diff --git a/src/main/deploy/choreo/Paths.chor b/src/main/deploy/choreo/Paths.chor
new file mode 100644
index 00000000..6f18015b
--- /dev/null
+++ b/src/main/deploy/choreo/Paths.chor
@@ -0,0 +1,339 @@
+{
+ "name":"Paths",
+ "version":1,
+ "type":"Swerve",
+ "variables":{
+  "expressions":{
+   "offset":{
+    "dimension":"Length",
+    "var":{
+     "exp":"0.2 m",
+     "val":0.2
+    }
+   }
+  },
+  "poses":{
+   "A":{
+    "x":{
+     "exp":"3.2076 m",
+     "val":3.2076
+    },
+    "y":{
+     "exp":"4.061430505 m",
+     "val":4.061430505
+    },
+    "heading":{
+     "exp":"0 rad",
+     "val":0.0
+    }
+   },
+   "B":{
+    "x":{
+     "exp":"3.2076 m",
+     "val":3.2076
+    },
+    "y":{
+     "exp":"3.732813495 m",
+     "val":3.732813495
+    },
+    "heading":{
+     "exp":"0 rad",
+     "val":0.0
+    }
+   },
+   "C":{
+    "x":{
+     "exp":"3.8176981000607 m",
+     "val":3.8176981000607
+    },
+    "y":{
+     "exp":"2.9336485880936 m",
+     "val":2.9336485880936
+    },
+    "heading":{
+     "exp":"1 / 3 * pi rad",
+     "val":1.0471975511965976
+    }
+   },
+   "D":{
+    "x":{
+     "exp":"4.1022887788364 m",
+     "val":4.1022887788364
+    },
+    "y":{
+     "exp":"2.7693400830936 m",
+     "val":2.7693400830936
+    },
+    "heading":{
+     "exp":"1 / 3 * pi rad",
+     "val":1.0471975511965976
+    }
+   },
+   "E":{
+    "x":{
+     "exp":"5.0994349400607 m",
+     "val":5.0994349400607
+    },
+    "y":{
+     "exp":"2.8981180830936 m",
+     "val":2.8981180830936
+    },
+    "heading":{
+     "exp":"2 / 3 * pi rad",
+     "val":2.0943951023931953
+    }
+   },
+   "F":{
+    "x":{
+     "exp":"5.3840256188364 m",
+     "val":5.3840256188364
+    },
+    "y":{
+     "exp":"3.0624265880936 m",
+     "val":3.0624265880936
+    },
+    "heading":{
+     "exp":"2 / 3 * pi rad",
+     "val":2.0943951023931953
+    }
+   },
+   "G":{
+    "x":{
+     "exp":"5.77107368 m",
+     "val":5.77107368
+    },
+    "y":{
+     "exp":"3.990369495 m",
+     "val":3.990369495
+    },
+    "heading":{
+     "exp":"pi rad",
+     "val":3.141592653589793
+    }
+   },
+   "H":{
+    "x":{
+     "exp":"5.77107368 m",
+     "val":5.77107368
+    },
+    "y":{
+     "exp":"4.318986505 m",
+     "val":4.318986505
+    },
+    "heading":{
+     "exp":"pi rad",
+     "val":3.141592653589793
+    }
+   },
+   "I":{
+    "x":{
+     "exp":"5.1609755799393 m",
+     "val":5.1609755799393
+    },
+    "y":{
+     "exp":"5.1181514119064 m",
+     "val":5.1181514119064
+    },
+    "heading":{
+     "exp":"4 / 3 * pi rad",
+     "val":4.1887902047863905
+    }
+   },
+   "J":{
+    "x":{
+     "exp":"4.8763849011636 m",
+     "val":4.8763849011636
+    },
+    "y":{
+     "exp":"5.2824599169064 m",
+     "val":5.2824599169064
+    },
+    "heading":{
+     "exp":"4 / 3 * pi rad",
+     "val":4.1887902047863905
+    }
+   },
+   "K":{
+    "x":{
+     "exp":"3.8792387399393 m",
+     "val":3.8792387399393
+    },
+    "y":{
+     "exp":"5.1536819169064 m",
+     "val":5.1536819169064
+    },
+    "heading":{
+     "exp":"5 / 3 * pi rad",
+     "val":5.235987755982989
+    }
+   },
+   "L":{
+    "x":{
+     "exp":"3.5946480611636 m",
+     "val":3.5946480611636
+    },
+    "y":{
+     "exp":"4.9893734119064 m",
+     "val":4.9893734119064
+    },
+    "heading":{
+     "exp":"5 / 3 * pi rad",
+     "val":5.235987755982989
+    }
+   },
+   "R1":{
+    "x":{
+     "exp":"7.142991913746631 m",
+     "val":7.142991913746631
+    },
+    "y":{
+     "exp":"6.0518 m",
+     "val":6.0518
+    },
+    "heading":{
+     "exp":"pi rad",
+     "val":3.141592653589793
+    }
+   },
+   "R2":{
+    "x":{
+     "exp":"7.15 m",
+     "val":7.15
+    },
+    "y":{
+     "exp":"4.5 m",
+     "val":4.5
+    },
+    "heading":{
+     "exp":"pi rad",
+     "val":3.141592653589793
+    }
+   },
+   "R3":{
+    "x":{
+     "exp":"7.15 m",
+     "val":7.15
+    },
+    "y":{
+     "exp":"3.5518 m",
+     "val":3.5518
+    },
+    "heading":{
+     "exp":"pi rad",
+     "val":3.141592653589793
+    }
+   },
+   "R4":{
+    "x":{
+     "exp":"7.142991913746631 m",
+     "val":7.142991913746631
+    },
+    "y":{
+     "exp":"2 m",
+     "val":2.0
+    },
+    "heading":{
+     "exp":"pi rad",
+     "val":3.141592653589793
+    }
+   },
+   "S1":{
+    "x":{
+     "exp":"0.8796831418724709 m",
+     "val":0.8796831418724709
+    },
+    "y":{
+     "exp":"1.0444864371099356 m",
+     "val":1.0444864371099356
+    },
+    "heading":{
+     "exp":"0.9426766270029469 rad",
+     "val":0.9426766270029469
+    }
+   },
+   "S2":{
+    "x":{
+     "exp":"0.8796831418724709 m",
+     "val":0.8796831418724709
+    },
+    "y":{
+     "exp":"7.007313562890064 m",
+     "val":7.007313562890064
+    },
+    "heading":{
+     "exp":"-0.9426766270029469 rad",
+     "val":-0.9426766270029469
+    }
+   }
+  }
+ },
+ "config":{
+  "frontLeft":{
+   "x":{
+    "exp":"12.25 in",
+    "val":0.31115
+   },
+   "y":{
+    "exp":"12.25 in",
+    "val":0.31115
+   }
+  },
+  "backLeft":{
+   "x":{
+    "exp":"-12.25 in",
+    "val":-0.31115
+   },
+   "y":{
+    "exp":"12.25 in",
+    "val":0.31115
+   }
+  },
+  "mass":{
+   "exp":"129 lbs",
+   "val":58.513415730000006
+  },
+  "inertia":{
+   "exp":"4.342 kg m ^ 2",
+   "val":4.342
+  },
+  "gearing":{
+   "exp":"8.143",
+   "val":8.143
+  },
+  "radius":{
+   "exp":"2 in",
+   "val":0.0508
+  },
+  "vmax":{
+   "exp":"5676 RPM",
+   "val":594.3893300591889
+  },
+  "tmax":{
+   "exp":"0.94095238095 N * m",
+   "val":0.94095238095
+  },
+  "cof":{
+   "exp":"1.542",
+   "val":1.542
+  },
+  "bumper":{
+   "front":{
+    "exp":"18 in",
+    "val":0.4572
+   },
+   "side":{
+    "exp":"18 in",
+    "val":0.4572
+   },
+   "back":{
+    "exp":"18 in",
+    "val":0.4572
+   }
+  },
+  "differentialTrackWidth":{
+   "exp":"22 in",
+   "val":0.5588
+  }
+ },
+ "generationFeatures":[]
+}
diff --git a/src/main/deploy/choreo/Post C to S1.traj b/src/main/deploy/choreo/Post C to S1.traj
new file mode 100644
index 00000000..b599efaa
--- /dev/null
+++ b/src/main/deploy/choreo/Post C to S1.traj	
@@ -0,0 +1,71 @@
+{
+ "name":"Post C to S1",
+ "version":1,
+ "snapshot":{
+  "waypoints":[
+    {"x":3.8176981000607, "y":2.9336485880936, "heading":1.0471975511965976, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":0.8796831418724709, "y":1.0444864371099356, "heading":0.9426766270029469, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false},
+    {"from":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":6.0}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"C.x", "val":3.8176981000607}, "y":{"exp":"C.y", "val":2.9336485880936}, "heading":{"exp":"C.heading", "val":1.0471975511965976}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"S1.x", "val":0.8796831418724709}, "y":{"exp":"S1.y", "val":1.0444864371099356}, "heading":{"exp":"S1.heading", "val":0.9426766270029469}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false},
+    {"from":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"6 m / s ^ 2", "val":6.0}}}, "enabled":true}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.5614],
+  "samples":[
+    {"t":0.0, "x":3.8177, "y":2.93365, "heading":1.0472, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-5.04382, "ay":-3.24459, "alpha":-1.20174, "fx":[-71.5048,-75.39836,-75.9745,-72.25336], "fy":[-47.47192,-43.96492,-47.49139,-50.92376]},
+    {"t":0.04592, "x":3.81238, "y":2.93023, "heading":1.0472, "vx":-0.23163, "vy":-0.149, "omega":-0.05519, "ax":-5.04481, "ay":-3.24534, "alpha":-0.85617, "fx":[-72.18167,-74.94076,-75.36363,-72.70312], "fy":[-47.47909,-44.98375,-47.48671,-49.94642]},
+    {"t":0.09185, "x":3.79642, "y":2.91996, "heading":1.04466, "vx":-0.46331, "vy":-0.29804, "omega":-0.09451, "ax":-5.04466, "ay":-3.24533, "alpha":-0.56663, "fx":[-72.73303,-74.5181,-74.84816,-73.08085], "fy":[-47.47654,-45.82713,-47.47651,-49.11531]},
+    {"t":0.13777, "x":3.76983, "y":2.90285, "heading":1.04032, "vx":-0.69497, "vy":-0.44708, "omega":-0.12053, "ax":-5.04435, "ay":-3.24551, "alpha":-0.32181, "fx":[-73.17053,-74.24769,-74.37206,-73.37215], "fy":[-47.47961,-46.54954,-47.47351,-48.40294]},
+    {"t":0.18369, "x":3.73259, "y":2.8789, "heading":1.03479, "vx":-0.92663, "vy":-0.59612, "omega":-0.13531, "ax":-5.04421, "ay":-3.24537, "alpha":-0.10736, "fx":[-73.58176,-73.92484,-73.99306,-73.65408], "fy":[-47.47173,-47.17144,-47.46971,-47.78492]},
+    {"t":0.22962, "x":3.68472, "y":2.8481, "heading":1.02857, "vx":-1.15828, "vy":-0.74516, "omega":-0.14024, "ax":-5.04368, "ay":-3.24573, "alpha":0.07091, "fx":[-73.89174,-73.76055,-73.6219,-73.84878], "fy":[-47.47258,-47.69735,-47.48366,-47.26536]},
+    {"t":0.27554, "x":3.62621, "y":2.81046, "heading":1.02213, "vx":-1.3899, "vy":-0.89422, "omega":-0.13698, "ax":-5.04311, "ay":-3.24603, "alpha":0.22469, "fx":[-74.19435,-73.50022,-73.34642,-74.04869], "fy":[-47.46799,-48.13766,-47.5016,-46.82911]},
+    {"t":0.32147, "x":3.55706, "y":2.76597, "heading":1.01584, "vx":-1.6215, "vy":-1.04329, "omega":-0.12666, "ax":-5.04229, "ay":-3.24652, "alpha":0.34659, "fx":[-74.38937,-73.43335,-73.06515,-74.15389], "fy":[-47.46084,-48.50824,-47.52144,-46.47446]},
+    {"t":0.36739, "x":3.47728, "y":2.71463, "heading":1.01003, "vx":-1.85306, "vy":-1.19238, "omega":-0.11075, "ax":-5.04164, "ay":-3.24643, "alpha":0.44318, "fx":[-74.59013,-73.22847,-72.90294,-74.28214], "fy":[-47.4459,-48.77888,-47.53425,-46.20086]},
+    {"t":0.41331, "x":3.38686, "y":2.65645, "heading":1.00494, "vx":-2.08459, "vy":-1.34147, "omega":-0.09039, "ax":-5.03945, "ay":-3.24819, "alpha":0.49816, "fx":[-74.6278,-73.27909,-72.70243,-74.26593], "fy":[-47.46232,-48.97192,-47.57188,-46.05656]},
+    {"t":0.45924, "x":3.28582, "y":2.59142, "heading":1.00079, "vx":-2.31602, "vy":-1.49064, "omega":-0.06752, "ax":-5.03823, "ay":-3.24732, "alpha":0.52941, "fx":[-74.69513,-73.10379,-72.69492,-74.31], "fy":[-47.42093,-49.08013,-47.54043,-45.97055]},
+    {"t":0.50516, "x":3.17414, "y":2.51954, "heading":0.99769, "vx":-2.54739, "vy":-1.63976, "omega":-0.0432, "ax":-5.03017, "ay":-3.25426, "alpha":0.47271, "fx":[-74.40632,-73.3619,-72.53454,-74.0296], "fy":[-47.55421,-48.99192,-47.65812,-46.21363]},
+    {"t":0.55108, "x":3.05185, "y":2.44081, "heading":0.9957, "vx":-2.7784, "vy":-1.78921, "omega":-0.02149, "ax":-5.03242, "ay":-3.23393, "alpha":0.3859, "fx":[-74.31719,-73.25122,-72.88437,-74.01151], "fy":[-47.22904,-48.51289,-47.28335,-46.20276]},
+    {"t":0.59701, "x":2.91895, "y":2.35523, "heading":0.99472, "vx":-3.0095, "vy":-1.93773, "omega":-0.00377, "ax":-2.31499, "ay":-1.45141, "alpha":0.08214, "fx":[-34.08221,-33.71747,-33.71278,-33.94523], "fy":[-21.26254,-21.4321,-21.19676,-21.03529]},
+    {"t":0.64293, "x":2.77831, "y":2.26471, "heading":0.99454, "vx":-3.11582, "vy":-2.00438, "omega":0.0, "ax":-0.01679, "ay":0.02502, "alpha":-0.00001, "fx":[-0.02486,-0.29258,-0.46642,-0.19873], "fy":[0.65346,-0.11294,0.55384,0.36963]},
+    {"t":0.68885, "x":2.6352, "y":2.17269, "heading":0.99454, "vx":-3.11659, "vy":-2.00323, "omega":0.0, "ax":-0.0037, "ay":0.00593, "alpha":-0.00001, "fx":[-0.01377,-0.20388,0.00664,-0.00573], "fy":[0.08454,0.0764,0.08891,0.09704]},
+    {"t":0.73478, "x":2.49207, "y":2.0807, "heading":0.99454, "vx":-3.11676, "vy":-2.00296, "omega":0.0, "ax":0.01752, "ay":-0.0274, "alpha":0.0, "fx":[0.22936,0.26201,0.28322,0.25056], "fy":[-0.43664,-0.34185,-0.42406,-0.40076]},
+    {"t":0.7807, "x":2.34896, "y":1.98869, "heading":0.99454, "vx":-3.11595, "vy":-2.00422, "omega":0.0, "ax":0.00859, "ay":-0.01321, "alpha":-0.00001, "fx":[0.13105,0.10511,0.13434,0.13234], "fy":[-0.19342,-0.19434,-0.19292,-0.19201]},
+    {"t":0.82662, "x":2.20587, "y":1.89663, "heading":0.99454, "vx":-3.11556, "vy":-2.00482, "omega":0.0, "ax":-0.00113, "ay":0.00158, "alpha":0.00001, "fx":[-0.08807,-0.00129,0.05505,-0.03172], "fy":[-0.06736,0.17629,-0.03662,0.02024]},
+    {"t":0.87255, "x":2.06279, "y":1.80457, "heading":0.99454, "vx":-3.11561, "vy":-2.00475, "omega":0.0, "ax":-0.00406, "ay":0.00741, "alpha":-0.00001, "fx":[-0.22554,0.564,-0.3152,-0.26081], "fy":[0.11693,0.1493,0.09963,0.06744]},
+    {"t":0.91847, "x":1.91971, "y":1.71251, "heading":0.99454, "vx":-3.1158, "vy":-2.00441, "omega":0.0, "ax":2.26267, "ay":1.53032, "alpha":-0.05426, "fx":[33.29833,33.05053,32.89732,33.15052], "fy":[22.50578,22.35817,22.43167,22.24884]},
+    {"t":0.9644, "x":1.779, "y":1.62207, "heading":0.99454, "vx":-3.01189, "vy":-1.93413, "omega":-0.00249, "ax":5.02375, "ay":3.24738, "alpha":-0.34849, "fx":[74.08338,73.43944,72.67145,73.76247], "fy":[47.47561,48.53395,47.51498,46.49081]},
+    {"t":1.01032, "x":1.64598, "y":1.53668, "heading":0.99443, "vx":-2.78118, "vy":-1.785, "omega":-0.0185, "ax":5.05022, "ay":3.22305, "alpha":-0.50155, "fx":[74.80509,73.33744,72.93726,74.42588], "fy":[47.04113,48.69094,47.153,45.70678]},
+    {"t":1.05624, "x":1.52359, "y":1.4581, "heading":0.99358, "vx":-2.54925, "vy":-1.63699, "omega":-0.04153, "ax":5.04508, "ay":3.23667, "alpha":-0.51456, "fx":[74.73814,73.4068,72.72297,74.33666], "fy":[47.28014,48.84871,47.41823,45.84174]},
+    {"t":1.10217, "x":1.41184, "y":1.38634, "heading":0.99167, "vx":-2.31756, "vy":-1.48835, "omega":-0.06516, "ax":5.04703, "ay":3.23639, "alpha":-0.51554, "fx":[74.79392,73.25731,72.85532,74.41249], "fy":[47.23716,48.89901,47.38514,45.85107]},
+    {"t":1.14809, "x":1.31073, "y":1.3214, "heading":0.98868, "vx":-2.08579, "vy":-1.33972, "omega":-0.08884, "ax":5.04593, "ay":3.23977, "alpha":-0.44124, "fx":[74.63894,73.39136,72.92487,74.29936], "fy":[47.32205,48.67845,47.46437,46.10488]},
+    {"t":1.19401, "x":1.22026, "y":1.26329, "heading":0.9846, "vx":-1.85406, "vy":-1.19094, "omega":-0.1091, "ax":5.0467, "ay":3.23966, "alpha":-0.35794, "fx":[74.49645,73.42807,73.14762,74.22769], "fy":[47.30742,48.47158,47.43085,46.35372]},
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diff --git a/src/main/deploy/choreo/Post D to S1.traj b/src/main/deploy/choreo/Post D to S1.traj
new file mode 100644
index 00000000..828d5391
--- /dev/null
+++ b/src/main/deploy/choreo/Post D to S1.traj	
@@ -0,0 +1,72 @@
+{
+ "name":"Post D to S1",
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diff --git a/src/main/deploy/choreo/Post E to S1.traj b/src/main/deploy/choreo/Post E to S1.traj
new file mode 100644
index 00000000..cb861f94
--- /dev/null
+++ b/src/main/deploy/choreo/Post E to S1.traj	
@@ -0,0 +1,120 @@
+{
+ "name":"Post E to S1",
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diff --git a/src/main/deploy/choreo/R4 to Post E.traj b/src/main/deploy/choreo/R4 to Post E.traj
new file mode 100644
index 00000000..1d1ff180
--- /dev/null
+++ b/src/main/deploy/choreo/R4 to Post E.traj	
@@ -0,0 +1,111 @@
+{
+ "name":"R4 to Post E",
+ "version":1,
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+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/S1 to Post B.traj b/src/main/deploy/choreo/S1 to Post B.traj
new file mode 100644
index 00000000..7c2452cc
--- /dev/null
+++ b/src/main/deploy/choreo/S1 to Post B.traj	
@@ -0,0 +1,120 @@
+{
+ "name":"S1 to Post B",
+ "version":1,
+ "snapshot":{
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+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
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+    {"from":0, "to":4, "data":{"type":"MaxAcceleration", "props":{"max":6.0}}, "enabled":true}],
+  "targetDt":0.05
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+    {"from":2, "to":4, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0.01 rad / s", "val":0.01}}}, "enabled":true},
+    {"from":0, "to":4, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"6 m / s ^ 2", "val":6.0}}}, "enabled":true}],
+  "targetDt":{
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diff --git a/src/main/deploy/choreo/S1 to Post C.traj b/src/main/deploy/choreo/S1 to Post C.traj
new file mode 100644
index 00000000..c80d00dc
--- /dev/null
+++ b/src/main/deploy/choreo/S1 to Post C.traj	
@@ -0,0 +1,86 @@
+{
+ "name":"S1 to Post C",
+ "version":1,
+ "snapshot":{
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+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/S1 to Post D.traj b/src/main/deploy/choreo/S1 to Post D.traj
new file mode 100644
index 00000000..90881db5
--- /dev/null
+++ b/src/main/deploy/choreo/S1 to Post D.traj	
@@ -0,0 +1,87 @@
+{
+ "name":"S1 to Post D",
+ "version":1,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.8796831418724709, "y":1.0444864371099356, "heading":0.9426766270029469, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false},
+    {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":0.5}}, "enabled":true},
+    {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.01}}, "enabled":true},
+    {"from":0, "to":2, "data":{"type":"MaxAcceleration", "props":{"max":6.0}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
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+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
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+    {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0.5 m / s", "val":0.5}}}, "enabled":true},
+    {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0.01 rad / s", "val":0.01}}}, "enabled":true},
+    {"from":0, "to":2, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"6 m / s ^ 2", "val":6.0}}}, "enabled":true}],
+  "targetDt":{
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+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/pathplanner/autos/Choreo.auto b/src/main/deploy/pathplanner/autos/Choreo.auto
new file mode 100644
index 00000000..19873726
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Choreo.auto
@@ -0,0 +1,55 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "R4 to Post E"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Post E to S1"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "S1 to Post C"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Post C to S1"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "S1 to Post D"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Post D to S1"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "S1 to Post B"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": true
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/autochooser/chooser/AutoChooser2025.java b/src/main/java/frc/robot/autochooser/chooser/AutoChooser2025.java
index 057baac6..e7610e82 100644
--- a/src/main/java/frc/robot/autochooser/chooser/AutoChooser2025.java
+++ b/src/main/java/frc/robot/autochooser/chooser/AutoChooser2025.java
@@ -52,11 +52,11 @@ public AutoChooser2025(
                 new RobotCentricDrive(drivetrain, 0.25, 3)),
             Map.entry(
                 new AutoEvent(AutoAction.TWO_PIECE_HIGH, FieldLocation.RIGHT),
-                new RightFourPieceFork(
+                new RightFourPieceFork2(
                     elevator, coral, lightStrip, ElevatorPosition.LEVEL4, ElevatorPosition.LEVEL4)),
             Map.entry(
                 new AutoEvent(AutoAction.TWO_PIECE_LOW, FieldLocation.RIGHT),
-                new RightFourPieceFork(
+                new RightFourPieceFork2(
                     elevator, coral, lightStrip, ElevatorPosition.LEVEL2, ElevatorPosition.LEVEL4)),
             Map.entry(
                 new AutoEvent(AutoAction.TWO_PIECE_HIGH, FieldLocation.LEFT),
diff --git a/src/main/java/frc/robot/commands/autos/Paths.java b/src/main/java/frc/robot/commands/autos/Paths.java
index 8dff19a0..38c2eaec 100644
--- a/src/main/java/frc/robot/commands/autos/Paths.java
+++ b/src/main/java/frc/robot/commands/autos/Paths.java
@@ -10,6 +10,7 @@ public class Paths {
   // Robot to Post
   private final Command robotOneToPostJCommand;
   private final Command robotFourToPostECommand;
+  private final Command robotFourToPostECommand2;
   private final Command robotTwoToPostHCommand;
   // Post to Station
   private final Command postJToStationOneCommand;
@@ -17,6 +18,7 @@ public class Paths {
   private final Command postLToStationOneCommand;
   private final Command postHToStationOneCommand;
   private final Command postEToStationOneCommand;
+  private final Command postEToStationOneCommand2;
   private final Command postBToStationTwoCommand;
   private final Command postCToStationTwoCommand;
   private final Command postDToStationTwoCommand;
@@ -26,6 +28,7 @@ public class Paths {
   private final Command stationOneToPostACommand;
   private final Command stationTwoToPostBCommand;
   private final Command stationTwoToPostCCommand;
+  private final Command stationTwoToPostCCommand2;
   private final Command stationTwoToPostDCommand;
   // Cross the Line Paths
   private final Command leftCrossTheLineCommand;
@@ -48,6 +51,8 @@ public Paths() {
           AutoBuilder.followPath(PathPlannerPath.fromPathFile("Robot 4 to Post E").mirrorPath());
       robotFourToPostECommand =
           AutoBuilder.followPath(PathPlannerPath.fromPathFile("Robot 4 to Post E"));
+      robotFourToPostECommand2 =
+          AutoBuilder.followPath(PathPlannerPath.fromChoreoTrajectory("R4 to Post E"));
       robotTwoToPostHCommand =
           AutoBuilder.followPath(PathPlannerPath.fromPathFile("Robot 2 to Post H"));
       // Post to Station Paths
@@ -61,6 +66,8 @@ public Paths() {
           AutoBuilder.followPath(PathPlannerPath.fromPathFile("Post L to Station 1"));
       postEToStationOneCommand =
           AutoBuilder.followPath(PathPlannerPath.fromPathFile("Post E to Station 1"));
+      postEToStationOneCommand2 =
+          AutoBuilder.followPath(PathPlannerPath.fromChoreoTrajectory("Post E to S1"));
       postBToStationTwoCommand =
           AutoBuilder.followPath(PathPlannerPath.fromPathFile("Post B to Station 2"));
       postCToStationTwoCommand =
@@ -78,6 +85,8 @@ public Paths() {
           AutoBuilder.followPath(PathPlannerPath.fromPathFile("Station 2 to Post B"));
       stationTwoToPostCCommand =
           AutoBuilder.followPath(PathPlannerPath.fromPathFile("Station 2 to Post C"));
+      stationTwoToPostCCommand2 =
+          AutoBuilder.followPath(PathPlannerPath.fromChoreoTrajectory("S1 to Post C"));
       stationTwoToPostDCommand =
           AutoBuilder.followPath(PathPlannerPath.fromPathFile("Station 2 to Post D"));
       // Cross The Line Paths
@@ -102,6 +111,10 @@ public Command getRobotFourToPostECommand() {
     return robotFourToPostECommand;
   }
 
+  public Command getRobotFourToPostECommand2() {
+    return robotFourToPostECommand2;
+  }
+
   public Command getRobotTwoToPostHCommand() {
     return robotTwoToPostHCommand;
   }
@@ -123,6 +136,10 @@ public Command getPostEToStationOneCommand() {
     return postEToStationOneCommand;
   }
 
+  public Command getPostEToStationOneCommand2() {
+    return postEToStationOneCommand2;
+  }
+
   public Command getPostBToStationTwoCommand() {
     return postBToStationTwoCommand;
   }
@@ -152,6 +169,10 @@ public Command getStationTwoToPostCCommand() {
     return stationTwoToPostCCommand;
   }
 
+  public Command getStationTwoToPostCCommand2() {
+    return stationTwoToPostCCommand2;
+  }
+
   public Command getStationTwoToPostDCommand() {
     return stationTwoToPostDCommand;
   }
diff --git a/src/main/java/frc/robot/commands/autos/RightFourPieceFork2.java b/src/main/java/frc/robot/commands/autos/RightFourPieceFork2.java
new file mode 100644
index 00000000..73184414
--- /dev/null
+++ b/src/main/java/frc/robot/commands/autos/RightFourPieceFork2.java
@@ -0,0 +1,71 @@
+package frc.robot.commands.autos;
+
+import frc.robot.commands.coral.ShootCoral;
+import frc.robot.commands.elevator.SetElevatorStoredPosition;
+import frc.robot.constants.ElevatorPosition;
+import frc.robot.subsystems.coral.CoralSubsystem;
+import frc.robot.subsystems.elevator.ElevatorSubsystem;
+import frc.robot.subsystems.lightStrip.LightStrip;
+import frc.robot.utils.logging.commands.LoggableCommandWrapper;
+import frc.robot.utils.logging.commands.LoggableParallelCommandGroup;
+import frc.robot.utils.logging.commands.LoggableSequentialCommandGroup;
+import frc.robot.utils.logging.commands.LoggableWaitCommand;
+
+public class RightFourPieceFork2 extends LoggableSequentialCommandGroup {
+  public RightFourPieceFork2(
+      ElevatorSubsystem elevator,
+      CoralSubsystem coral,
+      LightStrip lightStrip,
+      ElevatorPosition scorePosition1,
+      ElevatorPosition scorePosition2) {
+    super(
+        new LoggableParallelCommandGroup(
+            new LoggableCommandWrapper(Paths.getInstance().getRobotFourToPostECommand2()),
+            new SetElevatorStoredPosition(scorePosition1, elevator, lightStrip),
+            new LoggableSequentialCommandGroup(
+                new LoggableWaitCommand(1.25),
+                new GoAndWaitAtElevatorPosition(elevator, scorePosition1))),
+        new ShootCoral(coral, 0.5),
+        new LoggableParallelCommandGroup(
+            new LoggableCommandWrapper(
+                Paths.getInstance().getPostEToStationOneCommand2()), // Post E to Station
+            new LightlessPickup(elevator, coral)),
+        new LoggableParallelCommandGroup(
+            new LoggableCommandWrapper(
+                Paths.getInstance().getStationTwoToPostCCommand2()), // Station 2 to Post B
+            new SetElevatorStoredPosition(scorePosition2, elevator, lightStrip),
+            new LoggableSequentialCommandGroup(
+                new LoggableWaitCommand(1.3),
+                new GoAndWaitAtElevatorPosition(elevator, scorePosition2))),
+        new GoAndWaitAtElevatorPosition(
+            elevator,
+            scorePosition2), // this line should be deleted after comp (I don't want to risk
+        // deleting it now)
+        new ShootCoral(coral, 0.5)
+        //        new LoggableParallelCommandGroup(
+        //            new LoggableCommandWrapper(Paths.getInstance().getPostCToStationTwoCommand())
+        //            //            new LightlessPickup(elevator, coral)
+        //            ),
+        //        new LoggableParallelCommandGroup(
+        //            new LoggableCommandWrapper(Paths.getInstance().getStationTwoToPostDCommand())
+        //            //            new SetElevatorStoredPosition(ElevatorPosition.LEVEL4, elevator,
+        //            // lightStrip)
+        //            ),
+        //        //        new GoAndWaitAtElevatorPosition(elevator, ElevatorPosition.LEVEL4),
+        //        //        new ShootCoral(coral, Constants.CORAL_SHOOTER_SPEED),
+        //        new LoggableParallelCommandGroup(
+        //            new LoggableCommandWrapper(
+        //                Paths.getInstance().getPostDToStationTwoCommand()) // Post C to Station 2
+        //            //            new LightlessPickup(elevator, coral)),
+        //            ),
+        //        new LoggableParallelCommandGroup(
+        //            new LoggableCommandWrapper(
+        //                Paths.getInstance().getStationTwoToPostBCommand()) // Station 2 to Post D
+        //            new SetElevatorStoredPosition(
+        //                ElevatorPosition.LEVEL4, elevator, lightStrip) // Elevator to L4
+        );
+    //        new GoAndWaitAtElevatorPosition(elevator, ElevatorPosition.LEVEL4),
+    //        new ShootCoral(coral, Constants.CORAL_SHOOTER_SPEED),
+    //        new ResetElevator(elevator));
+  }
+}
diff --git a/src/main/java/frc/robot/constants/GameConstants.java b/src/main/java/frc/robot/constants/GameConstants.java
index 19da1a17..877336aa 100644
--- a/src/main/java/frc/robot/constants/GameConstants.java
+++ b/src/main/java/frc/robot/constants/GameConstants.java
@@ -198,8 +198,8 @@ public enum Mode {
 
   // Drivetrain
   public static final double WHEEL_RADIUS = 0.0508; // TODO: change later
-  public static final double MAX_VELOCITY = 1.5; // 4 meters per second //TODO: change later
-  public static final double MAX_ANGULAR_SPEED = 6 * Math.PI; // TODO: change later
+  public static final double MAX_VELOCITY = 3.708; // 4 meters per second //TODO: change later
+  public static final double MAX_ANGULAR_SPEED = 8.427; // TODO: change later
 
   // Other
   public static final double GRAVITY = -9.81;
diff --git a/src/main/java/frc/robot/utils/motor/MotorSimulator.java b/src/main/java/frc/robot/utils/motor/MotorSimulator.java
index db9ccb08..8fd8e27f 100644
--- a/src/main/java/frc/robot/utils/motor/MotorSimulator.java
+++ b/src/main/java/frc/robot/utils/motor/MotorSimulator.java
@@ -26,7 +26,7 @@ public MotorSimulator(SparkMax motor, LoggedMechanismLigament2d ligament) {
     this.ligament = ligament;
     encoderSim = motorSim.getRelativeEncoderSim();
 
-    encoderSim.setPositionConversionFactor(1.0);
+    // encoderSim.setPositionConversionFactor(1.0);
     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..46402787 100644
--- a/src/main/java/frc/robot/utils/simulation/ArmSimulator.java
+++ b/src/main/java/frc/robot/utils/simulation/ArmSimulator.java
@@ -61,7 +61,7 @@ public ArmSimulator(SparkMax motor, ArmParameters params, LoggedMechanismLigamen
     encoderSim = motorSim.getRelativeEncoderSim();
     forwardSwitchSim = motorSim.getForwardLimitSwitchSim();
     reverseSwitchSim = motorSim.getReverseLimitSwitchSim();
-    encoderSim.setPositionConversionFactor(1.0);
+    // encoderSim.setPositionConversionFactor(1.0);
     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..b7106e0a 100644
--- a/src/main/java/frc/robot/utils/simulation/ClimberSimulator.java
+++ b/src/main/java/frc/robot/utils/simulation/ClimberSimulator.java
@@ -52,7 +52,7 @@ public ClimberSimulator(SparkMax motor, LoggedMechanismLigament2d ligament) {
     this.ligament = ligament;
     encoderSim = motorSim.getRelativeEncoderSim();
 
-    encoderSim.setPositionConversionFactor(1.0);
+    // encoderSim.setPositionConversionFactor(1.0);
     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..825c32d6 100644
--- a/src/main/java/frc/robot/utils/simulation/IntakeSimulator.java
+++ b/src/main/java/frc/robot/utils/simulation/IntakeSimulator.java
@@ -57,7 +57,7 @@ public IntakeSimulator(SparkMax motor, LoggedMechanismLigament2d ligament) {
     this.ligament = ligament;
     encoderSim = motorSim.getRelativeEncoderSim();
 
-    encoderSim.setPositionConversionFactor(1.0);
+    // encoderSim.setPositionConversionFactor(1.0);
     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/ChoreoLib-2025.0.3.json b/vendordeps/ChoreoLib-2025.0.3.json
new file mode 100644
index 00000000..17b5a9fa
--- /dev/null
+++ b/vendordeps/ChoreoLib-2025.0.3.json
@@ -0,0 +1,44 @@
+{
+  "fileName": "ChoreoLib-2025.0.3.json",
+  "name": "ChoreoLib",
+  "version": "2025.0.3",
+  "uuid": "b5e23f0a-dac9-4ad2-8dd6-02767c520aca",
+  "frcYear": "2025",
+  "mavenUrls": [
+    "https://lib.choreo.autos/dep",
+    "https://repo1.maven.org/maven2"
+  ],
+  "jsonUrl": "https://lib.choreo.autos/dep/ChoreoLib2025.json",
+  "javaDependencies": [
+    {
+      "groupId": "choreo",
+      "artifactId": "ChoreoLib-java",
+      "version": "2025.0.3"
+    },
+    {
+      "groupId": "com.google.code.gson",
+      "artifactId": "gson",
+      "version": "2.11.0"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "groupId": "choreo",
+      "artifactId": "ChoreoLib-cpp",
+      "version": "2025.0.3",
+      "libName": "ChoreoLib",
+      "headerClassifier": "headers",
+      "sharedLibrary": false,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "osxuniversal",
+        "linuxathena",
+        "linuxarm32",
+        "linuxarm64"
+      ]
+    }
+  ]
+}
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",