diff --git a/src/main/java/frc/robot/utils/motor/MotorSimulator.java b/src/main/java/frc/robot/utils/motor/MotorSimulator.java
index db9ccb08..00f7d007 100644
--- a/src/main/java/frc/robot/utils/motor/MotorSimulator.java
+++ b/src/main/java/frc/robot/utils/motor/MotorSimulator.java
@@ -6,6 +6,8 @@
 import com.revrobotics.sim.SparkMaxSim;
 import com.revrobotics.sim.SparkRelativeEncoderSim;
 import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.config.SparkBaseConfig;
+import com.revrobotics.spark.config.SparkMaxConfig;
 import edu.wpi.first.math.system.plant.DCMotor;
 import org.littletonrobotics.junction.mechanism.LoggedMechanismLigament2d;
 
@@ -26,7 +28,9 @@ public MotorSimulator(SparkMax motor, LoggedMechanismLigament2d ligament) {
     this.ligament = ligament;
     encoderSim = motorSim.getRelativeEncoderSim();
 
-    encoderSim.setPositionConversionFactor(1.0);
+    SparkBaseConfig config = new SparkMaxConfig();
+    config.encoder.positionConversionFactor(1.0);
+    motor.configure(config, null, null);
     encoderSim.setPosition(0.0);
     encoderSim.setInverted(false);
   }
diff --git a/src/main/java/frc/robot/utils/simulation/ArmSimulator.java b/src/main/java/frc/robot/utils/simulation/ArmSimulator.java
index 0356c88b..c89ca6e6 100644
--- a/src/main/java/frc/robot/utils/simulation/ArmSimulator.java
+++ b/src/main/java/frc/robot/utils/simulation/ArmSimulator.java
@@ -7,6 +7,8 @@
 import com.revrobotics.sim.SparkMaxSim;
 import com.revrobotics.sim.SparkRelativeEncoderSim;
 import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.config.SparkBaseConfig;
+import com.revrobotics.spark.config.SparkMaxConfig;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.wpilibj.simulation.BatterySim;
@@ -61,7 +63,9 @@ public ArmSimulator(SparkMax motor, ArmParameters params, LoggedMechanismLigamen
     encoderSim = motorSim.getRelativeEncoderSim();
     forwardSwitchSim = motorSim.getForwardLimitSwitchSim();
     reverseSwitchSim = motorSim.getReverseLimitSwitchSim();
-    encoderSim.setPositionConversionFactor(1.0);
+    SparkBaseConfig config = new SparkMaxConfig();
+    config.encoder.positionConversionFactor(1.0);
+    motor.configure(config, null, null);
     encoderSim.setPosition(0.0);
     encoderSim.setInverted(false);
   }
diff --git a/src/main/java/frc/robot/utils/simulation/ClimberSimulator.java b/src/main/java/frc/robot/utils/simulation/ClimberSimulator.java
index 66897b89..2b22b065 100644
--- a/src/main/java/frc/robot/utils/simulation/ClimberSimulator.java
+++ b/src/main/java/frc/robot/utils/simulation/ClimberSimulator.java
@@ -5,6 +5,8 @@
 import com.revrobotics.sim.SparkMaxSim;
 import com.revrobotics.sim.SparkRelativeEncoderSim;
 import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.config.SparkBaseConfig;
+import com.revrobotics.spark.config.SparkMaxConfig;
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.units.measure.Angle;
 import org.littletonrobotics.junction.mechanism.LoggedMechanismLigament2d;
@@ -52,7 +54,9 @@ public ClimberSimulator(SparkMax motor, LoggedMechanismLigament2d ligament) {
     this.ligament = ligament;
     encoderSim = motorSim.getRelativeEncoderSim();
 
-    encoderSim.setPositionConversionFactor(1.0);
+    SparkBaseConfig config = new SparkMaxConfig();
+    config.encoder.positionConversionFactor(1.0);
+    motor.configure(config, null, null);
     encoderSim.setPosition(0.0);
     encoderSim.setInverted(false);
   }
diff --git a/src/main/java/frc/robot/utils/simulation/IntakeSimulator.java b/src/main/java/frc/robot/utils/simulation/IntakeSimulator.java
index 73468e77..6d532fc6 100644
--- a/src/main/java/frc/robot/utils/simulation/IntakeSimulator.java
+++ b/src/main/java/frc/robot/utils/simulation/IntakeSimulator.java
@@ -6,6 +6,8 @@
 import com.revrobotics.sim.SparkMaxSim;
 import com.revrobotics.sim.SparkRelativeEncoderSim;
 import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.config.SparkBaseConfig;
+import com.revrobotics.spark.config.SparkMaxConfig;
 import edu.wpi.first.math.system.plant.DCMotor;
 import org.littletonrobotics.junction.mechanism.LoggedMechanismLigament2d;
 
@@ -57,7 +59,9 @@ public IntakeSimulator(SparkMax motor, LoggedMechanismLigament2d ligament) {
     this.ligament = ligament;
     encoderSim = motorSim.getRelativeEncoderSim();
 
-    encoderSim.setPositionConversionFactor(1.0);
+    SparkBaseConfig config = new SparkMaxConfig();
+    config.encoder.positionConversionFactor(1.0);
+    motor.configure(config, null, null);
     encoderSim.setPosition(0.0);
     encoderSim.setInverted(false);
   }
diff --git a/vendordeps/AdvantageKit.json b/vendordeps/AdvantageKit.json
index fa81b2fc..2707c2b7 100644
--- a/vendordeps/AdvantageKit.json
+++ b/vendordeps/AdvantageKit.json
@@ -1,7 +1,7 @@
 {
   "fileName": "AdvantageKit.json",
   "name": "AdvantageKit",
-  "version": "4.1.0",
+  "version": "4.1.2",
   "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
   "frcYear": "2025",
   "mavenUrls": [
@@ -12,14 +12,14 @@
     {
       "groupId": "org.littletonrobotics.akit",
       "artifactId": "akit-java",
-      "version": "4.1.0"
+      "version": "4.1.2"
     }
   ],
   "jniDependencies": [
     {
       "groupId": "org.littletonrobotics.akit",
       "artifactId": "akit-wpilibio",
-      "version": "4.1.0",
+      "version": "4.1.2",
       "skipInvalidPlatforms": false,
       "isJar": false,
       "validPlatforms": [
diff --git a/vendordeps/PathplannerLib-2025.2.3.json b/vendordeps/PathplannerLib-2025.2.7.json
similarity index 87%
rename from vendordeps/PathplannerLib-2025.2.3.json
rename to vendordeps/PathplannerLib-2025.2.7.json
index 8d2727f6..d0b69393 100644
--- a/vendordeps/PathplannerLib-2025.2.3.json
+++ b/vendordeps/PathplannerLib-2025.2.7.json
@@ -1,7 +1,7 @@
 {
-  "fileName": "PathplannerLib-2025.2.3.json",
+  "fileName": "PathplannerLib-2025.2.7.json",
   "name": "PathplannerLib",
-  "version": "2025.2.3",
+  "version": "2025.2.7",
   "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
   "frcYear": "2025",
   "mavenUrls": [
@@ -12,7 +12,7 @@
     {
       "groupId": "com.pathplanner.lib",
       "artifactId": "PathplannerLib-java",
-      "version": "2025.2.3"
+      "version": "2025.2.7"
     }
   ],
   "jniDependencies": [],
@@ -20,7 +20,7 @@
     {
       "groupId": "com.pathplanner.lib",
       "artifactId": "PathplannerLib-cpp",
-      "version": "2025.2.3",
+      "version": "2025.2.7",
       "libName": "PathplannerLib",
       "headerClassifier": "headers",
       "sharedLibrary": false,
diff --git a/vendordeps/Phoenix6-25.2.2.json b/vendordeps/Phoenix6-frc2025-latest.json
similarity index 80%
rename from vendordeps/Phoenix6-25.2.2.json
rename to vendordeps/Phoenix6-frc2025-latest.json
index 39ae6c5b..ce44ce4f 100644
--- a/vendordeps/Phoenix6-25.2.2.json
+++ b/vendordeps/Phoenix6-frc2025-latest.json
@@ -1,7 +1,7 @@
 {
-  "fileName": "Phoenix6-25.2.2.json",
+  "fileName": "Phoenix6-frc2025-latest.json",
   "name": "CTRE-Phoenix (v6)",
-  "version": "25.2.2",
+  "version": "25.4.0",
   "frcYear": "2025",
   "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
   "mavenUrls": [
@@ -19,14 +19,14 @@
     {
       "groupId": "com.ctre.phoenix6",
       "artifactId": "wpiapi-java",
-      "version": "25.2.2"
+      "version": "25.4.0"
     }
   ],
   "jniDependencies": [
     {
       "groupId": "com.ctre.phoenix6",
       "artifactId": "api-cpp",
-      "version": "25.2.2",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -40,7 +40,7 @@
     {
       "groupId": "com.ctre.phoenix6",
       "artifactId": "tools",
-      "version": "25.2.2",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -54,7 +54,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "api-cpp-sim",
-      "version": "25.2.2",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -68,7 +68,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "tools-sim",
-      "version": "25.2.2",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -82,7 +82,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simTalonSRX",
-      "version": "25.2.2",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -96,7 +96,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simVictorSPX",
-      "version": "25.2.2",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -110,7 +110,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simPigeonIMU",
-      "version": "25.2.2",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -124,7 +124,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simCANCoder",
-      "version": "25.2.2",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -138,7 +138,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProTalonFX",
-      "version": "25.2.2",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -152,7 +152,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProTalonFXS",
-      "version": "25.2.2",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -166,7 +166,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProCANcoder",
-      "version": "25.2.2",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -180,7 +180,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProPigeon2",
-      "version": "25.2.2",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -194,7 +194,35 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProCANrange",
-      "version": "25.2.2",
+      "version": "25.4.0",
+      "isJar": false,
+      "skipInvalidPlatforms": true,
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxarm64",
+        "osxuniversal"
+      ],
+      "simMode": "swsim"
+    },
+    {
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "simProCANdi",
+      "version": "25.4.0",
+      "isJar": false,
+      "skipInvalidPlatforms": true,
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxarm64",
+        "osxuniversal"
+      ],
+      "simMode": "swsim"
+    },
+    {
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "simProCANdle",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -210,7 +238,7 @@
     {
       "groupId": "com.ctre.phoenix6",
       "artifactId": "wpiapi-cpp",
-      "version": "25.2.2",
+      "version": "25.4.0",
       "libName": "CTRE_Phoenix6_WPI",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -226,7 +254,7 @@
     {
       "groupId": "com.ctre.phoenix6",
       "artifactId": "tools",
-      "version": "25.2.2",
+      "version": "25.4.0",
       "libName": "CTRE_PhoenixTools",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -242,7 +270,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "wpiapi-cpp-sim",
-      "version": "25.2.2",
+      "version": "25.4.0",
       "libName": "CTRE_Phoenix6_WPISim",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -258,7 +286,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "tools-sim",
-      "version": "25.2.2",
+      "version": "25.4.0",
       "libName": "CTRE_PhoenixTools_Sim",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -274,7 +302,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simTalonSRX",
-      "version": "25.2.2",
+      "version": "25.4.0",
       "libName": "CTRE_SimTalonSRX",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -290,7 +318,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simVictorSPX",
-      "version": "25.2.2",
+      "version": "25.4.0",
       "libName": "CTRE_SimVictorSPX",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -306,7 +334,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simPigeonIMU",
-      "version": "25.2.2",
+      "version": "25.4.0",
       "libName": "CTRE_SimPigeonIMU",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -322,7 +350,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simCANCoder",
-      "version": "25.2.2",
+      "version": "25.4.0",
       "libName": "CTRE_SimCANCoder",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -338,7 +366,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProTalonFX",
-      "version": "25.2.2",
+      "version": "25.4.0",
       "libName": "CTRE_SimProTalonFX",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -354,7 +382,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProTalonFXS",
-      "version": "25.2.2",
+      "version": "25.4.0",
       "libName": "CTRE_SimProTalonFXS",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -370,7 +398,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProCANcoder",
-      "version": "25.2.2",
+      "version": "25.4.0",
       "libName": "CTRE_SimProCANcoder",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -386,7 +414,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProPigeon2",
-      "version": "25.2.2",
+      "version": "25.4.0",
       "libName": "CTRE_SimProPigeon2",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -402,7 +430,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProCANrange",
-      "version": "25.2.2",
+      "version": "25.4.0",
       "libName": "CTRE_SimProCANrange",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -414,6 +442,38 @@
         "osxuniversal"
       ],
       "simMode": "swsim"
+    },
+    {
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "simProCANdi",
+      "version": "25.4.0",
+      "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": "25.4.0",
+      "libName": "CTRE_SimProCANdle",
+      "headerClassifier": "headers",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxarm64",
+        "osxuniversal"
+      ],
+      "simMode": "swsim"
     }
   ]
 }
diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json
index 9658c4a6..459a62f7 100644
--- a/vendordeps/REVLib.json
+++ b/vendordeps/REVLib.json
@@ -1,7 +1,7 @@
 {
   "fileName": "REVLib.json",
   "name": "REVLib",
-  "version": "2025.0.2",
+  "version": "2025.0.3",
   "frcYear": "2025",
   "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
   "mavenUrls": [
@@ -12,14 +12,14 @@
     {
       "groupId": "com.revrobotics.frc",
       "artifactId": "REVLib-java",
-      "version": "2025.0.2"
+      "version": "2025.0.3"
     }
   ],
   "jniDependencies": [
     {
       "groupId": "com.revrobotics.frc",
       "artifactId": "REVLib-driver",
-      "version": "2025.0.2",
+      "version": "2025.0.3",
       "skipInvalidPlatforms": true,
       "isJar": false,
       "validPlatforms": [
@@ -36,7 +36,7 @@
     {
       "groupId": "com.revrobotics.frc",
       "artifactId": "REVLib-cpp",
-      "version": "2025.0.2",
+      "version": "2025.0.3",
       "libName": "REVLib",
       "headerClassifier": "headers",
       "sharedLibrary": false,
@@ -53,7 +53,7 @@
     {
       "groupId": "com.revrobotics.frc",
       "artifactId": "REVLib-driver",
-      "version": "2025.0.2",
+      "version": "2025.0.3",
       "libName": "REVLibDriver",
       "headerClassifier": "headers",
       "sharedLibrary": false,
diff --git a/vendordeps/maple-sim.json b/vendordeps/maple-sim.json
index 68ae20d5..65f44133 100644
--- a/vendordeps/maple-sim.json
+++ b/vendordeps/maple-sim.json
@@ -1,7 +1,7 @@
 {
   "fileName": "maple-sim.json",
   "name": "maplesim",
-  "version": "0.3.8",
+  "version": "0.3.14",
   "frcYear": "2025",
   "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b",
   "mavenUrls": [
@@ -13,7 +13,7 @@
     {
       "groupId": "org.ironmaple",
       "artifactId": "maplesim-java",
-      "version": "0.3.8"
+      "version": "0.3.14"
     },
     {
       "groupId": "org.dyn4j",