diff --git a/src/main/java/com/stuypulse/robot/commands/arm/ArmMoveToAngle.java b/src/main/java/com/stuypulse/robot/commands/arm/ArmMoveToAngle.java
new file mode 100644
index 0000000..d8f1a06
--- /dev/null
+++ b/src/main/java/com/stuypulse/robot/commands/arm/ArmMoveToAngle.java
@@ -0,0 +1,24 @@
+package com.stuypulse.robot.commands.arm;
+
+import com.stuypulse.robot.subsystems.arm.Arm;
+
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+
+
+public class ArmMoveToAngle extends InstantCommand{
+    private final Arm arm;
+    private final Rotation2d angle;
+
+    public ArmMoveToAngle(Rotation2d angle){
+        arm = Arm.getInstance();
+        this.angle = angle;
+    }
+
+    @Override
+    public void initialize(){
+        arm.setTargetAngle(angle);
+    
+    }
+    
+}
\ No newline at end of file
diff --git a/src/main/java/com/stuypulse/robot/commands/arm/ArmMoveToFunnel.java b/src/main/java/com/stuypulse/robot/commands/arm/ArmMoveToFunnel.java
new file mode 100644
index 0000000..6a8fcb7
--- /dev/null
+++ b/src/main/java/com/stuypulse/robot/commands/arm/ArmMoveToFunnel.java
@@ -0,0 +1,14 @@
+package com.stuypulse.robot.commands.arm;
+
+import com.stuypulse.robot.constants.Settings;
+
+
+public class ArmMoveToFunnel extends ArmMoveToAngle{
+    public ArmMoveToFunnel(){
+        super(Settings.Arm.FUNNEL_ANGLE);
+    }
+    @Override
+    public void initialize(){
+        super.initialize();
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/com/stuypulse/robot/commands/arm/ArmMoveToL2Back.java b/src/main/java/com/stuypulse/robot/commands/arm/ArmMoveToL2Back.java
new file mode 100644
index 0000000..7085b34
--- /dev/null
+++ b/src/main/java/com/stuypulse/robot/commands/arm/ArmMoveToL2Back.java
@@ -0,0 +1,13 @@
+package com.stuypulse.robot.commands.arm;
+
+import com.stuypulse.robot.constants.Settings;
+
+public class ArmMoveToL2Back extends ArmMoveToAngle{
+    public ArmMoveToL2Back(){
+        super(Settings.Arm.L2_ANGLE_BACK);
+    }
+    @Override
+    public void initialize(){
+        super.initialize();
+    }
+}
diff --git a/src/main/java/com/stuypulse/robot/commands/arm/ArmMoveToL2Front.java b/src/main/java/com/stuypulse/robot/commands/arm/ArmMoveToL2Front.java
new file mode 100644
index 0000000..afe2b89
--- /dev/null
+++ b/src/main/java/com/stuypulse/robot/commands/arm/ArmMoveToL2Front.java
@@ -0,0 +1,14 @@
+package com.stuypulse.robot.commands.arm;
+
+import com.stuypulse.robot.constants.Settings;
+
+
+public class ArmMoveToL2Front extends ArmMoveToAngle{
+    public ArmMoveToL2Front(){
+        super(Settings.Arm.L2_ANGLE_FRONT);
+    }
+    @Override
+    public void initialize(){
+        super.initialize();
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/com/stuypulse/robot/commands/arm/ArmMoveToL3Back.java b/src/main/java/com/stuypulse/robot/commands/arm/ArmMoveToL3Back.java
new file mode 100644
index 0000000..c7bd058
--- /dev/null
+++ b/src/main/java/com/stuypulse/robot/commands/arm/ArmMoveToL3Back.java
@@ -0,0 +1,13 @@
+package com.stuypulse.robot.commands.arm;
+
+import com.stuypulse.robot.constants.Settings;
+
+public class ArmMoveToL3Back extends ArmMoveToAngle {
+    public ArmMoveToL3Back(){
+        super(Settings.Arm.L3_ANGLE_BACK);
+    }
+    @Override
+    public void initialize(){
+        super.initialize();
+    }
+}
diff --git a/src/main/java/com/stuypulse/robot/commands/arm/ArmMoveToL3Front.java b/src/main/java/com/stuypulse/robot/commands/arm/ArmMoveToL3Front.java
new file mode 100644
index 0000000..0ee2625
--- /dev/null
+++ b/src/main/java/com/stuypulse/robot/commands/arm/ArmMoveToL3Front.java
@@ -0,0 +1,14 @@
+package com.stuypulse.robot.commands.arm;
+
+import com.stuypulse.robot.constants.Settings;
+
+
+public class ArmMoveToL3Front extends ArmMoveToAngle{
+    public ArmMoveToL3Front(){
+        super(Settings.Arm.L3_ANGLE_FRONT);
+    }
+    @Override
+    public void initialize(){
+        super.initialize();
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/com/stuypulse/robot/commands/arm/ArmMoveToL4Back.java b/src/main/java/com/stuypulse/robot/commands/arm/ArmMoveToL4Back.java
new file mode 100644
index 0000000..1ebcdde
--- /dev/null
+++ b/src/main/java/com/stuypulse/robot/commands/arm/ArmMoveToL4Back.java
@@ -0,0 +1,13 @@
+package com.stuypulse.robot.commands.arm;
+
+import com.stuypulse.robot.constants.Settings;
+
+public class ArmMoveToL4Back extends ArmMoveToAngle {
+    public ArmMoveToL4Back(){
+        super(Settings.Arm.L4_ANGLE_BACK);
+    }
+    @Override
+    public void initialize(){
+        super.initialize();
+    }
+}
diff --git a/src/main/java/com/stuypulse/robot/commands/arm/ArmMoveToL4Front.java b/src/main/java/com/stuypulse/robot/commands/arm/ArmMoveToL4Front.java
new file mode 100644
index 0000000..7fed96f
--- /dev/null
+++ b/src/main/java/com/stuypulse/robot/commands/arm/ArmMoveToL4Front.java
@@ -0,0 +1,14 @@
+package com.stuypulse.robot.commands.arm;
+
+import com.stuypulse.robot.constants.Settings;
+
+
+public class ArmMoveToL4Front extends ArmMoveToAngle{
+    public ArmMoveToL4Front(){
+        super(Settings.Arm.L4_ANGLE_FRONT);
+    }
+    @Override
+    public void initialize(){
+        super.initialize();
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/com/stuypulse/robot/constants/Ports.java b/src/main/java/com/stuypulse/robot/constants/Ports.java
index 4003d8b..39b2764 100644
--- a/src/main/java/com/stuypulse/robot/constants/Ports.java
+++ b/src/main/java/com/stuypulse/robot/constants/Ports.java
@@ -13,6 +13,12 @@ public interface Gamepad {
         int DEBUGGER = 2;
     }
 
+
+    public interface Arm {
+        int ARM_MOTOR = 0;
+        int ARM_ENCODER = 0;
+    }
+  
     // Set values later
     public interface Shooter {
         int MOTOR = 0;
diff --git a/src/main/java/com/stuypulse/robot/constants/Settings.java b/src/main/java/com/stuypulse/robot/constants/Settings.java
index 6fd5a12..94ca85c 100644
--- a/src/main/java/com/stuypulse/robot/constants/Settings.java
+++ b/src/main/java/com/stuypulse/robot/constants/Settings.java
@@ -7,13 +7,14 @@
 
 import com.stuypulse.stuylib.network.SmartNumber;
 
+import edu.wpi.first.math.geometry.Rotation2d;
+
 /*-
  * File containing tunable settings for every subsystem on the robot.
  *
  * We use StuyLib's SmartNumber / SmartBoolean in order to have tunable
  * values that we can edit on Shuffleboard.
  */
-
 public interface Settings { 
     double DT = 0.020; // 20ms Differential Time
   
@@ -92,4 +93,45 @@ public interface Simulation {
             double SCALE_FACTOR = 0.5 + 2.5/77;
         }
     }
-}
+        
+      public interface Arm {
+    
+        public interface PID {
+            SmartNumber kP = new SmartNumber("Arm/PID/kP", 0.0);
+            SmartNumber kI = new SmartNumber("Arm/PID/kI", 0);
+            SmartNumber kD = new SmartNumber("Arm/PID/kD", 0);
+        }
+
+        public interface FF {
+            SmartNumber kS = new SmartNumber("Arm/PID/kP", 0.0);
+            SmartNumber kV = new SmartNumber("Arm/PID/kI", 0);
+            SmartNumber kA = new SmartNumber("Arm/PID/kD", 0);
+            SmartNumber kG = new SmartNumber("Arm/PID/kG", 0);
+        }
+
+        Rotation2d L2_ANGLE_FRONT = Rotation2d.fromDegrees(0);
+        Rotation2d L3_ANGLE_FRONT = Rotation2d.fromDegrees(0);
+        Rotation2d L4_ANGLE_FRONT = Rotation2d.fromDegrees(0);
+
+        Rotation2d L2_ANGLE_BACK = Rotation2d.fromDegrees(0);
+        Rotation2d L3_ANGLE_BACK = Rotation2d.fromDegrees(0);
+        Rotation2d L4_ANGLE_BACK = Rotation2d.fromDegrees(0);
+
+        Rotation2d FUNNEL_ANGLE = Rotation2d.fromDegrees(0);
+        Rotation2d BARGE_ANGLE = Rotation2d.fromDegrees(0);
+        double GEAR_RATIO = 0;
+        double ARM_OFFSET = 0;
+        double ENCODER_OFFSET = 0;
+        SmartNumber PID_RAMPING = new SmartNumber("Arm/PID_RAMP",0);
+        SmartNumber FF_RAMPING = new SmartNumber("Arm/FF_RAMP", 0);
+        SmartNumber CURRENT_RAMPING = new SmartNumber("Arm/CURRENT_RAMP",0);
+
+
+        public interface MotionMagic{
+            double MAX_VEL = 0;
+            double MAX_ACCEL = 0;
+            double JERK = 0;
+        }
+      }
+      
+  }
diff --git a/src/main/java/com/stuypulse/robot/subsystems/arm/Arm.java b/src/main/java/com/stuypulse/robot/subsystems/arm/Arm.java
new file mode 100644
index 0000000..542111d
--- /dev/null
+++ b/src/main/java/com/stuypulse/robot/subsystems/arm/Arm.java
@@ -0,0 +1,25 @@
+package com.stuypulse.robot.subsystems.arm;
+
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+
+public abstract class Arm extends SubsystemBase {
+
+    public static final Arm instance;
+
+    static {
+        instance = new ArmImpl();
+    }
+
+    public static Arm getInstance() {
+        return instance;
+    }
+
+    public abstract void setTargetAngle(Rotation2d TargetAngle);
+
+    public abstract Rotation2d getTargetAngle();
+
+    public abstract Rotation2d getArmAngle();
+
+}
\ No newline at end of file
diff --git a/src/main/java/com/stuypulse/robot/subsystems/arm/ArmImpl.java b/src/main/java/com/stuypulse/robot/subsystems/arm/ArmImpl.java
new file mode 100644
index 0000000..9894a97
--- /dev/null
+++ b/src/main/java/com/stuypulse/robot/subsystems/arm/ArmImpl.java
@@ -0,0 +1,101 @@
+package com.stuypulse.robot.subsystems.arm;
+
+
+import com.ctre.phoenix6.configs.MagnetSensorConfigs;
+import com.ctre.phoenix6.configs.MotionMagicConfigs;
+import com.ctre.phoenix6.configs.Slot0Configs;
+import com.stuypulse.robot.constants.Ports;
+import com.stuypulse.robot.constants.Settings;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.controls.MotionMagicVoltage;
+import com.ctre.phoenix6.controls.PositionVoltage;
+import com.ctre.phoenix6.hardware.CANcoder;
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.FeedbackSensorSourceValue;
+import com.ctre.phoenix6.signals.GravityTypeValue;
+
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+public class ArmImpl extends Arm {
+
+    private Rotation2d targetAngle;
+
+    private TalonFX armMotor;
+
+    private CANcoder armEncoder;
+    
+
+    public ArmImpl() {
+        
+        targetAngle = Rotation2d.fromDegrees(0.0);
+        armMotor = new TalonFX(Ports.Arm.ARM_MOTOR);
+        armEncoder = new CANcoder(Ports.Arm.ARM_ENCODER);
+
+        TalonFXConfiguration config = new TalonFXConfiguration();
+
+        Slot0Configs slot0 = new Slot0Configs();
+
+        slot0.kP = Settings.Arm.PID.kP.getAsDouble();
+        slot0.kI = Settings.Arm.PID.kI.getAsDouble();
+        slot0.kD = Settings.Arm.PID.kD.getAsDouble();
+
+        slot0.kS = Settings.Arm.FF.kS.getAsDouble();
+        slot0.kV = Settings.Arm.FF.kV.getAsDouble();
+        slot0.kA = Settings.Arm.FF.kA.getAsDouble();
+        slot0.kG = Settings.Arm.FF.kG.getAsDouble();
+        slot0.GravityType = GravityTypeValue.Arm_Cosine;
+        
+        config.Slot0 = slot0;
+        config.Feedback.SensorToMechanismRatio = Settings.Arm.GEAR_RATIO;
+        // config.Feedback.RotorToSensorRatio = 0.0;
+        config.Feedback.FeedbackRemoteSensorID = armEncoder.getDeviceID();
+        config.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.FusedCANcoder;
+
+        MotionMagicConfigs motionMagicConfigs = config.MotionMagic;
+
+        motionMagicConfigs.MotionMagicCruiseVelocity = Settings.Arm.MotionMagic.MAX_VEL; // Target cruise velocity of 80 rps
+        motionMagicConfigs.MotionMagicAcceleration = Settings.Arm.MotionMagic.MAX_ACCEL; // Target acceleration of 160 rps/s (0.5 seconds)
+        motionMagicConfigs.MotionMagicJerk = Settings.Arm.MotionMagic.JERK; 
+
+        MagnetSensorConfigs magnet_config = new MagnetSensorConfigs();
+        magnet_config.MagnetOffset = Settings.Arm.ENCODER_OFFSET;
+
+        config.OpenLoopRamps.VoltageOpenLoopRampPeriod = Settings.Arm.PID_RAMPING.getAsDouble(); 
+        config.ClosedLoopRamps.VoltageClosedLoopRampPeriod = Settings.Arm.FF_RAMPING.getAsDouble(); 
+        config.OpenLoopRamps.TorqueOpenLoopRampPeriod = Settings.Arm.PID_RAMPING.getAsDouble();
+        config.ClosedLoopRamps.TorqueClosedLoopRampPeriod = Settings.Arm.FF_RAMPING.getAsDouble();
+        
+
+        armMotor.getConfigurator().apply(config);
+        armMotor.getConfigurator().apply(motionMagicConfigs);
+        armEncoder.getConfigurator().apply(magnet_config);
+
+    }
+
+    public void setTargetAngle(Rotation2d targetAngle) {
+        this.targetAngle = targetAngle;
+    }
+
+    public Rotation2d getTargetAngle() {
+        return targetAngle;
+    }
+                    
+
+    public Rotation2d getArmAngle() {
+        return Rotation2d.fromRotations(armMotor.getPosition().getValueAsDouble());
+    }
+
+    @Override
+    public void periodic() { 
+
+        MotionMagicVoltage armOutput = new MotionMagicVoltage(getTargetAngle().getRotations());
+        // armMotor.setControl(new PositionVoltage(getTargetAngle().getRotations()));
+        armMotor.setControl(armOutput);
+
+        SmartDashboard.putNumber("Arm/targetAngle", getTargetAngle().getDegrees());
+        SmartDashboard.putNumber("Arm/currentAngle",getArmAngle().getDegrees());
+        
+    }
+}
+    
diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib-2025.2.2.json
similarity index 87%
rename from vendordeps/PathplannerLib.json
rename to vendordeps/PathplannerLib-2025.2.2.json
index 396f92d..a5bf9ee 100644
--- a/vendordeps/PathplannerLib.json
+++ b/vendordeps/PathplannerLib-2025.2.2.json
@@ -1,7 +1,7 @@
 {
-    "fileName": "PathplannerLib.json",
+    "fileName": "PathplannerLib-2025.2.2.json",
     "name": "PathplannerLib",
-    "version": "2025.1.1",
+    "version": "2025.2.2",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
     "frcYear": "2025",
     "mavenUrls": [
@@ -12,7 +12,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2025.1.1"
+            "version": "2025.2.2"
         }
     ],
     "jniDependencies": [],
@@ -20,7 +20,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2025.1.1",
+            "version": "2025.2.2",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
diff --git a/vendordeps/Phoenix5.json b/vendordeps/Phoenix5-5.35.1.json
similarity index 92%
rename from vendordeps/Phoenix5.json
rename to vendordeps/Phoenix5-5.35.1.json
index 0ab6d7c..69df8b5 100644
--- a/vendordeps/Phoenix5.json
+++ b/vendordeps/Phoenix5-5.35.1.json
@@ -1,7 +1,7 @@
 {
-    "fileName": "Phoenix5-frc2025-latest.json",
+    "fileName": "Phoenix5-5.35.1.json",
     "name": "CTRE-Phoenix (v5)",
-    "version": "5.35.0",
+    "version": "5.35.1",
     "frcYear": "2025",
     "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
     "mavenUrls": [
@@ -32,19 +32,19 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "api-java",
-            "version": "5.35.0"
+            "version": "5.35.1"
         },
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "wpiapi-java",
-            "version": "5.35.0"
+            "version": "5.35.1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "cci",
-            "version": "5.35.0",
+            "version": "5.35.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -58,7 +58,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "cci-sim",
-            "version": "5.35.0",
+            "version": "5.35.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -74,7 +74,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "wpiapi-cpp",
-            "version": "5.35.0",
+            "version": "5.35.1",
             "libName": "CTRE_Phoenix_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -90,7 +90,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "api-cpp",
-            "version": "5.35.0",
+            "version": "5.35.1",
             "libName": "CTRE_Phoenix",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -106,7 +106,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "cci",
-            "version": "5.35.0",
+            "version": "5.35.1",
             "libName": "CTRE_PhoenixCCI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -122,7 +122,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "5.35.0",
+            "version": "5.35.1",
             "libName": "CTRE_Phoenix_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -138,7 +138,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "api-cpp-sim",
-            "version": "5.35.0",
+            "version": "5.35.1",
             "libName": "CTRE_PhoenixSim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -154,7 +154,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "cci-sim",
-            "version": "5.35.0",
+            "version": "5.35.1",
             "libName": "CTRE_PhoenixCCISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/vendordeps/Phoenix6.json b/vendordeps/Phoenix6-25.2.1.json
similarity index 85%
rename from vendordeps/Phoenix6.json
rename to vendordeps/Phoenix6-25.2.1.json
index 7f4bd2e..1397da1 100644
--- a/vendordeps/Phoenix6.json
+++ b/vendordeps/Phoenix6-25.2.1.json
@@ -1,7 +1,7 @@
 {
-    "fileName": "Phoenix6-frc2025-latest.json",
+    "fileName": "Phoenix6-25.2.1.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "25.1.0",
+    "version": "25.2.1",
     "frcYear": "2025",
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
@@ -19,14 +19,14 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "25.1.0"
+            "version": "25.2.1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "api-cpp",
-            "version": "25.1.0",
+            "version": "25.2.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -40,7 +40,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "25.1.0",
+            "version": "25.2.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -54,7 +54,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "api-cpp-sim",
-            "version": "25.1.0",
+            "version": "25.2.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -68,7 +68,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "25.1.0",
+            "version": "25.2.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -82,7 +82,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "25.1.0",
+            "version": "25.2.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -96,7 +96,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "25.1.0",
+            "version": "25.2.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +110,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "25.1.0",
+            "version": "25.2.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -124,7 +124,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "25.1.0",
+            "version": "25.2.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -138,7 +138,21 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "25.1.0",
+            "version": "25.2.1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFXS",
+            "version": "25.2.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -152,7 +166,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "25.1.0",
+            "version": "25.2.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -166,7 +180,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "25.1.0",
+            "version": "25.2.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -180,7 +194,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "25.1.0",
+            "version": "25.2.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -196,7 +210,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "25.1.0",
+            "version": "25.2.1",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -212,7 +226,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "25.1.0",
+            "version": "25.2.1",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -228,7 +242,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "25.1.0",
+            "version": "25.2.1",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -244,7 +258,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "25.1.0",
+            "version": "25.2.1",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -260,7 +274,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "25.1.0",
+            "version": "25.2.1",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -276,7 +290,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "25.1.0",
+            "version": "25.2.1",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -292,7 +306,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "25.1.0",
+            "version": "25.2.1",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -308,7 +322,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "25.1.0",
+            "version": "25.2.1",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -324,7 +338,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "25.1.0",
+            "version": "25.2.1",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -337,10 +351,26 @@
             ],
             "simMode": "swsim"
         },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFXS",
+            "version": "25.2.1",
+            "libName": "CTRE_SimProTalonFXS",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "25.1.0",
+            "version": "25.2.1",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -356,7 +386,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "25.1.0",
+            "version": "25.2.1",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -372,7 +402,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "25.1.0",
+            "version": "25.2.1",
             "libName": "CTRE_SimProCANrange",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib-2025.0.2.json
similarity index 86%
rename from vendordeps/REVLib.json
rename to vendordeps/REVLib-2025.0.2.json
index 2c39628..c29aefa 100644
--- a/vendordeps/REVLib.json
+++ b/vendordeps/REVLib-2025.0.2.json
@@ -1,7 +1,7 @@
 {
-    "fileName": "REVLib.json",
+    "fileName": "REVLib-2025.0.2.json",
     "name": "REVLib",
-    "version": "2025.0.0",
+    "version": "2025.0.2",
     "frcYear": "2025",
     "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
     "mavenUrls": [
@@ -12,19 +12,18 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-java",
-            "version": "2025.0.0"
+            "version": "2025.0.2"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2025.0.0",
+            "version": "2025.0.2",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
                 "windowsx86-64",
-                "windowsx86",
                 "linuxarm64",
                 "linuxx86-64",
                 "linuxathena",
@@ -37,14 +36,13 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-cpp",
-            "version": "2025.0.0",
+            "version": "2025.0.2",
             "libName": "REVLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
             "skipInvalidPlatforms": true,
             "binaryPlatforms": [
                 "windowsx86-64",
-                "windowsx86",
                 "linuxarm64",
                 "linuxx86-64",
                 "linuxathena",
@@ -55,14 +53,13 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2025.0.0",
+            "version": "2025.0.2",
             "libName": "REVLibDriver",
             "headerClassifier": "headers",
             "sharedLibrary": false,
             "skipInvalidPlatforms": true,
             "binaryPlatforms": [
                 "windowsx86-64",
-                "windowsx86",
                 "linuxarm64",
                 "linuxx86-64",
                 "linuxathena",
diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json
index 039d0a5..6af3d3e 100644
--- a/vendordeps/photonlib.json
+++ b/vendordeps/photonlib.json
@@ -1,71 +1,71 @@
 {
     "fileName": "photonlib.json",
     "name": "photonlib",
-    "version": "v2025.0.0-beta-8",
+    "version": "v2025.1.1",
     "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
     "frcYear": "2025",
     "mavenUrls": [
-      "https://maven.photonvision.org/repository/internal",
-      "https://maven.photonvision.org/repository/snapshots"
+        "https://maven.photonvision.org/repository/internal",
+        "https://maven.photonvision.org/repository/snapshots"
     ],
     "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json",
     "jniDependencies": [
-      {
-        "groupId": "org.photonvision",
-        "artifactId": "photontargeting-cpp",
-        "version": "v2025.0.0-beta-8",
-        "skipInvalidPlatforms": true,
-        "isJar": false,
-        "validPlatforms": [
-          "windowsx86-64",
-          "linuxathena",
-          "linuxx86-64",
-          "osxuniversal"
-        ]
-      }
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photontargeting-cpp",
+            "version": "v2025.1.1",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxathena",
+                "linuxx86-64",
+                "osxuniversal"
+            ]
+        }
     ],
     "cppDependencies": [
-      {
-        "groupId": "org.photonvision",
-        "artifactId": "photonlib-cpp",
-        "version": "v2025.0.0-beta-8",
-        "libName": "photonlib",
-        "headerClassifier": "headers",
-        "sharedLibrary": true,
-        "skipInvalidPlatforms": true,
-        "binaryPlatforms": [
-          "windowsx86-64",
-          "linuxathena",
-          "linuxx86-64",
-          "osxuniversal"
-        ]
-      },
-      {
-        "groupId": "org.photonvision",
-        "artifactId": "photontargeting-cpp",
-        "version": "v2025.0.0-beta-8",
-        "libName": "photontargeting",
-        "headerClassifier": "headers",
-        "sharedLibrary": true,
-        "skipInvalidPlatforms": true,
-        "binaryPlatforms": [
-          "windowsx86-64",
-          "linuxathena",
-          "linuxx86-64",
-          "osxuniversal"
-        ]
-      }
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photonlib-cpp",
+            "version": "v2025.1.1",
+            "libName": "photonlib",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxathena",
+                "linuxx86-64",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photontargeting-cpp",
+            "version": "v2025.1.1",
+            "libName": "photontargeting",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxathena",
+                "linuxx86-64",
+                "osxuniversal"
+            ]
+        }
     ],
     "javaDependencies": [
-      {
-        "groupId": "org.photonvision",
-        "artifactId": "photonlib-java",
-        "version": "v2025.0.0-beta-8"
-      },
-      {
-        "groupId": "org.photonvision",
-        "artifactId": "photontargeting-java",
-        "version": "v2025.0.0-beta-8"
-      }
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photonlib-java",
+            "version": "v2025.1.1"
+        },
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photontargeting-java",
+            "version": "v2025.1.1"
+        }
     ]
-  }
\ No newline at end of file
+}
\ No newline at end of file