        return estimator.getEstimatedPosition().getRotation();
+    }
+
+    public double getHeadingDegrees() {
+        return estimator.getEstimatedPosition().getRotation().getDegrees();
+    }
+}
+

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

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

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

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

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

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

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

@@ -0,0 +1,204 @@
+package first.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.targeting.PhotonPipelineResult;
+import org.photonvision.targeting.PhotonTrackedTarget;
+import org.wpilib.command2.SubsystemBase;
+import org.wpilib.math.geometry.Pose3d;
+import org.wpilib.math.geometry.Transform3d;
+
+import first.robot.constants.CompetitionConstants;
+import first.robot.constants.PhotonConstants;
+import first.robot.utilities.PhotonVisionConfig;
+import first.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.kField, 
+                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].estimateCoprocMultiTagPose(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.ZERO
+            .plus(bestCameraToTarget.inverse())
+            .relativeTo(CompetitionConstants.kField.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/first/robot/subsystems/RollerIndexer.java

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

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

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

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

@@ -0,0 +1,100 @@
+package first.robot.subsystems;
+
+import java.util.function.DoubleSupplier;
+
+import org.wpilib.command2.Command;
+import org.wpilib.command2.SubsystemBase;
+import org.wpilib.epilogue.Logged;
+
+import com.ctre.phoenix6.CANBus;
+import com.ctre.phoenix6.controls.DutyCycleOut;
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.revrobotics.PersistMode;
+import com.revrobotics.ResetMode;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+import com.revrobotics.spark.SparkMax;
+
+import first.robot.constants.SpindexerConstants;
+import first.robot.interfaces.IIndexer;
+
+@Logged
+public class Spindexer extends SubsystemBase implements IIndexer {
+    private TalonFX spindexerMotor;
+
+    private SparkMax feederMotor;
+
+    private DutyCycleOut spindexerMotorOutput;
+
+    public Spindexer() {
+        spindexerMotor = new TalonFX(
+            SpindexerConstants.kSpindexerMotorCANID,
+            new CANBus(SpindexerConstants.kCANPort)
+        );
+
+        feederMotor = new SparkMax(
+            SpindexerConstants.kCANPort,
+            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.setThrottle(SpindexerConstants.kFeederSpeed);
+        });
+    }
+
+    public Command spinToShooter(DoubleSupplier shooterSpeedRPM, double cutOffRPM) {
+        return run(() -> {
+            if(shooterSpeedRPM.getAsDouble() < cutOffRPM) {
+                spindexerMotor.setControl(
+                    spindexerMotorOutput.withOutput(0)
+                );
+                feederMotor.setThrottle(0);
+            } else {
+                spindexerMotor.setControl(
+                    spindexerMotorOutput.withOutput(SpindexerConstants.kSpindexerSpeed)
+                );
+                feederMotor.setThrottle(SpindexerConstants.kFeederSpeed);
+            }
+        });
+    }
+
+    public Command spinToIntake() {
+        return run(() -> {
+            spindexerMotor.setControl(
+                spindexerMotorOutput.withOutput(-SpindexerConstants.kSpindexerSpeed)
+            );
+            feederMotor.setThrottle(-SpindexerConstants.kFeederSpeed);
+        });
+    }
+
+    public Command stop() {
+        return run(() -> {
+            spindexerMotor.setControl(spindexerMotorOutput.withOutput(0));
+            feederMotor.setThrottle(0);
+        });
+    }
+
+    public Command instantaneousStop() {
+        return runOnce(() -> {
+            spindexerMotor.setControl(spindexerMotorOutput.withOutput(0));
+            feederMotor.setThrottle(0);
+        });
+    }
+    
+}

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

@@ -0,0 +1,390 @@
+package first.robot.utilities;
+
+import org.wpilib.networktables.NetworkTableInstance;
+import org.wpilib.networktables.PubSubOption;
+import org.wpilib.networktables.StringPublisher;
+import org.wpilib.networktables.StringTopic;
+
+import io.avaje.json.JsonException;
+import io.avaje.jsonb.Json;
+import io.avaje.jsonb.JsonType;
+import io.avaje.jsonb.Jsonb;
+
+public final class Elastic {
+  private static final StringTopic notificationTopic =
+      NetworkTableInstance.getDefault().getStringTopic("/Elastic/RobotNotifications");
+  private static final StringPublisher notificationPublisher =
+      notificationTopic.publish(PubSubOption.SEND_ALL, PubSubOption.KEEP_DUPLICATES);
+  private static final StringTopic selectedTabTopic =
+      NetworkTableInstance.getDefault().getStringTopic("/Elastic/SelectedTab");
+  private static final StringPublisher selectedTabPublisher =
+      selectedTabTopic.publish(PubSubOption.KEEP_DUPLICATES);
+  private static final Jsonb jsonb = Jsonb.builder().build();
+  private static final JsonType<Notification> notificationJsonType =
+      jsonb.type(Notification.class);
+
+  /**
+   * 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(notificationJsonType.toJson(notification));
+    } catch (JsonException 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.
+   */
+  @Json
+  public static class Notification {
+    @Json.Property("level")
+    private NotificationLevel level;
+
+    @Json.Property("title")
+    private String title;
+
+    @Json.Property("description")
+    private String description;
+
+    @Json.Property("displayTime")
+    private int displayTimeMillis;
+
+    @Json.Property("width")
+    private double width;
+
+    @Json.Property("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/first/robot/utilities/PhotonVisionConfig.java

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

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

@@ -0,0 +1,38 @@
+package first.robot.utilities;
+
+import java.util.function.DoubleSupplier;
+
+import org.wpilib.command2.Command;
+import org.wpilib.command2.SubsystemBase;
+import org.wpilib.hardware.bus.CANPort;
+
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+import com.revrobotics.spark.SparkMax;
+
+/**
+ * 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(CANPort canPort, int deviceID) {
+        spark = new SparkMax(canPort, 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.setThrottle(speed.getAsDouble());
+        });
+    }
+}

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

@@ -0,0 +1,226 @@
+package first.robot.utilities;
+
+import org.wpilib.hardware.bus.CANPort;
+import org.wpilib.hardware.rotation.AnalogEncoder;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.kinematics.SwerveModulePosition;
+import org.wpilib.math.kinematics.SwerveModuleVelocity;
+
+import com.ctre.phoenix6.CANBus;
+import com.ctre.phoenix6.controls.VelocityVoltage;
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.revrobotics.PersistMode;
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.ResetMode;
+import com.revrobotics.spark.SparkClosedLoopController;
+import com.revrobotics.spark.SparkLowLevel.ControlType;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+import com.revrobotics.spark.SparkMax;
+
+import first.robot.constants.ModuleConstants;
+import first.robot.constants.ModuleConstants.ModuleName;
+
+/*
+ * This thread
+ * 
+ * https://www.chiefdelphi.com/t/best-easiest-way-to-connect-wire-and-program-thrifty-absolute-magnetic-encoder-to-rev-spark-max-motor-controller/439040/30
+ * 
+ * implies that the best use of the thrifty absolute encoder is to use it as a reference for the Spark relative encoder and then
+ * used the closed loop control on the controller for turning
+ * 
+ * IDK if that's really necessary, the read rate of the analog ports is 100HZ, I suppose the only benefit is the higher rate of
+ * the controller closed loop controller. 
+ */
+public class SwerveModule {
+    private ModuleName moduleName;
+
+    private TalonFX drive;
+    private SparkMax turning;
+
+    private RelativeEncoder turningRelativeEncoder;
+
+    private AnalogEncoder turningAbsoluteEncoder;
+
+    private SparkClosedLoopController turningClosedLoopController;
+
+    private VelocityVoltage driveVelocityRequest;
+
+    private SwerveModuleVelocity lastTargetState;
+    private SwerveModuleVelocity 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 canPort The CANPort enumeration that represents the CAN bus that the motors for this module live on
+     * @param moduleName The module name, Front Left, Front Right, etc.
+     * @param drivingCANID The CAN ID of the Kraken used to drive the module wheel
+     * @param turningCANID The CAN ID of the Spark MAX used to turn the module wheel
+     */
+    public SwerveModule(CANPort canPort, ModuleName moduleName, int drivingCANID, int turningCANID) {
+        this(canPort, moduleName, drivingCANID, turningCANID, -1, -1);
+    }
+
+    /**
+     * Builds the swerve module with the normal features, disables automatic rezeroing of the turning encoder
+     * from the absolute encoder. 
+     * 
+     * @param canPort The CANPort enumeration that represents the CAN bus that the motors for this module live on
+     * @param moduleName The module name, Front Left, Front Right, etc.
+     * @param drivingCANID The CAN ID of the Kraken used to drive the module wheel
+     * @param turningCANID The CAN ID of the Spark MAX used to turn the module wheel
+     * @param analogEncoderID The Analog In port ID for the Thrify Absolute Encoder
+     * @param analogEncoderOffset The angular offset for the absolute encoder to achieve 0 position on the module 
+     */
+    public SwerveModule(CANPort canPort, ModuleName moduleName, int drivingCANID, int turningCANID, int analogEncoderID, double analogEncoderOffset) {
+        this(canPort, moduleName, drivingCANID, turningCANID, analogEncoderID, analogEncoderOffset, false);
+    }
+
+    /**
+     * Builds the swerve module with the normal features, and gives the option to enable automatic turning encoder rezeroing
+     * when the turning motor is not moving
+     * 
+     * @param canPort The CANPort enumeration that represents the CAN bus that the motors for this module live on
+     * @param moduleName The module name, Front Left, Front Right, etc.
+     * @param drivingCANID The CAN ID of the Kraken used to drive the module wheel
+     * @param turningCANID The CAN ID of the Spark MAX used to turn the module wheel
+     * @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(CANPort canPort, ModuleName moduleName, int drivingCANID, int turningCANID, 
+        int analogEncoderID, double analogEncoderOffset, boolean turningEncoderAutoRezeroEnabled) {
+        isAbsoluteEncoderDisabled = (analogEncoderID == -1) || (analogEncoderOffset < 0);
+
+        drive = new TalonFX(drivingCANID, new CANBus(canPort));
+        turning = new SparkMax(canPort, turningCANID, MotorType.kBrushless);
+
+        turningRelativeEncoder = turning.getEncoder();
+
+        if(!isAbsoluteEncoderDisabled) {
+            turningAbsoluteEncoder = new AnalogEncoder(analogEncoderID, 2 * Math.PI, analogEncoderOffset);
+        }
+        
+        turningClosedLoopController = turning.getClosedLoopController();
+
+        drive.getConfigurator().apply(ModuleConstants.kDriveCurrentLimitConfig);
+        drive.getConfigurator().apply(ModuleConstants.kDriveFeedConfig);
+        drive.getConfigurator().apply(ModuleConstants.kDriveMotorConfig);
+        drive.getConfigurator().apply(ModuleConstants.kAudioConfig);
+        drive.getConfigurator().apply(ModuleConstants.kDriveSlot0Config);
+        drive.getConfigurator().apply(ModuleConstants.kDriveClosedLoopRampConfig);
+
+        turning.configure(
+            ModuleConstants.turningConfig,
+            ResetMode.kResetSafeParameters,
+            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 = moduleName;
+    }
+
+    public void periodic() {
+        
+        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 SwerveModuleVelocity getState() {
+        return new SwerveModuleVelocity(
+            drive.getVelocity().getValueAsDouble() * ModuleConstants.kWheelCircumferenceMeters, 
+            new Rotation2d(getTurningEncoderPosition())
+        );
+    }
+
+    public SwerveModulePosition getPosition() {
+        return new SwerveModulePosition(
+            drive.getPosition().getValueAsDouble() * ModuleConstants.kWheelCircumferenceMeters, 
+            new Rotation2d(getTurningEncoderPosition())
+        );
+    }
+
+    public void disableOutput() {
+        drive.disable();
+        turning.disable();
+    }
+
+    public void setDesiredState(SwerveModuleVelocity desiredState) {
+        lastTargetState = new SwerveModuleVelocity(desiredState.velocity, desiredState.angle);
+        
+        desiredState.optimize(new Rotation2d(getTurningEncoderPosition()));
+
+        lastTargetStateOptimized = desiredState;
+
+        drive.setControl(
+            driveVelocityRequest.withVelocity(
+                desiredState.velocity / ModuleConstants.kWheelCircumferenceMeters
+            ).withFeedForward(
+                desiredState.velocity / ModuleConstants.kWheelCircumferenceMeters
+            )
+        );
+
+        turningClosedLoopController.setSetpoint(
+            desiredState.angle.getRadians(), 
+            ControlType.kPosition
+        );
+    }
+
+    public double getTurningEncoderPosition() {
+        return turningRelativeEncoder.getPosition().get() * (ModuleConstants.kIsEncoderInverted ? -1 : 1);
+    }
+
+    public void resetEncoders() {
+        drive.setPosition(0);
+
+        zeroTurningEncoder();
+    }
+
+    public void zeroTurningEncoder() {
+        if(isAbsoluteEncoderDisabled) {
+            turningRelativeEncoder.setPosition(0);
+        } else {
+            turningRelativeEncoder.setPosition(turningAbsoluteEncoder.get());
+        }
+    }
+}
+

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

@@ -0,0 +1,119 @@
+package first.robot.utilities;
+
+import java.util.Optional;
+
+import org.wpilib.driverstation.Alliance;
+import org.wpilib.driverstation.MatchState;
+import org.wpilib.math.geometry.Pose2d;
+
+import first.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() {
+        Optional<String> gameData = MatchState.getGameData();
+
+        if(gameData.isPresent()) {
+            String gameDataString = gameData.get();
+
+            if(gameDataString.length() > 0) {
+                switch (gameDataString.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 = MatchState.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 = MatchState.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/first/robot/utilities/VisualPose.java

@@ -0,0 +1,9 @@
+package first.robot.utilities;
+
+import org.wpilib.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) {}

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

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

vendordeps/CommandsV2.json

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

vendordeps/PathplannerLibSystemCoreAlpha.json

@@ -0,0 +1,37 @@
+{
+    "fileName": "PathplannerLibSystemCoreAlpha.json",
+    "name": "PathplannerLib",
+    "version": "2027.0.0-alpha-4.1",
+    "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
+    "wpilibYear": "2027_alpha7",
+    "mavenUrls": [
+        "https://3015rangerrobotics.github.io/pathplannerlib/repo"
+    ],
+    "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLibSystemCoreAlpha.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.pathplanner.lib",
+            "artifactId": "PathplannerLib-java",
+            "version": "2027.0.0-alpha-4.1"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "com.pathplanner.lib",
+            "artifactId": "PathplannerLib-cpp",
+            "version": "2027.0.0-alpha-4.1",
+            "libName": "PathplannerLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal",
+                "linuxsystemcore",
+                "linuxarm64"
+            ]
+        }
+    ]
+}

vendordeps/Phoenix6-26.70.0-alpha-2.json

@@ -0,0 +1,449 @@
+{
+    "fileName": "Phoenix6-26.70.0-alpha-2.json",
+    "name": "CTRE-Phoenix (v6)",
+    "version": "26.70.0-alpha-2",
+    "wpilibYear": "2027_alpha7",
+    "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
+    "mavenUrls": [
+        "https://maven.ctr-electronics.com/release/"
+    ],
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2027-latest.json",
+    "conflictsWith": [
+        {
+            "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
+            "errorMessage": "Users cannot have both the replay and regular Phoenix 6 vendordeps in their robot program.",
+            "offlineFileName": "Phoenix6-replay-frc2027-latest.json"
+        }
+    ],
+    "javaDependencies": [
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "wpiapi-java",
+            "version": "26.70.0-alpha-2"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "api-cpp",
+            "version": "26.70.0-alpha-2",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxsystemcore"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "tools",
+            "version": "26.70.0-alpha-2",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxsystemcore"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "api-cpp-sim",
+            "version": "26.70.0-alpha-2",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "tools-sim",
+            "version": "26.70.0-alpha-2",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simTalonSRX",
+            "version": "26.70.0-alpha-2",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simVictorSPX",
+            "version": "26.70.0-alpha-2",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simPigeonIMU",
+            "version": "26.70.0-alpha-2",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFX",
+            "version": "26.70.0-alpha-2",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFXS",
+            "version": "26.70.0-alpha-2",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANcoder",
+            "version": "26.70.0-alpha-2",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProPigeon2",
+            "version": "26.70.0-alpha-2",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANrange",
+            "version": "26.70.0-alpha-2",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANdi",
+            "version": "26.70.0-alpha-2",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANdle",
+            "version": "26.70.0-alpha-2",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "wpiapi-cpp",
+            "version": "26.70.0-alpha-2",
+            "libName": "CTRE_Phoenix6_WPI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxsystemcore"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "tools",
+            "version": "26.70.0-alpha-2",
+            "libName": "CTRE_PhoenixTools",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxsystemcore"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "wpiapi-cpp-sim",
+            "version": "26.70.0-alpha-2",
+            "libName": "CTRE_Phoenix6_WPISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "tools-sim",
+            "version": "26.70.0-alpha-2",
+            "libName": "CTRE_PhoenixTools_Sim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simTalonSRX",
+            "version": "26.70.0-alpha-2",
+            "libName": "CTRE_SimTalonSRX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simVictorSPX",
+            "version": "26.70.0-alpha-2",
+            "libName": "CTRE_SimVictorSPX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simPigeonIMU",
+            "version": "26.70.0-alpha-2",
+            "libName": "CTRE_SimPigeonIMU",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFX",
+            "version": "26.70.0-alpha-2",
+            "libName": "CTRE_SimProTalonFX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFXS",
+            "version": "26.70.0-alpha-2",
+            "libName": "CTRE_SimProTalonFXS",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANcoder",
+            "version": "26.70.0-alpha-2",
+            "libName": "CTRE_SimProCANcoder",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProPigeon2",
+            "version": "26.70.0-alpha-2",
+            "libName": "CTRE_SimProPigeon2",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANrange",
+            "version": "26.70.0-alpha-2",
+            "libName": "CTRE_SimProCANrange",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANdi",
+            "version": "26.70.0-alpha-2",
+            "libName": "CTRE_SimProCANdi",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANdle",
+            "version": "26.70.0-alpha-2",
+            "libName": "CTRE_SimProCANdle",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ]
+}

vendordeps/REVLib.json

@@ -0,0 +1,126 @@
+{
+    "fileName": "REVLib.json",
+    "name": "REVLib",
+    "version": "2027.0.0-alpha-8",
+    "wpilibYear": "2027_alpha7",
+    "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
+    "mavenUrls": [
+        "https://maven.revrobotics.com/"
+    ],
+    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2027.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-java",
+            "version": "2027.0.0-alpha-8"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2027.0.0-alpha-8",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxsystemcore",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "RevLibBackendDriver",
+            "version": "2027.0.0-alpha-8",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxsystemcore",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "RevLibWpiBackendDriver",
+            "version": "2027.0.0-alpha-8",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxsystemcore",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-cpp",
+            "version": "2027.0.0-alpha-8",
+            "libName": "REVLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxsystemcore",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2027.0.0-alpha-8",
+            "libName": "REVLibDriver",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxsystemcore",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "RevLibBackendDriver",
+            "version": "2027.0.0-alpha-8",
+            "libName": "BackendDriver",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxsystemcore",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "RevLibWpiBackendDriver",
+            "version": "2027.0.0-alpha-8",
+            "libName": "REVLibWpi",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxsystemcore",
+                "osxuniversal"
+            ]
+        }
+    ]
+}

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

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