From dbeb101ce6321b16eaba19a4262d7ee9025b1e2d Mon Sep 17 00:00:00 2001
From: Varun <varun7654@outlook.com>
Date: Sat, 8 Jan 2022 15:31:35 -0800
Subject: [PATCH] import project into 2022

resolves #8, resolves #7
---
 .gitignore                                    |  14 +-
 .idea/jarRepositories.xml                     |  25 ++
 .vscode/settings.json                         |  14 +-
 .wpilib/wpilib_preferences.json               |   2 +-
 build.gradle                                  |  86 +++---
 gradle/wrapper/gradle-wrapper.jar             | Bin 58702 -> 59536 bytes
 gradle/wrapper/gradle-wrapper.properties      |   2 +-
 gradlew                                       | 257 +++++++++++-------
 gradlew.bat                                   |  25 +-
 settings.gradle                               |   2 +-
 src/main/java/frc/auton/TemplateAuto.java     |   4 +-
 .../frc/auton/guiauto/AbstractGuiAuto.java    |   4 +-
 .../guiauto/serialization/TimedRotation.java  |   2 +-
 .../TrajectoryAutonomousStep.java             |   4 +-
 .../reflection/ClassInformationSender.java    |   3 +-
 .../reflection/ReflectionUtils.java           |   2 +-
 src/main/java/frc/robot/Constants.java        |   6 +-
 src/main/java/frc/robot/Robot.java            |   2 +-
 src/main/java/frc/subsystem/BlinkinLED.java   |   2 +-
 src/main/java/frc/subsystem/Drive.java        |  38 +--
 src/main/java/frc/subsystem/RobotTracker.java |   6 +-
 src/main/java/frc/utility/Controller.java     |  18 +-
 vendordeps/Phoenix.json                       | 153 +++++++----
 vendordeps/REVColorSensorV3.json              |  37 ---
 vendordeps/{REVRobotics.json => REVLib.json}  |  78 +++---
 vendordeps/navx_frc.json                      |   6 +-
 26 files changed, 444 insertions(+), 348 deletions(-)
 delete mode 100644 vendordeps/REVColorSensorV3.json
 rename vendordeps/{REVRobotics.json => REVLib.json} (69%)

diff --git a/.gitignore b/.gitignore
index df15fef1..9535c830 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,4 +1,5 @@
-# Created by https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode
+# This gitignore has been specially created by the WPILib team.
+# If you remove items from this file, intellisense might break.
 
 ### C++ ###
 # Prerequisites
@@ -151,12 +152,11 @@ gradle-app.setting
 # gradle/wrapper/gradle-wrapper.properties
 
 # # VS Code Specific Java Settings
+# DO NOT REMOVE .classpath and .project
 .classpath
 .project
-/.settings/
-/bin/
-imgui.ini
+.settings/
+bin/
 
-
-# End of https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode
-/.gradle/
\ No newline at end of file
+# Simulation GUI and other tools window save file
+*-window.json
diff --git a/.idea/jarRepositories.xml b/.idea/jarRepositories.xml
index b88b14b5..703c3264 100644
--- a/.idea/jarRepositories.xml
+++ b/.idea/jarRepositories.xml
@@ -46,5 +46,30 @@
       <option name="name" value="WPILocal" />
       <option name="url" value="file:/$PROJECT_DIR$/../../../../Public/wpilib/2021/maven/" />
     </remote-repository>
+    <remote-repository>
+      <option name="id" value="WPILocal" />
+      <option name="name" value="WPILocal" />
+      <option name="url" value="file:/$PROJECT_DIR$/../../../../Public/wpilib/2021/maven" />
+    </remote-repository>
+    <remote-repository>
+      <option name="id" value="WPIFRCMavenVendorCacheRelease" />
+      <option name="name" value="WPIFRCMavenVendorCacheRelease" />
+      <option name="url" value="https://frcmaven.wpi.edu/artifactory/vendor-mvn-release" />
+    </remote-repository>
+    <remote-repository>
+      <option name="id" value="WPIab676553-b602-441f-a38d-f1296eff6537_0Release" />
+      <option name="name" value="WPIab676553-b602-441f-a38d-f1296eff6537_0Release" />
+      <option name="url" value="https://maven.ctr-electronics.com/release/" />
+    </remote-repository>
+    <remote-repository>
+      <option name="id" value="WPI3f48eb8c-50fe-43a6-9cb7-44c86353c4cb_0Release" />
+      <option name="name" value="WPI3f48eb8c-50fe-43a6-9cb7-44c86353c4cb_0Release" />
+      <option name="url" value="https://maven.revrobotics.com/" />
+    </remote-repository>
+    <remote-repository>
+      <option name="id" value="WPILocal" />
+      <option name="name" value="WPILocal" />
+      <option name="url" value="file:/$PROJECT_DIR$/../../../../Public/wpilib/2022/maven/" />
+    </remote-repository>
   </component>
 </project>
\ No newline at end of file
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 786b2c73..4ed293b7 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -13,5 +13,17 @@
     "**/.settings": true,
     "**/.factorypath": true,
     "**/*~": true
-  }
+  },
+  "java.test.config": [
+    {
+      "name": "WPIlibUnitTests",
+      "workingDirectory": "${workspaceFolder}/build/jni/release",
+      "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ],
+      "env": {
+        "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" ,
+        "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release"
+      }
+    },
+  ],
+  "java.test.defaultConfig": "WPIlibUnitTests"
 }
diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json
index 5b331b70..9279fbc2 100644
--- a/.wpilib/wpilib_preferences.json
+++ b/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2021",
+    "projectYear": "2022",
     "teamNumber": 3476
 }
\ No newline at end of file
diff --git a/build.gradle b/build.gradle
index 96181beb..79459f4a 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,6 +1,8 @@
+import edu.wpi.first.gradlerio.deploy.roborio.RoboRIO
+
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2021.2.2"
+    id "edu.wpi.first.GradleRIO" version "2022.1.1"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11
@@ -9,67 +11,71 @@ targetCompatibility = JavaVersion.VERSION_11
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
-// This is added by GradleRIO's backing project EmbeddedTools.
+// This is added by GradleRIO's backing project DeployUtils.
 deploy {
     targets {
-        roboRIO("roborio") {
+        roborio(getTargetTypeClass('RoboRIO')) {
             // Team number is loaded either from the .wpilib/wpilib_preferences.json
             // or from command line. If not found an exception will be thrown.
             // You can use getTeamOrDefault(team) instead of getTeamNumber if you
             // want to store a team number in this file.
-            team = frc.getTeamNumber()
-        }
-    }
-    artifacts {
-        frcJavaArtifact('frcJava') {
-            targets << "roborio"
-            // Debug can be overridden by command line, for use with VSCode
-            debug = frc.getDebugOrDefault(false)
-        }
-        // Built in artifact to deploy arbitrary files to the roboRIO.
-        fileTreeArtifact('frcStaticFileDeploy') {
-            // The directory below is the local directory to deploy
-            files = fileTree(dir: 'src/main/deploy')
-            // Deploy to RoboRIO target, into /home/lvuser/deploy
-            targets << "roborio"
-            directory = '/home/lvuser/deploy'
+            team = project.frc.getTeamNumber()
+            debug = project.frc.getDebugOrDefault(false)
+
+            artifacts {
+                // First part is artifact name, 2nd is artifact type
+                // getTargetTypeClass is a shortcut to get the class type using a string
+
+                frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
+                }
+
+                // Static files artifact
+                frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
+                    files = project.fileTree('src/main/deploy')
+                    directory = '/home/lvuser/deploy'
+                }
+            }
         }
     }
 }
 
+def deployArtifact = deploy.targets.roborio.artifacts.frcJava
+
+// Set to true to use debug for JNI.
+wpi.java.debugJni = false
+
 // Set this to true to enable desktop support.
 def includeDesktopSupport = true
 
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 4.
 dependencies {
-    implementation wpi.deps.wpilib()
+
     implementation 'org.jetbrains:annotations:22.0.0'
-    nativeZip wpi.deps.wpilibJni(wpi.platforms.roborio)
-    nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop)
+    
+    implementation wpi.java.deps.wpilib()
+    implementation wpi.java.vendor.java()
 
+    roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
+    roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
 
-    implementation wpi.deps.vendor.java()
-    nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
-    nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
+    roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
+    roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
 
-    testImplementation 'junit:junit:4.12'
+    nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
+    nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
+    simulationDebug wpi.sim.enableDebug()
 
-    // Enable simulation gui support. Must check the box in vscode to enable support
-    // upon debugging
-    simulation wpi.deps.sim.gui(wpi.platforms.desktop, false)
-    simulation wpi.deps.sim.driverstation(wpi.platforms.desktop, false)
+    nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
+    nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
+    simulationRelease wpi.sim.enableRelease()
 
-    // Websocket extensions require additional configuration.
-    // simulation wpi.deps.sim.ws_server(wpi.platforms.desktop, false)
-    // simulation wpi.deps.sim.ws_client(wpi.platforms.desktop, false)
+    testImplementation 'junit:junit:4.12'
 }
 
 // Simulation configuration (e.g. environment variables).
-sim {
-    // Sets the websocket client remote host.
-    // envVar "HALSIMWS_HOST", "10.0.0.2"
-}
+wpi.sim.addGui().defaultEnabled = true
+wpi.sim.addDriverstation()
 
 // Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
 // in order to make them all available at runtime. Also adding the manifest so WPILib
@@ -77,8 +83,14 @@ sim {
 jar {
     from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
     manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
+    duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }
 
+// Configure jar and deploy tasks
+deployArtifact.jarTask = jar
+wpi.java.configureExecutableTasks(jar)
+wpi.java.configureTestTasks(test)
+
 repositories {
     mavenCentral()
 }
diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar
index cc4fdc293d0e50b0ad9b65c16e7ddd1db2f6025b..7454180f2ae8848c63b8b4dea2cb829da983f2fa 100644
GIT binary patch
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diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
index d050f177..f959987a 100644
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-6.0.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-7.3.3-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
diff --git a/gradlew b/gradlew
index 2fe81a7d..c53aefaa 100644
--- a/gradlew
+++ b/gradlew
@@ -1,7 +1,7 @@
-#!/usr/bin/env sh
+#!/bin/sh
 
 #
-# Copyright 2015 the original author or authors.
+# Copyright © 2015-2021 the original authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -17,78 +17,113 @@
 #
 
 ##############################################################################
-##
-##  Gradle start up script for UN*X
-##
+#
+#   Gradle start up script for POSIX generated by Gradle.
+#
+#   Important for running:
+#
+#   (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is
+#       noncompliant, but you have some other compliant shell such as ksh or
+#       bash, then to run this script, type that shell name before the whole
+#       command line, like:
+#
+#           ksh Gradle
+#
+#       Busybox and similar reduced shells will NOT work, because this script
+#       requires all of these POSIX shell features:
+#         * functions;
+#         * expansions «$var», «${var}», «${var:-default}», «${var+SET}»,
+#           «${var#prefix}», «${var%suffix}», and «$( cmd )»;
+#         * compound commands having a testable exit status, especially «case»;
+#         * various built-in commands including «command», «set», and «ulimit».
+#
+#   Important for patching:
+#
+#   (2) This script targets any POSIX shell, so it avoids extensions provided
+#       by Bash, Ksh, etc; in particular arrays are avoided.
+#
+#       The "traditional" practice of packing multiple parameters into a
+#       space-separated string is a well documented source of bugs and security
+#       problems, so this is (mostly) avoided, by progressively accumulating
+#       options in "$@", and eventually passing that to Java.
+#
+#       Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS,
+#       and GRADLE_OPTS) rely on word-splitting, this is performed explicitly;
+#       see the in-line comments for details.
+#
+#       There are tweaks for specific operating systems such as AIX, CygWin,
+#       Darwin, MinGW, and NonStop.
+#
+#   (3) This script is generated from the Groovy template
+#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       within the Gradle project.
+#
+#       You can find Gradle at https://github.com/gradle/gradle/.
+#
 ##############################################################################
 
 # Attempt to set APP_HOME
+
 # Resolve links: $0 may be a link
-PRG="$0"
-# Need this for relative symlinks.
-while [ -h "$PRG" ] ; do
-    ls=`ls -ld "$PRG"`
-    link=`expr "$ls" : '.*-> \(.*\)$'`
-    if expr "$link" : '/.*' > /dev/null; then
-        PRG="$link"
-    else
-        PRG=`dirname "$PRG"`"/$link"
-    fi
+app_path=$0
+
+# Need this for daisy-chained symlinks.
+while
+    APP_HOME=${app_path%"${app_path##*/}"}  # leaves a trailing /; empty if no leading path
+    [ -h "$app_path" ]
+do
+    ls=$( ls -ld "$app_path" )
+    link=${ls#*' -> '}
+    case $link in             #(
+      /*)   app_path=$link ;; #(
+      *)    app_path=$APP_HOME$link ;;
+    esac
 done
-SAVED="`pwd`"
-cd "`dirname \"$PRG\"`/" >/dev/null
-APP_HOME="`pwd -P`"
-cd "$SAVED" >/dev/null
+
+APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
 
 APP_NAME="Gradle"
-APP_BASE_NAME=`basename "$0"`
+APP_BASE_NAME=${0##*/}
 
 # Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
 DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
-MAX_FD="maximum"
+MAX_FD=maximum
 
 warn () {
     echo "$*"
-}
+} >&2
 
 die () {
     echo
     echo "$*"
     echo
     exit 1
-}
+} >&2
 
 # OS specific support (must be 'true' or 'false').
 cygwin=false
 msys=false
 darwin=false
 nonstop=false
-case "`uname`" in
-  CYGWIN* )
-    cygwin=true
-    ;;
-  Darwin* )
-    darwin=true
-    ;;
-  MINGW* )
-    msys=true
-    ;;
-  NONSTOP* )
-    nonstop=true
-    ;;
+case "$( uname )" in                #(
+  CYGWIN* )         cygwin=true  ;; #(
+  Darwin* )         darwin=true  ;; #(
+  MSYS* | MINGW* )  msys=true    ;; #(
+  NONSTOP* )        nonstop=true ;;
 esac
 
 CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
 
+
 # Determine the Java command to use to start the JVM.
 if [ -n "$JAVA_HOME" ] ; then
     if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
         # IBM's JDK on AIX uses strange locations for the executables
-        JAVACMD="$JAVA_HOME/jre/sh/java"
+        JAVACMD=$JAVA_HOME/jre/sh/java
     else
-        JAVACMD="$JAVA_HOME/bin/java"
+        JAVACMD=$JAVA_HOME/bin/java
     fi
     if [ ! -x "$JAVACMD" ] ; then
         die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
@@ -97,7 +132,7 @@ Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
     fi
 else
-    JAVACMD="java"
+    JAVACMD=java
     which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
@@ -105,79 +140,95 @@ location of your Java installation."
 fi
 
 # Increase the maximum file descriptors if we can.
-if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
-    MAX_FD_LIMIT=`ulimit -H -n`
-    if [ $? -eq 0 ] ; then
-        if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
-            MAX_FD="$MAX_FD_LIMIT"
-        fi
-        ulimit -n $MAX_FD
-        if [ $? -ne 0 ] ; then
-            warn "Could not set maximum file descriptor limit: $MAX_FD"
-        fi
-    else
-        warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
-    fi
+if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
+    case $MAX_FD in #(
+      max*)
+        MAX_FD=$( ulimit -H -n ) ||
+            warn "Could not query maximum file descriptor limit"
+    esac
+    case $MAX_FD in  #(
+      '' | soft) :;; #(
+      *)
+        ulimit -n "$MAX_FD" ||
+            warn "Could not set maximum file descriptor limit to $MAX_FD"
+    esac
 fi
 
-# For Darwin, add options to specify how the application appears in the dock
-if $darwin; then
-    GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
-fi
+# Collect all arguments for the java command, stacking in reverse order:
+#   * args from the command line
+#   * the main class name
+#   * -classpath
+#   * -D...appname settings
+#   * --module-path (only if needed)
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables.
 
 # For Cygwin or MSYS, switch paths to Windows format before running java
-if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
-    APP_HOME=`cygpath --path --mixed "$APP_HOME"`
-    CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
-    JAVACMD=`cygpath --unix "$JAVACMD"`
-
-    # We build the pattern for arguments to be converted via cygpath
-    ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
-    SEP=""
-    for dir in $ROOTDIRSRAW ; do
-        ROOTDIRS="$ROOTDIRS$SEP$dir"
-        SEP="|"
-    done
-    OURCYGPATTERN="(^($ROOTDIRS))"
-    # Add a user-defined pattern to the cygpath arguments
-    if [ "$GRADLE_CYGPATTERN" != "" ] ; then
-        OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
-    fi
+if "$cygwin" || "$msys" ; then
+    APP_HOME=$( cygpath --path --mixed "$APP_HOME" )
+    CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" )
+
+    JAVACMD=$( cygpath --unix "$JAVACMD" )
+
     # Now convert the arguments - kludge to limit ourselves to /bin/sh
-    i=0
-    for arg in "$@" ; do
-        CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
-        CHECK2=`echo "$arg"|egrep -c "^-"`                                 ### Determine if an option
-
-        if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then                    ### Added a condition
-            eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
-        else
-            eval `echo args$i`="\"$arg\""
+    for arg do
+        if
+            case $arg in                                #(
+              -*)   false ;;                            # don't mess with options #(
+              /?*)  t=${arg#/} t=/${t%%/*}              # looks like a POSIX filepath
+                    [ -e "$t" ] ;;                      #(
+              *)    false ;;
+            esac
+        then
+            arg=$( cygpath --path --ignore --mixed "$arg" )
         fi
-        i=`expr $i + 1`
+        # Roll the args list around exactly as many times as the number of
+        # args, so each arg winds up back in the position where it started, but
+        # possibly modified.
+        #
+        # NB: a `for` loop captures its iteration list before it begins, so
+        # changing the positional parameters here affects neither the number of
+        # iterations, nor the values presented in `arg`.
+        shift                   # remove old arg
+        set -- "$@" "$arg"      # push replacement arg
     done
-    case $i in
-        0) set -- ;;
-        1) set -- "$args0" ;;
-        2) set -- "$args0" "$args1" ;;
-        3) set -- "$args0" "$args1" "$args2" ;;
-        4) set -- "$args0" "$args1" "$args2" "$args3" ;;
-        5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
-        6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
-        7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
-        8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
-        9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
-    esac
 fi
 
-# Escape application args
-save () {
-    for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
-    echo " "
-}
-APP_ARGS=`save "$@"`
+# Collect all arguments for the java command;
+#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
+#     shell script including quotes and variable substitutions, so put them in
+#     double quotes to make sure that they get re-expanded; and
+#   * put everything else in single quotes, so that it's not re-expanded.
+
+set -- \
+        "-Dorg.gradle.appname=$APP_BASE_NAME" \
+        -classpath "$CLASSPATH" \
+        org.gradle.wrapper.GradleWrapperMain \
+        "$@"
+
+# Use "xargs" to parse quoted args.
+#
+# With -n1 it outputs one arg per line, with the quotes and backslashes removed.
+#
+# In Bash we could simply go:
+#
+#   readarray ARGS < <( xargs -n1 <<<"$var" ) &&
+#   set -- "${ARGS[@]}" "$@"
+#
+# but POSIX shell has neither arrays nor command substitution, so instead we
+# post-process each arg (as a line of input to sed) to backslash-escape any
+# character that might be a shell metacharacter, then use eval to reverse
+# that process (while maintaining the separation between arguments), and wrap
+# the whole thing up as a single "set" statement.
+#
+# This will of course break if any of these variables contains a newline or
+# an unmatched quote.
+#
 
-# Collect all arguments for the java command, following the shell quoting and substitution rules
-eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
+eval "set -- $(
+        printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" |
+        xargs -n1 |
+        sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' |
+        tr '\n' ' '
+    )" '"$@"'
 
 exec "$JAVACMD" "$@"
diff --git a/gradlew.bat b/gradlew.bat
index 9618d8d9..107acd32 100644
--- a/gradlew.bat
+++ b/gradlew.bat
@@ -29,6 +29,9 @@ if "%DIRNAME%" == "" set DIRNAME=.
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
+@rem Resolve any "." and ".." in APP_HOME to make it shorter.
+for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
+
 @rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
 set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
 
@@ -37,7 +40,7 @@ if defined JAVA_HOME goto findJavaFromJavaHome
 
 set JAVA_EXE=java.exe
 %JAVA_EXE% -version >NUL 2>&1
-if "%ERRORLEVEL%" == "0" goto init
+if "%ERRORLEVEL%" == "0" goto execute
 
 echo.
 echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
@@ -51,7 +54,7 @@ goto fail
 set JAVA_HOME=%JAVA_HOME:"=%
 set JAVA_EXE=%JAVA_HOME%/bin/java.exe
 
-if exist "%JAVA_EXE%" goto init
+if exist "%JAVA_EXE%" goto execute
 
 echo.
 echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
@@ -61,28 +64,14 @@ echo location of your Java installation.
 
 goto fail
 
-:init
-@rem Get command-line arguments, handling Windows variants
-
-if not "%OS%" == "Windows_NT" goto win9xME_args
-
-:win9xME_args
-@rem Slurp the command line arguments.
-set CMD_LINE_ARGS=
-set _SKIP=2
-
-:win9xME_args_slurp
-if "x%~1" == "x" goto execute
-
-set CMD_LINE_ARGS=%*
-
 :execute
 @rem Setup the command line
 
 set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
 
+
 @rem Execute Gradle
-"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS%
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
 
 :end
 @rem End local scope for the variables with windows NT shell
diff --git a/settings.gradle b/settings.gradle
index 0bc697ad..c3636946 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -4,7 +4,7 @@ pluginManagement {
     repositories {
         mavenLocal()
         gradlePluginPortal()
-        String frcYear = '2021'
+        String frcYear = '2022'
         File frcHome
         if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')
diff --git a/src/main/java/frc/auton/TemplateAuto.java b/src/main/java/frc/auton/TemplateAuto.java
index 0a019bb9..40cdd48b 100644
--- a/src/main/java/frc/auton/TemplateAuto.java
+++ b/src/main/java/frc/auton/TemplateAuto.java
@@ -1,7 +1,7 @@
 package frc.auton;
 
-import edu.wpi.first.wpilibj.geometry.Rotation2d;
-import edu.wpi.first.wpilibj.geometry.Translation2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Translation2d;
 import frc.subsystem.Drive;
 import frc.subsystem.RobotTracker;
 
diff --git a/src/main/java/frc/auton/guiauto/AbstractGuiAuto.java b/src/main/java/frc/auton/guiauto/AbstractGuiAuto.java
index 454bd777..5319fff7 100644
--- a/src/main/java/frc/auton/guiauto/AbstractGuiAuto.java
+++ b/src/main/java/frc/auton/guiauto/AbstractGuiAuto.java
@@ -2,8 +2,8 @@
 
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.geometry.Pose2d;
-import edu.wpi.first.wpilibj.trajectory.Trajectory;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.trajectory.Trajectory;
 import frc.auton.TemplateAuto;
 import frc.auton.guiauto.serialization.AbstractAutonomousStep;
 import frc.auton.guiauto.serialization.Autonomous;
diff --git a/src/main/java/frc/auton/guiauto/serialization/TimedRotation.java b/src/main/java/frc/auton/guiauto/serialization/TimedRotation.java
index e5339396..f518e088 100644
--- a/src/main/java/frc/auton/guiauto/serialization/TimedRotation.java
+++ b/src/main/java/frc/auton/guiauto/serialization/TimedRotation.java
@@ -4,7 +4,7 @@
 import com.fasterxml.jackson.annotation.JsonIgnore;
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import com.fasterxml.jackson.annotation.JsonProperty;
-import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Rotation2d;
 import org.jetbrains.annotations.Contract;
 import org.jetbrains.annotations.NotNull;
 
diff --git a/src/main/java/frc/auton/guiauto/serialization/TrajectoryAutonomousStep.java b/src/main/java/frc/auton/guiauto/serialization/TrajectoryAutonomousStep.java
index 1b3a86bf..f9c6248e 100644
--- a/src/main/java/frc/auton/guiauto/serialization/TrajectoryAutonomousStep.java
+++ b/src/main/java/frc/auton/guiauto/serialization/TrajectoryAutonomousStep.java
@@ -3,8 +3,8 @@
 import com.fasterxml.jackson.annotation.JsonCreator;
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import com.fasterxml.jackson.annotation.JsonProperty;
-import edu.wpi.first.wpilibj.trajectory.Trajectory;
-import edu.wpi.first.wpilibj.trajectory.Trajectory.State;
+import edu.wpi.first.math.trajectory.Trajectory;
+import edu.wpi.first.math.trajectory.Trajectory.State;
 import frc.auton.TemplateAuto;
 import frc.subsystem.Drive;
 
diff --git a/src/main/java/frc/auton/guiauto/serialization/reflection/ClassInformationSender.java b/src/main/java/frc/auton/guiauto/serialization/reflection/ClassInformationSender.java
index 06a125f9..30419729 100644
--- a/src/main/java/frc/auton/guiauto/serialization/reflection/ClassInformationSender.java
+++ b/src/main/java/frc/auton/guiauto/serialization/reflection/ClassInformationSender.java
@@ -3,12 +3,13 @@
 import edu.wpi.first.wpilibj.Filesystem;
 import frc.utility.Serializer;
 
-import javax.annotation.Nullable;
 import java.io.File;
 import java.io.IOException;
 import java.util.ArrayList;
 import java.util.List;
 
+import org.jetbrains.annotations.Nullable;
+
 import static frc.auton.guiauto.serialization.reflection.ReflectionUtils.findClasses;
 public final class ClassInformationSender {
     public ClassInformationSender() {
diff --git a/src/main/java/frc/auton/guiauto/serialization/reflection/ReflectionUtils.java b/src/main/java/frc/auton/guiauto/serialization/reflection/ReflectionUtils.java
index e4775936..34b1815e 100644
--- a/src/main/java/frc/auton/guiauto/serialization/reflection/ReflectionUtils.java
+++ b/src/main/java/frc/auton/guiauto/serialization/reflection/ReflectionUtils.java
@@ -31,7 +31,7 @@ private static Class[] getClasses(String packageName) throws ClassNotFoundExcept
         for (File directory : dirs) {
             classes.addAll(findClasses(directory, packageName));
         }
-        return classes.toArray(new Class[classes.size()]);
+        return classes.toArray(new Class[0]);
     }
 
     /**
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index dbefc177..e0543f55 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -1,8 +1,8 @@
 package frc.robot;
 
-import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
-import edu.wpi.first.wpilibj.geometry.Translation2d;
-import edu.wpi.first.wpilibj.util.Units;
+import edu.wpi.first.math.controller.SimpleMotorFeedforward;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.util.Units;
 
 public final class Constants {
 
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index ad8aa3eb..c629f9b5 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -8,7 +8,7 @@
 import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj.TimedRobot;
-import edu.wpi.first.wpilibj.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import frc.auton.TemplateAuto;
diff --git a/src/main/java/frc/subsystem/BlinkinLED.java b/src/main/java/frc/subsystem/BlinkinLED.java
index bd346263..768d2104 100644
--- a/src/main/java/frc/subsystem/BlinkinLED.java
+++ b/src/main/java/frc/subsystem/BlinkinLED.java
@@ -1,6 +1,6 @@
 package frc.subsystem;
 
-import edu.wpi.first.wpilibj.Spark;
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
 
 public final class BlinkinLED extends AbstractSubsystem {
     private static final BlinkinLED instance = new BlinkinLED();
diff --git a/src/main/java/frc/subsystem/Drive.java b/src/main/java/frc/subsystem/Drive.java
index a7386b33..d726bce6 100644
--- a/src/main/java/frc/subsystem/Drive.java
+++ b/src/main/java/frc/subsystem/Drive.java
@@ -3,28 +3,28 @@
 package frc.subsystem;
 
 import com.kauailabs.navx.frc.AHRS;
-import com.revrobotics.CANAnalog.AnalogMode;
-import com.revrobotics.CANEncoder;
-import com.revrobotics.CANPIDController;
+import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMax.IdleMode;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 import com.revrobotics.CANSparkMaxLowLevel.PeriodicFrame;
-import com.revrobotics.ControlType;
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.SparkMaxAnalogSensor;
+import com.revrobotics.SparkMaxPIDController;
+import edu.wpi.first.math.controller.HolonomicDriveController;
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.controller.ProfiledPIDController;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
+import edu.wpi.first.math.kinematics.SwerveModuleState;
+import edu.wpi.first.math.trajectory.Trajectory;
+import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.DutyCycle;
 import edu.wpi.first.wpilibj.SPI;
 import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.controller.HolonomicDriveController;
-import edu.wpi.first.wpilibj.controller.PIDController;
-import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
-import edu.wpi.first.wpilibj.geometry.Pose2d;
-import edu.wpi.first.wpilibj.geometry.Rotation2d;
-import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
-import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics;
-import edu.wpi.first.wpilibj.kinematics.SwerveModuleState;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj.trajectory.Trajectory;
-import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
 import frc.robot.Constants;
 import frc.utility.ControllerDriveInputs;
 import frc.utility.controllers.LazyCANSparkMax;
@@ -67,7 +67,7 @@ public static Drive getInstance() {
     /**
      * Encoders for the motors that turn the wheel (NOT ABSOLUTE)
      */
-    private final CANEncoder[] swerveEncoders = new CANEncoder[4];
+    private final RelativeEncoder[] swerveEncoders = new RelativeEncoder[4];
 
     /**
      * Absolute Encoders for the motors that turn the wheel
@@ -77,7 +77,7 @@ public static Drive getInstance() {
     /**
      * PID Controllers for the swerve Drive
      */
-    private final CANPIDController[] swervePID = new CANPIDController[4];
+    private final SparkMaxPIDController[] swervePID = new SparkMaxPIDController[4];
 
 
     private Drive() {
@@ -129,7 +129,7 @@ private Drive() {
             swerveDriveMotors[i].getEncoder().setPositionConversionFactor(1);
             swerveDriveMotors[i].getEncoder().setVelocityConversionFactor(1);
 
-            swerveMotors[i].getAnalog(AnalogMode.kAbsolute).setPositionConversionFactor(360 / 3.3);//105.88);
+            swerveMotors[i].getAnalog(SparkMaxAnalogSensor.Mode.kAbsolute).setPositionConversionFactor(360 / 3.3);//105.88);
 
             swervePID[i] = swerveMotors[i].getPIDController();
             swervePID[i].setP(Constants.SWERVE_DRIVE_P);
@@ -277,7 +277,7 @@ private void swerveDrive(ChassisSpeeds chassisSpeeds) {
         SwerveModuleState[] moduleStates = swerveKinematics.toSwerveModuleStates(chassisSpeeds);
         boolean rotate = chassisSpeeds.vxMetersPerSecond != 0 || chassisSpeeds.vyMetersPerSecond != 0 || chassisSpeeds.omegaRadiansPerSecond != 0;
 
-        SwerveDriveKinematics.normalizeWheelSpeeds(moduleStates, Constants.DRIVE_HIGH_SPEED_M);
+        SwerveDriveKinematics.desaturateWheelSpeeds(moduleStates, Constants.DRIVE_HIGH_SPEED_M);
 
         for (int i = 0; i < 4; i++) {
             //            SwerveModuleState targetState = SwerveModuleState.optimize(moduleStates[i],
@@ -291,7 +291,7 @@ private void swerveDrive(ChassisSpeeds chassisSpeeds) {
             if (Math.abs(angleDiff) < 5 || !rotate) {
                 swerveMotors[i].set(0);
             } else {
-                swervePID[i].setReference(swerveEncoders[i].getPosition() + angleDiff, ControlType.kPosition);
+                swervePID[i].setReference(swerveEncoders[i].getPosition() + angleDiff, CANSparkMax.ControlType.kPosition);
             }
 
             double speedModifier = 1; //= 1 - (OrangeUtility.coercedNormalize(Math.abs(angleDiff), 5, 180, 0, 180) / 180);
diff --git a/src/main/java/frc/subsystem/RobotTracker.java b/src/main/java/frc/subsystem/RobotTracker.java
index 83b7f8ea..cabd8323 100644
--- a/src/main/java/frc/subsystem/RobotTracker.java
+++ b/src/main/java/frc/subsystem/RobotTracker.java
@@ -1,8 +1,8 @@
 package frc.subsystem;
 
-import edu.wpi.first.wpilibj.geometry.Pose2d;
-import edu.wpi.first.wpilibj.geometry.Rotation2d;
-import edu.wpi.first.wpilibj.kinematics.SwerveDriveOdometry;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.kinematics.SwerveDriveOdometry;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 public final class RobotTracker extends AbstractSubsystem {
diff --git a/src/main/java/frc/utility/Controller.java b/src/main/java/frc/utility/Controller.java
index 723683b0..ed3539bd 100644
--- a/src/main/java/frc/utility/Controller.java
+++ b/src/main/java/frc/utility/Controller.java
@@ -44,8 +44,8 @@ public static class Xbox {
 
     public Controller(int port) {
         super(port);
-        axisCount = DriverStation.getInstance().getStickAxisCount(port);
-        povCount = DriverStation.getInstance().getStickPOVCount(port);
+        axisCount = DriverStation.getStickAxisCount(port);
+        povCount = DriverStation.getStickPOVCount(port);
         oldAxis = new double[axisCount];
         currentAxis = new double[axisCount];
         currentPOV = new int[povCount];
@@ -98,23 +98,23 @@ public boolean getFallingEdge(int axis, double threshold) {
      */
     public void update() {
         oldButtons = currentButtons;
-        currentButtons = DriverStation.getInstance().getStickButtons(getPort());
-        if (axisCount != DriverStation.getInstance().getStickAxisCount(getPort())) {
-            axisCount = DriverStation.getInstance().getStickAxisCount(getPort());
+        currentButtons = DriverStation.getStickButtons(getPort());
+        if (axisCount != DriverStation.getStickAxisCount(getPort())) {
+            axisCount = DriverStation.getStickAxisCount(getPort());
             oldAxis = new double[axisCount];
             currentAxis = new double[axisCount];
         }
-        if (povCount != DriverStation.getInstance().getStickPOVCount(getPort())) {
-            povCount = DriverStation.getInstance().getStickPOVCount(getPort());
+        if (povCount != DriverStation.getStickPOVCount(getPort())) {
+            povCount = DriverStation.getStickPOVCount(getPort());
             currentPOV = new int[povCount];
         }
         oldAxis = currentAxis;
         for (int i = 0; i < axisCount; i++) {
-            currentAxis[i] = DriverStation.getInstance().getStickAxis(getPort(), i);
+            currentAxis[i] = DriverStation.getStickAxis(getPort(), i);
         }
 
         for (int i = 0; i < povCount; i++) {
-            currentPOV[i] = DriverStation.getInstance().getStickPOV(getPort(), i);
+            currentPOV[i] = DriverStation.getStickPOV(getPort(), i);
         }
     }
 
diff --git a/vendordeps/Phoenix.json b/vendordeps/Phoenix.json
index 87f03cbf..789d831f 100644
--- a/vendordeps/Phoenix.json
+++ b/vendordeps/Phoenix.json
@@ -1,29 +1,30 @@
 {
     "fileName": "Phoenix.json",
     "name": "CTRE-Phoenix",
-    "version": "5.19.4",
+    "version": "5.20.2",
+    "frcYear": 2022,
     "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
     "mavenUrls": [
-        "https://devsite.ctr-electronics.com/maven/release/"
+        "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://devsite.ctr-electronics.com/maven/release/com/ctre/phoenix/Phoenix-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix-frc2022-latest.json",
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "api-java",
-            "version": "5.19.4"
+            "version": "5.20.2"
         },
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "wpiapi-java",
-            "version": "5.19.4"
+            "version": "5.20.2"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "cci",
-            "version": "5.19.4",
+            "version": "5.20.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -33,7 +34,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "cci-sim",
-            "version": "5.19.4",
+            "version": "5.20.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -45,7 +46,19 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "simTalonSRX",
-            "version": "5.19.4",
+            "version": "5.20.2",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "simTalonFX",
+            "version": "5.20.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -57,7 +70,31 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "simVictorSPX",
-            "version": "5.19.4",
+            "version": "5.20.2",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "simPigeonIMU",
+            "version": "5.20.2",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "simCANCoder",
+            "version": "5.20.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -71,40 +108,34 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "wpiapi-cpp",
-            "version": "5.19.4",
+            "version": "5.20.2",
             "libName": "CTRE_Phoenix_WPI",
             "headerClassifier": "headers",
-            "sharedLibrary": false,
+            "sharedLibrary": true,
             "skipInvalidPlatforms": true,
             "binaryPlatforms": [
-                "linuxathena",
-                "windowsx86-64",
-                "linuxx86-64",
-                "osxx86-64"
+                "linuxathena"
             ]
         },
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "api-cpp",
-            "version": "5.19.4",
+            "version": "5.20.2",
             "libName": "CTRE_Phoenix",
             "headerClassifier": "headers",
-            "sharedLibrary": false,
+            "sharedLibrary": true,
             "skipInvalidPlatforms": true,
             "binaryPlatforms": [
-                "linuxathena",
-                "windowsx86-64",
-                "linuxx86-64",
-                "osxx86-64"
+                "linuxathena"
             ]
         },
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "cci",
-            "version": "5.19.4",
+            "version": "5.20.2",
             "libName": "CTRE_PhoenixCCI",
             "headerClassifier": "headers",
-            "sharedLibrary": false,
+            "sharedLibrary": true,
             "skipInvalidPlatforms": true,
             "binaryPlatforms": [
                 "linuxathena"
@@ -112,11 +143,11 @@
         },
         {
             "groupId": "com.ctre.phoenix.sim",
-            "artifactId": "cci-sim",
-            "version": "5.19.4",
-            "libName": "CTRE_PhoenixCCISim",
+            "artifactId": "wpiapi-cpp-sim",
+            "version": "5.20.2",
+            "libName": "CTRE_Phoenix_WPISim",
             "headerClassifier": "headers",
-            "sharedLibrary": false,
+            "sharedLibrary": true,
             "skipInvalidPlatforms": true,
             "binaryPlatforms": [
                 "windowsx86-64",
@@ -125,27 +156,26 @@
             ]
         },
         {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "diagnostics",
-            "version": "5.19.4",
-            "libName": "CTRE_PhoenixDiagnostics",
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "api-cpp-sim",
+            "version": "5.20.2",
+            "libName": "CTRE_PhoenixSim",
             "headerClassifier": "headers",
-            "sharedLibrary": false,
+            "sharedLibrary": true,
             "skipInvalidPlatforms": true,
             "binaryPlatforms": [
-                "linuxathena",
                 "windowsx86-64",
                 "linuxx86-64",
                 "osxx86-64"
             ]
         },
         {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "canutils",
-            "version": "5.19.4",
-            "libName": "CTRE_PhoenixCanutils",
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "cci-sim",
+            "version": "5.20.2",
+            "libName": "CTRE_PhoenixCCISim",
             "headerClassifier": "headers",
-            "sharedLibrary": false,
+            "sharedLibrary": true,
             "skipInvalidPlatforms": true,
             "binaryPlatforms": [
                 "windowsx86-64",
@@ -154,12 +184,12 @@
             ]
         },
         {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "platform-sim",
-            "version": "5.19.4",
-            "libName": "CTRE_PhoenixPlatform",
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "simTalonSRX",
+            "version": "5.20.2",
+            "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
-            "sharedLibrary": false,
+            "sharedLibrary": true,
             "skipInvalidPlatforms": true,
             "binaryPlatforms": [
                 "windowsx86-64",
@@ -168,15 +198,14 @@
             ]
         },
         {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "core",
-            "version": "5.19.4",
-            "libName": "CTRE_PhoenixCore",
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "simTalonFX",
+            "version": "5.20.2",
+            "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
-            "sharedLibrary": false,
+            "sharedLibrary": true,
             "skipInvalidPlatforms": true,
             "binaryPlatforms": [
-                "linuxathena",
                 "windowsx86-64",
                 "linuxx86-64",
                 "osxx86-64"
@@ -184,9 +213,9 @@
         },
         {
             "groupId": "com.ctre.phoenix.sim",
-            "artifactId": "simTalonSRX",
-            "version": "5.19.4",
-            "libName": "CTRE_SimTalonSRX",
+            "artifactId": "simVictorSPX",
+            "version": "5.20.2",
+            "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
             "skipInvalidPlatforms": true,
@@ -198,9 +227,23 @@
         },
         {
             "groupId": "com.ctre.phoenix.sim",
-            "artifactId": "simVictorSPX",
-            "version": "5.19.4",
-            "libName": "CTRE_SimVictorSPX",
+            "artifactId": "simPigeonIMU",
+            "version": "5.20.2",
+            "libName": "CTRE_SimPigeonIMU",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "simCANCoder",
+            "version": "5.20.2",
+            "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
             "skipInvalidPlatforms": true,
diff --git a/vendordeps/REVColorSensorV3.json b/vendordeps/REVColorSensorV3.json
deleted file mode 100644
index 982a1441..00000000
--- a/vendordeps/REVColorSensorV3.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
-    "cppDependencies": [
-        {
-            "artifactId": "ColorSensorV3-cpp",
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "windowsx86",
-                "linuxx86-64",
-                "linuxathena",
-                "linuxraspbian"
-            ],
-            "groupId": "com.revrobotics.frc",
-            "headerClassifier": "headers",
-            "libName": "ColorSensorV3",
-            "sharedLibrary": false,
-            "skipInvalidPlatforms": true,
-            "sourcesClassifier": "source",
-            "version": "1.2.0"
-        }
-    ],
-    "fileName": "REVColorSensorV3.json",
-    "javaDependencies": [
-        {
-            "artifactId": "ColorSensorV3-java",
-            "groupId": "com.revrobotics.frc",
-            "version": "1.2.0"
-        }
-    ],
-    "jniDependencies": [],
-    "jsonUrl": "http://www.revrobotics.com/content/sw/color-sensor-v3/sdk/REVColorSensorV3.json",
-    "mavenUrls": [
-        "http://www.revrobotics.com/content/sw/color-sensor-v3/sdk/maven/"
-    ],
-    "name": "REVColorSensorV3",
-    "uuid": "cda7b4b1-d003-44ac-a1ef-485c1347059a",
-    "version": "1.2.0"
-}
\ No newline at end of file
diff --git a/vendordeps/REVRobotics.json b/vendordeps/REVLib.json
similarity index 69%
rename from vendordeps/REVRobotics.json
rename to vendordeps/REVLib.json
index 724da3a5..2e28e022 100644
--- a/vendordeps/REVRobotics.json
+++ b/vendordeps/REVLib.json
@@ -1,8 +1,27 @@
 {
-    "cppDependencies": [
+    "fileName": "REVLib.json",
+    "name": "REVLib",
+    "version": "2022.1.0",
+    "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
+    "mavenUrls": [
+        "https://maven.revrobotics.com/"
+    ],
+    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib.json",
+    "javaDependencies": [
         {
-            "artifactId": "SparkMax-cpp",
-            "binaryPlatforms": [
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-java",
+            "version": "2022.1.0"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2022.1.0",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
                 "windowsx86-64",
                 "windowsx86",
                 "linuxaarch64bionic",
@@ -10,16 +29,18 @@
                 "linuxathena",
                 "linuxraspbian",
                 "osxx86-64"
-            ],
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
             "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-cpp",
+            "version": "2022.1.0",
+            "libName": "REVLib",
             "headerClassifier": "headers",
-            "libName": "SparkMax",
             "sharedLibrary": false,
             "skipInvalidPlatforms": true,
-            "version": "1.5.4"
-        },
-        {
-            "artifactId": "SparkMax-driver",
             "binaryPlatforms": [
                 "windowsx86-64",
                 "windowsx86",
@@ -28,30 +49,17 @@
                 "linuxathena",
                 "linuxraspbian",
                 "osxx86-64"
-            ],
+            ]
+        },
+        {
             "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2022.1.0",
+            "libName": "REVLibDriver",
             "headerClassifier": "headers",
-            "libName": "SparkMaxDriver",
             "sharedLibrary": false,
             "skipInvalidPlatforms": true,
-            "version": "1.5.4"
-        }
-    ],
-    "fileName": "REVRobotics.json",
-    "javaDependencies": [
-        {
-            "artifactId": "SparkMax-java",
-            "groupId": "com.revrobotics.frc",
-            "version": "1.5.4"
-        }
-    ],
-    "jniDependencies": [
-        {
-            "artifactId": "SparkMax-driver",
-            "groupId": "com.revrobotics.frc",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
+            "binaryPlatforms": [
                 "windowsx86-64",
                 "windowsx86",
                 "linuxaarch64bionic",
@@ -59,15 +67,7 @@
                 "linuxathena",
                 "linuxraspbian",
                 "osxx86-64"
-            ],
-            "version": "1.5.4"
+            ]
         }
-    ],
-    "jsonUrl": "http://www.revrobotics.com/content/sw/max/sdk/REVRobotics.json",
-    "mavenUrls": [
-        "http://www.revrobotics.com/content/sw/max/sdk/maven/"
-    ],
-    "name": "REVRobotics",
-    "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
-    "version": "1.5.4"
+    ]
 }
\ No newline at end of file
diff --git a/vendordeps/navx_frc.json b/vendordeps/navx_frc.json
index 23f0344c..ad23f3b9 100644
--- a/vendordeps/navx_frc.json
+++ b/vendordeps/navx_frc.json
@@ -1,7 +1,7 @@
 {
     "fileName": "navx_frc.json",
     "name": "KauaiLabs_navX_FRC",
-    "version": "4.0.412",
+    "version": "4.0.428",
     "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
     "mavenUrls": [
         "https://repo1.maven.org/maven2/"
@@ -11,7 +11,7 @@
         {
             "groupId": "com.kauailabs.navx.frc",
             "artifactId": "navx-java",
-            "version": "4.0.412"
+            "version": "4.0.428"
         }
     ],
     "jniDependencies": [],
@@ -19,7 +19,7 @@
         {
             "groupId": "com.kauailabs.navx.frc",
             "artifactId": "navx-cpp",
-            "version": "4.0.412",
+            "version": "4.0.428",
             "headerClassifier": "headers",
             "sourcesClassifier": "sources",
             "sharedLibrary": false,