diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json
index 3e2fa4b..874ef02 100644
--- a/.wpilib/wpilib_preferences.json
+++ b/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2026beta",
+    "projectYear": "2026",
     "teamNumber": 4388
 }
\ No newline at end of file
diff --git a/WPILib-License.md b/WPILib-License.md
index 645e542..eb3061b 100644
--- a/WPILib-License.md
+++ b/WPILib-License.md
@@ -1,4 +1,4 @@
-Copyright (c) 2009-2024 FIRST and other WPILib contributors
+Copyright (c) 2009-2026 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
diff --git a/build.gradle b/build.gradle
index a8ab99f..8862516 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2026.1.1"
     id "com.peterabeles.gversion" version "1.10"
 }
 
@@ -75,7 +75,7 @@ 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)
+        def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
     annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version"
 }
 
@@ -93,7 +93,9 @@ wpi.sim.addDriverstation()
 // knows where to look for our Robot Class.
 jar {
     from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
-    from sourceSets.main.allSource
+    from('src') { into 'backup/src' }
+    from('vendordeps') { into 'backup/vendordeps' }
+    from('build.gradle') { into 'backup' }
     manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
     duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }
diff --git a/src/main/java/frc4388/robot/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java
index b45027b..9236f0e 100644
--- a/src/main/java/frc4388/robot/constants/BuildConstants.java
+++ b/src/main/java/frc4388/robot/constants/BuildConstants.java
@@ -5,15 +5,15 @@ package frc4388.robot.constants;
  */
 public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
-  public static final String MAVEN_NAME = "2026KPopRobotHunters";
+  public static final String MAVEN_NAME = "2026KPopRobotHunters-new";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = -1;
-  public static final String GIT_SHA = "UNKNOWN";
-  public static final String GIT_DATE = "UNKNOWN";
-  public static final String GIT_BRANCH = "UNKNOWN";
-  public static final String BUILD_DATE = "2026-01-08 19:31:25 MST";
-  public static final long BUILD_UNIX_TIME = 1767925885671L;
-  public static final int DIRTY = 129;
+  public static final int GIT_REVISION = 2;
+  public static final String GIT_SHA = "17c3ff1ec9ef6763ee1c736622be3ef0fcc30d10";
+  public static final String GIT_DATE = "2026-01-08 19:42:41 MST";
+  public static final String GIT_BRANCH = "master";
+  public static final String BUILD_DATE = "2026-01-10 16:21:06 MST";
+  public static final long BUILD_UNIX_TIME = 1768087266722L;
+  public static final int DIRTY = 1;
 
   private BuildConstants(){}
 }
diff --git a/src/main/java/frc4388/robot/subsystems/shooter/Shooter.java b/src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
new file mode 100644
index 0000000..60ddaec
--- /dev/null
+++ b/src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
@@ -0,0 +1,58 @@
+package frc4388.robot.subsystems.shooter;
+
+import static edu.wpi.first.units.Units.Rotation;
+
+import java.util.function.Supplier;
+
+import org.littletonrobotics.junction.Logger;
+
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.utility.status.FaultReporter;
+
+public class Shooter extends SubsystemBase {
+    ShooterIO io;
+    ShooterStateAutoLogged state = new ShooterStateAutoLogged();
+
+    Supplier<Pose2d> m_swervePoseSupplier;
+
+    public Shooter(
+        ShooterIO io,
+        Supplier<Pose2d> swervePoseSupplier
+    ) {
+        this.io = io;
+        this.m_swervePoseSupplier = swervePoseSupplier;
+    }
+
+    public enum FieldZone {
+        // The robot should aim at the hub
+        InShootZone,
+        // The robot should aim towards the wall
+        AimAtWall,
+        
+    }
+
+    // Calculate what should be done based off of the position of the robot
+    // TODO: Implement field zones
+    public FieldZone getTarget(Pose2d position) {
+        return FieldZone.InShootZone;
+    }
+
+    @Override
+    public void periodic() {
+        
+        
+
+        // FaultReporter.register(this); // TODO Implement fault reporter
+
+
+        Logger.processInputs("Shooter", state);
+
+        Pose2d pose = m_swervePoseSupplier.get();
+        Angle robotRot = pose.getRotation().getMeasure();
+
+        io.updateInputs(state);
+
+    }
+}
diff --git a/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java b/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
new file mode 100644
index 0000000..0af5e01
--- /dev/null
+++ b/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
@@ -0,0 +1,71 @@
+package frc4388.robot.subsystems.shooter;
+
+import static edu.wpi.first.units.Units.*;
+
+import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
+import com.ctre.phoenix6.configs.MotorOutputConfigs;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+
+import edu.wpi.first.units.measure.Angle;
+
+public class ShooterConstants {
+    // Motor conversions
+    public static final double ANGLE_MOTOR_GEAR_RATIO = 1.;
+    public static final double PITCH_MOTOR_GEAR_RATIO = 1.;
+    public static final double FLYWHEEL_GEAR_RATIO = 1.;
+    public static final double FEEDER_INCHES_PER_ROT = 1.;
+
+    // Limits
+
+    // 0 is the forward angle on the robot.
+    // negative is left, positive is right
+    public static final Angle ANGLE_LIMIT_LEFT = Degrees.of(-180);
+    public static final Angle ANGLE_LIMIT_RIGHT = Degrees.of(180);
+
+    // 0 is paralell to the ground, 90 is directly up
+    public static final Angle PITCH_LIMIT_UPPER = Degrees.of(90);
+    public static final Angle PITCH_LIMIT_LOWER = Degrees.of(0);
+    
+    // Motor configs
+    public static final TalonFXConfiguration ANGLE_MOTOR_CONFIG = new TalonFXConfiguration()
+        .withCurrentLimits(
+            new CurrentLimitsConfigs()
+                .withStatorCurrentLimit(40) // 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 PITCH_MOTOR_CONFIG = new TalonFXConfiguration()
+        .withCurrentLimits(
+            new CurrentLimitsConfigs()
+                .withStatorCurrentLimit(40) // 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 FLYWHEEL_MOTOR_CONFIG = new TalonFXConfiguration()
+        .withCurrentLimits(
+            new CurrentLimitsConfigs()
+                .withStatorCurrentLimit(40) // TODO: tune???
+                .withStatorCurrentLimitEnable(true) // TODO: Figure out what this means
+            ).withMotorOutput(
+                new MotorOutputConfigs()
+                    .withNeutralMode(NeutralModeValue.Coast) // Must be coast because this is spinny spinny
+                    .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
+    );
+    public static final TalonFXConfiguration FEEDER_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
+    );
+}
diff --git a/src/main/java/frc4388/robot/subsystems/shooter/ShooterIO.java b/src/main/java/frc4388/robot/subsystems/shooter/ShooterIO.java
new file mode 100644
index 0000000..ce711e9
--- /dev/null
+++ b/src/main/java/frc4388/robot/subsystems/shooter/ShooterIO.java
@@ -0,0 +1,42 @@
+package frc4388.robot.subsystems.shooter;
+
+import static edu.wpi.first.units.Units.Amps;
+import static edu.wpi.first.units.Units.InchesPerSecond;
+import static edu.wpi.first.units.Units.Rotations;
+import static edu.wpi.first.units.Units.RotationsPerSecond;
+
+import org.littletonrobotics.junction.AutoLog;
+
+import edu.wpi.first.units.CurrentUnit;
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.Current;
+import edu.wpi.first.units.measure.LinearVelocity;
+
+public interface ShooterIO {
+    @AutoLog
+    public class ShooterState {
+        Angle shooterAngle = Rotations.of(0);
+        Angle shooterTargetAngle = Rotations.of(0);
+        Current angleMotorCurrent = Amps.of(0);
+
+        Angle shooterPitch = Rotations.of(0);
+        Angle shooterTargetPitch = Rotations.of(0);
+        Current pitchMotorCurrent = Amps.of(0);
+
+        AngularVelocity flywheelVelocity = RotationsPerSecond.of(0);
+        AngularVelocity flywheelTargetVelocity = RotationsPerSecond.of(0);
+        Current flywheelMotorCurrent = Amps.of(0);
+
+        LinearVelocity feederVelocity = InchesPerSecond.of(0);
+        LinearVelocity feederTargetVelocity = InchesPerSecond.of(0);
+        Current feederMotorCurrent = Amps.of(0);
+    }
+
+    public default void setShooterAngle(ShooterState state, Angle angle) {}
+    public default void setShooterPitch(ShooterState state, Angle angle) {}
+    public default void setFlywheelVelocity(ShooterState state, AngularVelocity angularVelocity) {}
+    public default void setFeederVelocity(ShooterState state, LinearVelocity linearVelocity) {}
+
+    public default void updateInputs(ShooterState state) {}
+}
\ No newline at end of file
diff --git a/src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java b/src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java
new file mode 100644
index 0000000..0560891
--- /dev/null
+++ b/src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java
@@ -0,0 +1,111 @@
+package frc4388.robot.subsystems.shooter;
+
+import static edu.wpi.first.units.Units.InchesPerSecond;
+import static edu.wpi.first.units.Units.Rotations;
+import static edu.wpi.first.units.Units.RotationsPerSecond;
+
+import com.ctre.phoenix6.controls.PositionDutyCycle;
+import com.ctre.phoenix6.controls.VelocityDutyCycle;
+import com.ctre.phoenix6.hardware.TalonFX;
+
+import edu.wpi.first.units.measure.*;
+
+public class ShooterReal implements ShooterIO {
+
+    TalonFX m_angleMotor;
+    TalonFX m_pitchMotor;
+    TalonFX m_flywheelMotor;
+    TalonFX m_feederMotor;
+
+    public ShooterReal(
+        TalonFX angleMotor,
+        TalonFX pitchMotor,
+        TalonFX flywheelMotor,
+        TalonFX feederMotor
+    ) {
+        m_angleMotor = angleMotor;
+        m_pitchMotor = pitchMotor;
+        m_flywheelMotor = flywheelMotor;
+        m_feederMotor = feederMotor;
+
+        // Apply the configs
+        m_angleMotor.getConfigurator().apply(ShooterConstants.ANGLE_MOTOR_CONFIG);
+        m_pitchMotor.getConfigurator().apply(ShooterConstants.PITCH_MOTOR_CONFIG);
+        m_flywheelMotor.getConfigurator().apply(ShooterConstants.FLYWHEEL_MOTOR_CONFIG);
+        m_feederMotor.getConfigurator().apply(ShooterConstants.FEEDER_MOTOR_CONFIG);
+    }
+
+    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;
+        }
+    }
+
+    // TODO: Test
+    @Override
+    public void setShooterAngle(ShooterState state, Angle angle) {
+        state.shooterTargetAngle = angle;
+        // Assume that the angle is always accurate, because I think we will use a shaft encoder
+        // Assume that 0 degrees = forwards. Might need an offset here
+
+        Angle boundedAngle = clampAng(angle, ShooterConstants.ANGLE_LIMIT_LEFT, ShooterConstants.ANGLE_LIMIT_RIGHT);
+        // (REAL_ROT) * (MOTOR_ROT / REAL_ROT) = MOTOR_ROT
+        double motorTargetAngle = boundedAngle.in(Rotations) / ShooterConstants.ANGLE_MOTOR_GEAR_RATIO;
+        PositionDutyCycle posRequest = new PositionDutyCycle(motorTargetAngle);
+        m_angleMotor.setControl(posRequest);
+    }
+
+
+    // TODO: Test
+    @Override
+    public void setShooterPitch(ShooterState state, Angle angle) {
+        state.shooterTargetPitch = angle;
+        // TODO: Test
+        // This assumes that the 0 is paralell to the ground. Might need an offset here
+
+
+        Angle boundedAngle = clampAng(angle, ShooterConstants.PITCH_LIMIT_UPPER, ShooterConstants.PITCH_LIMIT_LOWER);
+        // (REAL_ROT) * (MOTOR_ROT / REAL_ROT) = MOTOR_ROT
+        double motorTargetAngle = boundedAngle.in(Rotations) / ShooterConstants.PITCH_MOTOR_GEAR_RATIO;
+        PositionDutyCycle posRequest = new PositionDutyCycle(motorTargetAngle);
+        m_angleMotor.setControl(posRequest);
+    }
+    
+    @Override
+    public void setFlywheelVelocity(ShooterState state, AngularVelocity angularVelocity) {
+        state.flywheelTargetVelocity = angularVelocity;
+        // (REAL_ROT / SEC) * (MOTOR_ROT / REAL_ROT) = (MOTOR_ROT / SEC)
+        double motorSpeed = angularVelocity.in(RotationsPerSecond) / ShooterConstants.FLYWHEEL_GEAR_RATIO;
+        VelocityDutyCycle velocity = new VelocityDutyCycle(motorSpeed);
+        m_feederMotor.setControl(velocity);
+    }
+
+    @Override
+    public void setFeederVelocity(ShooterState state, LinearVelocity linearVelocity) {
+        state.feederTargetVelocity = linearVelocity;
+        // (IN / SEC) * (ROT / IN) = (ROT / SEC)
+        double motorSpeed = linearVelocity.in(InchesPerSecond) / ShooterConstants.FEEDER_INCHES_PER_ROT;
+        VelocityDutyCycle velRequest = new VelocityDutyCycle(motorSpeed);
+        m_feederMotor.setControl(velRequest);
+    }
+
+    @Override
+    public void updateInputs(ShooterState state) {
+        state.shooterAngle = m_angleMotor.getPosition().getValue().times(ShooterConstants.ANGLE_MOTOR_GEAR_RATIO);
+        state.angleMotorCurrent = m_angleMotor.getStatorCurrent(false).getValue();
+
+        state.shooterPitch = m_pitchMotor.getPosition().getValue().times(ShooterConstants.PITCH_MOTOR_GEAR_RATIO);
+        state.pitchMotorCurrent = m_pitchMotor.getStatorCurrent().getValue();
+
+        state.flywheelVelocity = m_flywheelMotor.getVelocity().getValue();
+        state.flywheelMotorCurrent = m_flywheelMotor.getStatorCurrent().getValue();
+
+        state.feederVelocity = InchesPerSecond.of(m_feederMotor.getVelocity().getValue().in(RotationsPerSecond) * ShooterConstants.FEEDER_INCHES_PER_ROT);
+        state.feederMotorCurrent = m_feederMotor.getStatorCurrent().getValue();
+    }
+    
+}
diff --git a/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
index bbc61e4..2fc6306 100644
--- a/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
@@ -4,6 +4,8 @@
 
 package frc4388.robot.subsystems.swerve;
 
+import java.util.function.Supplier;
+
 import org.littletonrobotics.junction.AutoLogOutput;
 import org.littletonrobotics.junction.Logger;
 
@@ -315,6 +317,10 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
         return state.currentPose;
     }
 
+    public Supplier<Pose2d> getPoseSupplier() {
+        return () -> this.getPose2d();
+    }
+
     public void resetGyro() {
         io.tareEverything();
         robotKnowsWhereItIs = false;
diff --git a/vendordeps/AdvantageKit.json b/vendordeps/AdvantageKit.json
index 5d79bff..162ad66 100644
--- a/vendordeps/AdvantageKit.json
+++ b/vendordeps/AdvantageKit.json
@@ -1,9 +1,9 @@
 {
     "fileName": "AdvantageKit.json",
     "name": "AdvantageKit",
-    "version": "26.0.0-beta-1",
+    "version": "26.0.0",
     "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
-    "frcYear": "2026beta",
+    "frcYear": "2026",
     "mavenUrls": [
         "https://frcmaven.wpi.edu/artifactory/littletonrobotics-mvn-release/"
     ],
@@ -12,14 +12,14 @@
         {
             "groupId": "org.littletonrobotics.akit",
             "artifactId": "akit-java",
-            "version": "26.0.0-beta-1"
+            "version": "26.0.0"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "org.littletonrobotics.akit",
             "artifactId": "akit-wpilibio",
-            "version": "26.0.0-beta-1",
+            "version": "26.0.0",
             "skipInvalidPlatforms": false,
             "isJar": false,
             "validPlatforms": [
diff --git a/vendordeps/NavX.json b/vendordeps/NavX.json
index 92e0504..92ed2f1 100644
--- a/vendordeps/NavX.json
+++ b/vendordeps/NavX.json
@@ -3,7 +3,7 @@
     "name": "NavX",
     "version": "2024.1.0",
     "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
-    "frcYear": "2026beta",
+    "frcYear": "2026",
     "mavenUrls": [
         "https://dev.studica.com/maven/release/2024/"
     ],
diff --git a/vendordeps/PathplannerLib-2025.2.7.json b/vendordeps/PathplannerLib-2025.2.7.json
index c7dac8e..da77d6b 100644
--- a/vendordeps/PathplannerLib-2025.2.7.json
+++ b/vendordeps/PathplannerLib-2025.2.7.json
@@ -3,7 +3,7 @@
     "name": "PathplannerLib",
     "version": "2025.2.7",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
-    "frcYear": "2026beta",
+    "frcYear": "2026",
     "mavenUrls": [
         "https://3015rangerrobotics.github.io/pathplannerlib/repo"
     ],
diff --git a/vendordeps/Phoenix5-5.36.0-beta-1.json b/vendordeps/Phoenix5-5.36.0.json
similarity index 85%
rename from vendordeps/Phoenix5-5.36.0-beta-1.json
rename to vendordeps/Phoenix5-5.36.0.json
index 987c74c..9a27e47 100644
--- a/vendordeps/Phoenix5-5.36.0-beta-1.json
+++ b/vendordeps/Phoenix5-5.36.0.json
@@ -1,50 +1,50 @@
 {
-    "fileName": "Phoenix5-5.36.0-beta-1.json",
+    "fileName": "Phoenix5-5.36.0.json",
     "name": "CTRE-Phoenix (v5)",
-    "version": "5.36.0-beta-1",
-    "frcYear": "2026beta",
+    "version": "5.36.0",
+    "frcYear": "2026",
     "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2026-beta-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2026-latest.json",
     "requires": [
         {
             "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
             "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6.  Please add the Phoenix 6 vendordep before adding Phoenix 5.",
-            "offlineFileName": "Phoenix6-frc2026-beta-latest.json",
-            "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-beta-latest.json"
+            "offlineFileName": "Phoenix6-frc2026-latest.json",
+            "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-latest.json"
         }
     ],
     "conflictsWith": [
         {
             "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
             "errorMessage": "Users must use the Phoenix 5 replay vendordep when using the Phoenix 6 replay vendordep.",
-            "offlineFileName": "Phoenix6-replay-frc2026-beta-latest.json"
+            "offlineFileName": "Phoenix6-replay-frc2026-latest.json"
         },
         {
             "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df",
             "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.",
-            "offlineFileName": "Phoenix5-replay-frc2026-beta-latest.json"
+            "offlineFileName": "Phoenix5-replay-frc2026-latest.json"
         }
     ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "api-java",
-            "version": "5.36.0-beta-1"
+            "version": "5.36.0"
         },
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "wpiapi-java",
-            "version": "5.36.0-beta-1"
+            "version": "5.36.0"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "cci",
-            "version": "5.36.0-beta-1",
+            "version": "5.36.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -58,7 +58,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "cci-sim",
-            "version": "5.36.0-beta-1",
+            "version": "5.36.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -74,7 +74,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "wpiapi-cpp",
-            "version": "5.36.0-beta-1",
+            "version": "5.36.0",
             "libName": "CTRE_Phoenix_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -90,7 +90,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "api-cpp",
-            "version": "5.36.0-beta-1",
+            "version": "5.36.0",
             "libName": "CTRE_Phoenix",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -106,7 +106,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "cci",
-            "version": "5.36.0-beta-1",
+            "version": "5.36.0",
             "libName": "CTRE_PhoenixCCI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -122,7 +122,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "5.36.0-beta-1",
+            "version": "5.36.0",
             "libName": "CTRE_Phoenix_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -138,7 +138,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "api-cpp-sim",
-            "version": "5.36.0-beta-1",
+            "version": "5.36.0",
             "libName": "CTRE_PhoenixSim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -154,7 +154,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "cci-sim",
-            "version": "5.36.0-beta-1",
+            "version": "5.36.0",
             "libName": "CTRE_PhoenixCCISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/vendordeps/Phoenix6-26.0.0-beta-1.json b/vendordeps/Phoenix6-26.1.0.json
similarity index 91%
rename from vendordeps/Phoenix6-26.0.0-beta-1.json
rename to vendordeps/Phoenix6-26.1.0.json
index 681be31..dc5dc62 100644
--- a/vendordeps/Phoenix6-26.0.0-beta-1.json
+++ b/vendordeps/Phoenix6-26.1.0.json
@@ -1,8 +1,8 @@
 {
-    "fileName": "Phoenix6-26.0.0-beta-1.json",
+    "fileName": "Phoenix6-26.1.0.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "26.0.0-beta-1",
-    "frcYear": "2026beta",
+    "version": "26.1.0",
+    "frcYear": "2026",
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
@@ -19,14 +19,14 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "26.0.0-beta-1"
+            "version": "26.1.0"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "api-cpp",
-            "version": "26.0.0-beta-1",
+            "version": "26.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -40,7 +40,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "26.0.0-beta-1",
+            "version": "26.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -54,7 +54,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "api-cpp-sim",
-            "version": "26.0.0-beta-1",
+            "version": "26.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -68,7 +68,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "26.0.0-beta-1",
+            "version": "26.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -82,7 +82,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "26.0.0-beta-1",
+            "version": "26.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -96,7 +96,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "26.0.0-beta-1",
+            "version": "26.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +110,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "26.0.0-beta-1",
+            "version": "26.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -124,7 +124,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "26.0.0-beta-1",
+            "version": "26.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -138,7 +138,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFXS",
-            "version": "26.0.0-beta-1",
+            "version": "26.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -152,7 +152,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "26.0.0-beta-1",
+            "version": "26.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -166,7 +166,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "26.0.0-beta-1",
+            "version": "26.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -180,7 +180,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "26.0.0-beta-1",
+            "version": "26.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -194,7 +194,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdi",
-            "version": "26.0.0-beta-1",
+            "version": "26.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -208,7 +208,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdle",
-            "version": "26.0.0-beta-1",
+            "version": "26.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -224,7 +224,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "26.0.0-beta-1",
+            "version": "26.1.0",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -240,7 +240,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "26.0.0-beta-1",
+            "version": "26.1.0",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -256,7 +256,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "26.0.0-beta-1",
+            "version": "26.1.0",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -272,7 +272,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "26.0.0-beta-1",
+            "version": "26.1.0",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -288,7 +288,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "26.0.0-beta-1",
+            "version": "26.1.0",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -304,7 +304,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "26.0.0-beta-1",
+            "version": "26.1.0",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -320,7 +320,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "26.0.0-beta-1",
+            "version": "26.1.0",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -336,7 +336,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "26.0.0-beta-1",
+            "version": "26.1.0",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -352,7 +352,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFXS",
-            "version": "26.0.0-beta-1",
+            "version": "26.1.0",
             "libName": "CTRE_SimProTalonFXS",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -368,7 +368,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "26.0.0-beta-1",
+            "version": "26.1.0",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -384,7 +384,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "26.0.0-beta-1",
+            "version": "26.1.0",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -400,7 +400,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "26.0.0-beta-1",
+            "version": "26.1.0",
             "libName": "CTRE_SimProCANrange",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -416,7 +416,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdi",
-            "version": "26.0.0-beta-1",
+            "version": "26.1.0",
             "libName": "CTRE_SimProCANdi",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -432,7 +432,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdle",
-            "version": "26.0.0-beta-1",
+            "version": "26.1.0",
             "libName": "CTRE_SimProCANdle",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/vendordeps/WPILibNewCommands.json b/vendordeps/WPILibNewCommands.json
index 7ebc954..d90630e 100644
--- a/vendordeps/WPILibNewCommands.json
+++ b/vendordeps/WPILibNewCommands.json
@@ -3,7 +3,7 @@
   "name": "WPILib-New-Commands",
   "version": "1.0.0",
   "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "frcYear": "2026beta",
+  "frcYear": "2026",
   "mavenUrls": [],
   "jsonUrl": "",
   "javaDependencies": [
diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json
index bb62e61..7b78472 100644
--- a/vendordeps/photonlib.json
+++ b/vendordeps/photonlib.json
@@ -3,7 +3,7 @@
     "name": "photonlib",
     "version": "v2026.0.1-beta",
     "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
-    "frcYear": "2026beta",
+    "frcYear": "2026",
     "mavenUrls": [
         "https://maven.photonvision.org/repository/internal",
         "https://maven.photonvision.org/repository/snapshots"
diff --git a/.github/workflows/gradle.yml b/workflows/gradle.yml
similarity index 100%
rename from .github/workflows/gradle.yml
rename to workflows/gradle.yml