Drive code finished, trust it works in sim

src/main/java/frc/robot/GlobalConstants.java

@@ -0,0 +1,11 @@
+package frc.robot;
+
+import edu.wpi.first.wpilibj.XboxController;
+
+public final class GlobalConstants {
+
+	public static final class Controllers {
+
+		public static final XboxController DRIVER_CONTROLLER = new XboxController(0);
+	}
+}

src/main/java/frc/robot/subsystems/Drive/Drive.java

@@ -0,0 +1,52 @@
+package frc.robot.subsystems.Drive;
+
+import static frc.robot.GlobalConstants.*;
+import static frc.robot.subsystems.Drive.DriveConstants.*;
+
+import edu.wpi.first.math.geometry.Translation2d;
+import org.team7525.subsystem.Subsystem;
+import swervelib.SwerveDrive;
+
+public class Drive extends Subsystem<DriveStates> {
+
+	SwerveDrive swerveDrive;
+
+	public Drive(SwerveDrive swerveDrive) {
+		super("Drive", DriveStates.MANUAL);
+		this.swerveDrive = swerveDrive;
+	}
+
+	@Override
+	public void runState() {
+		switch (getState()) {
+			case AUTO_ALIGNING:
+				// DO NOTHING!
+				break;
+			case MANUAL:
+				swerveDrive.drive(
+					new Translation2d(
+						Controllers.DRIVER_CONTROLLER.getLeftX() * MAX_SPEED.magnitude(),
+						-1 * Controllers.DRIVER_CONTROLLER.getLeftY() * MAX_SPEED.magnitude()
+					),
+					Controllers.DRIVER_CONTROLLER.getRightX(),
+					true,
+					false
+				);
+				break;
+			case LOCKED:
+				swerveDrive.lockPose();
+				break;
+			case SLOW:
+				swerveDrive.drive(
+					new Translation2d(
+						Controllers.DRIVER_CONTROLLER.getLeftX() * SLOW_SPEED.magnitude(),
+						-1 * Controllers.DRIVER_CONTROLLER.getLeftY() * SLOW_SPEED.magnitude()
+					),
+					Controllers.DRIVER_CONTROLLER.getRightX(),
+					true,
+					false
+				);
+				break;
+		}
+	}
+}

src/main/java/frc/robot/subsystems/Drive/DriveConstants.java

@@ -0,0 +1,11 @@
+package frc.robot.subsystems.Drive;
+
+import static edu.wpi.first.units.Units.MetersPerSecond;
+
+import edu.wpi.first.units.measure.LinearVelocity;
+
+public final class DriveConstants {
+
+	public static final LinearVelocity MAX_SPEED = MetersPerSecond.of(16);
+	public static final LinearVelocity SLOW_SPEED = MetersPerSecond.of(MAX_SPEED.magnitude() * 0.2);
+}

src/main/java/frc/robot/subsystems/Drive/DriveStates.java

@@ -0,0 +1,21 @@
+package frc.robot.subsystems.Drive;
+
+import org.team7525.subsystem.SubsystemStates;
+
+public enum DriveStates implements SubsystemStates {
+	AUTO_ALIGNING("AUTO_ALIGNING"),
+	MANUAL("MANUAL"),
+	LOCKED("LOCKED"),
+	SLOW("SLOW");
+
+	private final String stateString;
+
+	DriveStates(String stateString) {
+		this.stateString = stateString;
+	}
+
+	@Override
+	public String getStateString() {
+		return stateString;
+	}
+}

vendordeps/AdvantageKit.json

@@ -1,33 +1,35 @@
 {
     "fileName": "AdvantageKit.json",
     "name": "AdvantageKit",
-    "version": "4.0.0-beta-1",
+    "version": "4.1.0",
     "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
     "frcYear": "2025",
-    "mavenUrls": [],
+    "mavenUrls": [
+        "https://frcmaven.wpi.edu/artifactory/littletonrobotics-mvn-release/"
+    ],
     "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json",
     "javaDependencies": [
-      {
-        "groupId": "org.littletonrobotics.akit",
-        "artifactId": "akit-java",
-        "version": "4.0.0-beta-1"
-      }
+        {
+            "groupId": "org.littletonrobotics.akit",
+            "artifactId": "akit-java",
+            "version": "4.1.0"
+        }
     ],
     "jniDependencies": [
-      {
-        "groupId": "org.littletonrobotics.akit",
-        "artifactId": "akit-wpilibio",
-        "version": "4.0.0-beta-1",
-        "skipInvalidPlatforms": false,
-        "isJar": false,
-        "validPlatforms": [
-          "linuxathena",
-          "windowsx86-64",
-          "linuxx86-64",
-          "osxuniversal"
-        ]
-      }
+        {
+            "groupId": "org.littletonrobotics.akit",
+            "artifactId": "akit-wpilibio",
+            "version": "4.1.0",
+            "skipInvalidPlatforms": false,
+            "isJar": false,
+            "validPlatforms": [
+                "linuxathena",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal",
+                "windowsx86-64"
+            ]
+        }
     ],
     "cppDependencies": []
-  }
-
+}

vendordeps/PathplannerLib-2025.1.1.json → vendordeps/PathplannerLib-2025.2.1.json

@@ -1,7 +1,7 @@
 {
-    "fileName": "PathplannerLib-2025.1.1.json",
+    "fileName": "PathplannerLib-2025.2.1.json",
     "name": "PathplannerLib",
-    "version": "2025.1.1",
+    "version": "2025.2.1",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
     "frcYear": "2025",
     "mavenUrls": [
@@ -12,15 +12,15 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2025.1.1"
+            "version": "2025.2.1"
         }
     ],
     "jniDependencies": [],
     "cppDependencies": [
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2025.1.1",
+            "version": "2025.2.1",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,

vendordeps/Phoenix5-5.35.1.json

@@ -0,0 +1,171 @@
+{
+    "fileName": "Phoenix5-5.35.1.json",
+    "name": "CTRE-Phoenix (v5)",
+    "version": "5.35.1",
+    "frcYear": "2025",
+    "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
+    "mavenUrls": [
+        "https://maven.ctr-electronics.com/release/"
+    ],
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2025-latest.json",
+    "requires": [
+        {
+            "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
+            "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6.  Please add the Phoenix 6 vendordep before adding Phoenix 5.",
+            "offlineFileName": "Phoenix6-frc2025-latest.json",
+            "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json"
+        }
+    ],
+    "conflictsWith": [
+        {
+            "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
+            "errorMessage": "Users must use the Phoenix 5 replay vendordep when using the Phoenix 6 replay vendordep.",
+            "offlineFileName": "Phoenix6-replay-frc2025-latest.json"
+        },
+        {
+            "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df",
+            "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.",
+            "offlineFileName": "Phoenix5-replay-frc2025-latest.json"
+        }
+    ],
+    "javaDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "api-java",
+            "version": "5.35.1"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "wpiapi-java",
+            "version": "5.35.1"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "cci",
+            "version": "5.35.1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "cci-sim",
+            "version": "5.35.1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "wpiapi-cpp",
+            "version": "5.35.1",
+            "libName": "CTRE_Phoenix_WPI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "api-cpp",
+            "version": "5.35.1",
+            "libName": "CTRE_Phoenix",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "cci",
+            "version": "5.35.1",
+            "libName": "CTRE_PhoenixCCI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "wpiapi-cpp-sim",
+            "version": "5.35.1",
+            "libName": "CTRE_Phoenix_WPISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "api-cpp-sim",
+            "version": "5.35.1",
+            "libName": "CTRE_PhoenixSim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "cci-sim",
+            "version": "5.35.1",
+            "libName": "CTRE_PhoenixCCISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ]
+}