diff --git a/.github/workflows/build-simulation.yml b/.github/workflows/build-simulation.yml
new file mode 100644
index 0000000..697337c
--- /dev/null
+++ b/.github/workflows/build-simulation.yml
@@ -0,0 +1,22 @@
+name: Build (Simulation)
+
+on:
+  push:
+
+jobs:
+  build:
+    name: Build (Simulation)
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v5
+      - name: Set up JDK 25
+        uses: actions/setup-java@v5
+        with:
+          distribution: temurin
+          java-version: 25
+          cache: gradle
+      - name: Grant execute permission
+        run: chmod +x gradlew
+      - name: Build simulation
+        run: ./gradlew assemble test
diff --git a/.github/workflows/build.yml b/.github/workflows/build-systemcore.yml
similarity index 51%
rename from .github/workflows/build.yml
rename to .github/workflows/build-systemcore.yml
index 0010805..28e85e9 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build-systemcore.yml
@@ -1,17 +1,17 @@
-name: Build
+name: Build (SystemCore)
 
 on:
   push:
 
 jobs:
   build:
-    name: Build
+    name: Build (SystemCore)
     runs-on: ubuntu-latest
-    container: wpilib/roborio-cross-ubuntu:2024-22.04
+    container: wpilib/systemcore-cross-ubuntu-minimal:2027-24.04
     steps:
       - name: Checkout repository
-        uses: actions/checkout@v4
+        uses: actions/checkout@v5
       - name: Grant execute permission
         run: chmod +x gradlew
       - name: Build robot code
-        run: ./gradlew build
+        run: ./gradlew assemble test
diff --git a/.github/workflows/spotless.yml b/.github/workflows/spotless.yml
index 3af5405..7bbfeec 100644
--- a/.github/workflows/spotless.yml
+++ b/.github/workflows/spotless.yml
@@ -9,13 +9,13 @@ jobs:
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
       # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v5
         with:
           fetch-depth: 0
-      - uses: actions/setup-java@v4
+      - uses: actions/setup-java@v5
         with:
-          distribution: 'zulu'
-          java-version: 17
+          distribution: 'temurin'
+          java-version: 25
       - name: Change wrapper permissions
         run: chmod +x ./gradlew
       - run: ./gradlew spotlessCheck --stacktrace
diff --git a/build.gradle b/build.gradle
index af62e3e..d16aa97 100644
--- a/build.gradle
+++ b/build.gradle
@@ -40,7 +40,7 @@ deploy {
                     files = project.fileTree('src/main/deploy')
                     directory = '/home/systemcore/deploy'
                     deleteOldFiles = false // Change to true to delete files on systemcore that no
-                                           // longer exist in deploy directory of this project
+                    // longer exist in deploy directory of this project
                 }
             }
         }
@@ -194,8 +194,7 @@ spotless {
             include "**/*.java"
             exclude "**/build/**", "**/build-*/**"
         }
-        toggleOffOn()
-        googleJavaFormat()
+        googleJavaFormat('1.35.0')
         removeUnusedImports()
         trimTrailingWhitespace()
         endWithNewline()
diff --git a/src/main/java/frc/game/Field.java b/src/main/java/frc/game/Field.java
index 08e2153..2ac3a85 100644
--- a/src/main/java/frc/game/Field.java
+++ b/src/main/java/frc/game/Field.java
@@ -2,13 +2,13 @@
 
 import static org.wpilib.units.Units.*;
 
+import java.util.List;
+import org.littletonrobotics.junction.Logger;
 import org.wpilib.math.geometry.Pose2d;
 import org.wpilib.math.geometry.Rectangle2d;
 import org.wpilib.math.geometry.Rotation2d;
 import org.wpilib.math.geometry.Translation2d;
 import org.wpilib.units.measure.Distance;
-import java.util.List;
-import org.littletonrobotics.junction.Logger;
 
 public class Field {
   // Measured
diff --git a/src/main/java/frc/game/GameState.java b/src/main/java/frc/game/GameState.java
index a5256f4..59d3124 100644
--- a/src/main/java/frc/game/GameState.java
+++ b/src/main/java/frc/game/GameState.java
@@ -1,11 +1,12 @@
 package frc.game;
 
-import org.wpilib.wpilibj.DriverStation;
-import org.wpilib.wpilibj.DriverStation.Alliance;
 import frc.robot.Robot;
 import java.util.List;
 import java.util.Optional;
 import org.littletonrobotics.junction.Logger;
+import org.wpilib.driverstation.Alliance;
+import org.wpilib.driverstation.MatchState;
+import org.wpilib.driverstation.RobotState;
 
 public class GameState {
 
@@ -43,10 +44,10 @@ private static int parseSeconds(String time) {
   private static Alliance myAlliance;
 
   public static GamePhase getCurrentPhase() {
-    if (!DriverStation.isDSAttached() && !DriverStation.isFMSAttached()) {
+    if (!RobotState.isDSAttached() && !RobotState.isFMSAttached()) {
       return GamePhase.None;
     }
-    if (DriverStation.isAutonomous()) {
+    if (RobotState.isAutonomous()) {
       return GamePhase.Autonomous;
     }
     // Must be in match and teleop
@@ -61,29 +62,29 @@ public static GamePhase getCurrentPhase() {
 
   public static Alliance getMyAlliance() {
     if (myAlliance == null) {
-      // myAlliance = DriverStation.getAlliance().orElse(null);
+      // myAlliance = MatchState.getAlliance().orElse(null);
       myAlliance = Robot.allianceSelector.getAllianceColor();
     }
     return myAlliance;
   }
 
   public static double getMatchTime() {
-    return DriverStation.getMatchTime();
+    return MatchState.getMatchTime();
   }
 
   public static Optional<Alliance> getAlliance() {
-    return DriverStation.getAlliance();
+    return MatchState.getAlliance();
   }
 
   public static void logValues() {
     getMyAlliance();
-    Logger.recordOutput("GameState/IsDSAttached", DriverStation.isDSAttached());
-    Logger.recordOutput("GameState/IsFMSAttached", DriverStation.isFMSAttached());
-    Logger.recordOutput("GameState/MatchType", DriverStation.getMatchType());
-    Logger.recordOutput("GameState/IsAutonomus", DriverStation.isAutonomous());
-    Logger.recordOutput("GameState/MatchTime", DriverStation.getMatchTime());
+    Logger.recordOutput("GameState/IsDSAttached", RobotState.isDSAttached());
+    Logger.recordOutput("GameState/IsFMSAttached", RobotState.isFMSAttached());
+    Logger.recordOutput("GameState/MatchType", MatchState.getMatchType());
+    Logger.recordOutput("GameState/IsAutonomus", RobotState.isAutonomous());
+    Logger.recordOutput("GameState/MatchTime", MatchState.getMatchTime());
     Logger.recordOutput("GameState/Alliance", myAlliance);
-    Logger.recordOutput("GameState/GameData", DriverStation.getGameSpecificMessage());
+    Logger.recordOutput("GameState/GameData", MatchState.getGameData().orElse(""));
     Logger.recordOutput("GameState/CurrentPhase", getCurrentPhase());
   }
 }
diff --git a/src/main/java/frc/lib/AllianceSelector.java b/src/main/java/frc/lib/AllianceSelector.java
index 0134337..8fc68ca 100644
--- a/src/main/java/frc/lib/AllianceSelector.java
+++ b/src/main/java/frc/lib/AllianceSelector.java
@@ -1,10 +1,10 @@
 package frc.lib;
 
-import org.wpilib.wpilibj.DriverStation.Alliance;
-import org.wpilib.wpilibj.event.BooleanEvent;
-import org.wpilib.wpilibj.event.EventLoop;
-import org.wpilib.commandsv2.button.Trigger;
 import org.littletonrobotics.junction.Logger;
+import org.wpilib.command2.button.Trigger;
+import org.wpilib.driverstation.Alliance;
+import org.wpilib.event.BooleanEvent;
+import org.wpilib.event.EventLoop;
 
 public class AllianceSelector {
 
@@ -26,7 +26,7 @@ public AllianceSelector(int port) {
    * @return Whether the field is rotated from the driver's perspective
    */
   public boolean fieldRotated() {
-    return inputs.allianceFromSwitch.equals(Alliance.Red);
+    return inputs.allianceFromSwitch.equals(Alliance.RED);
   }
 
   /**
diff --git a/src/main/java/frc/lib/AllianceSelectorIO.java b/src/main/java/frc/lib/AllianceSelectorIO.java
index 5ed08f4..8cc3976 100644
--- a/src/main/java/frc/lib/AllianceSelectorIO.java
+++ b/src/main/java/frc/lib/AllianceSelectorIO.java
@@ -1,10 +1,10 @@
 package frc.lib;
 
-import org.wpilib.wpilibj.DigitalInput;
-import org.wpilib.wpilibj.DriverStation;
-import org.wpilib.wpilibj.DriverStation.Alliance;
 import java.util.Optional;
 import org.littletonrobotics.junction.AutoLog;
+import org.wpilib.driverstation.Alliance;
+import org.wpilib.driverstation.MatchState;
+import org.wpilib.hardware.discrete.DigitalInput;
 
 public class AllianceSelectorIO {
 
@@ -17,13 +17,13 @@ public AllianceSelectorIO(int port) {
 
   @AutoLog
   public static class AllianceSelectorIOInputs {
-    public Alliance allianceFromSwitch = Alliance.Red;
+    public Alliance allianceFromSwitch = Alliance.RED;
     public boolean agreementInAllianceInputs = false;
     public boolean allianceChanged = false;
   }
 
   public void updateInputs(AllianceSelectorIOInputs inputs) {
-    inputs.allianceFromSwitch = allianceSelectionSwitch.get() ? Alliance.Red : Alliance.Blue;
+    inputs.allianceFromSwitch = allianceSelectionSwitch.get() ? Alliance.RED : Alliance.BLUE;
     inputs.agreementInAllianceInputs = agreementInAllianceInputs(inputs);
     inputs.allianceChanged = changedAlliance(inputs);
   }
@@ -39,7 +39,7 @@ private boolean changedAlliance(AllianceSelectorIOInputs inputs) {
   }
 
   private boolean agreementInAllianceInputs(AllianceSelectorIOInputs inputs) {
-    Optional<Alliance> allianceFromFMS = DriverStation.getAlliance();
+    Optional<Alliance> allianceFromFMS = MatchState.getAlliance();
     if (allianceFromFMS.isPresent()) {
       return inputs.allianceFromSwitch.equals(allianceFromFMS.get());
     } else return false;
diff --git a/src/main/java/frc/lib/AutoOption.java b/src/main/java/frc/lib/AutoOption.java
index 6739b49..8613ae5 100644
--- a/src/main/java/frc/lib/AutoOption.java
+++ b/src/main/java/frc/lib/AutoOption.java
@@ -1,12 +1,12 @@
 package frc.lib;
 
 import choreo.trajectory.SwerveSample;
-import org.wpilib.math.geometry.Pose2d;
-import org.wpilib.wpilibj.DriverStation.Alliance;
-import org.wpilib.wpilibj.util.Color;
-import org.wpilib.commandsv2.Command;
 import frc.robot.auto.AutoMode;
 import java.util.Optional;
+import org.wpilib.command2.Command;
+import org.wpilib.driverstation.Alliance;
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.util.Color;
 
 public class AutoOption {
   private final Alliance allianceColor;
diff --git a/src/main/java/frc/lib/AutoSelector.java b/src/main/java/frc/lib/AutoSelector.java
index 3438c96..7b39937 100644
--- a/src/main/java/frc/lib/AutoSelector.java
+++ b/src/main/java/frc/lib/AutoSelector.java
@@ -1,16 +1,17 @@
 package frc.lib;
 
-import org.wpilib.math.geometry.Pose2d;
-import org.wpilib.wpilibj.DriverStation.Alliance;
-import org.wpilib.wpilibj.event.BooleanEvent;
-import org.wpilib.wpilibj.event.EventLoop;
-import org.wpilib.commandsv2.Command;
-import org.wpilib.commandsv2.button.Trigger;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.Optional;
 import java.util.function.Supplier;
 import org.littletonrobotics.junction.Logger;
+import org.wpilib.command2.Command;
+import org.wpilib.command2.CommandScheduler;
+import org.wpilib.command2.button.Trigger;
+import org.wpilib.driverstation.Alliance;
+import org.wpilib.event.BooleanEvent;
+import org.wpilib.event.EventLoop;
+import org.wpilib.math.geometry.Pose2d;
 
 public class AutoSelector implements Supplier<Optional<AutoOption>> {
 
@@ -72,8 +73,8 @@ public Trigger getChangedAutoSelection() {
 
   /** Schedules the command corresponding to the selected autonomous mode */
   public void scheduleAuto() {
-    // TODO: schedule() in Command has been deprecated and marked for removal
-    currentAutoOption.ifPresent(ao -> ao.getAutoCommand().ifPresent(Command::schedule));
+    currentAutoOption.ifPresent(
+        ao -> ao.getAutoCommand().ifPresent(CommandScheduler.getInstance()::schedule));
   }
 
   /** Deschedules the command corresponding to the selected autonomous mode */
diff --git a/src/main/java/frc/lib/AutoSelectorIO.java b/src/main/java/frc/lib/AutoSelectorIO.java
index ea11d65..8305d0c 100644
--- a/src/main/java/frc/lib/AutoSelectorIO.java
+++ b/src/main/java/frc/lib/AutoSelectorIO.java
@@ -1,7 +1,7 @@
 package frc.lib;
 
-import org.wpilib.wpilibj.DigitalInput;
 import org.littletonrobotics.junction.AutoLog;
+import org.wpilib.hardware.discrete.DigitalInput;
 
 public class AutoSelectorIO {
 
diff --git a/src/main/java/frc/lib/CommandZorroController.java b/src/main/java/frc/lib/CommandZorroController.java
index d27faed..dba53cc 100644
--- a/src/main/java/frc/lib/CommandZorroController.java
+++ b/src/main/java/frc/lib/CommandZorroController.java
@@ -1,9 +1,9 @@
 package frc.lib;
 
-import org.wpilib.wpilibj.event.EventLoop;
-import org.wpilib.commandsv2.CommandScheduler;
-import org.wpilib.commandsv2.button.CommandGenericHID;
-import org.wpilib.commandsv2.button.Trigger;
+import org.wpilib.command2.CommandScheduler;
+import org.wpilib.command2.button.CommandGenericHID;
+import org.wpilib.command2.button.Trigger;
+import org.wpilib.event.EventLoop;
 
 /**
  * A version of {@link ZorroController} with {@link Trigger} factories for command-based.
diff --git a/src/main/java/frc/lib/ControllerSelector.java b/src/main/java/frc/lib/ControllerSelector.java
index 691e899..e213dab 100644
--- a/src/main/java/frc/lib/ControllerSelector.java
+++ b/src/main/java/frc/lib/ControllerSelector.java
@@ -1,13 +1,13 @@
 package frc.lib;
 
-import org.wpilib.wpilibj.DriverStation;
-import org.wpilib.wpilibj.GenericHID;
-import org.wpilib.commandsv2.CommandScheduler;
 import frc.robot.Constants;
 import frc.robot.Constants.Mode;
 import java.util.Objects;
 import java.util.Set;
 import org.littletonrobotics.junction.Logger;
+import org.wpilib.command2.CommandScheduler;
+import org.wpilib.driverstation.GenericHID;
+import org.wpilib.driverstation.internal.DriverStationBackend;
 
 /**
  * Manages the selection and binding of controllers for driver and operator roles as a singleton.
@@ -172,7 +172,7 @@ public OperatorConfig(
     }
   }
 
-  private static final int NUM_CONTROLLER_PORTS = DriverStation.kJoystickPorts;
+  private static final int NUM_CONTROLLER_PORTS = DriverStationBackend.JOYSTICK_PORTS;
 
   private final ControllerConfig[] controllerConfigs;
   private final GenericHID[] controllers;
diff --git a/src/main/java/frc/lib/LoggedCompressor.java b/src/main/java/frc/lib/LoggedCompressor.java
index 4d54fd4..ce85798 100644
--- a/src/main/java/frc/lib/LoggedCompressor.java
+++ b/src/main/java/frc/lib/LoggedCompressor.java
@@ -1,14 +1,21 @@
 package frc.lib;
 
-import org.wpilib.wpilibj.Compressor;
-import org.wpilib.wpilibj.PneumaticsModuleType;
 import org.littletonrobotics.junction.Logger;
+import org.wpilib.hardware.pneumatic.Compressor;
+import org.wpilib.hardware.pneumatic.PneumaticsModuleType;
 
 public class LoggedCompressor extends Compressor {
   private final String key;
 
-  public LoggedCompressor(PneumaticsModuleType moduleType, String logKey) {
-    super(moduleType);
+  /**
+   * Creates a logged compressor.
+   *
+   * @param busId the CAN bus ID (SystemCore transceiver number)
+   * @param moduleType the type of pneumatics module
+   * @param logKey the AdvantageKit log key prefix
+   */
+  public LoggedCompressor(int busId, PneumaticsModuleType moduleType, String logKey) {
+    super(busId, moduleType);
     this.key = logKey;
   }
 
diff --git a/src/main/java/frc/lib/LoggedPowerDistribution.java b/src/main/java/frc/lib/LoggedPowerDistribution.java
index 89c3aaf..3d2a574 100644
--- a/src/main/java/frc/lib/LoggedPowerDistribution.java
+++ b/src/main/java/frc/lib/LoggedPowerDistribution.java
@@ -1,13 +1,21 @@
 package frc.lib;
 
-import org.wpilib.wpilibj.PowerDistribution;
 import org.littletonrobotics.junction.Logger;
+import org.wpilib.hardware.power.PowerDistribution;
 
 public class LoggedPowerDistribution extends PowerDistribution {
   private final String key;
 
-  public LoggedPowerDistribution(int module, ModuleType moduleType, String logKey) {
-    super(module, moduleType);
+  /**
+   * Creates a logged power distribution module.
+   *
+   * @param busId the CAN bus ID (SystemCore transceiver number)
+   * @param module the CAN device ID of the power distribution module
+   * @param moduleType the type of power distribution module
+   * @param logKey the AdvantageKit log key prefix
+   */
+  public LoggedPowerDistribution(int busId, int module, ModuleType moduleType, String logKey) {
+    super(busId, module, moduleType);
     this.key = logKey;
   }
 
diff --git a/src/main/java/frc/lib/PneumaticsSimulator.java b/src/main/java/frc/lib/PneumaticsSimulator.java
index 4382e49..7ee6595 100644
--- a/src/main/java/frc/lib/PneumaticsSimulator.java
+++ b/src/main/java/frc/lib/PneumaticsSimulator.java
@@ -7,11 +7,11 @@
 
 package frc.lib;
 
-import org.wpilib.wpilibj.DoubleSolenoid;
-import org.wpilib.wpilibj.DriverStation;
-import org.wpilib.wpilibj.simulation.DoubleSolenoidSim;
-import org.wpilib.wpilibj.simulation.REVPHSim;
 import org.littletonrobotics.junction.Logger;
+import org.wpilib.driverstation.RobotState;
+import org.wpilib.hardware.pneumatic.DoubleSolenoid;
+import org.wpilib.simulation.DoubleSolenoidSim;
+import org.wpilib.simulation.REVPHSim;
 
 /**
  * Physics-based simulation of the robot's pneumatic system (Viair 90C + 2× Clippard AVT-PP-35).
@@ -180,13 +180,13 @@ public void update(double dtSeconds) {
     double qRodNetScfm = 0.0; // positive = net inflow to rod side
     double qSupplyScfm = 0.0; // consumed from working volume
 
-    if (solenoidValue == DoubleSolenoid.Value.kForward) {
+    if (solenoidValue == DoubleSolenoid.Value.FORWARD) {
       // Extend: supply → bore, exhaust ← rod
       qSupplyScfm = flowScfm(CV_SOLENOID, pWorking, pBore);
       double qExhaustScfm = flowScfm(CV_EXHAUST, pRod, P_ATM_PSIA);
       qBoreNetScfm = +qSupplyScfm;
       qRodNetScfm = -qExhaustScfm;
-    } else if (solenoidValue == DoubleSolenoid.Value.kReverse) {
+    } else if (solenoidValue == DoubleSolenoid.Value.REVERSE) {
       // Retract: supply → rod, exhaust ← bore
       qSupplyScfm = flowScfm(CV_SOLENOID, pWorking, pRod);
       double qExhaustScfm = flowScfm(CV_EXHAUST, pBore, P_ATM_PSIA);
@@ -205,7 +205,7 @@ public void update(double dtSeconds) {
 
     // ── Compressor flow: atmosphere → storage (Viair 90C) ─────────────────
     double pStorageGauge = pStorage - P_ATM_PSIA;
-    compressorRunning = DriverStation.isEnabled() && pStorageGauge < P_CUTOFF_PSIG;
+    compressorRunning = RobotState.isEnabled() && pStorageGauge < P_CUTOFF_PSIG;
     compressorCurrentAmps = compressorRunning ? AMP_INTERCEPT + AMP_SLOPE * pStorageGauge : 0.0;
     double qCompressorScfm = compressorRunning ? FLOW_INTERCEPT + FLOW_SLOPE * pStorageGauge : 0.0;
 
diff --git a/src/main/java/frc/lib/Util.java b/src/main/java/frc/lib/Util.java
index 3a9b919..163db4c 100644
--- a/src/main/java/frc/lib/Util.java
+++ b/src/main/java/frc/lib/Util.java
@@ -1,7 +1,7 @@
 package frc.lib;
 
-import org.wpilib.wpilibj.DriverStation.Alliance;
-import org.wpilib.wpilibj.util.Color;
+import org.wpilib.driverstation.Alliance;
+import org.wpilib.util.Color;
 
 public interface Util {
   /**
@@ -11,7 +11,7 @@ public interface Util {
    * @return the appropriate color
    */
   public static Color allianceToColor(Alliance alliance) {
-    return alliance == Alliance.Blue ? Color.kBlue : Color.kRed;
+    return alliance == Alliance.BLUE ? Color.BLUE : Color.RED;
   }
 
   /**
diff --git a/src/main/java/frc/lib/ZorroController.java b/src/main/java/frc/lib/ZorroController.java
index 567af6d..e485bff 100644
--- a/src/main/java/frc/lib/ZorroController.java
+++ b/src/main/java/frc/lib/ZorroController.java
@@ -1,8 +1,8 @@
 package frc.lib;
 
+import org.wpilib.driverstation.GenericHID;
 import org.wpilib.util.sendable.Sendable;
 import org.wpilib.util.sendable.SendableBuilder;
-import org.wpilib.wpilibj.GenericHID;
 
 public class ZorroController extends GenericHID implements Sendable {
 
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index e66b8f0..17a958d 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -11,7 +11,7 @@
 package frc.robot;
 
 import com.ctre.phoenix6.CANBus;
-import org.wpilib.wpilibj.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * This class defines the runtime mode used by AdvantageKit. The mode is always "real" when running
@@ -76,8 +76,14 @@ public static final class DIOPorts {
 
   public static final class CANBusPorts {
 
-    public static final class CAN2 {
-      public static final CANBus BUS = CANBus.roboRIO();
+    /**
+     * SystemCore CAN bus 0 — low-speed bus for support/sensing devices. Supports the power
+     * distribution and gyro.
+     */
+    public static final class SC0 {
+      public static final String NAME = "SC0";
+      public static final int BUS_ID = 0;
+      public static final CANBus BUS = CANBus.systemcore(BUS_ID);
 
       // Power distribution
       public static final int PD = 1;
@@ -86,10 +92,14 @@ public static final class CAN2 {
       public static final int GYRO = 0;
     }
 
-    public static final class CANHD {
-      // CAN bus that the devices are located on;
-      // All swerve devices must share the same CAN bus
-      public static final CANBus BUS = new CANBus("canivore");
+    /**
+     * SystemCore CAN bus 1 — high-speed bus for swerve drivetrain devices. Supports TalonFX motor
+     * controllers and CANcoders.
+     */
+    public static final class SC1 {
+      public static final String NAME = "SC1";
+      public static final int BUS_ID = 1;
+      public static final CANBus BUS = CANBus.systemcore(BUS_ID);
 
       // Drivetrain
       public static final int BACK_LEFT_DRIVE = 10;
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 5845023..da69678 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -13,22 +13,6 @@
 import static frc.robot.subsystems.vision.VisionConstants.*;
 
 import com.ctre.phoenix6.SignalLogger;
-import org.wpilib.math.filter.LinearFilter;
-import org.wpilib.networktables.NetworkTableInstance;
-import org.wpilib.wpilibj.DriverStation;
-import org.wpilib.wpilibj.DriverStation.Alliance;
-import org.wpilib.wpilibj.PowerDistribution.ModuleType;
-import org.wpilib.wpilibj.RobotBase;
-import org.wpilib.wpilibj.simulation.BatterySim;
-import org.wpilib.wpilibj.simulation.RoboRioSim;
-import org.wpilib.commandsv2.Command;
-import org.wpilib.commandsv2.CommandScheduler;
-import org.wpilib.commandsv2.Commands;
-import org.wpilib.commandsv2.InstantCommand;
-import org.wpilib.commandsv2.SubsystemBase;
-import org.wpilib.commandsv2.button.CommandGenericHID;
-import org.wpilib.commandsv2.button.CommandXboxController;
-import org.wpilib.commandsv2.button.Trigger;
 import frc.game.Field;
 import frc.game.GameState;
 import frc.lib.AllianceSelector;
@@ -40,7 +24,7 @@
 import frc.lib.ControllerSelector.DriverController;
 import frc.lib.ControllerSelector.OperatorConfig;
 import frc.lib.LoggedPowerDistribution;
-import frc.robot.Constants.CANBusPorts.CAN2;
+import frc.robot.Constants.CANBusPorts.SC0;
 import frc.robot.Constants.DIOPorts;
 import frc.robot.Constants.FeatureFlags;
 import frc.robot.commands.DriveCommands;
@@ -66,6 +50,23 @@
 import org.littletonrobotics.junction.networktables.NT4Publisher;
 import org.littletonrobotics.junction.wpilog.WPILOGReader;
 import org.littletonrobotics.junction.wpilog.WPILOGWriter;
+import org.wpilib.command2.Command;
+import org.wpilib.command2.CommandScheduler;
+import org.wpilib.command2.Commands;
+import org.wpilib.command2.InstantCommand;
+import org.wpilib.command2.SubsystemBase;
+import org.wpilib.command2.button.CommandGenericHID;
+import org.wpilib.command2.button.CommandNiDsXboxController;
+import org.wpilib.command2.button.Trigger;
+import org.wpilib.driverstation.Alliance;
+import org.wpilib.driverstation.GenericHID;
+import org.wpilib.driverstation.internal.DriverStationBackend;
+import org.wpilib.framework.RobotBase;
+import org.wpilib.hardware.power.PowerDistribution.ModuleType;
+import org.wpilib.math.filter.LinearFilter;
+import org.wpilib.networktables.NetworkTableInstance;
+import org.wpilib.simulation.BatterySim;
+import org.wpilib.simulation.RoboRioSim;
 
 /**
  * The VM is configured to automatically run this class, and to call the functions corresponding to
@@ -93,7 +94,7 @@ public class Robot extends LoggedRobot {
   public static final AutoSelector autoSelector =
       new AutoSelector(DIOPorts.AUTONOMOUS_MODE_SELECTOR, allianceSelector::getAllianceColor);
   public final LoggedPowerDistribution powerDistribution =
-      new LoggedPowerDistribution(CAN2.PD, ModuleType.kRev, "PD");
+      new LoggedPowerDistribution(SC0.BUS_ID, SC0.PD, ModuleType.REV, "PD");
 
   private final java.util.Set<String> activeCommands = new java.util.LinkedHashSet<>();
 
@@ -216,9 +217,6 @@ public Robot() {
     // Start AdvantageKit logger
     Logger.start();
 
-    // Disable LiveWindow telemetry (subsystem motor sendables) — eliminates SmartDashboard overhead
-    org.wpilib.wpilibj.livewindow.LiveWindow.disableAllTelemetry();
-
     configureControlPanelBindings();
     configureAutoOptions();
 
@@ -249,8 +247,8 @@ public void robotPeriodic() {
     CommandScheduler.getInstance().run();
     long t1 = FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
 
-    logCANBus("CAN2", Constants.CANBusPorts.CAN2.BUS);
-    logCANBus("CANHD", Constants.CANBusPorts.CANHD.BUS);
+    logCANBus(Constants.CANBusPorts.SC0.NAME, Constants.CANBusPorts.SC0.BUS);
+    logCANBus(Constants.CANBusPorts.SC1.NAME, Constants.CANBusPorts.SC1.BUS);
     powerDistribution.log();
     logHIDs();
     logScheduler();
@@ -338,7 +336,7 @@ public void teleopPeriodic() {}
 
   /** This function is called once when test mode is enabled. */
   @Override
-  public void testInit() {
+  public void utilityInit() {
     // Cancels all running commands at the start of test mode.
     CommandScheduler.getInstance().cancelAll();
     if (leds != null) leds.clear();
@@ -346,7 +344,7 @@ public void testInit() {
 
   /** This function is called periodically during test mode. */
   @Override
-  public void testPeriodic() {}
+  public void utilityPeriodic() {}
 
   /** This function is called once when the robot is first started up. */
   @Override
@@ -423,7 +421,7 @@ public boolean getFieldRelativeInput() {
   }
 
   public DriverController bindXboxDriver(int port) {
-    var xboxDriver = new CommandXboxController(port);
+    var xboxDriver = new CommandNiDsXboxController(port);
 
     var controller =
         new DriverController() {
@@ -525,21 +523,22 @@ public static long getUSBStorageFreeSpace() {
   }
 
   private static void logHIDs() {
-    for (int port = 0; port < DriverStation.kJoystickPorts; port++) {
-      if (!DriverStation.isJoystickConnected(port)) continue;
+    for (int port = 0; port < DriverStationBackend.JOYSTICK_PORTS; port++) {
+      var hid = new GenericHID(port);
+      if (!hid.isConnected()) continue;
       String prefix = "HID/Port" + port;
-      Logger.recordOutput(prefix + "/Name", DriverStation.getJoystickName(port));
-      int axisCount = DriverStation.getStickAxisCount(port);
+      Logger.recordOutput(prefix + "/Name", hid.getName());
+      int axisCount = hid.getAxesAvailable();
       double[] axes = new double[axisCount];
-      for (int i = 0; i < axisCount; i++) axes[i] = DriverStation.getStickAxis(port, i);
+      for (int i = 0; i < axisCount; i++) axes[i] = hid.getRawAxis(i);
       Logger.recordOutput(prefix + "/Axes", axes);
-      int buttonCount = DriverStation.getStickButtonCount(port);
+      int buttonCount = hid.getButtonsMaximumIndex();
       boolean[] buttons = new boolean[buttonCount];
-      for (int i = 0; i < buttonCount; i++) buttons[i] = DriverStation.getStickButton(port, i + 1);
+      for (int i = 0; i < buttonCount; i++) buttons[i] = hid.getRawButton(i + 1);
       Logger.recordOutput(prefix + "/Buttons", buttons);
-      int povCount = DriverStation.getStickPOVCount(port);
-      long[] povs = new long[povCount];
-      for (int i = 0; i < povCount; i++) povs[i] = DriverStation.getStickPOV(port, i);
+      int povCount = hid.getPOVsAvailable();
+      String[] povs = new String[povCount];
+      for (int i = 0; i < povCount; i++) povs[i] = hid.getPOV(i).name();
       Logger.recordOutput(prefix + "/POVs", povs);
     }
   }
diff --git a/src/main/java/frc/robot/auto/AutoMode.java b/src/main/java/frc/robot/auto/AutoMode.java
index 19ce36a..b36c1ca 100644
--- a/src/main/java/frc/robot/auto/AutoMode.java
+++ b/src/main/java/frc/robot/auto/AutoMode.java
@@ -11,11 +11,11 @@
 import choreo.auto.AutoRoutine;
 import choreo.auto.AutoTrajectory;
 import choreo.trajectory.SwerveSample;
-import org.wpilib.math.geometry.Pose2d;
-import org.wpilib.commandsv2.Command;
 import frc.robot.commands.DriveCommands;
 import frc.robot.subsystems.drive.Drive;
 import java.util.Optional;
+import org.wpilib.command2.Command;
+import org.wpilib.math.geometry.Pose2d;
 
 public abstract class AutoMode {
   private final AutoFactory autoFactory;
diff --git a/src/main/java/frc/robot/commands/DriveCommands.java b/src/main/java/frc/robot/commands/DriveCommands.java
index 6bdfa6a..ec4aadc 100644
--- a/src/main/java/frc/robot/commands/DriveCommands.java
+++ b/src/main/java/frc/robot/commands/DriveCommands.java
@@ -10,22 +10,9 @@
 
 package frc.robot.commands;
 
-import static org.wpilib.units.Units.*;
 import static frc.robot.subsystems.drive.DriveConstants.*;
+import static org.wpilib.units.Units.*;
 
-import org.wpilib.math.MathUtil;
-import org.wpilib.math.controller.ProfiledPIDController;
-import org.wpilib.math.filter.SlewRateLimiter;
-import org.wpilib.math.geometry.Pose2d;
-import org.wpilib.math.geometry.Rotation2d;
-import org.wpilib.math.geometry.Transform2d;
-import org.wpilib.math.geometry.Translation2d;
-import org.wpilib.math.kinematics.ChassisSpeeds;
-import org.wpilib.math.trajectory.TrapezoidProfile;
-import org.wpilib.math.util.Units;
-import org.wpilib.wpilibj.Timer;
-import org.wpilib.commandsv2.Command;
-import org.wpilib.commandsv2.Commands;
 import frc.robot.subsystems.drive.Drive;
 import java.text.DecimalFormat;
 import java.text.NumberFormat;
@@ -34,6 +21,19 @@
 import java.util.function.BooleanSupplier;
 import java.util.function.DoubleSupplier;
 import java.util.function.Supplier;
+import org.wpilib.command2.Command;
+import org.wpilib.command2.Commands;
+import org.wpilib.math.controller.ProfiledPIDController;
+import org.wpilib.math.filter.SlewRateLimiter;
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.geometry.Transform2d;
+import org.wpilib.math.geometry.Translation2d;
+import org.wpilib.math.kinematics.ChassisVelocities;
+import org.wpilib.math.trajectory.TrapezoidProfile;
+import org.wpilib.math.util.MathUtil;
+import org.wpilib.math.util.Units;
+import org.wpilib.system.Timer;
 
 public class DriveCommands {
   private static final double DEADBAND = 0.035;
@@ -111,21 +111,20 @@ public static Command joystickDrive(
               // Square rotation value for more precise control
               omega = Math.copySign(omega * omega, omega);
 
-              ChassisSpeeds speeds =
-                  new ChassisSpeeds(
-                      linearVelocity.getX() * drive.getMaxLinearSpeedMetersPerSec(),
-                      linearVelocity.getY() * drive.getMaxLinearSpeedMetersPerSec(),
-                      omega * drive.getMaxAngularSpeedRadPerSec());
+              ChassisVelocities velocities =
+                  new ChassisVelocities(
+                      linearVelocity.getX() * drive.getMaxLinearVelocityMetersPerSec(),
+                      linearVelocity.getY() * drive.getMaxLinearVelocityMetersPerSec(),
+                      omega * drive.getMaxAngularVelocityRadPerSec());
 
-              // Convert to field relative speeds
+              // Convert to field relative velocities
               if (fieldRelativeSupplier.getAsBoolean()) {
-                speeds =
-                    ChassisSpeeds.fromFieldRelativeSpeeds(
-                        speeds,
+                velocities =
+                    velocities.toRobotRelative(
                         getDriverRelativeHeading(drive, fieldRotatedSupplier.getAsBoolean()));
               }
 
-              drive.runVelocity(speeds);
+              drive.runVelocity(velocities);
             },
             drive)
         .withName("Joystick Drive");
@@ -152,15 +151,14 @@ public static Command fieldRelativeJoystickDrive(
               // Square rotation value for more precise control
               omega = Math.copySign(omega * omega, omega);
 
-              // Convert to field relative speeds & send command
-              ChassisSpeeds speeds =
-                  new ChassisSpeeds(
-                      linearVelocity.getX() * drive.getMaxLinearSpeedMetersPerSec(),
-                      linearVelocity.getY() * drive.getMaxLinearSpeedMetersPerSec(),
-                      omega * drive.getMaxAngularSpeedRadPerSec());
+              // Convert to field relative velocities & send command
+              ChassisVelocities velocities =
+                  new ChassisVelocities(
+                      linearVelocity.getX() * drive.getMaxLinearVelocityMetersPerSec(),
+                      linearVelocity.getY() * drive.getMaxLinearVelocityMetersPerSec(),
+                      omega * drive.getMaxAngularVelocityRadPerSec());
               drive.runVelocity(
-                  ChassisSpeeds.fromFieldRelativeSpeeds(
-                      speeds,
+                  velocities.toRobotRelative(
                       getDriverRelativeHeading(drive, fieldRotatedSupplier.getAsBoolean())));
             },
             drive)
@@ -187,12 +185,12 @@ public static Command robotRelativeJoystickDrive(
               // Square rotation value for more precise control
               omega = Math.copySign(omega * omega, omega);
 
-              ChassisSpeeds speeds =
-                  new ChassisSpeeds(
-                      linearVelocity.getX() * drive.getMaxLinearSpeedMetersPerSec(),
-                      linearVelocity.getY() * drive.getMaxLinearSpeedMetersPerSec(),
-                      omega * drive.getMaxAngularSpeedRadPerSec());
-              drive.runVelocity(speeds);
+              ChassisVelocities velocities =
+                  new ChassisVelocities(
+                      linearVelocity.getX() * drive.getMaxLinearVelocityMetersPerSec(),
+                      linearVelocity.getY() * drive.getMaxLinearVelocityMetersPerSec(),
+                      omega * drive.getMaxAngularVelocityRadPerSec());
+              drive.runVelocity(velocities);
             },
             drive)
         .withName("Robot Relative Joystick Drive");
@@ -226,21 +224,20 @@ public static Command joystickDriveAtFixedOrientation(
               Translation2d linearVelocity =
                   getLinearVelocityFromJoysticks(xSupplier.getAsDouble(), ySupplier.getAsDouble());
 
-              // Calculate angular speed
+              // Calculate angular velocity
               double omega =
                   angleController.calculate(
                       drive.getPose().getRotation().getRadians(),
                       rotationSupplier.get().getRadians());
 
-              // Convert to field relative speeds & send command
-              ChassisSpeeds speeds =
-                  new ChassisSpeeds(
-                      linearVelocity.getX() * drive.getMaxLinearSpeedMetersPerSec(),
-                      linearVelocity.getY() * drive.getMaxLinearSpeedMetersPerSec(),
+              // Convert to field relative velocities & send command
+              ChassisVelocities velocities =
+                  new ChassisVelocities(
+                      linearVelocity.getX() * drive.getMaxLinearVelocityMetersPerSec(),
+                      linearVelocity.getY() * drive.getMaxLinearVelocityMetersPerSec(),
                       omega);
               drive.runVelocity(
-                  ChassisSpeeds.fromFieldRelativeSpeeds(
-                      speeds,
+                  velocities.toRobotRelative(
                       getDriverRelativeHeading(drive, fieldRotatedSupplier.getAsBoolean())));
             },
             drive)
@@ -273,20 +270,20 @@ public static Command joystickDrivePointedForward(
               Translation2d linearVelocity =
                   getLinearVelocityFromJoysticks(xSupplier.getAsDouble(), ySupplier.getAsDouble());
 
-              // Calculate angular speed
+              // Calculate angular velocity
               Rotation2d driverHeading =
                   getDriverRelativeHeading(drive, fieldRotatedSupplier.getAsBoolean());
               double omega =
                   angleController.calculate(
                       driverHeading.getRadians(), linearVelocity.getAngle().getRadians());
 
-              // Convert to field relative speeds & send command
-              ChassisSpeeds speeds =
-                  new ChassisSpeeds(
-                      linearVelocity.getX() * drive.getMaxLinearSpeedMetersPerSec(),
-                      linearVelocity.getY() * drive.getMaxLinearSpeedMetersPerSec(),
+              // Convert to field relative velocities & send command
+              ChassisVelocities velocities =
+                  new ChassisVelocities(
+                      linearVelocity.getX() * drive.getMaxLinearVelocityMetersPerSec(),
+                      linearVelocity.getY() * drive.getMaxLinearVelocityMetersPerSec(),
                       omega);
-              drive.runVelocity(ChassisSpeeds.fromFieldRelativeSpeeds(speeds, driverHeading));
+              drive.runVelocity(velocities.toRobotRelative(driverHeading));
             },
             drive)
         .withName("Forward Orientated Joystick Drive")
@@ -320,14 +317,13 @@ public static Command pointAtTarget(
     return Commands.run(
             () -> {
 
-              // Calculate angular speed
+              // Calculate angular velocity
               double omega = angleController.calculate(yawErrorSupplier.get().getRadians(), 0);
 
-              // Convert to field relative speeds & send command
-              ChassisSpeeds speeds = new ChassisSpeeds(0, 0, omega);
+              // Convert to field relative velocities & send command
+              ChassisVelocities velocities = new ChassisVelocities(0, 0, omega);
               drive.runVelocity(
-                  ChassisSpeeds.fromFieldRelativeSpeeds(
-                      speeds,
+                  velocities.toRobotRelative(
                       getDriverRelativeHeading(drive, fieldRotatedSupplier.getAsBoolean())));
             },
             drive)
@@ -429,14 +425,14 @@ public static Command wheelRadiusCharacterization(Drive drive) {
             Commands.run(
                 () -> {
                   double speed = limiter.calculate(WHEEL_RADIUS_MAX_VELOCITY);
-                  drive.runVelocity(new ChassisSpeeds(0.0, 0.0, speed));
+                  drive.runVelocity(new ChassisVelocities(0.0, 0.0, speed));
                 },
                 drive)),
 
         // Measurement sequence
         Commands.sequence(
             // Wait for modules to fully orient before starting measurement
-            Commands.waitSeconds(1.0),
+            Commands.waitTime(Seconds.of(1.0)),
 
             // Record starting measurement
             Commands.runOnce(
diff --git a/src/main/java/frc/robot/commands/PathCommands.java b/src/main/java/frc/robot/commands/PathCommands.java
index 8d410be..1521d92 100644
--- a/src/main/java/frc/robot/commands/PathCommands.java
+++ b/src/main/java/frc/robot/commands/PathCommands.java
@@ -7,26 +7,26 @@
 
 package frc.robot.commands;
 
-import static org.wpilib.units.Units.*;
 import static frc.robot.subsystems.drive.DriveConstants.*;
+import static org.wpilib.units.Units.*;
 
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.path.GoalEndState;
 import com.pathplanner.lib.path.PathPlannerPath;
 import com.pathplanner.lib.path.Waypoint;
+import frc.robot.subsystems.drive.Drive;
+import java.util.List;
+import java.util.Set;
+import java.util.function.Supplier;
+import org.wpilib.command2.Command;
+import org.wpilib.command2.Commands;
+import org.wpilib.command2.DeferredCommand;
+import org.wpilib.driverstation.DriverStationErrors;
 import org.wpilib.math.geometry.Pose2d;
 import org.wpilib.math.geometry.Rotation2d;
 import org.wpilib.math.geometry.Transform2d;
 import org.wpilib.math.geometry.Translation2d;
 import org.wpilib.units.measure.Distance;
-import org.wpilib.wpilibj.DriverStation;
-import org.wpilib.commandsv2.Command;
-import org.wpilib.commandsv2.Commands;
-import org.wpilib.commandsv2.DeferredCommand;
-import frc.robot.subsystems.drive.Drive;
-import java.util.List;
-import java.util.Set;
-import java.util.function.Supplier;
 
 public class PathCommands {
 
@@ -150,7 +150,7 @@ public static Command getPathFromFileCommand() {
       // Create a path following command using AutoBuilder. This will also trigger event markers.
       return AutoBuilder.followPath(path);
     } catch (Exception e) {
-      DriverStation.reportError("Big oops: " + e.getMessage(), e.getStackTrace());
+      DriverStationErrors.reportError("Big oops: " + e.getMessage(), e.getStackTrace());
       return Commands.none();
     }
   }
diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java
index aac0946..6dedf64 100644
--- a/src/main/java/frc/robot/subsystems/drive/Drive.java
+++ b/src/main/java/frc/robot/subsystems/drive/Drive.java
@@ -10,8 +10,8 @@
 
 package frc.robot.subsystems.drive;
 
-import static org.wpilib.units.Units.*;
 import static frc.robot.subsystems.drive.DriveConstants.*;
+import static org.wpilib.units.Units.*;
 
 import choreo.trajectory.SwerveSample;
 import com.ctre.phoenix6.CANBus;
@@ -20,37 +20,34 @@
 import com.pathplanner.lib.controllers.PPHolonomicDriveController;
 import com.pathplanner.lib.pathfinding.Pathfinding;
 import com.pathplanner.lib.util.PathPlannerLogging;
-import org.wpilib.hal.FRCNetComm.tInstances;
-import org.wpilib.hal.FRCNetComm.tResourceType;
-import org.wpilib.hal.HAL;
-import org.wpilib.math.Matrix;
+import frc.robot.Constants;
+import frc.robot.Constants.FeatureFlags;
+import frc.robot.Constants.Mode;
+import frc.robot.util.LocalADStarAK;
+import java.util.concurrent.locks.Lock;
+import java.util.concurrent.locks.ReentrantLock;
+import org.littletonrobotics.junction.AutoLogOutput;
+import org.littletonrobotics.junction.Logger;
+import org.wpilib.command2.Command;
+import org.wpilib.command2.SubsystemBase;
+import org.wpilib.command2.sysid.SysIdRoutine;
+import org.wpilib.driverstation.Alert;
+import org.wpilib.driverstation.Alliance;
+import org.wpilib.driverstation.MatchState;
+import org.wpilib.driverstation.RobotState;
+import org.wpilib.hardware.hal.HAL;
 import org.wpilib.math.controller.PIDController;
 import org.wpilib.math.estimator.SwerveDrivePoseEstimator;
 import org.wpilib.math.geometry.Pose2d;
 import org.wpilib.math.geometry.Rotation2d;
 import org.wpilib.math.geometry.Twist2d;
-import org.wpilib.math.kinematics.ChassisSpeeds;
+import org.wpilib.math.kinematics.ChassisVelocities;
 import org.wpilib.math.kinematics.SwerveDriveKinematics;
 import org.wpilib.math.kinematics.SwerveModulePosition;
-import org.wpilib.math.kinematics.SwerveModuleState;
+import org.wpilib.math.kinematics.SwerveModuleVelocity;
+import org.wpilib.math.linalg.Matrix;
 import org.wpilib.math.numbers.N1;
 import org.wpilib.math.numbers.N3;
-import org.wpilib.wpilibj.Alert;
-import org.wpilib.wpilibj.Alert.AlertType;
-import org.wpilib.wpilibj.DriverStation;
-import org.wpilib.wpilibj.DriverStation.Alliance;
-import org.wpilib.wpilibj.RobotState;
-import org.wpilib.commandsv2.Command;
-import org.wpilib.commandsv2.SubsystemBase;
-import org.wpilib.commandsv2.sysid.SysIdRoutine;
-import frc.robot.Constants;
-import frc.robot.Constants.FeatureFlags;
-import frc.robot.Constants.Mode;
-import frc.robot.util.LocalADStarAK;
-import java.util.concurrent.locks.Lock;
-import java.util.concurrent.locks.ReentrantLock;
-import org.littletonrobotics.junction.AutoLogOutput;
-import org.littletonrobotics.junction.Logger;
 
 public class Drive extends SubsystemBase {
   static final double ODOMETRY_FREQUENCY =
@@ -62,7 +59,7 @@ public class Drive extends SubsystemBase {
   private final Module[] modules = new Module[4]; // FL, FR, BL, BR
   private final SysIdRoutine sysId;
   private final Alert gyroDisconnectedAlert =
-      new Alert("Disconnected gyro, using kinematics as fallback.", AlertType.kError);
+      new Alert("Disconnected gyro, using kinematics as fallback.", Alert.Level.HIGH);
 
   private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(MODULE_TRANSLATIONS);
   private Rotation2d rawGyroRotation = Rotation2d.kZero;
@@ -78,10 +75,10 @@ public class Drive extends SubsystemBase {
   private boolean firstVisionEstimate = true;
   private boolean poseInitialized = false;
 
-  private static final ChassisSpeeds ZERO_SPEEDS = new ChassisSpeeds();
-  private final SwerveModuleState[] emptyModuleStates = new SwerveModuleState[] {};
+  private static final ChassisVelocities ZERO_VELOCITIES = new ChassisVelocities();
+  private final SwerveModuleVelocity[] emptyModuleStates = new SwerveModuleVelocity[] {};
   // Pre-allocated for getModuleStates()/getModulePositions() to avoid array allocation each call
-  private final SwerveModuleState[] measuredStates = new SwerveModuleState[4];
+  private final SwerveModuleVelocity[] measuredStates = new SwerveModuleVelocity[4];
   private final SwerveModulePosition[] measuredPositions = new SwerveModulePosition[4];
   private SwerveModulePosition[] modulePositions = new SwerveModulePosition[4];
   // Pre-allocated to avoid allocations in odometry loop - fields are mutated in place
@@ -90,7 +87,7 @@ public class Drive extends SubsystemBase {
         new SwerveModulePosition(), new SwerveModulePosition(),
         new SwerveModulePosition(), new SwerveModulePosition()
       };
-  private ChassisSpeeds chassisSpeeds;
+  private ChassisVelocities chassisVelocities;
 
   // PID controllers for following Choreo trajectories
   private final PIDController xController = new PIDController(8.01, 0.0, 0.0);
@@ -110,7 +107,8 @@ public Drive(
     modules[3] = new Module(brModuleIO, "BackRight");
 
     // Usage reporting for swerve template
-    HAL.report(tResourceType.kResourceType_RobotDrive, tInstances.kRobotDriveSwerve_AdvantageKit);
+    // TODO: update instance string to match the official 2027 AKit template when released.
+    HAL.reportUsage("RobotDrive", "SwerveAdvantageKit");
 
     // Start odometry thread
     PhoenixOdometryThread.getInstance().start();
@@ -119,12 +117,12 @@ public Drive(
     AutoBuilder.configure(
         this::getPose,
         this::setPose,
-        this::getRobotRelativeChassisSpeeds,
+        this::getRobotRelativeChassisVelocities,
         this::runVelocity,
         new PPHolonomicDriveController(
             new PIDConstants(5.0, 0.0, 0.0), new PIDConstants(5.0, 0.0, 0.0)),
         PP_CONFIG,
-        () -> DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red,
+        () -> MatchState.getAlliance().orElse(Alliance.BLUE) == Alliance.RED,
         this);
     Pathfinding.setPathfinder(new LocalADStarAK());
     PathPlannerLogging.setLogActivePathCallback(
@@ -168,14 +166,14 @@ public void periodic() {
     ODOMETRY_LOCK.unlock();
 
     // Stop moving when disabled
-    if (DriverStation.isDisabled()) {
+    if (RobotState.isDisabled()) {
       for (var module : modules) {
         module.stop();
       }
     }
 
     // Log empty setpoint states when disabled
-    if (DriverStation.isDisabled()) {
+    if (RobotState.isDisabled()) {
       Logger.recordOutput("SwerveStates/Setpoints", emptyModuleStates);
       Logger.recordOutput("SwerveStates/SetpointsOptimized", emptyModuleStates);
     }
@@ -191,9 +189,8 @@ public void periodic() {
       for (int moduleIndex = 0; moduleIndex < 4; moduleIndex++) {
         modulePositions[moduleIndex] = modules[moduleIndex].getOdometryPositions()[i];
         // Mutate pre-allocated delta objects to avoid allocations
-        moduleDeltas[moduleIndex].distanceMeters =
-            modulePositions[moduleIndex].distanceMeters
-                - lastModulePositions[moduleIndex].distanceMeters;
+        moduleDeltas[moduleIndex].distance =
+            modulePositions[moduleIndex].distance - lastModulePositions[moduleIndex].distance;
         moduleDeltas[moduleIndex].angle = modulePositions[moduleIndex].angle;
         lastModulePositions[moduleIndex] = modulePositions[moduleIndex];
       }
@@ -211,7 +208,7 @@ public void periodic() {
       // Apply update
       visionPose.updateWithTime(sampleTimestamps[i], rawGyroRotation, modulePositions);
 
-      chassisSpeeds = kinematics.toChassisSpeeds(getModuleStates());
+      chassisVelocities = kinematics.toChassisVelocities(getModuleStates());
     }
     long t6 = FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
 
@@ -247,33 +244,36 @@ public void periodic() {
   /**
    * Runs the drive at the desired velocity.
    *
-   * @param speeds Speeds in meters/sec
+   * @param velocities Velocities in meters/sec
    */
-  public void runVelocity(ChassisSpeeds speeds) {
+  public void runVelocity(ChassisVelocities velocities) {
 
-    // 1️: Convert continuous speeds to module states
-    SwerveModuleState[] states = kinematics.toSwerveModuleStates(speeds);
+    // 1️: Convert continuous velocities to module states
+    SwerveModuleVelocity[] states = kinematics.toSwerveModuleVelocities(velocities);
 
     // Log unoptimized setpoints
-    Logger.recordOutput("SwerveChassisSpeeds/Setpoints", speeds);
+    Logger.recordOutput("SwerveChassisVelocities/Setpoints", velocities);
     Logger.recordOutput("SwerveStates/Setpoints", states);
 
     // 2: Desaturate (apply wheel limits FIRST)
-    SwerveDriveKinematics.desaturateWheelSpeeds(states, DRIVETRAIN_SPEED_LIMIT.in(MetersPerSecond));
+    states =
+        SwerveDriveKinematics.desaturateWheelVelocities(
+            states, DRIVETRAIN_SPEED_LIMIT.in(MetersPerSecond));
 
-    // 3: Reconstruct the ACTUAL chassis speeds after limiting
-    ChassisSpeeds limitedSpeeds = kinematics.toChassisSpeeds(states);
+    // 3: Reconstruct the ACTUAL chassis velocities after limiting
+    ChassisVelocities limitedVelocities = kinematics.toChassisVelocities(states);
 
-    // 4: Now discretize the LIMITED speeds
-    ChassisSpeeds discreteSpeeds = ChassisSpeeds.discretize(limitedSpeeds, 0.02);
+    // 4: Now discretize the LIMITED velocities
+    ChassisVelocities discreteVelocities = limitedVelocities.discretize(0.02);
 
-    // 5: Convert discretized speeds back to module states
-    SwerveModuleState[] finalStates = kinematics.toSwerveModuleStates(discreteSpeeds);
+    // 5: Convert discretized velocities back to module states
+    SwerveModuleVelocity[] finalStates = kinematics.toSwerveModuleVelocities(discreteVelocities);
 
     // (Optional but usually unnecessary)
     // desaturate again for safety
-    SwerveDriveKinematics.desaturateWheelSpeeds(
-        finalStates, DRIVETRAIN_SPEED_LIMIT.in(MetersPerSecond));
+    finalStates =
+        SwerveDriveKinematics.desaturateWheelVelocities(
+            finalStates, DRIVETRAIN_SPEED_LIMIT.in(MetersPerSecond));
 
     // 6: Send to modules
     for (int i = 0; i < 4; i++) {
@@ -288,16 +288,16 @@ public void followTrajectory(SwerveSample sample) {
     // Get the current pose of the robot
     Pose2d pose = getPose();
 
-    // Generate the next speeds for the robot
-    ChassisSpeeds speeds =
-        new ChassisSpeeds(
+    // Generate the next velocities for the robot
+    ChassisVelocities velocities =
+        new ChassisVelocities(
             sample.vx + xController.calculate(pose.getX(), sample.x),
             sample.vy + yController.calculate(pose.getY(), sample.y),
             sample.omega
                 + headingController.calculate(pose.getRotation().getRadians(), sample.heading));
 
-    // Apply the generated speeds
-    runVelocity(ChassisSpeeds.fromFieldRelativeSpeeds(speeds, pose.getRotation()));
+    // Apply the generated velocities
+    runVelocity(velocities.toRobotRelative(pose.getRotation()));
   }
 
   /** Runs the drive in a straight line with the specified drive output. */
@@ -309,7 +309,7 @@ public void runCharacterization(double output) {
 
   /** Stops the drive. */
   public void stop() {
-    runVelocity(ZERO_SPEEDS);
+    runVelocity(ZERO_VELOCITIES);
   }
 
   /**
@@ -339,7 +339,7 @@ public Command sysIdDynamic(SysIdRoutine.Direction direction) {
 
   /** Returns the module states (turn angles and drive velocities) for all of the modules. */
   @AutoLogOutput(key = "SwerveStates/Measured")
-  private SwerveModuleState[] getModuleStates() {
+  private SwerveModuleVelocity[] getModuleStates() {
     for (int i = 0; i < 4; i++) {
       measuredStates[i] = modules[i].getState();
     }
@@ -354,10 +354,10 @@ private SwerveModulePosition[] getModulePositions() {
     return measuredPositions;
   }
 
-  /** Returns the measured chassis speeds of the robot. */
-  @AutoLogOutput(key = "SwerveChassisSpeeds/Measured")
-  public ChassisSpeeds getRobotRelativeChassisSpeeds() {
-    return chassisSpeeds;
+  /** Returns the measured chassis velocities of the robot. */
+  @AutoLogOutput(key = "SwerveChassisVelocities/Measured")
+  public ChassisVelocities getRobotRelativeChassisVelocities() {
+    return chassisVelocities;
   }
 
   /** Returns the position of each module in radians. */
@@ -418,13 +418,13 @@ public void addVisionMeasurement(
         visionRobotPoseMeters, timestampSeconds, visionMeasurementStdDevs);
   }
 
-  /** Returns the maximum linear speed in meters per sec. */
-  public double getMaxLinearSpeedMetersPerSec() {
+  /** Returns the maximum linear velocity in meters per sec. */
+  public double getMaxLinearVelocityMetersPerSec() {
     return MAX_CHASSIS_VELOCITY.in(MetersPerSecond);
   }
 
-  /** Returns the maximum angular speed in radians per sec. */
-  public double getMaxAngularSpeedRadPerSec() {
+  /** Returns the maximum angular velocity in radians per sec. */
+  public double getMaxAngularVelocityRadPerSec() {
     return MAX_CHASSIS_ANGULAR_VELOCITY.in(RadiansPerSecond);
   }
 
diff --git a/src/main/java/frc/robot/subsystems/drive/DriveConstants.java b/src/main/java/frc/robot/subsystems/drive/DriveConstants.java
index 72caad1..addfea9 100644
--- a/src/main/java/frc/robot/subsystems/drive/DriveConstants.java
+++ b/src/main/java/frc/robot/subsystems/drive/DriveConstants.java
@@ -28,11 +28,13 @@
 import com.pathplanner.lib.config.ModuleConfig;
 import com.pathplanner.lib.config.RobotConfig;
 import com.pathplanner.lib.path.PathConstraints;
-import org.wpilib.math.Matrix;
+import frc.robot.Constants.CANBusPorts.SC1;
+import frc.robot.Constants.MotorConstants.KrakenX60Constants;
 import org.wpilib.math.geometry.Translation2d;
+import org.wpilib.math.linalg.Matrix;
 import org.wpilib.math.numbers.N1;
 import org.wpilib.math.numbers.N3;
-import org.wpilib.math.system.plant.DCMotor;
+import org.wpilib.math.system.DCMotor;
 import org.wpilib.units.measure.AngularAcceleration;
 import org.wpilib.units.measure.AngularVelocity;
 import org.wpilib.units.measure.Distance;
@@ -41,8 +43,6 @@
 import org.wpilib.units.measure.Mass;
 import org.wpilib.units.measure.MomentOfInertia;
 import org.wpilib.units.measure.Voltage;
-import frc.robot.Constants.CANBusPorts.CANHD;
-import frc.robot.Constants.MotorConstants.KrakenX60Constants;
 
 public class DriveConstants {
 
@@ -74,7 +74,7 @@ public class DriveConstants {
       MetersPerSecond.of(
           0.9
               * (WHEEL_RADIUS_METERS * 2.0 * Math.PI)
-              * DRIVE_GEARBOX.freeSpeedRadPerSec
+              * DRIVE_GEARBOX.freeSpeed
               / (2.0 * Math.PI)
               / DRIVE_MOTOR_REDUCTION);
 
@@ -208,7 +208,7 @@ public class DriveConstants {
   private static final Voltage DRIVE_FRICTION_VOLTAGE = Volts.of(0.2);
 
   public static final SwerveDrivetrainConstants DRIVETRAIN_CONSTANTS =
-      new SwerveDrivetrainConstants().withCANBusName(CANHD.BUS.getName());
+      new SwerveDrivetrainConstants().withCANBusName(SC1.BUS.getName());
 
   private static final SwerveModuleConstantsFactory<
           TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>
@@ -239,9 +239,9 @@ public class DriveConstants {
           TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>
       FRONT_LEFT =
           CONSTANT_CREATOR.createModuleConstants(
-              CANHD.FRONT_LEFT_TURN,
-              CANHD.FRONT_LEFT_DRIVE,
-              CANHD.FRONT_LEFT_TURN_ABS_ENC,
+              SC1.FRONT_LEFT_TURN,
+              SC1.FRONT_LEFT_DRIVE,
+              SC1.FRONT_LEFT_TURN_ABS_ENC,
               Rotations.of(0),
               WHEEL_BASE.div(2.0),
               TRACK_WIDTH.div(2.0),
@@ -252,9 +252,9 @@ public class DriveConstants {
           TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>
       FRONT_RIGHT =
           CONSTANT_CREATOR.createModuleConstants(
-              CANHD.FRONT_RIGHT_TURN,
-              CANHD.FRONT_RIGHT_DRIVE,
-              CANHD.FRONT_RIGHT_TURN_ABS_ENC,
+              SC1.FRONT_RIGHT_TURN,
+              SC1.FRONT_RIGHT_DRIVE,
+              SC1.FRONT_RIGHT_TURN_ABS_ENC,
               Rotations.of(0),
               WHEEL_BASE.div(2.0),
               TRACK_WIDTH.div(-2.0),
@@ -265,9 +265,9 @@ public class DriveConstants {
           TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>
       BACK_LEFT =
           CONSTANT_CREATOR.createModuleConstants(
-              CANHD.BACK_LEFT_TURN,
-              CANHD.BACK_LEFT_DRIVE,
-              CANHD.BACK_LEFT_TURN_ABS_ENC,
+              SC1.BACK_LEFT_TURN,
+              SC1.BACK_LEFT_DRIVE,
+              SC1.BACK_LEFT_TURN_ABS_ENC,
               Rotations.of(0),
               WHEEL_BASE.div(-2.0),
               TRACK_WIDTH.div(2.0),
@@ -278,9 +278,9 @@ public class DriveConstants {
           TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>
       BACK_RIGHT =
           CONSTANT_CREATOR.createModuleConstants(
-              CANHD.BACK_RIGHT_TURN,
-              CANHD.BACK_RIGHT_DRIVE,
-              CANHD.BACK_RIGHT_TURN_ABS_ENC,
+              SC1.BACK_RIGHT_TURN,
+              SC1.BACK_RIGHT_DRIVE,
+              SC1.BACK_RIGHT_TURN_ABS_ENC,
               Rotations.of(0),
               WHEEL_BASE.div(-2.0),
               TRACK_WIDTH.div(-2.0),
diff --git a/src/main/java/frc/robot/subsystems/drive/GyroIO.java b/src/main/java/frc/robot/subsystems/drive/GyroIO.java
index 2c0e591..bc47c1a 100644
--- a/src/main/java/frc/robot/subsystems/drive/GyroIO.java
+++ b/src/main/java/frc/robot/subsystems/drive/GyroIO.java
@@ -7,8 +7,8 @@
 
 package frc.robot.subsystems.drive;
 
-import org.wpilib.math.geometry.Rotation2d;
 import org.littletonrobotics.junction.AutoLog;
+import org.wpilib.math.geometry.Rotation2d;
 
 public interface GyroIO {
   @AutoLog
diff --git a/src/main/java/frc/robot/subsystems/drive/GyroIOBoron.java b/src/main/java/frc/robot/subsystems/drive/GyroIOBoron.java
index f9413f0..d44fe14 100644
--- a/src/main/java/frc/robot/subsystems/drive/GyroIOBoron.java
+++ b/src/main/java/frc/robot/subsystems/drive/GyroIOBoron.java
@@ -8,12 +8,12 @@
 package frc.robot.subsystems.drive;
 
 import com.reduxrobotics.sensors.canandgyro.Canandgyro;
-import org.wpilib.math.geometry.Rotation2d;
-import org.wpilib.math.util.Units;
-import frc.robot.Constants.CANBusPorts.CAN2;
+import frc.robot.Constants.CANBusPorts.SC0;
 import frc.robot.util.CanandgyroThread;
 import frc.robot.util.CanandgyroThread.GyroInputs;
 import java.util.Queue;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.util.Units;
 
 /** IO implementation for Redux Canandgyro. */
 public class GyroIOBoron implements GyroIO {
@@ -23,7 +23,7 @@ public class GyroIOBoron implements GyroIO {
   private final Queue<Double> yawPositionQueue;
 
   public GyroIOBoron() {
-    canandgyro = new Canandgyro(CAN2.GYRO);
+    canandgyro = new Canandgyro(SC0.GYRO);
     gyroInputs = CanandgyroThread.getInstance().registerCanandgyro(canandgyro);
     yawTimestampQueue = PhoenixOdometryThread.getInstance().makeTimestampQueue();
     yawPositionQueue = PhoenixOdometryThread.getInstance().registerSignal(canandgyro::getYaw);
diff --git a/src/main/java/frc/robot/subsystems/drive/Module.java b/src/main/java/frc/robot/subsystems/drive/Module.java
index c6afc99..0df62ed 100644
--- a/src/main/java/frc/robot/subsystems/drive/Module.java
+++ b/src/main/java/frc/robot/subsystems/drive/Module.java
@@ -12,14 +12,13 @@
 
 import static frc.robot.subsystems.drive.DriveConstants.*;
 
-import org.wpilib.math.geometry.Rotation2d;
-import org.wpilib.math.kinematics.SwerveModulePosition;
-import org.wpilib.math.kinematics.SwerveModuleState;
-import org.wpilib.wpilibj.Alert;
-import org.wpilib.wpilibj.Alert.AlertType;
-import org.wpilib.wpilibj.Preferences;
 import frc.robot.Constants.FeatureFlags;
 import org.littletonrobotics.junction.Logger;
+import org.wpilib.driverstation.Alert;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.kinematics.SwerveModulePosition;
+import org.wpilib.math.kinematics.SwerveModuleVelocity;
+import org.wpilib.util.Preferences;
 
 public class Module {
   private final ModuleIO io;
@@ -34,9 +33,9 @@ public Module(ModuleIO io, String name) {
     this.io = io;
     this.name = name;
     driveDisconnectedAlert =
-        new Alert("Disconnected drive motor on module " + name + ".", AlertType.kError);
+        new Alert("Disconnected drive motor on module " + name + ".", Alert.Level.HIGH);
     turnDisconnectedAlert =
-        new Alert("Disconnected turn motor on module " + name + ".", AlertType.kError);
+        new Alert("Disconnected turn motor on module " + name + ".", Alert.Level.HIGH);
 
     // Set turn zero from preferences
     Rotation2d turnZeroFromCancoder = inputs.turnZero;
@@ -90,14 +89,12 @@ public void periodic() {
     }
   }
 
-  /** Runs the module with the specified setpoint state. Mutates the state to optimize it. */
-  public void runSetpoint(SwerveModuleState state) {
-    // Optimize velocity setpoint
-    state.optimize(getAngle());
-    state.cosineScale(inputs.turnPosition);
+  /** Runs the module with the specified setpoint state. */
+  public void runSetpoint(SwerveModuleVelocity state) {
+    state = state.optimize(getAngle());
+    state = state.cosineScale(inputs.turnPosition);
 
-    // Apply setpoints
-    io.setDriveVelocity(state.speedMetersPerSecond / WHEEL_RADIUS_METERS);
+    io.setDriveVelocity(state.velocity / WHEEL_RADIUS_METERS);
     io.setTurnPosition(state.angle);
   }
 
@@ -134,8 +131,8 @@ public SwerveModulePosition getPosition() {
   }
 
   /** Returns the module state (turn angle and drive velocity). */
-  public SwerveModuleState getState() {
-    return new SwerveModuleState(getVelocityMetersPerSec(), getAngle());
+  public SwerveModuleVelocity getState() {
+    return new SwerveModuleVelocity(getVelocityMetersPerSec(), getAngle());
   }
 
   /** Returns the module positions received this cycle. */
diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIO.java b/src/main/java/frc/robot/subsystems/drive/ModuleIO.java
index 9be5fa0..64d9e3e 100644
--- a/src/main/java/frc/robot/subsystems/drive/ModuleIO.java
+++ b/src/main/java/frc/robot/subsystems/drive/ModuleIO.java
@@ -7,8 +7,8 @@
 
 package frc.robot.subsystems.drive;
 
-import org.wpilib.math.geometry.Rotation2d;
 import org.littletonrobotics.junction.AutoLog;
+import org.wpilib.math.geometry.Rotation2d;
 
 public interface ModuleIO {
   @AutoLog
diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSimWPI.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSimWPI.java
index b85c4d3..bd821da 100644
--- a/src/main/java/frc/robot/subsystems/drive/ModuleIOSimWPI.java
+++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOSimWPI.java
@@ -10,14 +10,13 @@
 import com.ctre.phoenix6.configs.CANcoderConfiguration;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.swerve.SwerveModuleConstants;
-import org.wpilib.math.MathUtil;
 import org.wpilib.math.controller.PIDController;
 import org.wpilib.math.geometry.Rotation2d;
-import org.wpilib.math.system.plant.LinearSystemId;
+import org.wpilib.math.system.Models;
 import org.wpilib.math.util.Units;
-import org.wpilib.wpilibj.Timer;
-import org.wpilib.wpilibj.simulation.DCMotorSim;
-import org.wpilib.wpilibj.simulation.RoboRioSim;
+import org.wpilib.simulation.DCMotorSim;
+import org.wpilib.simulation.RoboRioSim;
+import org.wpilib.system.Timer;
 
 /** Physics sim implementation of module IO. */
 public class ModuleIOSimWPI implements ModuleIO {
@@ -47,14 +46,14 @@ public ModuleIOSimWPI(
     // Create drive and turn sim models
     driveSim =
         new DCMotorSim(
-            LinearSystemId.createDCMotorSystem(
+            Models.singleJointedArmFromPhysicalConstants(
                 DriveConstants.DRIVE_GEARBOX,
                 constants.DriveInertia,
                 constants.DriveMotorGearRatio),
             DriveConstants.DRIVE_GEARBOX);
     turnSim =
         new DCMotorSim(
-            LinearSystemId.createDCMotorSystem(
+            Models.singleJointedArmFromPhysicalConstants(
                 DriveConstants.TURN_GEARBOX, constants.SteerInertia, constants.SteerMotorGearRatio),
             DriveConstants.TURN_GEARBOX);
 
@@ -66,42 +65,41 @@ public ModuleIOSimWPI(
   public void updateInputs(ModuleIOInputs inputs) {
     // Run closed-loop control
     if (driveClosedLoop) {
-      driveAppliedVolts =
-          driveFFVolts + driveController.calculate(driveSim.getAngularVelocityRadPerSec());
+      driveAppliedVolts = driveFFVolts + driveController.calculate(driveSim.getAngularVelocity());
     } else {
       driveController.reset();
     }
     if (turnClosedLoop) {
-      turnAppliedVolts = turnController.calculate(turnSim.getAngularPositionRad());
+      turnAppliedVolts = turnController.calculate(turnSim.getAngularPosition());
     } else {
       turnController.reset();
     }
 
     // Update simulation state
     double busVoltage = RoboRioSim.getVInVoltage();
-    driveSim.setInputVoltage(MathUtil.clamp(driveAppliedVolts, -busVoltage, busVoltage));
-    turnSim.setInputVoltage(MathUtil.clamp(turnAppliedVolts, -busVoltage, busVoltage));
+    driveSim.setInputVoltage(Math.clamp(driveAppliedVolts, -busVoltage, busVoltage));
+    turnSim.setInputVoltage(Math.clamp(turnAppliedVolts, -busVoltage, busVoltage));
     driveSim.update(0.02);
     turnSim.update(0.02);
 
     // Update drive inputs
     inputs.driveConnected = true;
-    inputs.drivePositionRad = driveSim.getAngularPositionRad();
-    inputs.driveVelocityRadPerSec = driveSim.getAngularVelocityRadPerSec();
+    inputs.drivePositionRad = driveSim.getAngularPosition();
+    inputs.driveVelocityRadPerSec = driveSim.getAngularVelocity();
     inputs.driveAppliedVolts = driveAppliedVolts;
-    inputs.driveCurrentAmps = Math.abs(driveSim.getCurrentDrawAmps());
+    inputs.driveCurrentAmps = Math.abs(driveSim.getCurrentDraw());
 
     // Update turn inputs
     inputs.turnConnected = true;
     inputs.turnEncoderConnected = true;
-    inputs.turnAbsolutePosition = new Rotation2d(turnSim.getAngularPositionRad());
-    inputs.turnPosition = new Rotation2d(turnSim.getAngularPositionRad());
-    inputs.turnVelocityRadPerSec = turnSim.getAngularVelocityRadPerSec();
+    inputs.turnAbsolutePosition = new Rotation2d(turnSim.getAngularPosition());
+    inputs.turnPosition = new Rotation2d(turnSim.getAngularPosition());
+    inputs.turnVelocityRadPerSec = turnSim.getAngularVelocity();
     inputs.turnAppliedVolts = turnAppliedVolts;
-    inputs.turnCurrentAmps = Math.abs(turnSim.getCurrentDrawAmps());
+    inputs.turnCurrentAmps = Math.abs(turnSim.getCurrentDraw());
 
     // Update odometry inputs (50Hz because high-frequency odometry in sim doesn't matter)
-    inputs.odometryTimestamps = new double[] {Timer.getFPGATimestamp()};
+    inputs.odometryTimestamps = new double[] {Timer.getTimestamp()};
     inputs.odometryDrivePositionsRad = new double[] {inputs.drivePositionRad};
     inputs.odometryTurnPositions = new Rotation2d[] {inputs.turnPosition};
   }
diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java
index 7dc6cd3..e2c8d4b 100644
--- a/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java
+++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java
@@ -27,6 +27,8 @@
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import com.ctre.phoenix6.signals.SensorDirectionValue;
 import com.ctre.phoenix6.swerve.SwerveModuleConstants;
+import frc.robot.Constants.CANBusPorts.SC1;
+import java.util.Queue;
 import org.wpilib.math.filter.Debouncer;
 import org.wpilib.math.geometry.Rotation2d;
 import org.wpilib.math.util.Units;
@@ -34,8 +36,6 @@
 import org.wpilib.units.measure.AngularVelocity;
 import org.wpilib.units.measure.Current;
 import org.wpilib.units.measure.Voltage;
-import frc.robot.Constants.CANBusPorts.CANHD;
-import java.util.Queue;
 
 /**
  * Module IO implementation for Talon FX drive motor controller, Talon FX turn motor controller, and
@@ -96,9 +96,9 @@ public ModuleIOTalonFX(
       SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>
           constants) {
     this.constants = constants;
-    driveTalon = new TalonFX(constants.DriveMotorId, CANHD.BUS);
-    turnTalon = new TalonFX(constants.SteerMotorId, CANHD.BUS);
-    cancoder = new CANcoder(constants.EncoderId, CANHD.BUS);
+    driveTalon = new TalonFX(constants.DriveMotorId, SC1.BUS);
+    turnTalon = new TalonFX(constants.SteerMotorId, SC1.BUS);
+    cancoder = new CANcoder(constants.EncoderId, SC1.BUS);
 
     // Configure drive motor
     var driveConfig = constants.DriveMotorInitialConfigs;
diff --git a/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java b/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java
index 61e6082..9ec41d2 100644
--- a/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java
+++ b/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java
@@ -12,8 +12,6 @@
 import com.ctre.phoenix6.BaseStatusSignal;
 import com.ctre.phoenix6.CANBus;
 import com.ctre.phoenix6.StatusSignal;
-import org.wpilib.units.measure.Angle;
-import org.wpilib.wpilibj.RobotController;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.Queue;
@@ -21,6 +19,8 @@
 import java.util.concurrent.locks.Lock;
 import java.util.concurrent.locks.ReentrantLock;
 import java.util.function.DoubleSupplier;
+import org.wpilib.system.Timer;
+import org.wpilib.units.measure.Angle;
 
 /**
  * Provides an interface for asynchronously reading high-frequency measurements to a set of queues.
@@ -133,7 +133,7 @@ public void run() {
         // Sample timestamp is current FPGA time minus average CAN latency
         //     Default timestamps from Phoenix are NOT compatible with
         //     FPGA timestamps, this solution is imperfect but close
-        double timestamp = RobotController.getFPGATime() / 1e6;
+        double timestamp = Timer.getTimestamp();
         double totalLatency = 0.0;
         for (BaseStatusSignal signal : phoenixSignals) {
           totalLatency += signal.getTimestamp().getLatency();
diff --git a/src/main/java/frc/robot/subsystems/leds/LEDController.java b/src/main/java/frc/robot/subsystems/leds/LEDController.java
index b0bdf66..9cc45dd 100644
--- a/src/main/java/frc/robot/subsystems/leds/LEDController.java
+++ b/src/main/java/frc/robot/subsystems/leds/LEDController.java
@@ -10,16 +10,17 @@
 import static org.wpilib.units.Units.Centimeters;
 import static org.wpilib.units.Units.Seconds;
 
-import org.wpilib.math.MathUtil;
-import org.wpilib.math.geometry.Pose2d;
-import org.wpilib.wpilibj.DriverStation;
-import org.wpilib.wpilibj.DriverStation.Alliance;
-import org.wpilib.wpilibj.LEDPattern;
-import org.wpilib.wpilibj.util.Color;
-import org.wpilib.commandsv2.SubsystemBase;
 import frc.game.GameState;
 import frc.robot.Robot;
 import java.util.function.Supplier;
+import org.wpilib.command2.SubsystemBase;
+import org.wpilib.driverstation.Alliance;
+import org.wpilib.driverstation.MatchState;
+import org.wpilib.driverstation.RobotState;
+import org.wpilib.hardware.led.LEDPattern;
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.math.util.MathUtil;
+import org.wpilib.util.Color;
 
 /**
  * A subsystem to control the LEDs on the robot.
@@ -47,9 +48,7 @@ public static synchronized LEDController getInstance() {
     return instance;
   }
 
-  private LEDController() {
-    LEDStrip.startAll();
-  }
+  private LEDController() {}
 
   /** Pushes LED buffer data to all physical strips each cycle. */
   @Override
@@ -122,27 +121,27 @@ public void displayPoseSeek(Pose2d currentPose, Pose2d targetPose) {
   // ==================== PRE-ALLOCATED PATTERNS ====================
 
   /** LEDs off */
-  public static final LEDPattern solidBlackPattern = LEDPattern.solid(Color.kBlack);
+  public static final LEDPattern solidBlackPattern = LEDPattern.solid(Color.BLACK);
 
   /** Solid color patterns */
-  public static final LEDPattern solidYellowPattern = LEDPattern.solid(Color.kYellow);
+  public static final LEDPattern solidYellowPattern = LEDPattern.solid(Color.YELLOW);
 
-  public static final LEDPattern solidRedPattern = LEDPattern.solid(Color.kRed);
-  public static final LEDPattern solidGreenPattern = LEDPattern.solid(Color.kGreen);
-  public static final LEDPattern solidWhitePattern = LEDPattern.solid(Color.kWhite);
-  public static final LEDPattern solidOrangeRedPattern = LEDPattern.solid(Color.kOrangeRed);
+  public static final LEDPattern solidRedPattern = LEDPattern.solid(Color.RED);
+  public static final LEDPattern solidGreenPattern = LEDPattern.solid(Color.GREEN);
+  public static final LEDPattern solidWhitePattern = LEDPattern.solid(Color.WHITE);
+  public static final LEDPattern solidOrangeRedPattern = LEDPattern.solid(Color.ORANGE_RED);
 
   /** Blinking yellow pattern (0.5s period) for missing auto selection. */
   public static final LEDPattern blinkingYellowPattern =
-      LEDPattern.solid(Color.kYellow).blink(Seconds.of(0.5));
+      LEDPattern.solid(Color.YELLOW).blink(Seconds.of(0.5));
 
   /** Bounce ripple pattern in yellow (spindexing, not on target). */
   public static final LEDPattern bounceRippleYellowPattern =
-      LEDCustomPattern.bounceRipple(Color.kYellow);
+      LEDCustomPattern.bounceRipple(Color.YELLOW);
 
   /** Bounce ripple pattern in green (spindexing, on target). */
   public static final LEDPattern bounceRippleGreenPattern =
-      LEDCustomPattern.bounceRipple(Color.kGreen);
+      LEDCustomPattern.bounceRipple(Color.GREEN);
 
   /**
    * Pattern displaying the selected auto routine as counting blocks in alliance color. The number
@@ -170,10 +169,10 @@ public void displayPoseSeek(Pose2d currentPose, Pose2d targetPose) {
           10.0,
           // Fill color
           () -> {
-            return GameState.getMyAlliance() == Alliance.Blue ? Color.kBlue : Color.kRed;
+            return GameState.getMyAlliance() == Alliance.BLUE ? Color.BLUE : Color.RED;
           },
           // Background color
-          Color.kBlack,
+          Color.BLACK,
           // Blink period (0.25s = 4Hz flash)
           0.25);
 
@@ -191,7 +190,7 @@ public void displayAutoSelection() {
             () -> LEDSeries.AUTO_SELECTION.applyPattern(blinkingYellowPattern));
 
     // Display yellow warning pixel if alliance disagreement
-    DriverStation.getAlliance()
+    MatchState.getAlliance()
         .ifPresent(
             alliance -> {
               if (alliance != Robot.allianceSelector.getAllianceColor()) {
@@ -217,7 +216,7 @@ public void displayAutoSelection() {
    * Otherwise uses X_AXIS_BODY (LEDs 15-35), leaving WARNING_COMPRESSOR free for other indicators.
    */
   public void displayHubCountdown() {
-    if (DriverStation.isFMSAttached()) {
+    if (RobotState.isFMSAttached()) {
       LEDSeries.X_AXIS_FULL.applyPattern(hubCountdownPattern);
     } else {
       LEDSeries.X_AXIS_BODY.applyPattern(hubCountdownPattern);
diff --git a/src/main/java/frc/robot/subsystems/leds/LEDCustomPattern.java b/src/main/java/frc/robot/subsystems/leds/LEDCustomPattern.java
index 3c95297..dc92470 100644
--- a/src/main/java/frc/robot/subsystems/leds/LEDCustomPattern.java
+++ b/src/main/java/frc/robot/subsystems/leds/LEDCustomPattern.java
@@ -7,13 +7,15 @@
 
 package frc.robot.subsystems.leds;
 
-import org.wpilib.wpilibj.DriverStation.Alliance;
-import org.wpilib.wpilibj.LEDPattern;
-import org.wpilib.wpilibj.Timer;
-import org.wpilib.wpilibj.util.Color;
+import static org.wpilib.units.Units.Hertz;
+
 import frc.robot.Robot;
 import java.util.function.BooleanSupplier;
 import java.util.function.Supplier;
+import org.wpilib.driverstation.Alliance;
+import org.wpilib.hardware.led.LEDPattern;
+import org.wpilib.system.Timer;
+import org.wpilib.util.Color;
 
 /**
  * Custom LED patterns for the robot. These patterns follow the WPILib LEDPattern design: stateless
@@ -33,7 +35,7 @@ private LEDCustomPattern() {}
    * @return the stacked blocks pattern
    */
   public static LEDPattern stackedBlocks(Color color, int blockSize, int gapSize) {
-    return stackedBlocks(color, blockSize, gapSize, Color.kBlack);
+    return stackedBlocks(color, blockSize, gapSize, Color.BLACK);
   }
 
   /**
@@ -88,8 +90,7 @@ public static LEDPattern scrollingBlocks(Color color) {
    * @return a scrolling stacked blocks pattern
    */
   public static LEDPattern scrollingBlocks(Color color, int blockSize, int gapSize) {
-    return stackedBlocks(color, blockSize, gapSize)
-        .scrollAtRelativeSpeed(org.wpilib.units.Units.Hertz.of(2));
+    return stackedBlocks(color, blockSize, gapSize).scrollAtRelativeVelocity(Hertz.of(2));
   }
 
   /**
@@ -148,8 +149,7 @@ public static LEDPattern urgentCountdown(
       }
 
       // Blink in urgent mode
-      boolean showFill =
-          !urgent || ((int) (Timer.getFPGATimestamp() / blinkPeriodSeconds)) % 2 == 0;
+      boolean showFill = !urgent || ((int) (Timer.getTimestamp() / blinkPeriodSeconds)) % 2 == 0;
 
       int filledLeds = (int) Math.ceil(length * Math.max(0, Math.min(1, progress)));
       Color fillColor = showFill ? colorSupplier.get() : backgroundColor;
@@ -201,7 +201,7 @@ public static LEDPattern countingBlocks(
         if (i < maxLed && (i % period) < blockSize) {
           writer.setLED(i, color);
         } else {
-          writer.setLED(i, Color.kBlack);
+          writer.setLED(i, Color.BLACK);
         }
       }
     };
@@ -225,7 +225,7 @@ public static LEDPattern bounceRipple(
       int halfLength = length / 2;
 
       // Triangle wave for ping-pong motion (0 to 1 to 0)
-      double time = Timer.getFPGATimestamp();
+      double time = Timer.getTimestamp();
       double phase = time * cyclesPerSecond;
       double sawtooth = phase % 1.0; // 0 -> 1
       double triangleWave = Math.abs(sawtooth * 2 - 1); // 0 -> 1 -> 0
@@ -265,7 +265,7 @@ else if (tailLength > 0) {
               i,
               new Color(color.red * brightness, color.green * brightness, color.blue * brightness));
         } else {
-          writer.setLED(i, Color.kBlack);
+          writer.setLED(i, Color.BLACK);
         }
       }
     };
@@ -302,7 +302,7 @@ public static LEDPattern bounceRipple(Color color) {
   public static LEDPattern allianceColor() {
     if (allianceColorPattern == null) {
       allianceColorPattern =
-          solidIf(() -> Robot.getAlliance() == Alliance.Blue, Color.kBlue, Color.kRed);
+          solidIf(() -> Robot.getAlliance() == Alliance.BLUE, Color.BLUE, Color.RED);
     }
     return allianceColorPattern;
   }
diff --git a/src/main/java/frc/robot/subsystems/leds/LEDGroup.java b/src/main/java/frc/robot/subsystems/leds/LEDGroup.java
index 4af3576..b180394 100644
--- a/src/main/java/frc/robot/subsystems/leds/LEDGroup.java
+++ b/src/main/java/frc/robot/subsystems/leds/LEDGroup.java
@@ -7,10 +7,10 @@
 
 package frc.robot.subsystems.leds;
 
-import org.wpilib.wpilibj.AddressableLEDBufferView;
-import org.wpilib.wpilibj.LEDPattern;
-import org.wpilib.wpilibj.LEDReader;
-import org.wpilib.wpilibj.LEDWriter;
+import org.wpilib.hardware.led.AddressableLEDBufferView;
+import org.wpilib.hardware.led.LEDPattern;
+import org.wpilib.hardware.led.LEDReader;
+import org.wpilib.hardware.led.LEDWriter;
 
 /**
  * Defines logical LED groups on the robot. Each group can span multiple physical strips, composed
diff --git a/src/main/java/frc/robot/subsystems/leds/LEDSeries.java b/src/main/java/frc/robot/subsystems/leds/LEDSeries.java
index 18e0105..10f89f6 100644
--- a/src/main/java/frc/robot/subsystems/leds/LEDSeries.java
+++ b/src/main/java/frc/robot/subsystems/leds/LEDSeries.java
@@ -7,10 +7,10 @@
 
 package frc.robot.subsystems.leds;
 
-import org.wpilib.wpilibj.AddressableLEDBufferView;
-import org.wpilib.wpilibj.LEDPattern;
-import org.wpilib.wpilibj.LEDReader;
-import org.wpilib.wpilibj.LEDWriter;
+import org.wpilib.hardware.led.AddressableLEDBufferView;
+import org.wpilib.hardware.led.LEDPattern;
+import org.wpilib.hardware.led.LEDReader;
+import org.wpilib.hardware.led.LEDWriter;
 
 /**
  * Defines logical LED series on the robot. Each series can span multiple physical strips, composed
diff --git a/src/main/java/frc/robot/subsystems/leds/LEDStrip.java b/src/main/java/frc/robot/subsystems/leds/LEDStrip.java
index d6eab7a..22bf8a2 100644
--- a/src/main/java/frc/robot/subsystems/leds/LEDStrip.java
+++ b/src/main/java/frc/robot/subsystems/leds/LEDStrip.java
@@ -7,9 +7,9 @@
 
 package frc.robot.subsystems.leds;
 
-import org.wpilib.wpilibj.AddressableLED;
-import org.wpilib.wpilibj.AddressableLEDBuffer;
-import org.wpilib.wpilibj.AddressableLEDBufferView;
+import org.wpilib.hardware.led.AddressableLED;
+import org.wpilib.hardware.led.AddressableLEDBuffer;
+import org.wpilib.hardware.led.AddressableLEDBufferView;
 
 /**
  * Defines the physical LED strips on the robot. Each strip is connected to a PWM port and has a
@@ -27,7 +27,6 @@ public enum LEDStrip {
   private final int length;
   private AddressableLED led;
   private AddressableLEDBuffer buffer;
-  private boolean started = false;
 
   LEDStrip(int port, int length) {
     this.port = port;
@@ -58,15 +57,6 @@ public AddressableLEDBufferView createReversedView(int start, int end) {
     return getBuffer().createView(start, end).reversed();
   }
 
-  /** Starts this strip. Must be called before the strip will display anything. */
-  public void start() {
-    if (!started) {
-      getBuffer(); // Ensure LED and buffer are created
-      led.start();
-      started = true;
-    }
-  }
-
   /** Pushes buffer data to the physical LED strip. */
   public void update() {
     if (led != null) {
@@ -74,13 +64,6 @@ public void update() {
     }
   }
 
-  /** Starts all physical LED strips. Call once during robot initialization. */
-  public static void startAll() {
-    for (LEDStrip strip : values()) {
-      strip.start();
-    }
-  }
-
   /** Updates all physical LED strips with their current buffer data. */
   public static void updateAll() {
     for (LEDStrip strip : values()) {
diff --git a/src/main/java/frc/robot/subsystems/vision/Vision.java b/src/main/java/frc/robot/subsystems/vision/Vision.java
index eac12ae..5d390b1 100644
--- a/src/main/java/frc/robot/subsystems/vision/Vision.java
+++ b/src/main/java/frc/robot/subsystems/vision/Vision.java
@@ -12,19 +12,6 @@
 
 import static frc.robot.subsystems.vision.VisionConstants.*;
 
-import org.wpilib.apriltag.AprilTagFieldLayout;
-import org.wpilib.math.Matrix;
-import org.wpilib.math.VecBuilder;
-import org.wpilib.math.filter.LinearFilter;
-import org.wpilib.math.geometry.Pose2d;
-import org.wpilib.math.geometry.Pose3d;
-import org.wpilib.math.geometry.Rotation2d;
-import org.wpilib.math.numbers.N1;
-import org.wpilib.math.numbers.N3;
-import org.wpilib.wpilibj.Alert;
-import org.wpilib.wpilibj.Alert.AlertType;
-import org.wpilib.wpilibj.DriverStation;
-import org.wpilib.commandsv2.SubsystemBase;
 import frc.robot.Constants.FeatureFlags;
 import frc.robot.subsystems.vision.VisionFilter.FusedObservation;
 import frc.robot.subsystems.vision.VisionFilter.Test;
@@ -36,6 +23,18 @@
 import java.util.EnumSet;
 import java.util.function.Supplier;
 import org.littletonrobotics.junction.Logger;
+import org.wpilib.command2.SubsystemBase;
+import org.wpilib.driverstation.Alert;
+import org.wpilib.driverstation.RobotState;
+import org.wpilib.math.filter.LinearFilter;
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.math.geometry.Pose3d;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.linalg.Matrix;
+import org.wpilib.math.linalg.VecBuilder;
+import org.wpilib.math.numbers.N1;
+import org.wpilib.math.numbers.N3;
+import org.wpilib.vision.apriltag.AprilTagFieldLayout;
 
 public class Vision extends SubsystemBase {
   private final VisionConsumer consumer;
@@ -107,7 +106,7 @@ public Vision(VisionConsumer consumer, Supplier<Rotation2d> gyroYawSupplier, Vis
     for (int i = 0; i < inputs.length; i++) {
       disconnectedAlerts[i] =
           new Alert(
-              "Vision camera " + Integer.toString(i) + " is disconnected.", AlertType.kWarning);
+              "Vision camera " + Integer.toString(i) + " is disconnected.", Alert.Level.MEDIUM);
     }
   }
 
@@ -314,7 +313,7 @@ public void accept(
   public static synchronized AprilTagFieldLayout getAprilTagLayout() {
     if (cachedLayout == null) {
       // Try to load custom layout only if requested and not connected to FMS
-      if (USE_CUSTOM_APRIL_TAG_LAYOUT && !DriverStation.isFMSAttached()) {
+      if (USE_CUSTOM_APRIL_TAG_LAYOUT && !RobotState.isFMSAttached()) {
         try {
           cachedLayout = new AprilTagFieldLayout(CUSTOM_APRIL_TAG_LAYOUT_PATH);
         } catch (IOException e) {
diff --git a/src/main/java/frc/robot/subsystems/vision/VisionConstants.java b/src/main/java/frc/robot/subsystems/vision/VisionConstants.java
index b710ecb..37dea89 100644
--- a/src/main/java/frc/robot/subsystems/vision/VisionConstants.java
+++ b/src/main/java/frc/robot/subsystems/vision/VisionConstants.java
@@ -9,21 +9,21 @@
 
 import static org.wpilib.units.Units.*;
 
-import org.wpilib.apriltag.AprilTagFields;
+import frc.robot.subsystems.drive.DriveConstants;
 import org.wpilib.math.geometry.Quaternion;
 import org.wpilib.math.geometry.Rotation3d;
 import org.wpilib.math.geometry.Transform3d;
+import org.wpilib.system.Filesystem;
 import org.wpilib.units.measure.Angle;
 import org.wpilib.units.measure.Distance;
-import org.wpilib.wpilibj.Filesystem;
-import frc.robot.subsystems.drive.DriveConstants;
+import org.wpilib.vision.apriltag.AprilTagFields;
 
 public class VisionConstants {
 
   public static String CUSTOM_APRIL_TAG_LAYOUT_PATH =
       Filesystem.getDeployDirectory() + "/stemgym-2026.json";
   public static Boolean USE_CUSTOM_APRIL_TAG_LAYOUT = false;
-  public static AprilTagFields DEFAULT_APRIL_TAG_FIELD_LAYOUT = AprilTagFields.k2026RebuiltAndymark;
+  public static AprilTagFields DEFAULT_APRIL_TAG_FIELD_LAYOUT = AprilTagFields.kDefaultField;
 
   /** Pairs a camera's coprocessor name with its robot-to-camera transform. */
   public record CameraConfig(String name, Transform3d robotToCamera) {}
diff --git a/src/main/java/frc/robot/subsystems/vision/VisionFilter.java b/src/main/java/frc/robot/subsystems/vision/VisionFilter.java
index b71e19a..4f5762e 100644
--- a/src/main/java/frc/robot/subsystems/vision/VisionFilter.java
+++ b/src/main/java/frc/robot/subsystems/vision/VisionFilter.java
@@ -9,11 +9,6 @@
 
 import static frc.robot.subsystems.vision.VisionConstants.*;
 
-import org.wpilib.math.MathUtil;
-import org.wpilib.math.geometry.Pose2d;
-import org.wpilib.math.geometry.Rectangle2d;
-import org.wpilib.math.geometry.Rotation2d;
-import org.wpilib.math.geometry.Translation2d;
 import frc.robot.subsystems.vision.VisionIO.PoseObservation;
 import java.util.ArrayList;
 import java.util.EnumMap;
@@ -22,6 +17,11 @@
 import java.util.HashSet;
 import java.util.Map;
 import java.util.Set;
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.math.geometry.Rectangle2d;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.geometry.Translation2d;
+import org.wpilib.math.util.MathUtil;
 
 /**
  * Handles scoring and filtering of vision observations.
diff --git a/src/main/java/frc/robot/subsystems/vision/VisionIO.java b/src/main/java/frc/robot/subsystems/vision/VisionIO.java
index 1e4b469..9c5ba3d 100644
--- a/src/main/java/frc/robot/subsystems/vision/VisionIO.java
+++ b/src/main/java/frc/robot/subsystems/vision/VisionIO.java
@@ -10,9 +10,9 @@
 
 package frc.robot.subsystems.vision;
 
+import org.littletonrobotics.junction.AutoLog;
 import org.wpilib.math.geometry.Pose3d;
 import org.wpilib.math.geometry.Rotation2d;
-import org.littletonrobotics.junction.AutoLog;
 
 public interface VisionIO {
   public static final TargetObservation EMPTY_TARGET =
diff --git a/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java b/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java
index a8e27cd..4e59bef 100644
--- a/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java
+++ b/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java
@@ -10,17 +10,17 @@
 
 package frc.robot.subsystems.vision;
 
-import org.wpilib.math.geometry.Pose3d;
-import org.wpilib.math.geometry.Rotation2d;
-import org.wpilib.math.geometry.Transform3d;
-import org.wpilib.networktables.DoubleSubscriber;
-import org.wpilib.networktables.NetworkTableInstance;
 import frc.robot.subsystems.vision.VisionConstants.CameraConfig;
 import java.util.ArrayList;
 import java.util.HashSet;
 import java.util.List;
 import java.util.Set;
 import org.photonvision.PhotonCamera;
+import org.wpilib.math.geometry.Pose3d;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.geometry.Transform3d;
+import org.wpilib.networktables.DoubleSubscriber;
+import org.wpilib.networktables.NetworkTableInstance;
 
 /** IO implementation for real PhotonVision hardware. */
 public class VisionIOPhotonVision implements VisionIO {
diff --git a/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java b/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java
index c044821..26de377 100644
--- a/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java
+++ b/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java
@@ -10,13 +10,13 @@
 
 package frc.robot.subsystems.vision;
 
-import org.wpilib.math.geometry.Pose2d;
-import org.wpilib.math.geometry.Rotation2d;
 import frc.robot.subsystems.vision.VisionConstants.CameraConfig;
 import java.util.function.Supplier;
 import org.photonvision.simulation.PhotonCameraSim;
 import org.photonvision.simulation.SimCameraProperties;
 import org.photonvision.simulation.VisionSystemSim;
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.math.geometry.Rotation2d;
 
 /** IO implementation for physics sim using PhotonVision simulator. */
 public class VisionIOPhotonVisionSim extends VisionIOPhotonVision {
diff --git a/src/main/java/frc/robot/util/CanandgyroThread.java b/src/main/java/frc/robot/util/CanandgyroThread.java
index 23c8758..f4af46d 100644
--- a/src/main/java/frc/robot/util/CanandgyroThread.java
+++ b/src/main/java/frc/robot/util/CanandgyroThread.java
@@ -8,11 +8,11 @@
 package frc.robot.util;
 
 import com.reduxrobotics.sensors.canandgyro.Canandgyro;
-import org.wpilib.wpilibj.Notifier;
-import org.wpilib.wpilibj.RobotController;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.concurrent.locks.ReentrantLock;
+import org.wpilib.system.Notifier;
+import org.wpilib.system.Timer;
 
 /**
  * Provides an interface for asynchronously reading Canandgyro inputs on a background thread,
@@ -47,7 +47,7 @@ private void update() {
       calibrating = gyro.isCalibrating();
       yaw = gyro.getYaw();
       angularVelocityYaw = gyro.getAngularVelocityYaw();
-      timestamp = RobotController.getFPGATime() / 1e6;
+      timestamp = Timer.getTimestamp();
     }
 
     // Getters for cached values (called from main thread)
diff --git a/src/main/java/frc/robot/util/KernelLogMonitor.java b/src/main/java/frc/robot/util/KernelLogMonitor.java
index f3655aa..2093474 100644
--- a/src/main/java/frc/robot/util/KernelLogMonitor.java
+++ b/src/main/java/frc/robot/util/KernelLogMonitor.java
@@ -7,7 +7,6 @@
 
 package frc.robot.util;
 
-import org.wpilib.wpilibj.RobotBase;
 import java.io.BufferedReader;
 import java.io.IOException;
 import java.io.InputStreamReader;
@@ -20,6 +19,7 @@
 import java.util.concurrent.atomic.AtomicInteger;
 import java.util.regex.Pattern;
 import org.littletonrobotics.junction.Logger;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Monitors RoboRIO kernel logs for unexpected events (USB disconnects, ESD events, hardware errors)
diff --git a/src/main/java/frc/robot/util/LocalADStarAK.java b/src/main/java/frc/robot/util/LocalADStarAK.java
index ab33b63..0736e63 100644
--- a/src/main/java/frc/robot/util/LocalADStarAK.java
+++ b/src/main/java/frc/robot/util/LocalADStarAK.java
@@ -13,14 +13,14 @@
 import com.pathplanner.lib.path.PathPoint;
 import com.pathplanner.lib.pathfinding.LocalADStar;
 import com.pathplanner.lib.pathfinding.Pathfinder;
-import org.wpilib.math.Pair;
-import org.wpilib.math.geometry.Translation2d;
 import java.util.ArrayList;
 import java.util.Collections;
 import java.util.List;
 import org.littletonrobotics.junction.LogTable;
 import org.littletonrobotics.junction.Logger;
 import org.littletonrobotics.junction.inputs.LoggableInputs;
+import org.wpilib.math.geometry.Translation2d;
+import org.wpilib.math.util.Pair;
 
 // NOTE: This file is available at
 // https://gist.github.com/mjansen4857/a8024b55eb427184dbd10ae8923bd57d
diff --git a/src/main/java/frc/robot/util/SparkOdometryThread.java b/src/main/java/frc/robot/util/SparkOdometryThread.java
index f235dc2..16286c6 100644
--- a/src/main/java/frc/robot/util/SparkOdometryThread.java
+++ b/src/main/java/frc/robot/util/SparkOdometryThread.java
@@ -8,15 +8,16 @@
 package frc.robot.util;
 
 import com.revrobotics.AbsoluteEncoder;
-import com.revrobotics.REVLibError;
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.spark.SparkBase;
-import org.wpilib.wpilibj.Notifier;
-import org.wpilib.wpilibj.RobotController;
+import com.revrobotics.util.Signal;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.concurrent.locks.ReentrantLock;
 import java.util.function.DoubleSupplier;
+import java.util.function.Supplier;
+import org.wpilib.system.Notifier;
+import org.wpilib.system.Timer;
 
 /**
  * Provides an interface for asynchronously reading SparkMax/SparkFlex inputs on a background
@@ -33,8 +34,8 @@ public class SparkOdometryThread {
   /** Cached inputs for a single SparkMax/SparkFlex device. */
   public static class SparkInputs {
     private final SparkBase spark;
-    private final DoubleSupplier positionSupplier;
-    private final DoubleSupplier velocitySupplier;
+    private final Supplier<Signal<Double>> positionSignal;
+    private final Supplier<Signal<Double>> velocitySignal;
     private final DoubleSupplier[] additionalSuppliers;
 
     // Cached values (volatile for thread safety)
@@ -50,18 +51,18 @@ public static class SparkInputs {
      * Creates SparkInputs for a device.
      *
      * @param spark The SparkBase device
-     * @param positionSupplier Supplier for encoder position
-     * @param velocitySupplier Supplier for encoder velocity
+     * @param positionSignal Supplier for encoder position Signal
+     * @param velocitySignal Supplier for encoder velocity Signal
      * @param additionalSuppliers Optional additional values to read
      */
     public SparkInputs(
         SparkBase spark,
-        DoubleSupplier positionSupplier,
-        DoubleSupplier velocitySupplier,
+        Supplier<Signal<Double>> positionSignal,
+        Supplier<Signal<Double>> velocitySignal,
         DoubleSupplier... additionalSuppliers) {
       this.spark = spark;
-      this.positionSupplier = positionSupplier;
-      this.velocitySupplier = velocitySupplier;
+      this.positionSignal = positionSignal;
+      this.velocitySignal = velocitySignal;
       this.additionalSuppliers = additionalSuppliers;
       this.additionalValues = new double[additionalSuppliers.length];
     }
@@ -70,47 +71,40 @@ public SparkInputs(
     private void update() {
       boolean ok = true;
 
-      double pos = positionSupplier.getAsDouble();
-      if (spark.getLastError() == REVLibError.kOk) {
-        position = pos;
+      Signal<Double> posSig = positionSignal.get();
+      if (posSig.isValid()) {
+        position = posSig.get();
       } else {
         ok = false;
       }
 
-      double vel = velocitySupplier.getAsDouble();
-      if (spark.getLastError() == REVLibError.kOk) {
-        velocity = vel;
+      Signal<Double> velSig = velocitySignal.get();
+      if (velSig.isValid()) {
+        velocity = velSig.get();
       } else {
         ok = false;
       }
 
-      double output = spark.getAppliedOutput();
-      boolean outputOk = spark.getLastError() == REVLibError.kOk;
-      double voltage = spark.getBusVoltage();
-      boolean voltageOk = spark.getLastError() == REVLibError.kOk;
-      if (outputOk && voltageOk) {
-        appliedVolts = output * voltage;
+      Signal<Double> outputSig = spark.getAppliedOutput();
+      Signal<Double> voltageSig = spark.getBusVoltage();
+      if (outputSig.isValid() && voltageSig.isValid()) {
+        appliedVolts = outputSig.get() * voltageSig.get();
       } else {
         ok = false;
       }
 
-      double current = spark.getOutputCurrent();
-      if (spark.getLastError() == REVLibError.kOk) {
-        outputCurrent = current;
+      Signal<Double> currentSig = spark.getOutputCurrent();
+      if (currentSig.isValid()) {
+        outputCurrent = currentSig.get();
       } else {
         ok = false;
       }
 
       for (int i = 0; i < additionalSuppliers.length; i++) {
-        double val = additionalSuppliers[i].getAsDouble();
-        if (spark.getLastError() == REVLibError.kOk) {
-          additionalValues[i] = val;
-        } else {
-          ok = false;
-        }
+        additionalValues[i] = additionalSuppliers[i].getAsDouble();
       }
 
-      timestamp = RobotController.getFPGATime() / 1e6;
+      timestamp = Timer.getTimestamp();
       connected = ok;
     }
 
diff --git a/src/main/java/frc/robot/util/VisionThread.java b/src/main/java/frc/robot/util/VisionThread.java
index 5c3de4a..20e364e 100644
--- a/src/main/java/frc/robot/util/VisionThread.java
+++ b/src/main/java/frc/robot/util/VisionThread.java
@@ -7,7 +7,6 @@
 
 package frc.robot.util;
 
-import org.wpilib.wpilibj.Notifier;
 import frc.robot.subsystems.vision.VisionIO;
 import frc.robot.subsystems.vision.VisionIO.PoseObservation;
 import frc.robot.subsystems.vision.VisionIO.TargetObservation;
@@ -15,6 +14,7 @@
 import java.util.ArrayList;
 import java.util.List;
 import java.util.concurrent.locks.ReentrantLock;
+import org.wpilib.system.Notifier;
 
 /**
  * Provides an interface for asynchronously reading vision inputs on a background thread, avoiding
diff --git a/src/test/java/frc/robot/subsystems/vision/VisionFilterTest.java b/src/test/java/frc/robot/subsystems/vision/VisionFilterTest.java
index 055fb11..db586da 100644
--- a/src/test/java/frc/robot/subsystems/vision/VisionFilterTest.java
+++ b/src/test/java/frc/robot/subsystems/vision/VisionFilterTest.java
@@ -2,10 +2,6 @@
 
 import static org.junit.jupiter.api.Assertions.*;
 
-import org.wpilib.math.geometry.Pose2d;
-import org.wpilib.math.geometry.Pose3d;
-import org.wpilib.math.geometry.Rotation2d;
-import org.wpilib.math.geometry.Rotation3d;
 import frc.robot.subsystems.vision.VisionFilter.FusedObservation;
 import frc.robot.subsystems.vision.VisionFilter.Test;
 import frc.robot.subsystems.vision.VisionFilter.TestContext;
@@ -17,6 +13,10 @@
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.DisplayName;
 import org.junit.jupiter.api.Nested;
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.math.geometry.Pose3d;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.geometry.Rotation3d;
 
 class VisionFilterTest {
 
diff --git a/vendordeps/AdvantageKit.json b/vendordeps/AdvantageKit.json
index 177ee85..1a8abd5 100644
--- a/vendordeps/AdvantageKit.json
+++ b/vendordeps/AdvantageKit.json
@@ -1,35 +1,35 @@
 {
-    "fileName": "AdvantageKit.json",
-    "name": "AdvantageKit",
-    "version": "27.0.0-alpha-4",
-    "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
-    "wpilibYear": "2027_alpha5",
-    "mavenUrls": [
-        "https://frcmaven.wpi.edu/artifactory/littletonrobotics-mvn-release/"
-    ],
-    "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json",
-    "javaDependencies": [
-        {
-            "groupId": "org.littletonrobotics.akit",
-            "artifactId": "akit-java",
-            "version": "27.0.0-alpha-4"
-        }
-    ],
-    "jniDependencies": [
-        {
-            "groupId": "org.littletonrobotics.akit",
-            "artifactId": "akit-wpilibio",
-            "version": "27.0.0-alpha-4",
-            "skipInvalidPlatforms": false,
-            "isJar": false,
-            "validPlatforms": [
-                "linuxsystemcore",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal",
-                "windowsx86-64"
-            ]
-        }
-    ],
-    "cppDependencies": []
-}
\ No newline at end of file
+  "fileName": "AdvantageKit.json",
+  "name": "AdvantageKit",
+  "version": "27.0.0-alpha-4",
+  "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
+  "wpilibYear": "2027_alpha5",
+  "mavenUrls": [
+    "https://frcmaven.wpi.edu/artifactory/littletonrobotics-mvn-release/"
+  ],
+  "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json",
+  "javaDependencies": [
+    {
+      "groupId": "org.littletonrobotics.akit",
+      "artifactId": "akit-java",
+      "version": "27.0.0-alpha-4"
+    }
+  ],
+  "jniDependencies": [
+    {
+      "groupId": "org.littletonrobotics.akit",
+      "artifactId": "akit-wpilibio",
+      "version": "27.0.0-alpha-4",
+      "skipInvalidPlatforms": false,
+      "isJar": false,
+      "validPlatforms": [
+        "linuxsystemcore",
+        "linuxx86-64",
+        "linuxarm64",
+        "osxuniversal",
+        "windowsx86-64"
+      ]
+    }
+  ],
+  "cppDependencies": []
+}
diff --git a/vendordeps/ChoreoLib2026.json b/vendordeps/ChoreoLib2027Alpha.json
similarity index 72%
rename from vendordeps/ChoreoLib2026.json
rename to vendordeps/ChoreoLib2027Alpha.json
index 7665da4..1b6447e 100644
--- a/vendordeps/ChoreoLib2026.json
+++ b/vendordeps/ChoreoLib2027Alpha.json
@@ -1,19 +1,18 @@
 {
-  "fileName": "ChoreoLib2026.json",
+  "fileName": "ChoreoLib2027Alpha.json",
   "name": "ChoreoLib",
-  "version": "2026.0.3",
+  "version": "2027.0.0-alpha-1",
   "uuid": "b5e23f0a-dac9-4ad2-8dd6-02767c520aca",
-  "frcYear": "2026",
+  "wpilibYear": "2027_alpha5",
   "mavenUrls": [
-    "https://frcmaven.wpi.edu/artifactory/sleipnirgroup-mvn-release/",
-    "https://repo1.maven.org/maven2"
+    "https://frcmaven.wpi.edu/artifactory/sleipnirgroup-mvn-release/"
   ],
-  "jsonUrl": "https://choreo.autos/lib/ChoreoLib2026.json",
+  "jsonUrl": "https://choreo.autos/lib/ChoreoLib2027Alpha.json",
   "javaDependencies": [
     {
       "groupId": "choreo",
       "artifactId": "ChoreoLib-java",
-      "version": "2026.0.3"
+      "version": "2027.0.0-alpha-1"
     },
     {
       "groupId": "com.google.code.gson",
@@ -26,7 +25,7 @@
     {
       "groupId": "choreo",
       "artifactId": "ChoreoLib-cpp",
-      "version": "2026.0.3",
+      "version": "2027.0.0-alpha-1",
       "libName": "ChoreoLib",
       "headerClassifier": "headers",
       "sharedLibrary": false,
@@ -35,9 +34,9 @@
         "windowsx86-64",
         "linuxx86-64",
         "osxuniversal",
-        "linuxathena",
         "linuxarm32",
-        "linuxarm64"
+        "linuxarm64",
+        "linuxsystemcore"
       ]
     }
   ]
diff --git a/vendordeps/PathplannerLibSystemCoreAlpha.json b/vendordeps/PathplannerLibSystemCoreAlpha.json
index 24d3c8c..9b36d2b 100644
--- a/vendordeps/PathplannerLibSystemCoreAlpha.json
+++ b/vendordeps/PathplannerLibSystemCoreAlpha.json
@@ -1,37 +1,37 @@
 {
-    "fileName": "PathplannerLibSystemCoreAlpha.json",
-    "name": "PathplannerLib",
-    "version": "2027.0.0-alpha-3",
-    "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
-    "wpilibYear": "2027_alpha5",
-    "mavenUrls": [
-        "https://3015rangerrobotics.github.io/pathplannerlib/repo"
-    ],
-    "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLibSystemCoreAlpha.json",
-    "javaDependencies": [
-        {
-            "groupId": "com.pathplanner.lib",
-            "artifactId": "PathplannerLib-java",
-            "version": "2027.0.0-alpha-3"
-        }
-    ],
-    "jniDependencies": [],
-    "cppDependencies": [
-        {
-            "groupId": "com.pathplanner.lib",
-            "artifactId": "PathplannerLib-cpp",
-            "version": "2027.0.0-alpha-3",
-            "libName": "PathplannerLib",
-            "headerClassifier": "headers",
-            "sharedLibrary": false,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "osxuniversal",
-                "linuxsystemcore",
-                "linuxarm64"
-            ]
-        }
-    ]
-}
\ No newline at end of file
+  "fileName": "PathplannerLibSystemCoreAlpha.json",
+  "name": "PathplannerLib",
+  "version": "2027.0.0-alpha-3",
+  "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
+  "wpilibYear": "2027_alpha5",
+  "mavenUrls": [
+    "https://3015rangerrobotics.github.io/pathplannerlib/repo"
+  ],
+  "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLibSystemCoreAlpha.json",
+  "javaDependencies": [
+    {
+      "groupId": "com.pathplanner.lib",
+      "artifactId": "PathplannerLib-java",
+      "version": "2027.0.0-alpha-3"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "groupId": "com.pathplanner.lib",
+      "artifactId": "PathplannerLib-cpp",
+      "version": "2027.0.0-alpha-3",
+      "libName": "PathplannerLib",
+      "headerClassifier": "headers",
+      "sharedLibrary": false,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "osxuniversal",
+        "linuxsystemcore",
+        "linuxarm64"
+      ]
+    }
+  ]
+}
diff --git a/vendordeps/Phoenix6-26.50.0-alpha-1.json b/vendordeps/Phoenix6-26.50.0-alpha-1.json
index f7db60a..40dd410 100644
--- a/vendordeps/Phoenix6-26.50.0-alpha-1.json
+++ b/vendordeps/Phoenix6-26.50.0-alpha-1.json
@@ -1,449 +1,449 @@
 {
-    "fileName": "Phoenix6-26.50.0-alpha-1.json",
-    "name": "CTRE-Phoenix (v6)",
-    "version": "26.50.0-alpha-1",
-    "wpilibYear": "2027_alpha5",
-    "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-frc2027-latest.json",
-    "conflictsWith": [
-        {
-            "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
-            "errorMessage": "Users cannot have both the replay and regular Phoenix 6 vendordeps in their robot program.",
-            "offlineFileName": "Phoenix6-replay-frc2027-latest.json"
-        }
-    ],
-    "javaDependencies": [
-        {
-            "groupId": "com.ctre.phoenix6",
-            "artifactId": "wpiapi-java",
-            "version": "26.50.0-alpha-1"
-        }
-    ],
-    "jniDependencies": [
-        {
-            "groupId": "com.ctre.phoenix6",
-            "artifactId": "api-cpp",
-            "version": "26.50.0-alpha-1",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "linuxsystemcore"
-            ],
-            "simMode": "hwsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6",
-            "artifactId": "tools",
-            "version": "26.50.0-alpha-1",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "linuxsystemcore"
-            ],
-            "simMode": "hwsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "api-cpp-sim",
-            "version": "26.50.0-alpha-1",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "tools-sim",
-            "version": "26.50.0-alpha-1",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simTalonSRX",
-            "version": "26.50.0-alpha-1",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simVictorSPX",
-            "version": "26.50.0-alpha-1",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simPigeonIMU",
-            "version": "26.50.0-alpha-1",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simProTalonFX",
-            "version": "26.50.0-alpha-1",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simProTalonFXS",
-            "version": "26.50.0-alpha-1",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simProCANcoder",
-            "version": "26.50.0-alpha-1",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simProPigeon2",
-            "version": "26.50.0-alpha-1",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simProCANrange",
-            "version": "26.50.0-alpha-1",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simProCANdi",
-            "version": "26.50.0-alpha-1",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simProCANdle",
-            "version": "26.50.0-alpha-1",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        }
-    ],
-    "cppDependencies": [
-        {
-            "groupId": "com.ctre.phoenix6",
-            "artifactId": "wpiapi-cpp",
-            "version": "26.50.0-alpha-1",
-            "libName": "CTRE_Phoenix6_WPI",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "linuxsystemcore"
-            ],
-            "simMode": "hwsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6",
-            "artifactId": "tools",
-            "version": "26.50.0-alpha-1",
-            "libName": "CTRE_PhoenixTools",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "linuxsystemcore"
-            ],
-            "simMode": "hwsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "wpiapi-cpp-sim",
-            "version": "26.50.0-alpha-1",
-            "libName": "CTRE_Phoenix6_WPISim",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "tools-sim",
-            "version": "26.50.0-alpha-1",
-            "libName": "CTRE_PhoenixTools_Sim",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simTalonSRX",
-            "version": "26.50.0-alpha-1",
-            "libName": "CTRE_SimTalonSRX",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simVictorSPX",
-            "version": "26.50.0-alpha-1",
-            "libName": "CTRE_SimVictorSPX",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simPigeonIMU",
-            "version": "26.50.0-alpha-1",
-            "libName": "CTRE_SimPigeonIMU",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simProTalonFX",
-            "version": "26.50.0-alpha-1",
-            "libName": "CTRE_SimProTalonFX",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simProTalonFXS",
-            "version": "26.50.0-alpha-1",
-            "libName": "CTRE_SimProTalonFXS",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simProCANcoder",
-            "version": "26.50.0-alpha-1",
-            "libName": "CTRE_SimProCANcoder",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simProPigeon2",
-            "version": "26.50.0-alpha-1",
-            "libName": "CTRE_SimProPigeon2",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simProCANrange",
-            "version": "26.50.0-alpha-1",
-            "libName": "CTRE_SimProCANrange",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simProCANdi",
-            "version": "26.50.0-alpha-1",
-            "libName": "CTRE_SimProCANdi",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simProCANdle",
-            "version": "26.50.0-alpha-1",
-            "libName": "CTRE_SimProCANdle",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        }
-    ]
-}
\ No newline at end of file
+  "fileName": "Phoenix6-26.50.0-alpha-1.json",
+  "name": "CTRE-Phoenix (v6)",
+  "version": "26.50.0-alpha-1",
+  "wpilibYear": "2027_alpha5",
+  "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-frc2027-latest.json",
+  "conflictsWith": [
+    {
+      "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
+      "errorMessage": "Users cannot have both the replay and regular Phoenix 6 vendordeps in their robot program.",
+      "offlineFileName": "Phoenix6-replay-frc2027-latest.json"
+    }
+  ],
+  "javaDependencies": [
+    {
+      "groupId": "com.ctre.phoenix6",
+      "artifactId": "wpiapi-java",
+      "version": "26.50.0-alpha-1"
+    }
+  ],
+  "jniDependencies": [
+    {
+      "groupId": "com.ctre.phoenix6",
+      "artifactId": "api-cpp",
+      "version": "26.50.0-alpha-1",
+      "isJar": false,
+      "skipInvalidPlatforms": true,
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxarm64",
+        "linuxsystemcore"
+      ],
+      "simMode": "hwsim"
+    },
+    {
+      "groupId": "com.ctre.phoenix6",
+      "artifactId": "tools",
+      "version": "26.50.0-alpha-1",
+      "isJar": false,
+      "skipInvalidPlatforms": true,
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxarm64",
+        "linuxsystemcore"
+      ],
+      "simMode": "hwsim"
+    },
+    {
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "api-cpp-sim",
+      "version": "26.50.0-alpha-1",
+      "isJar": false,
+      "skipInvalidPlatforms": true,
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxarm64",
+        "osxuniversal"
+      ],
+      "simMode": "swsim"
+    },
+    {
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "tools-sim",
+      "version": "26.50.0-alpha-1",
+      "isJar": false,
+      "skipInvalidPlatforms": true,
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxarm64",
+        "osxuniversal"
+      ],
+      "simMode": "swsim"
+    },
+    {
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "simTalonSRX",
+      "version": "26.50.0-alpha-1",
+      "isJar": false,
+      "skipInvalidPlatforms": true,
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxarm64",
+        "osxuniversal"
+      ],
+      "simMode": "swsim"
+    },
+    {
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "simVictorSPX",
+      "version": "26.50.0-alpha-1",
+      "isJar": false,
+      "skipInvalidPlatforms": true,
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxarm64",
+        "osxuniversal"
+      ],
+      "simMode": "swsim"
+    },
+    {
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "simPigeonIMU",
+      "version": "26.50.0-alpha-1",
+      "isJar": false,
+      "skipInvalidPlatforms": true,
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxarm64",
+        "osxuniversal"
+      ],
+      "simMode": "swsim"
+    },
+    {
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "simProTalonFX",
+      "version": "26.50.0-alpha-1",
+      "isJar": false,
+      "skipInvalidPlatforms": true,
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxarm64",
+        "osxuniversal"
+      ],
+      "simMode": "swsim"
+    },
+    {
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "simProTalonFXS",
+      "version": "26.50.0-alpha-1",
+      "isJar": false,
+      "skipInvalidPlatforms": true,
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxarm64",
+        "osxuniversal"
+      ],
+      "simMode": "swsim"
+    },
+    {
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "simProCANcoder",
+      "version": "26.50.0-alpha-1",
+      "isJar": false,
+      "skipInvalidPlatforms": true,
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxarm64",
+        "osxuniversal"
+      ],
+      "simMode": "swsim"
+    },
+    {
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "simProPigeon2",
+      "version": "26.50.0-alpha-1",
+      "isJar": false,
+      "skipInvalidPlatforms": true,
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxarm64",
+        "osxuniversal"
+      ],
+      "simMode": "swsim"
+    },
+    {
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "simProCANrange",
+      "version": "26.50.0-alpha-1",
+      "isJar": false,
+      "skipInvalidPlatforms": true,
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxarm64",
+        "osxuniversal"
+      ],
+      "simMode": "swsim"
+    },
+    {
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "simProCANdi",
+      "version": "26.50.0-alpha-1",
+      "isJar": false,
+      "skipInvalidPlatforms": true,
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxarm64",
+        "osxuniversal"
+      ],
+      "simMode": "swsim"
+    },
+    {
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "simProCANdle",
+      "version": "26.50.0-alpha-1",
+      "isJar": false,
+      "skipInvalidPlatforms": true,
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxarm64",
+        "osxuniversal"
+      ],
+      "simMode": "swsim"
+    }
+  ],
+  "cppDependencies": [
+    {
+      "groupId": "com.ctre.phoenix6",
+      "artifactId": "wpiapi-cpp",
+      "version": "26.50.0-alpha-1",
+      "libName": "CTRE_Phoenix6_WPI",
+      "headerClassifier": "headers",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxarm64",
+        "linuxsystemcore"
+      ],
+      "simMode": "hwsim"
+    },
+    {
+      "groupId": "com.ctre.phoenix6",
+      "artifactId": "tools",
+      "version": "26.50.0-alpha-1",
+      "libName": "CTRE_PhoenixTools",
+      "headerClassifier": "headers",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxarm64",
+        "linuxsystemcore"
+      ],
+      "simMode": "hwsim"
+    },
+    {
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "wpiapi-cpp-sim",
+      "version": "26.50.0-alpha-1",
+      "libName": "CTRE_Phoenix6_WPISim",
+      "headerClassifier": "headers",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxarm64",
+        "osxuniversal"
+      ],
+      "simMode": "swsim"
+    },
+    {
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "tools-sim",
+      "version": "26.50.0-alpha-1",
+      "libName": "CTRE_PhoenixTools_Sim",
+      "headerClassifier": "headers",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxarm64",
+        "osxuniversal"
+      ],
+      "simMode": "swsim"
+    },
+    {
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "simTalonSRX",
+      "version": "26.50.0-alpha-1",
+      "libName": "CTRE_SimTalonSRX",
+      "headerClassifier": "headers",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxarm64",
+        "osxuniversal"
+      ],
+      "simMode": "swsim"
+    },
+    {
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "simVictorSPX",
+      "version": "26.50.0-alpha-1",
+      "libName": "CTRE_SimVictorSPX",
+      "headerClassifier": "headers",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxarm64",
+        "osxuniversal"
+      ],
+      "simMode": "swsim"
+    },
+    {
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "simPigeonIMU",
+      "version": "26.50.0-alpha-1",
+      "libName": "CTRE_SimPigeonIMU",
+      "headerClassifier": "headers",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxarm64",
+        "osxuniversal"
+      ],
+      "simMode": "swsim"
+    },
+    {
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "simProTalonFX",
+      "version": "26.50.0-alpha-1",
+      "libName": "CTRE_SimProTalonFX",
+      "headerClassifier": "headers",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxarm64",
+        "osxuniversal"
+      ],
+      "simMode": "swsim"
+    },
+    {
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "simProTalonFXS",
+      "version": "26.50.0-alpha-1",
+      "libName": "CTRE_SimProTalonFXS",
+      "headerClassifier": "headers",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxarm64",
+        "osxuniversal"
+      ],
+      "simMode": "swsim"
+    },
+    {
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "simProCANcoder",
+      "version": "26.50.0-alpha-1",
+      "libName": "CTRE_SimProCANcoder",
+      "headerClassifier": "headers",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxarm64",
+        "osxuniversal"
+      ],
+      "simMode": "swsim"
+    },
+    {
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "simProPigeon2",
+      "version": "26.50.0-alpha-1",
+      "libName": "CTRE_SimProPigeon2",
+      "headerClassifier": "headers",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxarm64",
+        "osxuniversal"
+      ],
+      "simMode": "swsim"
+    },
+    {
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "simProCANrange",
+      "version": "26.50.0-alpha-1",
+      "libName": "CTRE_SimProCANrange",
+      "headerClassifier": "headers",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxarm64",
+        "osxuniversal"
+      ],
+      "simMode": "swsim"
+    },
+    {
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "simProCANdi",
+      "version": "26.50.0-alpha-1",
+      "libName": "CTRE_SimProCANdi",
+      "headerClassifier": "headers",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxarm64",
+        "osxuniversal"
+      ],
+      "simMode": "swsim"
+    },
+    {
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "simProCANdle",
+      "version": "26.50.0-alpha-1",
+      "libName": "CTRE_SimProCANdle",
+      "headerClassifier": "headers",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxarm64",
+        "osxuniversal"
+      ],
+      "simMode": "swsim"
+    }
+  ]
+}
diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json
index 0a3ae50..2b6bd6b 100644
--- a/vendordeps/REVLib.json
+++ b/vendordeps/REVLib.json
@@ -1,126 +1,126 @@
 {
-    "fileName": "REVLib.json",
-    "name": "REVLib",
-    "version": "2027.0.0-alpha-4",
-    "wpilibYear": "2027_alpha5",
-    "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
-    "mavenUrls": [
-        "https://maven.revrobotics.com/"
-    ],
-    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2027.json",
-    "javaDependencies": [
-        {
-            "groupId": "com.revrobotics.frc",
-            "artifactId": "REVLib-java",
-            "version": "2027.0.0-alpha-4"
-        }
-    ],
-    "jniDependencies": [
-        {
-            "groupId": "com.revrobotics.frc",
-            "artifactId": "REVLib-driver",
-            "version": "2027.0.0-alpha-4",
-            "skipInvalidPlatforms": true,
-            "isJar": false,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxarm64",
-                "linuxx86-64",
-                "linuxsystemcore",
-                "osxuniversal"
-            ]
-        },
-        {
-            "groupId": "com.revrobotics.frc",
-            "artifactId": "RevLibBackendDriver",
-            "version": "2027.0.0-alpha-4",
-            "skipInvalidPlatforms": true,
-            "isJar": false,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxarm64",
-                "linuxx86-64",
-                "linuxsystemcore",
-                "osxuniversal"
-            ]
-        },
-        {
-            "groupId": "com.revrobotics.frc",
-            "artifactId": "RevLibWpiBackendDriver",
-            "version": "2027.0.0-alpha-4",
-            "skipInvalidPlatforms": true,
-            "isJar": false,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxarm64",
-                "linuxx86-64",
-                "linuxsystemcore",
-                "osxuniversal"
-            ]
-        }
-    ],
-    "cppDependencies": [
-        {
-            "groupId": "com.revrobotics.frc",
-            "artifactId": "REVLib-cpp",
-            "version": "2027.0.0-alpha-4",
-            "libName": "REVLib",
-            "headerClassifier": "headers",
-            "sharedLibrary": false,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxarm64",
-                "linuxx86-64",
-                "linuxsystemcore",
-                "osxuniversal"
-            ]
-        },
-        {
-            "groupId": "com.revrobotics.frc",
-            "artifactId": "REVLib-driver",
-            "version": "2027.0.0-alpha-4",
-            "libName": "REVLibDriver",
-            "headerClassifier": "headers",
-            "sharedLibrary": false,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxarm64",
-                "linuxx86-64",
-                "linuxsystemcore",
-                "osxuniversal"
-            ]
-        },
-        {
-            "groupId": "com.revrobotics.frc",
-            "artifactId": "RevLibBackendDriver",
-            "version": "2027.0.0-alpha-4",
-            "libName": "BackendDriver",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxarm64",
-                "linuxx86-64",
-                "linuxsystemcore",
-                "osxuniversal"
-            ]
-        },
-        {
-            "groupId": "com.revrobotics.frc",
-            "artifactId": "RevLibWpiBackendDriver",
-            "version": "2027.0.0-alpha-4",
-            "libName": "REVLibWpi",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxarm64",
-                "linuxx86-64",
-                "linuxsystemcore",
-                "osxuniversal"
-            ]
-        }
-    ]
-}
\ No newline at end of file
+  "fileName": "REVLib.json",
+  "name": "REVLib",
+  "version": "2027.0.0-alpha-4",
+  "wpilibYear": "2027_alpha5",
+  "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
+  "mavenUrls": [
+    "https://maven.revrobotics.com/"
+  ],
+  "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2027.json",
+  "javaDependencies": [
+    {
+      "groupId": "com.revrobotics.frc",
+      "artifactId": "REVLib-java",
+      "version": "2027.0.0-alpha-4"
+    }
+  ],
+  "jniDependencies": [
+    {
+      "groupId": "com.revrobotics.frc",
+      "artifactId": "REVLib-driver",
+      "version": "2027.0.0-alpha-4",
+      "skipInvalidPlatforms": true,
+      "isJar": false,
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxarm64",
+        "linuxx86-64",
+        "linuxsystemcore",
+        "osxuniversal"
+      ]
+    },
+    {
+      "groupId": "com.revrobotics.frc",
+      "artifactId": "RevLibBackendDriver",
+      "version": "2027.0.0-alpha-4",
+      "skipInvalidPlatforms": true,
+      "isJar": false,
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxarm64",
+        "linuxx86-64",
+        "linuxsystemcore",
+        "osxuniversal"
+      ]
+    },
+    {
+      "groupId": "com.revrobotics.frc",
+      "artifactId": "RevLibWpiBackendDriver",
+      "version": "2027.0.0-alpha-4",
+      "skipInvalidPlatforms": true,
+      "isJar": false,
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxarm64",
+        "linuxx86-64",
+        "linuxsystemcore",
+        "osxuniversal"
+      ]
+    }
+  ],
+  "cppDependencies": [
+    {
+      "groupId": "com.revrobotics.frc",
+      "artifactId": "REVLib-cpp",
+      "version": "2027.0.0-alpha-4",
+      "libName": "REVLib",
+      "headerClassifier": "headers",
+      "sharedLibrary": false,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxarm64",
+        "linuxx86-64",
+        "linuxsystemcore",
+        "osxuniversal"
+      ]
+    },
+    {
+      "groupId": "com.revrobotics.frc",
+      "artifactId": "REVLib-driver",
+      "version": "2027.0.0-alpha-4",
+      "libName": "REVLibDriver",
+      "headerClassifier": "headers",
+      "sharedLibrary": false,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxarm64",
+        "linuxx86-64",
+        "linuxsystemcore",
+        "osxuniversal"
+      ]
+    },
+    {
+      "groupId": "com.revrobotics.frc",
+      "artifactId": "RevLibBackendDriver",
+      "version": "2027.0.0-alpha-4",
+      "libName": "BackendDriver",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxarm64",
+        "linuxx86-64",
+        "linuxsystemcore",
+        "osxuniversal"
+      ]
+    },
+    {
+      "groupId": "com.revrobotics.frc",
+      "artifactId": "RevLibWpiBackendDriver",
+      "version": "2027.0.0-alpha-4",
+      "libName": "REVLibWpi",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxarm64",
+        "linuxx86-64",
+        "linuxsystemcore",
+        "osxuniversal"
+      ]
+    }
+  ]
+}
diff --git a/vendordeps/ReduxLib-2027.0.0-alpha-2.json b/vendordeps/ReduxLib-2027.0.0-alpha-2.json
index 15d7cff..d82a3ff 100644
--- a/vendordeps/ReduxLib-2027.0.0-alpha-2.json
+++ b/vendordeps/ReduxLib-2027.0.0-alpha-2.json
@@ -2,7 +2,7 @@
   "fileName": "ReduxLib-2027.0.0-alpha-2.json",
   "name": "ReduxLib",
   "version": "2027.0.0-alpha-2",
-  "frcYear": "2027_alpha1",
+  "wpilibYear": "2027_alpha5",
   "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd",
   "mavenUrls": [
     "https://maven.reduxrobotics.com/"