The great code restructuring

.vscode/launch.json

@@ -4,18 +4,24 @@
   // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
   "version": "0.2.0",
   "configurations": [
-
+    {
+      "type": "java",
+      "name": "Main",
+      "request": "launch",
+      "mainClass": "frc4388.robot.Main",
+      "projectName": "2025RidgeScape"
+    },
     {
       "type": "wpilib",
       "name": "WPILib Desktop Debug",
       "request": "launch",
-      "desktop": true,
+      "desktop": true
     },
     {
       "type": "wpilib",
       "name": "WPILib roboRIO Debug",
       "request": "launch",
-      "desktop": false,
+      "desktop": false
     }
   ]
 }

build.gradle

@@ -1,6 +1,7 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.2.1"
+    id "edu.wpi.first.GradleRIO" version "2025.3.2"
+    id "com.peterabeles.gversion" version "1.10"
 }
 
 java {
@@ -72,6 +73,9 @@ dependencies {
 
     testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
     testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
+
+    def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
+    annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version"
 }
 
 test {
@@ -102,3 +106,19 @@ wpi.java.configureTestTasks(test)
 tasks.withType(JavaCompile) {
     options.compilerArgs.add '-XDstringConcat=inline'
 }
+
+task(replayWatch, type: JavaExec) {
+    mainClass = "org.littletonrobotics.junction.ReplayWatch"
+    classpath = sourceSets.main.runtimeClasspath
+}
+
+// Create version file
+project.compileJava.dependsOn(createVersionFile)
+gversion {
+    srcDir       = "src/main/java/"
+    classPackage = "frc4388.robot.constants"
+    className    = "BuildConstants"
+    dateFormat   = "yyyy-MM-dd HH:mm:ss z"
+    timeZone     = "America/Denver"
+    indent       = "  "
+}

simgui-ds.json

@@ -1,9 +1,4 @@
 {
-  "System Joysticks": {
-    "window": {
-      "enabled": false
-    }
-  },
   "keyboardJoysticks": [
     {
       "axisConfig": [
@@ -96,7 +91,17 @@
   ],
   "robotJoysticks": [
     {
-      "guid": "Keyboard0"
+      "guid": "030000005e040000ea0200000b050000",
+      "useGamepad": true
+    },
+    {
+      "useGamepad": true
+    },
+    {},
+    {},
+    {},
+    {
+      "useGamepad": true
     }
   ]
 }

src/main/java/frc4388/robot/Constants.java

@@ -1,472 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc4388.robot;
-
-import static edu.wpi.first.units.Units.Inches;
-import static edu.wpi.first.units.Units.Rotations;
-
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.List;
-
-import com.ctre.phoenix6.configs.CANcoderConfiguration;
-import com.ctre.phoenix6.configs.ClosedLoopRampsConfigs;
-import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
-import com.ctre.phoenix6.configs.MotorOutputConfigs;
-import com.ctre.phoenix6.configs.OpenLoopRampsConfigs;
-import com.ctre.phoenix6.configs.Slot0Configs;
-import com.ctre.phoenix6.configs.TalonFXConfiguration;
-import com.ctre.phoenix6.signals.NeutralModeValue;
-import com.ctre.phoenix6.signals.StaticFeedforwardSignValue;
-import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants;
-import com.ctre.phoenix6.swerve.SwerveModuleConstants;
-import com.ctre.phoenix6.swerve.SwerveModuleConstants.ClosedLoopOutputType;
-import com.ctre.phoenix6.swerve.SwerveModuleConstants.DriveMotorArrangement;
-import com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerFeedbackType;
-import com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerMotorArrangement;
-import com.ctre.phoenix6.swerve.SwerveModuleConstantsFactory;
-
-import edu.wpi.first.apriltag.AprilTag;
-import edu.wpi.first.apriltag.AprilTagFieldLayout;
-import edu.wpi.first.apriltag.AprilTagFields;
-import edu.wpi.first.math.Matrix;
-import edu.wpi.first.math.VecBuilder;
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Pose3d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Rotation3d;
-import edu.wpi.first.math.geometry.Transform3d;
-import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.math.geometry.Translation3d;
-import edu.wpi.first.math.numbers.N1;
-import edu.wpi.first.math.numbers.N3;
-import edu.wpi.first.math.trajectory.TrapezoidProfile;
-import edu.wpi.first.math.util.Units;
-import edu.wpi.first.units.measure.Angle;
-import edu.wpi.first.units.measure.Distance;
-import frc4388.utility.CanDevice;
-import frc4388.utility.Gains;
-import frc4388.utility.LEDPatterns;
-import frc4388.utility.ReefPositionHelper;
-import frc4388.utility.Trim;
-import frc4388.utility.configurable.ConfigurableDouble;
-
-/**
- * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
- * constants.  This class should not be used for any other purpose.  All constants should be
- * declared globally (i.e. public static).  Do not put anything functional in this class.
- *
- * <p>It is advised to statically import this class (or one of its inner classes) wherever the
- * constants are needed, to reduce verbosity.
- */
-public final class Constants {
-    public static final String CANBUS_NAME = "rio";
-    
-    public static final class SwerveDriveConstants {
-
-        public static final double MAX_ROT_SPEED        = Math.PI * 2;
-        public static final double AUTO_MAX_ROT_SPEED = 1.5;
-        public static final double MIN_ROT_SPEED        = 1.0;
-        public static       double ROTATION_SPEED       = MAX_ROT_SPEED;
-        public static       double PLAYBACK_ROTATION_SPEED = AUTO_MAX_ROT_SPEED;
-        public static       double ROT_CORRECTION_SPEED = 10; // MIN_ROT_SPEED;
-
-        public static final double CORRECTION_MIN = 10;
-        public static final double CORRECTION_MAX = 50;
-        
-        public static final double SLOW_SPEED = 0.25;
-        public static final double FAST_SPEED = 0.5;
-        public static final double TURBO_SPEED = 1.0;
-        
-        public static final double[] GEARS = {SLOW_SPEED, FAST_SPEED, TURBO_SPEED};
-        public static final int STARTING_GEAR = 0;
-        // Dimensions
-        public static final double WIDTH = 18.5; // TODO: validate
-        public static final double HEIGHT = 18.5; // TODO: validate
-        public static final double HALF_WIDTH = WIDTH / 2.d;
-        public static final double HALF_HEIGHT = HEIGHT / 2.d;
-
-        // Mechanics
-        private static final double COUPLE_RATIO = 3; //todo: find
-        private static final double DRIVE_RATIO = 6.12;
-        private static final double STEER_RATIO = (150/7);
-        private static final Distance WHEEL_RADIUS = Inches.of(2);
-        
-        public static final double MAX_SPEED_MEETERS_PER_SEC = 6.22; // TODO: Validate
-
-        public static final double MAX_SPEED_FEET_PER_SECOND = MAX_SPEED_MEETERS_PER_SEC * 3.28084;
-        public static final double MAX_ANGULAR_SPEED_FEET_PER_SECOND = 2 * 2 * Math.PI;
-
-        // Operation
-        public static final double FORWARD_OFFSET = 90; // 0, 90, 180, 270
-
-        public static final boolean DRIFT_CORRECTION_ENABLED = true;
-        public static final boolean INVERT_X = false;
-        public static final boolean INVERT_Y = true;
-        public static final boolean INVERT_ROTATION = false;
-
-        // public static final Trim POINTLESS_TRIM = new Trim("Pointless Trim", Double.MAX_VALUE, Double.MIN_VALUE, 0.1, 0);
-
-        private static final class ModuleSpecificConstants { //2025
-            //Front Left
-            private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(-0.368896484375);
-            private static final boolean FRONT_LEFT_DRIVE_MOTOR_INVERTED = false;
-            private static final boolean FRONT_LEFT_STEER_MOTOR_INVERTED = true;
-            private static final boolean FRONT_LEFT_ENCODER_INVERTED = false;
-            private static final Distance FRONT_LEFT_XPOS = Inches.of(HALF_WIDTH);
-            private static final Distance FRONT_LEFT_YPOS = Inches.of(HALF_HEIGHT);
-            
-            //Front Right
-            private static final Angle FRONT_RIGHT_ENCODER_OFFSET = Rotations.of(-0.011474609375);
-            private static final boolean FRONT_RIGHT_DRIVE_MOTOR_INVERTED = true;
-            private static final boolean FRONT_RIGHT_STEER_MOTOR_INVERTED = true;
-            private static final boolean FRONT_RIGHT_ENCODER_INVERTED = false;
-            private static final Distance FRONT_RIGHT_XPOS = Inches.of(HALF_WIDTH);
-            private static final Distance FRONT_RIGHT_YPOS = Inches.of(-HALF_HEIGHT);
-
-            //Back Left
-            private static final Angle BACK_LEFT_ENCODER_OFFSET = Rotations.of(0.333251953125+0.5);
-            private static final boolean BACK_LEFT_DRIVE_MOTOR_INVERTED = false;
-            private static final boolean BACK_LEFT_STEER_MOTOR_INVERTED = true;
-            private static final boolean BACK_LEFT_ENCODER_INVERTED = false;
-            private static final Distance BACK_LEFT_XPOS = Inches.of(-HALF_WIDTH);
-            private static final Distance BACK_LEFT_YPOS = Inches.of(HALF_HEIGHT);
-            
-            //Back Right
-            private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(0.4306640625+0.5);
-            private static final boolean BACK_RIGHT_DRIVE_MOTOR_INVERTED = false;
-            private static final boolean BACK_RIGHT_STEER_MOTOR_INVERTED = true;
-            private static final boolean BACK_RIGHT_ENCODER_INVERTED = false;
-            private static final Distance BACK_RIGHT_XPOS = Inches.of(-HALF_WIDTH);
-            private static final Distance BACK_RIGHT_YPOS = Inches.of(-HALF_HEIGHT);
-        }
-
-        public static final class IDs {
-            public static final CanDevice RIGHT_FRONT_WHEEL   = new CanDevice("RIGHT_FRONT_WHEEL", 4);
-            public static final CanDevice RIGHT_FRONT_STEER   = new CanDevice("RIGHT_FRONT_STEER", 5);
-            public static final CanDevice RIGHT_FRONT_ENCODER = new CanDevice("RIGHT_FRONT_ENCODER", 11);
-            
-            public static final CanDevice LEFT_FRONT_WHEEL    = new CanDevice("LEFT_FRONT_WHEEL", 2);
-            public static final CanDevice LEFT_FRONT_STEER    = new CanDevice("LEFT_FRONT_STEER", 3);
-            public static final CanDevice LEFT_FRONT_ENCODER  = new CanDevice("LEFT_FRONT_ENCODER", 10);
-            
-            public static final CanDevice LEFT_BACK_WHEEL     = new CanDevice("LEFT_BACK_WHEEL", 6);
-            public static final CanDevice LEFT_BACK_STEER     = new CanDevice("LEFT_BACK_STEER", 7);
-            public static final CanDevice LEFT_BACK_ENCODER   = new CanDevice("LEFT_BACK_ENCODER", 12);
-            
-            public static final CanDevice RIGHT_BACK_WHEEL    = new CanDevice("RIGHT_BACK_WHEEL", 8);  
-            public static final CanDevice RIGHT_BACK_STEER    = new CanDevice("RIGHT_BACK_STEER", 9);
-            public static final CanDevice RIGHT_BACK_ENCODER  = new CanDevice("RIGHT_BACK_ENCODER", 13);
-
-            public static final CanDevice DRIVE_PIGEON        = new CanDevice("DRIVE_PIGEON", 14);
-        }
-    
-        public static final class PIDConstants {
-            public static final int SWERVE_SLOT_IDX = 0;
-            public static final int SWERVE_PID_LOOP_IDX = 1;
-            public static final Gains SWERVE_GAINS = new Gains(50, 0.0, 0.32, 0.0, 0, 0.0);
-
-            public static final Slot0Configs CURRENT_SWERVE_ROT_GAINS = new Slot0Configs()
-                .withKP(50).withKI(0).withKD(0.32)
-                .withKS(0).withKV(0).withKA(0);
-            
-                public static final Slot0Configs TEST_SWERVE_ROT_GAINS = new Slot0Configs()
-                .withKP(10).withKI(0).withKD(0.3)
-                .withKS(0).withKV(0).withKA(0);
-
-            public static final Gains TEST_SWERVE_GAINS = new Gains(1.2, 0.0, 0.0, 0.0, 0, 0.0);
-
-            // The steer motor uses any SwerveModule.SteerRequestType control request with the
-            // output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput
-            public static final Slot0Configs PREPROVIDED_STEER_GAINS = new Slot0Configs()
-                .withKP(100).withKI(0).withKD(0.6)
-                .withKS(0.1).withKV(1.91).withKA(0)
-                .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign);
-            // When using closed-loop control, the drive motor uses the control
-            // output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput
-            public static final Slot0Configs PREPROVIDED_DRIVE_GAINS = new Slot0Configs()
-                .withKP(0.1).withKI(0).withKD(0)
-                .withKS(0).withKV(0.124);
-            
-            public static final Gains DRIFT_CORRECTION_GAINS = new Gains(2.5, 0, 0.1);
-            public static final Gains RELATIVE_LOCKED_ANGLE_GAINS = new Gains(10, 0, 1);
-        }
-
-        public static final class Configurations {
-            public static final double OPEN_LOOP_RAMP_RATE = 0.4; // Todo: Test. think this will help.
-            public static final double CLOSED_LOOP_RAMP_RATE = 0.4; // Todo: Test. think this will help.
-            public static final double NEUTRAL_DEADBAND = 0.04;
-
-            // POWER! (limiting)
-            private static final TalonFXConfiguration DRIVE_MOTOR_CONFIGS = new TalonFXConfiguration()
-                .withMotorOutput(
-                    new MotorOutputConfigs()
-                        .withNeutralMode(NeutralModeValue.Brake)
-                        .withDutyCycleNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND)
-                ).withOpenLoopRamps(
-                    new OpenLoopRampsConfigs()
-                        .withDutyCycleOpenLoopRampPeriod(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE)
-                ).withClosedLoopRamps(
-                    new ClosedLoopRampsConfigs()
-                        .withDutyCycleClosedLoopRampPeriod(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE)
-            );
-            private static final TalonFXConfiguration STEER_MOTOR_CONFIGS = new TalonFXConfiguration()
-                .withCurrentLimits(
-                    new CurrentLimitsConfigs()
-                        .withStatorCurrentLimit(40) // TODO: tune???
-                        .withStatorCurrentLimitEnable(true)
-                    ).withMotorOutput(
-                        new MotorOutputConfigs()
-                            .withNeutralMode(NeutralModeValue.Brake)
-                            .withDutyCycleNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND)
-                    // ).withOpenLoopRamps(
-                    //     new OpenLoopRampsConfigs()
-                    //         .withDutyCycleOpenLoopRampPeriod(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE)
-                    // ).withClosedLoopRamps(
-                    //     new ClosedLoopRampsConfigs()
-                    //         .withDutyCycleClosedLoopRampPeriod(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE)
-            );
-            public static final double SLIP_CURRENT = 60; // TODO: Tune??? 
-        }
-
-        // No mans land
-        // Beware, there be dragons.
-        public static final SwerveDrivetrainConstants DrivetrainConstants = new SwerveDrivetrainConstants()
-            .withPigeon2Id(IDs.DRIVE_PIGEON.id);
-
-        private static final SwerveModuleConstantsFactory<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> ConstantCreator =
-            new SwerveModuleConstantsFactory<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>() // holy verbosity batman.
-                .withDriveMotorGearRatio(DRIVE_RATIO)
-                .withSteerMotorGearRatio(STEER_RATIO)
-                .withCouplingGearRatio(COUPLE_RATIO)
-                .withWheelRadius(WHEEL_RADIUS)
-                .withSteerMotorGains(PIDConstants.PREPROVIDED_STEER_GAINS) // ?
-                .withDriveMotorGains(PIDConstants.PREPROVIDED_DRIVE_GAINS) // ?
-                .withSteerMotorClosedLoopOutput(ClosedLoopOutputType.Voltage)
-                .withDriveMotorClosedLoopOutput(ClosedLoopOutputType.Voltage)
-                .withSlipCurrent(Configurations.SLIP_CURRENT)
-                .withSpeedAt12Volts(MAX_SPEED_MEETERS_PER_SEC)
-                .withDriveMotorType(DriveMotorArrangement.TalonFX_Integrated)
-                .withSteerMotorType(SteerMotorArrangement.TalonFX_Integrated)
-                .withFeedbackSource(SteerFeedbackType.RemoteCANcoder)
-                .withDriveMotorInitialConfigs(Configurations.DRIVE_MOTOR_CONFIGS)
-                .withSteerMotorInitialConfigs(Configurations.STEER_MOTOR_CONFIGS);
-
-        public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> FRONT_LEFT =
-            ConstantCreator.createModuleConstants(
-                IDs.LEFT_FRONT_STEER.id, IDs.LEFT_FRONT_WHEEL.id, IDs.LEFT_FRONT_ENCODER.id, ModuleSpecificConstants.FRONT_LEFT_ENCODER_OFFSET,
-                ModuleSpecificConstants.FRONT_LEFT_XPOS, ModuleSpecificConstants.FRONT_LEFT_YPOS, 
-                ModuleSpecificConstants.FRONT_LEFT_DRIVE_MOTOR_INVERTED, ModuleSpecificConstants.FRONT_LEFT_STEER_MOTOR_INVERTED, ModuleSpecificConstants.FRONT_LEFT_ENCODER_INVERTED
-        );
-        public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> FRONT_RIGHT =
-            ConstantCreator.createModuleConstants(
-                IDs.RIGHT_FRONT_STEER.id, IDs.RIGHT_FRONT_WHEEL.id, IDs.RIGHT_FRONT_ENCODER.id, ModuleSpecificConstants.FRONT_RIGHT_ENCODER_OFFSET,
-                ModuleSpecificConstants.FRONT_RIGHT_XPOS, ModuleSpecificConstants.FRONT_RIGHT_YPOS, 
-                ModuleSpecificConstants.FRONT_RIGHT_DRIVE_MOTOR_INVERTED, ModuleSpecificConstants.FRONT_RIGHT_STEER_MOTOR_INVERTED, ModuleSpecificConstants.FRONT_RIGHT_ENCODER_INVERTED
-        );
-        public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> BACK_LEFT =
-            ConstantCreator.createModuleConstants(
-                IDs.LEFT_BACK_STEER.id, IDs.LEFT_BACK_WHEEL.id, IDs.LEFT_BACK_ENCODER.id, ModuleSpecificConstants.BACK_LEFT_ENCODER_OFFSET,
-                ModuleSpecificConstants.BACK_LEFT_XPOS, ModuleSpecificConstants.BACK_LEFT_YPOS, 
-                ModuleSpecificConstants.BACK_LEFT_DRIVE_MOTOR_INVERTED, ModuleSpecificConstants.BACK_LEFT_STEER_MOTOR_INVERTED, ModuleSpecificConstants.BACK_LEFT_ENCODER_INVERTED
-        );
-        public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> BACK_RIGHT =
-            ConstantCreator.createModuleConstants(
-                IDs.RIGHT_BACK_STEER.id, IDs.RIGHT_BACK_WHEEL.id, IDs.RIGHT_BACK_ENCODER.id, ModuleSpecificConstants.BACK_RIGHT_ENCODER_OFFSET,
-                ModuleSpecificConstants.BACK_RIGHT_XPOS, ModuleSpecificConstants.BACK_RIGHT_YPOS, 
-                ModuleSpecificConstants.BACK_RIGHT_DRIVE_MOTOR_INVERTED, ModuleSpecificConstants.BACK_RIGHT_STEER_MOTOR_INVERTED, ModuleSpecificConstants.BACK_RIGHT_ENCODER_INVERTED
-        );
-        
-        // misc
-        public static final int TIMEOUT_MS = 30;
-        public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
-      }
-    
-    public static final class LiDARConstants {
-        public static final int REEF_LIDAR_DIO_CHANNEL = 7;
-        public static final int REVERSE_LIDAR_DIO_CHANNEL = 4;
-
-        public static final int HUMAN_PLAYER_STATION_DISTANCE = 40;
-
-        public static final int LIDAR_DETECT_DISTANCE = 100; // Min distance to detect pole
-        public static final int LIDAR_MICROS_TO_CM = 10;
-        public static final int SECONDS_TO_MICROS = 1000000;
-    }
-
-    public static final class AutoConstants {
-        // public static final Gains XY_GAINS = new Gains(5,0.6,0.0);
-        public static final Gains XY_GAINS = new Gains(8,0,0.0);
-        // public static final ConfigurableDouble P_XY_GAINS = new ConfigurableDouble("P_XY_GAINS", XY_GAINS.kP);
-        // public static final ConfigurableDouble I_XY_GAINS = new ConfigurableDouble("I_XY_GAINS", XY_GAINS.kI);
-        // public static final ConfigurableDouble D_XY_GAINS = new ConfigurableDouble("D_XY_GAINS", XY_GAINS.kD);
-       // public static final Gains XY_GAINS = new Gains(3,0.3,0.0);
-
-        // public static final Gains ROT_GAINS = new Gains(0.05,0,0.007);
-        // public static final Gains ROT_GAINS = new Gains(0.05,0,0.0);
-
-        public static final Trim X_OFFSET_TRIM =        new Trim("X Offset Trim",        Double.MAX_VALUE, -Double.MAX_VALUE,0.5, 0);
-        // public static final Trim Y_OFFSET_TRIM =        new Trim("Y Offset Trim",        Double.MAX_VALUE, -Double.MAX_VALUE, 0.5, 1.5);
-        public static final Trim Y_OFFSET_TRIM =        new Trim("Y Offset Trim",        Double.MAX_VALUE, -Double.MAX_VALUE, 0.5, 0);
-        public static final Trim ELEVATOR_OFFSET_TRIM = new Trim("Elevator Offset Trim", -ElevatorConstants.MAX_POSITION_ELEVATOR, ElevatorConstants.MAX_POSITION_ELEVATOR, 1, 0);
-        public static final Trim ARM_OFFSET_TRIM =      new Trim("ARM Offset Trim",      -ElevatorConstants.COMPLETLY_TOP_ENDEFFECTOR, ElevatorConstants.COMPLETLY_TOP_ENDEFFECTOR, 1, 0);
-                
-        public static final double XY_TOLERANCE = 0.07; // Meters
-        public static final double ROT_TOLERANCE = 5; // Degrees
-
-        public static final double MIN_XY_PID_OUTPUT = 0.0;
-        public static final double MIN_ROT_PID_OUTPUT = 0.0;
-
-        public static final double VELOCITY_THRESHHOLD = 0.01;
-                
-        // X is tangent to reef side
-        // Y is normal to reef side
-        public static final double X_SCORING_POSITION_OFFSET = Units.inchesToMeters(6.5+1); // This is from the field
-        public static final double Y_SCORING_POSITION_OFFSET = Units.inchesToMeters(16+1);
-        public static final double HALF_ROBOT_SIZE = Units.inchesToMeters(18);
-
-        public static final double L4_DISTANCE_PREP = HALF_ROBOT_SIZE + Units.inchesToMeters(15);
-        public static final double L4_DISTANCE_SCORE = L4_DISTANCE_PREP;
-        // public static final double L4_DISTANCE_SCORE = HALF_ROBOT_SIZE + Units.inchesToMeters(4.5);
-        
-        public static final double L3_DISTANCE_PREP = HALF_ROBOT_SIZE + Units.inchesToMeters(15);
-        public static final double L3_DISTANCE_SCORE = HALF_ROBOT_SIZE + Units.inchesToMeters(5+1);
-        
-        public static final double L2_PREP_DISTANCE = HALF_ROBOT_SIZE + Units.inchesToMeters(6);
-        public static final double L2_SCORE_DISTANCE = HALF_ROBOT_SIZE + Units.inchesToMeters(0.5-2);
-
-        public static final double ALGAE_REMOVAL_DISTANCE = HALF_ROBOT_SIZE;
-        
-        // public static final double L4_DISTANCE_PREP = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(15);
-        // public static final double L4_DISTANCE_SCORE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(5.5);
-        // // public static final double L4_DISTANCE_SCORE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(4.5);
-        
-        // public static final double L3_DISTANCE_PREP = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(15);
-        // public static final double L3_DISTANCE_SCORE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(5+1);
-        
-        // public static final double L2_PREP_DISTANCE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(6);
-        // public static final double L2_SCORE_DISTANCE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(0.5);
-
-        // public static final double ALGAE_REMOVAL_DISTANCE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(2);
-
-        public static final int L4_DRIVE_TIME = 250; //Milliseconds
-        // public static final int L3_DRIVE_TIME = 500;
-        public static final int L2_DRIVE_TIME = 250; //Milliseconds
-        public static final int ALGAE_DRIVE_TIME = 500;
-        public static final double STOP_VELOCITY = 0.0;
-    }
-
-    public static final class VisionConstants { 
-        public static final String LEFT_CAMERA_NAME = "CAMERA_LEFT";
-        public static final String RIGHT_CAMERA_NAME = "CAMERA_RIGHT";
-
-        public static final Transform3d LEFT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(4.547), Units.inchesToMeters(8.031), Units.inchesToMeters(8.858)), new Rotation3d(0,0.0,0.0));
-        public static final Transform3d RIGHT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(4.547), -Units.inchesToMeters(8.031), Units.inchesToMeters(8.858)), new Rotation3d(0,0.0,0.0));
-        
-        public static final double MIN_ESTIMATION_DISTANCE = 2; // Meters
-
-        // Photonvision thing
-        // The standard deviations of our vision estimated poses, which affect correction rate
-        // X, Y, Theta
-        // https://www.chiefdelphi.com/t/photonvision-finding-standard-deviations-for-swervedriveposeestimator/467802/2
-        public static final Matrix<N3, N1> kSingleTagStdDevs = VecBuilder.fill(0.5, 0.5, 4);
-        public static final Matrix<N3, N1> kMultiTagStdDevs = VecBuilder.fill(0.1, 0.1, 1);
-    }
-
-    public static final class FieldConstants {
-        public static final AprilTagFieldLayout kTagLayout = AprilTagFieldLayout.loadField(AprilTagFields.k2025Reefscape);
-
-        // Test april tag field layout
-        // public static final AprilTagFieldLayout kTagLayout = new AprilTagFieldLayout(
-        //     Arrays.asList(new AprilTag[] {
-        //         new AprilTag(1, new Pose3d(
-        //             new Translation3d(0.,0.,0.26035), new Rotation3d(0.,0.,0.)
-        //         )),
-        //     }), 100, 100);
-
-    }
-
-    public static final class DriveConstants {
-        public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
-    }
-    
-    public static final class LEDConstants {
-        public static final int LED_SPARK_ID = 9;
-
-        public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES;
-
-        public static final LEDPatterns WAITING_PATTERN = LEDPatterns.SOLID_RED;
-        public static final LEDPatterns DOWN_PATTERN = LEDPatterns.SOLID_YELLOW;
-        public static final LEDPatterns READY_PATTERN = LEDPatterns.SOLID_GREEN_DARK;
-        public static final LEDPatterns SCORING_PATTERN = LEDPatterns.RAINBOW_RAINBOW;
-
-        public static final LEDPatterns RED_PATTERN = LEDPatterns.LAVA_WAVES;
-        public static final LEDPatterns BLUE_PATTERN = LEDPatterns.OCEAN_WAVES;
-    }
-
-    public static final class OIConstants {
-        public static final int XBOX_DRIVER_ID = 0;
-        public static final int XBOX_OPERATOR_ID = 1;
-        public static final int BUTTONBOX_ID = 2;
-        public static final int XBOX_PROGRAMMER_ID = 3;
-        public static final double LEFT_AXIS_DEADBAND = 0.1;
-
-    }
-
-    public static final class ElevatorConstants {
-        public static final CanDevice ENDEFFECTOR_ID = new CanDevice("Endeffector", 15);
-        public static final CanDevice ELEVATOR_ID = new CanDevice("Elevator", 16);
-
-        public static final double SAFETY_ENDEFFECTOR_MAX_TORQUE = 75;
-        public static final double SAFETY_ENDEFFECTOR_MIN_VELOCITY = 20;
-
-        // public static final int BASIN_LIMIT_SWITCH = 8; // TODO: FIND
-        
-        public static final int BASIN_LIMIT_SWITCH = 8; // TODO: FIND
-        public static final int ENDEFFECTOR_LIMIT_SWITCH = 9; // TODO: FIND
-        public static final int INTAKE_LIMIT_SWITCH = 6; // TODO: FIND
-
-        
-        public static final double GEAR_RATIO_ELEVATOR = -9.0;
-        //Max for elevator = 50%
-        
-        public static final double GROUND_POSITION_ELEVATOR = 0 * GEAR_RATIO_ELEVATOR;
-        public static final double WAITING_POSITION_ELEVATOR = -9.5; // TODO: find 2-4 in off the pipe
-        public static final double HOVERING_POSITION_ELEVATOR = -7.5; // TODO: find 2-4 in off the pipe
-        public static final double WAITING_POSITION_BEAM_BREAK_ELEVATOR = -5; // TODO: find on the pipe
-        public static final double SCORING_THREE_ELEVATOR = -9.25;
-        public static final double DEALGAE_L2_ELEVATOR = -4;
-        public static final double DEALGAE_L3_ELEVATOR = -26.5;
-        public static final double MAX_POSITION_ELEVATOR = 4.5 * GEAR_RATIO_ELEVATOR; // TODO: find MAX position
-        
-        public static final double GEAR_RATIO_ENDEFECTOR = -100.0;
-        public static final double ENDEFECTOR_DRIVE_SLOW = -0.08;
-        //Max for endefector = 60%
-        public static final double L2_SCORE_ELEVATOR = -5;
-        public static final double L2_LEAVE_ELEVATOR = -11;
-
-        public static final double L2_SCORE_ENDEFFECTOR = -19;
-
-        public static final double COMPLETLY_DOWN_ENDEFFECTOR = 0 * GEAR_RATIO_ENDEFECTOR;
-        public static final double DEALGAE_L2_ENDEFFECTOR = 0.22 * GEAR_RATIO_ENDEFECTOR;
-        public static final double COMPLETLY_MIDDLE_ENDEFFECTOR = 0.25 * GEAR_RATIO_ENDEFECTOR;
-        public static final double PRIMED_THREE_ENDEFFECTOR = 0.4 * GEAR_RATIO_ENDEFECTOR;
-        public static final double SCORING_FOUR_ENDEFFECTOR = 0.3 * GEAR_RATIO_ENDEFECTOR;
-        public static final double PRIMED_FOUR_ENDEFFECTOR = 0.44 * GEAR_RATIO_ENDEFECTOR;
-        public static final double COMPLETLY_TOP_ENDEFFECTOR = 0.5 * GEAR_RATIO_ENDEFECTOR;
-
-        public static final Slot0Configs ELEVATOR_PID = new Slot0Configs()
-            .withKP(1)
-            .withKI(0)
-            .withKD(0);
-        
-        public static final Slot0Configs ENDEFFECTOR_PID = new Slot0Configs()
-            .withKP(1)
-            .withKI(0)
-            .withKD(0);
-    }
-}

src/main/java/frc4388/robot/Robot.java

@@ -11,24 +11,31 @@ import java.util.ArrayList;
 import java.util.Base64;
 import java.util.List;
 
+// Advantagekit
+import org.littletonrobotics.junction.LogFileUtil;
+import org.littletonrobotics.junction.LoggedRobot;
+import org.littletonrobotics.junction.Logger;
+import org.littletonrobotics.junction.networktables.NT4Publisher;
+import org.littletonrobotics.junction.wpilog.WPILOGReader;
+import org.littletonrobotics.junction.wpilog.WPILOGWriter;
+
 import com.ctre.phoenix6.CANBus;
 import com.ctre.phoenix6.CANBus.CANBusStatus;
 
-import edu.wpi.first.util.sendable.Sendable;
-import edu.wpi.first.wpilibj.TimedRobot;
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
-import frc4388.utility.CanDevice;
+import frc4388.robot.constants.BuildConstants;
+import frc4388.robot.constants.Constants;
+import frc4388.robot.constants.Constants.SimConstants;
 import frc4388.utility.DeferredBlock;
 import frc4388.utility.DeferredBlockMulti;
-import frc4388.utility.RobotTime;
-import frc4388.utility.Status;
-import frc4388.utility.Subsystem;
 import frc4388.utility.Trim;
-import frc4388.utility.Status.Report;
+import frc4388.utility.compute.RobotTime;
-import frc4388.utility.Status.ReportLevel;
+import frc4388.utility.status.CanDevice;
+import frc4388.utility.status.Status;
+import frc4388.utility.status.Subsystem;
+import frc4388.utility.status.Status.Report;
+import frc4388.utility.status.Status.ReportLevel;
 //import frc4388.robot.subsystems.LED;
 /**
  * The VM is configured to automatically run this class, and to call the
@@ -37,7 +44,7 @@ import frc4388.utility.Status.ReportLevel;
  * creating this project, you must also update the build.gradle file in the
  * project.
  */
-public class Robot extends TimedRobot {
+public class Robot extends LoggedRobot {
   Command m_autonomousCommand;
 
   private RobotTime m_robotTime = RobotTime.getInstance();
@@ -55,7 +62,7 @@ public class Robot extends TimedRobot {
     m_robotContainer = new RobotContainer();
 
 
-
+    // Create a shuffleboard update thread, that will periodically update the values on shuffleboard
     new Thread() {
       public void run() {
         try{
@@ -248,4 +255,101 @@ public class Robot extends TimedRobot {
     }
 
   }
+
+
+
+
+
+
+
+  // VisionSystemSim visionSim;
+  // RobotMapSim robotMapSim;
+
+  // @Override
+  // public void simulationInit() {
+  //   visionSim = new VisionSystemSim("main");
+  //   robotMapSim = m_robotContainer.m_robotMap.configureSim();
+
+
+  //   // A 0.5 x 0.25 meter rectangular target
+  //   TargetModel targetModel = new TargetModel(0.5, 0.25);
+  //   // The pose of where the target is on the field.
+  //   // Its rotation determines where "forward" or the target x-axis points.
+  //   // Let's say this target is flat against the far wall center, facing the blue driver stations.
+  //   Pose3d targetPose = new Pose3d(16, 4, 2, new Rotation3d(0, 0, Math.PI));
+  //   // The given target model at the given pose
+  //   VisionTargetSim visionTarget = new VisionTargetSim(targetPose, targetModel);
+
+  //   // Add this vision target to the vision system simulation to make it visible
+  //   visionSim.addVisionTargets(visionTarget);
+
+  //   // The layout of AprilTags which we want to add to the vision system
+  //   AprilTagFieldLayout tagLayout = Constants.FieldConstants.kTagLayout;
+
+  //   visionSim.addAprilTags(tagLayout);
+
+
+  //   visionSim.addCamera(robotMapSim.leftCamera, Constants.VisionConstants.LEFT_CAMERA_POS);
+  //   visionSim.addCamera(robotMapSim.rightCamera, Constants.VisionConstants.RIGHT_CAMERA_POS);
+
+  //   SmartDashboard.putData(visionSim.getDebugField());
+  // }
+
+
+  // @Override
+  // public void simulationPeriodic() {
+  //   m_robotContainer.m_robotSwerveDrive.updateSim(RobotController.getBatteryVoltage());
+  //   visionSim.update(m_robotContainer.m_robotSwerveDrive.getPose2d());
+
+  //   // m_robotContainer.m_robotSwerveDrive.
+  // }
+
+
+
+// Start AdvantageKit logging / replay and record metadata
+// Refrence: https://github.com/Mechanical-Advantage/AdvantageKit/blob/main/template_projects/sources/skeleton/src/main/java/frc/robot/Robot.java
+  public void startLogging() {
+    // Record metadata
+    Logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME);
+    Logger.recordMetadata("BuildDate", BuildConstants.BUILD_DATE);
+    Logger.recordMetadata("GitSHA", BuildConstants.GIT_SHA);
+    Logger.recordMetadata("GitDate", BuildConstants.GIT_DATE);
+    Logger.recordMetadata("GitBranch", BuildConstants.GIT_BRANCH);
+    switch (BuildConstants.DIRTY) {
+      case 0:
+        Logger.recordMetadata("GitDirty", "All changes committed");
+        break;
+      case 1:
+        Logger.recordMetadata("GitDirty", "Uncomitted changes");
+        break;
+      default:
+        Logger.recordMetadata("GitDirty", "Unknown");
+        break;
+    }
+
+    // Set up data receivers & replay source
+    switch (SimConstants.currentMode) {
+      case REAL:
+        // Running on a real robot, log to a USB stick ("/U/logs")
+        Logger.addDataReceiver(new WPILOGWriter());
+        Logger.addDataReceiver(new NT4Publisher());
+        break;
+
+      case SIM:
+        // Running a physics simulator, log to NT
+        Logger.addDataReceiver(new NT4Publisher());
+        break;
+
+      case REPLAY:
+        // Replaying a log, set up replay source
+        setUseTiming(false); // Run as fast as possible
+        String logPath = LogFileUtil.findReplayLog();
+        Logger.setReplaySource(new WPILOGReader(logPath));
+        Logger.addDataReceiver(new WPILOGWriter(LogFileUtil.addPathSuffix(logPath, "_sim")));
+        break;
+    }
+
+    // Start AdvantageKit logger
+    Logger.start();
+  }
 }

src/main/java/frc4388/robot/RobotContainer.java

@@ -11,34 +11,21 @@ package frc4388.robot;
 import edu.wpi.first.wpilibj.DriverStation;
 
 import java.io.File;
-import java.util.ArrayList;
-import java.util.List;
-import java.util.function.BooleanSupplier;
-import java.util.function.Supplier;
-
-import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.GenericHID;
-import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import frc4388.utility.controller.XboxController;
 import frc4388.utility.controller.ButtonBox;
 import frc4388.utility.controller.DeadbandedXboxController;
-import frc4388.robot.Constants.FieldConstants;
-import frc4388.robot.Constants.LiDARConstants;
-import frc4388.robot.Constants.OIConstants;
-import frc4388.robot.Constants.SwerveDriveConstants;
-import frc4388.robot.Constants.AutoConstants;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 
 // Commands
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
-import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup;
 import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
@@ -47,20 +34,19 @@ import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.ConditionalCommand;
 // Autos
 import frc4388.utility.controller.VirtualController;
-import frc4388.robot.commands.DriveUntilLiDAR;
-import frc4388.robot.commands.GotoLastApril;
-import frc4388.robot.commands.LidarAlign;
 import frc4388.robot.commands.MoveForTimeCommand;
 import frc4388.robot.commands.MoveUntilSuply;
-import frc4388.robot.commands.WhileTrueCommand;
+import frc4388.robot.commands.alignment.DriveToReef;
-import frc4388.robot.commands.waitElevatorRefrence;
+import frc4388.robot.commands.alignment.DriveUntilLiDAR;
-import frc4388.robot.commands.waitEndefectorRefrence;
+import frc4388.robot.commands.alignment.LidarAlign;
-import frc4388.robot.commands.waitFeedCoral;
+import frc4388.robot.commands.wait.waitElevatorRefrence;
-import frc4388.robot.commands.waitSupplier;
+import frc4388.robot.commands.wait.waitEndefectorRefrence;
-import frc4388.robot.commands.Swerve.neoJoystickPlayback;
+import frc4388.robot.commands.wait.waitFeedCoral;
-import frc4388.robot.commands.Swerve.neoJoystickRecorder;
+import frc4388.robot.commands.wait.waitSupplier;
-
+import frc4388.robot.constants.Constants;
-import com.pathplanner.lib.auto.AutoBuilder;
+import frc4388.robot.constants.Constants.AutoConstants;
+import frc4388.robot.constants.Constants.LiDARConstants;
+import frc4388.robot.constants.Constants.OIConstants;
 
 import com.pathplanner.lib.auto.NamedCommands;
 import com.pathplanner.lib.commands.PathPlannerAuto;
@@ -68,7 +54,6 @@ import com.pathplanner.lib.commands.PathPlannerAuto;
 import frc4388.robot.subsystems.LED;
 import frc4388.robot.subsystems.Vision;
 import frc4388.robot.subsystems.Elevator.CoordinationState;
-import frc4388.robot.subsystems.Lidar;
 import frc4388.robot.subsystems.Elevator;
 // import frc4388.robot.subsystems.Endeffector;
 import frc4388.robot.subsystems.SwerveDrive;
@@ -76,11 +61,8 @@ import frc4388.robot.subsystems.SwerveDrive;
 // Utilites
 import frc4388.utility.DeferredBlock;
 import frc4388.utility.DeferredBlockMulti;
-import frc4388.utility.ReefPositionHelper;
+import frc4388.utility.compute.TimesNegativeOne;
-import frc4388.utility.Subsystem;
+import frc4388.utility.compute.ReefPositionHelper.Side;
-import frc4388.utility.TimesNegativeOne;
-import frc4388.utility.ReefPositionHelper.Side;
-import frc4388.utility.configurable.ConfigurableString;
 
 /**
  * This class is where the bulk of the robot should be declared. Since
@@ -97,8 +79,6 @@ public class RobotContainer {
     /* Subsystems */
     public final LED m_robotLED = new LED();
     public final Vision m_vision = new Vision(m_robotMap.leftCamera, m_robotMap.rightCamera);
-    public final Lidar m_reefLidar = new Lidar(LiDARConstants.REEF_LIDAR_DIO_CHANNEL, "Reef");
-    public final Lidar m_reverseLidar = new Lidar(LiDARConstants.REVERSE_LIDAR_DIO_CHANNEL, "Reverse");
     public final Elevator m_robotElevator = new Elevator(m_robotMap.elevator, m_robotMap.endeffector, m_robotMap.basinLimitSwitch, m_robotMap.endeffectorLimitSwitch, m_robotMap.IRIntakeBeam, m_robotLED);
     public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
     // public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
@@ -108,11 +88,6 @@ public class RobotContainer {
     private final DeadbandedXboxController m_driverXbox   = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
     private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
     private final ButtonBox m_buttonBox = new ButtonBox(OIConstants.BUTTONBOX_ID);
-    private final DeadbandedXboxController m_autoRecorderXbox = new DeadbandedXboxController(OIConstants.XBOX_PROGRAMMER_ID);
-
-    /* Virtual Controllers */
-    private final VirtualController m_virtualDriver = new VirtualController(0);
-    private final VirtualController m_virtualOperator = new VirtualController(1);
 
     // public List<Subsystem> subsystems = new ArrayList<>();
 
@@ -124,7 +99,6 @@ public class RobotContainer {
     }
 
     // ! /*  Autos */
-    private String lastAutoName = "defualt.auto";
     private SendableChooser<String> autoChooser;
     private Command autoCommand;
 
@@ -144,7 +118,7 @@ public class RobotContainer {
         
         new ConditionalCommand(Commands.none(), new SequentialCommandGroup(
             new InstantCommand(() ->  m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
-            new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_PREP, Side.RIGHT, true)
+            new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_PREP, Side.RIGHT, true)
         ), () -> m_robotElevator.isL4Primed()),
 
         // new InstantCommand(() ->  m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
@@ -153,9 +127,9 @@ public class RobotContainer {
         new waitEndefectorRefrence(m_robotElevator),
         new waitElevatorRefrence(m_robotElevator),
 
-        new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_SCORE, Side.RIGHT, true),
+        new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_SCORE, Side.RIGHT, true),
         waitDebuger.asProxy(),
-        new LidarAlign(m_robotSwerveDrive, m_reefLidar),
+        new LidarAlign(m_robotSwerveDrive, m_robotMap.reefLidar),
         waitDebuger.asProxy(),
         new ParallelRaceGroup(
             new WaitCommand(1),
@@ -186,7 +160,7 @@ public class RobotContainer {
         
         new ConditionalCommand(Commands.none(), new SequentialCommandGroup(
             new InstantCommand(() ->  m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
-            new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_PREP, Side.RIGHT, true)
+            new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_PREP, Side.RIGHT, true)
         ), () -> m_robotElevator.isL4Primed()),
 
         // new InstantCommand(() ->  m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
@@ -195,9 +169,9 @@ public class RobotContainer {
         new waitEndefectorRefrence(m_robotElevator),
         new waitElevatorRefrence(m_robotElevator),
 
-        new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_SCORE, Side.RIGHT, true),
+        new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_SCORE, Side.RIGHT, true),
         waitDebuger.asProxy(),
-        // new LidarAlign(m_robotSwerveDrive, m_reefLidar),
+        // new LidarAlign(m_robotSwerveDrive, m_robotMap.reefLidar),
         // waitDebuger.asProxy(),
         // new ParallelRaceGroup(
         //     new WaitCommand(1),
@@ -243,7 +217,7 @@ public class RobotContainer {
 
         new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_SCORE, Side.RIGHT, true),
         waitDebuger.asProxy(),
-        new LidarAlign(m_robotSwerveDrive, m_reefLidar),
+        new LidarAlign(m_robotSwerveDrive, m_robotMap.reefLidar),
         waitDebuger.asProxy(),
 
         new InstantCommand(() ->  m_robotElevator.transitionState(CoordinationState.ScoringFour), m_robotElevator),
@@ -279,7 +253,7 @@ public class RobotContainer {
 
         new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_SCORE, Side.LEFT, true),
         waitDebuger.asProxy(),
-        new LidarAlign(m_robotSwerveDrive, m_reefLidar),
+        new LidarAlign(m_robotSwerveDrive, m_robotMap.reefLidar),
         waitDebuger.asProxy(),
 
         new InstantCommand(() ->  m_robotElevator.transitionState(CoordinationState.ScoringFour), m_robotElevator),
@@ -307,7 +281,7 @@ public class RobotContainer {
 
         new ConditionalCommand(Commands.none(), new SequentialCommandGroup(
             new InstantCommand(() ->  m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
-            new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_PREP, Side.LEFT, true)
+            new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_PREP, Side.LEFT, true)
         ), () -> m_robotElevator.isL4Primed()),
         
         // new InstantCommand(() ->  m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
@@ -316,9 +290,9 @@ public class RobotContainer {
         new waitEndefectorRefrence(m_robotElevator),
         new waitElevatorRefrence(m_robotElevator),
 
-        new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_SCORE, Side.LEFT, true),
+        new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_SCORE, Side.LEFT, true),
         waitDebuger.asProxy(),
-        new LidarAlign(m_robotSwerveDrive, m_reefLidar),
+        new LidarAlign(m_robotSwerveDrive, m_robotMap.reefLidar),
         waitDebuger.asProxy(),
         new ParallelRaceGroup(
             new WaitCommand(1),
@@ -354,7 +328,7 @@ public class RobotContainer {
 
         new ConditionalCommand(Commands.none(), new SequentialCommandGroup(
             new InstantCommand(() ->  m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
-            new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_PREP, Side.LEFT, true)
+            new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_PREP, Side.LEFT, true)
         ), () -> m_robotElevator.isL4Primed()),
         
         // new InstantCommand(() ->  m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
@@ -363,9 +337,9 @@ public class RobotContainer {
         new waitEndefectorRefrence(m_robotElevator),
         new waitElevatorRefrence(m_robotElevator),
 
-        new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_SCORE, Side.LEFT, true),
+        new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_SCORE, Side.LEFT, true),
         waitDebuger.asProxy(),
-        new LidarAlign(m_robotSwerveDrive, m_reefLidar),
+        new LidarAlign(m_robotSwerveDrive, m_robotMap.reefLidar),
         // waitDebuger.asProxy(),
         // new ParallelRaceGroup(
         //     new WaitCommand(1),
@@ -398,15 +372,15 @@ public class RobotContainer {
         new ConditionalCommand(Commands.none(), new SequentialCommandGroup(
         // new IfCommand(() -> m_robotElevator.isL3Primed(), new SequentialCommandGroup(
             new InstantCommand(() ->  m_robotElevator.transitionState(CoordinationState.PrimedThree), m_robotElevator),
-            new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L3_DISTANCE_PREP, Side.LEFT, true)
+            new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L3_DISTANCE_PREP, Side.LEFT, true)
         ), () -> m_robotElevator.isL3Primed()),
 
         new waitEndefectorRefrence(m_robotElevator),
         new waitElevatorRefrence(m_robotElevator),
 
-        new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L3_DISTANCE_SCORE-Units.inchesToMeters(1), Side.LEFT, true),
+        new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L3_DISTANCE_SCORE-Units.inchesToMeters(1), Side.LEFT, true),
         waitDebuger.asProxy(),
-        new LidarAlign(m_robotSwerveDrive, m_reefLidar),
+        new LidarAlign(m_robotSwerveDrive, m_robotMap.reefLidar),
         waitDebuger.asProxy(),
         // new InstantCommand(() ->  m_robotElevator.transitionState(CoordinationState.ScoringThree), m_robotElevator),
         new waitEndefectorRefrence(m_robotElevator),
@@ -423,7 +397,7 @@ public class RobotContainer {
         new ConditionalCommand(Commands.none(), new SequentialCommandGroup(
         // new IfCommand(() -> m_robotElevator.isL3Primed(), new SequentialCommandGroup(
             new InstantCommand(() ->  m_robotElevator.transitionState(CoordinationState.PrimedThree), m_robotElevator),
-            new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L3_DISTANCE_PREP, Side.RIGHT, true)
+            new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L3_DISTANCE_PREP, Side.RIGHT, true)
         ),() -> m_robotElevator.isL3Primed()),
         
         // new InstantCommand(() ->  m_robotElevator.transitionState(CoordinationState.PrimedThree), m_robotElevator),
@@ -432,10 +406,10 @@ public class RobotContainer {
         new waitEndefectorRefrence(m_robotElevator),
         new waitElevatorRefrence(m_robotElevator),
 
-        new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L3_DISTANCE_SCORE, Side.RIGHT, true),
+        new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L3_DISTANCE_SCORE, Side.RIGHT, true),
         waitDebuger.asProxy(),
         
-        new LidarAlign(m_robotSwerveDrive, m_reefLidar),
+        new LidarAlign(m_robotSwerveDrive, m_robotMap.reefLidar),
         waitDebuger.asProxy(),
 
         // new InstantCommand(() ->  m_robotElevator.transitionState(CoordinationState.ScoringThree), m_robotElevator),
@@ -450,12 +424,12 @@ public class RobotContainer {
     
     private Command AprilLidarAlignL2Left = new SequentialCommandGroup(
         new InstantCommand(() -> {m_robotSwerveDrive.startSlowPeriod();}),
-        new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L2_PREP_DISTANCE, Side.LEFT, true),
+        new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L2_PREP_DISTANCE, Side.LEFT, true),
         waitDebuger.asProxy(),
-        new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L2_SCORE_DISTANCE, Side.LEFT, true),
+        new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L2_SCORE_DISTANCE, Side.LEFT, true),
         waitDebuger.asProxy(),
         
-        new LidarAlign(m_robotSwerveDrive, m_reefLidar),
+        new LidarAlign(m_robotSwerveDrive, m_robotMap.reefLidar),
         waitDebuger.asProxy(),
         new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.L2Score);}, m_robotElevator),
         new waitEndefectorRefrence(m_robotElevator),
@@ -471,12 +445,12 @@ public class RobotContainer {
 
     private Command AprilLidarAlignL2Right = new SequentialCommandGroup(
         new InstantCommand(() -> {m_robotSwerveDrive.startSlowPeriod();}),
-        new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L2_PREP_DISTANCE, Side.RIGHT, true),
+        new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L2_PREP_DISTANCE, Side.RIGHT, true),
         waitDebuger.asProxy(),
-        new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L2_SCORE_DISTANCE, Side.RIGHT, true),
+        new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L2_SCORE_DISTANCE, Side.RIGHT, true),
         waitDebuger.asProxy(),
 
-        new LidarAlign(m_robotSwerveDrive, m_reefLidar),
+        new LidarAlign(m_robotSwerveDrive, m_robotMap.reefLidar),
         waitDebuger.asProxy(),
         new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.L2Score);}, m_robotElevator),
         new waitEndefectorRefrence(m_robotElevator),
@@ -495,7 +469,7 @@ public class RobotContainer {
     //     new waitEndefectorRefrence(m_robotElevator),
     //     new waitElevatorRefrence(m_robotElevator),
     //     new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.ALGAE_REMOVAL_DISTANCE, Side.LEFT, false),
-    //     new LidarAlign(m_robotSwerveDrive, m_reefLidar),
+    //     new LidarAlign(m_robotSwerveDrive, m_robotMap.reefLidar),
     //     new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.BallRemoverL2Go);}, m_robotElevator),
     //     new MoveForTimeCommand(m_robotSwerveDrive, 
     //     new Translation2d(0,1), new Translation2d(), AutoConstants.ALGAE_DRIVE_TIME, true),
@@ -506,10 +480,10 @@ public class RobotContainer {
     private Command lowerAlgaeRemove = new SequentialCommandGroup(
         new InstantCommand(() -> {m_robotSwerveDrive.startSlowPeriod();}),
         new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.BallRemoverL2Primed);}, m_robotElevator),
-        new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.ALGAE_REMOVAL_DISTANCE + Units.inchesToMeters(8), Side.FAR_LEFT, true),
+        new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.ALGAE_REMOVAL_DISTANCE + Units.inchesToMeters(8), Side.FAR_LEFT, true),
         new waitEndefectorRefrence(m_robotElevator),
         new waitElevatorRefrence(m_robotElevator),
-        new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.ALGAE_REMOVAL_DISTANCE, Side.FAR_LEFT, true),
+        new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.ALGAE_REMOVAL_DISTANCE, Side.FAR_LEFT, true),
         waitDebuger.asProxy(),
         // new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.BallRemoverL2Go);}, m_robotElevator),
         new MoveForTimeCommand(m_robotSwerveDrive, 
@@ -526,7 +500,7 @@ public class RobotContainer {
     //     new waitEndefectorRefrence(m_robotElevator),
     //     new waitElevatorRefrence(m_robotElevator),
     //     new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.ALGAE_REMOVAL_DISTANCE, Side.LEFT, false),
-    //     new LidarAlign(m_robotSwerveDrive, m_reefLidar),
+    //     new LidarAlign(m_robotSwerveDrive, m_robotMap.reefLidar),
     //     new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.BallRemoverL3Go);}, m_robotElevator),
     //     new MoveForTimeCommand(m_robotSwerveDrive, 
     //     new Translation2d(1,1), new Translation2d(), AutoConstants.ALGAE_DRIVE_TIME, true),
@@ -536,10 +510,10 @@ public class RobotContainer {
     private Command upperAlgaeRemove = new SequentialCommandGroup(
         new InstantCommand(() -> {m_robotSwerveDrive.startSlowPeriod();}),
         new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.BallRemoverL3Primed);}, m_robotElevator),
-        new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.ALGAE_REMOVAL_DISTANCE + Units.inchesToMeters(8), Side.FAR_LEFT, true),
+        new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.ALGAE_REMOVAL_DISTANCE + Units.inchesToMeters(8), Side.FAR_LEFT, true),
         new waitEndefectorRefrence(m_robotElevator),
         new waitElevatorRefrence(m_robotElevator),
-        new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.ALGAE_REMOVAL_DISTANCE, Side.FAR_LEFT, true),
+        new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.ALGAE_REMOVAL_DISTANCE, Side.FAR_LEFT, true),
         waitDebuger.asProxy(),
         // new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.BallRemoverL2Go);}, m_robotElevator),
         new MoveForTimeCommand(m_robotSwerveDrive, 
@@ -584,7 +558,7 @@ public class RobotContainer {
         NamedCommands.registerCommand("await-coral", new waitFeedCoral(m_robotElevator));
 
         NamedCommands.registerCommand("feed-driveback", new DriveUntilLiDAR(m_robotSwerveDrive, 
-        new Translation2d(-1,0), new Translation2d(), m_reverseLidar, LiDARConstants.HUMAN_PLAYER_STATION_DISTANCE, true));
+        new Translation2d(-1,0), new Translation2d(), m_robotMap.reverseLidar, LiDARConstants.HUMAN_PLAYER_STATION_DISTANCE));
         // NamedCommands.registerCommand("feed-driveback", Commands.none());
         NamedCommands.registerCommand("stop", new waitSupplier(() -> m_robotSwerveDrive.lastOdomSpeed < AutoConstants.STOP_VELOCITY));
 
@@ -688,7 +662,7 @@ public class RobotContainer {
     private void configureButtonBindings() {
         // ? /* Driver Buttons */
 
-        DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON)
+        new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
             .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
 
         // ! /* Speed */
@@ -739,21 +713,21 @@ public class RobotContainer {
         
         new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
         //        .onTrue( new DriveUntilLiDAR(m_robotSwerveDrive, 
-        //        new Translation2d(-1,0), new Translation2d(), m_reverseLidar, LiDARConstants.HUMAN_PLAYER_STATION_DISTANCE, true));
+        //        new Translation2d(-1,0), new Translation2d(), m_robotMap.reverseLidar, LiDARConstants.HUMAN_PLAYER_STATION_DISTANCE, true));
             .onTrue(WannaSeeMeDunk.asProxy());
 
         new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
             .onTrue(thrustIntake.asProxy());
           
         new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
-            .onTrue(new InstantCommand(() -> {m_robotSwerveDrive.softStop();}, m_robotSwerveDrive, m_reefLidar)); 
+            .onTrue(new InstantCommand(() -> {m_robotSwerveDrive.softStop();}, m_robotSwerveDrive, m_robotMap.reefLidar)); 
         
             
         // ?  /* Operator Buttons */
-        DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.B_BUTTON)
+        new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
             .onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator));
         
-        DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.A_BUTTON)
+        new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
             .onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Ready), m_robotElevator));
         
         // Button box
@@ -966,12 +940,4 @@ public class RobotContainer {
     public ButtonBox getButtonBox() {
         return this.m_buttonBox;
     }
-
-    public VirtualController getVirtualDriverController() {
-        return m_virtualDriver;
-    }
-
-    public VirtualController getVirtualOperatorController() {
-        return m_virtualOperator;
-    }
 }

src/main/java/frc4388/robot/RobotMap.java

@@ -10,22 +10,18 @@ package frc4388.robot;
 import com.ctre.phoenix6.hardware.TalonFX;
 
 import org.photonvision.PhotonCamera;
+import org.photonvision.simulation.PhotonCameraSim;
+import org.photonvision.simulation.SimCameraProperties;
 
 import com.ctre.phoenix6.hardware.CANcoder;
-import com.ctre.phoenix6.hardware.Pigeon2;
 import com.ctre.phoenix6.swerve.SwerveDrivetrain;
-import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants;
+import edu.wpi.first.math.geometry.Rotation2d;
-import com.ctre.phoenix6.swerve.SwerveModuleConstants;
-import com.ctre.phoenix6.swerve.SwerveModuleConstantsFactory;
-
 import edu.wpi.first.wpilibj.DigitalInput;
-import frc4388.robot.Constants.ElevatorConstants;
+import frc4388.robot.constants.Constants.ElevatorConstants;
-// import edu.wpi.first.wpilibj.motorcontrol.Spark;
+import frc4388.robot.constants.Constants.LiDARConstants;
-// import frc4388.robot.Constants.LEDConstants;
+import frc4388.robot.constants.Constants.VisionConstants;
-import frc4388.robot.Constants.SwerveDriveConstants;
+import frc4388.robot.constants.DriveConstants;
-import frc4388.robot.Constants.VisionConstants;
+import frc4388.robot.subsystems.Lidar;
-// import frc4388.robot.subsystems.SwerveModule;
-import frc4388.utility.RobotGyro;
 
 /**
  * Defines and holds all I/O objects on the Roborio. This is useful for unit
@@ -35,8 +31,12 @@ public class RobotMap {
     // private Pigeon2 m_pigeon2 = new Pigeon2(SwerveDriveConstants.IDs.DRIVE_PIGEON.id);
     // public RobotGyro gyro = new RobotGyro(m_pigeon2);
 
-    public PhotonCamera leftCamera = new PhotonCamera(VisionConstants.LEFT_CAMERA_NAME);
+    public final PhotonCamera leftCamera = new PhotonCamera(VisionConstants.LEFT_CAMERA_NAME);
-    public PhotonCamera rightCamera = new PhotonCamera(VisionConstants.RIGHT_CAMERA_NAME);
+    public final PhotonCamera rightCamera = new PhotonCamera(VisionConstants.RIGHT_CAMERA_NAME);
+
+    public final Lidar reefLidar = new Lidar(LiDARConstants.REEF_LIDAR_DIO_CHANNEL, "Reef");
+    public final Lidar reverseLidar = new Lidar(LiDARConstants.REVERSE_LIDAR_DIO_CHANNEL, "Reverse");
+
     
     public RobotMap() {
         configureDriveMotorControllers();
@@ -47,9 +47,9 @@ public class RobotMap {
     
     /* Swreve Drive Subsystem */
     public final SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDrivetrain = new SwerveDrivetrain<TalonFX, TalonFX, CANcoder> (TalonFX::new, TalonFX::new, CANcoder::new, 
-        Constants.SwerveDriveConstants.DrivetrainConstants, 
+        DriveConstants.DrivetrainConstants, 
-        Constants.SwerveDriveConstants.FRONT_LEFT, Constants.SwerveDriveConstants.FRONT_RIGHT,
+        DriveConstants.FRONT_LEFT, DriveConstants.FRONT_RIGHT,
-        Constants.SwerveDriveConstants.BACK_LEFT, Constants.SwerveDriveConstants.BACK_RIGHT
+        DriveConstants.BACK_LEFT, DriveConstants.BACK_RIGHT
     );
 
     /* Elevator Subsystem */
@@ -65,4 +65,42 @@ public class RobotMap {
         // endeffector.saf
     }
 
+
+    public class RobotMapSim {
+        public PhotonCameraSim leftCamera;
+        public PhotonCameraSim rightCamera;
+    }
+
+    public RobotMapSim configureSim() {
+        RobotMapSim sim = new RobotMapSim();
+
+        // The simulated camera properties
+        SimCameraProperties cameraProp = new SimCameraProperties();
+        // A 640 x 480 camera with a 100 degree diagonal FOV.
+        cameraProp.setCalibration(640, 480, Rotation2d.fromDegrees(100));
+        // Approximate detection noise with average and standard deviation error in pixels.
+        cameraProp.setCalibError(0.25, 0.08);
+        // Set the camera image capture framerate (Note: this is limited by robot loop rate).
+        cameraProp.setFPS(20);
+        // The average and standard deviation in milliseconds of image data latency.
+        cameraProp.setAvgLatencyMs(35);
+        cameraProp.setLatencyStdDevMs(5);
+
+        sim.leftCamera = new PhotonCameraSim(leftCamera, cameraProp);
+        sim.rightCamera = new PhotonCameraSim(rightCamera, cameraProp);
+
+        
+        sim.leftCamera.enableRawStream(true);
+        sim.leftCamera.enableProcessedStream(true);
+        sim.leftCamera.enableDrawWireframe(true);
+
+
+        sim.rightCamera.enableRawStream(true);
+        sim.rightCamera.enableProcessedStream(true);
+        sim.rightCamera.enableDrawWireframe(true);
+
+        return sim;
+
+    }
+   
 }

src/main/java/frc4388/robot/commands/MoveForTimeCommand.java

@@ -5,7 +5,6 @@ import java.time.Instant;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc4388.robot.subsystems.SwerveDrive;
-import frc4388.utility.TimesNegativeOne;
 
 // Command to repeat a joystick movement for a specific time.
 public class MoveForTimeCommand extends Command {
@@ -23,6 +22,7 @@ public class MoveForTimeCommand extends Command {
         Translation2d rightStick, 
         long millis,
         boolean robotRelative) {
+        
         addRequirements(swerveDrive);
 
         this.swerveDrive = swerveDrive;

src/main/java/frc4388/robot/commands/MoveUntilSuply.java

@@ -1,12 +1,10 @@
 package frc4388.robot.commands;
 
-import java.time.Instant;
 import java.util.function.Supplier;
 
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc4388.robot.subsystems.SwerveDrive;
-import frc4388.utility.TimesNegativeOne;
 
 // Command to repeat a joystick movement for a specific time.
 public class MoveUntilSuply extends Command {

src/main/java/frc4388/robot/commands/PID.java

@@ -5,7 +5,7 @@
 package frc4388.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc4388.utility.Gains;
+import frc4388.utility.structs.Gains;
 
 public abstract class PID extends Command {
 	protected Gains  gains;

src/main/java/frc4388/robot/commands/WhileTrueCommand.java

@@ -8,7 +8,6 @@ import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.CommandScheduler;
 
 import java.util.function.BooleanSupplier;
 

src/main/java/frc4388/robot/commands/alignment/DriveToReef.java

@@ -1,29 +1,19 @@
-package frc4388.robot.commands;
+package frc4388.robot.commands.alignment;
-
-import static frc4388.robot.Constants.OIConstants.LEFT_AXIS_DEADBAND;
-
-import java.util.Optional;
 
 import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.util.Units;
-import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
-import frc4388.robot.Constants.AutoConstants;
+import frc4388.robot.constants.Constants.AutoConstants;
 import frc4388.robot.subsystems.SwerveDrive;
 import frc4388.robot.subsystems.Vision;
-import frc4388.utility.Gains;
+import frc4388.utility.compute.ReefPositionHelper;
-import frc4388.utility.ReefPositionHelper;
+import frc4388.utility.compute.TimesNegativeOne;
-import frc4388.utility.TimesNegativeOne;
+import frc4388.utility.compute.ReefPositionHelper.Side;
-import frc4388.utility.ReefPositionHelper.Side;
+import frc4388.utility.structs.Gains;
-import frc4388.utility.UtilityStructs.AutoRecordingControllerFrame;
-import frc4388.utility.UtilityStructs.AutoRecordingFrame;
-import frc4388.utility.controller.VirtualController;
 
-public class GotoLastApril extends Command {
+public class DriveToReef extends Command {
     
 
     // private Translation2d translation2d= new Translation2d(14.579471999999997,0.24587199999999998);
@@ -45,7 +35,7 @@ public class GotoLastApril extends Command {
      * @param SwerveDrive m_robotSwerveDrive
      */
 
-    public GotoLastApril(SwerveDrive swerveDrive, Vision vision, double distance, Side side, boolean waitVelocityZero) {
+    public DriveToReef(SwerveDrive swerveDrive, Vision vision, double distance, Side side, boolean waitVelocityZero) {
         this.swerveDrive = swerveDrive;
         this.vision = vision;
         this.distance = distance;
@@ -62,23 +52,6 @@ public class GotoLastApril extends Command {
 
     @Override
     public void initialize() {
-        // double kP = AutoConstants.P_XY_GAINS.get();
-        // double kI = AutoConstants.I_XY_GAINS.get();
-        // double kD = AutoConstants.D_XY_GAINS.get();
-        // xPID = new PID(new Gains(
-        //     kP, 
-        //     kI, 
-        //     kD), 
-        // 0);
-        // yPID = new PID(new Gains(
-        //     kP, 
-        //     kI, 
-        //     kD),
-        // 0);
-
-        // System.out.println("kP: "+kP);
-        // System.out.println("kI: "+kI);
-        // System.out.println("kD: "+kD);
         xPID.initialize();
         yPID.initialize();
         this.targetpos = ReefPositionHelper.getNearestPosition(
@@ -169,33 +142,6 @@ public class GotoLastApril extends Command {
                 // this statement is a boolean in and of itself
     }
 
-    // @Override
-    // public void end(boolean interrupted) {
-       
-    // }
-    
-
-
-    // @Override
-    // public double getError() {
-    //     return e; 
-    // }
-
-
-
-    // @Override
-    // public void runWithOutput(double output) {
-    //     // TODO Auto-generated method stub
-    //     Translation2d leftStick = new Translation2d(Math.max(Math.min(output, 1), -1),0);
-    //     Translation2d rightStick = new Translation2d();
-    //     // System.out.println("Output = " + -output);
-    //     SmartDashboard.putNumber("PID Output", output);
-    //     swerveDrive.driveWithInput(leftStick, rightStick, true);
-    // }
-
-
-
-
 
 
 
@@ -212,17 +158,11 @@ public class GotoLastApril extends Command {
     private class PID {
         protected Gains  gains;
         private   double output    = 0;
-        private   double tolerance = 0;
+
 
         /** Creates a new PelvicInflammatoryDisease. */
-        public PID(double kp, double ki, double kd, double kf, double tolerance) {
-            gains          = new Gains(kp, ki, kd, kf, 0);
-            this.tolerance = tolerance;
-        }
-
         public PID(Gains gains, double tolerance) {
             this.gains     = gains;
-            this.tolerance = tolerance;
         }
 
         // Called when the command is initially scheduled.
@@ -244,10 +184,5 @@ public class GotoLastApril extends Command {
 
             return output;
         }
-
-        // // Returns true when the command should end.
-        // public final boolean isFinished() {
-        //     return Math.abs(getError()) < tolerance;
-        // }
     }
 }

src/main/java/frc4388/robot/commands/alignment/DriveUntilLiDAR.java

@@ -1,12 +1,9 @@
-package frc4388.robot.commands;
+package frc4388.robot.commands.alignment;
-
-import java.time.Instant;
 
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc4388.robot.subsystems.Lidar;
 import frc4388.robot.subsystems.SwerveDrive;
-import frc4388.utility.TimesNegativeOne;
 
 // Command to repeat a joystick movement for a specific time.
 public class DriveUntilLiDAR extends Command {
@@ -15,15 +12,13 @@ public class DriveUntilLiDAR extends Command {
     private final Translation2d rightStick;
     private final Lidar m_lidar;
     private final double mindistance;
-    private final boolean robotRelative;
 
     public DriveUntilLiDAR(
         SwerveDrive swerveDrive, 
         Translation2d leftStick, 
         Translation2d rightStick, 
         Lidar lidar,
-        double mindistance,
+        double mindistance) {
-        boolean robotRelative) {
             addRequirements(swerveDrive);
 
         this.swerveDrive = swerveDrive;
@@ -31,7 +26,6 @@ public class DriveUntilLiDAR extends Command {
         this.rightStick = rightStick;
         this.m_lidar = lidar;
         this.mindistance = mindistance;
-        this.robotRelative = robotRelative;
     }
 
     @Override

src/main/java/frc4388/robot/commands/alignment/LidarAlign.java

@@ -2,7 +2,7 @@
 // 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 frc4388.robot.commands;
+package frc4388.robot.commands.alignment;
 
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
@@ -41,7 +41,7 @@ public class LidarAlign extends Command {
     this.currentFinderTick = 0;
     this.speed = 0.4; // TODO: find good speed for this
     this.foundReef = false;
-    this.headedRight = (GotoLastApril.tagRelativeXError < 0);
+    this.headedRight = (DriveToReef.tagRelativeXError < 0);
     this.additionalDistance = 0;
     this.bounces = 0;
   }

src/main/java/frc4388/robot/commands/autos/neoPlaybackChooser.java

@@ -1,3 +1,4 @@
+package frc4388.robot.commands.autos;
 // package frc4388.robot.commands.Autos;
 
 // import java.io.File;

src/main/java/frc4388/robot/commands/swerve/RotateToAngle.java

@@ -2,7 +2,7 @@
 // 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 frc4388.robot.commands.Swerve;
+package frc4388.robot.commands.swerve;
 
 import edu.wpi.first.math.geometry.Translation2d;
 import frc4388.robot.commands.PID;

src/main/java/frc4388/robot/commands/swerve/neoJoystickPlayback.java

@@ -1,4 +1,4 @@
-package frc4388.robot.commands.Swerve;
+package frc4388.robot.commands.swerve;
 
 import java.io.FileInputStream;
 import java.util.ArrayList;
@@ -7,10 +7,10 @@ import java.util.function.Supplier;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc4388.robot.subsystems.SwerveDrive;
-import frc4388.utility.DataUtils;
+import frc4388.utility.compute.DataUtils;
-import frc4388.utility.UtilityStructs.AutoRecordingControllerFrame;
-import frc4388.utility.UtilityStructs.AutoRecordingFrame;
 import frc4388.utility.controller.VirtualController;
+import frc4388.utility.structs.UtilityStructs.AutoRecordingControllerFrame;
+import frc4388.utility.structs.UtilityStructs.AutoRecordingFrame;
 
 
 /**
@@ -24,8 +24,8 @@ public class neoJoystickPlayback extends Command {
     private final Supplier<String>              filenameGetter;
     private       String                        filename;
     private       int                           frame_index    = 0;
-    private       long                          startTime      = 0;
+    // private       long                          startTime      = 0;
-    private       long                          playbackTime   = 0;
+    // private       long                          playbackTime   = 0;
     private       boolean                       m_finished     = false; // ! There is no better way.
     private       boolean                       m_shouldfree   = false; // should free memory on ending
     
@@ -150,8 +150,8 @@ public class neoJoystickPlayback extends Command {
 
     @Override
     public void initialize() {
-        startTime = System.currentTimeMillis();
+        // startTime = System.currentTimeMillis();
-        playbackTime = 0;
+        // playbackTime = 0;
         frame_index = 0;
 
         m_finished = !loadAuto();

src/main/java/frc4388/robot/commands/swerve/neoJoystickRecorder.java

@@ -1,4 +1,4 @@
-package frc4388.robot.commands.Swerve;
+package frc4388.robot.commands.swerve;
 
 import java.io.FileOutputStream;
 import java.util.ArrayList;
@@ -8,10 +8,10 @@ import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc4388.robot.subsystems.SwerveDrive;
-import frc4388.utility.DataUtils;
+import frc4388.utility.compute.DataUtils;
-import frc4388.utility.UtilityStructs.AutoRecordingControllerFrame;
-import frc4388.utility.UtilityStructs.AutoRecordingFrame;
 import frc4388.utility.controller.DeadbandedXboxController;
+import frc4388.utility.structs.UtilityStructs.AutoRecordingControllerFrame;
+import frc4388.utility.structs.UtilityStructs.AutoRecordingFrame;
 
 /**
  * The NEO autonomus recording system, designed based the old {@link JoystickRecorder} System but with {@link frc4388.utility.controller.VirtualController VirtualController}s 

src/main/java/frc4388/robot/commands/wait/waitElevatorRefrence.java

@@ -2,7 +2,7 @@
 // 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 frc4388.robot.commands;
+package frc4388.robot.commands.wait;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc4388.robot.subsystems.Elevator;

src/main/java/frc4388/robot/commands/wait/waitEndefectorRefrence.java

@@ -2,7 +2,7 @@
 // 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 frc4388.robot.commands;
+package frc4388.robot.commands.wait;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc4388.robot.subsystems.Elevator;

src/main/java/frc4388/robot/commands/wait/waitFeedCoral.java

@@ -2,7 +2,7 @@
 // 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 frc4388.robot.commands;
+package frc4388.robot.commands.wait;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc4388.robot.subsystems.Elevator;

src/main/java/frc4388/robot/commands/wait/waitSupplier.java

@@ -2,7 +2,7 @@
 // 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 frc4388.robot.commands;
+package frc4388.robot.commands.wait;
 
 import java.util.function.Supplier;
 

src/main/java/frc4388/robot/constants/BuildConstants.java

@@ -0,0 +1,19 @@
+package frc4388.robot.constants;
+
+/**
+ * Automatically generated file containing build version information.
+ */
+public final class BuildConstants {
+  public static final String MAVEN_GROUP = "";
+  public static final String MAVEN_NAME = "2025RidgeScape";
+  public static final String VERSION = "unspecified";
+  public static final int GIT_REVISION = 164;
+  public static final String GIT_SHA = "06d525ade1118ae193383bc86066ea5563d86a1f";
+  public static final String GIT_DATE = "2025-04-22 18:21:00 EDT";
+  public static final String GIT_BRANCH = "advantagekit";
+  public static final String BUILD_DATE = "2025-07-11 15:07:31 EDT";
+  public static final long BUILD_UNIX_TIME = 1752260851324L;
+  public static final int DIRTY = 1;
+
+  private BuildConstants(){}
+}

src/main/java/frc4388/robot/constants/Constants.java

@@ -0,0 +1,234 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.constants;
+
+import com.ctre.phoenix6.configs.Slot0Configs;
+
+import edu.wpi.first.apriltag.AprilTagFieldLayout;
+import edu.wpi.first.apriltag.AprilTagFields;
+import edu.wpi.first.math.Matrix;
+import edu.wpi.first.math.VecBuilder;
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.math.geometry.Translation3d;
+import edu.wpi.first.math.numbers.N1;
+import edu.wpi.first.math.numbers.N3;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.RobotBase;
+import frc4388.utility.Trim;
+import frc4388.utility.status.CanDevice;
+import frc4388.utility.structs.Gains;
+import frc4388.utility.structs.LEDPatterns;
+
+/**
+ * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
+ * constants.  This class should not be used for any other purpose.  All constants should be
+ * declared globally (i.e. public static).  Do not put anything functional in this class.
+ *
+ * <p>It is advised to statically import this class (or one of its inner classes) wherever the
+ * constants are needed, to reduce verbosity.
+ */
+public final class Constants {
+    public static final String CANBUS_NAME = "rio";
+
+    public static final class LiDARConstants {
+        public static final int REEF_LIDAR_DIO_CHANNEL = 7;
+        public static final int REVERSE_LIDAR_DIO_CHANNEL = 4;
+
+        public static final int HUMAN_PLAYER_STATION_DISTANCE = 40;
+
+        public static final int LIDAR_DETECT_DISTANCE = 100; // Min distance to detect pole
+        public static final int LIDAR_MICROS_TO_CM = 10;
+        public static final int SECONDS_TO_MICROS = 1000000;
+    }
+
+    public static final class AutoConstants {
+        // public static final Gains XY_GAINS = new Gains(5,0.6,0.0);
+        public static final Gains XY_GAINS = new Gains(8,0,0.0);
+        // public static final ConfigurableDouble P_XY_GAINS = new ConfigurableDouble("P_XY_GAINS", XY_GAINS.kP);
+        // public static final ConfigurableDouble I_XY_GAINS = new ConfigurableDouble("I_XY_GAINS", XY_GAINS.kI);
+        // public static final ConfigurableDouble D_XY_GAINS = new ConfigurableDouble("D_XY_GAINS", XY_GAINS.kD);
+       // public static final Gains XY_GAINS = new Gains(3,0.3,0.0);
+
+        // public static final Gains ROT_GAINS = new Gains(0.05,0,0.007);
+        // public static final Gains ROT_GAINS = new Gains(0.05,0,0.0);
+
+        public static final Trim X_OFFSET_TRIM =        new Trim("X Offset Trim",        Double.MAX_VALUE, -Double.MAX_VALUE,0.5, 0);
+        // public static final Trim Y_OFFSET_TRIM =        new Trim("Y Offset Trim",        Double.MAX_VALUE, -Double.MAX_VALUE, 0.5, 1.5);
+        public static final Trim Y_OFFSET_TRIM =        new Trim("Y Offset Trim",        Double.MAX_VALUE, -Double.MAX_VALUE, 0.5, 0);
+        public static final Trim ELEVATOR_OFFSET_TRIM = new Trim("Elevator Offset Trim", -ElevatorConstants.MAX_POSITION_ELEVATOR, ElevatorConstants.MAX_POSITION_ELEVATOR, 1, 0);
+        public static final Trim ARM_OFFSET_TRIM =      new Trim("ARM Offset Trim",      -ElevatorConstants.COMPLETLY_TOP_ENDEFFECTOR, ElevatorConstants.COMPLETLY_TOP_ENDEFFECTOR, 1, 0);
+                
+        public static final double XY_TOLERANCE = 0.07; // Meters
+        public static final double ROT_TOLERANCE = 5; // Degrees
+
+        public static final double MIN_XY_PID_OUTPUT = 0.0;
+        public static final double MIN_ROT_PID_OUTPUT = 0.0;
+
+        public static final double VELOCITY_THRESHHOLD = 0.01;
+                
+        // X is tangent to reef side
+        // Y is normal to reef side
+        public static final double X_SCORING_POSITION_OFFSET = Units.inchesToMeters(6.5+1); // This is from the field
+        public static final double Y_SCORING_POSITION_OFFSET = Units.inchesToMeters(16+1);
+        public static final double HALF_ROBOT_SIZE = Units.inchesToMeters(18);
+
+        public static final double L4_DISTANCE_PREP = HALF_ROBOT_SIZE + Units.inchesToMeters(15);
+        public static final double L4_DISTANCE_SCORE = L4_DISTANCE_PREP;
+        // public static final double L4_DISTANCE_SCORE = HALF_ROBOT_SIZE + Units.inchesToMeters(4.5);
+        
+        public static final double L3_DISTANCE_PREP = HALF_ROBOT_SIZE + Units.inchesToMeters(15);
+        public static final double L3_DISTANCE_SCORE = HALF_ROBOT_SIZE + Units.inchesToMeters(5+1);
+        
+        public static final double L2_PREP_DISTANCE = HALF_ROBOT_SIZE + Units.inchesToMeters(6);
+        public static final double L2_SCORE_DISTANCE = HALF_ROBOT_SIZE + Units.inchesToMeters(0.5-2);
+
+        public static final double ALGAE_REMOVAL_DISTANCE = HALF_ROBOT_SIZE;
+        
+        // public static final double L4_DISTANCE_PREP = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(15);
+        // public static final double L4_DISTANCE_SCORE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(5.5);
+        // // public static final double L4_DISTANCE_SCORE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(4.5);
+        
+        // public static final double L3_DISTANCE_PREP = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(15);
+        // public static final double L3_DISTANCE_SCORE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(5+1);
+        
+        // public static final double L2_PREP_DISTANCE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(6);
+        // public static final double L2_SCORE_DISTANCE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(0.5);
+
+        // public static final double ALGAE_REMOVAL_DISTANCE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(2);
+
+        public static final int L4_DRIVE_TIME = 250; //Milliseconds
+        // public static final int L3_DRIVE_TIME = 500;
+        public static final int L2_DRIVE_TIME = 250; //Milliseconds
+        public static final int ALGAE_DRIVE_TIME = 500;
+        public static final double STOP_VELOCITY = 0.0;
+    }
+
+    public static final class VisionConstants { 
+        public static final String LEFT_CAMERA_NAME = "CAMERA_LEFT";
+        public static final String RIGHT_CAMERA_NAME = "CAMERA_RIGHT";
+
+        public static final Transform3d LEFT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(4.547), Units.inchesToMeters(8.031), Units.inchesToMeters(8.858)), new Rotation3d(0,0.0,0.0));
+        public static final Transform3d RIGHT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(4.547), -Units.inchesToMeters(8.031), Units.inchesToMeters(8.858)), new Rotation3d(0,0.0,0.0));
+        
+        public static final double MIN_ESTIMATION_DISTANCE = 2; // Meters
+
+        // Photonvision thing
+        // The standard deviations of our vision estimated poses, which affect correction rate
+        // X, Y, Theta
+        // https://www.chiefdelphi.com/t/photonvision-finding-standard-deviations-for-swervedriveposeestimator/467802/2
+        public static final Matrix<N3, N1> kSingleTagStdDevs = VecBuilder.fill(0.5, 0.5, 4);
+        public static final Matrix<N3, N1> kMultiTagStdDevs = VecBuilder.fill(0.1, 0.1, 1);
+    }
+
+    public static final class FieldConstants {
+        public static final AprilTagFieldLayout kTagLayout = AprilTagFieldLayout.loadField(AprilTagFields.k2025ReefscapeWelded);
+
+        // Test april tag field layout
+        // public static final AprilTagFieldLayout kTagLayout = new AprilTagFieldLayout(
+        //     Arrays.asList(new AprilTag[] {
+        //         new AprilTag(1, new Pose3d(
+        //             new Translation3d(0.,0.,0.26035), new Rotation3d(0.,0.,0.)
+        //         )),
+        //     }), 100, 100);
+
+    }
+
+    public static final class LEDConstants {
+        public static final int LED_SPARK_ID = 9;
+
+        public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES;
+
+        public static final LEDPatterns WAITING_PATTERN = LEDPatterns.SOLID_RED;
+        public static final LEDPatterns DOWN_PATTERN = LEDPatterns.SOLID_YELLOW;
+        public static final LEDPatterns READY_PATTERN = LEDPatterns.SOLID_GREEN_DARK;
+        public static final LEDPatterns SCORING_PATTERN = LEDPatterns.RAINBOW_RAINBOW;
+
+        public static final LEDPatterns RED_PATTERN = LEDPatterns.LAVA_WAVES;
+        public static final LEDPatterns BLUE_PATTERN = LEDPatterns.OCEAN_WAVES;
+    }
+
+    public static final class OIConstants {
+        public static final int XBOX_DRIVER_ID = 0;
+        public static final int XBOX_OPERATOR_ID = 1;
+        public static final int BUTTONBOX_ID = 2;
+        public static final int XBOX_PROGRAMMER_ID = 3;
+        public static final double LEFT_AXIS_DEADBAND = 0.1;
+
+    }
+
+    public static final class ElevatorConstants {
+        public static final CanDevice ENDEFFECTOR_ID = new CanDevice("Endeffector", 15);
+        public static final CanDevice ELEVATOR_ID = new CanDevice("Elevator", 16);
+
+        public static final double SAFETY_ENDEFFECTOR_MAX_TORQUE = 75;
+        public static final double SAFETY_ENDEFFECTOR_MIN_VELOCITY = 20;
+
+        // public static final int BASIN_LIMIT_SWITCH = 8; // TODO: FIND
+        
+        public static final int BASIN_LIMIT_SWITCH = 8; // TODO: FIND
+        public static final int ENDEFFECTOR_LIMIT_SWITCH = 9; // TODO: FIND
+        public static final int INTAKE_LIMIT_SWITCH = 6; // TODO: FIND
+
+        
+        public static final double GEAR_RATIO_ELEVATOR = -9.0;
+        //Max for elevator = 50%
+        
+        public static final double GROUND_POSITION_ELEVATOR = 0 * GEAR_RATIO_ELEVATOR;
+        public static final double WAITING_POSITION_ELEVATOR = -9.5; // TODO: find 2-4 in off the pipe
+        public static final double HOVERING_POSITION_ELEVATOR = -7.5; // TODO: find 2-4 in off the pipe
+        public static final double WAITING_POSITION_BEAM_BREAK_ELEVATOR = -5; // TODO: find on the pipe
+        public static final double SCORING_THREE_ELEVATOR = -9.25;
+        public static final double DEALGAE_L2_ELEVATOR = -4;
+        public static final double DEALGAE_L3_ELEVATOR = -26.5;
+        public static final double MAX_POSITION_ELEVATOR = 4.5 * GEAR_RATIO_ELEVATOR; // TODO: find MAX position
+        
+        public static final double GEAR_RATIO_ENDEFECTOR = -100.0;
+        public static final double ENDEFECTOR_DRIVE_SLOW = -0.08;
+        //Max for endefector = 60%
+        public static final double L2_SCORE_ELEVATOR = -5;
+        public static final double L2_LEAVE_ELEVATOR = -11;
+
+        public static final double L2_SCORE_ENDEFFECTOR = -19;
+
+        public static final double COMPLETLY_DOWN_ENDEFFECTOR = 0 * GEAR_RATIO_ENDEFECTOR;
+        public static final double DEALGAE_L2_ENDEFFECTOR = 0.22 * GEAR_RATIO_ENDEFECTOR;
+        public static final double COMPLETLY_MIDDLE_ENDEFFECTOR = 0.25 * GEAR_RATIO_ENDEFECTOR;
+        public static final double PRIMED_THREE_ENDEFFECTOR = 0.4 * GEAR_RATIO_ENDEFECTOR;
+        public static final double SCORING_FOUR_ENDEFFECTOR = 0.3 * GEAR_RATIO_ENDEFECTOR;
+        public static final double PRIMED_FOUR_ENDEFFECTOR = 0.44 * GEAR_RATIO_ENDEFECTOR;
+        public static final double COMPLETLY_TOP_ENDEFFECTOR = 0.5 * GEAR_RATIO_ENDEFECTOR;
+
+        public static final Slot0Configs ELEVATOR_PID = new Slot0Configs()
+            .withKP(1)
+            .withKI(0)
+            .withKD(0);
+        
+        public static final Slot0Configs ENDEFFECTOR_PID = new Slot0Configs()
+            .withKP(1)
+            .withKI(0)
+            .withKD(0);
+    }
+
+    // Logging constants
+    public static class SimConstants {
+        public static final Mode simMode = Mode.SIM;
+        public static final Mode currentMode = RobotBase.isReal() ? Mode.REAL : simMode;
+
+        public static enum Mode {
+            /** Running on a real robot. */
+            REAL,
+
+            /** Running a physics simulator. */
+            SIM,
+
+            /** Replaying from a log file. */
+            REPLAY
+        }
+    }
+}

src/main/java/frc4388/robot/constants/DriveConstants.java

@@ -0,0 +1,247 @@
+package frc4388.robot.constants;
+
+import static edu.wpi.first.units.Units.Inches;
+import static edu.wpi.first.units.Units.Rotations;
+
+import com.ctre.phoenix6.configs.CANcoderConfiguration;
+import com.ctre.phoenix6.configs.ClosedLoopRampsConfigs;
+import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
+import com.ctre.phoenix6.configs.MotorOutputConfigs;
+import com.ctre.phoenix6.configs.OpenLoopRampsConfigs;
+import com.ctre.phoenix6.configs.Slot0Configs;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+import com.ctre.phoenix6.signals.StaticFeedforwardSignValue;
+import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants;
+import com.ctre.phoenix6.swerve.SwerveModuleConstants;
+import com.ctre.phoenix6.swerve.SwerveModuleConstants.ClosedLoopOutputType;
+import com.ctre.phoenix6.swerve.SwerveModuleConstants.DriveMotorArrangement;
+import com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerFeedbackType;
+import com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerMotorArrangement;
+import com.ctre.phoenix6.swerve.SwerveModuleConstantsFactory;
+
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.Distance;
+import frc4388.utility.status.CanDevice;
+import frc4388.utility.structs.Gains;
+
+
+// No mans land
+// Beware, there be dragons.
+public final class DriveConstants {
+    public static final double MAX_ROT_SPEED        = Math.PI * 2;
+    public static final double AUTO_MAX_ROT_SPEED = 1.5;
+    public static final double MIN_ROT_SPEED        = 1.0;
+    public static       double ROTATION_SPEED       = MAX_ROT_SPEED;
+    public static       double PLAYBACK_ROTATION_SPEED = AUTO_MAX_ROT_SPEED;
+    public static       double ROT_CORRECTION_SPEED = 10; // MIN_ROT_SPEED;
+
+    public static final double CORRECTION_MIN = 10;
+    public static final double CORRECTION_MAX = 50;
+    
+    public static final double SLOW_SPEED = 0.25;
+    public static final double FAST_SPEED = 0.5;
+    public static final double TURBO_SPEED = 1.0;
+    
+    public static final double[] GEARS = {SLOW_SPEED, FAST_SPEED, TURBO_SPEED};
+    public static final int STARTING_GEAR = 0;
+    // Dimensions
+    public static final double WIDTH = 18.5; // TODO: validate
+    public static final double HEIGHT = 18.5; // TODO: validate
+    public static final double HALF_WIDTH = WIDTH / 2.d;
+    public static final double HALF_HEIGHT = HEIGHT / 2.d;
+
+    // Mechanics
+    private static final double COUPLE_RATIO = 3; //todo: find
+    private static final double DRIVE_RATIO = 6.12;
+    private static final double STEER_RATIO = (150/7);
+    private static final Distance WHEEL_RADIUS = Inches.of(2);
+    
+    public static final double MAX_SPEED_MEETERS_PER_SEC = 6.22; // TODO: Validate
+
+    public static final double MAX_SPEED_FEET_PER_SECOND = MAX_SPEED_MEETERS_PER_SEC * 3.28084;
+    public static final double MAX_ANGULAR_SPEED_FEET_PER_SECOND = 2 * 2 * Math.PI;
+
+    // Operation
+    public static final double FORWARD_OFFSET = 90; // 0, 90, 180, 270
+
+    public static final boolean DRIFT_CORRECTION_ENABLED = true;
+    public static final boolean INVERT_X = false;
+    public static final boolean INVERT_Y = true;
+    public static final boolean INVERT_ROTATION = false;
+
+    // public static final Trim POINTLESS_TRIM = new Trim("Pointless Trim", Double.MAX_VALUE, Double.MIN_VALUE, 0.1, 0);
+
+    private static final class ModuleSpecificConstants { //2025
+        //Front Left
+        private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(-0.368896484375);
+        private static final boolean FRONT_LEFT_DRIVE_MOTOR_INVERTED = false;
+        private static final boolean FRONT_LEFT_STEER_MOTOR_INVERTED = true;
+        private static final boolean FRONT_LEFT_ENCODER_INVERTED = false;
+        private static final Distance FRONT_LEFT_XPOS = Inches.of(HALF_WIDTH);
+        private static final Distance FRONT_LEFT_YPOS = Inches.of(HALF_HEIGHT);
+        
+        //Front Right
+        private static final Angle FRONT_RIGHT_ENCODER_OFFSET = Rotations.of(-0.011474609375);
+        private static final boolean FRONT_RIGHT_DRIVE_MOTOR_INVERTED = true;
+        private static final boolean FRONT_RIGHT_STEER_MOTOR_INVERTED = true;
+        private static final boolean FRONT_RIGHT_ENCODER_INVERTED = false;
+        private static final Distance FRONT_RIGHT_XPOS = Inches.of(HALF_WIDTH);
+        private static final Distance FRONT_RIGHT_YPOS = Inches.of(-HALF_HEIGHT);
+
+        //Back Left
+        private static final Angle BACK_LEFT_ENCODER_OFFSET = Rotations.of(0.333251953125+0.5);
+        private static final boolean BACK_LEFT_DRIVE_MOTOR_INVERTED = false;
+        private static final boolean BACK_LEFT_STEER_MOTOR_INVERTED = true;
+        private static final boolean BACK_LEFT_ENCODER_INVERTED = false;
+        private static final Distance BACK_LEFT_XPOS = Inches.of(-HALF_WIDTH);
+        private static final Distance BACK_LEFT_YPOS = Inches.of(HALF_HEIGHT);
+        
+        //Back Right
+        private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(0.4306640625+0.5);
+        private static final boolean BACK_RIGHT_DRIVE_MOTOR_INVERTED = false;
+        private static final boolean BACK_RIGHT_STEER_MOTOR_INVERTED = true;
+        private static final boolean BACK_RIGHT_ENCODER_INVERTED = false;
+        private static final Distance BACK_RIGHT_XPOS = Inches.of(-HALF_WIDTH);
+        private static final Distance BACK_RIGHT_YPOS = Inches.of(-HALF_HEIGHT);
+    }
+
+    public static final class IDs {
+        public static final CanDevice RIGHT_FRONT_WHEEL   = new CanDevice("RIGHT_FRONT_WHEEL", 4);
+        public static final CanDevice RIGHT_FRONT_STEER   = new CanDevice("RIGHT_FRONT_STEER", 5);
+        public static final CanDevice RIGHT_FRONT_ENCODER = new CanDevice("RIGHT_FRONT_ENCODER", 11);
+        
+        public static final CanDevice LEFT_FRONT_WHEEL    = new CanDevice("LEFT_FRONT_WHEEL", 2);
+        public static final CanDevice LEFT_FRONT_STEER    = new CanDevice("LEFT_FRONT_STEER", 3);
+        public static final CanDevice LEFT_FRONT_ENCODER  = new CanDevice("LEFT_FRONT_ENCODER", 10);
+        
+        public static final CanDevice LEFT_BACK_WHEEL     = new CanDevice("LEFT_BACK_WHEEL", 6);
+        public static final CanDevice LEFT_BACK_STEER     = new CanDevice("LEFT_BACK_STEER", 7);
+        public static final CanDevice LEFT_BACK_ENCODER   = new CanDevice("LEFT_BACK_ENCODER", 12);
+        
+        public static final CanDevice RIGHT_BACK_WHEEL    = new CanDevice("RIGHT_BACK_WHEEL", 8);  
+        public static final CanDevice RIGHT_BACK_STEER    = new CanDevice("RIGHT_BACK_STEER", 9);
+        public static final CanDevice RIGHT_BACK_ENCODER  = new CanDevice("RIGHT_BACK_ENCODER", 13);
+
+        public static final CanDevice DRIVE_PIGEON        = new CanDevice("DRIVE_PIGEON", 14);
+    }
+
+    public static final class PIDConstants {
+        public static final int SWERVE_SLOT_IDX = 0;
+        public static final int SWERVE_PID_LOOP_IDX = 1;
+        public static final Gains SWERVE_GAINS = new Gains(50, 0.0, 0.32, 0.0, 0, 0.0);
+
+        public static final Slot0Configs CURRENT_SWERVE_ROT_GAINS = new Slot0Configs()
+            .withKP(50).withKI(0).withKD(0.32)
+            .withKS(0).withKV(0).withKA(0);
+        
+            public static final Slot0Configs TEST_SWERVE_ROT_GAINS = new Slot0Configs()
+            .withKP(10).withKI(0).withKD(0.3)
+            .withKS(0).withKV(0).withKA(0);
+
+        public static final Gains TEST_SWERVE_GAINS = new Gains(1.2, 0.0, 0.0, 0.0, 0, 0.0);
+
+        // The steer motor uses any SwerveModule.SteerRequestType control request with the
+        // output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput
+        public static final Slot0Configs PREPROVIDED_STEER_GAINS = new Slot0Configs()
+            .withKP(100).withKI(0).withKD(0.6)
+            .withKS(0.1).withKV(1.91).withKA(0)
+            .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign);
+        // When using closed-loop control, the drive motor uses the control
+        // output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput
+        public static final Slot0Configs PREPROVIDED_DRIVE_GAINS = new Slot0Configs()
+            .withKP(0.1).withKI(0).withKD(0)
+            .withKS(0).withKV(0.124);
+        
+        public static final Gains DRIFT_CORRECTION_GAINS = new Gains(2.5, 0, 0.1);
+        public static final Gains RELATIVE_LOCKED_ANGLE_GAINS = new Gains(10, 0, 1);
+    }
+
+    public static final class Configurations {
+        public static final double OPEN_LOOP_RAMP_RATE = 0.4; // Todo: Test. think this will help.
+        public static final double CLOSED_LOOP_RAMP_RATE = 0.4; // Todo: Test. think this will help.
+        public static final double NEUTRAL_DEADBAND = 0.04;
+
+        // POWER! (limiting)
+        private static final TalonFXConfiguration DRIVE_MOTOR_CONFIGS = new TalonFXConfiguration()
+            .withMotorOutput(
+                new MotorOutputConfigs()
+                    .withNeutralMode(NeutralModeValue.Brake)
+                    .withDutyCycleNeutralDeadband(NEUTRAL_DEADBAND)
+            ).withOpenLoopRamps(
+                new OpenLoopRampsConfigs()
+                    .withDutyCycleOpenLoopRampPeriod(OPEN_LOOP_RAMP_RATE)
+            ).withClosedLoopRamps(
+                new ClosedLoopRampsConfigs()
+                    .withDutyCycleClosedLoopRampPeriod(CLOSED_LOOP_RAMP_RATE)
+        );
+        private static final TalonFXConfiguration STEER_MOTOR_CONFIGS = new TalonFXConfiguration()
+            .withCurrentLimits(
+                new CurrentLimitsConfigs()
+                    .withStatorCurrentLimit(40) // TODO: tune???
+                    .withStatorCurrentLimitEnable(true)
+                ).withMotorOutput(
+                    new MotorOutputConfigs()
+                        .withNeutralMode(NeutralModeValue.Brake)
+                        .withDutyCycleNeutralDeadband(NEUTRAL_DEADBAND)
+                // ).withOpenLoopRamps(
+                //     new OpenLoopRampsConfigs()
+                //         .withDutyCycleOpenLoopRampPeriod(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE)
+                // ).withClosedLoopRamps(
+                //     new ClosedLoopRampsConfigs()
+                //         .withDutyCycleClosedLoopRampPeriod(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE)
+        );
+        public static final double SLIP_CURRENT = 60; // TODO: Tune??? 
+    }
+
+    public static final SwerveDrivetrainConstants DrivetrainConstants = new SwerveDrivetrainConstants()
+        .withPigeon2Id(IDs.DRIVE_PIGEON.id);
+
+    private static final SwerveModuleConstantsFactory<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> ConstantCreator =
+        new SwerveModuleConstantsFactory<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>() // holy verbosity batman.
+            .withDriveMotorGearRatio(DRIVE_RATIO)
+            .withSteerMotorGearRatio(STEER_RATIO)
+            .withCouplingGearRatio(COUPLE_RATIO)
+            .withWheelRadius(WHEEL_RADIUS)
+            .withSteerMotorGains(PIDConstants.PREPROVIDED_STEER_GAINS) // ?
+            .withDriveMotorGains(PIDConstants.PREPROVIDED_DRIVE_GAINS) // ?
+            .withSteerMotorClosedLoopOutput(ClosedLoopOutputType.Voltage)
+            .withDriveMotorClosedLoopOutput(ClosedLoopOutputType.Voltage)
+            .withSlipCurrent(Configurations.SLIP_CURRENT)
+            .withSpeedAt12Volts(MAX_SPEED_MEETERS_PER_SEC)
+            .withDriveMotorType(DriveMotorArrangement.TalonFX_Integrated)
+            .withSteerMotorType(SteerMotorArrangement.TalonFX_Integrated)
+            .withFeedbackSource(SteerFeedbackType.RemoteCANcoder)
+            .withDriveMotorInitialConfigs(Configurations.DRIVE_MOTOR_CONFIGS)
+            .withSteerMotorInitialConfigs(Configurations.STEER_MOTOR_CONFIGS);
+
+    public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> FRONT_LEFT =
+        ConstantCreator.createModuleConstants(
+            IDs.LEFT_FRONT_STEER.id, IDs.LEFT_FRONT_WHEEL.id, IDs.LEFT_FRONT_ENCODER.id, ModuleSpecificConstants.FRONT_LEFT_ENCODER_OFFSET,
+            ModuleSpecificConstants.FRONT_LEFT_XPOS, ModuleSpecificConstants.FRONT_LEFT_YPOS, 
+            ModuleSpecificConstants.FRONT_LEFT_DRIVE_MOTOR_INVERTED, ModuleSpecificConstants.FRONT_LEFT_STEER_MOTOR_INVERTED, ModuleSpecificConstants.FRONT_LEFT_ENCODER_INVERTED
+    );
+    public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> FRONT_RIGHT =
+        ConstantCreator.createModuleConstants(
+            IDs.RIGHT_FRONT_STEER.id, IDs.RIGHT_FRONT_WHEEL.id, IDs.RIGHT_FRONT_ENCODER.id, ModuleSpecificConstants.FRONT_RIGHT_ENCODER_OFFSET,
+            ModuleSpecificConstants.FRONT_RIGHT_XPOS, ModuleSpecificConstants.FRONT_RIGHT_YPOS, 
+            ModuleSpecificConstants.FRONT_RIGHT_DRIVE_MOTOR_INVERTED, ModuleSpecificConstants.FRONT_RIGHT_STEER_MOTOR_INVERTED, ModuleSpecificConstants.FRONT_RIGHT_ENCODER_INVERTED
+    );
+    public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> BACK_LEFT =
+        ConstantCreator.createModuleConstants(
+            IDs.LEFT_BACK_STEER.id, IDs.LEFT_BACK_WHEEL.id, IDs.LEFT_BACK_ENCODER.id, ModuleSpecificConstants.BACK_LEFT_ENCODER_OFFSET,
+            ModuleSpecificConstants.BACK_LEFT_XPOS, ModuleSpecificConstants.BACK_LEFT_YPOS, 
+            ModuleSpecificConstants.BACK_LEFT_DRIVE_MOTOR_INVERTED, ModuleSpecificConstants.BACK_LEFT_STEER_MOTOR_INVERTED, ModuleSpecificConstants.BACK_LEFT_ENCODER_INVERTED
+    );
+    public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> BACK_RIGHT =
+        ConstantCreator.createModuleConstants(
+            IDs.RIGHT_BACK_STEER.id, IDs.RIGHT_BACK_WHEEL.id, IDs.RIGHT_BACK_ENCODER.id, ModuleSpecificConstants.BACK_RIGHT_ENCODER_OFFSET,
+            ModuleSpecificConstants.BACK_RIGHT_XPOS, ModuleSpecificConstants.BACK_RIGHT_YPOS, 
+            ModuleSpecificConstants.BACK_RIGHT_DRIVE_MOTOR_INVERTED, ModuleSpecificConstants.BACK_RIGHT_STEER_MOTOR_INVERTED, ModuleSpecificConstants.BACK_RIGHT_ENCODER_INVERTED
+    );
+    
+    // misc
+    public static final int TIMEOUT_MS = 30;
+    public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
+    
+}

src/main/java/frc4388/robot/subsystems/DiffDrive.java

@@ -12,12 +12,11 @@ import com.ctre.phoenix6.hardware.TalonFX;
 
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-
+import frc4388.robot.constants.DriveConstants;
-import frc4388.robot.Constants.DriveConstants;
 import frc4388.utility.RobotGyro;
-import frc4388.utility.RobotTime;
+import frc4388.utility.compute.RobotTime;
-import frc4388.utility.Status;
+import frc4388.utility.status.Status;
-import frc4388.utility.Subsystem;
+import frc4388.utility.status.Subsystem;
 
 /**
  * Add your docs here.

src/main/java/frc4388/robot/subsystems/Elevator.java

@@ -4,32 +4,18 @@
 
 package frc4388.robot.subsystems;
 
-import java.time.Instant;
-
-import org.opencv.ml.RTrees;
-
-import com.ctre.phoenix6.configs.Slot0Configs;
 import com.ctre.phoenix6.controls.PositionDutyCycle;
-import com.ctre.phoenix6.controls.PositionVoltage;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 
-import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.units.measure.Current;
 import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.constants.Constants.AutoConstants;
-import frc4388.robot.Constants.ElevatorConstants;
+import frc4388.robot.constants.Constants.ElevatorConstants;
-import frc4388.robot.Constants.LEDConstants;
+import frc4388.robot.constants.Constants.LEDConstants;
-import frc4388.robot.Constants.AutoConstants;
+import frc4388.utility.status.Status;
-import frc4388.robot.subsystems.LED;
+import frc4388.utility.status.Subsystem;
-import frc4388.utility.LEDPatterns;
+import frc4388.utility.status.Status.ReportLevel;
-import frc4388.utility.Status;
-import frc4388.utility.Subsystem;
-import frc4388.utility.TimesNegativeOne;
-import frc4388.utility.Status.ReportLevel;
 
 public class Elevator extends Subsystem {
   /** Creates a new Elevator. */
@@ -37,6 +23,7 @@ public class Elevator extends Subsystem {
   private TalonFX endeffectorMotor;
   private LED led;
 
+  @SuppressWarnings("unused")
   private long wait = 0;
   private long maxWait = 1000;
 
@@ -278,6 +265,7 @@ public class Elevator extends Subsystem {
       transitionState(CoordinationState.Hovering);
   }
 
+  @SuppressWarnings("unused")
   private void periodicScoring() {
     if (!endeffectorLimitSwitch.get()) 
       transitionState(CoordinationState.Waiting);

src/main/java/frc4388/robot/subsystems/LED.java

@@ -7,18 +7,14 @@
 
 package frc4388.robot.subsystems;
 
-import edu.wpi.first.wpilibj.AddressableLED;
-import edu.wpi.first.wpilibj.AddressableLEDBuffer;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.constants.Constants.LEDConstants;
-
+import frc4388.utility.status.Status;
-import frc4388.robot.Constants.LEDConstants;
+import frc4388.utility.status.Subsystem;
-import frc4388.utility.LEDPatterns;
+import frc4388.utility.status.Status.ReportLevel;
-import frc4388.utility.Status;
+import frc4388.utility.structs.LEDPatterns;
-import frc4388.utility.Subsystem;
-import frc4388.utility.Status.ReportLevel;
 
 /**
  * Allows for the control of a 5v LED Strip using a Rev Robotics Blinkin LED

src/main/java/frc4388/robot/subsystems/Lidar.java

@@ -1,16 +1,15 @@
 package frc4388.robot.subsystems;
 
 import edu.wpi.first.networktables.GenericEntry;
-import edu.wpi.first.wpilibj.PWM;
 import edu.wpi.first.wpilibj.Counter;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
-import frc4388.robot.Constants.LiDARConstants;
+import frc4388.robot.constants.Constants.LiDARConstants;
-import frc4388.utility.Status;
+import frc4388.utility.status.Status;
-import frc4388.utility.Subsystem;
+import frc4388.utility.status.Subsystem;
-import frc4388.utility.Status.ReportLevel;
+import frc4388.utility.status.Status.ReportLevel;
 
 // https://girlsofsteeldocs.readthedocs.io/en/latest/technical-resources/sensors/LIDAR-Lite-Distance-Sensor.html#minimal-roborio-interface
 public class Lidar extends Subsystem {

src/main/java/frc4388/robot/subsystems/SwerveDrive.java

@@ -5,7 +5,8 @@
 package frc4388.robot.subsystems;
 
 import java.util.Optional;
-import java.util.function.DoubleSupplier;
+
+import org.littletonrobotics.junction.Logger;
 
 import com.ctre.phoenix6.Utils;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
@@ -14,34 +15,26 @@ import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.swerve.SwerveDrivetrain;
 import com.ctre.phoenix6.swerve.SwerveModule;
 import com.ctre.phoenix6.swerve.SwerveRequest;
-import com.ctre.phoenix6.swerve.SwerveRequest.ForwardPerspectiveValue;
-
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
-import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
-import edu.wpi.first.wpilibj.smartdashboard.Field2d;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-// import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import frc4388.robot.constants.DriveConstants;
-import frc4388.robot.Constants.SwerveDriveConstants;
+import frc4388.utility.compute.TimesNegativeOne;
-import frc4388.robot.Constants.VisionConstants;
+import frc4388.utility.status.Status;
-import frc4388.robot.commands.GotoLastApril;
+import frc4388.utility.status.Subsystem;
-import frc4388.robot.commands.LidarAlign;
+import frc4388.utility.status.Status.ReportLevel;
-import frc4388.utility.Status;
-import frc4388.utility.Subsystem;
-import frc4388.utility.TimesNegativeOne;
-import frc4388.utility.Status.ReportLevel;
 
 import com.pathplanner.lib.controllers.PPHolonomicDriveController;
+import com.pathplanner.lib.util.PathPlannerLogging;
 import com.pathplanner.lib.config.PIDConstants;
 import com.pathplanner.lib.auto.AutoBuilder;
-import com.pathplanner.lib.commands.PathPlannerAuto;
 import com.pathplanner.lib.config.RobotConfig;
 
 public class SwerveDrive extends Subsystem {
@@ -49,13 +42,14 @@ public class SwerveDrive extends Subsystem {
 
     private Vision vision;
 
-    private int gear_index = SwerveDriveConstants.STARTING_GEAR;
+    private int gear_index = DriveConstants.STARTING_GEAR;
     private boolean stopped = false;
+    @SuppressWarnings("unused")
     private boolean robotKnowsWhereItIs = false;
 
-    public double speedAdjust = SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * SwerveDriveConstants.GEARS[gear_index];
+    public double speedAdjust = DriveConstants.MAX_SPEED_MEETERS_PER_SEC * DriveConstants.GEARS[gear_index];
-    public double rotSpeedAdjust = SwerveDriveConstants.MAX_ROT_SPEED;
+    public double rotSpeedAdjust = DriveConstants.MAX_ROT_SPEED;
-    public double autoSpeedAdjust = SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * 0.25; // cap auto performance to
+    public double autoSpeedAdjust = DriveConstants.MAX_SPEED_MEETERS_PER_SEC * 0.25; // cap auto performance to
                                                                                            // 25%
 
     public double lastOdomSpeed;
@@ -115,6 +109,30 @@ public class SwerveDrive extends Subsystem {
                 this // Reference to this subsystem to set requirements
         );
 
+        PathPlannerLogging.setLogActivePathCallback(
+        (activePath) -> {
+          Logger.recordOutput(
+              "Odometry/Trajectory", activePath.toArray(new Pose2d[activePath.size()]));
+        });
+        
+        PathPlannerLogging.setLogTargetPoseCallback(
+        (targetPose) -> {
+          Logger.recordOutput("Odometry/TrajectorySetpoint", targetPose);
+        });
+
+
+
+        // // Configure SysId
+        // sysId =
+        //     new SysIdRoutine(
+        //         new SysIdRoutine.Config(
+        //             null,
+        //             null,
+        //             null,
+        //             (state) -> Logger.recordOutput("Drive/SysIdState", state.toString())),
+        //         new SysIdRoutine.Mechanism(
+        //             (voltage) -> runCharacterization(voltage.in(Volts)), null, this));
+
     }
 
     public void setOdoPose(Pose2d pose) {
@@ -153,7 +171,7 @@ public class SwerveDrive extends Subsystem {
             rightStick = TimesNegativeOne.invert(rightStick, TimesNegativeOne.RotAxis);    
 
             // ! drift correction
-            if (rightStick.getNorm() > 0.05 || !SwerveDriveConstants.DRIFT_CORRECTION_ENABLED) {
+            if (rightStick.getNorm() > 0.05 || !DriveConstants.DRIFT_CORRECTION_ENABLED) {
                 rotTarget = swerveDriveTrain.samplePoseAt(Utils.getCurrentTimeSeconds()).orElse(new Pose2d()).getRotation().getDegrees();
                 swerveDriveTrain.setControl(new SwerveRequest.FieldCentric()
                     .withVelocityX(leftStick.getX() * speedAdjust)
@@ -167,9 +185,9 @@ public class SwerveDrive extends Subsystem {
                     .withVelocityY(leftStick.getY() * speedAdjust)
                     .withTargetDirection(Rotation2d.fromDegrees(rotTarget));
                 ctrl.HeadingController.setPID(
-                    SwerveDriveConstants.PIDConstants.DRIFT_CORRECTION_GAINS.kP,
+                    DriveConstants.PIDConstants.DRIFT_CORRECTION_GAINS.kP,
-                    SwerveDriveConstants.PIDConstants.DRIFT_CORRECTION_GAINS.kI,
+                    DriveConstants.PIDConstants.DRIFT_CORRECTION_GAINS.kI,
-                    SwerveDriveConstants.PIDConstants.DRIFT_CORRECTION_GAINS.kD
+                    DriveConstants.PIDConstants.DRIFT_CORRECTION_GAINS.kD
                 );
                 swerveDriveTrain.setControl(ctrl);
                 SmartDashboard.putBoolean("drift correction", true);
@@ -189,8 +207,8 @@ public class SwerveDrive extends Subsystem {
         // Create robot-relative speeds.
         if (rightStick.getNorm() > 0.1) rightStick = rightStick.times(0);
         swerveDriveTrain.setControl(new SwerveRequest.RobotCentric()
-            .withVelocityX(leftStick.getX() * SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * percentOutput)
+            .withVelocityX(leftStick.getX() * DriveConstants.MAX_SPEED_MEETERS_PER_SEC * percentOutput)
-            .withVelocityY(-leftStick.getY() * SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * percentOutput)
+            .withVelocityY(-leftStick.getY() * DriveConstants.MAX_SPEED_MEETERS_PER_SEC * percentOutput)
             .withRotationalRate(rightStick.getX() * rotSpeedAdjust));
         
     }
@@ -224,9 +242,9 @@ public class SwerveDrive extends Subsystem {
             .withVelocityY(leftStick.getY() * speedAdjust)
             .withTargetDirection(heading);
         ctrl.HeadingController.setPID(
-            SwerveDriveConstants.PIDConstants.RELATIVE_LOCKED_ANGLE_GAINS.kP,
+            DriveConstants.PIDConstants.RELATIVE_LOCKED_ANGLE_GAINS.kP,
-            SwerveDriveConstants.PIDConstants.RELATIVE_LOCKED_ANGLE_GAINS.kI,
+            DriveConstants.PIDConstants.RELATIVE_LOCKED_ANGLE_GAINS.kI,
-            SwerveDriveConstants.PIDConstants.RELATIVE_LOCKED_ANGLE_GAINS.kD
+            DriveConstants.PIDConstants.RELATIVE_LOCKED_ANGLE_GAINS.kD
         );
         swerveDriveTrain.setControl(ctrl);
     }
@@ -239,9 +257,9 @@ public class SwerveDrive extends Subsystem {
             .withVelocityY(leftStick.getY() * speedAdjust)
             .withTargetDirection(heading);
         // ctrl.HeadingController.setPID(
-        //     SwerveDriveConstants.PIDConstants.RELATIVE_LOCKED_ANGLE_GAINS.kP,
+        //     DriveConstants.PIDConstants.RELATIVE_LOCKED_ANGLE_GAINS.kP,
-        //     SwerveDriveConstants.PIDConstants.RELATIVE_LOCKED_ANGLE_GAINS.kI,
+        //     DriveConstants.PIDConstants.RELATIVE_LOCKED_ANGLE_GAINS.kI,
-        //     SwerveDriveConstants.PIDConstants.RELATIVE_LOCKED_ANGLE_GAINS.kD
+        //     DriveConstants.PIDConstants.RELATIVE_LOCKED_ANGLE_GAINS.kD
         // );
         swerveDriveTrain.setControl(ctrl);
     }
@@ -263,7 +281,7 @@ public class SwerveDrive extends Subsystem {
     }
 
     public void deactivateLuigiMode() {
-        setLimits(SwerveDriveConstants.Configurations.SLIP_CURRENT);
+        setLimits(DriveConstants.Configurations.SLIP_CURRENT);
     }
 
     public boolean rotateToTarget(double angle) {
@@ -342,77 +360,65 @@ public class SwerveDrive extends Subsystem {
         vision.setLastOdomPose(curpose);
         setLastOdomSpeed(curpose, lastPose, freq);
 
-        if (vision.isTag()) {
+        // if (vision.isTag()) {5
-            Pose2d pose = vision.getPose2d();
-            if (!robotKnowsWhereItIs) {
-                robotKnowsWhereItIs = true;
-                Pose2d currPose = getPose2d();
-                double deltaAngle = pose.getRotation().getDegrees() - currPose.getRotation().getDegrees();
-                rotTarget += deltaAngle;
-            }
-            
-            vision.addVisionMeasurement(swerveDriveTrain);
-            // swerveDriveTrain.addVisionMeasurement(vision.lastVisionPose, time);
-            //back to the ~~future~~ *past*
-        }
 
         // if(e.isPresent())
     }
 
     private void reset_index() {
-        gear_index = SwerveDriveConstants.STARTING_GEAR; // however we wish to initialize the gear (What gear does the
+        gear_index = DriveConstants.STARTING_GEAR; // however we wish to initialize the gear (What gear does the
                                                          // robot start in?)
     }
 
     public void shiftDown() {
-        if (gear_index == -1 || gear_index >= SwerveDriveConstants.GEARS.length)
+        if (gear_index == -1 || gear_index >= DriveConstants.GEARS.length)
             reset_index(); // If outof bounds: reset index
         int i = gear_index - 1;
         if (i == -1)
             i = 0;
-        setPercentOutput(SwerveDriveConstants.GEARS[i]);
+        setPercentOutput(DriveConstants.GEARS[i]);
         gear_index = i;
     }
 
     public void shiftUp() {
-        if (gear_index == -1 || gear_index >= SwerveDriveConstants.GEARS.length)
+        if (gear_index == -1 || gear_index >= DriveConstants.GEARS.length)
             reset_index(); // If outof bounds: reset index
         int i = gear_index + 1;
-        if (i == SwerveDriveConstants.GEARS.length)
+        if (i == DriveConstants.GEARS.length)
-            i = SwerveDriveConstants.GEARS.length - 1;
+            i = DriveConstants.GEARS.length - 1;
-        setPercentOutput(SwerveDriveConstants.GEARS[i]);
+        setPercentOutput(DriveConstants.GEARS[i]);
         gear_index = i;
     }
 
     public void setPercentOutput(double speed) {
-        speedAdjust = SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * speed;
+        speedAdjust = DriveConstants.MAX_SPEED_MEETERS_PER_SEC * speed;
         gear_index = -1;
     }
 
     public void setToSlow() {
-        setPercentOutput(SwerveDriveConstants.SLOW_SPEED);
+        setPercentOutput(DriveConstants.SLOW_SPEED);
         gear_index = 0;
     }
 
     public void setToFast() {
-        setPercentOutput(SwerveDriveConstants.FAST_SPEED);
+        setPercentOutput(DriveConstants.FAST_SPEED);
         gear_index = 1;
     }
 
     public void setToTurbo() {
-        setPercentOutput(SwerveDriveConstants.TURBO_SPEED);
+        setPercentOutput(DriveConstants.TURBO_SPEED);
         gear_index = 2;
     }
 
     public void shiftUpRot() {
-        rotSpeedAdjust = SwerveDriveConstants.ROTATION_SPEED;
+        rotSpeedAdjust = DriveConstants.ROTATION_SPEED;
     }
 
     public void shiftDownRot() {
-        rotSpeedAdjust = SwerveDriveConstants.MIN_ROT_SPEED;
+        rotSpeedAdjust = DriveConstants.MIN_ROT_SPEED;
     }
 
-    private int tmp_gear_index = SwerveDriveConstants.STARTING_GEAR;
+    private int tmp_gear_index = DriveConstants.STARTING_GEAR;
 
     public void startSlowPeriod() {
         tmp_gear_index = gear_index;
@@ -425,7 +431,7 @@ public class SwerveDrive extends Subsystem {
     }
 
     public void endSlowPeriod() {
-        setPercentOutput(SwerveDriveConstants.GEARS[tmp_gear_index]);
+        setPercentOutput(DriveConstants.GEARS[tmp_gear_index]);
         gear_index = tmp_gear_index;
     }
 
@@ -435,19 +441,12 @@ public class SwerveDrive extends Subsystem {
         if(curPose.isPresent() && lastPose.isPresent()){
             this.lastOdomSpeed = curPose.get().getTranslation().getDistance(lastPose.get().getTranslation())/freq;
         
-
-            // double rotDiff = curPose.get().getRotation().getDegrees() - lastPose.get().getRotation().getDegrees();
-    
-            // if(rotDiff >= 180){
-            //     vision.subtractRotation();
-            // }else if(rotDiff <= -180){
-            //     vision.addRotation();
-            // }
             SmartDashboard.putNumber("Speed", lastOdomSpeed);
         }
     }
     
 
+
     @Override
     public String getSubsystemName() {
         return "Swerve Drive Controller";
@@ -484,4 +483,11 @@ public class SwerveDrive extends Subsystem {
 
         return status;
     }
+
+
+    // Update CTRE simulation, if used.
+    public void updateSim(double voltage) {
+        swerveDriveTrain.updateSimState(0.02, voltage);
+    }
 }
+

src/main/java/frc4388/robot/subsystems/Vision.java

@@ -1,15 +1,11 @@
 package frc4388.robot.subsystems;
 
 import edu.wpi.first.math.Matrix;
-import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Transform3d;
-import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.numbers.N1;
 import edu.wpi.first.math.numbers.N3;
 
-import java.time.Instant;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.Optional;
@@ -18,13 +14,7 @@ import org.photonvision.EstimatedRobotPose;
 import org.photonvision.PhotonCamera;
 import org.photonvision.PhotonPoseEstimator;
 import org.photonvision.PhotonPoseEstimator.PoseStrategy;
-import org.photonvision.simulation.PhotonCameraSim;
-import org.photonvision.simulation.SimCameraProperties;
-import org.photonvision.simulation.VisionSystemSim;
-import org.photonvision.targeting.MultiTargetPNPResult;
 import org.photonvision.targeting.PhotonPipelineResult;
-import org.photonvision.targeting.PhotonTrackedTarget;
-
 import com.ctre.phoenix6.Utils;
 import com.ctre.phoenix6.hardware.CANcoder;
 import com.ctre.phoenix6.hardware.TalonFX;
@@ -37,11 +27,11 @@ import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 import edu.wpi.first.wpilibj.smartdashboard.Field2d;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import frc4388.robot.Constants.FieldConstants;
+import frc4388.robot.constants.Constants.FieldConstants;
-import frc4388.robot.Constants.VisionConstants;
+import frc4388.robot.constants.Constants.VisionConstants;
-import frc4388.utility.Status;
+import frc4388.utility.status.Status;
-import frc4388.utility.Subsystem;
+import frc4388.utility.status.Subsystem;
-import frc4388.utility.Status.ReportLevel;
+import frc4388.utility.status.Status.ReportLevel;
 
 public class Vision extends Subsystem {
 
@@ -104,39 +94,26 @@ public class Vision extends Subsystem {
         photonEstimatorRight.setMultiTagFallbackStrategy(PoseStrategy.LOWEST_AMBIGUITY);
 
         this.estimators = new PhotonPoseEstimator[]{photonEstimatorLeft, photonEstimatorRight};
-        // resetRotations();
     }
 
     @Override
     public void periodic() {
         update();
         field.setRobotPose(getPose2d());
-        // cameras[0].
     }
 
-    // public int[] rotations;
+    // private Instant lastVisionTime = null;
-    // public Instant[] lastUpdateTimes;
-
-    // public void resetRotations(){
-    //     rotations = new int[cameras.length];
-    //     lastUpdateTimes = new Instant[cameras.length];
-    // }
-
-    private Instant lastVisionTime = null;
 
 
     private void update() {
         isTagProcessed = false;
         isTagDetected = false;
 
-        Instant now = Instant.now();
+        // Instant now = Instant.now();
 
-        int cams = 0;
+        // int cams = 0;
 
-        // double X = 0;
+        // double latency = 0;
-        // double Y = 0;
-        // double Yaw = 0;
-        double latency = 0;
 
         // Pose2d pose = null;
         poses.clear();
@@ -153,7 +130,7 @@ public class Vision extends Subsystem {
 
             
             var result = results.get(results.size()-1);
-            latency += result.getTimestampSeconds();
+            // latency += result.getTimestampSeconds();
 
             isTagDetected = isTagDetected | result.hasTargets();
 
@@ -185,21 +162,6 @@ public class Vision extends Subsystem {
         
             
         }
-
-        // lastLatency = latency / cams;
-
-        // if(isTagProcessed){
-
-
-        //     lastVisionPose = pose;
-        //     // lastVisionPose = new Pose2d(X/cams, Y/cams, Rotation2d.fromDegrees(curAngle));
-        //     // lastVisionPose = new Pose2d(10, 5, Rotation2d.fromDegrees(curAngle + rotations*360));
-
-        //     // SmartDashboard.putNumber("curAngle", pose.getRotation().getRotations());
-        //     // SmartDashboard.putNumber("Rotations", rotations);
-
-        //     lastVisionTime = now;
-        // }
     }
 
 
@@ -315,11 +277,11 @@ public class Vision extends Subsystem {
     public Pose2d getPose2d() {
         if(lastPhysOdomPose != null)
             return lastPhysOdomPose;
+
+        // if(lastVisionPose != null)
+        //     return lastVisionPose;
         return new Pose2d();
-        // if(isTagDetected && isTagProcessed)
+
-        //     // return lastVisionPose;
-        // else
-        //     return lastPhysOdomPose;
     }
 
     public static double getTime() {

src/main/java/frc4388/utility/Alliance.java

@@ -1,5 +0,0 @@
-package frc4388.utility;
-
-public class Alliance {
-
-}

src/main/java/frc4388/utility/AprilTag.java

@@ -1,13 +0,0 @@
-package frc4388.utility;
-
-// This is a seperate class in case I want to encode rotation or other
-// information about the tag
-public class AprilTag {
-    public final double x, y, z;
-
-    public AprilTag(double _x, double _y, double _z) {
-        x = _x;
-        y = _y;
-        z = _z;
-    }
-}

src/main/java/frc4388/utility/RobotGyro.java

@@ -15,6 +15,8 @@ import com.kauailabs.navx.frc.AHRS;
 // import edu.wpi.first.wpilibj.interfaces.Gyro;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.Rotation2d;
+import frc4388.utility.compute.RobotTime;
+import frc4388.utility.compute.RobotUnits;
 
 /**
  * Gyro class that allows for interchangeable use between a pigeon and a navX

src/main/java/frc4388/utility/Trim.java

@@ -11,6 +11,7 @@ import java.util.ArrayList;
 import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+import frc4388.utility.compute.DataUtils;
 
 /**
  * Reboot persistant Trims.
@@ -27,11 +28,34 @@ public class Trim {
 
     private boolean modified = false;
     private double currentValue;
+    private boolean persistant = false;
 
     private GenericEntry trimElement = null;
 
     /**
-     * Creates a Trim with a given name, upper and lower bounds, step size and intial value
+     * Creates a variably Trim with a given name, upper and lower bounds, step size and intial value
+     * @param trimName please keep the trim name without special symbols
+     * @param upperBound the upper limit inclusive
+     * @param lowerBound the lower limit inclusive
+     * @param step the step size
+     * @param inital the inital value, will get overridden if the persistant trim exists on disk.
+     * @param persistnat Weather the trim is persistant or not
+     */
+    public Trim(String trimName, double upperBound, double lowerBound, double step, double inital, boolean persistant) {
+        this.trimName = trimName;
+        this.upperBound = upperBound;
+        this.lowerBound = lowerBound;
+        this.step = step;
+        this.persistant = persistant;
+        currentValue = inital;
+        load();
+        trimElement = trimTab.add(trimName, currentValue).getEntry();
+
+        trims.add(this);
+    }
+
+    /**
+     * Creates a non-Trim with a given name, upper and lower bounds, step size and intial value
      * @param trimName please keep the trim name without special symbols
      * @param upperBound the upper limit inclusive
      * @param lowerBound the lower limit inclusive
@@ -81,22 +105,25 @@ public class Trim {
     }
 
     public boolean load() {
-        // try (FileInputStream stream = new FileInputStream("/home/lvuser/trims/" + trimName)) {
+        if(!persistant)
-        //     double fileValue = DataUtils.byteArrayToDouble(stream.readNBytes(8));
-        //     currentValue = fileValue;
-        //     clampModify();
-        //     modified = false;
-        //     if (fileValue != currentValue) {
-        //         System.out.println("TRIMS: Loaded trim `" + trimName + "` has a value that is higher than or less than the bounds set for the trim, clamping...");
-        //         modified = true;
-        //     }
-        //     return true;
-        // } catch (Exception e) {
-        //     // e.printStackTrace();
-        //     System.out.println("TRIMS: Unable to read trim file `" + trimName + "`, using current value...");
-        //     return false;
-        // }
             return false;
+
+        try (FileInputStream stream = new FileInputStream("/home/lvuser/trims/" + trimName)) {
+            double fileValue = DataUtils.byteArrayToDouble(stream.readNBytes(8));
+            currentValue = fileValue;
+            clampModify();
+            modified = false;
+            if (fileValue != currentValue) {
+                System.out.println("TRIMS: Loaded trim `" + trimName + "` has a value that is higher than or less than the bounds set for the trim, clamping...");
+                modified = true;
+            }
+            return true;
+        } catch (Exception e) {
+            // e.printStackTrace();
+            System.out.println("TRIMS: Unable to read trim file `" + trimName + "`, using current value...");
+            return false;
+        }
+        
     }
 
     public void dump() {

src/main/java/frc4388/utility/compute/DataUtils.java

@@ -1,4 +1,4 @@
-package frc4388.utility;
+package frc4388.utility.compute;
 
 import java.nio.ByteBuffer;
 

src/main/java/frc4388/utility/compute/ReefPositionHelper.java

@@ -1,15 +1,11 @@
-package frc4388.utility;
+package frc4388.utility.compute;
-
-import java.util.Optional;
 
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.util.Units;
-import edu.wpi.first.wpilibj.DriverStation;
+import frc4388.robot.constants.Constants.AutoConstants;
-import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import frc4388.robot.constants.Constants.FieldConstants;
-import frc4388.robot.Constants.AutoConstants;
-import frc4388.robot.Constants.FieldConstants;
 
 public class ReefPositionHelper {
     public enum Side {

src/main/java/frc4388/utility/compute/RobotTime.java

@@ -5,7 +5,7 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
-package frc4388.utility;
+package frc4388.utility.compute;
 
 /**
  * <p>Keeps track of Robot times like time passed, delta time, etc

src/main/java/frc4388/utility/compute/RobotUnits.java

@@ -2,7 +2,7 @@
 // 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 frc4388.utility;
+package frc4388.utility.compute;
 
 /** Aarav's good units class (better than WPILib)
  * @author Aarav Shah */

src/main/java/frc4388/utility/compute/TimesNegativeOne.java

@@ -1,4 +1,4 @@
-package frc4388.utility;
+package frc4388.utility.compute;
 
 import java.util.Optional;
 
@@ -7,16 +7,16 @@ import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import frc4388.robot.Constants.SwerveDriveConstants;
+import frc4388.robot.constants.DriveConstants;
 
 // Class that holds weather the drivers sticks should be inverted
 public class TimesNegativeOne {
 
-    public static boolean XAxis = SwerveDriveConstants.INVERT_X;
+    public static boolean XAxis = DriveConstants.INVERT_X;
-    public static boolean YAxis = SwerveDriveConstants.INVERT_Y;
+    public static boolean YAxis = DriveConstants.INVERT_Y;
-    public static boolean RotAxis = SwerveDriveConstants.INVERT_ROTATION;
+    public static boolean RotAxis = DriveConstants.INVERT_ROTATION;
     public static boolean isRed = false;
-    public static Rotation2d ForwardOffset = Rotation2d.fromDegrees(SwerveDriveConstants.FORWARD_OFFSET);
+    public static Rotation2d ForwardOffset = Rotation2d.fromDegrees(DriveConstants.FORWARD_OFFSET);
 
     private static boolean isRed() {
         Optional<Alliance> alliance = DriverStation.getAlliance();
@@ -26,10 +26,10 @@ public class TimesNegativeOne {
 
     public static void update(){
         isRed = isRed();
-        XAxis = SwerveDriveConstants.INVERT_X ^ isRed;
+        XAxis = DriveConstants.INVERT_X ^ isRed;
-        YAxis = SwerveDriveConstants.INVERT_Y ^ isRed;
+        YAxis = DriveConstants.INVERT_Y ^ isRed;
-        RotAxis = SwerveDriveConstants.INVERT_ROTATION;
+        RotAxis = DriveConstants.INVERT_ROTATION;
-        ForwardOffset = Rotation2d.fromDegrees((SwerveDriveConstants.FORWARD_OFFSET + (isRed ? 0 : 0)));
+        ForwardOffset = Rotation2d.fromDegrees((DriveConstants.FORWARD_OFFSET + (isRed ? 0 : 0)));
         SmartDashboard.putBoolean("Is red alliance", isRed);
     }
 

src/main/java/frc4388/utility/controller/DeadbandedXboxController.java

@@ -1,6 +1,6 @@
 package frc4388.utility.controller;
 
-import static frc4388.robot.Constants.OIConstants.LEFT_AXIS_DEADBAND;
+import static frc4388.robot.constants.Constants.OIConstants.LEFT_AXIS_DEADBAND;
 
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj.XboxController;

src/main/java/frc4388/utility/status/CanDevice.java

@@ -1,13 +1,9 @@
-package frc4388.utility;
+package frc4388.utility.status;
 
 import java.util.ArrayList;
 import java.util.List;
 
-import edu.wpi.first.hal.CANData;
+import frc4388.utility.status.Status.ReportLevel;
-import edu.wpi.first.hal.can.CANJNI;
-import edu.wpi.first.wpilibj.CAN;
-import frc4388.utility.Status.Report;
-import frc4388.utility.Status.ReportLevel;
 
 public class CanDevice {
     public static List<CanDevice> devices = new ArrayList<>();

src/main/java/frc4388/utility/status/Status.java

@@ -1,4 +1,4 @@
-package frc4388.utility;
+package frc4388.utility.status;
 
 import java.util.ArrayList;
 import java.util.List;

src/main/java/frc4388/utility/status/Subsystem.java

@@ -1,4 +1,4 @@
-package frc4388.utility;
+package frc4388.utility.status;
 
 import java.util.ArrayList;
 import java.util.List;

src/main/java/frc4388/utility/structs/Gains.java

@@ -2,7 +2,7 @@
 // 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 frc4388.utility;
+package frc4388.utility.structs;
 
 /** Add your docs here. */
 public class Gains {

src/main/java/frc4388/utility/structs/LEDPatterns.java

@@ -1,4 +1,4 @@
-package frc4388.utility;
+package frc4388.utility.structs;
 
 /**
  * Add your docs here.

src/main/java/frc4388/utility/structs/UtilityStructs.java

@@ -1,4 +1,4 @@
-package frc4388.utility;
+package frc4388.utility.structs;
 
 public class UtilityStructs {
     public static class TimedOutput {

vendordeps/AdvantageKit.json

@@ -0,0 +1,35 @@
+{
+    "fileName": "AdvantageKit.json",
+    "name": "AdvantageKit",
+    "version": "4.1.2",
+    "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
+    "frcYear": "2025",
+    "mavenUrls": [
+        "https://frcmaven.wpi.edu/artifactory/littletonrobotics-mvn-release/"
+    ],
+    "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json",
+    "javaDependencies": [
+        {
+            "groupId": "org.littletonrobotics.akit",
+            "artifactId": "akit-java",
+            "version": "4.1.2"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "org.littletonrobotics.akit",
+            "artifactId": "akit-wpilibio",
+            "version": "4.1.2",
+            "skipInvalidPlatforms": false,
+            "isJar": false,
+            "validPlatforms": [
+                "linuxathena",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal",
+                "windowsx86-64"
+            ]
+        }
+    ],
+    "cppDependencies": []
+}

vendordeps/PathplannerLib-2025.2.7.json

@@ -1,7 +1,7 @@
 {
-    "fileName": "PathplannerLib-2025.2.4.json",
+    "fileName": "PathplannerLib-2025.2.7.json",
     "name": "PathplannerLib",
-    "version": "2025.2.4",
+    "version": "2025.2.7",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
     "frcYear": "2025",
     "mavenUrls": [
@@ -12,7 +12,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2025.2.4"
+            "version": "2025.2.7"
         }
     ],
     "jniDependencies": [],
@@ -20,7 +20,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2025.2.4",
+            "version": "2025.2.7",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,

vendordeps/Phoenix6-frc2025-latest.json

@@ -1,7 +1,7 @@
 {
-    "fileName": "Phoenix6-25.1.0.json",
+    "fileName": "Phoenix6-frc2025-latest.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "25.1.0",
+    "version": "25.4.0",
     "frcYear": "2025",
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
@@ -19,14 +19,14 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "25.1.0"
+            "version": "25.4.0"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "api-cpp",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -40,7 +40,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -54,7 +54,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "api-cpp-sim",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -68,7 +68,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -82,7 +82,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -96,7 +96,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +110,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -124,7 +124,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -138,7 +138,21 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "25.1.0",
+            "version": "25.4.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFXS",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -152,7 +166,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -166,7 +180,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -180,7 +194,35 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "25.1.0",
+            "version": "25.4.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANdi",
+            "version": "25.4.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANdle",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -196,7 +238,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -212,7 +254,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -228,7 +270,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -244,7 +286,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -260,7 +302,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -276,7 +318,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -292,7 +334,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -308,7 +350,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -324,7 +366,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -337,10 +379,26 @@
             ],
             "simMode": "swsim"
         },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFXS",
+            "version": "25.4.0",
+            "libName": "CTRE_SimProTalonFXS",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -356,7 +414,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -372,7 +430,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "25.1.0",
+            "version": "25.4.0",
             "libName": "CTRE_SimProCANrange",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -384,6 +442,38 @@
                 "osxuniversal"
             ],
             "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANdi",
+            "version": "25.4.0",
+            "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": "25.4.0",
+            "libName": "CTRE_SimProCANdle",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
         }
     ]
 }

vendordeps/photonlib.json

@@ -1,7 +1,7 @@
 {
     "fileName": "photonlib.json",
     "name": "photonlib",
-    "version": "v2025.0.0-beta-8",
+    "version": "v2025.3.1",
     "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
     "frcYear": "2025",
     "mavenUrls": [
@@ -13,7 +13,7 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "photontargeting-cpp",
-            "version": "v2025.0.0-beta-8",
+            "version": "v2025.3.1",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
@@ -28,7 +28,7 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "photonlib-cpp",
-            "version": "v2025.0.0-beta-8",
+            "version": "v2025.3.1",
             "libName": "photonlib",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -43,7 +43,7 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "photontargeting-cpp",
-            "version": "v2025.0.0-beta-8",
+            "version": "v2025.3.1",
             "libName": "photontargeting",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -60,12 +60,12 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "photonlib-java",
-            "version": "v2025.0.0-beta-8"
+            "version": "v2025.3.1"
         },
         {
             "groupId": "org.photonvision",
             "artifactId": "photontargeting-java",
-            "version": "v2025.0.0-beta-8"
+            "version": "v2025.3.1"
         }
     ]
 }