Fix tank drive mode

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

@@ -48,23 +48,27 @@ public final class Constants {
         }
 
         public static final class IDs {
-            public static final int RIGHT_FRONT_WHEEL_ID = 2;
+            public static final int FR_ID = 22;
-            public static final int RIGHT_FRONT_STEER_ID = 3;
+            public static final int FL_ID = 20;
-            public static final int RIGHT_FRONT_ENCODER_ID = 10;
+            public static final int BL_ID = 21;
+            public static final int BR_ID = 23;
+            // public static final int RIGHT_FRONT_WHEEL_ID = 2;
+            // public static final int RIGHT_FRONT_STEER_ID = 3;
+            // public static final int RIGHT_FRONT_ENCODER_ID = 10;
             
-            public static final int LEFT_FRONT_WHEEL_ID = 4;
+            // public static final int LEFT_FRONT_WHEEL_ID = 4;
-            public static final int LEFT_FRONT_STEER_ID = 5;
+            // public static final int LEFT_FRONT_STEER_ID = 5;
-            public static final int LEFT_FRONT_ENCODER_ID = 11;
+            // public static final int LEFT_FRONT_ENCODER_ID = 11;
             
-            public static final int LEFT_BACK_WHEEL_ID = 6;
+            // public static final int LEFT_BACK_WHEEL_ID = 6;
-            public static final int LEFT_BACK_STEER_ID = 7;
+            // public static final int LEFT_BACK_STEER_ID = 7;
-            public static final int LEFT_BACK_ENCODER_ID = 12;
+            // public static final int LEFT_BACK_ENCODER_ID = 12;
             
-            public static final int RIGHT_BACK_WHEEL_ID = 8;  
+            // public static final int RIGHT_BACK_WHEEL_ID = 8;  
-            public static final int RIGHT_BACK_STEER_ID = 9;
+            // public static final int RIGHT_BACK_STEER_ID = 9;
-            public static final int RIGHT_BACK_ENCODER_ID = 13;
+            // public static final int RIGHT_BACK_ENCODER_ID = 13;
 
-            public static final int DRIVE_PIGEON_ID = 14;
+            // public static final int DRIVE_PIGEON_ID = 14;
         }
     
         public static final class PIDConstants {
@@ -143,7 +147,7 @@ public final class Constants {
         public static final int XBOX_DRIVER_ID = 0;
         public static final int XBOX_OPERATOR_ID = 1;
         public static final int XBOX_PROGRAMMER_ID = 2;
-        public static final double LEFT_AXIS_DEADBAND = 0.1;
+        public static final double LEFT_AXIS_DEADBAND = 0.20;
 
     }
 }

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

@@ -48,12 +48,12 @@ public class RobotContainer {
     /* Subsystems */
     // private final LED m_robotLED = new LED();
 
-    public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront,
+    // public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront,
-                                                                  m_robotMap.rightFront,
+    //                                                               m_robotMap.rightFront,
-                                                                  m_robotMap.leftBack,
+    //                                                               m_robotMap.leftBack,
-                                                                  m_robotMap.rightBack,
+    //                                                               m_robotMap.rightBack,
                                               
-                                                                  m_robotMap.gyro);
+    //                                                               m_robotMap.gyro);
 
     /* Controllers */
     private final DeadbandedXboxController m_driverXbox   = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
@@ -69,10 +69,10 @@ public class RobotContainer {
     // ! /*  Autos */
     private String lastAutoName = "defualt.auto";
     private ConfigurableString autoplaybackName = new ConfigurableString("Auto Playback Name", lastAutoName);
-    private neoJoystickPlayback autoPlayback = new neoJoystickPlayback(m_robotSwerveDrive, 
+    // private neoJoystickPlayback autoPlayback = new neoJoystickPlayback(m_robotSwerveDrive, 
-    () -> autoplaybackName.get(), // lastAutoName
+    // () -> autoplaybackName.get(), // lastAutoName
-           new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
+    //        new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
-           true, false);
+    //        true, false);
     
     /**
      * The container for the robot. Contains subsystems, OI devices, and commands.
@@ -80,20 +80,20 @@ public class RobotContainer {
     public RobotContainer() {
         configureButtonBindings();        
         configureVirtualButtonBindings();
-        new DeferredBlock(() -> m_robotSwerveDrive.resetGyroFlip());
+        // new DeferredBlock(() -> m_robotSwerveDrive.resetGyroFlip());
         DriverStation.silenceJoystickConnectionWarning(true);
         // CameraServer.startAutomaticCapture();
 
         /* Default Commands */
         // ! Swerve Drive Default Command (Regular Rotation)
         // drives the robot with a two-axis input from the driver controller
-        m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
+        m_robotMap.tankDrive.setDefaultCommand(new RunCommand(() -> {
-            m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getLeft(),
+            m_robotMap.tankDrive.driveWithInput(getDeadbandedDriverController().getLeft(),
                                             getDeadbandedDriverController().getRight(),
                                 true);
-        }, m_robotSwerveDrive)
+        }, m_robotMap.tankDrive)
         .withName("SwerveDrive DefaultCommand"));
-        m_robotSwerveDrive.setToSlow();
+        // m_robotMap.tankDrive.setToSlow();
 
         // ! Swerve Drive One Module Test
         // m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
@@ -133,39 +133,39 @@ public class RobotContainer {
 
         // ? /* Driver Buttons */
 
-        DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON)
+        // DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON)
-            .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroFlip()));
+        //     .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroFlip()));
             
-        // ! /* Speed */
+        // // ! /* Speed */
-        new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
+        // new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
-            .onTrue(new InstantCommand(()  -> m_robotSwerveDrive.shiftUp()));
+        //     .onTrue(new InstantCommand(()  -> m_robotSwerveDrive.shiftUp()));
         
-        new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
+        // new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
-            .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
+        //     .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
 
-        new Trigger(() -> getDeadbandedDriverController().getPOV() == 270)
+        // new Trigger(() -> getDeadbandedDriverController().getPOV() == 270)
-            .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDownRot()));
+        //     .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDownRot()));
 
-        new Trigger(() -> getDeadbandedDriverController().getPOV() == 90)
+        // new Trigger(() -> getDeadbandedDriverController().getPOV() == 90)
-            .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUpRot()));
+        //     .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUpRot()));
           
         // ?  /* Operator Buttons */
             
         // ? /* Programer Buttons (Controller 3)*/
 
         // * /* Auto Recording */
-        new JoystickButton(m_autoRecorderXbox, XboxController.LEFT_BUMPER_BUTTON)
+        // new JoystickButton(m_autoRecorderXbox, XboxController.LEFT_BUMPER_BUTTON)
-            .whileTrue(new neoJoystickRecorder(m_robotSwerveDrive,
+        //     .whileTrue(new neoJoystickRecorder(m_robotSwerveDrive,
-                        new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()},
+        //                 new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()},
-                                            () -> autoplaybackName.get()))
+        //                                     () -> autoplaybackName.get()))
-            .onFalse(new InstantCommand());
+        //     .onFalse(new InstantCommand());
         
-        new JoystickButton(m_autoRecorderXbox, XboxController.RIGHT_BUMPER_BUTTON)
+        // new JoystickButton(m_autoRecorderXbox, XboxController.RIGHT_BUMPER_BUTTON)
-            .onTrue(new neoJoystickPlayback(m_robotSwerveDrive,
+        //     .onTrue(new neoJoystickPlayback(m_robotSwerveDrive,
-            () -> autoplaybackName.get(),
+        //     () -> autoplaybackName.get(),
-            new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
+        //     new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
-            true, false))
+        //     true, false))
-            .onFalse(new InstantCommand());
+        //     .onFalse(new InstantCommand());
     }
     
     /**
@@ -200,7 +200,10 @@ public class RobotContainer {
      * @return the command to run in autonomous
      */
     public Command getAutonomousCommand() {
-        return autoPlayback;
+        // return autoPlayback;
+        return new Command() {
+            
+        };
     }
 
     /**

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

@@ -8,6 +8,7 @@
 package frc4388.robot;
 
 import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 import com.ctre.phoenix6.hardware.CANcoder;
 import com.ctre.phoenix6.hardware.Pigeon2;
 
@@ -15,6 +16,7 @@ import com.ctre.phoenix6.hardware.Pigeon2;
 // import frc4388.robot.Constants.LEDConstants;
 import frc4388.robot.Constants.SwerveDriveConstants;
 import frc4388.robot.subsystems.SwerveModule;
+import frc4388.robot.subsystems.TankDrive;
 import frc4388.utility.RobotGyro;
 
 /**
@@ -22,44 +24,52 @@ 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 SwerveModule leftFront;
+    // public SwerveModule leftFront;
-    public SwerveModule rightFront;
+    // public SwerveModule rightFront;
-    public SwerveModule leftBack;
+    // public SwerveModule leftBack;
-    public SwerveModule rightBack;
+    // public SwerveModule rightBack;
 
     public RobotMap() {
         configureDriveMotorControllers();
     }
 
+    public final TalonSRX FR = new TalonSRX(SwerveDriveConstants.IDs.FR_ID);
+    public final TalonSRX FL = new TalonSRX(SwerveDriveConstants.IDs.FL_ID);
+    public final TalonSRX BL = new TalonSRX(SwerveDriveConstants.IDs.BL_ID);
+    public final TalonSRX BR = new TalonSRX(SwerveDriveConstants.IDs.BR_ID);
+
+    public TankDrive tankDrive;
+
     /* LED Subsystem */
     // public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
 
     /* Swreve Drive Subsystem */
-    public final TalonFX leftFrontWheel = new TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_WHEEL_ID);
+    // public final TalonFX leftFrontWheel = new TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_WHEEL_ID);
-    public final TalonFX leftFrontSteer = new TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_STEER_ID);
+    // public final TalonFX leftFrontSteer = new TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_STEER_ID);
-    public final CANcoder leftFrontEncoder = new CANcoder(SwerveDriveConstants.IDs.LEFT_FRONT_ENCODER_ID);
+    // public final CANcoder leftFrontEncoder = new CANcoder(SwerveDriveConstants.IDs.LEFT_FRONT_ENCODER_ID);
 
 
-    public final TalonFX rightFrontWheel = new TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_WHEEL_ID);
+    // public final TalonFX rightFrontWheel = new TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_WHEEL_ID);
-    public final TalonFX rightFrontSteer = new TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_STEER_ID);
+    // public final TalonFX rightFrontSteer = new TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_STEER_ID);
-    public final CANcoder rightFrontEncoder = new CANcoder(SwerveDriveConstants.IDs.RIGHT_FRONT_ENCODER_ID);
+    // public final CANcoder rightFrontEncoder = new CANcoder(SwerveDriveConstants.IDs.RIGHT_FRONT_ENCODER_ID);
     
-    public final TalonFX leftBackWheel = new TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_WHEEL_ID);
+    // public final TalonFX leftBackWheel = new TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_WHEEL_ID);
-    public final TalonFX leftBackSteer = new TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_STEER_ID);
+    // public final TalonFX leftBackSteer = new TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_STEER_ID);
-    public final CANcoder leftBackEncoder = new CANcoder(SwerveDriveConstants.IDs.LEFT_BACK_ENCODER_ID);
+    // public final CANcoder leftBackEncoder = new CANcoder(SwerveDriveConstants.IDs.LEFT_BACK_ENCODER_ID);
     
-    public final TalonFX rightBackWheel = new TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_WHEEL_ID);
+    // public final TalonFX rightBackWheel = new TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_WHEEL_ID);
-    public final TalonFX rightBackSteer = new TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_STEER_ID);
+    // public final TalonFX rightBackSteer = new TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_STEER_ID);
-    public final CANcoder rightBackEncoder = new CANcoder(SwerveDriveConstants.IDs.RIGHT_BACK_ENCODER_ID);
+    // 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.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);
+        // this.leftFront = new SwerveModule(leftFrontWheel, leftFrontSteer, leftFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_LEFT_ROT_OFFSET);
-        this.leftBack = new SwerveModule(leftBackWheel, leftBackSteer, leftBackEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_LEFT_ROT_OFFSET);
+        // this.leftBack = new SwerveModule(leftBackWheel, leftBackSteer, leftBackEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_LEFT_ROT_OFFSET);
-        this.rightBack = new SwerveModule(rightBackWheel, rightBackSteer, rightBackEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_RIGHT_ROT_OFFSET);
+        // this.rightBack = new SwerveModule(rightBackWheel, rightBackSteer, rightBackEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_RIGHT_ROT_OFFSET);
     }
 }

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

@@ -4,6 +4,7 @@ import com.ctre.phoenix.motorcontrol.ControlMode;
 import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 
 import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class TankDrive extends SubsystemBase{
@@ -21,20 +22,22 @@ public class TankDrive extends SubsystemBase{
 
     private static final ControlMode mode = ControlMode.PercentOutput;
 
-    private static final double maxSpeed = 1.;
+    private static final double maxMoveSpeed = 0.6;
+    private static final double maxturnSpeed = 0.6;
 
-    private static final double[] turn = { //Right by default
+
-        -maxSpeed, //FR
+    private static final double[] turn = { //Right by default, motors are wired weirdly
-        maxSpeed,  //FL
+        maxturnSpeed, //FR
-        maxSpeed,  //BL
+        maxturnSpeed,  //FL
-        -maxSpeed, //BR
+        maxturnSpeed,  //BL
+        maxturnSpeed, //BR
     };
 
-    private static final double[] move = { //forward by default
+    private static final double[] move = { //forward by default, motors are wired weirdly
-        maxSpeed,  //FR
+        -maxMoveSpeed,  //FR
-        maxSpeed,  //FL
+        maxMoveSpeed,  //FL
-        maxSpeed,  //BL
+        maxMoveSpeed,  //BL
-        maxSpeed,  //BR
+        -maxMoveSpeed,  //BR
     };
 
     public void driveWithInput(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) {
@@ -50,5 +53,10 @@ public class TankDrive extends SubsystemBase{
         FL.set(mode, FL_rot);
         BL.set(mode, BL_rot);
         BR.set(mode, BR_rot);
+
+        SmartDashboard.putNumber("FR", FR_rot);
+        SmartDashboard.putNumber("FL", FL_rot);
+        SmartDashboard.putNumber("BL", BL_rot);
+        SmartDashboard.putNumber("BR", BR_rot);
     }
 }

vendordeps/Phoenix.json

@@ -1,30 +1,38 @@
 {
-    "fileName": "Phoenix.json",
+    "fileName": "Phoenix5.json",
     "name": "CTRE-Phoenix (v5)",
-    "version": "5.31.0+23.2.2",
+    "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-frc2023-latest.json",
+    "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": "5.31.0"
+            "version": "5.33.1"
         },
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "wpiapi-java",
-            "version": "5.31.0"
+            "version": "5.33.1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "cci",
-            "version": "5.31.0",
+            "version": "5.33.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -37,137 +45,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "cci-sim",
-            "version": "5.31.0",
+            "version": "5.33.1",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6",
-            "artifactId": "tools",
-            "version": "23.2.2",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxathena"
-            ],
-            "simMode": "hwsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "tools-sim",
-            "version": "23.2.2",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simTalonSRX",
-            "version": "23.2.2",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simTalonFX",
-            "version": "23.2.2",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simVictorSPX",
-            "version": "23.2.2",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simCANCoder",
-            "version": "23.2.2",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simProTalonFX",
-            "version": "23.2.2",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simProCANcoder",
-            "version": "23.2.2",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simProPigeon2",
-            "version": "23.2.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -182,7 +60,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "wpiapi-cpp",
-            "version": "5.31.0",
+            "version": "5.33.1",
             "libName": "CTRE_Phoenix_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -197,7 +75,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "api-cpp",
-            "version": "5.31.0",
+            "version": "5.33.1",
             "libName": "CTRE_Phoenix",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -212,7 +90,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "cci",
-            "version": "5.31.0",
+            "version": "5.33.1",
             "libName": "CTRE_PhoenixCCI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -224,25 +102,10 @@
             ],
             "simMode": "hwsim"
         },
-        {
-            "groupId": "com.ctre.phoenix6",
-            "artifactId": "tools",
-            "version": "23.2.2",
-            "libName": "CTRE_PhoenixTools",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxathena"
-            ],
-            "simMode": "hwsim"
-        },
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "5.31.0",
+            "version": "5.33.1",
             "libName": "CTRE_Phoenix_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -257,7 +120,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "api-cpp-sim",
-            "version": "5.31.0",
+            "version": "5.33.1",
             "libName": "CTRE_PhoenixSim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -272,7 +135,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "cci-sim",
-            "version": "5.31.0",
+            "version": "5.33.1",
             "libName": "CTRE_PhoenixCCISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -283,141 +146,6 @@
                 "osxuniversal"
             ],
             "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "tools-sim",
-            "version": "23.2.2",
-            "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": "23.2.2",
-            "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": "23.2.2",
-            "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": "23.2.2",
-            "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": "23.2.2",
-            "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": "23.2.2",
-            "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": "23.2.2",
-            "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": "23.2.2",
-            "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": "23.2.2",
-            "libName": "CTRE_SimProPigeon2",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
         }
     ]
 }