Update to 2025, pathplanner issue

.gitattributes

@@ -1,2 +0,0 @@
-# Auto detect text files and perform LF normalization
-* text=auto

.github/workflows/gradle.yml

@@ -1,23 +0,0 @@
-name: Java CI
-
-on:
-  push:
-    branches:
-    - master
-  pull_request:
-    branches:
-    - master
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v1
-    - name: Set up JDK 17
-      uses: actions/setup-java@v1
-      with:
-        java-version: 17
-    - name: Change wrapper permissions
-      run: chmod +x ./gradlew
-    - name: Build with Gradle
-      run: ./gradlew build

.gitignore

@@ -169,6 +169,8 @@ out/
 .fleet
 
 # Simulation GUI and other tools window save file
+networktables.json
+simgui.json
 *-window.json
 
 # Simulation data log directory
@@ -176,5 +178,7 @@ logs/
 
 # Folder that has CTRE Phoenix Sim device config storage
 ctre_sim/
-simgui.json
+
-simgui-ds.json
+# clangd
+/.cache
+compile_commands.json

.idea/.gitignore

@@ -1,3 +0,0 @@
-# Default ignored files
-/shelf/
-/workspace.xml

.idea/gradle.xml

@@ -1,17 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="GradleSettings">
-    <option name="linkedExternalProjectsSettings">
-      <GradleProjectSettings>
-        <option name="distributionType" value="DEFAULT_WRAPPED" />
-        <option name="externalProjectPath" value="$PROJECT_DIR$" />
-        <option name="gradleJvm" value="temurin-11" />
-        <option name="modules">
-          <set>
-            <option value="$PROJECT_DIR$" />
-          </set>
-        </option>
-      </GradleProjectSettings>
-    </option>
-  </component>
-</project>

.idea/misc.xml

@@ -1,4 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ExternalStorageConfigurationManager" enabled="true" />
-</project>

.idea/vcs.xml

@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="VcsDirectoryMappings">
-    <mapping directory="" vcs="Git" />
-  </component>
-</project>

.templates/CommandTest.java

@@ -1,40 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc4388.robot.commands;
-
-import edu.wpi.first.wpilibj2.command.*;
-import frc4388.robot.subsystems.*;
-import org.junit.*;
-
-import static org.mockito.Mockito.mock;
-import static org.mockito.Mockito.verify;
-
-public class CommandTest {
-    private CommandScheduler scheduler = null;
-
-    @Before
-    public void setup() {
-        scheduler = CommandScheduler.getInstance();
-    }
-
-    // TODO: Update this to use an actual command. Won't work with inline commands for some reason
-
-    @Test
-    public void testExample() {
-        // Arrange
-        Drive drive = mock(Drive.class);
-        RunCommand command = new RunCommand(() -> drive.driveWithInput(0, 0), drive);
-
-        // Act
-        scheduler.schedule(command);
-        scheduler.run();
-
-        // Assert
-        verify(drive).driveWithInput(0, 0);
-    }
-}

.templates/SubsystemTest.java

@@ -1,59 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc4388.robot.subsystems;
-
-import static org.junit.Assert.*;
-import static org.mockito.Mockito.*;
-
-import org.junit.*;
-
-import edu.wpi.first.wpilibj.Spark;
-import frc4388.robot.Constants.LEDConstants;
-import frc4388.utility.LEDPatterns;
-
-/**
- * Based off the LEDSubsystemTest class
- */
-public class SubsystemTest {
-    @Test
-    public void testConstructor() {
-        // Arrange
-        Spark ledController = mock(Spark.class);
-
-        // Act
-        LED led = new LED(ledController);
-
-        // Assert
-        assertEquals(LEDConstants.DEFAULT_PATTERN.getValue(), led.getPattern().getValue(), 0.0001);
-    }
-
-    @Test
-    public void testPatterns() {
-        // Arrange
-        Spark ledController = mock(Spark.class);
-        LED led = new LED(ledController);
-
-        // Act
-        led.setPattern(LEDPatterns.RAINBOW_RAINBOW);
-
-        // Assert
-        assertEquals(LEDPatterns.RAINBOW_RAINBOW.getValue(), led.getPattern().getValue(), 0.0001);
-
-        // Act
-        led.setPattern(LEDPatterns.BLUE_BREATH);
-
-        // Assert
-        assertEquals(LEDPatterns.BLUE_BREATH.getValue(), led.getPattern().getValue(), 0.0001);
-
-        // Act
-        led.setPattern(LEDPatterns.SOLID_BLACK);
-
-        // Assert
-        assertEquals(LEDPatterns.SOLID_BLACK.getValue(), led.getPattern().getValue(), 0.0001);
-    }
-}

.templates/UtilityTest.java

@@ -1,61 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc4388.utility;
-
-import static org.junit.Assert.*;
-import static org.mockito.Mockito.*;
-
-import com.kauailabs.navx.frc.AHRS;
-
-import org.junit.*;
-
-import frc4388.mocks.MockPigeonIMU;
-import frc4388.robot.Constants.DriveConstants;
-
-/**
- * Based on the RobotGyroUtilityTest class
- */
-public class UtilityTest {
-    private RobotGyro gyroPigeon;
-    private RobotGyro gyroNavX;
-
-    @Test
-    public void testConstructor() {
-        // Arrange
-        MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
-        AHRS navX = mock(AHRS.class);
-        gyroPigeon = new RobotGyro(pigeon);
-        gyroNavX = new RobotGyro(navX);
-
-        // Assert
-        assertEquals(true, gyroPigeon.m_isGyroAPigeon);
-        assertEquals(pigeon, gyroPigeon.getPigeon());
-        assertEquals(null, gyroPigeon.getNavX());
-        assertEquals(false, gyroNavX.m_isGyroAPigeon);
-        assertEquals(navX, gyroNavX.getNavX());
-        assertEquals(null, gyroNavX.getPigeon());
-    }
-
-    @Test
-    public void testHeadingPigeon() {
-        // Arrange
-        MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
-        gyroPigeon = new RobotGyro(pigeon);
-
-        // Act & Assert
-        assertEquals(-90, gyroPigeon.getHeading(270), 0.0001);
-        assertEquals(-45, gyroPigeon.getHeading(315), 0.0001);
-        assertEquals(-60, gyroPigeon.getHeading(-60), 0.0001);
-        assertEquals(30, gyroPigeon.getHeading(30), 0.0001);
-        assertEquals(0, gyroPigeon.getHeading(0), 0.0001);
-        assertEquals(180, gyroPigeon.getHeading(180), 0.0001);
-        assertEquals(-180, gyroPigeon.getHeading(-180), 0.0001);
-        assertEquals(97, gyroPigeon.getHeading(1537), 0.0001);
-        assertEquals(99, gyroPigeon.getHeading(-2781), 0.0001);
-    }
-}

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2024",
+    "projectYear": "2025beta",
     "teamNumber": 4388
 }

LICENSE

@@ -1,24 +0,0 @@
-Copyright (c) 2009-2024 FIRST
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-    * Redistributions of source code must retain the above copyright
-      notice, this list of conditions and the following disclaimer.
-    * Redistributions in binary form must reproduce the above copyright
-      notice, this list of conditions and the following disclaimer in the
-      documentation and/or other materials provided with the distribution.
-    * Neither the name of the FIRST nor the
-      names of its contributors may be used to endorse or promote products
-      derived from this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY
-EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
-PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
-ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

README.md

@@ -1,2 +0,0 @@
-# Robot-Essentials
- Basic code for any Ridgebotics robot project

WPILib-License.md

@@ -1,4 +1,4 @@
-Copyright (c) 2009-2023 FIRST and other WPILib contributors
+Copyright (c) 2009-2024 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.3.2"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-2"
 }
 
 java {
@@ -33,6 +33,8 @@ deploy {
                 frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
                     files = project.fileTree('src/main/deploy')
                     directory = '/home/lvuser/deploy'
+                    deleteOldFiles = false // Change to true to delete files on roboRIO that no
+                                           // longer exist in deploy directory on roboRIO
                 }
             }
         }
@@ -50,6 +52,7 @@ def includeDesktopSupport = false
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 5.
 dependencies {
+    annotationProcessor wpi.java.deps.wpilibAnnotations()
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
 
@@ -67,14 +70,14 @@ dependencies {
     nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
     simulationRelease wpi.sim.enableRelease()
 
-    //testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
+    testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
-    //testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
+    testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
 }
 
-// test {
+test {
-//     useJUnitPlatform()
+    useJUnitPlatform()
-//     systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
+    systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
-//}
+}
 
 // Simulation configuration (e.g. environment variables).
 wpi.sim.addGui().defaultEnabled = true

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME

gradlew

@@ -15,6 +15,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 #
+# SPDX-License-Identifier: Apache-2.0
+#
 
 ##############################################################################
 #
@@ -55,7 +57,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -84,7 +86,8 @@ done
 # shellcheck disable=SC2034
 APP_BASE_NAME=${0##*/}
 # Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
-APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
+APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s
+' "$PWD" ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum

gradlew.bat

@@ -13,6 +13,8 @@
 @rem See the License for the specific language governing permissions and
 @rem limitations under the License.
 @rem
+@rem SPDX-License-Identifier: Apache-2.0
+@rem
 
 @if "%DEBUG%"=="" @echo off
 @rem ##########################################################################
@@ -43,11 +45,11 @@ set JAVA_EXE=java.exe
 %JAVA_EXE% -version >NUL 2>&1
 if %ERRORLEVEL% equ 0 goto execute
 
-echo.
+echo. 1>&2
-echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2
-echo.
+echo. 1>&2
-echo Please set the JAVA_HOME variable in your environment to match the
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
-echo location of your Java installation.
+echo location of your Java installation. 1>&2
 
 goto fail
 
@@ -57,11 +59,11 @@ set JAVA_EXE=%JAVA_HOME%/bin/java.exe
 
 if exist "%JAVA_EXE%" goto execute
 
-echo.
+echo. 1>&2
-echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
-echo.
+echo. 1>&2
-echo Please set the JAVA_HOME variable in your environment to match the
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
-echo location of your Java installation.
+echo location of your Java installation. 1>&2
 
 goto fail
 

networktables.json

@@ -1 +0,0 @@
-[]

settings.gradle

@@ -4,7 +4,7 @@ pluginManagement {
     repositories {
         mavenLocal()
         gradlePluginPortal()
-        String frcYear = '2024'
+        String frcYear = '2025'
         File frcHome
         if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')

src/main/deploy/pathplanner/autos/New Auto.auto

@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "New Path"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/paths/New Path.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 13.882261436839258,
+        "y": 3.061093579814278
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 14.693915037547589,
+        "y": 2.6668618308988026
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 14.728700191862979,
+        "y": 1.2522655553831117
+      },
+      "prevControl": {
+        "x": 13.928641642594021,
+        "y": 1.3218358640107113
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/settings.json

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

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

@@ -7,6 +7,8 @@
 
 package frc4388.robot;
 
+import com.pathplanner.lib.util.ReplanningConfig;
+
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import frc4388.utility.Gains;
 import frc4388.utility.LEDPatterns;
@@ -68,7 +70,7 @@ public final class Constants {
             // public static final int RIGHT_BACK_STEER_ID = 9;
             // public static final int RIGHT_BACK_ENCODER_ID = 13;
 
-            // public static final int DRIVE_PIGEON_ID = 14;
+            public static final int DRIVE_PIGEON_ID = 10;
         }
     
         public static final class PIDConstants {
@@ -88,6 +90,8 @@ public final class Constants {
             
             public static final double PATH_MAX_VEL = 0.3; // TODO: find the actual value
             public static final double PATH_MAX_ACC = 0.3; // TODO: find the actual value
+
+            public static final ReplanningConfig replanningConfig = new ReplanningConfig();
         }
     
         public static final class Conversions {
@@ -131,6 +135,7 @@ public final class Constants {
       }
     
     public static final class VisionConstants {
+        public static final String CAMERA_NAME = "photonvision";
     }
 
     public static final class DriveConstants {

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

@@ -7,7 +7,10 @@
 
 package frc4388.robot;
 
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import frc4388.utility.DeferredBlock;

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

@@ -7,9 +7,13 @@
 
 package frc4388.robot;
 
+import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.commands.PathPlannerAuto;
+
 // Drive Systems
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import frc4388.utility.controller.XboxController;
 import frc4388.utility.controller.DeadbandedXboxController;
 import frc4388.robot.Constants.OIConstants;
@@ -25,11 +29,11 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
 import frc4388.utility.controller.VirtualController;
 import frc4388.robot.commands.Swerve.neoJoystickPlayback;
 import frc4388.robot.commands.Swerve.neoJoystickRecorder;
-
+import frc4388.robot.subsystems.RobotLocalizer;
 // Subsystems
 // import frc4388.robot.subsystems.LED;
 import frc4388.robot.subsystems.SwerveDrive;
-
+import frc4388.robot.subsystems.TankDrive;
 // Utilites
 import frc4388.utility.DeferredBlock;
 import frc4388.utility.configurable.ConfigurableString;
@@ -55,6 +59,14 @@ public class RobotContainer {
                                               
     //                                                               m_robotMap.gyro);
 
+
+    // ! /*  Autos */
+    private final RobotLocalizer robotLocalizer = new RobotLocalizer(m_robotMap.gyro, m_robotMap.cam);
+    private final SendableChooser<Command> autoChooser;
+
+    
+    private final TankDrive tankDrive = new TankDrive(m_robotMap.FR, m_robotMap.FL, m_robotMap.BL, m_robotMap.BR, robotLocalizer);
+
     /* Controllers */
     private final DeadbandedXboxController m_driverXbox   = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
     private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);    
@@ -66,9 +78,9 @@ public class RobotContainer {
 
     // ! Teleop Commands
 
-    // ! /*  Autos */
+
-    private String lastAutoName = "defualt.auto";
+    // private String lastAutoName = "defualt.auto";
-    private ConfigurableString autoplaybackName = new ConfigurableString("Auto Playback Name", lastAutoName);
+    // private ConfigurableString autoplaybackName = new ConfigurableString("Auto Playback Name", lastAutoName);
     // private neoJoystickPlayback autoPlayback = new neoJoystickPlayback(m_robotSwerveDrive, 
     // () -> autoplaybackName.get(), // lastAutoName
     //        new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
@@ -87,11 +99,11 @@ public class RobotContainer {
         /* Default Commands */
         // ! Swerve Drive Default Command (Regular Rotation)
         // drives the robot with a two-axis input from the driver controller
-        m_robotMap.tankDrive.setDefaultCommand(new RunCommand(() -> {
+        tankDrive.setDefaultCommand(new RunCommand(() -> {
-            m_robotMap.tankDrive.driveWithInput(getDeadbandedDriverController().getLeft(),
+            tankDrive.driveWithInput(getDeadbandedDriverController().getLeft(),
                                             getDeadbandedDriverController().getRight(),
                                 true);
-        }, m_robotMap.tankDrive)
+        }, tankDrive)
         .withName("SwerveDrive DefaultCommand"));
         // m_robotMap.tankDrive.setToSlow();
 
@@ -120,7 +132,7 @@ public class RobotContainer {
 
 
 
-
+        autoChooser = AutoBuilder.buildAutoChooser();
     }
 
     /**
@@ -201,9 +213,7 @@ public class RobotContainer {
      */
     public Command getAutonomousCommand() {
         // return autoPlayback;
-        return new Command() {
+        return autoChooser.getSelected();
-            
-        };
     }
 
     /**

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

@@ -8,6 +8,12 @@
 package frc4388.robot;
 
 import com.ctre.phoenix6.hardware.TalonFX;
+import com.pathplanner.lib.commands.PathPlannerAuto;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+import org.photonvision.PhotonCamera;
+
 import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 import com.ctre.phoenix6.hardware.CANcoder;
 import com.ctre.phoenix6.hardware.Pigeon2;
@@ -15,6 +21,7 @@ import com.ctre.phoenix6.hardware.Pigeon2;
 // import edu.wpi.first.wpilibj.motorcontrol.Spark;
 // import frc4388.robot.Constants.LEDConstants;
 import frc4388.robot.Constants.SwerveDriveConstants;
+import frc4388.robot.Constants.VisionConstants;
 import frc4388.robot.subsystems.SwerveModule;
 import frc4388.robot.subsystems.TankDrive;
 import frc4388.utility.RobotGyro;
@@ -24,8 +31,9 @@ import frc4388.utility.RobotGyro;
  * testing and modularization.
  */
 public class RobotMap {
-    // private Pigeon2 m_pigeon2 = new Pigeon2(SwerveDriveConstants.IDs.DRIVE_PIGEON_ID);
+    private Pigeon2 m_pigeon2 = new Pigeon2(SwerveDriveConstants.IDs.DRIVE_PIGEON_ID);
-    // public RobotGyro gyro = new RobotGyro(m_pigeon2);
+    public RobotGyro gyro = new RobotGyro(m_pigeon2);
+    public PhotonCamera cam = new PhotonCamera(VisionConstants.CAMERA_NAME);
     
     // public SwerveModule leftFront;
     // public SwerveModule rightFront;
@@ -65,7 +73,6 @@ public class RobotMap {
     // public final CANcoder rightBackEncoder = new CANcoder(SwerveDriveConstants.IDs.RIGHT_BACK_ENCODER_ID);
 
     void configureDriveMotorControllers() {
-        this.tankDrive = new TankDrive(FR, FL, BL, BR);
         // initialize SwerveModules
         // this.rightFront = new SwerveModule(rightFrontWheel, rightFrontSteer, rightFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_RIGHT_ROT_OFFSET);
         // this.leftFront = new SwerveModule(leftFrontWheel, leftFrontSteer, leftFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_LEFT_ROT_OFFSET);

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

@@ -9,6 +9,7 @@ package frc4388.robot.subsystems;
 
 import com.ctre.phoenix6.controls.Follower;
 import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.hardware.core.CorePigeon2;
 
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

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

@@ -0,0 +1,108 @@
+package frc4388.robot.subsystems;
+
+import org.photonvision.PhotonCamera;
+import org.photonvision.targeting.PhotonTrackedTarget;
+
+import com.pathplanner.lib.path.PathPlannerPath;
+
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.geometry.Translation3d;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.utility.RobotGyro;
+
+public class RobotLocalizer extends SubsystemBase {
+    private RobotGyro gyro;
+    private Pose2d lastPose2d = new Pose2d();
+    private PhotonCamera camera;
+
+
+    public RobotLocalizer(RobotGyro gyro, PhotonCamera cam) {
+        this.gyro = gyro;
+        this.camera = cam;
+    }
+
+    @Override
+    public void periodic() {
+        // time
+        // Translation3d accel = gyro.getAcceleration();
+
+        // SmartDashboard.putNumber("Accel X", accel.getX());
+        // SmartDashboard.putNumber("Accel Y", accel.getY());
+        // SmartDashboard.putNumber("Accel Z", accel.getZ());
+
+        // Rotation3d rot = gyro.getRotation3d();
+
+        // SmartDashboard.putNumber("Rot X", rot.getX());
+        // SmartDashboard.putNumber("Rot Y", rot.getY());
+        // SmartDashboard.putNumber("Rot Z", rot.getZ());
+
+        // boolean tagExists = SmartDashboard.getBoolean("photonvision/Camera_Module_v1/hasTarget", false);
+        
+        Translation2d pos;
+
+        var result = camera.getAllUnreadResults();
+        // if (result.hasTargets()) {
+        //     PhotonTrackedTarget target = result.getBestTarget();
+        //     Transform3d pos3d = target.getBestCameraToTarget();
+        //     pos = new Translation2d(pos3d.getX(), pos3d.getY());
+        // } else {
+            pos = lastPose2d.getTranslation();
+        // }
+
+        // results.
+        // if (!results.isEmpty()) {
+
+        //     double totalX = 0;
+        //     double totalY = 0;
+
+        //     // Camera processed a new frame since last
+        //     // Get the last one in the list.
+        //     var result = results.get(results.size() - 1);
+        //     // PhotonTrackedTarget targets = result.getMultiTagResult();
+
+        //     if (result.hasTargets()) {
+        //         PhotonTrackedTarget target = result.getBestTarget();
+        //         Transform3d pos3d = target.getBestCameraToTarget();
+        //         pos = new Translation2d(pos3d.getX(), pos3d.getY());
+        //     } else {
+        //         pos = lastPose2d.getTranslation();
+        //     }
+        // }else {
+        //     pos = lastPose2d.getTranslation();
+        // }
+
+
+        lastPose2d = new Pose2d(
+            pos,
+            gyro.getRotation2d() 
+        );
+    }
+
+    // Pathplanner function
+    public Pose2d getPose(){
+        return lastPose2d;
+    }
+
+    // PathPlanner func
+    public void resetPose(Pose2d pose){
+        lastPose2d = pose;
+    }
+
+    // PathPlanner
+    public ChassisSpeeds getChassisSpeeds() {
+        return new ChassisSpeeds();
+    }
+    
+    // PathPlanner
+    public void setChassisSpeeds(ChassisSpeeds target) {
+        System.out.println(target);
+    }
+
+    
+
+}

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

@@ -150,7 +150,7 @@ public class SwerveModule extends SubsystemBase {
     public Rotation2d getAngle() {
         // * Note: This assumes that the CANCoders are setup with the default feedback coefficient and the sensor value reports degrees.
         // return Rotation2d.fromDegrees(encoder.getAbsolutePosition());
-        return Rotation2d.fromRotations(encoder.getPosition().getValue());
+        return Rotation2d.fromRotations(encoder.getPosition().getValue().baseUnitMagnitude());
     }
     
     public double getAngularVel() {
@@ -184,7 +184,7 @@ public class SwerveModule extends SubsystemBase {
      */
     public SwerveModuleState getState() {
         return new SwerveModuleState(
-            Units.inchesToMeters(driveMotor.getVelocity().getValue() * 
+            Units.inchesToMeters(driveMotor.getVelocity().getValue().baseUnitMagnitude() * 
             SwerveDriveConstants.Conversions.INCHES_PER_WHEEL_REV * 
             SwerveDriveConstants.Conversions.WHEEL_REV_PER_MOTOR_REV), 
             getAngle()

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

@@ -1,23 +1,52 @@
 package frc4388.robot.subsystems;
 
+import java.util.function.BooleanSupplier;
+import java.util.function.Function;
+
 import com.ctre.phoenix.motorcontrol.ControlMode;
 import com.ctre.phoenix.motorcontrol.can.TalonSRX;
+import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.controllers.PPLTVController;
+import com.pathplanner.lib.path.PathPlannerPath;
 
 import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.Constants.SwerveDriveConstants.AutoConstants;
 
 public class TankDrive extends SubsystemBase{
     private TalonSRX FR;
     private TalonSRX FL;
     private TalonSRX BL;
     private TalonSRX BR;
+    private RobotLocalizer robotLocalizer;
 
-    public TankDrive(TalonSRX FR,TalonSRX FL,TalonSRX BL, TalonSRX BR){
+    public TankDrive(TalonSRX FR,TalonSRX FL,TalonSRX BL, TalonSRX BR, RobotLocalizer robotLocalizer){
         this.FR = FR;
         this.FL = FL;
         this.BL = BL;
         this.BR = BR;
+        this.robotLocalizer = robotLocalizer;
+
+        
+        // Configure AutoBuilder last
+        AutoBuilder.configureLTV(
+            robotLocalizer::getPose,
+            robotLocalizer::resetPose,
+            robotLocalizer::getChassisSpeeds,
+            robotLocalizer::setChassisSpeeds,
+            0.02, // Default loop time
+            AutoConstants.replanningConfig,
+            new BooleanSupplier() {
+                @Override
+                public boolean getAsBoolean() {
+                    return false;
+                }
+            },
+            this
+        );
     }
 
     private static final ControlMode mode = ControlMode.PercentOutput;
@@ -58,5 +87,6 @@ public class TankDrive extends SubsystemBase{
         SmartDashboard.putNumber("FL", FL_rot);
         SmartDashboard.putNumber("BL", BL_rot);
         SmartDashboard.putNumber("BR", BR_rot);
+
     }
 }

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

@@ -9,12 +9,15 @@ package frc4388.utility;
 
 // import com.ctre.phoenix.sensors.WPI_Pigeon2;
 import com.ctre.phoenix6.hardware.Pigeon2;
-import com.kauailabs.navx.frc.AHRS;
+// import com.kauailabs.navx.frc.AHRS;
 
 // import edu.wpi.first.wpilibj.GyroBase;
 // import edu.wpi.first.wpilibj.interfaces.Gyro;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.geometry.Translation3d;
 
 /**
  * Gyro class that allows for interchangeable use between a pigeon and a navX
@@ -23,7 +26,7 @@ public class RobotGyro {
     private RobotTime m_robotTime = RobotTime.getInstance();
 
     private Pigeon2 m_pigeon = null;
-    private AHRS m_navX = null;
+    // private AHRS m_navX = null;
     public boolean m_isGyroAPigeon; //true if pigeon, false if navX
 
     private double m_lastPigeonAngle;
@@ -45,10 +48,10 @@ public class RobotGyro {
      * Creates a Gyro based on a navX
      * @param gyro the gyroscope to use for Gyro
      */
-    public RobotGyro(AHRS gyro){
+    // public RobotGyro(AHRS gyro){
-        m_navX = gyro;
+    //     m_navX = gyro;
-        m_isGyroAPigeon = false;
+    //     m_isGyroAPigeon = false;
-    }
+    // }
 
     /**
      * Resets yaw, pitch, and roll.
@@ -98,33 +101,33 @@ public class RobotGyro {
     public void reset() {
         resetZeroValues();
 
-        if (m_isGyroAPigeon) {
+        // if (m_isGyroAPigeon) {
             m_pigeon.setYaw(0);
-        } else {
+        // } else {
-            m_navX.reset();
+        //     // m_navX.reset();
-        }
+        // }
 
     }
 
     public void reset(double val) {
         resetZeroValues();
 
-        if (m_isGyroAPigeon) {
+        // if (m_isGyroAPigeon) {
             m_pigeon.setYaw(val);
-        } else {
+        // } else {
-            m_navX.reset();
+        //     // m_navX.reset();
-        }
+        // }
 
     }
 
     public void resetFlip() {
         resetZeroValues();
 
-        if (m_isGyroAPigeon) {
+        // if (m_isGyroAPigeon) {
             m_pigeon.setYaw(180);
-        } else {
+        // } else {
-            m_navX.reset();
+            // m_navX.reset();
-        }
+        // }
 
     }
 
@@ -134,7 +137,7 @@ public class RobotGyro {
         if (m_isGyroAPigeon) {
             m_pigeon.setYaw(90);
         } else {
-            m_navX.reset();
+            // m_navX.reset();
         }
         
     }
@@ -145,7 +148,7 @@ public class RobotGyro {
         if (m_isGyroAPigeon) {
             m_pigeon.setYaw(270);
         } else {
-            m_navX.reset();
+            // m_navX.reset();
         }
 
     }
@@ -156,7 +159,7 @@ public class RobotGyro {
         if (m_isGyroAPigeon) {
             m_pigeon.setYaw(60);
         } else {
-            m_navX.reset();
+            // m_navX.reset();
         }   
 
     }
@@ -167,7 +170,7 @@ public class RobotGyro {
         if (m_isGyroAPigeon) {
             m_pigeon.setYaw(-60);
         } else {
-            m_navX.reset();
+            // m_navX.reset();
         }   
 
     }
@@ -191,12 +194,30 @@ public class RobotGyro {
         return m_pigeon.getRotation2d();
     }
 
+    public Rotation3d getRotation3d() {
+        return m_pigeon.getRotation3d();
+    }
+
+    public Translation2d getAcceleration2d() {
+        return new Translation2d(
+            m_pigeon.getAccelerationX().getValue().baseUnitMagnitude(), 
+            m_pigeon.getAccelerationY().getValue().baseUnitMagnitude());
+    }
+
+
+    public Translation3d getAcceleration3d() {
+        return new Translation3d(
+            m_pigeon.getAccelerationX().getValue().baseUnitMagnitude(), 
+            m_pigeon.getAccelerationY().getValue().baseUnitMagnitude(), 
+            m_pigeon.getAccelerationZ().getValue().baseUnitMagnitude());
+    }
+
     public double getAngle() {
-        if (m_isGyroAPigeon) {
+        // if (m_isGyroAPigeon) {
             return getPigeonAngles()[2];
-        } else {
+        // } else {
-            return m_navX.getAngle();
+            // return m_navX.getAngle();
-        }
+        // }
     }
 
     public double getYaw() {
@@ -226,11 +247,11 @@ public class RobotGyro {
      * @return The current pitch value in degrees (-90 to 90).
      */
     public double getPitch() {
-        if (m_isGyroAPigeon) {
+        // if (m_isGyroAPigeon) {
             return MathUtil.clamp(getPigeonAngles()[1], -90, 90);
-        } else {
+        // } else {
-            return MathUtil.clamp(m_navX.getPitch(), -90, 90);
+            // return MathUtil.clamp(m_navX.getPitch(), -90, 90);
-        }
+        // }
     }
 
     /**
@@ -240,28 +261,28 @@ public class RobotGyro {
      * @return The current roll value in degrees (-90 to 90).
      */
     public double getRoll() {
-        if (m_isGyroAPigeon) {
+        // if (m_isGyroAPigeon) {
             return MathUtil.clamp(getPigeonAngles()[2], -90, 90);
-        } else {
+        // } else {
-            return MathUtil.clamp(m_navX.getRoll(), -90, 90);
+            // return MathUtil.clamp(m_navX.getRoll(), -90, 90);
-        }
+        // }
     }
 
     public double getRate() {
-        if (m_isGyroAPigeon) {
+        // if (m_isGyroAPigeon) {
             return m_deltaPigeonAngle / m_robotTime.m_deltaTime * 1000;
-        } else {
+        // } else {
-            return m_navX.getRate();
+        //     // return m_navX.getRate();
-        }
+        // }
     }
 
     public Pigeon2 getPigeon(){
         return m_pigeon;
     }
 
-    public AHRS getNavX(){
+    // public AHRS getNavX(){
-        return m_navX;
+    //     return m_navX;
-    }
+    // }
 
     public void close() throws Exception {
 

template.config.js

@@ -1,31 +0,0 @@
-/**
- * This file is a configuration file generated by the `Template` extension on `vscode`
- * @see https://marketplace.visualstudio.com/items?itemName=yongwoo.template
- */
-module.exports = {
-  // You can change the template path to another path
-  templateRootPath: "./.templates",
-  // After copying the template file the `replaceFileTextFn` function is executed
-  replaceFileTextFn: (fileText, templateName, utils) => {
-    // @see https://www.npmjs.com/package/change-case
-    const { changeCase } = utils;
-    // You can change the text in the file
-    return fileText
-      .replace(/__templateName__/gm, templateName)
-      .replace(
-        /__templateNameToPascalCase__/gm,
-        changeCase.pascalCase(templateName)
-      )
-      .replace(
-        /__templateNameToParamCase__/gm,
-        changeCase.paramCase(templateName)
-      );
-  },
-  replaceFileNameFn: (fileName, templateName, utils) => {
-    const { path } = utils;
-    // @see https://nodejs.org/api/path.html#path_path_parse_path
-    const { base } = path.parse(fileName);
-    // You can change the file name
-    return base;
-  }
-};

vendordeps/2024/NavX.json

@@ -3,7 +3,7 @@
     "name": "NavX",
     "version": "2024.1.0",
     "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
-    "frcYear": "2024",
+    "frcYear": "2025",
     "mavenUrls": [
         "https://dev.studica.com/maven/release/2024/"
     ],

vendordeps/2024/PathplannerLib2024.json

@@ -0,0 +1,38 @@
+{
+    "fileName": "PathplannerLib2024.json",
+    "name": "PathplannerLib",
+    "version": "2024.2.8",
+    "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
+    "frcYear": "2024",
+    "mavenUrls": [
+        "https://3015rangerrobotics.github.io/pathplannerlib/repo"
+    ],
+    "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib2024.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.pathplanner.lib",
+            "artifactId": "PathplannerLib-java",
+            "version": "2024.2.8"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "com.pathplanner.lib",
+            "artifactId": "PathplannerLib-cpp",
+            "version": "2024.2.8",
+            "libName": "PathplannerLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal",
+                "linuxathena",
+                "linuxarm32",
+                "linuxarm64"
+            ]
+        }
+    ]
+}

vendordeps/2024/Phoenix.json

@@ -0,0 +1,151 @@
+{
+    "fileName": "Phoenix5.json",
+    "name": "CTRE-Phoenix (v5)",
+    "version": "5.33.1",
+    "frcYear": 2024,
+    "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
+    "mavenUrls": [
+        "https://maven.ctr-electronics.com/release/"
+    ],
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2024-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.json",
+            "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json"
+        }
+    ],
+    "javaDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "api-java",
+            "version": "5.33.1"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "wpiapi-java",
+            "version": "5.33.1"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "cci",
+            "version": "5.33.1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "cci-sim",
+            "version": "5.33.1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "wpiapi-cpp",
+            "version": "5.33.1",
+            "libName": "CTRE_Phoenix_WPI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "api-cpp",
+            "version": "5.33.1",
+            "libName": "CTRE_Phoenix",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "cci",
+            "version": "5.33.1",
+            "libName": "CTRE_PhoenixCCI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "wpiapi-cpp-sim",
+            "version": "5.33.1",
+            "libName": "CTRE_Phoenix_WPISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "api-cpp-sim",
+            "version": "5.33.1",
+            "libName": "CTRE_PhoenixSim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "cci-sim",
+            "version": "5.33.1",
+            "libName": "CTRE_PhoenixCCISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ]
+}

vendordeps/2024/Phoenix6.json

@@ -0,0 +1,339 @@
+{
+    "fileName": "Phoenix6.json",
+    "name": "CTRE-Phoenix (v6)",
+    "version": "24.3.0",
+    "frcYear": 2024,
+    "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
+    "mavenUrls": [
+        "https://maven.ctr-electronics.com/release/"
+    ],
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
+    "conflictsWith": [
+        {
+            "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
+            "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
+            "offlineFileName": "Phoenix6And5.json"
+        }
+    ],
+    "javaDependencies": [
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "wpiapi-java",
+            "version": "24.3.0"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "tools",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "tools-sim",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simTalonSRX",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simTalonFX",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simVictorSPX",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simPigeonIMU",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simCANCoder",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFX",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANcoder",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProPigeon2",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "wpiapi-cpp",
+            "version": "24.3.0",
+            "libName": "CTRE_Phoenix6_WPI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "tools",
+            "version": "24.3.0",
+            "libName": "CTRE_PhoenixTools",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "wpiapi-cpp-sim",
+            "version": "24.3.0",
+            "libName": "CTRE_Phoenix6_WPISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "tools-sim",
+            "version": "24.3.0",
+            "libName": "CTRE_PhoenixTools_Sim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simTalonSRX",
+            "version": "24.3.0",
+            "libName": "CTRE_SimTalonSRX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simTalonFX",
+            "version": "24.3.0",
+            "libName": "CTRE_SimTalonFX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simVictorSPX",
+            "version": "24.3.0",
+            "libName": "CTRE_SimVictorSPX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simPigeonIMU",
+            "version": "24.3.0",
+            "libName": "CTRE_SimPigeonIMU",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simCANCoder",
+            "version": "24.3.0",
+            "libName": "CTRE_SimCANCoder",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFX",
+            "version": "24.3.0",
+            "libName": "CTRE_SimProTalonFX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANcoder",
+            "version": "24.3.0",
+            "libName": "CTRE_SimProCANcoder",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProPigeon2",
+            "version": "24.3.0",
+            "libName": "CTRE_SimProPigeon2",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ]
+}

vendordeps/2024/WPILibNewCommands.json

@@ -0,0 +1,38 @@
+{
+  "fileName": "WPILibNewCommands.json",
+  "name": "WPILib-New-Commands",
+  "version": "1.0.0",
+  "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
+  "frcYear": "2024",
+  "mavenUrls": [],
+  "jsonUrl": "",
+  "javaDependencies": [
+    {
+      "groupId": "edu.wpi.first.wpilibNewCommands",
+      "artifactId": "wpilibNewCommands-java",
+      "version": "wpilib"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "groupId": "edu.wpi.first.wpilibNewCommands",
+      "artifactId": "wpilibNewCommands-cpp",
+      "version": "wpilib",
+      "libName": "wpilibNewCommands",
+      "headerClassifier": "headers",
+      "sourcesClassifier": "sources",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "linuxathena",
+        "linuxarm32",
+        "linuxarm64",
+        "windowsx86-64",
+        "windowsx86",
+        "linuxx86-64",
+        "osxuniversal"
+      ]
+    }
+  ]
+}

vendordeps/2024/photonlib-v2025.0.0-beta-6.json

@@ -0,0 +1,71 @@
+{
+  "fileName": "photonlib.json",
+  "name": "photonlib",
+  "version": "v2025.0.0-beta-6",
+  "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
+  "frcYear": "2024",
+  "mavenUrls": [
+    "https://maven.photonvision.org/repository/internal",
+    "https://maven.photonvision.org/repository/snapshots"
+  ],
+  "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json",
+  "jniDependencies": [
+    {
+      "groupId": "org.photonvision",
+      "artifactId": "photontargeting-cpp",
+      "version": "v2025.0.0-beta-6",
+      "skipInvalidPlatforms": true,
+      "isJar": false,
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxathena",
+        "linuxx86-64",
+        "osxuniversal"
+      ]
+    }
+  ],
+  "cppDependencies": [
+    {
+      "groupId": "org.photonvision",
+      "artifactId": "photonlib-cpp",
+      "version": "v2025.0.0-beta-6",
+      "libName": "photonlib",
+      "headerClassifier": "headers",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxathena",
+        "linuxx86-64",
+        "osxuniversal"
+      ]
+    },
+    {
+      "groupId": "org.photonvision",
+      "artifactId": "photontargeting-cpp",
+      "version": "v2025.0.0-beta-6",
+      "libName": "photontargeting",
+      "headerClassifier": "headers",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxathena",
+        "linuxx86-64",
+        "osxuniversal"
+      ]
+    }
+  ],
+  "javaDependencies": [
+    {
+      "groupId": "org.photonvision",
+      "artifactId": "photonlib-java",
+      "version": "v2025.0.0-beta-6"
+    },
+    {
+      "groupId": "org.photonvision",
+      "artifactId": "photontargeting-java",
+      "version": "v2025.0.0-beta-6"
+    }
+  ]
+}

vendordeps/PathplannerLib2024.json

@@ -0,0 +1,38 @@
+{
+    "fileName": "PathplannerLib.json",
+    "name": "PathplannerLib",
+    "version": "2024.2.8",
+    "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
+    "frcYear": "2025",
+    "mavenUrls": [
+        "https://3015rangerrobotics.github.io/pathplannerlib/repo"
+    ],
+    "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.pathplanner.lib",
+            "artifactId": "PathplannerLib-java",
+            "version": "2024.2.8"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "com.pathplanner.lib",
+            "artifactId": "PathplannerLib-cpp",
+            "version": "2024.2.8",
+            "libName": "PathplannerLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal",
+                "linuxathena",
+                "linuxarm32",
+                "linuxarm64"
+            ]
+        }
+    ]
+}

vendordeps/Phoenix.json

@@ -1,151 +1,341 @@
 {
-    "fileName": "Phoenix5.json",
+
+    "fileName": "Phoenix5-frc2025-beta-latest.json",
+
     "name": "CTRE-Phoenix (v5)",
-    "version": "5.33.1",
+
-    "frcYear": 2024,
+    "version": "5.34.0-beta-4",
+
+    "frcYear": "2025",
+
     "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
+
     "mavenUrls": [
+
         "https://maven.ctr-electronics.com/release/"
+
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2024-latest.json",
+
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2025-beta-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.json",
+
-            "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json"
+            "offlineFileName": "Phoenix6-frc2025-beta-latest.json",
+
+            "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-beta-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-frc2025-beta-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-frc2025-beta-latest.json"
+
+        }
+
+    ],
+
     "javaDependencies": [
+
         {
+
             "groupId": "com.ctre.phoenix",
+
             "artifactId": "api-java",
-            "version": "5.33.1"
+
+            "version": "5.34.0-beta-4"
+
         },
+
         {
+
             "groupId": "com.ctre.phoenix",
+
             "artifactId": "wpiapi-java",
-            "version": "5.33.1"
+
+            "version": "5.34.0-beta-4"
+
         }
+
     ],
+
     "jniDependencies": [
+
         {
+
             "groupId": "com.ctre.phoenix",
+
             "artifactId": "cci",
-            "version": "5.33.1",
+
+            "version": "5.34.0-beta-4",
+
             "isJar": false,
+
             "skipInvalidPlatforms": true,
+
             "validPlatforms": [
+
                 "windowsx86-64",
+
                 "linuxx86-64",
+
+                "linuxarm64",
+
                 "linuxathena"
+
             ],
+
             "simMode": "hwsim"
+
         },
+
         {
+
             "groupId": "com.ctre.phoenix.sim",
+
             "artifactId": "cci-sim",
-            "version": "5.33.1",
+
+            "version": "5.34.0-beta-4",
+
             "isJar": false,
+
             "skipInvalidPlatforms": true,
+
             "validPlatforms": [
+
                 "windowsx86-64",
+
                 "linuxx86-64",
+
+                "linuxarm64",
+
                 "osxuniversal"
+
             ],
+
             "simMode": "swsim"
+
         }
+
     ],
+
     "cppDependencies": [
+
         {
+
             "groupId": "com.ctre.phoenix",
+
             "artifactId": "wpiapi-cpp",
-            "version": "5.33.1",
+
+            "version": "5.34.0-beta-4",
+
             "libName": "CTRE_Phoenix_WPI",
+
             "headerClassifier": "headers",
+
             "sharedLibrary": true,
+
             "skipInvalidPlatforms": true,
+
             "binaryPlatforms": [
+
                 "windowsx86-64",
+
                 "linuxx86-64",
+
+                "linuxarm64",
+
                 "linuxathena"
+
             ],
+
             "simMode": "hwsim"
+
         },
+
         {
+
             "groupId": "com.ctre.phoenix",
+
             "artifactId": "api-cpp",
-            "version": "5.33.1",
+
+            "version": "5.34.0-beta-4",
+
             "libName": "CTRE_Phoenix",
+
             "headerClassifier": "headers",
+
             "sharedLibrary": true,
+
             "skipInvalidPlatforms": true,
+
             "binaryPlatforms": [
+
                 "windowsx86-64",
+
                 "linuxx86-64",
+
+                "linuxarm64",
+
                 "linuxathena"
+
             ],
+
             "simMode": "hwsim"
+
         },
+
         {
+
             "groupId": "com.ctre.phoenix",
+
             "artifactId": "cci",
-            "version": "5.33.1",
+
+            "version": "5.34.0-beta-4",
+
             "libName": "CTRE_PhoenixCCI",
+
             "headerClassifier": "headers",
+
             "sharedLibrary": true,
+
             "skipInvalidPlatforms": true,
+
             "binaryPlatforms": [
+
                 "windowsx86-64",
+
                 "linuxx86-64",
+
+                "linuxarm64",
+
                 "linuxathena"
+
             ],
+
             "simMode": "hwsim"
+
         },
+
         {
+
             "groupId": "com.ctre.phoenix.sim",
+
             "artifactId": "wpiapi-cpp-sim",
-            "version": "5.33.1",
+
+            "version": "5.34.0-beta-4",
+
             "libName": "CTRE_Phoenix_WPISim",
+
             "headerClassifier": "headers",
+
             "sharedLibrary": true,
+
             "skipInvalidPlatforms": true,
+
             "binaryPlatforms": [
+
                 "windowsx86-64",
+
                 "linuxx86-64",
+
+                "linuxarm64",
+
                 "osxuniversal"
+
             ],
+
             "simMode": "swsim"
+
         },
+
         {
+
             "groupId": "com.ctre.phoenix.sim",
+
             "artifactId": "api-cpp-sim",
-            "version": "5.33.1",
+
+            "version": "5.34.0-beta-4",
+
             "libName": "CTRE_PhoenixSim",
+
             "headerClassifier": "headers",
+
             "sharedLibrary": true,
+
             "skipInvalidPlatforms": true,
+
             "binaryPlatforms": [
+
                 "windowsx86-64",
+
                 "linuxx86-64",
+
+                "linuxarm64",
+
                 "osxuniversal"
+
             ],
+
             "simMode": "swsim"
+
         },
+
         {
+
             "groupId": "com.ctre.phoenix.sim",
+
             "artifactId": "cci-sim",
-            "version": "5.33.1",
+
+            "version": "5.34.0-beta-4",
+
             "libName": "CTRE_PhoenixCCISim",
+
             "headerClassifier": "headers",
+
             "sharedLibrary": true,
+
             "skipInvalidPlatforms": true,
+
             "binaryPlatforms": [
+
                 "windowsx86-64",
+
                 "linuxx86-64",
+
+                "linuxarm64",
+
                 "osxuniversal"
+
             ],
+
             "simMode": "swsim"
+
         }
+
     ]
+
 }

vendordeps/Phoenix6.json

@@ -1,50 +1,80 @@
 {
-    "fileName": "Phoenix6.json",
+    "fileName": "Phoenix6-frc2025-beta-latest.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "24.3.0",
+    "version": "25.0.0-beta-4",
-    "frcYear": 2024,
+    "frcYear": "2025",
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-beta-latest.json",
     "conflictsWith": [
         {
-            "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
+            "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
-            "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
+            "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.",
-            "offlineFileName": "Phoenix6And5.json"
+            "offlineFileName": "Phoenix6-replay-frc2025-beta-latest.json"
         }
     ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "24.3.0"
+            "version": "25.0.0-beta-4"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
-            "artifactId": "tools",
+            "artifactId": "api-cpp",
-            "version": "24.3.0",
+            "version": "25.0.0-beta-4",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
                 "windowsx86-64",
                 "linuxx86-64",
+                "linuxarm64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "tools",
+            "version": "25.0.0-beta-4",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
                 "linuxathena"
             ],
             "simMode": "hwsim"
         },
         {
             "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "tools-sim",
+            "artifactId": "api-cpp-sim",
-            "version": "24.3.0",
+            "version": "25.0.0-beta-4",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
                 "windowsx86-64",
                 "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "tools-sim",
+            "version": "25.0.0-beta-4",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
                 "osxuniversal"
             ],
             "simMode": "swsim"
@@ -52,25 +82,13 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "24.3.0",
+            "version": "25.0.0-beta-4",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simTalonFX",
-            "version": "24.3.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
                 "windowsx86-64",
                 "linuxx86-64",
+                "linuxarm64",
                 "osxuniversal"
             ],
             "simMode": "swsim"
@@ -78,12 +96,13 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "24.3.0",
+            "version": "25.0.0-beta-4",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
                 "windowsx86-64",
                 "linuxx86-64",
+                "linuxarm64",
                 "osxuniversal"
             ],
             "simMode": "swsim"
@@ -91,12 +110,13 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "24.3.0",
+            "version": "25.0.0-beta-4",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
                 "windowsx86-64",
                 "linuxx86-64",
+                "linuxarm64",
                 "osxuniversal"
             ],
             "simMode": "swsim"
@@ -104,12 +124,13 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "24.3.0",
+            "version": "25.0.0-beta-4",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
                 "windowsx86-64",
                 "linuxx86-64",
+                "linuxarm64",
                 "osxuniversal"
             ],
             "simMode": "swsim"
@@ -117,12 +138,13 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "24.3.0",
+            "version": "25.0.0-beta-4",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
                 "windowsx86-64",
                 "linuxx86-64",
+                "linuxarm64",
                 "osxuniversal"
             ],
             "simMode": "swsim"
@@ -130,12 +152,13 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "24.3.0",
+            "version": "25.0.0-beta-4",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
                 "windowsx86-64",
                 "linuxx86-64",
+                "linuxarm64",
                 "osxuniversal"
             ],
             "simMode": "swsim"
@@ -143,12 +166,27 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "24.3.0",
+            "version": "25.0.0-beta-4",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
                 "windowsx86-64",
                 "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANrange",
+            "version": "25.0.0-beta-4",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
                 "osxuniversal"
             ],
             "simMode": "swsim"
@@ -158,7 +196,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "24.3.0",
+            "version": "25.0.0-beta-4",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -166,6 +204,7 @@
             "binaryPlatforms": [
                 "windowsx86-64",
                 "linuxx86-64",
+                "linuxarm64",
                 "linuxathena"
             ],
             "simMode": "hwsim"
@@ -173,7 +212,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "24.3.0",
+            "version": "25.0.0-beta-4",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -181,6 +220,7 @@
             "binaryPlatforms": [
                 "windowsx86-64",
                 "linuxx86-64",
+                "linuxarm64",
                 "linuxathena"
             ],
             "simMode": "hwsim"
@@ -188,7 +228,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "24.3.0",
+            "version": "25.0.0-beta-4",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -196,6 +236,7 @@
             "binaryPlatforms": [
                 "windowsx86-64",
                 "linuxx86-64",
+                "linuxarm64",
                 "osxuniversal"
             ],
             "simMode": "swsim"
@@ -203,7 +244,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "24.3.0",
+            "version": "25.0.0-beta-4",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -211,6 +252,7 @@
             "binaryPlatforms": [
                 "windowsx86-64",
                 "linuxx86-64",
+                "linuxarm64",
                 "osxuniversal"
             ],
             "simMode": "swsim"
@@ -218,7 +260,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "24.3.0",
+            "version": "25.0.0-beta-4",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -226,21 +268,7 @@
             "binaryPlatforms": [
                 "windowsx86-64",
                 "linuxx86-64",
-                "osxuniversal"
+                "linuxarm64",
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simTalonFX",
-            "version": "24.3.0",
-            "libName": "CTRE_SimTalonFX",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
                 "osxuniversal"
             ],
             "simMode": "swsim"
@@ -248,7 +276,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "24.3.0",
+            "version": "25.0.0-beta-4",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -256,6 +284,7 @@
             "binaryPlatforms": [
                 "windowsx86-64",
                 "linuxx86-64",
+                "linuxarm64",
                 "osxuniversal"
             ],
             "simMode": "swsim"
@@ -263,7 +292,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "24.3.0",
+            "version": "25.0.0-beta-4",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -271,6 +300,7 @@
             "binaryPlatforms": [
                 "windowsx86-64",
                 "linuxx86-64",
+                "linuxarm64",
                 "osxuniversal"
             ],
             "simMode": "swsim"
@@ -278,7 +308,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "24.3.0",
+            "version": "25.0.0-beta-4",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -286,6 +316,7 @@
             "binaryPlatforms": [
                 "windowsx86-64",
                 "linuxx86-64",
+                "linuxarm64",
                 "osxuniversal"
             ],
             "simMode": "swsim"
@@ -293,7 +324,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "24.3.0",
+            "version": "25.0.0-beta-4",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -301,6 +332,7 @@
             "binaryPlatforms": [
                 "windowsx86-64",
                 "linuxx86-64",
+                "linuxarm64",
                 "osxuniversal"
             ],
             "simMode": "swsim"
@@ -308,7 +340,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "24.3.0",
+            "version": "25.0.0-beta-4",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -316,6 +348,7 @@
             "binaryPlatforms": [
                 "windowsx86-64",
                 "linuxx86-64",
+                "linuxarm64",
                 "osxuniversal"
             ],
             "simMode": "swsim"
@@ -323,7 +356,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "24.3.0",
+            "version": "25.0.0-beta-4",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -331,6 +364,23 @@
             "binaryPlatforms": [
                 "windowsx86-64",
                 "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANrange",
+            "version": "25.0.0-beta-4",
+            "libName": "CTRE_SimProCANrange",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
                 "osxuniversal"
             ],
             "simMode": "swsim"

vendordeps/WPILibNewCommands.json

@@ -3,7 +3,7 @@
   "name": "WPILib-New-Commands",
   "version": "1.0.0",
   "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "frcYear": "2024",
+  "frcYear": "2025",
   "mavenUrls": [],
   "jsonUrl": "",
   "javaDependencies": [

vendordeps/photonlib-v2025.0.0-beta-6.json

@@ -0,0 +1,71 @@
+{
+  "fileName": "photonlib.json",
+  "name": "photonlib",
+  "version": "v2025.0.0-beta-6",
+  "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
+  "frcYear": "2025",
+  "mavenUrls": [
+    "https://maven.photonvision.org/repository/internal",
+    "https://maven.photonvision.org/repository/snapshots"
+  ],
+  "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json",
+  "jniDependencies": [
+    {
+      "groupId": "org.photonvision",
+      "artifactId": "photontargeting-cpp",
+      "version": "v2025.0.0-beta-6",
+      "skipInvalidPlatforms": true,
+      "isJar": false,
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxathena",
+        "linuxx86-64",
+        "osxuniversal"
+      ]
+    }
+  ],
+  "cppDependencies": [
+    {
+      "groupId": "org.photonvision",
+      "artifactId": "photonlib-cpp",
+      "version": "v2025.0.0-beta-6",
+      "libName": "photonlib",
+      "headerClassifier": "headers",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxathena",
+        "linuxx86-64",
+        "osxuniversal"
+      ]
+    },
+    {
+      "groupId": "org.photonvision",
+      "artifactId": "photontargeting-cpp",
+      "version": "v2025.0.0-beta-6",
+      "libName": "photontargeting",
+      "headerClassifier": "headers",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxathena",
+        "linuxx86-64",
+        "osxuniversal"
+      ]
+    }
+  ],
+  "javaDependencies": [
+    {
+      "groupId": "org.photonvision",
+      "artifactId": "photonlib-java",
+      "version": "v2025.0.0-beta-6"
+    },
+    {
+      "groupId": "org.photonvision",
+      "artifactId": "photontargeting-java",
+      "version": "v2025.0.0-beta-6"
+    }
+  ]
+}