Merge branch 'New-Intake' into DenverAutos

.gitignore

@@ -185,3 +185,4 @@ compile_commands.json
 
 # Eclipse generated file for annotation processors
 .factorypath
+src/main/java/frc4388/utility/compute/JankCoder copy.java

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

@@ -15,6 +15,8 @@ import org.littletonrobotics.junction.networktables.NT4Publisher;
 import org.littletonrobotics.junction.wpilog.WPILOGReader;
 import org.littletonrobotics.junction.wpilog.WPILOGWriter;
 
+import com.ctre.phoenix6.SignalLogger;
+
 import edu.wpi.first.wpilibj.GenericHID.RumbleType;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
@@ -50,6 +52,9 @@ public class Robot extends LoggedRobot {
     // Start logging with AdvantageKit
     startLogging();
 
+    com.revrobotics.util.StatusLogger.disableAutoLogging();
+    SignalLogger.enableAutoLogging(false);
+
     // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
     // autonomous chooser on the dashboard.
     m_robotContainer = new RobotContainer();

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

@@ -109,7 +109,7 @@ public class RobotContainer {
     
     
         private Command IntakeExtended = new SequentialCommandGroup(
-            new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Extended), m_robotIntake)
+            new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.ExtendedREMOVEME), m_robotIntake)
         );
     
         // private Command LidarIntake = new SequentialCommandGroup(
@@ -134,7 +134,7 @@ public class RobotContainer {
         private Command RobotRev = new SequentialCommandGroup(
             new InstantCommand(() -> m_robotShooter.spinUpShooting(), m_robotShooter),
             IntakeExtended,
-            new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.RollerStop), m_robotIntake)
+            new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Idle), m_robotIntake)
         );
 
         private Command RobotShootDriving = new SequentialCommandGroup(
@@ -146,7 +146,7 @@ public class RobotContainer {
         );
     
         private Command IntakeRetracted = new SequentialCommandGroup(
-            new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Retracted), m_robotIntake)
+            new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.RetractedREMOVEME), m_robotIntake)
         );
     
         private Command RobotShoot = new SequentialCommandGroup(
@@ -164,7 +164,7 @@ public class RobotContainer {
         
         public RobotContainer() {
             
-            configureSINGLEBindings();
+            configureButtonBindings();
             
             // Called on first robot enable
             DeferredBlock.addBlock(() -> {
@@ -357,22 +357,22 @@ public class RobotContainer {
                 m_robotShooter.spinUpIdle();
             }));
         
-        new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
+        // new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
-            .onTrue(new InstantCommand(() -> {
+        //     .onTrue(new InstantCommand(() -> {
-                m_robotIntake.setMode(IntakeMode.Retracted);
+        //         m_robotIntake.setMode(IntakeMode.RetractedREMOVEME);
-            }));
+        //     }));
 
-        new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
+        // new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
-            .onTrue(new InstantCommand(() -> {
+        //     .onTrue(new InstantCommand(() -> {
-                m_robotIntake.setMode(IntakeMode.Extended);
+        //         m_robotIntake.setMode(IntakeMode.ExtendedREMOVEME);
-            }));
+        //     }));
 
         new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
             .onTrue(new InstantCommand(() -> {
-                m_robotIntake.setMode(IntakeMode.Extending);
+                m_robotIntake.setMode(IntakeMode.ExtendingRolling);
             }))
             .onFalse(new InstantCommand(() -> {
-                m_robotIntake.setMode(IntakeMode.Idle);
+                m_robotIntake.setMode(IntakeMode.ExtendingIdle);
             }));
 
         new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
@@ -383,6 +383,38 @@ public class RobotContainer {
                 m_robotIntake.setMode(IntakeMode.Idle);
             }));
 
+        
+
+        new Trigger(() -> getDeadbandedOperatorController().getPOV() == 90)
+            .onTrue(new InstantCommand(() -> {
+                m_robotIntake.setMode(IntakeMode.ExtendingIdle);
+            }))
+            .onFalse(new InstantCommand(() -> {
+                m_robotIntake.setMode(IntakeMode.Idle);
+            }));
+
+        new Trigger(() -> getDeadbandedOperatorController().getPOV() == 270)
+            .onTrue(new InstantCommand(() -> {
+                m_robotIntake.setMode(IntakeMode.Retracting);
+            }))
+            .onFalse(new InstantCommand(() -> {
+                m_robotIntake.setMode(IntakeMode.Idle);
+            }));
+
+            
+        new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0)
+            .onTrue(new InstantCommand(() -> {
+                m_robotIntake.setMode(IntakeMode.Bouncing);
+            }))
+            .onFalse(new InstantCommand(() -> {
+                m_robotIntake.setMode(IntakeMode.Idle);
+            }));
+
+
+            // .onFalse(new InstantCommand(() -> {
+            //     m_robotIntake.setMode(IntakeMode.Idle);
+            // }));
+
         new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
             .whileTrue(
                 new PathPlannerAuto("Right_AutoClimb")
@@ -505,21 +537,21 @@ public class RobotContainer {
                 m_robotShooter.spinUpIdle();
             }));
 
-        new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
+        // new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
-            .onTrue(new InstantCommand(() -> {
+        //     .onTrue(new InstantCommand(() -> {
-                m_robotIntake.setMode(IntakeMode.Extending);
+        //         m_robotIntake.setMode(IntakeMode.ExtendedIdle);
-            }))
+        //     }))
-            .onFalse(new InstantCommand(() -> {
+        //     .onFalse(new InstantCommand(() -> {
-                m_robotIntake.setMode(IntakeMode.Idle);
+        //         m_robotIntake.setMode(IntakeMode.Idle);
-            }));
+        //     }));
 
-        new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
+        // new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
-            .onTrue(new InstantCommand(() -> {
+        //     .onTrue(new InstantCommand(() -> {
-                m_robotIntake.setMode(IntakeMode.Retracting);
+        //         m_robotIntake.setMode(IntakeMode.Retracting);
-            }))
+        //     }))
-            .onFalse(new InstantCommand(() -> {
+        //     .onFalse(new InstantCommand(() -> {
-                m_robotIntake.setMode(IntakeMode.Idle);
+        //         m_robotIntake.setMode(IntakeMode.Idle);
-            }));
+        //     }));
 
         }
 

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

@@ -13,6 +13,7 @@ import org.photonvision.PhotonCamera;
 
 import com.ctre.phoenix6.hardware.CANcoder;
 import com.ctre.phoenix6.swerve.SwerveDrivetrain;
+import com.revrobotics.spark.SparkMax;
 
 import edu.wpi.first.wpilibj.DigitalInput;
 import frc4388.robot.constants.Constants;
@@ -33,9 +34,11 @@ import frc4388.robot.subsystems.swerve.SwerveIO;
 import frc4388.robot.subsystems.swerve.SwerveReal;
 import frc4388.robot.subsystems.vision.VisionIO;
 import frc4388.robot.subsystems.vision.VisionReal;
+import frc4388.utility.compute.JankCoder;
 import frc4388.utility.status.FaultCANCoder;
 import frc4388.utility.status.FaultPhotonCamera;
 import frc4388.utility.status.FaultPidgeon2;
+import frc4388.utility.status.FaultSparkMax;
 import frc4388.utility.status.FaultTalonFX;
 
 /**
@@ -97,18 +100,17 @@ public class RobotMap {
                 TalonFX indexer = new TalonFX(ShooterConstants.INDEXER_ID.id, Constants.CANIVORE_CANBUS);
                 
                 //Configure Intake 20,21
-                TalonFX arm = new TalonFX(IntakeConstants.ARM_ID.id, Constants.CANIVORE_CANBUS);
+                SparkMax arm = new SparkMax(IntakeConstants.ARM_ID.id, com.revrobotics.spark.SparkLowLevel.MotorType.kBrushless);
-                TalonFX roller = new TalonFX(IntakeConstants.ROLLER_ID.id, Constants.CANIVORE_CANBUS);
+                SparkMax roller = new SparkMax(IntakeConstants.ROLLER_ID.id, com.revrobotics.spark.SparkLowLevel.MotorType.kBrushless);
-                DigitalInput armLimitSwitch = new DigitalInput(IntakeConstants.ARM_LIMIT_SWITCH_CHANNEL);
+                // DigitalInput armLimitSwitch = new DigitalInput(IntakeConstants.ARM_LIMIT_SWITCH_CHANNEL);
                 // DigitalInput basinLimitSwitch = new DigitalInput(ElevatorConstants.BASIN_LIMIT_SWITCH);
                 // DigitalInput endeffectorLimitSwitch = new DigitalInput(ElevatorConstants.ENDEFFECTOR_LIMIT_SWITCH);
                 // DigitalInput IRIntakeBeam = new DigitalInput(ElevatorConstants.INTAKE_LIMIT_SWITCH);
 
-
-                // shooterIO = new ShooterIO() {};
                 shooterIO = new ShooterReal(shooter1, shooter2, indexer);
+                JankCoder armEncoder = new JankCoder(0, IntakeConstants.ARM_ENCODER_OFFSET);
 
-                intakeIO = new IntakeReal(armLimitSwitch, arm, roller);
+                intakeIO = new IntakeReal(arm, roller, armEncoder);
 
                 // Fault
                 FaultPidgeon2.addDevice(swerveDrivetrainReal.getPigeon2(), "Gyro");
@@ -117,8 +119,8 @@ public class RobotMap {
                 FaultTalonFX.addDevice(shooter1, "Shooter1");
                 FaultTalonFX.addDevice(shooter2, "Shooter2");
                 FaultTalonFX.addDevice(indexer, "Indexer");
-                FaultTalonFX.addDevice(arm, "Arm");
+                FaultSparkMax.addDevice(arm, "Arm");
-                FaultTalonFX.addDevice(roller, "Roller");
+                FaultSparkMax.addDevice(roller, "Roller");
                 
                 FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getDriveMotor(), "Module 0 Drive");
                 FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getSteerMotor(), "Module 0 Steer");

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

@@ -7,12 +7,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2026KPopRobotHunters";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 186;
+  public static final int GIT_REVISION = 191;
-  public static final String GIT_SHA = "a774f156c681df6426dc5d344b84692080bb8a06";
+  public static final String GIT_SHA = "9021f480beaf35912eb54a845ec87522fef5337a";
-  public static final String GIT_DATE = "2026-03-26 18:40:37 MDT";
+  public static final String GIT_DATE = "2026-03-30 18:57:14 MDT";
-  public static final String GIT_BRANCH = "DenverAutos";
+  public static final String GIT_BRANCH = "New-Intake";
-  public static final String BUILD_DATE = "2026-03-30 19:07:09 MDT";
+  public static final String BUILD_DATE = "2026-03-30 19:50:05 MDT";
-  public static final long BUILD_UNIX_TIME = 1774919229417L;
+  public static final long BUILD_UNIX_TIME = 1774921805228L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}

src/main/java/frc4388/robot/subsystems/intake/Intake.java

@@ -1,10 +1,15 @@
 package frc4388.robot.subsystems.intake;
 
+import static edu.wpi.first.units.Units.Amps;
 import static edu.wpi.first.units.Units.Rotations;
+import static edu.wpi.first.units.Units.RotationsPerSecond;
+
 import java.util.function.Supplier;
 
 import org.littletonrobotics.junction.Logger;
 
+import com.ctre.phoenix6.Utils;
+
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
@@ -23,18 +28,31 @@ public class Intake extends SubsystemBase {
     }
 
     public enum IntakeMode {
-        Extended,
+        ExtendedREMOVEME,
-        Retracted,
+        RetractedREMOVEME,
-        Extending,
+
+        ExtendingIdle,
+        ExtendingRolling,
+
         Retracting,
+
         Idle,
-        RollerStop
+        Bouncing
     }
 
     private IntakeMode mode = IntakeMode.Idle;
 
     public void setMode(IntakeMode mode) {
         this.mode = mode;
+
+        switch (mode) {
+            case Bouncing:
+                // When bounce is enabled: set the bounce timer
+                this.state.currentBounceTime = Utils.getSystemTimeSeconds() + IntakeConstants.INTAKE_BOUNCE_HALF_PERIOD.get();
+                break;
+            default:
+                break;
+        }
     }
 
     public IntakeMode getMode() {
@@ -78,27 +96,66 @@ public class Intake extends SubsystemBase {
 
         io.updateInputs(state);
 
+        // getCurrentTime
+
         switch (mode) {
-            case Extended:
+            case ExtendedREMOVEME:
-                io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_EXTENDED.get()));
+            //     io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_EXTENDED.get()));
-                io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get());
+            //     io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get());
                 break;
-            case Retracted:
+            case RetractedREMOVEME:
-                io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
+            //     io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
+            //     io.setRollerOutput(state, 0);
+                break;
+
+            case ExtendingIdle:
+                io.armOutput(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
                 io.setRollerOutput(state, 0);
                 break;
-            case Extending:
+                
+            case ExtendingRolling:
                 io.armOutput(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
                 io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get());
                 break;
+
             case Retracting:
                 io.armOutput(IntakeConstants.ARM_RETRACT_PERCENT_OUTPUT.get());
-                io.setRollerOutput(state, 0);
+
+                if(state.intakeEncoder.in(Rotations) > IntakeConstants.ARM_REVERSE_ROLLER_RANGE.get()) {
+                    io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get());
+                } else {
+                    io.setRollerOutput(state, 0);
+                }
+                break;
+            
+            case Bouncing:
+                // io.setRollerOutput(state, 0);
+
+                if(
+                    state.armMotorCurrent.in(Amps) > IntakeConstants.INTAKE_BOUNCE_CURRENT_LIMIT.get()
+                    // Math.abs(state.armMotorVelocity.in(RotationsPerSecond)) < IntakeConstants.INTAKE_BOUNCE_VELOCITY_LIMIT.get()
+                ) {
+                    System.out.println("RESET BOUNCE");
+                    this.state.currentBounceTime = Utils.getSystemTimeSeconds() + IntakeConstants.INTAKE_BOUNCE_HALF_PERIOD.get();
+                }
+
+                // Get the time delta from the last bounce time update
+                double currentTime = Utils.getSystemTimeSeconds() - state.currentBounceTime;
+                // Get the percentage through the bounce period (0 output means one half period has passed)
+                double percentOutput = (currentTime / IntakeConstants.INTAKE_BOUNCE_HALF_PERIOD.get()) * IntakeConstants.INTAKE_BOUNCE_OUTPUT.get();
+                // Clamp the output of the motor to some value
+                percentOutput = -Math.max(Math.min(percentOutput, IntakeConstants.INTAKE_BOUNCE_MAX_OUTPUT.get()), -IntakeConstants.INTAKE_BOUNCE_MAX_OUTPUT.get());
+
+                io.armOutput(percentOutput);
+
+                if(percentOutput < 0) {
+                    io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get());
+                } else {
+                    io.setRollerOutput(state, 0);
+                }
                 break;
             case Idle:
-                io.stopArm();
+                io.armOutput(0);
-                break;
-            case RollerStop:
                 io.setRollerOutput(state, 0);
                 break;
         }

src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java

@@ -1,10 +1,10 @@
 package frc4388.robot.subsystems.intake;
 
-import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
+import com.revrobotics.spark.FeedbackSensor;
-import com.ctre.phoenix6.configs.MotorOutputConfigs;
+import com.revrobotics.spark.config.SparkMaxConfig;
-import com.ctre.phoenix6.configs.Slot0Configs;
+import com.revrobotics.spark.config.LimitSwitchConfig.Behavior;
-import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.revrobotics.spark.config.LimitSwitchConfig.Type;
-import com.ctre.phoenix6.signals.NeutralModeValue;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 
 import frc4388.utility.configurable.ConfigurableDouble;
 import frc4388.utility.status.CanDevice;
@@ -14,6 +14,15 @@ public class IntakeConstants {
 
     public static final double ARM_MOTOR_GEAR_RATIO = 125;
     public static final double ROLLER_MOTOR_GEAR_RATIO = 3;
+    public static final ConfigurableDouble ARM_ENCODER_OFFSET = new ConfigurableDouble("Arm Encoder Offset", 0);
+
+
+
+    public static final ConfigurableDouble INTAKE_BOUNCE_HALF_PERIOD = new ConfigurableDouble("Bounce Half Period", 5.);
+    public static final ConfigurableDouble INTAKE_BOUNCE_OUTPUT = new ConfigurableDouble("Bounce Output", 0.1);
+    public static final ConfigurableDouble INTAKE_BOUNCE_MAX_OUTPUT = new ConfigurableDouble("Bounce Max Output", 0.2);
+    public static final ConfigurableDouble INTAKE_BOUNCE_CURRENT_LIMIT = new ConfigurableDouble("Intake Bounce Current Limit", 16);
+    public static final ConfigurableDouble INTAKE_BOUNCE_VELOCITY_LIMIT = new ConfigurableDouble("Intake Bounce Velocity Limit", 4);
 
 
 
@@ -21,7 +30,7 @@ public class IntakeConstants {
 
     public static final CanDevice ARM_ID   = new CanDevice("ARM", 20);
     public static final CanDevice ROLLER_ID   = new CanDevice("INTAKE_ROLLER", 21);
-    public static final int ARM_LIMIT_SWITCH_CHANNEL = 9;
+    public static final int ARM_ENCODER_ID = 0;
         
     // Limits
 
@@ -33,27 +42,32 @@ public class IntakeConstants {
     // public static final Angle ARM_LIMIT_LOWER = Degrees.of(90);
     // public static final Angle ARM_LIMIT_UPPER = Degrees.of(-90);
 
-    public static final ConfigurableDouble ARM_LIMIT_RETRACTED = new ConfigurableDouble("Arm angle retracted", 0.1);
+    public static final ConfigurableDouble ARM_LIMIT_RETRACTED = new ConfigurableDouble("Arm angle retracted", 0.);
-    public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 0.33);
+    public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 1.5);
-    public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.4);
+    public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.2);
-    public static final ConfigurableDouble ARM_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Arm retract % output", -0.4);
+    public static final ConfigurableDouble ARM_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Arm retract % output", -0.2);
-    public static final ConfigurableDouble ROLLER_PERCENT_OUTPUT = new ConfigurableDouble("Roller Percent Output", .70);
+
+    public static final ConfigurableDouble ARM_REVERSE_ROLLER_RANGE = new ConfigurableDouble("Arm reverse roller range", 1.17);
+    
+    public static final ConfigurableDouble ROLLER_PERCENT_OUTPUT = new ConfigurableDouble("Roller Percent Output", .80);
+    public static final ConfigurableDouble ROLLER_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Roller Retract Output", .40);
+
     // public static final ConfigurableDouble ROLL = new ConfigurableDouble("Arm angle extended", 0.25);
 
     // public static final AngularVelocity ROLLER_MAX_VELOCITY = RotationsPerSecond.of(4.0);
     // public static final AngularVelocity ROLLER_STOP = RotationsPerSecond.of(0.0);
 
 
-    public static final Slot0Configs ARM_PID = new Slot0Configs()
+    // public static final Slot0Configs ARM_PID = new Slot0Configs()
-        .withKP(0.08)
+    //     .withKP(0.08)
-        .withKI(0.0)
+    //     .withKI(0.0)
-        .withKD(0.05);
+    //     .withKD(0.05);
 
     
 
-    public static ConfigurableDouble arm_kP = new ConfigurableDouble("ARM KP", 0.08);
+    // public static ConfigurableDouble arm_kP = new ConfigurableDouble("ARM KP", 0.08);
-    public static ConfigurableDouble arm_kI = new ConfigurableDouble("ARM KI", 0);
+    // public static ConfigurableDouble arm_kI = new ConfigurableDouble("ARM KI", 0);
-    public static ConfigurableDouble arm_kD = new ConfigurableDouble("ARM KD", 0.05);
+    // public static ConfigurableDouble arm_kD = new ConfigurableDouble("ARM KD", 0.05);
     
 
 
@@ -63,25 +77,46 @@ public class IntakeConstants {
     // public static final Angle PITCH_LIMIT_LOWER = Degrees.of(0);
     
     // Motor configs
-    public static final TalonFXConfiguration ARM_MOTOR_CONFIG = new TalonFXConfiguration()
-        .withCurrentLimits(
-            new CurrentLimitsConfigs()
-                .withStatorCurrentLimit(15) // TODO: tune???
-                .withStatorCurrentLimitEnable(true)
-            ).withMotorOutput(
-                new MotorOutputConfigs()
-                    .withNeutralMode(NeutralModeValue.Brake) // Must be break because this has to be accurate
-                    .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
-    );
 
-    public static final TalonFXConfiguration ROLLER_MOTOR_CONFIG = new TalonFXConfiguration()
+    public static final SparkMaxConfig ARM_MOTOR_CONFIG = new SparkMaxConfig();
-        .withCurrentLimits(
+    public static final SparkMaxConfig ROLELR_MOTOR_CONFIG = new SparkMaxConfig();
-            new CurrentLimitsConfigs()
+
-                .withStatorCurrentLimit(40) // TODO: tune???
+    static {
-                .withStatorCurrentLimitEnable(true)
+        ARM_MOTOR_CONFIG.limitSwitch
-            ).withMotorOutput(
+            .limitSwitchPositionSensor(FeedbackSensor.kPrimaryEncoder)
-                new MotorOutputConfigs()
+
-                    .withNeutralMode(NeutralModeValue.Coast) // Must be coast because this is spinny spinny
+            .forwardLimitSwitchType(Type.kNormallyOpen)
-                    .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
+            .forwardLimitSwitchTriggerBehavior(Behavior.kKeepMovingMotor)
-    );
+
+            .reverseLimitSwitchType(Type.kNormallyClosed)
+            .reverseLimitSwitchPosition(0)
+            .reverseLimitSwitchTriggerBehavior(Behavior.kStopMovingMotorAndSetPosition);
+
+        ARM_MOTOR_CONFIG.idleMode(IdleMode.kBrake);
+
+        
+        ROLELR_MOTOR_CONFIG.idleMode(IdleMode.kCoast);
+    }
+
+    // public static final TalonFXConfiguration ARM_MOTOR_CONFIG = new TalonFXConfiguration()
+    //     .withCurrentLimits(
+    //         new CurrentLimitsConfigs()
+    //             .withStatorCurrentLimit(15) // TODO: tune???
+    //             .withStatorCurrentLimitEnable(true)
+    //         ).withMotorOutput(
+    //             new MotorOutputConfigs()
+    //                 .withNeutralMode(NeutralModeValue.Brake) // Must be break because this has to be accurate
+    //                 .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
+    // );
+
+    // public static final TalonFXConfiguration ROLLER_MOTOR_CONFIG = new TalonFXConfiguration()
+    //     .withCurrentLimits(
+    //         new CurrentLimitsConfigs()
+    //             .withStatorCurrentLimit(40) // TODO: tune???
+    //             .withStatorCurrentLimitEnable(true)
+    //         ).withMotorOutput(
+    //             new MotorOutputConfigs()
+    //                 .withNeutralMode(NeutralModeValue.Coast) // Must be coast because this is spinny spinny
+    //                 .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
+    // );
 }

src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java

@@ -15,13 +15,22 @@ import edu.wpi.first.units.measure.Current;
 public interface IntakeIO {
     @AutoLog
     public class IntakeState {
-        boolean retractedLimit = false;
+        double currentBounceTime = 0;
+
+        boolean retractedLimitSwitch = false;
+        boolean extendedSoftLimit = false;
+        boolean retractedSoftLimit = false;
+
+        boolean encoderConnected = false;
+        Angle intakeEncoder = Rotations.of(0);
+
         Angle armAngle = Rotations.of(0);
         Angle armTargetAngle = Rotations.of(0);
         Current armMotorCurrent = Amps.of(0);
 
+
         AngularVelocity armMotorVelocity = RotationsPerSecond.of(0);
-        AngularAcceleration armMotorAcceleration = RotationsPerSecondPerSecond.of(0);
+        // AngularAcceleration armMotorAcceleration = RotationsPerSecondPerSecond.of(0);
 
         // Angle shooterPitch = Rotations.of(0);
         // Angle shooterTargetPitch = Rotations.of(0);

src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java

@@ -1,11 +1,18 @@
 package frc4388.robot.subsystems.intake;
 
+import static edu.wpi.first.units.Units.Amps;
+import static edu.wpi.first.units.Units.Rotation;
 import static edu.wpi.first.units.Units.Rotations;
+import static edu.wpi.first.units.Units.RotationsPerSecond;
+import static edu.wpi.first.units.Units.RotationsPerSecondPerSecond;
 
 import com.ctre.phoenix6.controls.DutyCycleOut;
 import com.ctre.phoenix6.controls.PositionDutyCycle;
 import com.ctre.phoenix6.controls.PositionVoltage;
 import com.ctre.phoenix6.hardware.TalonFX;
+import com.revrobotics.PersistMode;
+import com.revrobotics.ResetMode;
+import com.revrobotics.spark.SparkMax;
 
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import edu.wpi.first.math.util.Units;
@@ -13,44 +20,28 @@ import edu.wpi.first.units.measure.Acceleration;
 import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.units.measure.Velocity;
 import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.DutyCycleEncoder;
+import frc4388.utility.compute.JankCoder;
 
 public class IntakeReal implements IntakeIO {
 
-    TalonFX m_armMotor;
+    SparkMax m_armMotor;
-    TalonFX m_rollerMotor;
+    SparkMax m_rollerMotor;
-    DigitalInput m_armLimitSwitch;
+    JankCoder m_encoder;
-
-    PositionDutyCycle armPosition = new PositionDutyCycle(0);
-    DutyCycleOut armPercentOutput = new DutyCycleOut(0);
 
     public IntakeReal(
-        DigitalInput armLimitSwitch,
+        SparkMax armMotor,
-        TalonFX armMotor,
+        SparkMax rollerMotor,
-        TalonFX rollerMotor
+        JankCoder jankCoder
     ) {
         // m_angleMotor = angleMotor;
         // m_pitchMotor = pitchMotor;
         m_armMotor = armMotor;
         m_rollerMotor = rollerMotor;
-        m_armLimitSwitch = armLimitSwitch;
+        m_encoder = jankCoder;
 
-        // Apply the configs
+        m_armMotor.configure(IntakeConstants.ARM_MOTOR_CONFIG, ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters);
-        m_armMotor.getConfigurator().apply(IntakeConstants.ARM_PID);
+        m_rollerMotor.configure(IntakeConstants.ROLELR_MOTOR_CONFIG, ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters);
-        m_armMotor.getConfigurator().apply(IntakeConstants.ARM_MOTOR_CONFIG);
-        m_rollerMotor.getConfigurator().apply(IntakeConstants.ROLLER_MOTOR_CONFIG);
-
-        armPosition.Slot = 0;
-        // rollerVelocity.Slot = 0;
-    }
-
-    private Angle clampAng(Angle x, Angle min, Angle max){
-        if(x.gt(max)) {
-            return max;
-        }else if(x.lt(min)) {
-            return min;
-        }else{
-            return x;
-        }
     }
 
 
@@ -59,11 +50,6 @@ public class IntakeReal implements IntakeIO {
     public void setRollerOutput(IntakeState state, double rollerOutput) {
         state.rollerTargetOutput = rollerOutput;
 
-
-        if(rollerOutput == 0) {
-            m_rollerMotor.set(0);
-            return;
-        }
         m_rollerMotor.set(rollerOutput);
     }
 
@@ -80,78 +66,76 @@ public class IntakeReal implements IntakeIO {
         Angle motorAngle = angle.times(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
         
         // PositionDutyCycle posRequest = new PositionDutyCycle(motorTargetAngle);
-        m_armMotor.setControl(
+        // m_armMotor.setControl(
-            armPosition
+        //     armPosition
-                .withPosition(motorAngle)
+        //         .withPosition(motorAngle)
-                .withLimitReverseMotion(!m_armLimitSwitch.get())
+        //         .withLimitReverseMotion(!m_armLimitSwitch.get())
-            );
+        //     );
 
     }
 
-    @Override
-    public void testSetArmAngle(IntakeState state, Angle angle){
-        state.armTargetAngle = angle;
-        Angle motorAngle = angle.times(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
-
-        final TrapezoidProfile m_profile = new TrapezoidProfile(
-            new TrapezoidProfile.Constraints(80, 160)
-        );
-
-        // Final target of motorAngle rot, 0 rps
-        // Convert the Angle to a numeric degree value before creating the profile state
-        TrapezoidProfile.State m_goal = new TrapezoidProfile.State(motorAngle.in(Rotations), 0);
-        TrapezoidProfile.State m_setpoint = new TrapezoidProfile.State();
-
-        // create a position closed-loop request, voltage output, slot 0 configs
-        final PositionVoltage m_request = new PositionVoltage(0).withSlot(0);
-
-        // calculate the next profile setpoint
-        m_setpoint = m_profile.calculate(0.020, m_setpoint, m_goal);
-
-        // send the request to the device
-        m_request.Position = m_setpoint.position;
-        m_request.Velocity = m_setpoint.velocity;
-        m_armMotor.setControl(m_request);
-    }
-
     @Override
     public void stopArm(){
         m_armMotor.set(0);
         // m_rollerMotor.set(0);
     }
 
+    private boolean retractedLimit() {
+        return m_encoder.get() <= IntakeConstants.ARM_LIMIT_RETRACTED.get();
+    }
+    private boolean extendedLimit() {
+        return m_encoder.get() >= IntakeConstants.ARM_LIMIT_EXTENDED.get();
+    }
+
     @Override
     public void armOutput(double percentOutput){
-        m_armMotor.setControl(
+
-            armPercentOutput.withOutput(percentOutput)
+        // if(retractedLimit()) {
-                .withLimitReverseMotion(!m_armLimitSwitch.get())
+        //     percentOutput = Math.max(percentOutput, 0);
-            );
+        // } 
+        
+        if (extendedLimit()) {
+            percentOutput = Math.min(percentOutput, 0);
+        }
+
+        m_armMotor.set(percentOutput);
+
     }
 
     @Override
     public void updateInputs(IntakeState state) {
-        state.armAngle = m_armMotor.getPosition().getValue().div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
+        m_encoder.update();
-        state.armMotorCurrent = m_armMotor.getStatorCurrent().getValue();
+
+
+        state.armAngle = Rotations.of(m_armMotor.getEncoder().getPosition()).div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
+        state.armMotorVelocity = RotationsPerSecond.of(m_armMotor.getEncoder().getVelocity()).div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
+        // state.armMotorAcceleration = RotationsPerSecondPerSecond.of(m_armMotor.getEncoder().ge);
+        state.armMotorCurrent = Amps.of(m_armMotor.getOutputCurrent());
+
         state.rollerOutput = m_rollerMotor.get();
-        state.rollerMotorCurrent = m_rollerMotor.getStatorCurrent().getValue();
+        state.rollerMotorCurrent = Amps.of(m_rollerMotor.getOutputCurrent());
-        state.retractedLimit = !m_armLimitSwitch.get();
 
-        state.armMotorVelocity = m_armMotor.getVelocity().getValue();
+        state.retractedSoftLimit = retractedLimit();
-        state.armMotorAcceleration = m_armMotor.getAcceleration().getValue();
+        state.extendedSoftLimit = extendedLimit();
 
-        if(state.retractedLimit) {
+        state.intakeEncoder = m_encoder.getRotations();
-            // Set the arm motor to be zero if the limit switch is pressed
+        state.encoderConnected = m_encoder.isConnected();
-            m_armMotor.setPosition(0., 0); 
+
+        state.retractedLimitSwitch = m_armMotor.getReverseLimitSwitch().isPressed();
+
+        if(state.retractedLimitSwitch) {
+            m_encoder.resetRotations();
         }
     }
 
     @Override 
     public void updateGains() {
+        m_encoder.loadRotations();
 
-        IntakeConstants.ARM_PID.kP = IntakeConstants.arm_kP.get();
+        // IntakeConstants.ARM_PID.kP = IntakeConstants.arm_kP.get();
-        IntakeConstants.ARM_PID.kI = IntakeConstants.arm_kI.get();
+        // IntakeConstants.ARM_PID.kI = IntakeConstants.arm_kI.get();
-        IntakeConstants.ARM_PID.kD = IntakeConstants.arm_kD.get();
+        // IntakeConstants.ARM_PID.kD = IntakeConstants.arm_kD.get();
-        m_armMotor.getConfigurator().apply(IntakeConstants.ARM_PID);
+        // m_armMotor.getConfigurator().apply(IntakeConstants.ARM_PID);
 
     }
 }

src/main/java/frc4388/utility/compute/JankCoder copy.java.old

@@ -0,0 +1,100 @@
+package frc4388.utility.compute;
+
+import static edu.wpi.first.units.Units.Rotations;
+
+import java.io.FileInputStream;
+import java.io.FileOutputStream;
+
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.wpilibj.DutyCycleEncoder;
+
+public class JankCoder {
+    DutyCycleEncoder m_encoder;
+
+    boolean loaded_rotations = false;
+    double lastRotation = 0;
+    double offset = 0;
+
+    public JankCoder(int dio_channel) {
+        m_encoder = new DutyCycleEncoder(dio_channel);
+        loadRotations();
+    }
+    public JankCoder(int dio_channel, double _offset) {
+        m_encoder = new DutyCycleEncoder(dio_channel);
+        loadRotations();
+    }
+
+    public void update() {
+        if(!m_encoder.isConnected()) {
+            return;
+        }
+            
+        if(!loaded_rotations) {
+            loadRotations();
+        } else {
+            double curRot = m_encoder.get();
+            if(lastRotation - curRot > 0.5) {
+                offset += 1;
+                saveRotations();
+            } else if (curRot - lastRotation > 0.5) {
+                offset -= 1;
+                saveRotations();
+            }
+
+            lastRotation = curRot;
+        }
+    }
+
+    public double get() {
+        return (double) offset + m_encoder.get();
+    }
+
+    public Angle getRotations() {
+        return Rotations.of(get());
+    }
+    
+    public int getRotationCount() {
+        return (int) offset;
+    }
+    
+    public void resetRotation() {
+        setRotation(0);
+    }
+
+    public void setRotation(double rotation) {
+        offset = rotation - m_encoder.get();
+        saveRotations();
+    }
+
+    private void saveRotations() {
+        try (FileOutputStream stream = new FileOutputStream("/home/lvuser/encoder" + m_encoder.getSourceChannel())) {
+            stream.write(DataUtils.doubleToByteArray(offset));
+        } catch (Exception e) {
+            // e.printStackTrace();
+            System.out.println("ENCODER: Unable to write to trim file `" + m_encoder.getSourceChannel() + "`!?!");
+        }
+    }
+
+    private boolean loadRotations() {
+        lastRotation = m_encoder.get();
+        this.loaded_rotations = true;
+
+        try (FileInputStream stream = new FileInputStream("/home/lvuser/encoder" + m_encoder.getSourceChannel())) {
+            offset = DataUtils.byteArrayToDouble(stream.readNBytes(4));
+            
+            // 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("ENCODER: Unable to read encoder `" + m_encoder.getSourceChannel() + "`, using current value...");
+            return false;
+        }
+        
+    }
+}

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

@@ -0,0 +1,105 @@
+package frc4388.utility.compute;
+
+import static edu.wpi.first.units.Units.Rotations;
+
+import java.io.FileInputStream;
+import java.io.FileOutputStream;
+
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.wpilibj.DutyCycleEncoder;
+import frc4388.utility.configurable.ConfigurableDouble;
+
+public class JankCoder {
+    DutyCycleEncoder m_encoder;
+
+    boolean loaded_rotations = false;
+    int rotations = 0;
+    double lastRotation = 0;
+    final ConfigurableDouble offset;
+
+    public JankCoder(int dio_channel, ConfigurableDouble offset) {
+        this.offset = offset;
+        m_encoder = new DutyCycleEncoder(dio_channel);
+        loadRotations();
+    }
+
+    public void update() {
+        // if(!m_encoder.isConnected()) {
+        //     return;
+        // }
+            
+        if(!loaded_rotations) {
+            loadRotations();
+        } else {
+            double curRot = m_encoder.get();
+            if(lastRotation - curRot > 0.5) {
+                rotations += 1;
+                saveRotations();
+            } else if (curRot - lastRotation > 0.5) {
+                rotations -= 1;
+                saveRotations();
+            }
+
+            lastRotation = curRot;
+        }
+    }
+
+    public double get() {
+        return (double) rotations + m_encoder.get() + offset.get();
+    }
+
+    public Angle getRotations() {
+        return Rotations.of(get());
+    }
+    
+    public int getRotationCount() {
+        return rotations;
+    }
+    
+    public void resetRotations() {
+        offset.set(-m_encoder.get());
+        setRotations(0);
+    }
+
+    public void setRotations(int rotation) {
+        rotations = rotation;
+        saveRotations();
+    }
+
+    public boolean isConnected() {
+        return m_encoder.isConnected();
+    }
+
+    public void saveRotations() {
+        try (FileOutputStream stream = new FileOutputStream("/home/lvuser/encoder" + m_encoder.getSourceChannel())) {
+            stream.write(DataUtils.intToByteArray(rotations));
+        } catch (Exception e) {
+            // e.printStackTrace();
+            System.out.println("ENCODER: Unable to write to trim file `" + m_encoder.getSourceChannel() + "`!?!");
+        }
+    }
+
+    public boolean loadRotations() {
+        lastRotation = m_encoder.get();
+        this.loaded_rotations = true;
+
+        try (FileInputStream stream = new FileInputStream("/home/lvuser/encoder" + m_encoder.getSourceChannel())) {
+            int fileValue = DataUtils.byteArrayToInt(stream.readNBytes(4));
+            
+            rotations = 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("ENCODER: Unable to read encoder `" + m_encoder.getSourceChannel() + "`, using current value...");
+            return false;
+        }
+        
+    }
+}

src/main/java/frc4388/utility/configurable/ConfigurableDouble.java

@@ -20,4 +20,8 @@ public class ConfigurableDouble {
     public double get() {
         return SmartDashboard.getNumber(name, defualtValue);
     }
+    
+    public void set(double value) {
+        SmartDashboard.putNumber(name, value);
+    }
 }

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

@@ -0,0 +1,97 @@
+package frc4388.utility.status;
+
+import com.revrobotics.spark.SparkBase.Faults;
+import com.revrobotics.spark.SparkBase.Warnings;
+import com.revrobotics.spark.SparkMax;
+
+import frc4388.utility.status.Status.ReportLevel;
+
+public class FaultSparkMax implements Queryable {
+    private String name;
+    private SparkMax motor;
+
+    public static void addDevice(SparkMax motor, String name) {
+        FaultSparkMax p = new FaultSparkMax();
+
+        p.name = name;
+        p.motor = motor;
+
+        FaultReporter.register(p);
+    }
+
+    @Override
+    public String getName() {
+        return name;
+    }
+
+    @Override
+    public Status diagnosticStatus() {
+        Status s = new Status();
+
+        s.addReport(ReportLevel.INFO, "Firmware Version: " + motor.getFirmwareString());
+        s.addReport(ReportLevel.INFO, "Voltage: " + motor.getBusVoltage());
+        s.addReport(ReportLevel.INFO, "Current: " + motor.getOutputCurrent());
+        s.addReport(ReportLevel.INFO, "Device temp (C): " + motor.getMotorTemperature());
+        s.addReport(ReportLevel.INFO, "Position: " + motor.getEncoder().getPosition());
+        s.addReport(ReportLevel.INFO, "Velocity: " + motor.getEncoder().getVelocity());
+        s.addReport(ReportLevel.INFO, "Forward hard limit: " + motor.getForwardLimitSwitch().isPressed());
+        s.addReport(ReportLevel.INFO, "Reverse hard limit: " + motor.getReverseLimitSwitch().isPressed());
+        s.addReport(ReportLevel.INFO, "Forward soft limit: " + motor.getForwardSoftLimit().isReached());
+        s.addReport(ReportLevel.INFO, "Reverse soft limit: " + motor.getReverseSoftLimit().isReached());
+
+        // faults
+        Faults faults = motor.getFaults();
+        if(faults.can) {
+            s.addReport(ReportLevel.ERROR, "CAN Fault (Joe Johnson)");
+        }
+        if(faults.escEeprom) {
+            s.addReport(ReportLevel.ERROR, "Escape Eeprom. Cannot write to internal memory (oh god I don't want to think about what this means)");
+        }
+        if(faults.firmware) {
+            s.addReport(ReportLevel.ERROR, "Firmware Fault");
+        }
+        if(faults.gateDriver) {
+            s.addReport(ReportLevel.ERROR, "Gate Driver Fault");
+        }
+        if(faults.motorType) {
+            s.addReport(ReportLevel.ERROR, "Motor type Fault");
+        }
+        if(faults.other) {
+            s.addReport(ReportLevel.ERROR, "Fault type is 'other'. Hope for the best!");
+        }
+        if(faults.sensor) {
+            s.addReport(ReportLevel.ERROR, "Sensor fault");
+        }
+        if(faults.temperature) {
+            s.addReport(ReportLevel.ERROR, "Temperature fault");
+        }
+
+        Warnings warnings = motor.getWarnings();
+        if(warnings.brownout) {
+            s.addReport(ReportLevel.WARNING, "Brownout detected");
+        }
+        if (warnings.escEeprom) {
+            s.addReport(ReportLevel.WARNING, "Escape Eeprom. Cannot write to internal memory. (Why is only a warning)");
+        }
+        if (warnings.extEeprom) {
+            s.addReport(ReportLevel.WARNING, "Exit Eeprom. Cannot write to internal memory. (Why is only a warning)");
+        }
+        if (warnings.hasReset) {
+            s.addReport(ReportLevel.WARNING, "Has Reset");
+        }
+        if (warnings.other) {
+            s.addReport(ReportLevel.WARNING, "Other. Warning message sold seperately");
+        }
+        if (warnings.overcurrent) {
+            s.addReport(ReportLevel.WARNING, "Overcurrent");
+        }
+        if (warnings.sensor) {
+            s.addReport(ReportLevel.WARNING, "Sensor problem");
+        }
+        if (warnings.stall) {
+            s.addReport(ReportLevel.WARNING, "Motor stall detected");
+        }
+
+        return s;
+    }
+}

vendordeps/AdvantageKit.json

@@ -1,7 +1,7 @@
 {
     "fileName": "AdvantageKit.json",
     "name": "AdvantageKit",
-    "version": "26.0.0",
+    "version": "26.0.2",
     "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
     "frcYear": "2026",
     "mavenUrls": [
@@ -12,14 +12,14 @@
         {
             "groupId": "org.littletonrobotics.akit",
             "artifactId": "akit-java",
-            "version": "26.0.0"
+            "version": "26.0.2"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "org.littletonrobotics.akit",
             "artifactId": "akit-wpilibio",
-            "version": "26.0.0",
+            "version": "26.0.2",
             "skipInvalidPlatforms": false,
             "isJar": false,
             "validPlatforms": [

vendordeps/Phoenix6-26.1.3.json

@@ -1,7 +1,7 @@
 {
-    "fileName": "Phoenix6-26.1.0.json",
+    "fileName": "Phoenix6-26.1.3.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "26.1.0",
+    "version": "26.1.3",
     "frcYear": "2026",
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
@@ -19,14 +19,14 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "26.1.0"
+            "version": "26.1.3"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "api-cpp",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -40,7 +40,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -54,7 +54,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "api-cpp-sim",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -68,7 +68,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -82,7 +82,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -96,7 +96,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +110,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -124,7 +124,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -138,7 +138,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFXS",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -152,7 +152,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -166,7 +166,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -180,7 +180,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -194,7 +194,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdi",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -208,7 +208,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdle",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -224,7 +224,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -240,7 +240,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -256,7 +256,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -272,7 +272,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -288,7 +288,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -304,7 +304,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -320,7 +320,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -336,7 +336,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -352,7 +352,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFXS",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "libName": "CTRE_SimProTalonFXS",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -368,7 +368,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -384,7 +384,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -400,7 +400,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "libName": "CTRE_SimProCANrange",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -416,7 +416,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdi",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "libName": "CTRE_SimProCANdi",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -432,7 +432,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdle",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "libName": "CTRE_SimProCANdle",
             "headerClassifier": "headers",
             "sharedLibrary": true,

vendordeps/REVLib.json

@@ -0,0 +1,133 @@
+{
+    "fileName": "REVLib.json",
+    "name": "REVLib",
+    "version": "2026.0.5",
+    "frcYear": "2026",
+    "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
+    "mavenUrls": [
+        "https://maven.revrobotics.com/"
+    ],
+    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2026.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-java",
+            "version": "2026.0.5"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2026.0.5",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "RevLibBackendDriver",
+            "version": "2026.0.5",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "RevLibWpiBackendDriver",
+            "version": "2026.0.5",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-cpp",
+            "version": "2026.0.5",
+            "libName": "REVLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2026.0.5",
+            "libName": "REVLibDriver",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "RevLibBackendDriver",
+            "version": "2026.0.5",
+            "libName": "BackendDriver",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "RevLibWpiBackendDriver",
+            "version": "2026.0.5",
+            "libName": "REVLibWpi",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ]
+}

vendordeps/photonlib.json

@@ -1,7 +1,7 @@
 {
     "fileName": "photonlib.json",
     "name": "photonlib",
-    "version": "v2025.3.1",
+    "version": "v2026.3.2",
     "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
     "frcYear": "2026",
     "mavenUrls": [
@@ -13,7 +13,7 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "photontargeting-cpp",
-            "version": "v2025.3.1",
+            "version": "v2026.3.2",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
@@ -28,7 +28,7 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "photonlib-cpp",
-            "version": "v2025.3.1",
+            "version": "v2026.3.2",
             "libName": "photonlib",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -43,7 +43,7 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "photontargeting-cpp",
-            "version": "v2025.3.1",
+            "version": "v2026.3.2",
             "libName": "photontargeting",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -60,12 +60,12 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "photonlib-java",
-            "version": "v2025.3.1"
+            "version": "v2026.3.2"
         },
         {
             "groupId": "org.photonvision",
             "artifactId": "photontargeting-java",
-            "version": "v2025.3.1"
+            "version": "v2026.3.2"
         }
     ]
 }