diff --git a/.github/scripts/visualizeStates.py b/.github/scripts/visualizeStates.py
new file mode 100644
index 0000000..281ea9d
--- /dev/null
+++ b/.github/scripts/visualizeStates.py
@@ -0,0 +1,184 @@
+import sys
+import re
+from pathlib import Path
+from graphviz import Digraph
+
+# ---------- Parsing ManagerStates ----------
+def get_manager_states(manager_states_path):
+    text = Path(manager_states_path).read_text(encoding="utf8")
+
+    pattern = re.compile(
+        r"""
+        (\w+)\s*
+        \(\s*
+            "(.*?)"\s*,\s*
+            ([^,]+)\s*,\s*
+            ([^,]+)\s*,\s*
+            ([^,]+)\s*,\s*
+            ([^)]+)
+        \)
+        """,
+        re.VERBOSE | re.DOTALL,
+    )
+
+    states = {}
+
+    for m in pattern.finditer(text):
+        name = m.group(1)
+
+        def clean(x: str) -> str:
+            x = x.strip()
+            x = re.sub(r".*?\.", "", x)
+            x = re.sub(r"\(.*\)", "", x)
+            return x
+
+        states[name] = {
+            "Intake": clean(m.group(3)),
+            "Hopper": clean(m.group(4)),
+            "Shooter": clean(m.group(5)),
+            "Climber": clean(m.group(6)),
+            "connectionsTo": [],
+        }
+
+    return states
+
+# ---------- Parsing Triggers ----------
+def get_triggers(manager_path):
+    file = Path(manager_path).read_text(encoding="utf8")
+    return re.findall(r"addTrigger\([\s\S]*?\);", file)
+
+def parse_triggers(triggers):
+    parsed = []
+
+    for t in triggers:
+        m = re.search(
+            r"""
+            addTrigger\(
+                \s*(?:\w+\.)?(\w+)\s*,      # from
+                \s*(?:\w+\.)?(\w+)\s*,      # to
+                \s*(.*?)                    # condition (FULL)
+            \)\s*;
+            """,
+            t,
+            re.VERBOSE | re.DOTALL,
+        )
+        if not m:
+            continue
+
+        condition = m.group(3).strip()
+
+        # Remove lambda wrapper
+        condition = re.sub(r"^\(\)\s*->\s*", "", condition)
+
+        # Remove controller prefixes
+        condition = re.sub(r"(?:DRIVER|OPERATOR)_CONTROLLER::get", "", condition)
+        condition = re.sub(r".*?::", "", condition)
+
+        parsed.append({
+            "from": m.group(1),
+            "to": m.group(2),
+            "condition": condition,
+        })
+
+    return parsed
+
+def attach_triggers(state_map, triggers):
+    for t in triggers:
+        if t["from"] in state_map:
+            state_map[t["from"]]["connectionsTo"].append(t)
+
+# ---------- Graphviz helpers ----------
+def node_id(name: str) -> str:
+    return re.sub(r"\W+", "_", name)
+
+EDGE_COLORS = [
+    "#f6e05e", "#68d391", "#63b3ed", "#fc8181",
+    "#90cdf4", "#faf089", "#fbb6ce", "#9f7aea"
+]
+
+# ---------- Visualization ----------
+def generate_graph(state_map):
+    dot = Digraph("StateMachine", format="png", engine="dot")
+
+    dot.attr(
+        rankdir="TB",
+        bgcolor="#1e1e2f",
+        fontname="Helvetica",
+        nodesep="0.6",
+        ranksep="0.9",
+    )
+
+    dot.attr(
+        "node",
+        shape="box",
+        style="rounded,filled",
+        fillcolor="#2d2d3c",
+        color="#68d391",
+        fontcolor="white",
+        fontname="Helvetica-Bold",
+        fontsize="11",
+        penwidth="1.4",
+    )
+
+    dot.attr(
+        "edge",
+        fontname="Helvetica",
+        fontsize="9",
+        arrowsize="0.8",
+    )
+
+    # Nodes
+    for state, info in state_map.items():
+        lines = [
+            f"{state}",
+            "────────────",
+            f"Intake   → {info['Intake']}",
+            f"Hopper   → {info['Hopper']}",
+            f"Shooter  → {info['Shooter']}",
+            f"Climber  → {info['Climber']}",
+        ]
+        label = "\n".join(lines)
+
+        if state == "IDLE":
+            dot.node(
+                node_id(state),
+                label=label,
+                fillcolor="#3e2c1c",
+                color="#f6ad55",
+                penwidth="2.5",
+            )
+        else:
+            dot.node(node_id(state), label=label)
+
+    # Edges
+    color_index = 0
+    for state, info in state_map.items():
+        if not info["connectionsTo"]:
+            continue
+
+        color = EDGE_COLORS[color_index % len(EDGE_COLORS)]
+        color_index += 1
+
+        for c in info["connectionsTo"]:
+            dot.edge(
+                node_id(state),
+                node_id(c["to"]),
+                label=c["condition"],
+                color=color,
+                fontcolor=color,
+                penwidth="1.8",
+            )
+
+    dot.render("state_machine", cleanup=True)
+    print("Rendered state_machine.png")
+
+# ---------- Main ----------
+def main(managerStatesPath, managerPath):
+    state_map = get_manager_states(managerStatesPath)
+    triggers = parse_triggers(get_triggers(managerPath))
+    attach_triggers(state_map, triggers)
+    generate_graph(state_map)
+    print("Success!")
+
+if __name__ == "__main__":
+    main(sys.argv[1], sys.argv[2])
diff --git a/.github/workflows/visualizeStates.yml b/.github/workflows/visualizeStates.yml
new file mode 100644
index 0000000..6e3d5e8
--- /dev/null
+++ b/.github/workflows/visualizeStates.yml
@@ -0,0 +1,61 @@
+name: Visualize States
+
+on:
+  pull_request:
+    types:
+      - reopened
+      - opened
+      - synchronize
+
+jobs:
+  generate-graph:
+    runs-on: ubuntu-latest
+    steps:
+    - name: Checkout repo
+      uses: actions/checkout@v3
+
+    - name: Install system dependencies
+      run: |
+          sudo apt-get update
+          sudo apt-get install -y graphviz
+
+    - name: Set up Python
+      uses: actions/setup-python@v4
+      with:
+        python-version: '3.x'
+
+    - name: Install dependencies
+      run: |
+        pip install graphviz
+
+    - name: Run graph generation
+      id: run-script
+      run: |
+        python3 .github/scripts/visualizeStates.py ./src/main/java/frc/robot/Subsystems/Manager/ManagerStates.java ./src/main/java/frc/robot/Subsystems/Manager/Manager.java
+        echo "exit_code=$?" >> $GITHUB_OUTPUT
+      continue-on-error: true
+
+    - name: Upload graph as artifact
+      uses: actions/upload-artifact@v4
+      with:
+        name: state-machine-graph
+        path: state_machine.png
+
+    - name: Comment on PR
+      uses: actions/github-script@v6
+      with:
+        script: |
+          const prNumber = context.payload.pull_request.number;
+          const exitCode = Number(process.env.EXIT_CODE);
+          const commentBody = exitCode === 0
+              ? "✅ State machine graph generated and uploaded."
+              : "⚠️ Something went wrong while generating the state machine graph.";
+
+          github.rest.issues.createComment({
+            issue_number: prNumber,
+            owner: context.repo.owner,
+            repo: context.repo.repo,
+            body: commentBody
+          })
+      env:
+        EXIT_CODE: ${{ steps.run-script.outputs.exit_code }}
\ No newline at end of file
diff --git a/Other/AscopeFiles/PutAscopeModelsAndConfigHere.txt b/Other/AscopeFiles/PutAscopeModelsAndConfigHere.txt
new file mode 100644
index 0000000..15ebd22
--- /dev/null
+++ b/Other/AscopeFiles/PutAscopeModelsAndConfigHere.txt
@@ -0,0 +1 @@
+hmm
\ No newline at end of file
diff --git a/Other/Dashboards/PutDriverDashBoardHere.txt b/Other/Dashboards/PutDriverDashBoardHere.txt
new file mode 100644
index 0000000..3824fbb
--- /dev/null
+++ b/Other/Dashboards/PutDriverDashBoardHere.txt
@@ -0,0 +1 @@
+hmmmmmm
\ No newline at end of file
diff --git a/Other/Sim/GoatedSimConfig.json b/Other/Sim/GoatedSimConfig.json
new file mode 100644
index 0000000..5deaf70
--- /dev/null
+++ b/Other/Sim/GoatedSimConfig.json
@@ -0,0 +1,143 @@
+{
+  "Docking": {
+    "Data": [
+      "DockNode          ID=0x00000002 Pos=-2,2 Size=1926,1098 Split=X",
+      "DockNode        ID=0x00000001 Parent=0x00000002 SizeRef=1153,1095 Split=Y",
+      "DockNode      ID=0x0000000F Parent=0x00000001 SizeRef=991,210 Split=X",
+      "DockNode    ID=0x0000000D Parent=0x0000000F SizeRef=519,140 Split=X",
+      "DockNode  ID=0x0000000B Parent=0x0000000D SizeRef=257,140 Selected=0x39AD1970",
+      "DockNode  ID=0x0000000C Parent=0x0000000D SizeRef=280,140 Selected=0xD58031C5",
+      "DockNode    ID=0x0000000E Parent=0x0000000F SizeRef=632,140 Selected=0x513EDE86",
+      "DockNode      ID=0x00000010 Parent=0x00000001 SizeRef=991,883 Split=Y Selected=0xB5CBE9F0",
+      "DockNode    ID=0x00000012 Parent=0x00000010 SizeRef=1153,233 Split=Y Selected=0xF9AD29AD",
+      "DockNode  ID=0x00000014 Parent=0x00000012 SizeRef=1155,199 Selected=0x5446CBB7",
+      "DockNode  ID=0x00000015 Parent=0x00000012 SizeRef=1155,240 Selected=0xF9AD29AD",
+      "DockNode    ID=0x00000013 Parent=0x00000010 SizeRef=1153,650 Selected=0xB5CBE9F0",
+      "DockNode        ID=0x00000011 Parent=0x00000002 SizeRef=767,1095 Split=Y",
+      "DockNode      ID=0x00000007 Parent=0x00000011 SizeRef=313,611 Split=X Selected=0x3E3C37F1",
+      "DockNode    ID=0x00000003 Parent=0x00000007 SizeRef=309,746 Selected=0x3E3C37F1",
+      "DockNode    ID=0x00000004 Parent=0x00000007 SizeRef=458,746 Selected=0x2D9B9756",
+      "DockNode      ID=0x00000008 Parent=0x00000011 SizeRef=313,287 Split=Y Selected=0x6AE6D891",
+      "DockNode    ID=0x00000005 Parent=0x00000008 SizeRef=313,32 Split=X Selected=0x6AE6D891",
+      "DockNode  ID=0x00000009 Parent=0x00000005 SizeRef=295,176 Selected=0x6AE6D891",
+      "DockNode  ID=0x0000000A Parent=0x00000005 SizeRef=472,176 Selected=0xC8493FD8",
+      "DockNode    ID=0x00000006 Parent=0x00000008 SizeRef=313,316 Selected=0x138219D4"
+    ]
+  },
+  "MainWindow": {
+    "GLOBAL": {
+      "font": "Roboto Bold",
+      "fps": "120",
+      "height": "1051",
+      "maximized": "1",
+      "style": "3",
+      "userScale": "2",
+      "width": "1920",
+      "xpos": "0",
+      "ypos": "29"
+    }
+  },
+  "Window": {
+    "###/AdvantageKit/RealOutputs/Alerts": {
+      "Collapsed": "0",
+      "Pos": "137,171",
+      "Size": "300,148"
+    },
+    "###/FMSInfo": {
+      "Collapsed": "0",
+      "Pos": "60,60",
+      "Size": "168,206"
+    },
+    "###/SmartDashboard/Auto Chooser": {
+      "Collapsed": "0",
+      "DockId": "0x0000000E,0",
+      "Pos": "521,20",
+      "Size": "633,211"
+    },
+    "###/SmartDashboard/Field": {
+      "Collapsed": "0",
+      "DockId": "0x00000013,0",
+      "Pos": "-2,450",
+      "Size": "1155,650"
+    },
+    "###/SmartDashboard/VisionSystemSim-Vision/Sim Field": {
+      "Collapsed": "0",
+      "DockId": "0x00000015,0",
+      "Pos": "-1,233",
+      "Size": "1155,441"
+    },
+    "###/SmartDashboard/VisionSystemSim-main/Sim Field": {
+      "Collapsed": "0",
+      "DockId": "0x00000014,0",
+      "Pos": "-2,215",
+      "Size": "1155,233"
+    },
+    "###FMS": {
+      "Collapsed": "0",
+      "DockId": "0x0000000A,0",
+      "Pos": "1452,750",
+      "Size": "472,32"
+    },
+    "###Joysticks": {
+      "Collapsed": "0",
+      "DockId": "0x00000006,0",
+      "Pos": "1155,784",
+      "Size": "769,316"
+    },
+    "###Keyboard 0 Settings": {
+      "Collapsed": "0",
+      "DockId": "0x00000003,0",
+      "Pos": "1156,20",
+      "Size": "309,746"
+    },
+    "###NetworkTables": {
+      "Collapsed": "0",
+      "DockId": "0x00000004,0",
+      "Pos": "1155,2",
+      "Size": "769,746"
+    },
+    "###NetworkTables Info": {
+      "Collapsed": "0",
+      "Pos": "939,136",
+      "Size": "681,492"
+    },
+    "###Other Devices": {
+      "Collapsed": "0",
+      "Pos": "558,386",
+      "Size": "312,1173"
+    },
+    "###Plot <0>": {
+      "Collapsed": "0",
+      "Pos": "65,61",
+      "Size": "700,400"
+    },
+    "###PowerDistributions": {
+      "Collapsed": "0",
+      "Pos": "245,155",
+      "Size": "200,456"
+    },
+    "###System Joysticks": {
+      "Collapsed": "0",
+      "DockId": "0x00000009,0",
+      "Pos": "1155,750",
+      "Size": "295,32"
+    },
+    "###Timing": {
+      "Collapsed": "0",
+      "DockId": "0x0000000C,0",
+      "Pos": "552,2",
+      "Size": "601,211"
+    },
+    "Debug##Default": {
+      "Collapsed": "0",
+      "Pos": "60,60",
+      "Size": "400,400"
+    },
+    "Robot State": {
+      "Collapsed": "0",
+      "DockId": "0x0000000B,0",
+      "Pos": "-2,2",
+      "Size": "552,211"
+    }
+  }
+}
\ No newline at end of file
diff --git a/simgui-ds.json b/simgui-ds.json
new file mode 100644
index 0000000..8c3a26b
--- /dev/null
+++ b/simgui-ds.json
@@ -0,0 +1,98 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ],
+  "robotJoysticks": [
+    {
+      "guid": "030000004c050000c405000000000000",
+      "useGamepad": true
+    }
+  ]
+}
diff --git a/src/main/java/frc/robot/GlobalConstants.java b/src/main/java/frc/robot/GlobalConstants.java
index a180182..7ad7b98 100644
--- a/src/main/java/frc/robot/GlobalConstants.java
+++ b/src/main/java/frc/robot/GlobalConstants.java
@@ -4,16 +4,15 @@
 
 import edu.wpi.first.units.measure.LinearAcceleration;
 import edu.wpi.first.units.measure.Mass;
-import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
-import edu.wpi.first.wpilibj.XboxController;
-import edu.wpi.first.wpilibj.smartdashboard.Field2d;
 import edu.wpi.first.wpilibj.smartdashboard.Field2d;
 import java.util.ArrayList;
 import java.util.Arrays;
 
 public class GlobalConstants {
 
+	public static final int VOLTS = 12;
+
 	public static final LinearAcceleration GRAVITY = MetersPerSecondPerSecond.of(9.81);
 	public static final double SIMULATION_PERIOD = 0.02;
 	// TODO: This is wrong
@@ -32,12 +31,23 @@ public enum RobotMode {
 	public static class Controllers {
 
 		public static final XboxController DRIVER_CONTROLLER = new XboxController(0);
-		public static final GenericHID OPERATOR_CONTROLLER = new GenericHID(1);
+		public static final XboxController OPERATOR_CONTROLLER = new XboxController(1);
 		public static final XboxController TEST_CONTROLLER = new XboxController(4);
 
 		// NOTE: Set to 0.1 on trash controllers
-		public static final double DEADBAND = 0.01;
+		public static final double DEADBAND = 0.15;
 		public static final double TRIGGERS_REGISTER_POINT = 0.5;
+
+		/**
+		 * Apply the configured deadband to a controller axis value.
+		 * Returns 0.0 when the absolute value is below DEADBAND, otherwise returns the original value.
+		 *
+		 * @param value axis value in range [-1, 1]
+		 * @return value with deadband applied
+		 */
+		public static double applyDeadband(double value) {
+			return Math.abs(value) < DEADBAND ? 0.0 : value;
+		}
 	}
 
 	public static class FaultManagerConstants {
@@ -45,6 +55,5 @@ public static class FaultManagerConstants {
 		public static final ArrayList<Integer> CANIVORE_DEVICE_ORDER = new ArrayList<Integer>(Arrays.asList(39, 56, 6, 4, 58, 9, 5, 11, 12, 2, 59, 3, 8));
 	}
 
-	public static final double DEADBAND = 0.01;
 	public static final double TRIGGERS_REGISTER_POINT = 0.5;
 }
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index e01e05f..14b8b41 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -1,54 +1,88 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
 package frc.robot;
 
-import edu.wpi.first.wpilibj.TimedRobot;
+import static frc.robot.Subsystems.Manager.ManagerStates.IDLE;
 
-/**
- * The methods in this class are called automatically corresponding to each mode, as described in
- * the TimedRobot documentation. If you change the name of this class or the package after creating
- * this project, you must also update the Main.java file in the project.
- */
-public class Robot extends TimedRobot {
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import frc.robot.Subsystems.Drive.Drive;
+import frc.robot.Subsystems.Manager.Manager;
+import org.littletonrobotics.junction.LoggedRobot;
+import org.littletonrobotics.junction.Logger;
+import org.littletonrobotics.junction.networktables.NT4Publisher;
+import org.littletonrobotics.junction.wpilog.WPILOGWriter;
+import org.team7525.misc.CommandsUtil;
+import org.team7525.misc.Tracer;
 
-	/**
-	 * This function is run when the robot is first started up and should be used for any
-	 * initialization code.
-	 */
-	public Robot() {}
+public class Robot extends LoggedRobot {
 
-	@Override
-	public void robotPeriodic() {}
+	private final Manager manager = Manager.getInstance();
+
+	public static boolean isRedAlliance = true;
 
 	@Override
-	public void autonomousInit() {}
+	public void robotInit() {
+		switch (GlobalConstants.ROBOT_MODE) {
+			case REAL:
+				Logger.addDataReceiver(new NT4Publisher());
+				Logger.addDataReceiver(new WPILOGWriter());
+				break;
+			case SIM:
+				Logger.addDataReceiver(new NT4Publisher());
+				break;
+			case TESTING:
+				Logger.addDataReceiver(new NT4Publisher());
+				break;
+		}
+
+		// Lots and lots of trolling
+		Logger.start();
+		CommandsUtil.logCommands();
+		DriverStation.silenceJoystickConnectionWarning(true);
+		CommandScheduler.getInstance().unregisterAllSubsystems();
+		System.gc();
+		Drive.getInstance().zeroGyro();
+	}
 
 	@Override
-	public void autonomousPeriodic() {}
+	public void robotPeriodic() {
+		Tracer.startTrace("RobotPeriodic");
+		CommandScheduler.getInstance().run();
+		Tracer.traceFunc("SubsystemManager", manager::periodic);
+		Tracer.endTrace();
+	}
 
 	@Override
-	public void teleopInit() {}
+	public void autonomousInit() {}
 
 	@Override
-	public void teleopPeriodic() {}
+	public void autonomousPeriodic() {}
 
 	@Override
-	public void disabledInit() {}
+	public void autonomousExit() {
+		CommandScheduler.getInstance().cancelAll();
+	}
 
 	@Override
-	public void disabledPeriodic() {}
+	public void teleopInit() {
+		manager.setState(IDLE);
+	}
 
 	@Override
-	public void testInit() {}
+	public void teleopPeriodic() {}
 
 	@Override
-	public void testPeriodic() {}
+	public void disabledInit() {
+		System.gc();
+	}
 
 	@Override
-	public void simulationInit() {}
+	public void disabledPeriodic() {
+		isRedAlliance = DriverStation.getAlliance().isPresent() && DriverStation.getAlliance().get() == Alliance.Red;
+	}
 
 	@Override
-	public void simulationPeriodic() {}
+	public void disabledExit() {
+		isRedAlliance = DriverStation.getAlliance().isPresent() && DriverStation.getAlliance().get() == Alliance.Red;
+	}
 }
diff --git a/src/main/java/frc/robot/Subsystems/Climber/ClimberConstants.java b/src/main/java/frc/robot/Subsystems/Climber/ClimberConstants.java
index aec6244..4e77534 100644
--- a/src/main/java/frc/robot/Subsystems/Climber/ClimberConstants.java
+++ b/src/main/java/frc/robot/Subsystems/Climber/ClimberConstants.java
@@ -10,8 +10,8 @@
 public class ClimberConstants {
 
 	public static final String SUBSYSTEM_NAME = "Climber";
-	public static final int LEFT_CLIMBER_MOTOR_ID = 20;
-	public static final int RIGHT_CLIMBER_MOTOR_ID = 21;
+	public static final int LEFT_CLIMBER_MOTOR_ID = 30;
+	public static final int RIGHT_CLIMBER_MOTOR_ID = 31;
 	public static final Supplier<PIDController> CLIMB_PID = () ->
 		switch (GlobalConstants.ROBOT_MODE) {
 			case REAL -> new PIDController(1.0, 0.0, 0.0);
diff --git a/src/main/java/frc/robot/Subsystems/Drive/Drive.java b/src/main/java/frc/robot/Subsystems/Drive/Drive.java
index b6d188b..924e14f 100644
--- a/src/main/java/frc/robot/Subsystems/Drive/Drive.java
+++ b/src/main/java/frc/robot/Subsystems/Drive/Drive.java
@@ -21,6 +21,8 @@
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj.smartdashboard.Field2d;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import frc.robot.GlobalConstants.RobotMode;
+import frc.robot.Subsystems.Drive.DriveIO.DriveIOOutputs;
 import frc.robot.Subsystems.Drive.TunerConstants.TunerSwerveDrivetrain;
 import org.littletonrobotics.junction.Logger;
 import org.team7525.subsystem.Subsystem;
@@ -30,17 +32,12 @@ public class Drive extends Subsystem<DriveStates> {
 	private static Drive instance;
 
 	private DriveIO driveIO;
-	private DriveIOInputsAutoLogged inputs = new DriveIOInputsAutoLogged();
+	private DriveIOOutputs inputs = new DriveIOOutputs();
 	private boolean robotMirrored = false;
 	private Pose2d lastPose = new Pose2d();
 	private double lastTime = 0;
 	private final Field2d field = new Field2d();
 
-	/**
-	 * Constructs a new Drive subsystem with the given DriveIO.
-	 *
-	 * @param driveIO The DriveIO object used for controlling the drive system.
-	 */
 	private Drive() {
 		super("Drive", DriveStates.FIELD_RELATIVE);
 		this.driveIO = switch (ROBOT_MODE) {
@@ -58,11 +55,6 @@ private Drive() {
 		);
 	}
 
-	/**
-	 * Returns the singleton instance of the Drive subsystem.
-	 *
-	 * @return The Drive Instance.
-	 */
 	public static Drive getInstance() {
 		if (instance == null) {
 			instance = new Drive();
@@ -72,8 +64,15 @@ public static Drive getInstance() {
 
 	@Override
 	public void runState() {
-		driveIO.updateInputs(inputs);
-		Logger.processInputs("Drive", inputs);
+		driveIO.logOutputs(inputs);
+		Logger.recordOutput(SUBSYSTEM_NAME + "/Gyro Angle Deg", inputs.gyroAngleDeg);
+		Logger.recordOutput(SUBSYSTEM_NAME + "/Robot Angle Deg", inputs.robotAngleDeg);
+		Logger.recordOutput(SUBSYSTEM_NAME + "/Full Robot Rotation", inputs.fullRobotRotation);
+		Logger.recordOutput(SUBSYSTEM_NAME + "/Failed Data Acquisitions", inputs.failedDataAquisitions);
+		Logger.recordOutput(SUBSYSTEM_NAME + "/Timestamp", inputs.timestamp);
+		Logger.recordOutput(SUBSYSTEM_NAME + "/Chassis Speeds", inputs.speeds);
+		Logger.recordOutput(SUBSYSTEM_NAME + "/Set Points", inputs.setPoints);
+		Logger.recordOutput(SUBSYSTEM_NAME + "/Odometry Frequency", inputs.odometryFrequency);
 
 		if (DriverStation.isDisabled()) robotMirrored = false;
 
@@ -87,15 +86,15 @@ public void runState() {
 		}
 		logOutputs(driveIO.getDrive().getState());
 
+		// Otherwise it will try to force wheels to stop in auto
+		//if (AutoAlign.getInstance().getState() == AutoAlignStates.OFF) {
+		getState().driveRobot();
+		//}
+
 		field.setRobotPose(getPose());
 		SmartDashboard.putData("Field", field);
 	}
 
-	/**
-	 * Logs the outputs of the drive system.
-	 *
-	 * @param state The current state of the SwerveDrive.
-	 */
 	public void logOutputs(SwerveDriveState state) {
 		Logger.recordOutput(SUBSYSTEM_NAME + "/Robot Pose", state.Pose);
 		Logger.recordOutput(SUBSYSTEM_NAME + "/Current Time", Utils.getSystemTimeSeconds());
@@ -113,35 +112,32 @@ public void logOutputs(SwerveDriveState state) {
 	}
 
 	public void driveFieldRelative(double xVelocity, double yVelocity, double angularVelocity) {
-		driveIO.setControl(
-			new SwerveRequest.FieldCentric()
-				.withDeadband(frc.robot.GlobalConstants.Controllers.DEADBAND)
-				.withVelocityX(xVelocity)
-				.withVelocityY(yVelocity)
-				.withRotationalRate(angularVelocity)
-				.withDriveRequestType(SwerveModule.DriveRequestType.Velocity)
-				.withSteerRequestType(SwerveModule.SteerRequestType.MotionMagicExpo)
-				.withRotationalDeadband(1)
-		);
+		driveIO.setControl(new SwerveRequest.FieldCentric().withDeadband(DEADBAND).withVelocityX(xVelocity).withVelocityY(yVelocity).withRotationalRate(angularVelocity).withDriveRequestType(SwerveModule.DriveRequestType.Velocity).withSteerRequestType(SwerveModule.SteerRequestType.MotionMagicExpo));
 	}
 
 	public void driveRobotRelative(double xVelocity, double yVelocity, double angularVelocity) {
-		driveIO.setControl(
-			new SwerveRequest.RobotCentric()
-				.withDeadband(frc.robot.GlobalConstants.Controllers.DEADBAND)
-				.withVelocityX(xVelocity)
-				.withVelocityY(yVelocity)
-				.withRotationalRate(angularVelocity)
-				.withDriveRequestType(SwerveModule.DriveRequestType.Velocity)
-				.withSteerRequestType(SwerveModule.SteerRequestType.MotionMagicExpo)
-				.withRotationalDeadband(1)
-		);
+		driveIO.setControl(new SwerveRequest.RobotCentric().withDeadband(DEADBAND).withVelocityX(xVelocity).withVelocityY(yVelocity).withRotationalRate(angularVelocity).withDriveRequestType(SwerveModule.DriveRequestType.Velocity).withSteerRequestType(SwerveModule.SteerRequestType.MotionMagicExpo));
 	}
 
 	public void zeroGyro() {
 		driveIO.zeroGyro();
 	}
 
+	public boolean isAtAllianceShootingPosition() {
+		return true;
+		// var allianceOpt = DriverStation.getAlliance();
+		// if (allianceOpt.isEmpty()) {
+		// 	// Alliance not yet known (e.g., early init). Treat as not at alliance shooting position.
+		// 	return false;
+		// }
+		// Alliance alliance = allianceOpt.get();
+		// if (alliance == Alliance.Red) {
+		// 	return getPose().getTranslation().getX() > ALLIANCE_SHOOTING_POSITION_THRESHOLD_RED.in(Meters);
+		// } else {
+		// 	return getPose().getTranslation().getX() < -ALLIANCE_SHOOTING_POSITION_THRESHOLD_BLUE.in(Meters);
+		// }
+	}
+
 	// Util
 	public Pose2d getPose() {
 		return driveIO.getDrive().getState().Pose;
diff --git a/src/main/java/frc/robot/Subsystems/Drive/DriveConstants.java b/src/main/java/frc/robot/Subsystems/Drive/DriveConstants.java
index d01e9e2..ee33e4c 100644
--- a/src/main/java/frc/robot/Subsystems/Drive/DriveConstants.java
+++ b/src/main/java/frc/robot/Subsystems/Drive/DriveConstants.java
@@ -10,7 +10,6 @@
 import edu.wpi.first.units.measure.AngularVelocity;
 import edu.wpi.first.units.measure.Distance;
 import edu.wpi.first.units.measure.LinearAcceleration;
-import edu.wpi.first.units.measure.LinearVelocity;
 
 public class DriveConstants {
 
@@ -19,10 +18,7 @@ public class DriveConstants {
 	public static final Distance WHEEL_BASE = Meters.of(0.5);
 
 	public static final double MIN_SCALE_FACTOR = 0.1;
-	//This changes how fast/how slow the angular velocity scales down as height increases
-	public static final double ANGULAR_VELOCITY_SCALE_FACTOR = 1.0;
 
-	// TODO: Change based on PP constants
 	public static final LinearAcceleration MAX_LINEAR_ACCELERATION = MetersPerSecondPerSecond.of(11.7);
 
 	public static final AngularVelocity ANGULAR_VELOCITY_LIMIT = AngularVelocity.ofBaseUnits(180, DegreesPerSecond);
@@ -30,10 +26,6 @@ public class DriveConstants {
 	public static final LinearAcceleration MAX_LINEAR_DECELERATION = MetersPerSecondPerSecond.of(11);
 	public static final LinearAcceleration MAX_LINEAR_STOPPING_ACCELERATION = MetersPerSecondPerSecond.of(10);
 
-	public static final LinearAcceleration MAX_ELEVATOR_UP_ACCEL = MetersPerSecondPerSecond.of(2);
-
-	public static final LinearVelocity TIPPING_LIMITER_THRESHOLD = MetersPerSecond.of(3);
-
 	public static final String SUBSYSTEM_NAME = "Drive";
 
 	// For zeroing on robot init
diff --git a/src/main/java/frc/robot/Subsystems/Drive/DriveIO.java b/src/main/java/frc/robot/Subsystems/Drive/DriveIO.java
index 22eca35..8afb66a 100644
--- a/src/main/java/frc/robot/Subsystems/Drive/DriveIO.java
+++ b/src/main/java/frc/robot/Subsystems/Drive/DriveIO.java
@@ -10,14 +10,9 @@
 import edu.wpi.first.math.numbers.N1;
 import edu.wpi.first.math.numbers.N3;
 import frc.robot.Subsystems.Drive.TunerConstants.TunerSwerveDrivetrain;
-import org.littletonrobotics.junction.AutoLog;
 
 public interface DriveIO {
-	/**
-	 * Represents the inputs for the DriveIO.
-	 */
-	@AutoLog
-	public class DriveIOInputs {
+	public class DriveIOOutputs {
 
 		ChassisSpeeds speeds = new ChassisSpeeds();
 		SwerveModuleState[] setPoints = new SwerveModuleState[4];
@@ -29,42 +24,17 @@ public class DriveIOInputs {
 		double gyroAngleDeg = 0;
 	}
 
-	/**
-	 * Updates the inputs for the DriveIO.
-	 *
-	 * @param inputs The DriveIOInputs object containing the updated inputs.
-	 */
-	public default void updateInputs(DriveIOInputs inputs) {}
+	public default void logOutputs(DriveIOOutputs outputs) {}
 
-	/**
-	 * Gets the SwerveDrivetrain associated with the DriveIO.
-	 *
-	 * @return The SwerveDrivetrain object.
-	 */
 	public default TunerSwerveDrivetrain getDrive() {
 		return null;
 	}
 
-	/**
-	 * Resets the gyro to zero.
-	 */
 	public default void zeroGyro() {}
 
-	/**
-	 * Sets the control for the SwerveRequest.
-	 *
-	 * @param request The SwerveRequest object containing the control information.
-	 */
 	public default void setControl(SwerveRequest request) {}
 
-	/**
-	 * Adds a vision measurement to the DriveIO.
-	 *
-	 * @param pose The Pose2d object representing the vision measurement.
-	 * @param timestamp The timestamp of the vision measurement.
-	 * @param standardDeviation The standard deviation of the vision measurement.
-	 */
-	public default void addVisionMeasurement(Pose2d pose, double timestamp, Matrix<N3, N1> standardDeviation) {}
+	public default void addVisionMeasurement(Pose2d pose, double timestamp, Matrix<N3, N1> standardDeviaton) {}
 
 	public TalonFX[] getDriveMotors();
 
diff --git a/src/main/java/frc/robot/Subsystems/Drive/DriveIOReal.java b/src/main/java/frc/robot/Subsystems/Drive/DriveIOReal.java
index ab9f7ed..455383f 100644
--- a/src/main/java/frc/robot/Subsystems/Drive/DriveIOReal.java
+++ b/src/main/java/frc/robot/Subsystems/Drive/DriveIOReal.java
@@ -11,71 +11,43 @@
 import edu.wpi.first.math.numbers.N3;
 import frc.robot.Subsystems.Drive.TunerConstants.TunerSwerveDrivetrain;
 
-/**
- * This class implements the DriveIO interface and provides the real implementation for controlling the drivetrain.
- */
 public class DriveIOReal implements DriveIO {
 
-	public DriveIOInputs inputs = new DriveIOInputs();
+	public DriveIOOutputs outputs = new DriveIOOutputs();
 	private final TunerSwerveDrivetrain drivetrain = new TunerSwerveDrivetrain(DrivetrainConstants, FrontLeft, FrontRight, BackLeft, BackRight);
 
-	/**
-	 * Updates the inputs for the drivetrain based on the current state of the SwerveDrivetrain.
-	 * @param inputs The DriveIOInputs object to update.
-	 */
 	@Override
-	public void updateInputs(DriveIOInputs inputs) {
-		inputs.speeds = drivetrain.getState().Speeds;
-		inputs.setPoints = drivetrain.getState().ModuleTargets;
-		inputs.odometryFrequency = drivetrain.getOdometryFrequency();
-		inputs.timestamp = drivetrain.getState().Timestamp;
-		inputs.failedDataAquisitions = drivetrain.getState().FailedDaqs;
-		inputs.robotAngleDeg = drivetrain.getState().Pose.getRotation().getDegrees();
-		inputs.fullRobotRotation = drivetrain.getRotation3d();
-		inputs.gyroAngleDeg = drivetrain.getPigeon2().getYaw().getValueAsDouble();
+	public void logOutputs(DriveIOOutputs outputs) {
+		outputs.speeds = drivetrain.getState().Speeds;
+		outputs.setPoints = drivetrain.getState().ModuleTargets;
+		outputs.odometryFrequency = drivetrain.getOdometryFrequency();
+		outputs.timestamp = drivetrain.getState().Timestamp;
+		outputs.failedDataAquisitions = drivetrain.getState().FailedDaqs;
+		outputs.robotAngleDeg = drivetrain.getState().Pose.getRotation().getDegrees();
+		outputs.fullRobotRotation = drivetrain.getRotation3d();
+		outputs.gyroAngleDeg = drivetrain.getPigeon2().getYaw().getValueAsDouble();
 	}
 
-	/**
-	 * Gets the SwerveDrivetrain object.
-	 * @return The SwerveDrivetrain object.
-	 */
 	@Override
 	public TunerSwerveDrivetrain getDrive() {
 		return drivetrain;
 	}
 
-	/**
-	 * Resets the gyro angle to zero.
-	 */
 	@Override
 	public void zeroGyro() {
 		drivetrain.resetRotation(new Rotation2d());
 	}
 
-	/**
-	 * Sets the control mode and target for the SwerveDrivetrain.
-	 * @param request The SwerveRequest object containing the control mode and target.
-	 */
 	@Override
 	public void setControl(SwerveRequest request) {
 		drivetrain.setControl(request);
 	}
 
-	/**
-	 * Adds a vision measurement to the SwerveDrivetrain for localization.
-	 * @param pose The Pose2d object representing the measured pose.
-	 * @param timestamp The timestamp of the measurement.
-	 * @param standardDeviation The standard deviation of the measurement.
-	 */
 	@Override
-	public void addVisionMeasurement(Pose2d pose, double timestamp, Matrix<N3, N1> standardDeviation) {
-		drivetrain.addVisionMeasurement(pose, timestamp, standardDeviation);
+	public void addVisionMeasurement(Pose2d pose, double timestamp, Matrix<N3, N1> standardDeviaton) {
+		drivetrain.addVisionMeasurement(pose, timestamp, standardDeviaton);
 	}
 
-	/**
-	 * Gets the drive motors for the SwerveDrivetrain.
-	 * @return An array of TalonFX objects representing the drive motors.
-	 */
 	@Override
 	public TalonFX[] getDriveMotors() {
 		TalonFX[] motors = new TalonFX[drivetrain.getModules().length];
diff --git a/src/main/java/frc/robot/Subsystems/Drive/DriveIOSim.java b/src/main/java/frc/robot/Subsystems/Drive/DriveIOSim.java
index f6c40cd..83bc603 100644
--- a/src/main/java/frc/robot/Subsystems/Drive/DriveIOSim.java
+++ b/src/main/java/frc/robot/Subsystems/Drive/DriveIOSim.java
@@ -6,19 +6,11 @@
 import edu.wpi.first.wpilibj.Notifier;
 import edu.wpi.first.wpilibj.RobotController;
 
-/**
- * This class represents the simulated input/output for the drive subsystem.
- * It extends the DriveIOReal class and provides additional functionality for simulation.
- */
 public class DriveIOSim extends DriveIOReal {
 
 	private double lastSimTime;
 	private Notifier simNotifier;
 
-	/**
-	 * Constructs a new DriveIOSim object.
-	 * It initializes the superclass and starts the simulation thread.
-	 */
 	public DriveIOSim() {
 		startSimThread();
 	}
diff --git a/src/main/java/frc/robot/Subsystems/Drive/DriveStates.java b/src/main/java/frc/robot/Subsystems/Drive/DriveStates.java
index a141ff8..163708f 100644
--- a/src/main/java/frc/robot/Subsystems/Drive/DriveStates.java
+++ b/src/main/java/frc/robot/Subsystems/Drive/DriveStates.java
@@ -7,51 +7,33 @@
 
 import org.team7525.subsystem.SubsystemStates;
 
-/**
- * An enumeration representing different drive states for a robot's drive subsystem.
- */
 public enum DriveStates implements SubsystemStates {
-	/**
-	 * The robot's drive is in field-relative mode.
-	 */
 	FIELD_RELATIVE("Field Relative", () -> {
-		Drive.getInstance().driveFieldRelative(-DRIVER_CONTROLLER.getLeftY() * kSpeedAt12Volts.in(MetersPerSecond) * 0.4, -DRIVER_CONTROLLER.getLeftX() * kSpeedAt12Volts.in(MetersPerSecond) * 0.4, -DRIVER_CONTROLLER.getRightX() * ANGULAR_VELOCITY_LIMIT.in(RadiansPerSecond) * 0.1 * 0.5);
+		double forward = -applyDeadband(DRIVER_CONTROLLER.getLeftY()) * kSpeedAt12Volts.in(MetersPerSecond);
+		double strafe = -applyDeadband(DRIVER_CONTROLLER.getLeftX()) * kSpeedAt12Volts.in(MetersPerSecond);
+		double rot = -applyDeadband(DRIVER_CONTROLLER.getRightX()) * ANGULAR_VELOCITY_LIMIT.in(RadiansPerSecond) * 0.1;
+		Drive.getInstance().driveFieldRelative(forward, strafe, rot);
 	}),
-
-	/**
-	 * The robot's drive is in robot-relative mode.
-	 */
 	ROBOT_RELATIVE("Robot Relative", () -> {
-		Drive.getInstance().driveRobotRelative(DRIVER_CONTROLLER.getLeftY() * kSpeedAt12Volts.in(MetersPerSecond), DRIVER_CONTROLLER.getLeftX() * kSpeedAt12Volts.in(MetersPerSecond), DRIVER_CONTROLLER.getRightX() * ANGULAR_VELOCITY_LIMIT.in(RadiansPerSecond));
+		double forward = applyDeadband(DRIVER_CONTROLLER.getLeftY()) * kSpeedAt12Volts.in(MetersPerSecond);
+		double strafe = applyDeadband(DRIVER_CONTROLLER.getLeftX()) * kSpeedAt12Volts.in(MetersPerSecond);
+		double rot = applyDeadband(DRIVER_CONTROLLER.getRightX()) * ANGULAR_VELOCITY_LIMIT.in(RadiansPerSecond);
+		Drive.getInstance().driveRobotRelative(forward, strafe, rot);
 	});
 
 	private String stateString;
 	private Runnable driveControl;
 
-	/**
-	 * Constructs a DriveStates enum value with the specified state string and field-relative flag.
-	 *
-	 * @param stateString    the string representation of the drive state
-	 * @param Runnable  runnable that gets called to drive the robot
-	 */
 	DriveStates(String stateString, Runnable driveControl) {
 		this.stateString = stateString;
 		this.driveControl = driveControl;
 	}
 
-	/**
-	 * Returns the string representation of the drive state.
-	 *
-	 * @return the string representation of the drive state
-	 */
 	@Override
 	public String getStateString() {
 		return stateString;
 	}
 
-	/**
-	 * Drives the robot in the current state.
-	 */
 	public void driveRobot() {
 		driveControl.run();
 	}
diff --git a/src/main/java/frc/robot/Subsystems/Drive/TunerConstants.java b/src/main/java/frc/robot/Subsystems/Drive/TunerConstants.java
index 0b8528e..036369f 100644
--- a/src/main/java/frc/robot/Subsystems/Drive/TunerConstants.java
+++ b/src/main/java/frc/robot/Subsystems/Drive/TunerConstants.java
@@ -80,7 +80,7 @@ public class TunerConstants {
 	private static final boolean kInvertLeftSide = true;
 	private static final boolean kInvertRightSide = false;
 
-	private static final int kPigeonId = 39;
+	private static final int kPigeonId = 45;
 
 	// These are only used for simulation
 	private static final MomentOfInertia kSteerInertia = KilogramSquareMeters.of(0.01);
diff --git a/src/main/java/frc/robot/Subsystems/Hopper/HopperConstants.java b/src/main/java/frc/robot/Subsystems/Hopper/HopperConstants.java
index 7615fe1..4e8b8ff 100644
--- a/src/main/java/frc/robot/Subsystems/Hopper/HopperConstants.java
+++ b/src/main/java/frc/robot/Subsystems/Hopper/HopperConstants.java
@@ -10,8 +10,8 @@ public class HopperConstants {
 
 	public static final String SUBSYSTEM_NAME = "Hopper";
 
-	public static final int SPINDEXER_MOTOR_ID = 0;
-	public static final int KICKER_MOTOR_ID = 1;
+	public static final int SPINDEXER_MOTOR_ID = 33;
+	public static final int KICKER_MOTOR_ID = 34;
 
 	public static class Sim {
 
diff --git a/src/main/java/frc/robot/Subsystems/Manager/Manager.java b/src/main/java/frc/robot/Subsystems/Manager/Manager.java
new file mode 100644
index 0000000..d97f54c
--- /dev/null
+++ b/src/main/java/frc/robot/Subsystems/Manager/Manager.java
@@ -0,0 +1,129 @@
+package frc.robot.Subsystems.Manager;
+
+import static frc.robot.GlobalConstants.Controllers.DRIVER_CONTROLLER;
+import static frc.robot.GlobalConstants.Controllers.OPERATOR_CONTROLLER;
+import static frc.robot.Subsystems.Manager.ManagerConstants.*;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import frc.robot.Subsystems.Climber.Climber;
+import frc.robot.Subsystems.Drive.Drive;
+import frc.robot.Subsystems.Hopper.Hopper;
+import frc.robot.Subsystems.Intake.Intake;
+import frc.robot.Subsystems.Shooter.Shooter;
+import frc.robot.Subsystems.Vision.Vision;
+import org.littletonrobotics.junction.Logger;
+import org.team7525.misc.Tracer;
+import org.team7525.subsystem.Subsystem;
+
+public class Manager extends Subsystem<ManagerStates> {
+
+	private static Manager instance;
+	private Drive drive;
+	private Shooter shooter;
+	private Hopper hopper;
+	private Intake intake;
+	private Climber climber;
+	private Vision vision;
+
+	public static Manager getInstance() {
+		if (instance == null) {
+			new Manager();
+		}
+		return instance;
+	}
+
+	private Manager() {
+		super(SUBSYSTEM_NAME, ManagerStates.IDLE);
+		instance = this;
+		drive = Drive.getInstance();
+		shooter = Shooter.getInstance();
+		hopper = Hopper.getInstance();
+		intake = Intake.getInstance();
+		climber = Climber.getInstance();
+		vision = Vision.getInstance();
+
+		// IDLE <---> EXTENDED_IDLE
+		addTrigger(ManagerStates.IDLE, ManagerStates.EXTENDED_IDLE, DRIVER_CONTROLLER::getRightBumperButtonPressed);
+		addTrigger(ManagerStates.EXTENDED_IDLE, ManagerStates.IDLE, DRIVER_CONTROLLER::getRightBumperButtonPressed);
+
+		// IDLE/EXTENDED_IDLE --> INTAKING
+		addTrigger(ManagerStates.IDLE, ManagerStates.INTAKING, DRIVER_CONTROLLER::getXButtonPressed);
+		addTrigger(ManagerStates.EXTENDED_IDLE, ManagerStates.INTAKING, DRIVER_CONTROLLER::getXButtonPressed);
+
+		// INTAKING --> EXTENDED_IDLE
+		addTrigger(ManagerStates.INTAKING, ManagerStates.EXTENDED_IDLE, DRIVER_CONTROLLER::getXButtonPressed);
+
+		// IDLE/EXTENDED_IDLE --> WINDING_UP
+		addTrigger(ManagerStates.IDLE, ManagerStates.WINDING_UP, DRIVER_CONTROLLER::getYButtonPressed);
+		addTrigger(ManagerStates.EXTENDED_IDLE, ManagerStates.WINDING_UP, DRIVER_CONTROLLER::getYButtonPressed);
+		addTrigger(ManagerStates.IDLE, ManagerStates.WINDING_UP_FIXED_SHOT, DRIVER_CONTROLLER::getBButtonPressed);
+		addTrigger(ManagerStates.EXTENDED_IDLE, ManagerStates.WINDING_UP_FIXED_SHOT, DRIVER_CONTROLLER::getBButtonPressed);
+
+		// INTAKING --> WINDING_UP
+		addTrigger(ManagerStates.INTAKING, ManagerStates.WINDING_UP, DRIVER_CONTROLLER::getYButtonPressed);
+		addTrigger(ManagerStates.INTAKING, ManagerStates.WINDING_UP_FIXED_SHOT, DRIVER_CONTROLLER::getBButtonPressed);
+
+		// WINDING_UP --> SHOOTING_HUB/SHOOTING_FIXED/SHOOTING_ALLIANCE
+		addTrigger(ManagerStates.WINDING_UP, ManagerStates.SHOOTING_HUB, () -> shooter.readyToShoot() && drive.isAtAllianceShootingPosition());
+		addTrigger(ManagerStates.WINDING_UP_FIXED_SHOT, ManagerStates.SHOOTING_FIXED, DRIVER_CONTROLLER::getBButtonPressed);
+		addTrigger(ManagerStates.WINDING_UP, ManagerStates.SHUTTLING, () -> shooter.readyToShoot() && !drive.isAtAllianceShootingPosition());
+
+		// SHOOTING --> EXTENDED_IDLE
+		addTrigger(ManagerStates.SHOOTING_HUB, ManagerStates.EXTENDED_IDLE, DRIVER_CONTROLLER::getYButtonPressed);
+		addTrigger(ManagerStates.SHUTTLING, ManagerStates.EXTENDED_IDLE, DRIVER_CONTROLLER::getYButtonPressed);
+		addTrigger(ManagerStates.SHOOTING_FIXED, ManagerStates.EXTENDED_IDLE, DRIVER_CONTROLLER::getBButtonPressed);
+
+		// IDLE <---> EXTENDING_CLIMBER
+		addTrigger(ManagerStates.IDLE, ManagerStates.EXTENDING_CLIMBER, OPERATOR_CONTROLLER::getRightBumperButtonPressed);
+
+		// EXTENDING_CLIMBER <---> RETRACTING_CLIMBER
+		addTrigger(ManagerStates.EXTENDING_CLIMBER, ManagerStates.RETRACTING_CLIMBER, OPERATOR_CONTROLLER::getRightBumperButtonPressed);
+		addTrigger(ManagerStates.RETRACTING_CLIMBER, ManagerStates.EXTENDING_CLIMBER, OPERATOR_CONTROLLER::getLeftBumperButtonPressed);
+		addTrigger(ManagerStates.EXTENDING_CLIMBER, ManagerStates.IDLE, OPERATOR_CONTROLLER::getLeftBumperButtonPressed);
+	}
+
+	@Override
+	public void runState() {
+		var allianceOpt = DriverStation.getAlliance();
+		if (allianceOpt.isEmpty()) {
+			// Alliance not yet known (early init); record as UNKNOWN instead of calling get().
+			Logger.recordOutput(SUBSYSTEM_NAME + "/ALLIANCE COLOR", "UNKNOWN");
+		} else if (allianceOpt.get() == DriverStation.Alliance.Red) {
+			Logger.recordOutput(SUBSYSTEM_NAME + "/ALLIANCE COLOR", "RED");
+		} else {
+			Logger.recordOutput(SUBSYSTEM_NAME + "/ALLIANCE COLOR", "BLUE");
+		}
+
+		Logger.recordOutput(SUBSYSTEM_NAME + "/STATE", getState().getStateString());
+		Logger.recordOutput(SUBSYSTEM_NAME + "/InAllianceShootingPosition", drive.isAtAllianceShootingPosition());
+		Logger.recordOutput(SUBSYSTEM_NAME + "/STATE TIME", getStateTime());
+		Logger.recordOutput(SUBSYSTEM_NAME + "/HUB ACTIVE", isHubActive());
+
+		// Set subsystem states
+		shooter.setState(getState().getShooterState());
+		hopper.setState(getState().getHopperState());
+		intake.setState(getState().getIntakeState());
+		climber.setState(getState().getClimberState());
+
+		Tracer.traceFunc("ShooterPeriodic", shooter::periodic); // SHould these be used with Tracer? idk what that does fr
+		Tracer.traceFunc("HopperPeriodic", hopper::periodic);
+		Tracer.traceFunc("IntakePeriodic", intake::periodic);
+		Tracer.traceFunc("ClimberPeriodic", climber::periodic);
+		Tracer.traceFunc("DrivePeriodic", drive::periodic);
+		Tracer.traceFunc("VisionPeriodic", vision::periodic);
+		// Emergency stop to IDLE
+		if (DRIVER_CONTROLLER.getStartButtonPressed()) {
+			setState(ManagerStates.IDLE);
+		}
+	}
+
+	public boolean isHubActive() {
+		return true; // TODO: implement this idk how
+	}
+
+	@Override
+	public void periodic() {
+		super.periodic();
+		WiltingRoseControllerUtility.resetWiltingRoseControllers();
+	}
+}
diff --git a/src/main/java/frc/robot/Subsystems/Manager/ManagerConstants.java b/src/main/java/frc/robot/Subsystems/Manager/ManagerConstants.java
new file mode 100644
index 0000000..6ff69e6
--- /dev/null
+++ b/src/main/java/frc/robot/Subsystems/Manager/ManagerConstants.java
@@ -0,0 +1,6 @@
+package frc.robot.Subsystems.Manager;
+
+public class ManagerConstants {
+
+	public static final String SUBSYSTEM_NAME = "Manager";
+}
diff --git a/src/main/java/frc/robot/Subsystems/Manager/ManagerStates.java b/src/main/java/frc/robot/Subsystems/Manager/ManagerStates.java
new file mode 100644
index 0000000..255c916
--- /dev/null
+++ b/src/main/java/frc/robot/Subsystems/Manager/ManagerStates.java
@@ -0,0 +1,61 @@
+package frc.robot.Subsystems.Manager;
+
+import frc.robot.Subsystems.Climber.ClimberStates;
+import frc.robot.Subsystems.Drive.Drive;
+import frc.robot.Subsystems.Hopper.HopperStates;
+import frc.robot.Subsystems.Intake.IntakeStates;
+import frc.robot.Subsystems.Shooter.ShooterStates;
+import org.team7525.subsystem.SubsystemStates;
+
+public enum ManagerStates implements SubsystemStates {
+	IDLE("IDLE", IntakeStates.IN, HopperStates.IDLE, ShooterStates.IDLE, ClimberStates.IDLE),
+	EXTENDED_IDLE("EXTENDED_IDLE", IntakeStates.OUT, HopperStates.IDLE, ShooterStates.IDLE, ClimberStates.IDLE),
+	INTAKING("INTAKING", IntakeStates.INTAKE, HopperStates.SPINDEXING, ShooterStates.STANDBY, ClimberStates.IDLE),
+	WINDING_UP("WINDING_UP", IntakeStates.IN, HopperStates.IDLE, null, ClimberStates.IDLE),
+	WINDING_UP_FIXED_SHOT("WINDING_UP_FIXED_SHOT", IntakeStates.IN, HopperStates.IDLE, ShooterStates.SHOOT_FIXED, ClimberStates.IDLE),
+	SHUTTLING("SHUTTLING", IntakeStates.IN, HopperStates.SPINDEXING, ShooterStates.SHOOT_ALLIANCE, ClimberStates.IDLE),
+	SHOOTING_HUB("SHOOTING_HUB", IntakeStates.IN, HopperStates.SPINDEXING, ShooterStates.SHOOT_HUB, ClimberStates.IDLE),
+	SHOOTING_FIXED("SHOOTING_FIXED", IntakeStates.IN, HopperStates.SPINDEXING, ShooterStates.SHOOT_FIXED, ClimberStates.IDLE),
+	EXTENDING_CLIMBER("EXTENDING_CLIMBER", IntakeStates.IN, HopperStates.IDLE, ShooterStates.IDLE, ClimberStates.EXTEND),
+	RETRACTING_CLIMBER("RETRACTING_CLIMBER", IntakeStates.IN, HopperStates.IDLE, ShooterStates.IDLE, ClimberStates.RETRACT);
+
+	private final String stateString;
+	private final IntakeStates intakeState;
+	private final HopperStates hopperState;
+	private final ShooterStates shooterState;
+	private final ClimberStates climberState;
+
+	ManagerStates(String stateString, IntakeStates intakeState, HopperStates hopperState, ShooterStates shooterState, ClimberStates climberState) {
+		this.stateString = stateString;
+		this.intakeState = intakeState;
+		this.hopperState = hopperState;
+		this.shooterState = shooterState;
+		this.climberState = climberState;
+	}
+
+	@Override
+	public String getStateString() {
+		return stateString;
+	}
+
+	public IntakeStates getIntakeState() {
+		return intakeState;
+	}
+
+	public HopperStates getHopperState() {
+		return hopperState;
+	}
+
+	public ShooterStates getShooterState() {
+		// Could be in shooter but would lead to wierd states i think
+		// shhoter doesn't change between winding up and shooting only hopper does
+		if (this == WINDING_UP && shooterState == null) {
+			return Drive.getInstance().isAtAllianceShootingPosition() ? ShooterStates.SHOOT_ALLIANCE : ShooterStates.SHOOT_HUB;
+		}
+		return shooterState;
+	}
+
+	public ClimberStates getClimberState() {
+		return climberState;
+	}
+}
diff --git a/src/main/java/frc/robot/Subsystems/Manager/WiltingRoseControllerUtility.java b/src/main/java/frc/robot/Subsystems/Manager/WiltingRoseControllerUtility.java
new file mode 100644
index 0000000..9a4c1f2
--- /dev/null
+++ b/src/main/java/frc/robot/Subsystems/Manager/WiltingRoseControllerUtility.java
@@ -0,0 +1,29 @@
+package frc.robot.Subsystems.Manager;
+
+import static frc.robot.GlobalConstants.Controllers.*;
+
+class WiltingRoseControllerUtility {
+
+	public static void resetWiltingRoseControllers() {
+		// Read each controller press once (this clears the internal "pressed" cache).		DRIVER_CONTROLLER.getAButtonPressed();
+		DRIVER_CONTROLLER.getBButtonPressed();
+		DRIVER_CONTROLLER.getXButtonPressed();
+		DRIVER_CONTROLLER.getYButtonPressed();
+		DRIVER_CONTROLLER.getBackButtonPressed();
+		DRIVER_CONTROLLER.getStartButtonPressed();
+		DRIVER_CONTROLLER.getLeftBumperButtonPressed();
+		DRIVER_CONTROLLER.getRightBumperButtonPressed();
+		DRIVER_CONTROLLER.getLeftStickButtonPressed();
+		DRIVER_CONTROLLER.getRightStickButtonPressed();
+		OPERATOR_CONTROLLER.getAButtonPressed();
+		OPERATOR_CONTROLLER.getBButtonPressed();
+		OPERATOR_CONTROLLER.getXButtonPressed();
+		OPERATOR_CONTROLLER.getYButtonPressed();
+		OPERATOR_CONTROLLER.getBackButtonPressed();
+		OPERATOR_CONTROLLER.getStartButtonPressed();
+		OPERATOR_CONTROLLER.getLeftBumperButtonPressed();
+		OPERATOR_CONTROLLER.getRightBumperButtonPressed();
+		OPERATOR_CONTROLLER.getLeftStickButtonPressed();
+		OPERATOR_CONTROLLER.getRightStickButtonPressed();
+	}
+}
diff --git a/src/main/java/frc/robot/Subsystems/Shooter/Shooter.java b/src/main/java/frc/robot/Subsystems/Shooter/Shooter.java
index 934a166..27ae044 100644
--- a/src/main/java/frc/robot/Subsystems/Shooter/Shooter.java
+++ b/src/main/java/frc/robot/Subsystems/Shooter/Shooter.java
@@ -1,5 +1,7 @@
 package frc.robot.Subsystems.Shooter;
 
+import static edu.wpi.first.units.Units.Degrees;
+import static edu.wpi.first.units.Units.RotationsPerSecond;
 import static frc.robot.Subsystems.Shooter.ShooterConstants.*;
 
 import frc.robot.GlobalConstants;
@@ -25,7 +27,7 @@ public static Shooter getInstance() {
 	}
 
 	private Shooter(ShooterIO io) {
-		super(SUBSYSTEM_NAME, ShooterStates.OFF);
+		super(SUBSYSTEM_NAME, ShooterStates.IDLE);
 		this.io = io;
 		outputs = new ShooterIOOutputs();
 	}
@@ -36,11 +38,11 @@ public void runState() {
 		io.setWheelVelocity(getState().getWheelVelocity());
 		io.logOutputs(outputs);
 
-		Logger.recordOutput(SUBSYSTEM_NAME + "/LeftWheelVelocity", outputs.leftWheelVelocity);
-		Logger.recordOutput(SUBSYSTEM_NAME + "/RightWheelVelocity", outputs.rightWheelVelocity);
-		Logger.recordOutput(SUBSYSTEM_NAME + "/WheelSetpoint", outputs.wheelSetpoint);
-		Logger.recordOutput(SUBSYSTEM_NAME + "/HoodAngle", outputs.hoodAngle);
-		Logger.recordOutput(SUBSYSTEM_NAME + "/HoodSetpoint", outputs.hoodSetpoint);
+		Logger.recordOutput(SUBSYSTEM_NAME + "/LeftWheelVelocity", outputs.leftWheelVelocity.in(RotationsPerSecond));
+		Logger.recordOutput(SUBSYSTEM_NAME + "/RightWheelVelocity", outputs.rightWheelVelocity.in(RotationsPerSecond));
+		Logger.recordOutput(SUBSYSTEM_NAME + "/WheelSetpoint", outputs.wheelSetpoint.in(RotationsPerSecond));
+		Logger.recordOutput(SUBSYSTEM_NAME + "/HoodAngle", outputs.hoodAngle.in(Degrees));
+		Logger.recordOutput(SUBSYSTEM_NAME + "/HoodSetpoint", outputs.hoodSetpoint.in(Degrees));
 		Logger.recordOutput(SUBSYSTEM_NAME + "/state", getState().getStateString());
 		Logger.recordOutput(SUBSYSTEM_NAME + "/ReadyToShoot", readyToShoot());
 	}
diff --git a/src/main/java/frc/robot/Subsystems/Shooter/ShooterConstants.java b/src/main/java/frc/robot/Subsystems/Shooter/ShooterConstants.java
index 68d568a..7797b97 100644
--- a/src/main/java/frc/robot/Subsystems/Shooter/ShooterConstants.java
+++ b/src/main/java/frc/robot/Subsystems/Shooter/ShooterConstants.java
@@ -14,9 +14,15 @@
 public final class ShooterConstants {
 
 	public static final String SUBSYSTEM_NAME = "Shooter";
+	// Preset positions
+	public static final double HOOD_MIN_ANGLE_RADS = 0.0; // TODO: get real value
+	public static final double HOOD_MAX_ANGLE_RADS = Math.toRadians(60); // TODO: get real value
 
 	public static final Angle FIXED_SHOT_ANGLE = Degrees.of(45); //TODO: get good value
-	public static final AngularVelocity FIXED_SHOT_SPEED = RotationsPerSecond.of(1000); //TODO: get good value
+	public static final AngularVelocity FIXED_SHOT_SPEED = RotationsPerSecond.of(150); //TODO: get good value
+
+	public static final Angle STANDBY_ANGLE = Degrees.of(45); //TODO: get good value
+	public static final AngularVelocity STANDBY_SPEED = RotationsPerSecond.of(500); //TODO: get good value
 
 	// Numerical constants (moved from magic literals)
 	public static final double SOLVER_EPSILON = 1e-6;
@@ -27,35 +33,35 @@ public final class ShooterConstants {
 	public static final double HOOD_ANGLE_TOLERANCE_DEGREES = 0.01; // degrees
 
 	// Simulation / physical defaults
-	public static final double FLYWHEEL_MOI = 0.5;
-	public static final double FLYWHEEL_GEARING = 1.0;
-	public static final double HOOD_MOI = 0.2;
+	public static final double FLYWHEEL_MOI = 0.00117056; // Roughly accurate for flywheel
+	public static final double FLYWHEEL_GEARING = 1.0; // Also roughly accurate
+	public static final double HOOD_MOI = 0.0001;
 	public static final double HOOD_GEARING = 1.0;
-	public static final double HOOD_ARM_LENGTH_METERS = 1.0;
+	public static final double HOOD_ARM_LENGTH_METERS = 0.2;
 
 	// State defaults
 	public static final AngularVelocity REVERSE_WHEEL_SPEED = RotationsPerSecond.of(-100);
 
-	public static final int LEFT_SHOOTER_MOTOR_ID = 10;
-	public static final int RIGHT_SHOOTER_MOTOR_ID = 11;
-	public static final int HOOD_MOTOR_ID = 12;
+	public static final int LEFT_SHOOTER_MOTOR_ID = 37;
+	public static final int RIGHT_SHOOTER_MOTOR_ID = 38;
+	public static final int HOOD_MOTOR_ID = 39;
 
 	public static final Supplier<PIDController> HOOD_PID = () ->
 		switch (GlobalConstants.ROBOT_MODE) {
 			case REAL -> new PIDController(1, 0, 0);
-			case SIM -> new PIDController(0.05, 0, 0);
+			case SIM -> new PIDController(0.04, 0, 0.001); // Tuned in sim
 			case TESTING -> new PIDController(1, 0, 0);
 		}; //TODO: tune
 	public static final Supplier<PIDController> WHEEL_PID = () ->
 		switch (GlobalConstants.ROBOT_MODE) {
 			case REAL -> new PIDController(0.1, 0, 0);
-			case SIM -> new PIDController(0.01, 0, 0);
+			case SIM -> new PIDController(0.0077, 0, 0.00013);
 			case TESTING -> new PIDController(0.1, 0, 0);
 		}; //TODO: tune
 	public static final Supplier<SimpleMotorFeedforward> WHEEL_FEEDFORWARD = () ->
 		switch (GlobalConstants.ROBOT_MODE) {
 			case REAL -> new SimpleMotorFeedforward(0.1, 0.01, 0.001);
-			case SIM -> new SimpleMotorFeedforward(0.05, 0.005, 0.0005);
+			case SIM -> new SimpleMotorFeedforward(0.11, 0.1, 0.0);
 			case TESTING -> new SimpleMotorFeedforward(0.1, 0.01, 0.001);
 		}; //TODO: tune
 
diff --git a/src/main/java/frc/robot/Subsystems/Shooter/ShooterIOSim.java b/src/main/java/frc/robot/Subsystems/Shooter/ShooterIOSim.java
index e7a10bd..d2ac421 100644
--- a/src/main/java/frc/robot/Subsystems/Shooter/ShooterIOSim.java
+++ b/src/main/java/frc/robot/Subsystems/Shooter/ShooterIOSim.java
@@ -1,20 +1,24 @@
 package frc.robot.Subsystems.Shooter;
 
 import static edu.wpi.first.units.Units.Degrees;
+import static edu.wpi.first.units.Units.Radians;
+import static edu.wpi.first.units.Units.RadiansPerSecond;
 import static edu.wpi.first.units.Units.RotationsPerSecond;
+import static frc.robot.GlobalConstants.VOLTS;
 import static frc.robot.Subsystems.Shooter.ShooterConstants.*;
 
 import com.ctre.phoenix6.controls.Follower;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.signals.MotorAlignmentValue;
 import com.ctre.phoenix6.sim.TalonFXSimState;
-import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.math.system.plant.LinearSystemId;
+import edu.wpi.first.math.util.Units;
 import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.units.measure.AngularVelocity;
 import edu.wpi.first.wpilibj.simulation.FlywheelSim;
 import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import frc.robot.GlobalConstants;
 
 public class ShooterIOSim extends ShooterIOReal {
@@ -22,21 +26,15 @@ public class ShooterIOSim extends ShooterIOReal {
 	private TalonFXSimState leftMotorSim;
 	private TalonFXSimState rightMotorSim;
 	private TalonFXSimState hoodMotorSim;
-	private SimpleMotorFeedforward wheelFeedforward;
 	private FlywheelSim wheelSim;
 	private SingleJointedArmSim hoodSim;
 
 	public ShooterIOSim() {
-		leftMotor = new TalonFX(LEFT_SHOOTER_MOTOR_ID);
-		rightMotor = new TalonFX(RIGHT_SHOOTER_MOTOR_ID);
+		super();
 		hoodMotor = new TalonFX(HOOD_MOTOR_ID);
 		rightMotor.setControl(new Follower(leftMotor.getDeviceID(), MotorAlignmentValue.Aligned)); // Might need to be inverted
-		hoodPID = HOOD_PID.get();
-		wheelPID = WHEEL_PID.get();
-		wheelFeedforward = WHEEL_FEEDFORWARD.get();
-
-		leftMotorSim = new TalonFXSimState(leftMotor);
 		rightMotorSim = new TalonFXSimState(rightMotor);
+		leftMotorSim = new TalonFXSimState(leftMotor);
 		hoodMotorSim = new TalonFXSimState(hoodMotor);
 
 		wheelSim = new FlywheelSim(
@@ -54,42 +52,47 @@ public ShooterIOSim() {
 				HOOD_GEARING // Gearing
 			),
 			DCMotor.getFalcon500(1),
-			HOOD_ARM_LENGTH_METERS, // Arm length
-			0,
-			0,
-			0,
-			true,
-			0
+			HOOD_GEARING,
+			HOOD_ARM_LENGTH_METERS,
+			HOOD_MIN_ANGLE_RADS,
+			HOOD_MAX_ANGLE_RADS,
+			false, // this be ragebait
+			HOOD_MIN_ANGLE_RADS
 		);
 	}
 
 	@Override
 	public void logOutputs(ShooterIOOutputs outputs) {
+		// Sim update
+		leftMotorSim.setRotorVelocity(Units.radiansToRotations(wheelSim.getAngularVelocityRadPerSec()));
+		rightMotorSim.setRotorVelocity(Units.radiansToRotations(wheelSim.getAngularVelocityRadPerSec()));
+		hoodMotorSim.setRawRotorPosition(Units.radiansToRotations(hoodSim.getAngleRads()));
+		hoodMotorSim.setSupplyVoltage(VOLTS);
+		hoodMotorSim.setRotorVelocity(Units.radiansToRotations(hoodSim.getVelocityRadPerSec()));
+		wheelSim.update(GlobalConstants.SIMULATION_PERIOD);
+		hoodSim.update(GlobalConstants.SIMULATION_PERIOD);
+
 		outputs.leftWheelVelocity = leftMotor.getVelocity().getValue();
 		outputs.rightWheelVelocity = rightMotor.getVelocity().getValue();
 		outputs.wheelSetpoint = wheelSetpoint;
-		outputs.hoodAngle = hoodMotor.getPosition().getValue();
+		outputs.hoodAngle = Radians.of(hoodSim.getAngleRads());
 		outputs.hoodSetpoint = hoodSetpoint;
-		// Sim update
-		wheelSim.update(GlobalConstants.SIMULATION_PERIOD);
-		hoodSim.update(GlobalConstants.SIMULATION_PERIOD);
-		leftMotorSim.setRotorVelocity(wheelSim.getAngularVelocityRadPerSec());
-		rightMotorSim.setRotorVelocity(wheelSim.getAngularVelocityRadPerSec());
-		hoodMotorSim.setRawRotorPosition(hoodSim.getAngleRads());
-		hoodMotorSim.setRotorVelocity(hoodSim.getVelocityRadPerSec());
 		// Throw some stuff here for 3D sim later
 	}
 
 	@Override
 	public void setWheelVelocity(AngularVelocity velocity) {
 		wheelSetpoint = velocity;
-		leftMotor.set(wheelPID.calculate(leftMotor.getVelocity().getValue().in(RotationsPerSecond), wheelSetpoint.in(RotationsPerSecond)) + wheelFeedforward.calculate(wheelSetpoint.in(RotationsPerSecond)));
+		SmartDashboard.putNumber("Wheel Setpoint (Radians per Second)", wheelSetpoint.in(RadiansPerSecond));
+		wheelSim.setInputVoltage(VOLTS * (wheelPID.calculate(wheelSim.getAngularVelocityRadPerSec(), wheelSetpoint.in(RadiansPerSecond)) + wheelFeedforward.calculate(wheelSetpoint.in(RadiansPerSecond))));
 	}
 
 	@Override
 	public void setHoodAngle(Angle angle) {
 		hoodSetpoint = angle;
-		hoodMotor.set(hoodPID.calculate(hoodMotor.getPosition().getValue().in(Degrees), hoodSetpoint.in(Degrees)));
+		double pid_calc = hoodPID.calculate(hoodSim.getAngleRads(), hoodSetpoint.in(Radians));
+		SmartDashboard.putNumber("Hood PID Output", pid_calc);
+		hoodSim.setInputVoltage(pid_calc * VOLTS);
 	}
 
 	@Override
diff --git a/src/main/java/frc/robot/Subsystems/Shooter/ShooterStates.java b/src/main/java/frc/robot/Subsystems/Shooter/ShooterStates.java
index 8b1f01e..47548f9 100644
--- a/src/main/java/frc/robot/Subsystems/Shooter/ShooterStates.java
+++ b/src/main/java/frc/robot/Subsystems/Shooter/ShooterStates.java
@@ -13,7 +13,7 @@
 import org.team7525.subsystem.SubsystemStates;
 
 public enum ShooterStates implements SubsystemStates {
-	OFF("IDLE", () -> Degrees.of(0), () -> RotationsPerSecond.of(0)),
+	IDLE("IDLE", () -> Degrees.of(0), () -> RotationsPerSecond.of(0)),
 	REVERSE("REVERSE", () -> Degrees.of(0), () -> REVERSE_WHEEL_SPEED), // TODO: get good value
 	// Use placeholder Pose2d and zero velocity for now; replace with real robot pose/velocity when available.
 	SHOOT_HUB(
@@ -27,7 +27,8 @@ public enum ShooterStates implements SubsystemStates {
 		() -> ShooterMath.solveAllianceShot(new Pose2d(0.0, 0.0, new Rotation2d()), new Translation2d(0.0, 0.0)).map(sol -> sol.hoodAngle()).orElse(FIXED_SHOT_ANGLE),
 		() -> ShooterMath.solveAllianceShot(new Pose2d(0.0, 0.0, new Rotation2d()), new Translation2d(0.0, 0.0)).map(sol -> sol.flywheelSpeed()).orElse(FIXED_SHOT_SPEED)
 	),
-	SHOOT_FIXED("SHOOT FIXED", () -> FIXED_SHOT_ANGLE, () -> FIXED_SHOT_SPEED);
+	SHOOT_FIXED("SHOOT FIXED", () -> FIXED_SHOT_ANGLE, () -> FIXED_SHOT_SPEED),
+	STANDBY("STANDBY", () -> STANDBY_ANGLE, () -> STANDBY_SPEED);
 
 	private String stateString;
 	private Supplier<Angle> hoodAngleSupplier;
diff --git a/src/main/java/frc/robot/Subsystems/Vision/Vision.java b/src/main/java/frc/robot/Subsystems/Vision/Vision.java
index b3d597e..d0c9638 100644
--- a/src/main/java/frc/robot/Subsystems/Vision/Vision.java
+++ b/src/main/java/frc/robot/Subsystems/Vision/Vision.java
@@ -2,6 +2,7 @@
 
 import static edu.wpi.first.units.Units.DegreesPerSecond;
 import static frc.robot.GlobalConstants.ROBOT_MODE;
+import static frc.robot.Subsystems.Drive.DriveConstants.SUBSYSTEM_NAME;
 import static frc.robot.Subsystems.Vision.VisionConstants.*;
 
 import edu.wpi.first.math.Matrix;
@@ -14,16 +15,17 @@
 import edu.wpi.first.wpilibj.Alert;
 import edu.wpi.first.wpilibj.Alert.AlertType;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Robot;
 import frc.robot.Subsystems.Drive.Drive;
 import frc.robot.Subsystems.Vision.VisionIO.PoseObservation;
 import frc.robot.Subsystems.Vision.VisionIO.VisionIOOutputs;
 import java.util.LinkedList;
 import java.util.List;
+import java.util.Set;
 import org.littletonrobotics.junction.Logger;
 
 public class Vision extends SubsystemBase {
 
-	// Akit my savior
 	private final VisionIO[] io;
 	private final VisionIOOutputs[] outputs;
 	private final Alert[] disconnectedAlerts;
@@ -33,15 +35,20 @@ public class Vision extends SubsystemBase {
 	List<Pose3d> allRobotPosesAccepted = new LinkedList<>();
 	List<Pose3d> allRobotPosesRejected = new LinkedList<>();
 
+	Set<Short> allianceHubTags = Robot.isRedAlliance ? RED_HUB_TAGS : BLUE_HUB_TAGS;
+
 	private static Vision instance;
 
 	public static Vision getInstance() {
 		if (instance == null) {
 			instance = new Vision(
 				switch (ROBOT_MODE) {
-					case REAL -> new VisionIO[] { new VisionIOPhotonVision(CAM_1_NAME, ROBOT_TO_CAM1), new VisionIOPhotonVision(CAM_2_NAME, ROBOT_TO_CAM2) };
-					case SIM -> new VisionIO[] { new VisionIOPhotonVisionSim(CAM_1_NAME, ROBOT_TO_CAM1, Drive.getInstance()::getPose), new VisionIOPhotonVisionSim(CAM_2_NAME, ROBOT_TO_CAM2, Drive.getInstance()::getPose) };
-					case TESTING -> new VisionIO[] { new VisionIOPhotonVision(CAM_2_NAME, ROBOT_TO_CAM2), new VisionIOPhotonVision(CAM_1_NAME, ROBOT_TO_CAM1) };
+					case REAL -> new VisionIO[] { new VisionIOPhotonVision(FRONT_CAM_1_NAME, ROBOT_TO_FRONT_CAM_1), new VisionIOPhotonVision(FRONT_CAM_2_NAME, ROBOT_TO_FRONT_CAM_2) };
+					case SIM -> new VisionIO[] {
+						new VisionIOPhotonVisionSim(FRONT_CAM_1_NAME, ROBOT_TO_FRONT_CAM_1, Drive.getInstance()::getPose),
+						// new VisionIOPhotonVisionSim(FRONT_CAM_2_NAME, ROBOT_TO_FRONT_CAM_2, Drive.getInstance()::getPose),
+					};
+					case TESTING -> new VisionIO[] { new VisionIOPhotonVision(FRONT_CAM_1_NAME, ROBOT_TO_FRONT_CAM_1), new VisionIOPhotonVision(FRONT_CAM_2_NAME, ROBOT_TO_FRONT_CAM_2) };
 				}
 			);
 		}
@@ -51,7 +58,7 @@ public static Vision getInstance() {
 	private Vision(VisionIO... io) {
 		this.io = io;
 
-		// Initialize inputs
+		// Initialize outputs
 		this.outputs = new VisionIOOutputs[io.length];
 		for (int i = 0; i < outputs.length; i++) {
 			outputs[i] = new VisionIOOutputs();
@@ -76,12 +83,15 @@ public Rotation2d getTargetX(int cameraIndex) {
 
 	@Override
 	public void periodic() {
+		allianceHubTags = Robot.isRedAlliance ? RED_HUB_TAGS : BLUE_HUB_TAGS;
+
 		for (int i = 0; i < io.length; i++) {
 			io[i].logOutputs(outputs[i]);
-			Logger.recordOutput("Vision/Camera" + Integer.toString(i) + "/Connected", outputs[i].connected);
-			Logger.recordOutput("Vision/Camera" + Integer.toString(i) + "/LatestTarget", outputs[i].latestTargetObservation);
-			Logger.recordOutput("Vision/Camera" + Integer.toString(i) + "/PoseObservations", outputs[i].poseObservations);
-			Logger.recordOutput("Vision/Camera" + Integer.toString(i) + "/TagIds", outputs[i].tagIds);
+			Logger.recordOutput(SUBSYSTEM_NAME + "/Camera " + Integer.toString(i) + "/Connected", outputs[i].connected);
+			Logger.recordOutput(SUBSYSTEM_NAME + "/Camera " + Integer.toString(i) + "/Latest Target X Deg", outputs[i].latestTargetObservation.tx().getDegrees());
+			Logger.recordOutput(SUBSYSTEM_NAME + "/Camera " + Integer.toString(i) + "/Latest Target Y Deg", outputs[i].latestTargetObservation.ty().getDegrees());
+			Logger.recordOutput(SUBSYSTEM_NAME + "/Camera " + Integer.toString(i) + "/Pose Observations Count", outputs[i].poseObservations.length);
+			Logger.recordOutput(SUBSYSTEM_NAME + "/Camera " + Integer.toString(i) + "/Tag IDs", outputs[i].tagIds);
 		}
 
 		// Initialize logging values
@@ -139,19 +149,6 @@ private void processVision() {
 				// Skip if rejected
 				if (rejectPose) continue;
 
-				// Calculate standard deviations
-				// double stdDevFactor = Math.pow(observation.averageTagDistance(), 2.0) / observation.tagCount();
-				// double linearStdDev = linearStdDevBaseline * stdDevFactor;
-				// double angularStdDev = angularStdDevBaseline * stdDevFactor;
-				// if (observation.type() == PoseObservationType.MEGATAG_2) {
-				// 	linearStdDev *= linearStdDevMegatag2Factor;
-				// 	angularStdDev *= angularStdDevMegatag2Factor;
-				// }
-				// if (cameraIndex < cameraStdDevFactors.length) {
-				// 	linearStdDev *= cameraStdDevFactors[cameraIndex];
-				// 	angularStdDev *= cameraStdDevFactors[cameraIndex];
-				// }
-
 				//254 standard dev
 				Matrix<N3, N1> visionStandardDev = calculateStandardDev(observation);
 
@@ -159,7 +156,7 @@ private void processVision() {
 				Drive.getInstance().addVisionMeasurement(observation.pose().toPose2d(), observation.timestamp(), visionStandardDev);
 			}
 
-			// Log camera data
+			// Log camera datadata
 			Logger.recordOutput("Vision/Camera" + Integer.toString(cameraIndex) + "/TagPoses", tagPoses.toArray(new Pose3d[tagPoses.size()]));
 			Logger.recordOutput("Vision/Camera" + Integer.toString(cameraIndex) + "/RobotPoses", robotPoses.toArray(new Pose3d[robotPoses.size()]));
 			Logger.recordOutput("Vision/Camera" + Integer.toString(cameraIndex) + "/RobotPosesAccepted", robotPosesAccepted.toArray(new Pose3d[robotPosesAccepted.size()]));
@@ -173,6 +170,25 @@ private void processVision() {
 	}
 
 	private boolean shouldBeRejected(PoseObservation observation) {
+		boolean observedLadder = false;
+		boolean observedOutpost = false;
+
+		for (Short tagObserved : observation.tagsObserved()) {
+			if (APRIL_TAG_IGNORE.contains(tagObserved)) {
+				observedLadder = true;
+				break;
+			}
+			if (observedLadder) break;
+		}
+
+		for (Short tagObserved : observation.tagsObserved()) {
+			if (HUMAN_TAGS.contains(tagObserved)) {
+				observedOutpost = true;
+				break;
+			}
+			if (observedOutpost) break;
+		}
+
 		return (
 			observation.tagCount() == 0 || // Must have at least one tag
 			(observation.tagCount() == 1 && observation.ambiguity() > maxAmbiguity) || // Cannot be high ambiguity
@@ -192,8 +208,11 @@ public Matrix<N3, N1> calculateStandardDev(PoseObservation observation) {
 		double degStds;
 		if (observation.tagCount() == 1) {
 			double poseDifference = observation.pose().getTranslation().toTranslation2d().getDistance(Drive.getInstance().getPose().getTranslation());
+			if (seenReefTags(observation) && observation.avgTagArea() > 0.2) {
+				xyStds = 0.5;
+			}
 			// 1 target with large area and close to estimated pose
-			if (observation.avgTagArea() > 0.8 && poseDifference < 0.5) {
+			else if (observation.avgTagArea() > 0.8 && poseDifference < 0.5) {
 				xyStds = 0.5;
 			}
 			// 1 target farther away and estimated pose is close
@@ -209,4 +228,8 @@ else if (observation.avgTagArea() > 0.1 && poseDifference < 0.3) {
 			return VecBuilder.fill(xyStds, xyStds, degStds);
 		}
 	}
+
+	private boolean seenReefTags(PoseObservation observation) {
+		return allianceHubTags.contains(observation.tagsObserved().toArray()[0]);
+	}
 }
diff --git a/src/main/java/frc/robot/Subsystems/Vision/VisionConstants.java b/src/main/java/frc/robot/Subsystems/Vision/VisionConstants.java
index 2c88972..9315a94 100644
--- a/src/main/java/frc/robot/Subsystems/Vision/VisionConstants.java
+++ b/src/main/java/frc/robot/Subsystems/Vision/VisionConstants.java
@@ -15,6 +15,7 @@
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.units.measure.AngularVelocity;
 import frc.robot.Subsystems.Drive.Drive;
+import java.util.Set;
 
 public class VisionConstants {
 
@@ -27,29 +28,33 @@ public enum CameraResolution {
 	// This is comp dependent
 	public static final boolean USE_WELDED_FIELD = true;
 
-	public static final AprilTagFieldLayout APRIL_TAG_FIELD_LAYOUT = AprilTagFieldLayout.loadField(USE_WELDED_FIELD ? AprilTagFields.k2025ReefscapeWelded : AprilTagFields.k2025ReefscapeAndyMark);
+	public static final AprilTagFieldLayout APRIL_TAG_FIELD_LAYOUT = AprilTagFieldLayout.loadField(USE_WELDED_FIELD ? AprilTagFields.k2026RebuiltWelded : AprilTagFields.k2026RebuiltAndymark);
 
 	public record VisionMeasurment(Pose2d pose, double timestamp, Matrix<N3, N1> standardDev) {}
 
-	public static final String CAM_1_NAME = "Camera 1";
-	public static final Translation3d ROBOT_TO_CAM1_TRANSLATION = new Translation3d(Units.inchesToMeters(11.809459), Units.inchesToMeters(11.164206), Units.inchesToMeters(8.887162));
-	public static final Rotation3d ROBOT_TO_CAM1_ROTATION = new Rotation3d(0, Math.toRadians(-10), Math.toRadians(-30.4));
-	public static final Transform3d ROBOT_TO_CAM1 = new Transform3d(ROBOT_TO_CAM1_TRANSLATION, ROBOT_TO_CAM1_ROTATION);
+	// Front Left
+	public static final String FRONT_CAM_1_NAME = "Front Left Camera";
+	public static final Translation3d ROBOT_TO_FRONT_CAM_1_TRANSLATION = new Translation3d(Units.inchesToMeters(0), Units.inchesToMeters(11.164206), Units.inchesToMeters(8.887162));
+	public static final Rotation3d ROBOT_TO_FRONT_CAM_1_ROTATION = new Rotation3d(0, Math.toRadians(-10), Math.toRadians(-30.4));
+	public static final Transform3d ROBOT_TO_FRONT_CAM_1 = new Transform3d(ROBOT_TO_FRONT_CAM_1_TRANSLATION, ROBOT_TO_FRONT_CAM_1_ROTATION);
 
-	public static final String CAM_2_NAME = "Camera 2";
-	public static final Translation3d ROBOT_TO_CAM2_TRANSLATION = new Translation3d(Units.inchesToMeters(11.809459), Units.inchesToMeters(-11.164206), Units.inchesToMeters(8.887162));
-	public static final Rotation3d ROBOT_TO_CAM2_ROTATION = new Rotation3d(0, Math.toRadians(-10), Math.toRadians(27.8));
-	public static final Transform3d ROBOT_TO_CAM2 = new Transform3d(ROBOT_TO_CAM2_TRANSLATION, ROBOT_TO_CAM2_ROTATION);
+	// Front Right
+	public static final String FRONT_CAM_2_NAME = "Front Right Camera";
+	public static final Translation3d ROBOT_TO_FRONT_CAM_2_TRANSLATION = new Translation3d(Units.inchesToMeters(5), Units.inchesToMeters(-11.164206), Units.inchesToMeters(8.887162));
+	public static final Rotation3d ROBOT_TO_FRONT_CAM_2_ROTATION = new Rotation3d(0, Math.toRadians(-10), Math.toRadians(27.8));
+	public static final Transform3d ROBOT_TO_FRONT_CAM_2 = new Transform3d(ROBOT_TO_FRONT_CAM_2_TRANSLATION, ROBOT_TO_FRONT_CAM_2_ROTATION);
 
-	public static final VisionIO[] SIM_IOS = new VisionIO[] { new VisionIOPhotonVisionSim(CAM_1_NAME, ROBOT_TO_CAM1, Drive.getInstance()::getPose), new VisionIOPhotonVisionSim(CAM_2_NAME, ROBOT_TO_CAM2, Drive.getInstance()::getPose) };
-	public static final VisionIO[] REAL_IOS = new VisionIO[] { new VisionIOPhotonVision(CAM_1_NAME, ROBOT_TO_CAM1), new VisionIOPhotonVision(CAM_2_NAME, ROBOT_TO_CAM2) };
+	public static final VisionIO[] FRONT_SIM_IOS = new VisionIO[] { new VisionIOPhotonVisionSim(FRONT_CAM_1_NAME, ROBOT_TO_FRONT_CAM_1, Drive.getInstance()::getPose), new VisionIOPhotonVisionSim(FRONT_CAM_2_NAME, ROBOT_TO_FRONT_CAM_2, Drive.getInstance()::getPose) };
+
+	public static final VisionIO[] FRONT_REAL_IOS = new VisionIO[] { new VisionIOPhotonVision(FRONT_CAM_1_NAME, ROBOT_TO_FRONT_CAM_1), new VisionIOPhotonVision(FRONT_CAM_2_NAME, ROBOT_TO_FRONT_CAM_2) };
 
 	public static final double CAMERA_DEBOUNCE_TIME = 0.5;
 
 	// TODO: What camera resolutions actually are these? Assuming they're high bc
 	// 1080p is high
 	// we never even use these why are they here
-	public static final CameraResolution RESOLUTION = CameraResolution.HIGH_RESOLUTION;
+	public static final CameraResolution BACK_RESOLUTION = CameraResolution.HIGH_RESOLUTION;
+	public static final CameraResolution FRONT_RESOLUTION = CameraResolution.HIGH_RESOLUTION;
 
 	public static final int CAMERA_WIDTH = 1200;
 	public static final int CAMERA_HEIGHT = 800;
@@ -60,6 +65,13 @@ public record VisionMeasurment(Pose2d pose, double timestamp, Matrix<N3, N1> sta
 	public static final int AVG_LATENCY_MS = 40;
 	public static final int LATENCY_STD_DEV_MS = 10;
 
+	//April Tag Lists
+	public static final Set<Short> HUMAN_TAGS = Set.of((short) 14, (short) 13, (short) 29, (short) 30);
+	public static final Set<Short> RED_HUB_TAGS = Set.of((short) 8, (short) 5, (short) 4, (short) 3, (short) 9, (short) 10, (short) 11, (short) 2);
+	public static final Set<Short> BLUE_HUB_TAGS = Set.of((short) 18, (short) 27, (short) 26, (short) 25, (short) 21, (short) 24, (short) 19, (short) 20);
+	public static final Set<Short> TRENCH_TAGS = Set.of((short) 7, (short) 6, (short) 12, (short) 1, (short) 17, (short) 28, (short) 22, (short) 23);
+	public static final Set<Short> APRIL_TAG_IGNORE = Set.of((short) 16, (short) 15, (short) 31, (short) 32);
+
 	// AKIT TEMPLATE STUFF
 
 	// Basic filtering thresholds
diff --git a/src/main/java/frc/robot/Subsystems/Vision/VisionIOPhotonVision.java b/src/main/java/frc/robot/Subsystems/Vision/VisionIOPhotonVision.java
index 9361e3c..5e9abc3 100644
--- a/src/main/java/frc/robot/Subsystems/Vision/VisionIOPhotonVision.java
+++ b/src/main/java/frc/robot/Subsystems/Vision/VisionIOPhotonVision.java
@@ -21,7 +21,7 @@ public class VisionIOPhotonVision implements VisionIO {
 	 * Creates a new VisionIOPhotonVision.
 	 *
 	 * @param name The configured name of the camera.
-	 * @param robotToCamera The 3D position of the camera relative to the robot.
+	 * @param rotationSupplier The 3D position of the camera relative to the robot.
 	 */
 	public VisionIOPhotonVision(String name, Transform3d robotToCamera) {
 		camera = new PhotonCamera(name);
@@ -47,6 +47,9 @@ public void logOutputs(VisionIOOutputs outputs) {
 			if (result.multitagResult.isPresent()) { // Multitag result
 				var multitagResult = result.multitagResult.get();
 
+				// Skips whenever a camera only sees barge tags
+				if (multitagResult.fiducialIDsUsed.size() == 1 && APRIL_TAG_IGNORE.contains(multitagResult.fiducialIDsUsed.get(0))) continue;
+
 				// Calculate robot pose
 				Transform3d fieldToCamera = multitagResult.estimatedPose.best;
 				Transform3d fieldToRobot = fieldToCamera.plus(robotToCamera.inverse());
@@ -116,7 +119,7 @@ public void logOutputs(VisionIOOutputs outputs) {
 
 		// Save tag IDs to inputs objects
 		outputs.tagIds = new int[tagIds.size()];
-		int i = 0; // RAGE BAIT CODE
+		int i = 0;
 		for (int id : tagIds) {
 			outputs.tagIds[i++] = id;
 		}
diff --git a/src/main/java/frc/robot/Subsystems/Vision/VisionIOPhotonVisionSim.java b/src/main/java/frc/robot/Subsystems/Vision/VisionIOPhotonVisionSim.java
index 278a325..3502b22 100644
--- a/src/main/java/frc/robot/Subsystems/Vision/VisionIOPhotonVisionSim.java
+++ b/src/main/java/frc/robot/Subsystems/Vision/VisionIOPhotonVisionSim.java
@@ -26,11 +26,11 @@ public VisionIOPhotonVisionSim(String name, Transform3d robotToCamera, Supplier<
 		}
 
 		// Add sim camera
-		// TODO: Uh like idrc about this ngl, but we can have a sim thats 4 deg more accurate if we want
 		var cameraProperties = new SimCameraProperties();
-		// cameraProperties.setAvgLatencyMs(AVG_LATENCY_MS);
-		// cameraProperties.setLatencyStdDevMs(LATENCY_STD_DEV_MS);
-		// cameraProperties.setCalibError(CALIB_ERROR_AVG, CALIB_ERROR_STD_DEV);
+		// get rid of if weird suff happens
+		cameraProperties.setAvgLatencyMs(AVG_LATENCY_MS);
+		cameraProperties.setLatencyStdDevMs(LATENCY_STD_DEV_MS);
+		cameraProperties.setCalibError(CALIB_ERROR_AVG, CALIB_ERROR_STD_DEV);
 		cameraProperties.setFPS(CAMERA_FPS);
 		cameraSim = new PhotonCameraSim(camera, cameraProperties);
 		visionSim.addCamera(cameraSim, robotToCamera);
diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java
index c4c4567..d56bae9 100644
--- a/src/main/java/frc/robot/subsystems/Intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java
@@ -13,7 +13,7 @@ public class Intake extends Subsystem<IntakeStates> {
 
 	private static Intake instance;
 	private final IntakeIO io;
-	private final IntakeIO.IntakeIOInputs inputs = new IntakeIO.IntakeIOInputs();
+	private final IntakeIO.IntakeIOOutputs outputs = new IntakeIO.IntakeIOOutputs();
 	private final SimpleMotorFeedforward spinFF = new SimpleMotorFeedforward(SPIN_kS, SPIN_kV, SPIN_kA);
 
 	private Intake() {
@@ -34,21 +34,18 @@ public static Intake getInstance() {
 
 	@Override
 	protected void runState() {
-		//asking for units explicitly
-		double linearPos = getState().linearPos.in(Meters);
-		double spinSpeed = getState().spinSpeed.in(RotationsPerSecond);
-
-		io.setLinearPosition(linearPos);
-		io.setSpinVelocity(spinSpeed, spinFF.calculate(spinSpeed));
-		io.updateInputs(inputs);
-
-		Logger.recordOutput(SUBSYSTEM_NAME + "/SpinVelocityRPS", inputs.spinVelocityRPS);
-		Logger.recordOutput(SUBSYSTEM_NAME + "/SpinAppliedVolts", inputs.spinAppliedVolts);
-		Logger.recordOutput(SUBSYSTEM_NAME + "/SpinCurrentAmps", inputs.spinCurrentAmps);
-		Logger.recordOutput(SUBSYSTEM_NAME + "/LinearPositionMeters", inputs.linearPositionMeters);
-		Logger.recordOutput(SUBSYSTEM_NAME + "/LinearVelocityMetersPerSec", inputs.linearVelocityMetersPerSec);
-		Logger.recordOutput(SUBSYSTEM_NAME + "/LinearAppliedVolts", inputs.linearAppliedVolts);
-		Logger.recordOutput(SUBSYSTEM_NAME + "/LinearCurrentAmps", inputs.linearCurrentAmps);
+		io.setLinearPosition(getState().getLinearPos());
+		io.setSpinVelocity(getState().getSpinSpeed(), spinFF.calculate(getState().getSpinSpeed().in(RotationsPerSecond)));
+		io.logOutputs(outputs);
+		Logger.recordOutput(SUBSYSTEM_NAME + "/SpinVelocityRPS", outputs.spinVelocity.in(RotationsPerSecond));
+		Logger.recordOutput(SUBSYSTEM_NAME + "/SpinSetpointRPS", outputs.spinSetpoint.in(RotationsPerSecond));
+		Logger.recordOutput(SUBSYSTEM_NAME + "/SpinAppliedVolts", outputs.spinAppliedVolts);
+		Logger.recordOutput(SUBSYSTEM_NAME + "/SpinCurrentAmps", outputs.spinCurrentAmps);
+		Logger.recordOutput(SUBSYSTEM_NAME + "/LinearPositionMeters", outputs.linearPosition.in(Meters));
+		Logger.recordOutput(SUBSYSTEM_NAME + "/LinearSetpointMeters", outputs.linearSetpoint.in(Meters));
+		Logger.recordOutput(SUBSYSTEM_NAME + "/LinearVelocityMetersPerSec", outputs.linearVelocity.in(MetersPerSecond));
+		Logger.recordOutput(SUBSYSTEM_NAME + "/LinearAppliedVolts", outputs.linearAppliedVolts);
+		Logger.recordOutput(SUBSYSTEM_NAME + "/LinearCurrentAmps", outputs.linearCurrentAmps);
 	}
 
 	public TalonFX getSpinMotor() {
diff --git a/src/main/java/frc/robot/subsystems/Intake/IntakeConstants.java b/src/main/java/frc/robot/subsystems/Intake/IntakeConstants.java
index 64501f0..63302b5 100644
--- a/src/main/java/frc/robot/subsystems/Intake/IntakeConstants.java
+++ b/src/main/java/frc/robot/subsystems/Intake/IntakeConstants.java
@@ -1,6 +1,7 @@
 package frc.robot.Subsystems.Intake;
 
 import com.ctre.phoenix6.configs.Slot0Configs; //need to add via phoenix tuner
+import org.team7525.controlConstants.PIDConstants;
 
 public class IntakeConstants {
 
@@ -8,7 +9,7 @@ public class IntakeConstants {
 
 	public static final double GEARING = 1;
 	public static final double LINEAR_GEARING = 10.0; // figure out on CAD
-	public static final double LINEAR_METERS_PER_ROTATION = 0.005; // Check CAD/ motor specs
+	public static final double LINEAR_METERS_PER_ROTATION = 0.1; // Check CAD/ motor specs
 
 	// States
 	public static final double INTAKE_IN_POS = 0.0;
@@ -16,25 +17,23 @@ public class IntakeConstants {
 
 	public static final double SPIN_SPEED_INTAKE = 60.0; // RPS
 
-	public static final double SPIN_kS = 0.1; //tune
-	public static final double SPIN_kV = 0.12; // 12v I think?
-	public static final double SPIN_kA = 0.0; //tune
+	public static final double SPIN_kS = 0.0003; // Sim tuned
+	public static final double SPIN_kV = 0.00934498; // Sim tuned
+	public static final double SPIN_kA = 0.0; // Not needed for thuis prob
 
 	public static final Slot0Configs LINEAR_SLOT_0_CONFIGS = new Slot0Configs().withKP(0.5).withKI(0).withKD(0);
 	public static final Slot0Configs SPIN_SLOT_0_CONFIGS = new Slot0Configs().withKP(0.1).withKI(0).withKD(0).withKV(SPIN_kV);
 
 	public static class Real {
 
-		public static final int SPIN_MOTOR_ID = 20; //make real
-		public static final int LINEAR_ACTUATOR_ID = 21;
+		public static final int SPIN_MOTOR_ID = 35; //make real
+		public static final int LINEAR_ACTUATOR_ID = 36;
 	}
 
-	public record PIDConstants(double kP, double kI, double kD) {}
-
 	public static class Sim {
 
 		public static final int NUM_MOTORS = 1;
-		public static final double MOTOR_MOI = 0.00001;
-		public static final PIDConstants LINEAR_PID = new PIDConstants(10.0, 0.0, 0.0); // Tune in sim
+		public static final double MOTOR_MOI = 0.0001;
+		public static final PIDConstants LINEAR_PID = new PIDConstants(5.5, 0.0, 0.008); // Tuned in sim	}
 	}
 }
diff --git a/src/main/java/frc/robot/subsystems/Intake/IntakeIO.java b/src/main/java/frc/robot/subsystems/Intake/IntakeIO.java
index 55218c3..11fe63a 100644
--- a/src/main/java/frc/robot/subsystems/Intake/IntakeIO.java
+++ b/src/main/java/frc/robot/subsystems/Intake/IntakeIO.java
@@ -1,25 +1,38 @@
 package frc.robot.Subsystems.Intake;
 
+import static edu.wpi.first.units.Units.Amps;
+import static edu.wpi.first.units.Units.Meters;
+import static edu.wpi.first.units.Units.MetersPerSecond;
+import static edu.wpi.first.units.Units.RotationsPerSecond;
+import static edu.wpi.first.units.Units.Volts;
+
 import com.ctre.phoenix6.hardware.TalonFX;
+import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.Current;
+import edu.wpi.first.units.measure.Distance;
+import edu.wpi.first.units.measure.LinearVelocity;
+import edu.wpi.first.units.measure.Voltage;
 
 public interface IntakeIO {
-	public static class IntakeIOInputs {
-
-		public double spinVelocityRPS;
-		public double spinAppliedVolts;
-		public double spinCurrentAmps;
-
-		public double linearPositionMeters;
-		public double linearVelocityMetersPerSec;
-		public double linearAppliedVolts;
-		public double linearCurrentAmps;
+	public static class IntakeIOOutputs {
+
+		public AngularVelocity spinVelocity = RotationsPerSecond.of(0);
+		public AngularVelocity spinSetpoint = RotationsPerSecond.of(0);
+		public Voltage spinAppliedVolts = Volts.of(0);
+		public Current spinCurrentAmps = Amps.of(0);
+
+		public Distance linearPosition = Meters.of(0);
+		public Distance linearSetpoint = Meters.of(0);
+		public LinearVelocity linearVelocity = MetersPerSecond.of(0);
+		public Voltage linearAppliedVolts = Volts.of(0);
+		public Current linearCurrentAmps = Amps.of(0);
 	}
 
-	public void updateInputs(IntakeIOInputs inputs);
+	public void logOutputs(IntakeIOOutputs outputs);
 
-	public void setSpinVelocity(double rps, double feedforward);
+	public void setSpinVelocity(AngularVelocity speed, double feedforward);
 
-	public void setLinearPosition(double meters);
+	public void setLinearPosition(Distance setpoint);
 
 	public TalonFX getSpinMotor();
 }
diff --git a/src/main/java/frc/robot/subsystems/Intake/IntakeIOSim.java b/src/main/java/frc/robot/subsystems/Intake/IntakeIOSim.java
index f67d56e..1166d18 100644
--- a/src/main/java/frc/robot/subsystems/Intake/IntakeIOSim.java
+++ b/src/main/java/frc/robot/subsystems/Intake/IntakeIOSim.java
@@ -8,57 +8,70 @@
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.math.system.plant.LinearSystemId;
+import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.Distance;
 import edu.wpi.first.wpilibj.simulation.DCMotorSim;
 import frc.robot.GlobalConstants;
 import frc.robot.Subsystems.Intake.IntakeConstants.Sim;
 
-public class IntakeIOSim implements IntakeIO {
+public class IntakeIOSim extends IntakeIOTalonFX {
 
 	private DCMotorSim spinSim;
 	private TalonFXSimState spinSimState;
-	private TalonFX spinMotor;
-
+	private AngularVelocity speed;
+	private Distance setpoint;
 	private DCMotorSim linearSim;
 	private TalonFXSimState linearSimState;
-	private TalonFX linearMotor;
 	private final PIDController linearController;
 
 	public IntakeIOSim() {
+		speed = RotationsPerSecond.of(0);
+		setpoint = Meters.of(0);
 		spinSim = new DCMotorSim(LinearSystemId.createDCMotorSystem(DCMotor.getFalcon500(1), Sim.MOTOR_MOI, 1), DCMotor.getFalcon500(1));
-		spinMotor = new TalonFX(Real.SPIN_MOTOR_ID);
 		spinSimState = new TalonFXSimState(spinMotor);
 
 		linearSim = new DCMotorSim(LinearSystemId.createDCMotorSystem(DCMotor.getFalcon500(1), Sim.MOTOR_MOI, LINEAR_GEARING), DCMotor.getFalcon500(1));
-		linearMotor = new TalonFX(Real.LINEAR_ACTUATOR_ID);
 		linearSimState = new TalonFXSimState(linearMotor);
-		linearController = new PIDController(Sim.LINEAR_PID.kP(), Sim.LINEAR_PID.kI(), Sim.LINEAR_PID.kD());
+		linearController = new PIDController(Sim.LINEAR_PID.kP, Sim.LINEAR_PID.kI, Sim.LINEAR_PID.kD);
 	}
 
 	@Override
-	public void updateInputs(IntakeIOInputs inputs) {
+	public void logOutputs(IntakeIOOutputs outputs) {
 		spinSim.update(GlobalConstants.SIMULATION_PERIOD);
 		spinSimState.setRotorVelocity(spinSim.getAngularVelocityRPM() / 60);
 		spinSimState.setRawRotorPosition(spinSim.getAngularPositionRotations());
 		spinSimState.setSupplyVoltage(12.0);
 
+		//SmartDashboard.putData("Intake TUNER", linearController);
+
 		linearSim.update(GlobalConstants.SIMULATION_PERIOD);
 		linearSimState.setRotorVelocity((linearSim.getAngularVelocityRPM() / 60) * LINEAR_GEARING);
 		linearSimState.setRawRotorPosition(linearSim.getAngularPositionRotations() * LINEAR_GEARING);
 		linearSimState.setSupplyVoltage(12.0);
 
-		inputs.spinVelocityRPS = spinMotor.getVelocity().getValue().in(RotationsPerSecond);
-		inputs.linearPositionMeters = linearSim.getAngularPositionRotations() * LINEAR_METERS_PER_ROTATION;
+		outputs.spinVelocity = spinMotor.getVelocity().getValue();
+		outputs.spinSetpoint = speed;
+		outputs.spinAppliedVolts = spinMotor.getMotorVoltage().getValue();
+		outputs.spinCurrentAmps = spinMotor.getStatorCurrent().getValue();
+
+		outputs.linearAppliedVolts = linearMotor.getMotorVoltage().getValue();
+		outputs.linearCurrentAmps = linearMotor.getStatorCurrent().getValue();
+		outputs.linearPosition = Meters.of(linearSim.getAngularPositionRotations() * LINEAR_METERS_PER_ROTATION);
+		outputs.linearSetpoint = setpoint;
+		outputs.linearVelocity = MetersPerSecond.of(linearSim.getAngularVelocity().in(RotationsPerSecond) * LINEAR_METERS_PER_ROTATION);
 	}
 
 	@Override
-	public void setSpinVelocity(double rps, double feedforward) {
-		spinSim.setInputVoltage(feedforward);
+	public void setSpinVelocity(AngularVelocity speed, double feedforward) {
+		this.speed = speed;
+		spinSim.setInputVoltage(12 * feedforward);
 	}
 
 	@Override
-	public void setLinearPosition(double meters) {
-		linearSim.setInputVoltage(linearController.calculate(linearSim.getAngularPositionRotations(), meters / LINEAR_METERS_PER_ROTATION));
-	} //pid only for sim, irl uses talon pid
+	public void setLinearPosition(Distance setpoint) {
+		this.setpoint = setpoint;
+		linearSim.setInputVoltage(12 * linearController.calculate(linearSim.getAngularPositionRotations(), setpoint.in(Meters) / LINEAR_METERS_PER_ROTATION));
+	} // pid only for sim, irl uses talon pid
 
 	@Override
 	public TalonFX getSpinMotor() {
diff --git a/src/main/java/frc/robot/subsystems/Intake/IntakeIOTalonFX.java b/src/main/java/frc/robot/subsystems/Intake/IntakeIOTalonFX.java
index 9f60596..779fe24 100644
--- a/src/main/java/frc/robot/subsystems/Intake/IntakeIOTalonFX.java
+++ b/src/main/java/frc/robot/subsystems/Intake/IntakeIOTalonFX.java
@@ -1,7 +1,6 @@
 package frc.robot.Subsystems.Intake;
 
 import static edu.wpi.first.units.Units.*;
-import static frc.robot.GlobalConstants.*;
 import static frc.robot.Subsystems.Intake.IntakeConstants.*;
 
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
@@ -9,12 +8,14 @@
 import com.ctre.phoenix6.controls.VelocityVoltage;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.signals.NeutralModeValue;
+import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.Distance;
 import frc.robot.Subsystems.Intake.IntakeConstants.Real;
 
 public class IntakeIOTalonFX implements IntakeIO {
 
-	private final TalonFX spinMotor;
-	private final TalonFX linearMotor; // idk what to call it but the linear actuator?
+	protected final TalonFX spinMotor;
+	protected final TalonFX linearMotor; // idk what to call it but the linear actuator?
 
 	private final PositionVoltage linearRequest = new PositionVoltage(0); //talon pid cool
 	private final VelocityVoltage spinRequest = new VelocityVoltage(0);
@@ -38,25 +39,25 @@ public IntakeIOTalonFX() {
 	}
 
 	@Override
-	public void updateInputs(IntakeIOInputs inputs) {
-		inputs.spinVelocityRPS = spinMotor.getVelocity().getValue().in(RotationsPerSecond);
-		inputs.spinAppliedVolts = spinMotor.getMotorVoltage().getValueAsDouble();
-		inputs.spinCurrentAmps = spinMotor.getStatorCurrent().getValueAsDouble();
+	public void logOutputs(IntakeIOOutputs outputs) {
+		outputs.spinVelocity = spinMotor.getVelocity().getValue();
+		outputs.spinAppliedVolts = spinMotor.getMotorVoltage().getValue();
+		outputs.spinCurrentAmps = spinMotor.getStatorCurrent().getValue();
 
-		inputs.linearPositionMeters = linearMotor.getPosition().getValueAsDouble() * LINEAR_METERS_PER_ROTATION;
-		inputs.linearVelocityMetersPerSec = linearMotor.getVelocity().getValueAsDouble() * LINEAR_METERS_PER_ROTATION;
-		inputs.linearAppliedVolts = linearMotor.getMotorVoltage().getValueAsDouble();
-		inputs.linearCurrentAmps = linearMotor.getStatorCurrent().getValueAsDouble();
+		outputs.linearPosition = Meters.of(linearMotor.getPosition().getValueAsDouble() * LINEAR_METERS_PER_ROTATION);
+		outputs.linearVelocity = MetersPerSecond.of(linearMotor.getVelocity().getValueAsDouble() * LINEAR_METERS_PER_ROTATION);
+		outputs.linearAppliedVolts = linearMotor.getMotorVoltage().getValue();
+		outputs.linearCurrentAmps = linearMotor.getStatorCurrent().getValue();
 	}
 
 	@Override
-	public void setSpinVelocity(double rps, double feedforward) {
-		spinMotor.setControl(spinRequest.withVelocity(rps).withFeedForward(feedforward));
+	public void setSpinVelocity(AngularVelocity speed, double feedforward) {
+		spinMotor.setControl(spinRequest.withVelocity(speed.in(RotationsPerSecond)).withFeedForward(feedforward));
 	}
 
 	@Override
-	public void setLinearPosition(double meters) {
-		linearMotor.setControl(linearRequest.withPosition(meters / LINEAR_METERS_PER_ROTATION));
+	public void setLinearPosition(Distance setpoint) {
+		linearMotor.setControl(linearRequest.withPosition(setpoint.in(Meters) / LINEAR_METERS_PER_ROTATION));
 	}
 
 	@Override
diff --git a/src/main/java/frc/robot/subsystems/Intake/IntakeStates.java b/src/main/java/frc/robot/subsystems/Intake/IntakeStates.java
index ca3e2f7..bda0f2a 100644
--- a/src/main/java/frc/robot/subsystems/Intake/IntakeStates.java
+++ b/src/main/java/frc/robot/subsystems/Intake/IntakeStates.java
@@ -26,4 +26,12 @@ public enum IntakeStates implements SubsystemStates {
 	public String getStateString() {
 		return stateString;
 	}
+
+	public Distance getLinearPos() {
+		return linearPos;
+	}
+
+	public AngularVelocity getSpinSpeed() {
+		return spinSpeed;
+	}
 }
diff --git a/vendordeps/Phoenix6-26.1.0.json b/vendordeps/Phoenix6-26.1.1.json
similarity index 92%
rename from vendordeps/Phoenix6-26.1.0.json
rename to vendordeps/Phoenix6-26.1.1.json
index dc5dc62..7a0eca0 100644
--- a/vendordeps/Phoenix6-26.1.0.json
+++ b/vendordeps/Phoenix6-26.1.1.json
@@ -1,7 +1,7 @@
 {
-    "fileName": "Phoenix6-26.1.0.json",
+    "fileName": "Phoenix6-26.1.1.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "26.1.0",
+    "version": "26.1.1",
     "frcYear": "2026",
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
@@ -19,14 +19,14 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "26.1.0"
+            "version": "26.1.1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "api-cpp",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -40,7 +40,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -54,7 +54,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "api-cpp-sim",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -68,7 +68,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -82,7 +82,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -96,7 +96,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +110,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -124,7 +124,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -138,7 +138,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFXS",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -152,7 +152,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -166,7 +166,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -180,7 +180,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -194,7 +194,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdi",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -208,7 +208,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdle",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -224,7 +224,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -240,7 +240,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -256,7 +256,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -272,7 +272,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -288,7 +288,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -304,7 +304,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -320,7 +320,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -336,7 +336,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -352,7 +352,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFXS",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "libName": "CTRE_SimProTalonFXS",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -368,7 +368,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -384,7 +384,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -400,7 +400,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "libName": "CTRE_SimProCANrange",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -416,7 +416,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdi",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "libName": "CTRE_SimProCANdi",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -432,7 +432,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdle",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "libName": "CTRE_SimProCANdle",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/vendordeps/Phoenix6-replay-26.1.0.json b/vendordeps/Phoenix6-replay-26.1.0.json
deleted file mode 100644
index 81d61c9..0000000
--- a/vendordeps/Phoenix6-replay-26.1.0.json
+++ /dev/null
@@ -1,491 +0,0 @@
-{
-    "fileName": "Phoenix6-replay-26.1.0.json",
-    "name": "CTRE-Phoenix (v6) Replay (DISABLED)",
-    "version": "26.1.0",
-    "frcYear": "2026",
-    "uuid": "00000000-0000-0000-0000-000000000000",
-    "mavenUrls": [
-        "https://maven.ctr-electronics.com/release/"
-    ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-latest.json",
-    
-    "javaDependencies": [
-        {
-            "groupId": "com.ctre.phoenix6",
-            "artifactId": "wpiapi-java",
-            "version": "26.1.0"
-        }
-    ],
-    "jniDependencies": [
-        {
-            "groupId": "com.ctre.phoenix6",
-            "artifactId": "api-cpp",
-            "version": "26.1.0",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "linuxathena"
-            ],
-            "simMode": "hwsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6",
-            "artifactId": "tools",
-            "version": "26.1.0",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "linuxathena"
-            ],
-            "simMode": "hwsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.replay",
-            "artifactId": "api-cpp-replay",
-            "version": "26.1.0",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "hwsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.replay",
-            "artifactId": "tools-replay",
-            "version": "26.1.0",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "hwsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "api-cpp-sim",
-            "version": "26.1.0",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "tools-sim",
-            "version": "26.1.0",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simTalonSRX",
-            "version": "26.1.0",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simVictorSPX",
-            "version": "26.1.0",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simPigeonIMU",
-            "version": "26.1.0",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simProTalonFX",
-            "version": "26.1.0",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simProTalonFXS",
-            "version": "26.1.0",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simProCANcoder",
-            "version": "26.1.0",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simProPigeon2",
-            "version": "26.1.0",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simProCANrange",
-            "version": "26.1.0",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simProCANdi",
-            "version": "26.1.0",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simProCANdle",
-            "version": "26.1.0",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        }
-    ],
-    "cppDependencies": [
-        {
-            "groupId": "com.ctre.phoenix6",
-            "artifactId": "wpiapi-cpp",
-            "version": "26.1.0",
-            "libName": "CTRE_Phoenix6_WPI",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "linuxathena"
-            ],
-            "simMode": "hwsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6",
-            "artifactId": "tools",
-            "version": "26.1.0",
-            "libName": "CTRE_PhoenixTools",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "linuxathena"
-            ],
-            "simMode": "hwsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.replay",
-            "artifactId": "wpiapi-cpp-replay",
-            "version": "26.1.0",
-            "libName": "CTRE_Phoenix6_WPIReplay",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "hwsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.replay",
-            "artifactId": "tools-replay",
-            "version": "26.1.0",
-            "libName": "CTRE_PhoenixTools_Replay",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "hwsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "wpiapi-cpp-sim",
-            "version": "26.1.0",
-            "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": "26.1.0",
-            "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": "26.1.0",
-            "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": "26.1.0",
-            "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": "26.1.0",
-            "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": "26.1.0",
-            "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": "26.1.0",
-            "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": "26.1.0",
-            "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": "26.1.0",
-            "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": "26.1.0",
-            "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": "26.1.0",
-            "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": "26.1.0",
-            "libName": "CTRE_SimProCANdle",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        }
-    ]
-}
\ No newline at end of file
diff --git a/vendordeps/ThriftyLib-2026.0.0.json b/vendordeps/ThriftyLib-2026.json
similarity index 81%
rename from vendordeps/ThriftyLib-2026.0.0.json
rename to vendordeps/ThriftyLib-2026.json
index f09218a..9aa5808 100644
--- a/vendordeps/ThriftyLib-2026.0.0.json
+++ b/vendordeps/ThriftyLib-2026.json
@@ -1,7 +1,7 @@
 {
-    "fileName": "ThriftyLib-2026.0.0.json",
+    "fileName": "ThriftyLib-2026.json",
     "name": "ThriftyLib",
-    "version": "2026.0.0",
+    "version": "2026.0.1",
     "frcYear": "2026",
     "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0",
     "mavenUrls": [
@@ -12,7 +12,7 @@
         {
             "groupId": "com.thethriftybot.frc",
             "artifactId": "ThriftyLib-java",
-            "version": "2026.0.0"
+            "version": "2026.0.1"
         }
     ],
     "jniDependencies": [],
diff --git a/vendordeps/maple-sim-0.4.0-beta.json b/vendordeps/maple-sim-0.4.0-beta.json
new file mode 100644
index 0000000..d9bf4ab
--- /dev/null
+++ b/vendordeps/maple-sim-0.4.0-beta.json
@@ -0,0 +1,26 @@
+{
+    "fileName": "maple-sim-0.4.0-beta.json",
+    "name": "maplesim",
+    "version": "0.4.0-beta",
+    "frcYear": "2026",
+    "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b",
+    "mavenUrls": [
+        "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/repos/releases",
+        "https://repo1.maven.org/maven2"
+    ],
+    "jsonUrl": "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/maple-sim.json",
+    "javaDependencies": [
+        {
+            "groupId": "org.ironmaple",
+            "artifactId": "maplesim-java",
+            "version": "0.4.0-beta"
+        },
+        {
+            "groupId": "org.dyn4j",
+            "artifactId": "dyn4j",
+            "version": "5.0.2"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": []
+}
\ No newline at end of file